Motion parameter determination method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of communication interaction, in particular to a motion parameter determination method and device, electronic equipment and a storage medium. The motion parameter determination method is applied to a first device, and the method comprises the following steps: determining a reference moment for detecting a motion parameter; based on a Bluetooth communication connection with a second device, determining a plurality of phase measurement values for signal interaction with the second device under a plurality of signal frequencies and corresponding interaction moment information, the phase measurement values being in one-to-one correspondence with the signal frequencies; and determining relative motion parameters with the second equipment based on the reference moment, the plurality of phase measurement values and the interaction moment information corresponding to each phase measurement value. Interference of a single frequency point can be effectively avoided, the determination effectiveness and reliability of the relative motion parameters are improved, and the determination accuracy of the relative motion parameters can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of communication interaction technology, and in particular to a motion parameter determination method, a motion parameter determination device, an electronic device and a computer-readable storage medium. Background Art

[0002] Smart devices play an increasingly important role in modern life, and they need to be able to transmit data and measure the environment at the same time. Wireless communication systems have solved the problem of data transmission very well, but environmental measurements usually need to rely on dedicated sensors. For example, radar is usually used for distance measurement, and multi-antenna radar or inertial measurement unit (IMU) can be used for angle measurement. However, adding these additional sensors will inevitably lead to an increase in system cost.

[0003] Therefore, how to utilize the inherent hardware capabilities of existing wireless communication systems to solve environmental perception problems has become an important topic. Summary of the invention

[0004] In order to overcome the problems existing in the related art, an exemplary embodiment of the present disclosure provides a method for determining motion parameters, which is applied to a first device, and the method includes: determining a reference time for detecting motion parameters; based on a Bluetooth communication connection with a second device, determining multiple phase measurement values ​​and corresponding interaction time information for signal interaction with the second device at multiple signal frequencies, wherein the phase measurement values ​​correspond to the signal frequencies one by one; based on the reference time, multiple phase measurement values, and the interaction time information corresponding to each phase measurement value, determining the relative motion parameters between the second device, wherein the relative motion parameters include at least one of the following: target relative distance, target relative speed, and target relative acceleration.

[0005] In some embodiments, based on the Bluetooth communication connection with the second device, multiple phase measurement values ​​and corresponding interaction time information for signal interaction with the second device at multiple signal frequencies are determined, including: determining a first interaction time for signal interaction at the signal frequency; based on the Bluetooth communication connection with the second device, signal interaction with the second device at the signal frequency to obtain a phase measurement value corresponding to the signal frequency; determining a second interaction time for signal interaction with the second device at the signal frequency; and determining the interaction time information corresponding to the phase measurement value based on the first interaction time and the second interaction time.

[0006] In some embodiments, based on a Bluetooth communication connection with a second device, signal interaction is performed with the second device at a signal frequency to obtain a phase measurement value corresponding to the signal frequency, including: based on the Bluetooth communication connection with the second device, sending a first signal to the second device at the signal frequency; receiving a first phase measurement value sent by the second device, the first phase measurement value being determined by the second device based on the first signal and a local carrier signal of the second device; receiving a second signal sent by the second device at the signal frequency; determining a second phase measurement value based on the second signal and the local carrier signal of the first device; and obtaining a phase measurement value corresponding to the signal frequency based on the first phase measurement value and the second phase measurement value.

[0007] In some embodiments, based on a Bluetooth communication connection with a second device, signal interaction is performed with the second device at a signal frequency to obtain a phase measurement value corresponding to the signal frequency, including: based on the Bluetooth communication connection with the second device, receiving a third signal sent by the second device at the signal frequency; determining a third phase measurement value based on the third signal and a local carrier signal of the first device; sending a fourth signal to the second device at the signal frequency; receiving a fourth phase measurement value sent by the second device, the fourth phase measurement value being determined by the second device based on the fourth signal and the local carrier signal of the second device; and obtaining a phase measurement value corresponding to the signal frequency based on the third phase measurement value and the fourth phase measurement value.

[0008] In some embodiments, a first time interval between a second interaction moment of a signal interaction and a first interaction moment of a previous signal interaction is less than or equal to a second time interval between the second interaction moment of a signal interaction and a first interaction of a next signal interaction.

[0009] In some embodiments, the relative motion parameters with the second device are determined based on a reference moment, multiple phase measurement values, and interaction moment information corresponding to each phase measurement value, including: determining the relative motion state with the second device during signal interaction with the second device at multiple signal frequencies; in response to the relative motion state with the second device being stationary or in uniform motion, determining that the target relative acceleration with the second device is zero.

[0010] In some embodiments, the relative motion parameters between the second device are determined based on a reference moment, multiple phase measurement values, and interaction moment information corresponding to each phase measurement value, and the target relative speed and / or target relative distance between the second device are determined based on the reference moment, two adjacent phase measurement values, and corresponding interaction moment information.

[0011] In some embodiments, the relative motion parameters with respect to the second device are determined based on a reference moment, multiple phase measurement values, and interaction moment information corresponding to each phase measurement value, and the method also includes: determining a first phase measurement value for the first signal interaction from multiple phase measurement values, and determining the first interaction moment information corresponding to the first phase measurement value; determining the relative speed with the second device according to the order of signal interaction, based on the reference moment, the phase measurement value of the first signal interaction and the corresponding interaction moment information, and the phase measurement value of the next signal interaction and the corresponding interaction moment information, to obtain multiple relative speeds, wherein the next signal interaction is any signal interaction that is not the first signal interaction; determining the target relative speed and / or target relative distance with the second device based on the fusion result of multiple relative speeds.

[0012] In some embodiments, the relative motion parameters with respect to the second device are determined based on a reference time, multiple phase measurement values, and interaction time information corresponding to each phase measurement value, and also include: if the relative motion state with respect to the second device is a motion state, then based on the reference time, multiple phase measurement values, and interaction time information corresponding to each phase measurement value, the target relative distance, target relative speed, and target relative acceleration with respect to the second device are determined.

[0013] In a second aspect, the present disclosure also provides a method for determining motion parameters, which is applied to a third device that is communicatively connected to a target device, and the method includes: determining a reference time for measuring speed; receiving multiple phase measurement values ​​sent by the target device and interaction time information corresponding to each phase measurement value, wherein the multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value are determined by the target device based on a Bluetooth communication connection between the target device and the non-target device, by performing signal interaction with the non-target device at multiple signal frequencies, and the phase measurement values ​​correspond to the signal frequencies one-to-one; determining the relative motion parameters between the target device and the non-target device based on the reference time, the multiple phase measurement values, and the interaction time information corresponding to each phase measurement value, wherein the relative motion parameters include at least one of the following: target relative distance, target relative speed, target relative acceleration; and sending the relative motion parameters to the target device.

[0014] In some embodiments, multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value are determined by the target device using the following process: determining a third interaction time for signal interaction at a signal frequency; based on a Bluetooth communication connection with a non-target device, performing signal interaction with the non-target device at the signal frequency to obtain a phase measurement value corresponding to the signal frequency; determining a fourth interaction time for signal interaction with the non-target device at the signal frequency; and determining the interaction time information corresponding to the phase measurement value based on the third interaction time and the fourth interaction time.

[0015] In a third aspect, the present disclosure also provides a motion parameter determination method, which is applied to a first Bluetooth device, the method comprising: based on a Bluetooth communication connection with a second Bluetooth device, performing signal interaction with the second Bluetooth device at multiple signal frequencies; based on a local carrier signal of the first Bluetooth device and multiple first interaction signals received, respectively determining a first unilateral phase measurement value for each signal interaction, and sending the first unilateral phase measurement value each time a second interaction signal is sent to the second Bluetooth device, so that the second Bluetooth device determines the corresponding second unilateral phase measurement value based on the local carrier signal of the second Bluetooth device and the second interaction signal, and determines the phase measurement value for each signal interaction and the corresponding interaction time information based on the second unilateral phase measurement value and the corresponding first unilateral phase measurement value for each signal interaction, obtains multiple phase measurement values ​​and the corresponding interaction time information, and determines the relative motion parameters between the first Bluetooth device and the first Bluetooth device based on a reference time for detecting the motion parameters, multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value, wherein the relative motion parameters include at least one of the following: target relative distance, target relative speed, target relative acceleration.

[0016] In a fourth aspect, the present disclosure also provides a motion parameter determination device, which is applied to a first device, and the device includes: a first time determination module, used to determine a reference time for detecting motion parameters; a first determination module, used to determine multiple phase measurement values ​​and corresponding interaction time information for signal interaction with the second device at multiple signal frequencies based on a Bluetooth communication connection between the second device, wherein the phase measurement values ​​correspond one-to-one to the signal frequencies; a first processing module, used to determine the relative motion parameters between the second device and the second device based on the reference time, multiple phase measurement values, and the interaction time information corresponding to each phase measurement value, wherein the relative motion parameters include at least one of the following: target relative distance, target relative speed, and target relative acceleration.

[0017] In a fifth aspect, the present disclosure also provides a motion parameter determination device, which is applied to a third device that is communicatively connected to a target device, and the device includes: a second time determination module, used to determine a reference moment for measuring speed; a receiving module, used to receive multiple phase measurement values ​​sent by the target device and interaction moment information corresponding to each phase measurement value, wherein the multiple phase measurement values ​​and the interaction moment information corresponding to each phase measurement value are determined by the target device based on a Bluetooth communication connection between the target device and the non-target device, by performing signal interaction with the non-target device at multiple signal frequencies, and the phase measurement values ​​correspond to the signal frequencies one-to-one; a second processing module, used to determine the relative motion parameters between the target device and the non-target device based on the reference moment, the multiple phase measurement values, and the interaction moment information corresponding to each phase measurement value, wherein the relative motion parameters include at least one of the following: target relative distance, target relative speed, target relative acceleration; a first sending module, used to send the relative motion parameters to the target device.

[0018] In a sixth aspect, the present disclosure also provides a motion parameter determination device, which is applied to a first Bluetooth device, and the device includes: a first execution module, which is used to perform signal interaction with the second Bluetooth device at multiple signal frequencies based on the Bluetooth communication connection between the second Bluetooth device and the second Bluetooth device; a second execution module, which is used to determine the first unilateral phase measurement value of each signal interaction based on the local carrier signal of the first Bluetooth device and the multiple first interaction signals received, and send the first unilateral phase measurement value each time the second interaction signal is sent to the second Bluetooth device, so that the second Bluetooth device determines the corresponding second unilateral phase measurement value based on the local carrier signal of the second Bluetooth device and the second interaction signal, and determines the phase measurement value of each signal interaction and the corresponding interaction time information based on the second unilateral phase measurement value and the corresponding first unilateral phase measurement value of each signal interaction, obtains multiple phase measurement values ​​and the corresponding interaction time information, and determines the relative motion parameters between the first Bluetooth device and the first Bluetooth device based on the reference time for detecting the motion parameters, the multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value, wherein the relative motion parameters include at least one of the following: target relative distance, target relative speed, and target relative acceleration.

[0019] In the seventh aspect, the present disclosure also provides an electronic device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the motion parameter determination method provided in any of the above aspects by executing the computer instructions.

[0020] In an eighth aspect, the present disclosure further provides a computer-readable storage medium, which stores the following program, and the program is used to execute the motion parameter determination method provided in any one of the above aspects.

[0021] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

[0022] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: According to the motion parameter determination method provided by the present disclosure, by determining multiple phase measurement values ​​of the first device performing signal interaction with the second device at multiple signal frequencies, and the corresponding interaction time information, the mutual parameters of the two devices at the reference time are determined, which can effectively reduce the detection delay and improve the determination efficiency. Moreover, in the process of the first device determining the relative motion parameters, it is determined based on the phase measurement values ​​at multiple signal frequencies, which can effectively avoid the interference of a single frequency point and improve the effectiveness and reliability of the determination of the relative motion parameters. Moreover, in the process of determining the motion parameters, it is directly determined using multiple phase measurement values ​​and the corresponding interaction time information, and thus regardless of whether the relative distance between the two devices changes, the measurement error caused by the relative motion can be reduced, thereby effectively improving the accuracy of the determination of the relative motion parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention may be better understood by describing exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0024] Figure 1 is a flow chart of a method for determining motion parameters according to an exemplary embodiment of the disclosure;

[0025] Figure 2 is a flowchart of another method for determining motion parameters according to an exemplary embodiment of the disclosure;

[0026] Figure 3 is a timing diagram of a signal interaction according to an exemplary embodiment of the disclosure;

[0027] Figure 4 is a flowchart of another method for determining motion parameters according to an exemplary embodiment of the disclosure;

[0028] Figure 5 is an interactive schematic diagram of determining motion parameters according to an exemplary embodiment of the disclosure;

[0029] Figure 6 is a flowchart of another method for determining motion parameters according to an exemplary embodiment of the disclosure;

[0030] Figure 7 is a flow chart of a method for determining motion parameters according to another exemplary embodiment of the present disclosure;

[0031] Figure 8is a structural schematic diagram of a motion parameter determination device according to an exemplary embodiment of the disclosure;

[0032] Fig. 9 is a structural schematic diagram of another motion parameter determination device according to an exemplary embodiment of the disclosure;

[0033] Fig.10 is a structural schematic diagram of another motion parameter determination device according to an exemplary embodiment of the disclosure;

[0034] Fig.11 It is a schematic diagram of the structure of a device according to an exemplary embodiment of the disclosure. DETAILED DESCRIPTION

[0035] The specific embodiments of the present invention will be described below. It should be noted that in the specific description of these embodiments, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes such as design, manufacturing or production based on the technical content disclosed in this disclosure are just conventional technical means, and should not be understood as insufficient content of this disclosure.

[0036] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the invention belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and other similar words do not indicate a quantitative limitation, but indicate the existence of at least one. "Include" or "comprises" and other similar words mean that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalent elements, and do not exclude other elements or objects. "Connected" or "connected" and other similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0037] In the related technology, based on the channel sounding technology in the Bluetooth 6.0 standard, the distance between two devices can be determined by signal interaction, and then the relative motion parameters between the two devices can be determined when the distance estimation value is obtained. The relative motion parameters may include but are not limited to any one or more of the following: relative distance, relative speed, and relative acceleration.

[0038] However, in actual applications, distance measurement based on channel detection technology requires the assumption that the distance between two devices remains approximately unchanged during all signal exchanges in a distance measurement process. However, for some relatively fast-moving targets, the distance between their devices changes during the distance measurement process, which will lead to large errors in the distance measured by channel detection, and thus large errors in the estimated motion parameters such as speed, and low accuracy.

[0039] To solve the above problems, Figure 1 As shown, an exemplary embodiment of the present disclosure provides a motion parameter determination method, which is applied to a first device, and the method includes:

[0040] Step S110, determine the reference moment for detecting the motion parameters. Any moment can be determined as the reference moment for detecting the motion parameters. Since the motion parameters of the first device may change over time during the process of determining the motion parameters, a fixed moment is determined as the reference moment during the process of the motion parameters changing, so as to detect the relative motion state between the first device and the second device as a fixed reference point, so as to facilitate the subsequent determination of the relative motion parameters. The reference moment can be any instantaneous moment during the process of the first device determining the motion parameters, such as: the middle moment of the first device determining the motion parameters, or the starting moment of the first device transmitting a signal for the first time, etc.

[0041] Step S120, based on the Bluetooth communication connection with the second device, determine multiple phase measurement values ​​and corresponding interaction time information for signal interaction with the second device at multiple signal frequencies. The relative motion state between the first device and the second device may change over time. In order to determine whether the distance between the two changes when performing signal interaction at the same signal frequency, based on the Bluetooth communication connection between the first device and the second device, in the process of performing signal interaction with the second device at multiple signal frequencies, the phase measurement value at each signal frequency and the interaction time information corresponding to each phase measurement value are determined respectively. Among them, the phase measurement value corresponds to the signal frequency one by one. That is, for each signal frequency, the phase measurement value of the signal interaction between the first device and the second device at the signal frequency is determined. The interaction time information can be understood as the time information when the first device and the second device complete a signal interaction at a signal frequency.

[0042] Step S130, based on the reference time, multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value, determine the relative motion parameters between the first device and the second device. During the signal interaction process, the time required for the first device or the second device to receive the signal sent by the other party depends on the distance between the first device and the second device. The phase measurement value can reflect the phase change of the signal during the transmission process. Since the relative motion state between the first device and the second device is unknown, when the signal interaction is performed at a single signal frequency, the time required for the first device to receive the signal sent by the second device may be inconsistent with the time required for the second device to receive the signal sent by the first device. Therefore, in the case of consistent signal transmission speed, the relative motion parameters between the first device and the second device can be determined by establishing a relationship between multiple phase measurement values ​​and the reference time and interaction time information. Since the reference time remains unchanged during multiple interactions between the first device and the second device, the relative motion state of the first device and the second device at the reference time can be determined according to the reference time, thereby determining the relative motion parameters between the first device and the second device. Among them, the relative motion parameters include at least one of the following: target relative distance, target relative speed, and target relative acceleration. The target distance may be the relative distance between the first device and the second device at the time corresponding to the reference time, the target relative speed may be the relative speed between the first device and the second device at the time corresponding to the reference time, and the target relative acceleration may be the relative acceleration between the first device and the second device at the time corresponding to the reference time.

[0043] According to the motion parameter determination method provided by the present disclosure, by determining multiple phase measurement values ​​of the first device performing signal interaction with the second device at multiple signal frequencies, and the corresponding interaction time information, the mutual parameters of the two devices at the reference time are determined, which can effectively reduce the detection delay and improve the determination efficiency. Moreover, in the process of the first device determining the relative motion parameters, it is determined based on the phase measurement values ​​at multiple signal frequencies, which can effectively avoid the interference of a single frequency point and improve the effectiveness and reliability of the determination of the relative motion parameters. Moreover, in the process of determining the motion parameters, it is directly determined using multiple phase measurement values ​​and the corresponding interaction time information, and thus regardless of whether the relative distance between the two devices changes, the measurement error caused by the relative motion can be reduced, thereby effectively improving the accuracy of the determination of the relative motion parameters.

[0044] In some embodiments, Figure 2 As shown, step S120, based on the Bluetooth communication connection with the second device, determines multiple phase measurement values ​​and corresponding interaction time information for signal interaction with the second device at multiple signal frequencies, which may include:

[0045] Step S121, determining a first interaction time for performing signal interaction at a signal frequency. The first interaction time may be a time when the first device performs signal interaction with the second device for the first time at the current signal frequency. According to the first interaction time, the start time of the signal interaction between the first device and the second device at the same signal frequency may be determined.

[0046] Step S122: Based on the Bluetooth communication connection with the second device, the signal is interacted with the second device at the signal frequency to obtain a phase measurement value corresponding to the signal frequency. In order to facilitate the determination of the interaction between the first device and the second device at the same signal frequency, the phase measurement value of the signal interaction with the second device is determined, so as to reflect the relationship between the relative position and the motion state between the first device and the second device through the phase measurement value.

[0047] In some embodiments, step S122, based on the Bluetooth communication connection with the second device, interacting with the second device at the signal frequency to obtain a phase measurement value corresponding to the signal frequency, may include:

[0048] Step a1, based on the Bluetooth communication connection between the second device and the second device, sending a first signal to the second device according to the signal frequency;

[0049] Step a2, receiving a first phase measurement value sent by a second device;

[0050] Step a3, receiving a second signal sent by a second device according to a signal frequency;

[0051] Step a4, determining a second phase measurement value based on the second signal and a local carrier signal of the first device;

[0052] Step a5: Obtain a phase measurement value corresponding to the signal frequency according to the first phase measurement value and the second phase measurement value.

[0053] Specifically, in order to determine the phase change of the signal during the signal interaction between the first device and the second device, based on the Bluetooth communication connection between the second device and the second device, a first signal is sent to the second device at the same signal frequency to determine the signal transmission between the first device and the second device through the first signal. Receive the first phase measurement value sent by the second device. The first phase measurement value is determined by the second device based on the first signal and the local carrier signal of the second device. That is, after the second device receives the first signal, the first signal is mixed to achieve synchronization between the transmitting and receiving ends to ensure that the first signal can be received and transmitted normally, so that the first phase value of the first signal received by the second device can be determined based on the obtained mixing result, and the first phase measurement value is sent to the first device.

[0054] Since the initial instantaneous phase of the signal sent by the second device to the first device is not exactly the same as the initial instantaneous phase of the local carrier signal of the first device, after receiving the second signal sent by the second device at the same signal frequency, the first device performs mixing processing on the second signal to achieve synchronization between the transmitting and receiving ends, ensuring that the second signal can be received and transmitted normally, thereby obtaining the second phase measurement value of the second signal received by the first device.

[0055] According to the first phase measurement value, the phase of the first signal received by the second device can be clarified; and according to the second phase measurement value, the phase of the second signal received by the first device can be clarified. Since the signal frequency of the first signal is the same as the signal frequency of the second signal, the first device can clarify the relationship between the distance change and the phase of the two devices at a single signal frequency by fusing the first phase measurement value and the second phase measurement value, thereby obtaining a phase measurement value that can characterize the signal interaction between the two devices at the same signal frequency.

[0056] For example, after determining that the reference time for detecting the motion parameter is T0, based on the Bluetooth communication connection between the first device and the second device, the first device sends a first signal to the second device at a signal frequency f, wherein the first signal sent by the first device may be a local carrier signal of the first device, which may be expressed as: Where f is the signal frequency, θ A It represents the instantaneous carrier phase of the first device at t=0. The initial carrier phase is unknown and uncontrollable, and changes every time the analog circuit is powered on again or the carrier frequency is changed. After the first signal is transmitted, the signal received by the second device is: Where D represents the distance between the first device and the second device, and c is the speed of light. The second device that receives the first signal mixes the first signal using its local carrier signal, where the local carrier signal of the second device is: Where f is the signal frequency, θ B It represents the carrier phase of the second device at t=0. The initial carrier phase is unknown and uncontrollable. The signal expression obtained by the second device after mixing the received first signal is: At time T, the corresponding first phase measurement value is: Where k1 is an integer, and the distance between the first device and the second device is D. Since the first device and the second device may have relative motion, causing the distance D to change, the distance D can be expressed as a time-dependent function D(t), and the distance between the first device and the second device at time T is D(t). After the first device receives the first phase measurement value sent by the second device, it receives the second signal sent by the second device, wherein the second signal received by the first device is expressed as: The first device performs frequency mixing processing on the received second signal and the local carrier signal of the first device, and the obtained signal expression is: At time T+τ, the second phase measurement value measured by the first device is: Wherein, k2 is an integer, and τ is the time difference between the time when the first device receives the second signal and the time when the first device sends the first signal to the second device. Then, the first device can fuse the first phase measurement value and the second phase measurement value to obtain a phase measurement value corresponding to the signal frequency, wherein the fused phase measurement value can be expressed as: Wherein, k is an integer. According to the phase measurement value, the relationship between the distance between the first device and the second device and the interaction time information at the same frequency can be clearly determined, which helps to ensure the accuracy and stability of the phase measurement.

[0057] In another embodiment, step S122, based on the Bluetooth communication connection with the second device, interacts with the second device at the signal frequency to obtain a phase measurement value corresponding to the signal frequency, which may include:

[0058] Step b1, based on the Bluetooth communication connection with the second device, receiving a third signal sent by the second device according to the signal frequency;

[0059] Step b2, determining a third phase measurement value based on the third signal and a local carrier signal of the first device;

[0060] Step b3, sending a fourth signal to the second device according to the signal frequency;

[0061] Step b4, receiving a fourth phase measurement value sent by the second device;

[0062] Step b5, obtaining a phase measurement value corresponding to the signal frequency according to the third phase measurement value and the fourth phase measurement value.

[0063] Specifically, in order to determine the phase change of the signal during the signal interaction between the first device and the second device, based on the Bluetooth communication connection between the second device, the third signal sent by the second device according to the signal frequency is received. The third signal is mixed based on the local carrier signal of the first device to achieve synchronization between the transmitting and receiving ends, ensuring that the third signal can be received and transmitted normally, so that the third phase value of the third signal received by the first device can be determined according to the obtained mixing result. A fourth signal is sent to the second device according to the same signal frequency to determine the situation of signal transmission between the first device and the second device through the fourth signal. The fourth phase measurement value sent by the second device is received. Among them, the fourth phase measurement value is determined by the second device based on the fourth signal and the local carrier signal of the second device. That is, after the second device receives the fourth signal, the fourth signal is mixed to achieve synchronization between the transmitting and receiving ends, ensuring that the fourth signal can be received and transmitted normally, so that the fourth phase value of the first signal received by the second device can be determined according to the obtained mixing result, and the fourth phase measurement value is sent to the first device.

[0064] The first device fuses the third phase measurement value with the fourth phase measurement value to determine the phase change of signal interaction between the two devices at the same signal frequency, so as to determine the relationship between the distance change and the phase of the two devices at a single signal frequency, thereby obtaining a phase measurement value that can characterize the signal interaction between the two devices at the same signal frequency.

[0065] By using the third phase measurement value and the fourth phase measurement value, the phase value at the moment of receiving and transmitting signals during signal interaction at the same signal frequency can be determined, which can eliminate or reduce interference during the signal interaction process, and help to increase the accuracy of the phase measurement value corresponding to the same signal frequency. In addition, the third phase measurement value represents the phase change of the signal sent by the second device when the first device interacts with the second device at the same signal frequency. The fourth phase measurement value represents the phase change when the first device sends a signal to the second device when the first device interacts with the second device at the same signal frequency. Therefore, according to the third phase measurement value and the fourth phase measurement value, the difference in phase change when the first device completes a mutual signal reception process with the second device at the signal frequency can be clearly determined, thereby obtaining a phase change that can characterize the target device receiving and sending signals at the same signal frequency, so that reliable data can be provided when the motion parameters are determined later.

[0066] Step S123, determining a second interaction time of signal interaction with the second device at the signal frequency. The second interaction time may be a time when the first device and the second device perform signal interaction again.

[0067] Step S124, determining the interaction moment information corresponding to the phase measurement value according to the first interaction moment and the second interaction moment. The first interaction moment can be understood as the time when the signal is transmitted in the first direction during the interaction between the first device and the second device. The second interaction moment can be understood as the time when the signal is transmitted in the second direction during the interaction between the first device and the second device. The first direction and the second direction are opposite to each other. For example, the first direction is the direction in which the first device sends a signal to the second device, and the second direction is the direction in which the second device sends a signal to the first device. Alternatively, the first direction is the direction in which the second device sends a signal to the first device, and the second direction is the direction in which the first device sends a signal to the second device. Therefore, through the first interaction moment and the second interaction moment, the interaction moment information of a signal interaction between the first device and the second device at the same signal frequency can be determined.

[0068] In some embodiments, the first time interval between the second interaction moment of the signal interaction and the first interaction moment of the previous signal interaction is less than or equal to the second time interval between the second interaction moment of the signal interaction and the first interaction of the next signal interaction. Therefore, when the signal interaction is performed at different signal frequencies, the mutual interference between the signals can be reduced, the integrity of the signal can be maintained, and the errors or failures caused by inappropriate timing can be reduced, thereby improving the reliability of the first device in determining the relative motion parameters.

[0069] In some real-time scenarios, the timing diagram of the first device and the second device interacting based on multiple signal frequencies can be as follows: Figure 3 As shown. In order to distinguish the first device from the second device, A represents the first device and B represents the second device. @f represents the signal frequency corresponding to the current signal transmission. T1 represents the first interaction moment of signal interaction at the signal frequency f1. (T1+τ) represents the second interaction moment of signal interaction at the signal frequency f1. Similarly, T2 represents the first interaction moment of signal interaction at the signal frequency f2. (T2+τ) represents the second interaction moment of signal interaction at the signal frequency f2. T3 represents the first interaction moment of signal interaction at the signal frequency f3. (T3+τ) represents the second interaction moment of signal interaction at the signal frequency f3. ΔT represents the time interval when the first device uses different signals for signal interaction. It should be noted that ΔT in the figure only identifies the time interval between two adjacent first interaction moments, and the specific values ​​may not be exactly the same. The ΔT between T2 and T1 can be less than or equal to the ΔT between T3 and T2, so that when the relative motion parameters are determined subsequently, the determination efficiency and accuracy can be improved and the delay can be reduced.

[0070] In some embodiments, Figure 4As shown, step S130, based on the reference time, multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value, determines the relative motion parameter between the second device and the second device, which may include:

[0071] Step S131, in the process of signal interaction with the second device at multiple signal frequencies, determine the relative motion state between the first device and the second device. Since relative motion may occur between the first device and the second device, the relative motion state between the first device and the second device may be relative stillness, relative uniform motion or relative variable speed motion. Among them, for the case of relative stillness, the distance between the first device and the second device is maintained at a constant value, and there is no relative speed and relative acceleration between the first device and the second device; for the case of relative uniform motion, the relative motion speed between the first device and the second device is a constant value, and there is no relative acceleration between the first device and the second device. In one example, the relative motion state between the first device and the second device may be that the motion states of the first device and the second device are determined respectively, and then the first device determines the relative motion state between the first device and the second device according to the difference between the motion states of the first device and the second device. In another example, the relative motion state between the first device and the second device may also be that the first device reads the relevant motion state information of the second device based on the Bluetooth communication connection between the first device and the second device, and then determines the relative motion state between the first device and the second device in combination with its own operation state information.

[0072] Step S132, in response to the relative motion state between the first device and the second device being stationary or uniform motion, the target relative acceleration between the first device and the second device is determined to be zero. When the relative motion state between the first device and the second device is stationary, it can be determined that the first device and the second device have the same speed and direction of motion, and there is no relative acceleration, so the target relative acceleration between the first device and the second device can be determined to be zero. If the relative motion state between the first device and the second device is determined to be uniform motion according to step S131, it can be determined that the relative motion speed between the first device and the second device is constant, and the relative motion acceleration is zero, so the target relative acceleration between the first device and the second device can be determined to be zero.

[0073] Through the method provided in this embodiment, in the process of determining the relative motion parameters, the relative motion state between the first device and the second device can be determined first, so that it can be simply and quickly determined whether there is a relative acceleration between the first device and the second device, which facilitates the subsequent calculation of the motion parameters of the first device and the second device, effectively saving computing power and improving parameter detection efficiency.

[0074] In some embodiments, Figure 4As shown, step S130, based on the reference time, the multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value, determines the relative motion parameter between the second device and the second device, and may also include:

[0075] Step S133, based on the reference moment, two adjacent phase measurement values ​​and the corresponding interaction moment information, determine the target relative speed and / or target relative distance between the first device and the second device. When it is determined that the target relative acceleration between the first device and the second device is zero, it can be determined that the relative distance between the first device and the second device has not changed during the signal interaction between the first device and the second device at multiple signal frequencies. Therefore, based on the expression of distance, speed and time, at least one of the target relative speed and target relative distance between the first device and the second device can be determined when the reference moment, two adjacent phase measurement values ​​and the corresponding interaction moment information are clearly defined.

[0076] Specifically, the expressions of distance, speed and time can be as follows:

[0077] D(t)=D(T0)+v(T0)·(t-T0)+(1 / 2)a(T0)·(t-T0) 2 ;

[0078] Wherein, D(t) represents the relative distance between the first device and the second device at time t, D(T0) represents the target relative distance between the first device and the second device at the reference time T0, v(T0) represents the target relative speed between the first device and the second device at the reference time T0, and a(T0) represents the target relative acceleration between the first device and the second device at the reference time T0.

[0079] The expression of the phase measurement value ψ(T,f) can be as follows:

[0080]

[0081] in, represents a first phase measurement value of a signal of a signal frequency f received by the second device, A second phase measurement value indicating that the first device receives a signal of signal frequency f.

[0082] By using the expressions of distance, speed and time, and arranging the expression of the phase measurement value ψ(T,f), we can get the following expression:

[0083]

[0084] For ease of expression, we define:

[0085]

[0086] Since the relative acceleration is 0, we can determine that D(t)=D(T0)+v(T0)·(t-T0), and then we can get the following expression:

[0087] ω(T)=-(c / 2π)·(ψ(T,f)+2kπ / f)=2d(T0)+v(T0)·(2T+τ-2T0).

[0088] In conjunction with the timing diagram shown in 3, a signal exchange between the first device and the second device is completed when the signal frequency is f1, wherein the first phase measurement value determined by the second device at time T1=T0 is The second phase measurement value determined by the first device at time (T0+τ) is It can be determined that:

[0089]

[0090] The signal frequency is switched to f2, wherein the first phase measurement value determined by the second device at time T2=T0+ΔT is The second phase measurement value determined by the first device at time T0+ΔT+τ is It can be determined that:

[0091]

[0092] According to the two signal interactions, the estimated value of the relative speed of the target between the first device and the second device can be determined as:

[0093]

[0094] If f2≥f1, and (f2-f1)<<f1f2, the measurement coefficient in the above formula is:

[0095]

[0096] In actual application, the values ​​of k1 and k2 are unknown. Therefore, based on the application scenario and device properties between the first device and the second device, the possible range of relative speeds of the two during relative motion is determined. For example, if the first device is a mobile phone, the second device is a Bluetooth headset, and the application scenario is to find a Bluetooth headset through a mobile phone, then the possible range of relative speeds of the two during relative motion can be: ±5m / s. Alternatively, if the first device is a sweeping robot and the second device is a Bluetooth speaker, and the application scenario is to use a sweeping robot to clean the area where the Bluetooth speaker is located, then the possible range of relative speeds of the two during relative motion can be: ±1m / s.

[0097] When ΔT is clear, several candidate relative speeds can be obtained through the above relative speed formula, and then an optimal candidate relative speed is selected from the several candidate relative speeds as the target relative speed according to the possible value range of the relative speed.

[0098] In some examples, the smaller the ΔT value, the greater the difference between two adjacent candidate relative speeds, and thus when screening through the possible value range, the error interference can be reduced and the determination accuracy of the target relative speed can be improved. The larger the ΔT value, the smaller the difference between two adjacent candidate relative speeds, and thus when screening through the possible value range, it is easy to cause more interference items. For example, when ΔT = 375us, the difference between two adjacent candidate relative speeds can be ±81.9m / s. When ΔT = 100ms, the difference between two adjacent candidate relative speeds can be ±0.0341m / s.

[0099] In other examples, in order to improve the determination accuracy of the target relative speed, the target relative speed can be determined based on the reference time, multiple adjacent phase measurement values ​​and corresponding interaction time information. The signal interaction interval ΔT between the last two adjacent times is smaller than the signal interaction interval ΔT between the next two adjacent times, and then in the process of determining the target relative speed, the value range of the target relative speed can be gradually narrowed to improve the determination accuracy, thereby improving the accuracy and adaptability of the motion parameter determination method.

[0100] Through the exemplary embodiments of the present disclosure, when it is determined that the acceleration between the first device and the second device is zero, the relative motion parameters between the two devices are determined based on two consecutive signal interaction results, which can effectively reduce the estimation error and improve the calculation accuracy.

[0101] In some embodiments, Figure 4 As shown, step S130, based on the reference time, the multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value, determines the relative motion parameter between the second device and the second device, and may also include:

[0102] Step S134, determining the first phase measurement value for the first signal interaction from the multiple phase measurement values, and determining the first interaction time information corresponding to the first phase measurement value. After completing multiple signal interactions, the first device can determine the first phase measurement value for the first signal interaction from the multiple phase measurement values, thereby determining the start of the signal interaction. And based on the first phase measurement value, determine the first interaction time information corresponding to the first phase measurement value, thereby determining the interaction time in the first phase measurement value during the signal interaction.

[0103] Step S135, according to the order of signal interaction, the relative speed between the first device and the second device is determined based on the reference time, the phase measurement value of the first signal interaction and the corresponding interaction time information, and the phase measurement value of the next signal interaction and the corresponding interaction time information, to obtain multiple relative speeds. The next signal interaction is any signal interaction that is not the first signal interaction. The relative speed between the first device and the second device can be determined according to the order in which the first device and the second device complete multiple signal interactions. Among them, at least three signal interactions can be included, and the first relative speed between the first device and the second device is determined according to the reference time, phase measurement value and corresponding interaction time information of the first signal interaction and the phase measurement value and corresponding interaction time information of the second signal interaction; then the second relative speed between the first device and the second device can also be determined according to the reference time, phase measurement value and corresponding interaction time information of the first signal interaction and the phase measurement value and corresponding interaction time information of the third signal interaction, thereby obtaining multiple relative speeds.

[0104] Step S136, based on the fusion result of the multiple relative speeds, determine the target relative speed and / or target relative distance between the first device and the second device. The first device can fuse the multiple relative speeds determined in step S135 to obtain the fused relative speed as the target relative speed between the first device and the second device, and the target relative distance between the first device and the second device can also be determined based on the fused relative speed.

[0105] For example, combined with Figure 3 In the timing diagram shown, after determining the phase measurement value and the corresponding interaction time information of the signal frequency f1, and the phase measurement value and the corresponding interaction time information of the signal frequency f2, the first relative speed between the first device and the second device is determined based on the reference time. Then the phase measurement value and the corresponding interaction time information of the signal frequency f3 are determined, and then the second relative speed between the first device and the second device is determined in combination with the reference time and the phase measurement value and the corresponding interaction time information of the signal frequency f1. Then the final target relative speed is determined based on the first relative speed and the second relative speed.

[0106] Through the embodiments of the present disclosure, it is possible to process information of the first signal interaction and subsequent multiple signal interactions in multiple signal interactions, obtain the relative speed determined by the second signal interaction and one or more subsequent signal interactions with the first signal interaction process, and then determine the target relative speed and the target relative distance after fusing multiple relative speeds. It is possible to take into account the change of motion parameters between the first device and the second device, fuse multiple relative speeds, and determine the final target relative speed and target relative distance, so that the determined target relative speed and target relative distance between the first device and the second device can be made more accurate, and the error can be effectively reduced.

[0107] Furthermore, according to this embodiment, signal interaction between the first device and the second device can be performed at three or more different signal frequencies. For the signal interaction at any signal frequency, the first time interval between the second interaction moment of the same signal interaction and the first interaction moment of the previous signal interaction is less than or equal to the second time interval between the second interaction moment of the same signal interaction and the first interaction of the next signal interaction. This allows multiple time intervals of different lengths to be integrated, reducing the impact of time intervals that are too large or too small on the speed measurement results. Multiple sets of values ​​can be fused to take into account both the speed measurement range and the measurement accuracy, thereby improving the accuracy and adaptability of the motion parameter determination method.

[0108] In some embodiments, Figure 4 As shown, step S130, based on the reference time, the multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value, determines the relative motion parameter between the second device and the second device, and may also include:

[0109] Step S137, in response to the relative motion state with the second device being a motion state, the target relative distance, target relative speed, and target relative acceleration with the second device are determined based on the reference time, multiple phase measurement values, and the interaction time information corresponding to each phase measurement value. The relative motion state between the first device and the second device can be determined first, wherein when there is a relative motion state between the first device and the second device, there is a relative acceleration in the relative motion between the first device and the second device, and therefore, the target relative distance, target relative speed, and target relative acceleration with the second device can be determined through the reference time, multiple phase measurement values, and the interaction time information corresponding to each phase measurement value.

[0110] That is, by combining the expressions of distance, speed and time in step S133 and sorting out the expression of the phase measurement value ψ(T,f), the following expression can be obtained:

[0111]

[0112] In order to better reflect the relationship between the relative motion parameters and the basic moment, the phase measurement value, and the interaction time information corresponding to the phase measurement value, the above expression is deformed, and then the above formula can be defined by ω(T) to obtain the following formula:

[0113]

[0114] Then we get the following formula:

[0115]

[0116] From the above formula, we can know that ω(T) is a quadratic polynomial about T, which can be simplified as: ω(T) = A ω T 2 +B ω T+C ω ,in,

[0117] A ω =a(T0);

[0118] B ω =2v(T0) + (τ-2T0)·a(T0);

[0119]

[0120] Among them, a(T0) is used to represent the target relative acceleration between the first device and the second device at the reference time, v(T0) is used to represent the target relative speed between the first device and the second device at the reference time, and D(T0) is used to represent the target relative distance between the first device and the second device at the reference time. τ is used to represent the difference between the second interaction time and the first interaction time at the same signal frequency. Therefore, when T0 and τ are known, combined with ω(T) at multiple signal frequencies, the coefficient A is solved by fitting a second-order polynomial. ω , B ω and C ω , and then clarify A ω , B ω and C ω In this case, D(T0), v(T0) and a(T0) can be determined.

[0121] The relative motion parameters between the two devices are determined according to the above method. By fusing the carrier phase measurement values ​​at multiple different times before and after, the interfered frequency points can be effectively avoided, and the relative distance, relative speed and relative acceleration are directly calculated based on the determined multiple phase measurement values, thereby effectively reducing errors and improving measurement accuracy.

[0122] In some application scenarios, based on the reference time, the multiple phase measurement values, and the interaction time information corresponding to each phase measurement value, the process of determining the relative motion parameter between the first device and the second device may be as follows:

[0123] When the signal frequency is f1, a signal exchange is completed between the first device and the second device, wherein the first phase measurement value determined by the second device at time T1=T0 is The second phase measurement value determined by the first device at time (T0+τ) is

[0124] The signal frequency is switched to f2, wherein the first phase measurement value determined by the second device at time (T2 = T0 + ΔT) is The second phase measurement value determined by the first device at time (T0+ΔT+τ) is

[0125] The signal frequency is switched to f3, wherein the first phase measurement value determined by the second device at the time (T0+2ΔT) is The second phase measurement value determined by the first device at the time (T0+2ΔT+τ) is Thus, the following three formulas are obtained:

[0126] ω(T1)=2D(T0)+v(T0)·τ+(1 / 2)a(T0)·τ 2 ;

[0127] ω(T2)=2D(T0)+v(T0)·(2ΔT+τ)+(1 / 2)a(T0)·(2ΔT 2 +2τΔT+τ 2 );

[0128] ω(T3)=2D(T0)+v(T0)·(4ΔT+τ)+(1 / 2)a(T0)·(8ΔT 2 +4ΔTτ+τ 2 );

[0129] By solving the above formula, the target relative distance, target relative speed, and target relative acceleration are determined as follows:

[0130] D(T0)=(4ΔTω(T1)+3τω(T1)-4τω(T2)+τω(T3)) / 8ΔT;

[0131] v(T0)=(-3ΔTω(T1)+4ΔTφ(T2)-ΔTω(T3)-τω(T1)+2τω(T2)-τω(T3)) / 4ΔT 2 ;

[0132] a(T0)=(ω(T1)-2ω(T2)+ω(T3)) / 2ΔT 2 .

[0133] In some optional implementation scenarios, such as Figure 5 As shown, the interactive process of determining the motion parameter by the first device may be as follows:

[0134] The first device determines a reference time for detecting the motion parameter.

[0135] The first device determines a first interaction time for performing a signal interaction at a signal frequency.

[0136] The first device and the second device perform signal interaction at a signal frequency to obtain a phase measurement value corresponding to the signal frequency.

[0137] The first device determines a second interaction time for signal interaction with the second device at the signal frequency.

[0138] The first device determines interaction time information corresponding to the phase measurement value according to the first interaction time and the second interaction time.

[0139] The first device determines a target relative distance, a target relative speed, and a target relative acceleration between the first device and the second device based on a reference time, a plurality of phase measurement values, and interaction time information corresponding to each phase measurement value.

[0140] Based on the same inventive concept, Figure 6 As shown, the present disclosure also provides another motion parameter determination method, which is applied to a third device that is communicatively connected to a target device, and the method may include:

[0141] Step S210, determine the reference time for measuring the speed. The third device can determine any time as the reference time for detecting the motion parameters. Since the motion parameters of the first device may change over time during the process of determining the motion parameters, a fixed time is determined as the reference time during the process of the motion parameters changing, so as to detect the relative motion state between the first device and the second device as a fixed reference point, so as to facilitate the subsequent determination of the relative motion parameters. The reference time can be any instantaneous time during the process of the first device determining the motion parameters, such as: the middle time when the first device determines the motion parameters, or the starting time when the first device transmits a signal for the first time. The third device can determine the reference time for measuring the speed through the data sent to it by the first device and the second device.

[0142] Step S220, receiving multiple phase measurement values ​​and interaction time information corresponding to each phase measurement value sent by the target device. The multiple phase measurement values ​​and interaction time information corresponding to each phase measurement value are determined by the target device based on the Bluetooth communication connection between the target device and the non-target device, and the signal interaction with the non-target device at multiple signal frequencies, and the phase measurement value corresponds to the signal frequency one by one. The target device can be the first device or the second device.

[0143] Step S230, based on the reference time, multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value, determine the relative motion parameters between the target device and the non-target device, wherein the relative motion parameters include at least one of the following: target relative distance, target relative speed, and target relative acceleration. Wherein, since the relative motion state between the target device and the non-target device is unknown, the relative motion parameters of the target device and the non-target device in the interaction time corresponding to the multiple phase measurement values ​​may not be determined under the same motion parameters. Since the reference time remains unchanged during the multiple interactions between the target device and the non-target device, the third device can determine the relative motion parameters of the target device and the non-target device during the multiple interactions by determining the relative motion parameters of the target device and the non-target device at the reference time. The target distance may be the relative distance between the target device and the non-target device at the time corresponding to the reference time, the target relative speed may be the relative speed between the target device and the non-target device at the time corresponding to the reference time, and the target relative acceleration may be the relative acceleration between the target device and the non-target device at the time corresponding to the reference time.

[0144] Step S240: Send the relative motion parameter to the target device. The third device may send the relative motion parameter determined by it to the target device, so that the target device can determine the relative motion between itself and the non-target device.

[0145] Through the embodiments of the present disclosure, the motion parameters of the signal interaction between the target device and the non-target device can be determined by a third device, which can effectively save the computing power of the target device and the non-target device and improve efficiency.

[0146] In some embodiments, the multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value may be determined by the target device using the following process:

[0147] Determine the third interaction moment for signal interaction at the signal frequency. Since there is relative motion between the target device and the non-target device, in order to more accurately determine the signal phase of the target device interacting with the non-target device at the same signal frequency, the third interaction moment for the target device to interact with the non-target device at the same signal frequency can be predetermined. The third interaction moment can be the moment when the target device sends a signal to the non-target device at the same signal frequency. According to the third interaction moment, the start time of the signal interaction between the target device and the non-target device at the same signal frequency can be determined.

[0148] Based on the Bluetooth communication connection with the non-target device, the signal interaction with the non-target device is performed at the signal frequency to obtain a phase measurement value corresponding to the signal frequency. In order to facilitate the determination of the interaction between the target device and the non-target device at the same signal frequency, the phase measurement value of the signal interaction between the target device and the non-target device at the same signal frequency is determined, so as to reflect the relationship between the relative position and the motion state between the target device and the non-target device through the phase measurement value.

[0149] Determine a fourth interaction time of signal interaction with the non-target device at the signal frequency; the fourth interaction time may be a time when the target device and the non-target device again interact with each other. In one example, the fourth interaction time may be determined by the non-target device and transmitted to the target device and the third device by the non-target device.

[0150] According to the third interaction moment and the fourth interaction moment, the interaction moment information corresponding to the phase measurement value is determined. According to the third interaction moment and the fourth interaction moment, the interaction moment information corresponding to the process of completing a complete signal interaction at the same signal frequency and determining the phase measurement value can be determined. Among them, the third device can determine the time difference between the target device sending a signal to the non-target device and the non-target device receiving the signal sent by the target device as the interaction moment information through the third interaction moment and the fourth interaction moment.

[0151] Thirdly, Figure 7 As shown, the present disclosure also provides a method for determining motion parameters, which is applied to a first Bluetooth device, and the method includes:

[0152] Step S310: Based on the Bluetooth communication connection with the second Bluetooth device, perform signal interaction with the second Bluetooth device at multiple signal frequencies.

[0153] Step S320, based on the local carrier signal of the first Bluetooth device and the multiple first interaction signals received, respectively determine the first unilateral phase measurement value of each signal interaction, and send the first unilateral phase measurement value each time the second interaction signal is sent to the second Bluetooth device, so that the second Bluetooth device determines the corresponding second unilateral phase measurement value based on the local carrier signal of the second Bluetooth device and the second interaction signal, and determines the phase measurement value of each signal interaction and the corresponding interaction time information based on the second unilateral phase measurement value of each signal interaction and the corresponding first unilateral phase measurement value, obtains multiple phase measurement values ​​and corresponding interaction time information, and determines the relative motion parameters between the first Bluetooth device and the first Bluetooth device based on the reference time for detecting the motion parameters, the multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value, wherein the relative motion parameters include at least one of the following: target relative distance, target relative speed, target relative acceleration.

[0154] In some optional implementation scenarios, the first Bluetooth device may be a Bluetooth headset, and the second Bluetooth device may be a mobile phone. The motion parameter determination method in the embodiment of the present disclosure may be used in a search application. When the mobile phone and the Bluetooth headset are connected via Bluetooth, the lost headset is searched by holding the mobile phone: the mobile phone measures the motion speed relative to the headset in real time. When the mobile phone is moving close to the headset, the mobile phone can measure a positive speed; if the mobile phone is moving away from the headset, the mobile phone will measure a negative speed. The user only needs to keep adjusting the moving direction so that the speed remains positive to find the lost headset.

[0155] In some other optional implementation scenarios, the motion parameter determination method provided by the present disclosure can also be applied to the navigation control of a robot, wherein the first Bluetooth device can be a base station and the second Bluetooth device can be a robot. For example, when the sweeping robot needs to return to the base station, the base station and the robot can quickly and accurately determine whether the robot is on the correct route to approach the base station through the above speed measurement.

[0156] Based on the same inventive concept, Figure 8 As shown, the present disclosure further provides a motion parameter determination device 400, which is applied to a first device, and the device 400 includes:

[0157] A first time determination module 410, for determining a reference time for detecting motion parameters;

[0158] A first determination module 420, configured to determine, based on a Bluetooth communication connection with a second device, a plurality of phase measurement values ​​and corresponding interaction time information for signal interaction with the second device at a plurality of signal frequencies, wherein the phase measurement values ​​correspond to the signal frequencies in a one-to-one manner;

[0159] The first processing module 430 is used to determine the relative motion parameters between the second device and the second device based on the reference time, multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value, wherein the relative motion parameters include at least one of the following: target relative distance, target relative speed, and target relative acceleration.

[0160] Regarding the motion parameter determination device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0161] Based on the same inventive concept, Fig. 9 As shown, the present disclosure further provides a motion parameter determination device 500, which is applied to a third device that is communicatively connected to a target device. The device 500 may include:

[0162] A second time determination module 510, used to determine a reference time for measuring speed;

[0163] A receiving module 520 is used to receive multiple phase measurement values ​​and interaction time information corresponding to each phase measurement value sent by the target device, where the multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value are determined by the target device performing signal interaction with the non-target device at multiple signal frequencies based on the Bluetooth communication connection between the target device and the non-target device, and the phase measurement value corresponds to the signal frequency one by one;

[0164] The second processing module 530 is used to determine the relative motion parameter between the target device and the non-target device based on the reference time, the multiple phase measurement values, and the interaction time information corresponding to each phase measurement value, wherein the relative motion parameter includes at least one of the following: target relative distance, target relative speed, and target relative acceleration;

[0165] The first sending module 540 is used to send the relative motion parameters to the target device.

[0166] Regarding the motion parameter determination device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0167] Based on the same inventive concept, Fig.10 As shown, the present disclosure further provides a motion parameter determination device 600, which is applied to a first Bluetooth device, and the device 600 includes:

[0168] A first execution module 610, configured to perform signal interaction with the second Bluetooth device at multiple signal frequencies based on the Bluetooth communication connection between the second Bluetooth device and the second Bluetooth device;

[0169] The second execution module 620 is used to determine the first unilateral phase measurement value of each signal interaction based on the local carrier signal of the first Bluetooth device and the received multiple first interaction signals, and send the first unilateral phase measurement value each time the second interaction signal is sent to the second Bluetooth device, so that the second Bluetooth device determines the corresponding second unilateral phase measurement value based on the local carrier signal of the second Bluetooth device and the second interaction signal, and determines the phase measurement value of each signal interaction and the corresponding interaction time information based on the second unilateral phase measurement value and the corresponding first unilateral phase measurement value for each signal interaction, obtains multiple phase measurement values ​​and corresponding interaction time information, and determines the relative motion parameters between the first Bluetooth device and the first Bluetooth device based on the reference time for detecting the motion parameters, the multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value, wherein the relative motion parameters include at least one of the following: target relative distance, target relative speed, target relative acceleration. Regarding the motion parameter determination device in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0170] Based on the same inventive concept, the present disclosure further provides a computer-readable storage medium, which stores the following program, and the program is used to execute the motion parameter determination method of any of the aforementioned embodiments.

[0171] like Fig.11 As shown, an embodiment of the present disclosure provides an electronic device 700. The electronic device 700 includes a memory 710, a processor 720, and an input / output (I / O) interface 730. The memory 710 is used to store instructions. The processor 720 is used to call the instructions stored in the memory 710 to execute the motion parameter determination method of the embodiment of the present disclosure. The processor 720 is connected to the memory 710 and the I / O interface 730 respectively, for example, through a bus system and / or other forms of connection mechanisms (not shown). The memory 710 can be used to store programs and data, and the processor 720 executes various functional applications and data processing of the electronic device 700 by running the programs stored in the memory 710.

[0172] In the embodiment of the present disclosure, the processor 720 can be implemented in at least one hardware form of a digital signal processor (Digital Signal Processing, DSP), a field programmable gate array (Field-Programmable Gate Array, FPGA), and a programmable logic array (Programmable Logic Array, PLA). The processor 720 can be a central processing unit (Central Processing Unit, CPU) or one or a combination of other forms of processing units with data processing capabilities and / or instruction execution capabilities.

[0173] The memory 710 in the embodiment of the present disclosure may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.

[0174] In the embodiment of the present disclosure, the I / O interface 730 may be used to receive input instructions (such as digital or character information, and key signal input related to user settings and function control of the electronic device 700), and may also output various information to the outside (such as images or sounds). In the embodiment of the present disclosure, the I / O interface 730 may include one or more of a physical keyboard, a function key (such as a volume control key, a switch key, etc.), a mouse, a joystick, a trackball, a microphone, a speaker, and a touch panel.

[0175] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0176] In the context of this application, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0177] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more application embodiments, in the above description of the embodiments of this application, multiple features are sometimes merged into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0178] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is only for example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the embodiments of the present application.

Claims

1. A method for determining motion parameters, applied to a first device, the method comprising: Determine a reference time for detecting motion parameters; Based on the Bluetooth communication connection with the second device, determine multiple phase measurement values ​​and corresponding interaction time information for signal interaction with the second device at multiple signal frequencies, wherein the phase measurement values ​​correspond to the signal frequencies one by one; Based on the reference time, the multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value, determine the relative motion parameters between the second device, wherein the relative motion parameters include at least one of the following: target relative distance, target relative speed, target relative acceleration.

2. The method for determining motion parameters according to claim 1, wherein: The determining, based on the Bluetooth communication connection with the second device, a plurality of phase measurement values ​​and corresponding interaction time information for signal interaction with the second device at a plurality of signal frequencies includes: Determining a first interaction time for performing signal interaction at the signal frequency; Based on the Bluetooth communication connection with the second device, signal interaction with the second device at the signal frequency is performed to obtain the phase measurement value corresponding to the signal frequency; Determine a second interaction time for signal interaction with the second device at the signal frequency; According to the first interaction time and the second interaction time, interaction time information corresponding to the phase measurement value is determined.

3. The method for determining motion parameters according to claim 2, wherein: The step of interacting with the second device at the signal frequency based on the Bluetooth communication connection with the second device to obtain the phase measurement value corresponding to the signal frequency includes: Based on the Bluetooth communication connection with the second device, sending a first signal to the second device according to the signal frequency; receiving a first phase measurement value sent by the second device, where the first phase measurement value is determined by the second device based on the first signal and a local carrier signal of the second device; receiving a second signal sent by the second device according to the signal frequency; determining a second phase measurement based on the second signal and a local carrier signal of the first device; The phase measurement value corresponding to the signal frequency is obtained according to the first phase measurement value and the second phase measurement value.

4. The method for determining motion parameters according to claim 2, wherein: The step of interacting with the second device at the signal frequency based on the Bluetooth communication connection with the second device to obtain the phase measurement value corresponding to the signal frequency includes: Based on the Bluetooth communication connection with the second device, receiving a third signal sent by the second device according to the signal frequency; determining a third phase measurement value based on the third signal and a local carrier signal of the first device; sending a fourth signal to the second device according to the signal frequency; receiving a fourth phase measurement value sent by the second device, where the fourth phase measurement value is determined by the second device based on the fourth signal and a local carrier signal of the second device; The phase measurement value corresponding to the signal frequency is obtained according to the third phase measurement value and the fourth phase measurement value.

5. The method for determining motion parameters according to any one of claims 2 to 4, wherein: A first time interval between the second interaction moment of the signal interaction and the first interaction moment of the previous signal interaction is less than or equal to a second time interval between the second interaction moment of the signal interaction and the first interaction of the next signal interaction.

6. The method for determining motion parameters according to claim 1, wherein: The determining the relative motion parameter with the second device based on the reference time, the plurality of phase measurement values, and the interaction time information corresponding to each phase measurement value includes: In a process of performing signal interaction with the second device at a plurality of signal frequencies, determining a relative motion state with the second device; In response to the relative motion state between the second device and the second device being stationary or uniform motion, it is determined that the target relative acceleration between the second device and the second device is zero.

7. The method for determining motion parameters according to claim 6, wherein: The determining the relative motion parameter between the second device and the second device based on the reference time, the plurality of phase measurement values, and the interaction time information corresponding to each phase measurement value further includes: Based on the reference time, the two adjacent phase measurement values ​​and the corresponding interaction time information, the target relative speed and / or the target relative distance between the second device and the second device is determined.

8. The method for determining motion parameters according to claim 6, wherein: The determining the relative motion parameter between the second device and the second device based on the reference time, the plurality of phase measurement values, and the interaction time information corresponding to each phase measurement value further includes: Determine a first phase measurement value for the first signal interaction from the plurality of phase measurement values, and determine first interaction time information corresponding to the first phase measurement value; According to the order of signal interaction, the relative speed with the second device is determined based on the reference time, the phase measurement value of the first signal interaction and the corresponding interaction time information, and the phase measurement value of the next signal interaction and the corresponding interaction time information, to obtain a plurality of relative speeds, wherein the next signal interaction is any signal interaction that is not the first signal interaction; Based on the fusion results of the plurality of relative speeds, a target relative speed and / or the target relative distance to the second device is determined.

9. The method for determining motion parameters according to claim 6, wherein: The determining the relative motion parameter between the second device and the second device based on the reference time, the plurality of phase measurement values, and the interaction time information corresponding to each phase measurement value further includes: If the relative motion state with the second device is a motion state, the target relative distance, the target relative speed and the target relative acceleration with the second device are determined based on the reference time, the multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value.

10. A method for determining motion parameters, applied to a third device communicating with a target device, the method comprising: Determine the reference time for measuring speed; receiving a plurality of phase measurement values ​​and interaction time information corresponding to each of the phase measurement values ​​sent by the target device, wherein the plurality of phase measurement values ​​and the interaction time information corresponding to each of the phase measurement values ​​are determined by the target device performing signal interaction with the non-target device at a plurality of signal frequencies based on a Bluetooth communication connection between the target device and the non-target device, and the phase measurement values ​​correspond to the signal frequencies one-to-one; Determine a relative motion parameter between the target device and the non-target device based on the reference time, the plurality of phase measurement values, and the interaction time information corresponding to each phase measurement value, wherein the relative motion parameter includes at least one of the following: target relative distance, target relative speed, and target relative acceleration; The relative motion parameters are sent to the target device.

11. The method for determining motion parameters according to claim 10, wherein: The multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value are determined by the target device using the following process: determining a third interaction time for performing signal interaction at the signal frequency; Based on the Bluetooth communication connection with the non-target device, signal interaction with the non-target device at the signal frequency is performed to obtain the phase measurement value corresponding to the signal frequency; Determining a fourth interaction time of signal interaction with the non-target device at the signal frequency; The interaction time information corresponding to the phase measurement value is determined according to the third interaction time and the fourth interaction time.

12. A method for determining a motion parameter, applied to a first Bluetooth device, the method comprising: Based on the Bluetooth communication connection with the second Bluetooth device, perform signal interaction with the second Bluetooth device at multiple signal frequencies; Based on the local carrier signal of the first Bluetooth device and the multiple first interaction signals received, the first unilateral phase measurement value of each signal interaction is determined respectively, and the first unilateral phase measurement value is sent each time the second interaction signal is sent to the second Bluetooth device, so that the second Bluetooth device determines the corresponding second unilateral phase measurement value based on the local carrier signal of the second Bluetooth device and the second interaction signal, and determines the phase measurement value of each signal interaction and the corresponding interaction time information based on the second unilateral phase measurement value of each signal interaction and the corresponding first unilateral phase measurement value, obtains multiple phase measurement values ​​and the corresponding interaction time information, and determines the relative motion parameters between the first Bluetooth device and the first Bluetooth device based on the reference time for detecting the motion parameters, the multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value, wherein the relative motion parameters include at least one of the following: target relative distance, target relative speed, target relative acceleration.

13. A motion parameter determination device, applied to a first device, the device comprising: A first time determination module, used to determine a reference time for detecting motion parameters; A first determination module, configured to determine, based on a Bluetooth communication connection with a second device, a plurality of phase measurement values ​​and corresponding interaction time information for signal interaction with the second device at a plurality of signal frequencies, wherein the phase measurement values ​​correspond to the signal frequencies in a one-to-one manner; The first processing module is used to determine the relative motion parameters between the second device and the second device based on the reference time, the multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value, wherein the relative motion parameters include at least one of the following: target relative distance, target relative speed, and target relative acceleration.

14. A motion parameter determination device, applied to a third device communicating with a target device, the device comprising: A second time determination module, used to determine a reference time for measuring speed; A receiving module, used for receiving a plurality of phase measurement values ​​sent by the target device and interaction time information corresponding to each of the phase measurement values, wherein the plurality of phase measurement values ​​and the interaction time information corresponding to each of the phase measurement values ​​are determined by the target device performing signal interaction with the non-target device at a plurality of signal frequencies based on a Bluetooth communication connection between the target device and the non-target device, and the phase measurement values ​​correspond to the signal frequencies one by one; The second processing module is used to process the The plurality of phase measurement values ​​and the interaction time information corresponding to each phase measurement value are used to determine a relative motion parameter between the target device and the non-target device, wherein the relative motion parameter includes at least one of the following: a target relative distance, a target relative speed, and a target relative acceleration; The first sending module is used to send the relative motion parameter to the target device.

15. A motion parameter determination device, applied to a first Bluetooth device, the device comprising: A first execution module, configured to perform signal interaction with a second Bluetooth device at multiple signal frequencies based on a Bluetooth communication connection with the second Bluetooth device; The second execution module is used to determine the first unilateral phase measurement value of each signal interaction based on the local carrier signal of the first Bluetooth device and the multiple first interaction signals received, and send the first unilateral phase measurement value each time the second interaction signal is sent to the second Bluetooth device, so that the second Bluetooth device determines the corresponding second unilateral phase measurement value based on the local carrier signal of the second Bluetooth device and the second interaction signal, and determines the phase measurement value of each signal interaction and the corresponding interaction time information based on the second unilateral phase measurement value of each signal interaction and the corresponding first unilateral phase measurement value, obtains multiple phase measurement values ​​and the corresponding interaction time information, and determines the relative motion parameters between the first Bluetooth device and the first Bluetooth device based on the reference time for detecting the motion parameters, the multiple phase measurement values ​​and the interaction time information corresponding to each phase measurement value, wherein the relative motion parameters include at least one of the following: target relative distance, target relative speed, and target relative acceleration.

16. An electronic device, comprising: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the motion parameter determination method described in any one of claims 1 to 9, the motion parameter determination method described in any one of claims 10 to 11, or the motion parameter determination method described in claim 12 by executing the computer instructions.

17. A computer-readable storage medium storing the following program, wherein the program is used to execute the motion parameter determination method according to any one of claims 1 to 9, or the motion parameter determination method according to any one of claims 10 to 11, or the motion parameter determination method according to claim 12.

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