Displacement measurement method, displacement measurement device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of communication interaction, in particular to a displacement measurement method, a displacement measurement device, electronic equipment and a storage medium. The displacement measurement method provided by the invention is applied to first equipment, and comprises the following steps: based on communication connection with second equipment, determining a plurality of phase measurement value groups for performing signal interaction with the second equipment according to a plurality of signal frequencies at a plurality of moments; based on the phase measurement value group corresponding to the first moment, determining a first distance estimation value between the first moment and the second equipment; based on the first distance estimation value and the phase measurement value group corresponding to the second moment, determining a second distance estimation value between the second moment and the second equipment; and according to the second distance estimation value and the first distance estimation value, determining displacements with the second equipment at the plurality of moments. Dependence on external parameters or hypotheses can be reduced, so that the displacement determination process is more independent and reliable, and the accuracy of displacement change can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of communication interaction technology, and in particular to a displacement measurement method, a displacement measurement 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] In the related art, the Bluetooth connection supervision (CS) technology is used for distance measurement, which has a large error and is not suitable for application scenarios of macro measurement. Summary of the invention

[0004] To overcome the problems existing in the related art, an exemplary embodiment of the present invention discloses a displacement measurement method, which is applied to a first device, and the method includes: based on a communication connection with a second device, determining multiple phase measurement value groups for signal interaction with the second device at multiple time instants according to multiple signal frequencies, the phase measurement value groups corresponding to the time instants one-to-one, the phase measurement value groups including multiple phase measurement values, and the phase measurement values ​​corresponding to the signal frequencies one-to-one; based on the phase measurement value group corresponding to the first time instant, determining a first distance estimation value between the first time instant and the second device; based on the first distance estimation value and the phase measurement value group corresponding to the second time instant, determining a second distance estimation value between the second time instant and the second device, the second time instant being later than the first time instant; and determining the displacement between the first time instant and the second device according to the second distance estimation value and the first distance estimation value.

[0005] In some embodiments, based on a phase measurement value group corresponding to a first moment, determining a first distance estimate between a first moment and a second device, includes: determining a first intermediate distance estimate corresponding to the phase measurement value based on an initial phase period corresponding to the phase measurement value at the first moment; fusing multiple first intermediate distance estimates to obtain a fusion result; based on the fusion result, adjusting the initial phase period corresponding to each phase measurement value respectively to obtain a target phase period corresponding to each phase measurement value; based on the target phase period corresponding to each phase measurement value, determining the first distance estimate between the first moment and the second device through multiple phase measurement values ​​corresponding to the first moment.

[0006] In some embodiments, based on the target phase period corresponding to each phase measurement value, a first distance estimate between the first moment and the second device is determined through multiple phase measurement values ​​corresponding to the first moment, including: based on the target phase period corresponding to each phase measurement value, respectively determining the distance estimate corresponding to each phase measurement value through multiple phase measurement values ​​corresponding to the first moment; fusing the distance estimate values ​​corresponding to all phase measurement values ​​to obtain a first candidate distance estimate corresponding to the first moment; if the first moment is the starting moment of the displacement measurement, determining the first candidate distance estimate as the first distance estimate between the first moment and the second device; if the first moment is the middle moment of the displacement measurement, adjusting the first candidate distance estimate based on the distance estimate between the second device at the previous moment to obtain the first distance estimate between the first moment and the second device.

[0007] In some embodiments, based on the first distance estimate and the phase measurement value group corresponding to the second moment, a second distance estimate between the second moment and the second device is determined, including: determining a displacement threshold between the second moment and the second device according to the time difference between the second moment and the first moment; determining a second candidate distance estimate between the second moment and the second device based on the phase measurement value group corresponding to the second moment; determining a distance difference between the second candidate distance estimate and the first distance estimate; and adjusting the second candidate distance estimate based on a comparison result of the distance difference and the displacement threshold to obtain a second distance estimate between the second moment and the second device.

[0008] In some embodiments, based on the comparison result of the distance difference and the displacement threshold, the second candidate distance estimate is adjusted to obtain the second distance estimate between the second moment and the second device, including: in response to the absolute value of the distance difference being less than or equal to the displacement threshold, determining that the second candidate distance estimate is the second distance estimate between the second moment and the second device; in response to the distance difference being greater than the displacement threshold, reducing the second candidate distance estimate based on a specified step size until the absolute value of the distance difference is less than or equal to the displacement threshold, and determining the reduced result as the second distance estimate between the second moment and the second device; in response to the distance difference being less than the opposite of the displacement threshold, expanding the second candidate distance estimate based on a specified step size until the absolute value of the distance difference is less than or equal to the displacement threshold, and determining the expanded result as the second distance estimate between the second moment and the second device.

[0009] In some embodiments, the specified step size is determined based on a maximum signal frequency and / or a minimum signal frequency for communicating with the second device.

[0010] In some embodiments, the method also includes: obtaining a third distance estimate between the second device at one or more other times; establishing a distance change curve between the second device at multiple times based on the first distance estimate at the first time, the second distance estimate at the second time, and the third distance estimate at one or more other times, so as to determine the distance change between the second device through the distance change curve.

[0011] In some embodiments, based on the communication connection with a second device, multiple phase measurement value groups for signal interaction with the second device at multiple signal frequencies at multiple times are determined, including: based on the 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; obtaining a phase measurement value corresponding to the signal frequency based on the first phase measurement value and the second phase measurement value; in response to obtaining the phase measurement values ​​corresponding to all signal frequencies, obtaining a phase measurement value group for signal interaction with the second device at multiple signal frequencies at a time.

[0012] In some embodiments, based on the communication connection with the second device, multiple phase measurement value groups for signal interaction with the second device at multiple signal frequencies at multiple times are determined, including: based on the 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; obtaining a phase measurement value corresponding to the signal frequency based on the third phase measurement value and the fourth phase measurement value; in response to obtaining the phase measurement values ​​corresponding to all signal frequencies, obtaining a phase measurement value group for signal interaction with the second device at multiple signal frequencies at a time.

[0013] In a second aspect, the present disclosure further provides a displacement measurement method, which is applied to a third device, and the third device is respectively connected to a first device and a second device that communicate with each other. The method includes: based on the communication connection between the first device, receiving a plurality of first phase measurement value groups of the first device transmitting signals to the second device at a plurality of time points according to a plurality of signal frequencies, the first phase measurement value groups corresponding to the time points one by one, the first phase measurement value groups including a plurality of first phase measurement values, and the first phase measurement values ​​corresponding to the signal frequencies one by one; based on the communication connection between the second device, receiving a plurality of second phase measurement value groups of the second device transmitting signals to the first device at a plurality of time points according to a plurality of signal frequencies, the second phase measurement value groups corresponding to the time points one by one Correspondingly, the second phase measurement value group includes multiple second phase measurement values, and the second phase measurement values ​​correspond to the signal frequency one by one; based on the multiple first phase measurement value groups and the multiple second phase measurement value groups, multiple phase measurement value groups for signal interaction between the first device and the second device at multiple time points according to multiple signal frequencies are determined; based on the phase measurement value group corresponding to the first moment, a first distance estimate between the first device and the second device at the first moment is determined; based on the first distance estimate and the phase measurement value group corresponding to the second moment, a second distance estimate between the first device and the second device at the second moment is determined; according to the second distance estimate and the first distance estimate, the displacement between the first device and the second device at multiple time points is determined.

[0014] In the third aspect, the present disclosure also provides a displacement measurement device, which is applied to a first device, and the device includes: a first determination module, which is used to determine, based on the communication connection with the second device, multiple phase measurement value groups for signal interaction with the second device at multiple time points according to multiple signal frequencies, the phase measurement value groups correspond one-to-one to the time points, the phase measurement value groups include multiple phase measurement values, and the phase measurement values ​​correspond one-to-one to the signal frequencies; a first processing module, which is used to determine a first distance estimation value between the second device at a first time point based on the phase measurement value group corresponding to the first time point; a second determination module, which is used to determine a second distance estimation value between the second device at a second time point based on the first distance estimation value and the phase measurement value group corresponding to the second time point, the second time point being later than the first time point; and a second processing module, which is used to determine the displacement between the second device at multiple time points according to the second distance estimation value and the first distance estimation value.

[0015] In a fourth aspect, the present disclosure further provides a displacement measurement device, which is applied to a third device, and the third device is respectively connected to a first device and a second device that communicate with each other, and the device includes: a first receiving module, which is used to receive, based on the communication connection between the first device and the first device, a plurality of first phase measurement value groups for signal transmission between the first device and the second device at multiple times according to multiple signal frequencies, the first phase measurement value groups corresponding to the time one by one, the first phase measurement value group including a plurality of first phase measurement values, and the first phase measurement values ​​corresponding to the signal frequency one by one; a second receiving module, which is used to receive, based on the communication connection between the second device and the second device, a plurality of second phase measurement value groups for signal transmission between the second device and the first device at multiple times according to multiple signal frequencies, the second phase measurement value groups corresponding to the time one by one, the second phase measurement value groups The value group includes multiple second phase measurement values, and the second phase measurement values ​​correspond to the signal frequency one by one; a third determination module is used to determine multiple phase measurement value groups for signal interaction between the first device and the second device at multiple times according to multiple signal frequencies based on the multiple first phase measurement value groups and the multiple second phase measurement value groups; a third processing module is used to determine a first distance estimation value between the first device and the second device at the first time based on the phase measurement value group corresponding to the first time; a fourth processing module is used to determine a second distance estimation value between the first device and the second device at the second time based on the first distance estimation value and the phase measurement value group corresponding to the second time; a fifth processing module is used to determine the displacement between the first device and the second device at multiple times according to the second distance estimation value and the first distance estimation value.

[0016] In a fifth aspect, the present disclosure further provides an electronic device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the displacement measurement method provided in any of the above aspects by executing the computer instructions.

[0017] In a sixth aspect, the present disclosure further provides a computer-readable storage medium, which stores the following program, and the program is used to execute the displacement measurement method provided in any of the above aspects.

[0018] 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.

[0019] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: According to the displacement measurement method provided by the present disclosure, based on the phase measurement value of the signal interaction between the first device and the second device according to multiple signal frequencies, the distance estimation value between the first device and the second device at different times is determined, which can reduce the error caused by signal attenuation or multipath effect, thereby effectively avoiding the interference of a single frequency point and improving the accuracy of the distance estimation value. In addition, the second distance estimation value at the second moment is determined based on the first distance estimation value at the first moment and the corresponding phase measurement group, which can reduce the random error of the estimation, thereby improving the reliability and accuracy of the second distance estimation value. According to the second distance estimation value and the first distance estimation value, the displacement of the two devices at multiple times is determined, which can reduce the dependence on external parameters or assumptions, thereby making the displacement determination process more independent and reliable, and can effectively improve the accuracy of the displacement change. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention may be better understood by describing exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0021] Figure 1 is a flow chart of a displacement measurement method according to an exemplary embodiment of the disclosure;

[0022] Figure 2 is a flow chart of another displacement measurement method according to an exemplary embodiment of the disclosure;

[0023] Figure 3 is a flow chart of another displacement measurement method according to an exemplary embodiment of the disclosure;

[0024] Figure 4 is a flow chart of another displacement measurement method according to an exemplary embodiment of the disclosure;

[0025] Figure 5 is a schematic diagram of a device interaction for displacement measurement according to an exemplary embodiment of the disclosure;

[0026] Figure 6 is a flow chart of a displacement measurement method according to another exemplary embodiment of the present disclosure;

[0027] Figure 7 is a schematic diagram of a displacement measurement scenario according to an exemplary embodiment of the disclosure;

[0028] Figure 8 is a schematic diagram of another displacement measurement scenario according to an exemplary embodiment of the disclosure;

[0029] Fig. 9is a structural schematic diagram of a displacement measuring device according to another exemplary embodiment of the present disclosure;

[0030] Fig.10 is a schematic structural diagram of another displacement measuring device according to an exemplary embodiment of the disclosure;

[0031] Fig.11 is a schematic structural diagram of an electronic device according to another exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] 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.

[0035] In related technologies, the use of Bluetooth Connection Supervision (CS) technology for ranging requires relying on signal strength to detect the connection status between two devices. However, in macro measurement, even if the distance is very close, the signal strength may be affected by factors such as occlusion and object reflection, resulting in measurement errors. It is not suitable for macro measurement application scenarios.

[0036] To solve the above problems, Figure 1 As shown, an exemplary embodiment of the present disclosure provides a displacement measurement method, which is applied to a first device. The method may include the following steps S110 to S140:

[0037] Step S110: Based on the communication connection with the second device, determine a plurality of phase measurement value groups for signal interaction with the second device at a plurality of time instants according to a plurality of signal frequencies.

[0038] By means of signal interaction, phase measurement values ​​of signal interaction between two devices at multiple signal frequencies are determined, so that the phase measurement values ​​can reflect the distance between the first device and the second device when signal interaction is performed at corresponding signal frequencies.

[0039] Since the time required for the first device and the second device to perform signal interaction according to multiple signal frequencies is extremely short, the distance change between the two devices during this time period can be considered to be small and thus negligible. Therefore, the multiple phase measurement values ​​obtained by the first device and the second device performing signal interaction according to multiple signal frequencies can be used as a phase measurement value group for signal interaction at the corresponding moment, so that the distance between the two devices at that moment can be reflected through the multiple phase measurement values ​​in the phase measurement value group. That is, the phase measurement value group corresponds to the moment one-to-one, the phase measurement value group includes multiple phase measurement values, and the phase measurement values ​​correspond to the signal frequency one-to-one.

[0040] Since the distance between the first device and the second device may change over time, a phase measurement value group corresponding to each moment is determined respectively, so that the distance change between the two devices at multiple moments can be detected through multiple phase measurement groups in the future.

[0041] Step S120: determining a first distance estimation value between the second device at the first moment based on the phase measurement value group corresponding to the first moment.

[0042] At the same moment, it can be assumed that the distance between the first device and the second device is relatively fixed, and it can be considered that in the phase measurement value group corresponding to the first moment, each phase measurement value is measured at the same distance using different signal frequencies. Therefore, the distance between the first device and the second device at the first moment can be specifically estimated through the phase measurement value group corresponding to the first moment, thereby obtaining the first distance estimation value corresponding to the first moment. Among them, the algorithm for determining the first distance estimation value through the phase measurement value group corresponding to the first moment may include but is not limited to the Doppler effect, phase difference measurement, etc., which can be determined according to actual conditions.

[0043] Step S130: Determine a second distance estimation value between the second device and the first distance estimation value at the second moment based on the first distance estimation value and the phase measurement value group corresponding to the second moment.

[0044] The distance between the first device and the second device at the second moment is estimated by the phase measurement value group corresponding to the second moment. The distance estimation principle is similar to the determination principle of the first distance estimation value. The second moment is later than the first moment.

[0045] However, since the second distance estimate may have multiple values ​​in the actual estimation process, the first distance estimate can be used as a reference to limit the reasonable value range of the second distance estimate based on the first distance estimate and the propagation characteristics of the signal, thereby determining a valid second distance estimate to ensure the reliability and accuracy of the second distance estimate.

[0046] Step S140: determining the displacement between the second device and the second device at multiple time instants according to the second distance estimation value and the first distance estimation value.

[0047] The second distance estimation value may represent the distance between the first device and the second device at the second moment, and the first distance estimation value may represent the distance between the first device and the second device at the first moment. Since the second moment is later than the first moment, by comparing the difference between the second distance estimation value and the first distance estimation value, the change of the distance between the first device and the second device from the first moment to the second moment may be determined, thereby obtaining the displacement between the first device and the second device at multiple moments.

[0048] According to the displacement measurement method provided by the present disclosure, based on the phase measurement value of the signal interaction between the first device and the second device according to multiple signal frequencies, the distance estimation value between the first device and the second device at different times is determined, which can reduce the error caused by signal attenuation or multipath effect, thereby effectively avoiding the interference of a single frequency point and improving the accuracy of the distance estimation value. In addition, the second distance estimation value at the second moment is determined based on the first distance estimation value at the first moment and the corresponding phase measurement group, which can reduce the random error of the estimation, thereby improving the reliability and accuracy of the second distance estimation value. According to the second distance estimation value and the first distance estimation value, the displacement of the two devices at multiple times is determined, which can reduce the dependence on external parameters or assumptions, thereby making the process of displacement determination more independent and reliable, and can effectively improve the accuracy of displacement changes.

[0049] In some embodiments, Figure 2 As shown, the above step S120 may include:

[0050] Step S121: determining a first intermediate distance estimation value corresponding to the phase measurement value based on an initial phase period corresponding to the phase measurement value at a first moment.

[0051] The phase measurement value is obtained by the first device and the second device performing signal interaction at the same signal frequency. The phase measurement value is obtained by measuring the unilateral phase of the measurement signal sent by each device and merging the two unilateral phase measurement values. Since the time interval of a single signal interaction is extremely short, the distance change between the two devices during the signal interaction process can be considered to be small and thus negligible. Therefore, the phase measurement value ψ(T,f) can be expressed by the following formula:

[0052]

[0053] in, It can represent the single-side phase measurement value of the two devices that first receives the measurement signal sent by the other party. It can represent the unilateral phase measurement value of the measurement signal sent by the other party after two devices receive it, f represents the signal frequency of the current signal interaction, c represents the propagation speed of the measurement signal, D(T) represents the distance between the two devices at the corresponding time, 2kπ represents the phase period corresponding to the phase measurement value, and k is an integer greater than zero.

[0054] In order to better reflect the relationship between the distance between two devices and the signal frequency at the same time, based on the above expression of the phase measurement value ψ(T,f), the following distance estimation expression is defined:

[0055]

[0056] Where d(T,f) represents the estimated value of the remaining distance after subtracting integer multiples of half wavelengths from the actual distance D(T).

[0057] The size of each phase measurement value depends on the value of k in the corresponding phase cycle. In order to determine a reasonable first distance estimate, the first intermediate distance estimate corresponding to the phase measurement value at the first moment is determined based on the initial phase cycle corresponding to the phase measurement value, so that the first intermediate distance estimate corresponding to each phase measurement value at the first moment can be determined. Among them, the initial phase cycle refers to the phase cycle when k is initially taken in the aforementioned phase measurement value formula. The first intermediate distance estimate refers to the distance estimate between the two devices currently measured, and it is necessary to further determine whether it is the intermediate value of the valid distance estimate.

[0058] Step S122, fusing multiple first intermediate distance estimation values ​​to obtain a fusion result.

[0059] Multiple first intermediate distance estimation values ​​can be fused by averaging to improve the robustness and accuracy of the detection result and obtain a fusion result. The fusion process can be expressed by the following expression:

[0060]

[0061] Wherein, i represents the order of the phase measurement value in the corresponding phase measurement value group at the first moment.

[0062] In some examples, multiple first intermediate distance estimation values ​​may be fused by weighted averaging, Bayesian estimation, or Kalman filtering, and the specific method may be determined based on actual needs.

[0063] In other examples, if the first intermediate distance estimation value is significantly different from other first intermediate distance estimation values, it indicates that there is significant interference during the signal interaction at the corresponding signal frequency. Therefore, before fusion, outliers in multiple first intermediate distance estimation values ​​can be removed, and the retained first intermediate distance and its corresponding phase measurement value can be used for fusion processing to eliminate interference in the measurement process, thereby improving the reliability of the fusion result.

[0064] Step S123: Based on the fusion result, the initial phase period corresponding to each phase measurement value is adjusted respectively to obtain the target phase period corresponding to each phase measurement value.

[0065] Since the value of the initial phase period corresponding to each phase measurement value may not be unique, there will be abnormal values ​​with large differences in multiple first intermediate distance estimates. Therefore, in order to improve the reliability and accuracy of the fusion result, the following limiting rules are established to adjust the initial phase period corresponding to each phase measurement value, so as to obtain a reliable target phase period corresponding to each phase measurement value:

[0066]

[0067] Among them, k i represents the phase period k in the phase measurement value of the corresponding order, k i The value rule of is The variance of is minimal.

[0068] In the process of adjusting each k value, when the value on the right side of the equation is the minimum value among multiple variance results, each k value on the left side of the equation is assigned to the phase period k of the corresponding phase measurement value, thereby obtaining the target phase period corresponding to each phase measurement value.

[0069] Step S124: Based on the target phase period corresponding to each phase measurement value, a first distance estimation value between the second device and the first moment is determined by using multiple phase measurement values ​​corresponding to the first moment.

[0070] After clarifying the target phase period corresponding to each phase measurement value, the distance estimation value corresponding to each phase measurement value is re-determined, and the multiple re-determined distance estimation values ​​are fused, and the obtained fusion result is used as the first distance estimation value between the first device and the second device at the first moment, thereby effectively reducing errors and improving the accuracy and reliability of the first distance estimation value.

[0071] In some examples, the above step S124 may include the following steps:

[0072] Step a1, based on the target phase period corresponding to each phase measurement value, respectively determine the distance estimation value corresponding to each phase measurement value through multiple phase measurement values ​​corresponding to the first moment;

[0073] Step a2, fusing the distance estimation values ​​corresponding to all phase measurement values ​​to obtain a first candidate distance estimation value corresponding to the first moment;

[0074] Step a3: if the first moment is the starting moment of the displacement measurement, determining the first candidate distance estimation value as the first distance estimation value between the first moment and the second device;

[0075] Step a4: if the first moment is an intermediate moment of the displacement measurement, the first candidate distance estimation value is adjusted based on the distance estimation value between the second device at the previous moment to obtain the first distance estimation value between the second device at the first moment.

[0076] Specifically, after the target phase period corresponding to each phase measurement value is clarified, the distance estimation value corresponding to each phase measurement value is re-determined, and the re-determined multiple distance estimation values ​​are fused to obtain the first candidate distance estimation value corresponding to the first moment.

[0077] If the first moment is the starting moment of the displacement measurement, the first candidate distance estimate is characterized as the first distance estimate for determining the distance between the first device and the second device. Therefore, the first candidate distance estimate can be used as a benchmark in the entire displacement measurement process, and the first candidate distance estimate is determined to be a valid distance estimate. Therefore, the first candidate estimated distance value is used as the first distance estimate between the first device and the second device at the first moment.

[0078] If the first moment is the middle moment of the displacement measurement, it is necessary to rely on the distance estimation value between the first device and the second device at the previous moment, and make targeted adjustments to the first candidate distance estimation value to improve the estimation accuracy of the distance between the first device and the second device at the first moment, reduce the dependence on real-time data, and use the obtained adjustment result as the first distance estimation value between the first device and the second device at the first moment, so as to improve the accuracy and reliability of the first distance estimation value.

[0079] By determining the first distance estimate in the above manner, the random error and the measurement error can be effectively reduced by fusing multiple first intermediate distance estimates, thereby improving the estimation accuracy of the first distance estimate. In addition, in the process of determining the first distance estimate, by adjusting the initial phase period corresponding to each phase measurement value to match the fusion result, it can be ensured that each phase measurement value is optimized, thereby reducing the dependence on external parameters or assumptions, making the estimation process more independent and reliable, thereby helping to enhance the estimation robustness of the first distance estimate.

[0080] In some embodiments, Figure 3 As shown, the above step S130 may include the following steps:

[0081] Step S131, determining a displacement threshold with respect to a second device according to a time difference between the second moment and the first moment.

[0082] Since the maximum moving speed of a device depends on its environment and its own properties, the maximum displacement of the first device and the second device within the time difference can be calculated based on the time difference between the second moment and the first moment, so that the displacement threshold between the first device and the second device can be determined. That is, the displacement threshold is a threshold used to determine whether the distance change between the first device and the second device is normal and within the expected range.

[0083] Step S132, based on the phase measurement value group corresponding to the second moment, determine the second candidate distance estimation value between the second device and the second moment. This step is similar to the principle of determining the first distance estimation value between the second device and the first moment based on the phase measurement value group corresponding to the first moment. The specific implementation process can refer to the specific implementation process of the above steps S121 to S124, which will not be repeated here.

[0084] Step S133: determining a distance difference between the second candidate distance estimation value and the first distance estimation value.

[0085] By determining the distance difference between the second candidate distance estimation value and the first distance estimation value, it can be determined whether the second candidate distance estimation value is consistent with the first distance estimation value, so as to determine whether the second candidate distance estimation value is reliable.

[0086] Step S134: Based on the comparison result of the distance difference and the displacement threshold, adjust the second candidate distance estimation value to obtain a second distance estimation value between the second device at the second moment.

[0087] By comparing the distance difference with the previously determined displacement threshold, it can be determined whether the second candidate distance estimate is reliable. If the distance difference is close to or equal to the displacement threshold, it is characterized that the second candidate distance is a valid estimate, and can be directly used as the second distance estimate between the first device and the second device at the second moment. If the difference between the distance difference and the displacement threshold is large, it is characterized that the second candidate distance needs to be adjusted so that the adjusted distance estimate can be closer to the actual distance between the first device and the second device at the second moment, thereby obtaining the second distance estimate between the first device and the second device at the second moment.

[0088] In some examples, the above step S134 may include the following steps:

[0089] Step b1, in response to the absolute value of the distance difference being less than or equal to the displacement threshold, determining that the second candidate distance estimation value is the second distance estimation value between the second device at the second moment;

[0090] Step b2, in response to the distance difference being greater than the displacement threshold, reducing the second candidate distance estimate based on the specified step size until the absolute value of the distance difference is less than or equal to the displacement threshold, and determining the obtained reduction result as the second distance estimate between the second device and the second time;

[0091] Step b3, in response to the distance difference being less than the inverse of the displacement threshold, the second candidate distance estimate is expanded based on the specified step size until the absolute value of the distance difference is less than or equal to the displacement threshold, and the obtained expansion result is determined as the second distance estimate between the second device at the second moment.

[0092] Specifically, if the absolute value of the distance difference is not greater than the displacement threshold, it indicates that the difference between the second candidate distance estimate and the first distance estimate is within an acceptable range. Therefore, the second candidate distance estimate can be directly used as the distance estimate between the first device and the second device at the second moment.

[0093] If the absolute value of the distance difference is greater than the displacement threshold, it indicates that the second candidate distance estimate may be too high and needs to be reduced. Therefore, in order to improve the reliability of the distance estimate, the second candidate distance estimate is gradually reduced according to the specified step size until the absolute value of the distance difference is less than or equal to the displacement threshold. The distance estimate at this time can be considered valid. Therefore, the reduction result obtained at this time can be determined as the second distance estimate between the second device at the second moment to improve the reliability and accuracy of the determination of the second distance estimate. The specified step size refers to the minimum adjustment unit used when adjusting the second candidate distance estimate. It determines the minimum adjustment amount that the second candidate distance estimate can change.

[0094] If the absolute value of the distance difference is less than the inverse of the displacement threshold, it indicates that the second candidate distance estimate may be too low and needs to be increased. Therefore, in order to improve the reliability of the distance estimate, the second candidate distance estimate is gradually increased according to the specified step size until the absolute value of the distance difference is less than or equal to the displacement threshold. The distance estimate at this time can be considered valid. Therefore, the enlarged result obtained at this time can be determined as the second distance estimate between the second device at the second moment, so as to improve the reliability and accuracy of the determination of the second distance estimate.

[0095] The above-mentioned methods for adjusting the second candidate distance estimation value can ensure that the final second distance estimation value can be as close to the true value as possible while remaining within an acceptable error range, making the adjustment process more flexible and more targeted.

[0096] In some embodiments, the specified step size can be determined based on the maximum signal frequency of the first device communicating with the second device. During the communication process, the higher the signal frequency, the faster the signal changes. Therefore, determining the specified step size based on the maximum signal frequency of communicating with the second device can ensure that the specified step size is small enough to capture every detail of the rapid change of the signal, and can more accurately track the change of the signal, thereby reducing misunderstanding or omission of signal characteristics, avoiding over-adjustment of the second candidate distance estimate, and ensuring the reliability and information of the adjustment of the distance estimate, so that the final adjustment result can be closer to the actual value.

[0097] In other embodiments, the specified step size may be determined based on a minimum signal frequency for communication between the first device and the second device, thereby avoiding unnecessary computational overhead while ensuring that signal changes can be captured, thereby helping to save computational costs.

[0098] In some other embodiments, the specified step size can also be determined based on the maximum signal frequency and the minimum signal frequency of the first device and the second device for communication. Specifically, the maximum signal frequency can be used to determine the shortest signal wavelength for signal transmission using the maximum signal frequency. The minimum signal frequency can be used to determine the longest signal wavelength for signal transmission using the minimum signal frequency. In order to improve the accuracy of ranging, the median between the longest signal wavelength and the shortest signal wavelength is used as the specified step size. The expression for the specified step size Δd can be as follows: c represents the propagation speed of the measurement signal, f min Indicates the minimum signal frequency for the first device to communicate with the second device, f max Indicates the maximum signal frequency for communication between the first device and the second device.

[0099] By using the median between the longest signal wavelength and the shortest signal wavelength as the specified step length, oversampling can be avoided and computational efficiency can be improved in the process of adjusting the distance estimate. In addition, the high-frequency and low-frequency characteristics of the signal can be balanced, and the characteristics of the signal can be effectively captured at multiple frequencies, thereby improving the adaptability of the distance estimate and thus effectively improving the reliability and accuracy of the adjustment of the distance estimate.

[0100] In other examples, the specified step length may also be the minimum detectable displacement between two devices, or may be a specified value determined based on experience, thereby improving the efficiency of determining the specified step length, which may be determined specifically based on actual needs.

[0101] In some optional implementation scenarios, the displacement threshold may be The specified step size can be Wherein, f0 is the maximum signal frequency for communication between the first device and the second device. The process of adjusting the second candidate distance estimation value can be expressed by the following formula:

[0102]

[0103] in, represents the second candidate distance estimate, Represents the first distance estimate.

[0104] By determining the second distance estimation value in the above manner, the accuracy and reliability of the second distance estimation value can be improved, so that when the displacements of the first device and the second device at multiple moments are subsequently determined, the accuracy of displacement detection can be effectively improved.

[0105] In some other optional implementation scenarios, when the displacement threshold is Specify the step size as In the case of , when determining the distance estimation values ​​corresponding to multiple moments, the process can be expressed by the following formula:

[0106] Among them, k represents the sequence of moments.

[0107] In some embodiments, Figure 4 As shown, the above displacement measurement method may further include the following steps:

[0108] Step S150: Obtain a third distance estimation value between the second device and the third device at one or more other times. The process of determining the third distance estimation value is similar to the process of determining the second distance estimation value, and will not be described in detail here.

[0109] Step S160, based on the first distance estimation value at the first moment, the second distance estimation value at the second moment and the third distance estimation value at one or more other moments, establish a distance change curve between the second device at multiple moments to determine the distance change between the second device through the distance change curve.

[0110] According to the distance estimation values ​​corresponding to multiple moments, the distance change between the first device and the second device at multiple moments can be determined. In order to better predict the distance change trend between the two devices, the distance estimation values ​​corresponding to each moment can be fitted to fuse multiple discrete values ​​into a distance change curve that can be observed between the first device and the second device at multiple moments, so that the distance change between the first device and the second device can be determined by analyzing the distance change curve. For example, the time interval of the distance extreme point, the distance amplitude change, etc. can be analyzed.

[0111] According to the displacement measurement method provided by the present disclosure, the distance change between the first device and the second device can be accurately estimated by phase measurement of multiple time and multiple signal frequencies, thereby establishing a distance change curve. This method improves the accuracy and reliability of distance estimation, helps to monitor and track the relative displacement between devices in real time, and is suitable for applications requiring high-precision distance measurement, such as precise navigation, dynamic environment monitoring, and communication system synchronization. In addition, through continuous distance estimation, accurate tracking of moving targets can be achieved, thereby enhancing the dynamic response capability and real-time performance of the system.

[0112] In some embodiments, the above step S110 may include the following steps:

[0113] Step c1, based on the communication connection with the second device, sending a first signal to the second device according to the signal frequency;

[0114] Step c2, 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;

[0115] Step c3, receiving a second signal sent by a second device according to the signal frequency;

[0116] Step c4, determining a second phase measurement value based on the second signal and a local carrier signal of the first device;

[0117] Step c5, obtaining a phase measurement value corresponding to the signal frequency according to the first phase measurement value and the second phase measurement value;

[0118] Step c6: in response to obtaining the phase measurement values ​​corresponding to all signal frequencies, a phase measurement value group for signal interaction with the second device according to multiple signal frequencies at a time is obtained.

[0119] Specifically, in order to determine the phase change of the measurement signal during the signal interaction between the first device and the second device, based on the Bluetooth communication connection between 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. Among them, 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 according to the obtained mixing result, the first phase value of the first signal received by the second device can be determined, and the first phase measurement value is sent to the first device.

[0120] 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.

[0121] According to the second phase measurement value, the phase of the first signal received by the second device can be clarified; and the phase of the second signal received by the second device can be clarified through the received second phase measurement value. 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 the same 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.

[0122] For example, 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 according to the 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 Indicates the instantaneous carrier phase of the first device. 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(t) 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 represents the carrier phase of the second device, and 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: Wherein, k is an integer, and the distance between the first device and the second device 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. 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, k is an integer, and τ is the time difference between the moment when the first device receives the second signal and the moment when the first device sends the first signal to the second device. The first device fuses the first phase measurement value and the second phase measurement value to obtain a phase measurement value corresponding to the current 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.

[0123] The principle of determining the phase measurement value corresponding to each signal frequency is the same. Therefore, after obtaining the phase measurement values ​​corresponding to all signal frequencies in response, it can be determined that all measurement signals at this moment have completed the interaction, thereby obtaining a phase measurement value group of the first device interacting with the second device at multiple signal frequencies at this moment.

[0124] In some other embodiments, the above step S110 may include the following steps:

[0125] Step d1, based on the communication connection with the second device, receiving a third signal sent by the second device according to the signal frequency;

[0126] Step d2, determining a third phase measurement value based on the third signal and a local carrier signal of the first device;

[0127] Step d3, sending a fourth signal to the second device according to the signal frequency;

[0128] Step d4, 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;

[0129] Step d5, obtaining a phase measurement value corresponding to the signal frequency according to the third phase measurement value and the fourth phase measurement value;

[0130] Step d6, in response to obtaining the phase measurement values ​​corresponding to all signal frequencies, obtain a phase measurement value group for signal interaction with the second device according to multiple signal frequencies at the time.

[0131] Specifically, in order to determine the phase change of the measurement 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.

[0132] 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.

[0133] The principle of determining the phase measurement value corresponding to each signal frequency is the same. Therefore, after obtaining the phase measurement values ​​corresponding to all signal frequencies in response, it can be determined that all measurement signals at this moment have completed the interaction, thereby obtaining a phase measurement value group of the first device interacting with the second device at multiple signal frequencies at this moment.

[0134] 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.

[0135] In some optional application scenarios, such as Figure 5 As shown, the interactive process of the first device determining the displacement between the first device and the second device based on the communication connection between the first device and the second device may be as follows:

[0136] The first device performs signal interaction with the second device at a plurality of signal frequencies at the same time, and determines a phase measurement value of each signal interaction with the second device to obtain a phase measurement value group corresponding to the time.

[0137] The first device determines a plurality of phase measurement value groups for signal interaction with the second device at a plurality of time instants according to a plurality of signal frequencies.

[0138] The first device determines a first distance estimate between the first device and the second device at the first time based on the phase measurement value group corresponding to the first time.

[0139] The first device determines a second distance estimate between the first device and the second device at a second time based on the first distance estimate and the phase measurement value group corresponding to the second time.

[0140] The first device determines the displacement between the first device and the second device at multiple times based on the second distance estimate value and the first distance estimate value.

[0141] Through the above-mentioned displacement measurement method, based on the phase measurement value of the signal interaction between the first device and the second device according to multiple signal frequencies, the distance change between the first device and the second device at different times is determined, which can effectively avoid the interference of a single frequency point and improve the accuracy of distance change determination.

[0142] Based on the same inventive concept, the present disclosure also provides a displacement measurement method applied to a third device. The third device is respectively connected to the first device and the second device that communicate with each other. The third device can be a physical device or a virtual device with computing and communication capabilities. For example, the physical device can be a dedicated sensor, controller or computing device. The virtual device can be a cloud server or a cloud platform.

[0143] like Figure 6 As shown, the displacement measurement method may include the following steps:

[0144] Step S210: Based on the communication connection with the first device, a plurality of first phase measurement value groups are received when the first device transmits signals to the second device at a plurality of time instants according to a plurality of signal frequencies.

[0145] The first phase measurement value group corresponds to the time one by one, and the first phase measurement value group includes multiple first phase measurement values, and the first phase measurement values ​​correspond to the signal frequency one by one. Since the electronic device is a third-party device independent of the first device and the second device, in order to determine the situation that the first device transmits signals with the second device at multiple times according to multiple signal frequencies, multiple first phase measurement value groups sent by the first device are received.

[0146] The multiple first phase measurement values ​​in each first phase measurement value group are determined by the first device at the same time based on the measurement signals of the multiple signal frequencies received. By obtaining the multiple first phase measurement values, the corresponding relationship between different signal frequencies and the first phase measurement values ​​at the same time can be determined when the distance between the first device and the second device is unknown.

[0147] In some examples, the plurality of first phase measurement value groups may be sent to the target device asynchronously, thereby avoiding missed transmissions.

[0148] In other examples, multiple first phase measurement value groups may also be sent to the target device at the same time, thereby reducing the number of communications and improving transmission efficiency.

[0149] Step S220, based on the communication connection with the second device, receiving multiple second phase measurement value groups of signal transmission between the second device and the first device at multiple times according to multiple signal frequencies. The second phase measurement value group corresponds to the time one by one, and the second phase measurement value group includes multiple second phase measurement values, and the second phase measurement value corresponds to the signal frequency one by one. The determination process of the multiple second phase measurement value groups is similar to the determination process of step S210, and will not be repeated here.

[0150] Step S230: Based on the multiple first phase measurement value groups and the multiple second phase measurement value groups, determine multiple phase measurement value groups for signal interaction between the first device and the second device at multiple time points according to multiple signal frequencies.

[0151] The two unilateral phase measurement values ​​corresponding to the same signal frequency at the same time are fused to fuse the phase information of different unilateral phase measurement values ​​at the same distance under the same signal frequency, thereby reducing the error and uncertainty of the unilateral phase measurement value and obtaining the corresponding phase measurement value.

[0152] Step S240: Determine a first distance estimation value between the first device and the second device at the first moment based on the phase measurement value group corresponding to the first moment.

[0153] Step S250: Determine a second distance estimation value between the first device and the second device at the second moment based on the first distance estimation value and the phase measurement value group corresponding to the second moment.

[0154] Step S260: Determine the displacement between the first device and the second device at multiple times according to the second distance estimation value and the first distance estimation value.

[0155] According to the displacement measurement method provided by the present disclosure, the displacement between the first device and the second device at multiple times is determined by the target device, which can effectively save the calculation cost of each device and ensure the performance of each device. In addition, the target device determines the distance estimation value between the first device and the second device at different times based on the phase measurement value of the signal interaction between the first device and the second device according to multiple signal frequencies, thereby effectively avoiding the interference of a single frequency point and improving the accuracy of the distance estimation value. In addition, the second distance estimation value at the second moment is determined based on the first distance estimation value at the first moment and the corresponding phase measurement group, thereby improving the reliability and accuracy of the second distance estimation value, thereby determining the displacement of the two devices at multiple times based on the second distance estimation value and the first distance estimation value, and can enhance the multiplexing function of signal interaction without adding other sensors, making the displacement determination process more convenient and efficient.

[0156] In some optional application scenarios, such as Figure 7 As shown, the sleep quality of the person to be measured can be evaluated by the displacement measurement method provided by the present invention. The first device can be fixed in advance on the head of the bed, the side of the bed or the ceiling directly above the bed, and one of the second devices can be fixed on the abdomen or chest of the person lying still. The first device and the second device can be two Bluetooth devices that interact with each other based on Bluetooth. Since the maximum signal frequency of Bluetooth communication transmission is 2478MHz. The representation range of the estimated distance between the two devices is approximately -3cm to +3cm. Assuming that under a certain signal-to-noise ratio, the phase value error measured by a single reception of the device is ±2 degrees, then only one signal transmission and reception can make the measurement error value approximately ±0.68mm. Therefore, by measuring the distance change between two devices at multiple times through the displacement measurement method provided by the present invention, it can be ensured that the measurement error is approximately between ±0.68mm. Therefore, it is applied in such as Figure 7 In the scenario shown, the relationship between the breathing frequency, breathing depth and time change of a person lying still can be determined based on the displacement change between the two devices, thereby evaluating the sleep quality of the person under test.

[0157] In some other optional application scenarios, such as Figure 8As shown, the displacement measurement method provided by the present disclosure can be used to monitor the displacement of tunnel structures such as subways. At intervals, a Bluetooth device with CS is set on both sides or the top of the tunnel wall to monitor the change in relative displacement between two adjacent devices on the opposite side. The measurement results can be forwarded hop by hop through the Bluetooth data communication link to a target device outside the tunnel for recording. Since the power consumption required by the device is low, it can be directly powered by a battery, which is convenient for deployment. Among them, Figure 8 The multiple trapezoidal blocks in the figure are all devices for displacement measurement.

[0158] Based on the same inventive concept, Fig. 9 As shown, the present disclosure further provides a displacement measurement device 300, which is applied to a first device. The device 300 may include:

[0159] A first determining module 310 is configured to determine, based on a communication connection with a second device, a plurality of phase measurement value groups for performing signal interaction with the second device at a plurality of signal frequencies at a plurality of time instants, wherein the phase measurement value groups correspond one-to-one to the time instants, the phase measurement value groups include a plurality of phase measurement values, and the phase measurement values ​​correspond one-to-one to the signal frequencies;

[0160] A first processing module 320, configured to determine a first distance estimation value between the second device and the first device at the first moment based on the phase measurement value group corresponding to the first moment;

[0161] A second determination module 330, configured to determine a second distance estimation value between the second device and the second device at the second moment based on the first distance estimation value and the phase measurement value group corresponding to the second moment, the second moment being later than the first moment;

[0162] The second processing module 340 is configured to determine the displacement between the second device and the second device at the multiple time instants according to the second distance estimation value and the first distance estimation value.

[0163] In some embodiments, the first processing module 320 includes: a first determination unit, used to determine a first intermediate distance estimate corresponding to the phase measurement value based on an initial phase period corresponding to the phase measurement value at the first moment; a first processing unit, used to fuse multiple first intermediate distance estimates to obtain a fusion result; a second processing unit, used to adjust the initial phase period corresponding to each phase measurement value based on the fusion result, to obtain a target phase period corresponding to each phase measurement value; a second determination unit, used to determine the first distance estimate between the first moment and the second device based on the target phase period corresponding to each phase measurement value, through multiple phase measurement values ​​corresponding to the first moment.

[0164] In some embodiments, the second determination unit includes: a first execution unit, which is used to determine the distance estimation value corresponding to each phase measurement value based on the target phase period corresponding to each phase measurement value, through multiple phase measurement values ​​corresponding to the first moment; a second execution unit, which is used to fuse the distance estimation values ​​corresponding to all phase measurement values ​​to obtain the first candidate distance estimation value corresponding to the first moment; a third execution unit, which is used to determine that the first candidate distance estimation value is the first distance estimation value between the first moment and the second device if the first moment is the starting moment of the displacement measurement; and a fourth execution unit, which is used to adjust the first candidate distance estimation value based on the distance estimation value between the first moment and the second device at the previous moment if the first moment is the middle moment of the displacement measurement, so as to obtain the first distance estimation value between the first moment and the second device.

[0165] In some embodiments, the second determination module 330 includes: a third determination unit, used to determine a displacement threshold between the second moment and the second device based on the time difference between the second moment and the first moment; a third processing unit, used to determine a second candidate distance estimate between the second moment and the second device based on a phase measurement value group corresponding to the second moment; a fourth determination unit, used to determine a distance difference between the second candidate distance estimate and the first distance estimate; and a fourth processing unit, used to adjust the second candidate distance estimate based on a comparison result of the distance difference and the displacement threshold, to obtain a second distance estimate between the second moment and the second device.

[0166] In some embodiments, the fourth processing unit includes: a fifth execution unit, for determining that the second candidate distance estimate is the second distance estimate between the second moment and the second device in response to the absolute value of the distance difference being less than or equal to the displacement threshold; a sixth execution unit, for reducing the second candidate distance estimate based on a specified step size in response to the distance difference being greater than the displacement threshold, until the absolute value of the distance difference is less than or equal to the displacement threshold, and determining the reduced result as the second distance estimate between the second moment and the second device; a seventh execution unit, for expanding the second candidate distance estimate based on a specified step size in response to the distance difference being less than the opposite of the displacement threshold, until the absolute value of the distance difference is less than or equal to the displacement threshold, and determining the expanded result as the second distance estimate between the second moment and the second device.

[0167] In some embodiments, the specified step size is determined based on a maximum signal frequency and / or a minimum signal frequency for communicating with the second device.

[0168] In some embodiments, the apparatus 300 further includes: an acquisition module for acquiring a third distance estimate between the apparatus 300 and the second device at one or more other times; and a construction module for establishing a distance change curve between the apparatus 300 and the second device at multiple times based on the first distance estimate at the first time, the second distance estimate at the second time, and the third distance estimate at one or more other times, so as to determine the distance change between the apparatus 300 and the second device through the distance change curve.

[0169] In some embodiments, the first determination module includes: a first sending unit, used to send a first signal to the second device according to the signal frequency based on the communication connection between the second device; a first receiving unit, used to receive a 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; a second receiving unit, used to receive a second signal sent by the second device according to the signal frequency; a fifth determination unit, used to determine the second phase measurement value based on the second signal and the local carrier signal of the first device; a fifth processing unit, used to obtain a phase measurement value corresponding to the signal frequency based on the first phase measurement value and the second phase measurement value; a sixth processing unit, used to obtain a phase measurement value group for signal interaction with the second device according to multiple signal frequencies at a time in response to obtaining the phase measurement values ​​corresponding to all signal frequencies.

[0170] In some embodiments, the first determination module 310 includes: a third receiving unit, used to receive a third signal sent by the second device according to the signal frequency based on the communication connection with the second device; a seventh processing unit, used to determine a third phase measurement value based on the third signal and the local carrier signal of the first device; a second sending unit, used to send a fourth signal to the second device according to the signal frequency; a fourth receiving unit, used to receive 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; an eighth processing unit, used to obtain a phase measurement value corresponding to the signal frequency based on the third phase measurement value and the fourth phase measurement value; and a ninth processing unit, used to obtain a phase measurement value group for signal interaction with the second device according to multiple signal frequencies at a time point in response to obtaining the phase measurement values ​​corresponding to all signal frequencies.

[0171] Regarding the displacement measuring 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.

[0172] Based on the same inventive concept, Fig.10 As shown, the present disclosure further provides a displacement measurement device 400, which is applied to a third device, and the third device is respectively connected to a first device and a second device that communicate with each other. The device 400 may include:

[0173] A first receiving module 410 is configured to receive, based on a communication connection with the first device, a plurality of first phase measurement value groups of signal transmission between the first device and the second device at a plurality of time points according to a plurality of signal frequencies, wherein the first phase measurement value groups correspond to the time points one by one, the first phase measurement value groups include a plurality of first phase measurement values, and the first phase measurement values ​​correspond to the signal frequencies one by one;

[0174] A second receiving module 420 is configured to receive, based on a communication connection with a second device, a plurality of second phase measurement value groups of signal transmission between the second device and the first device at a plurality of signal frequencies at a plurality of time instants, wherein the second phase measurement value groups correspond to the time instants one-to-one, the second phase measurement value groups include a plurality of second phase measurement values, and the second phase measurement values ​​correspond to the signal frequencies one-to-one;

[0175] A third determination module 430 is used to determine, based on the multiple first phase measurement value groups and the multiple second phase measurement value groups, multiple phase measurement value groups for signal interaction between the first device and the second device at multiple time points according to multiple signal frequencies;

[0176] A third processing module 440 is used to determine a first distance estimation value between the first device and the second device at the first moment based on the phase measurement value group corresponding to the first moment;

[0177] A fourth processing module 450, configured to determine a second distance estimate between the first device and the second device at the second moment based on the first distance estimate and the phase measurement value group corresponding to the second moment;

[0178] The fifth processing module 460 is used to determine the displacement between the first device and the second device at multiple times according to the second distance estimation value and the first distance estimation value.

[0179] Regarding the displacement measuring 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.

[0180] Based on the same inventive concept, Fig.11As shown, an embodiment of the present disclosure provides an electronic device 500. The electronic device 500 includes a memory 510, a processor 520, and an input / output (I / O) interface 530. The memory 510 is used to store instructions. The processor 520 is used to call the instructions stored in the memory 510 to execute any one of the displacement measurement methods provided by the embodiment of the present disclosure. The processor 520 is connected to the memory 510 and the I / O interface 530, respectively, for example, through a bus system and / or other forms of connection mechanisms (not shown). The memory 510 can be used to store programs and data, including the program of the image segmentation method involved in the embodiment of the present disclosure. The processor 520 executes various functional applications and data processing of the electronic device 500 by running the program stored in the memory 510.

[0181] In the embodiment of the present disclosure, the processor 520 can be implemented in at least one hardware form of a digital signal processor (DSP), a field programmable gate array (FPGA), and a programmable logic array (PLA). The processor 520 can be a central processing unit (CPU) or one or a combination of other forms of processing units with data processing capabilities and / or instruction execution capabilities.

[0182] The memory 510 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.

[0183] In the embodiment of the present disclosure, the I / O interface 530 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 500), and may also output various information (such as images or sounds) to the outside. In the embodiment of the present disclosure, the I / O interface 530 may include one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a mouse, a joystick, a trackball, a microphone, a speaker, and a touch panel.

[0184] 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 displacement measurement method of any of the aforementioned embodiments.

[0185] 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.

[0186] 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.

[0187] 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.

[0188] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is only an 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 displacement measurement method, applied to a first device, the method comprising: Based on the communication connection with the second device, determine a plurality of phase measurement value groups for performing signal interaction with the second device at a plurality of signal frequencies at a plurality of time instants, the phase measurement value groups corresponding one-to-one with the time instants, the phase measurement value groups including a plurality of phase measurement values, and the phase measurement values ​​corresponding one-to-one with the signal frequencies; Determine, based on the phase measurement value group corresponding to the first moment, a first distance estimate between the second device and the first moment; Determine, based on the first distance estimation value and the phase measurement value group corresponding to a second moment, a second distance estimation value between the second device and the second device at the second moment, the second moment being later than the first moment; The displacement between the second device and the plurality of time instants is determined based on the second distance estimate and the first distance estimate.

2. The displacement measurement method according to claim 1, wherein: The determining, based on the phase measurement value group corresponding to the first moment, a first distance estimation value between the first moment and the second device, comprises: Determine a first intermediate distance estimation value corresponding to the phase measurement value based on an initial phase period corresponding to the phase measurement value at the first moment; fusing a plurality of the first intermediate distance estimation values ​​to obtain a fusion result; Based on the fusion result, respectively adjust the initial phase period corresponding to each of the phase measurement values ​​to obtain a target phase period corresponding to each of the phase measurement values; Based on the target phase period corresponding to each of the phase measurement values, a first distance estimation value between the second device and the first device at the first moment is determined by using the multiple phase measurement values ​​corresponding to the first moment.

3. The displacement measurement method according to claim 2, wherein: The determining, based on the target phase period corresponding to each of the phase measurement values, a first distance estimation value between the second device and the first device at the first moment by using the multiple phase measurement values ​​corresponding to the first moment, comprises: Based on the target phase period corresponding to each of the phase measurement values, respectively determine the distance estimation value corresponding to each of the phase measurement values ​​through the multiple phase measurement values ​​corresponding to the first moment; fusing the distance estimation values ​​corresponding to all the phase measurement values ​​to obtain a first candidate distance estimation value corresponding to the first moment; If the first moment is the starting moment of displacement measurement, determining the first candidate distance estimation value to be the first distance estimation value between the second device at the first moment; If the first moment is an intermediate moment of displacement measurement, the first candidate distance estimation value is adjusted based on the distance estimation value between the second device at the previous moment to obtain the first distance estimation value between the second device at the first moment.

4. The displacement measurement method according to claim 1, wherein: The determining, based on the first distance estimation value and the phase measurement value group corresponding to the second moment, a second distance estimation value between the second device and the second moment includes: determining a displacement threshold between the second device and the second device according to a time difference between the second moment and the first moment; Determine, based on the phase measurement value group corresponding to the second moment, a second candidate distance estimate between the second device and the second moment; determining a distance difference between the second candidate distance estimate and the first distance estimate; Based on the comparison result of the distance difference and the displacement threshold, the second candidate distance estimation value is adjusted to obtain a second distance estimation value between the second device and the second time.

5. The displacement measurement method according to claim 4, wherein: The adjusting the second candidate distance estimation value based on the comparison result of the distance difference value and the displacement threshold value to obtain a second distance estimation value between the second device and the second device at the second moment includes: In response to an absolute value of the distance difference being less than or equal to the displacement threshold, determining that the second candidate distance estimate is the second distance estimate between the second device at the second moment; In response to the distance difference being greater than the displacement threshold, reducing the second candidate distance estimate based on a specified step size until an absolute value of the distance difference is less than or equal to the displacement threshold, and determining the obtained reduction result as the second distance estimate between the second device and the second time; In response to the distance difference being less than the inverse of the displacement threshold, the second candidate distance estimate is expanded based on the specified step size until the absolute value of the distance difference is less than or equal to the displacement threshold, and the obtained expansion result is determined as the second distance estimate between the second device at the second moment.

6. The displacement measurement method according to claim 5, wherein: The designated step size is determined based on a maximum signal frequency and / or a minimum signal frequency for communicating with the second device.

7. The displacement measurement method according to claim 1, wherein: The method further comprises: Obtain a third distance estimate between the second device and the second device at one or more other times; Based on the first distance estimation value at the first moment, the second distance estimation value at the second moment, and the third distance estimation value at one or more of the other moments, a distance change curve between the second device and the multiple moments is established to determine the distance change between the second device and the second device through the distance change curve.

8. The displacement measurement method according to claim 1, wherein: The determining, based on the communication connection with the second device, a plurality of phase measurement value groups for signal interaction with the second device according to a plurality of signal frequencies at a plurality of time instants comprises: Based on the 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, 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; Obtaining the phase measurement value corresponding to the signal frequency according to the first phase measurement value and the second phase measurement value; In response to obtaining the phase measurement values ​​corresponding to all the signal frequencies, the phase measurement value group for signal interaction with the second device according to the multiple signal frequencies at the moment is obtained.

9. The displacement measurement method according to claim 1, wherein: The determining, based on the communication connection with the second device, a plurality of phase measurement value groups for signal interaction with the second device according to a plurality of signal frequencies at a plurality of time instants comprises: Based on the 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; Obtaining the phase measurement value corresponding to the signal frequency according to the third phase measurement value and the fourth phase measurement value; In response to obtaining the phase measurement values ​​corresponding to all the signal frequencies, the phase measurement value group for signal interaction with the second device according to the multiple signal frequencies at the moment is obtained.

10. A displacement measurement method, applied to a third device, the third device being connected to a first device and a second device communicating with each other, the method comprising: Based on the communication connection with the first device, receiving a plurality of first phase measurement value groups of signal transmission between the first device and the second device at a plurality of signal frequencies at a plurality of time instants, wherein the first phase measurement value groups correspond one-to-one to the time instants, the first phase measurement value groups include a plurality of first phase measurement values, and the first phase measurement values ​​correspond one-to-one to the signal frequencies; Based on the communication connection with the second device, receiving a plurality of second phase measurement value groups of signal transmission between the second device and the first device at the plurality of time instants according to the plurality of signal frequencies, wherein the second phase measurement value groups correspond one-to-one to the time instants, the second phase measurement value groups include a plurality of second phase measurement values, and the second phase measurement values ​​correspond one-to-one to the signal frequencies; Based on the multiple first phase measurement value groups and the multiple second phase measurement value groups, determining multiple phase measurement value groups at which the first device performs signal interaction with the second device at the multiple time instants according to the multiple signal frequencies; Determine, based on the phase measurement value group corresponding to the first moment, a first distance estimate between the first device and the second device at the first moment; Determine a second distance estimate between the first device and the second device at the second moment based on the first distance estimate and the phase measurement value group corresponding to the second moment; The displacement of the first device relative to the second device at the plurality of time instants is determined based on the second distance estimate and the first distance estimate.

11. A displacement measuring device, applied to a first device, comprising: A first determining module, configured to determine, based on a communication connection with a second device, a plurality of phase measurement value groups for performing signal interaction with the second device at a plurality of signal frequencies at a plurality of time instants, wherein the phase measurement value groups correspond one-to-one to the time instants, the phase measurement value groups include a plurality of phase measurement values, and the phase measurement values ​​correspond one-to-one to the signal frequencies; A first processing module, configured to determine a first distance estimation value between the second device and the first device at the first moment based on the phase measurement value group corresponding to the first moment; A second determining module, configured to determine a second distance estimation value between the second device and the second device at the second moment based on the first distance estimation value and the phase measurement value group corresponding to the second moment, where the second moment is later than the first moment; A second processing module is configured to determine the displacement between the second device and the second device at the plurality of time instants according to the second distance estimation value and the first distance estimation value.

12. A displacement measuring device, applied to a third device, the third device being connected to a first device and a second device communicating with each other, the device comprising: A first receiving module, configured to receive, based on a communication connection with the first device, a plurality of first phase measurement value groups of signal transmission between the first device and the second device at a plurality of time points according to a plurality of signal frequencies, wherein the first phase measurement value groups correspond one-to-one to the time points, the first phase measurement value groups include a plurality of first phase measurement values, and the first phase measurement values ​​correspond one-to-one to the signal frequencies; A second receiving module, configured to receive, based on a communication connection with the second device, a plurality of second phase measurement value groups of signal transmission between the second device and the first device at the plurality of time instants according to the plurality of signal frequencies, wherein the second phase measurement value groups correspond one-to-one to the time instants, the second phase measurement value groups include a plurality of second phase measurement values, and the second phase measurement values ​​correspond one-to-one to the signal frequencies; A third determining module, configured to determine, based on the multiple first phase measurement value groups and the multiple second phase measurement value groups, multiple phase measurement value groups at which the first device performs signal interaction with the second device at the multiple time instants according to the multiple signal frequencies; A third processing module, configured to determine a first distance estimation value between the first device and the second device at the first moment based on the phase measurement value group corresponding to the first moment; a fourth processing module, configured to determine a second distance estimation value between the first device and the second device at the second moment based on the first distance estimation value and the phase measurement value group corresponding to the second moment; A fifth processing module is used to determine the displacement between the first device and the second device at the multiple time instants according to the second distance estimation value and the first distance estimation value.

13. 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 displacement measurement method according to any one of claims 1 to 9 or the displacement measurement method according to claim 10 by executing the computer instructions. 14 . A computer-readable storage medium storing the following program, wherein the program is used to execute the displacement measurement method according to claim 1 or the displacement measurement method according to claim 10.

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