Time of arrival ToA determination method, apparatus and device, chip and readable storage medium

Abstract

The invention provides a time of arrival ToA determination method and device, equipment, a chip and a readable storage medium, and the method comprises the steps: determining the differential phase information of a target symbol according to the coarse synchronization position of the target symbol and the coarse synchronization position of an adjacent symbol of the target symbol for any target symbol of a detection sequence in a received signal; wherein the differential phase information is used for indicating the difference between the coarse synchronization position and the actual synchronization position of the target symbol; according to the differential phase information of each target symbol in the detection sequence, determining the accurate time delay of the detection sequence; determining the ToA of the received signal according to the accurate time delay and the rough time delay of the detection sequence in the received signal; therefore, measurement of decimal accurate time delay is realized by utilizing the characteristic that 01 bits alternately appear in the detection sequence, so that accurate measurement of ToA is realized, the operand can be effectively reduced, the implementation cost and power consumption are reduced, and meanwhile, the influence of carrier frequency offset on measurement can be eliminated.

Description

Technical Field

[0001] The present application relates to the field of wireless communication technology, and in particular to a method, device, equipment, chip and readable storage medium for determining time of arrival (ToA). Background Art

[0002] Bluetooth (BT) technology introduces Channel Sounding (CS) ranging technology. CS ranging technology is based on Low Energy 1Mbps Physical Layer (LE 1MPHY) and Low Energy 2Mbps Physical Layer (LE 2M PHY) physical solutions, and can achieve centimeter-level ranging accuracy.

[0003] Among them, correlating the IQ data of the received signal (where "I" and "Q" represent the in-phase and quadrature components, respectively) with the local sequence can obtain the time synchronization position with symbol-level accuracy (us). For example, by high-multiple sampling of the received signal and correlating the obtained IQ data of the received signal with the local sequence, a time synchronization position with 1 / 8 or 1 / 16 symbol-level accuracy (LE 1M PHY: 1 / 8us, LE 2M PHY: 1 / 16us) can generally be obtained. Therefore, when using this method for ranging, taking 1 / 16us time measurement accuracy as an example, the ranging accuracy is 18.75 meters, which cannot reach centimeter-level ranging accuracy. Summary of the invention

[0004] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0005] To this end, the following technical solutions are proposed:

[0006] The first embodiment of the present application proposes a method for determining a time of arrival (ToA), including:

[0007] For any target symbol of the detection sequence in the received signal, determine the differential phase information of the target symbol according to the coarse synchronization position of the target symbol and the coarse synchronization position of the adjacent symbol of the target symbol; wherein the differential phase information is used to indicate the difference between the coarse synchronization position and the actual synchronization position of the target symbol;

[0008] Determining the precise delay of the detection sequence according to the differential phase information of each target symbol in the detection sequence;

[0009] The ToA of the received signal is determined according to the precise delay and the coarse delay of the detection sequence in the received signal.

[0010] Optionally, for any target symbol of the detection sequence in the received signal, determining the differential phase information of the target symbol according to the coarse synchronization position of the target symbol and the coarse synchronization position of a symbol adjacent to the target symbol includes:

[0011] For any target symbol in the detection sequence, performing a conjugate operation on a coarse synchronization position of the target symbol and a coarse synchronization position of a symbol adjacent to the target symbol to obtain differential information of the target symbol;

[0012] Determining the phase angle of the target symbol according to the differential information of the target symbol;

[0013] The differential phase information of the target symbol is determined according to the phase angle of the target symbol and the modulation bit value of the target symbol.

[0014] Optionally, the coarse synchronization position is represented by a complex number representation, and the coarse synchronization position of the target symbol is represented by a complex number whose phase is a target phase, and the target phase is determined based on the modulation bit value of the target symbol, the modulation frequency deviation of the detection sequence, the frequency deviation of the target symbol and the precise delay.

[0015] Optionally, the differential phase information is a phase difference; and determining the precise delay of the detection sequence according to the differential phase information of each target symbol in the detection sequence includes:

[0016] Accumulating the phase differences of the target symbols in the detection sequence to obtain a phase difference accumulation sum;

[0017] The ratio between the accumulated phase difference and the target data is determined as the precise time delay of the detection sequence; wherein the target data is determined based on the number of the target symbols and the modulation frequency deviation of the detection sequence.

[0018] Optionally, the determining, according to the precise delay and a coarse delay of the detection sequence in the received signal, a ToA of the received signal includes:

[0019] The sum of the precise time delay and the coarse time delay of the detection sequence in the received signal is determined as the ToA of the received signal.

[0020] Optionally, the process of acquiring the coarse synchronization position of each symbol in the detection sequence includes:

[0021] Sampling the received signal to obtain IQ data corresponding to the received signal;

[0022] Correlation processing is performed on the IQ data and a modulation sequence corresponding to the received signal to obtain a coarse synchronization position of each symbol in the received signal;

[0023] The coarse synchronization position of each symbol in the detection sequence is determined according to the coarse synchronization position of each symbol in the received signal.

[0024] Optionally, the coarse delay of the detection sequence is obtained by performing phase measurement and time calculation on a symbol corresponding to a target position in the detection sequence.

[0025] The second aspect of the present application provides a device for determining a time of arrival (ToA), including:

[0026] A processing module, configured to determine, for any target symbol of a detection sequence in a received signal, differential phase information of the target symbol according to a coarse synchronization position of the target symbol and coarse synchronization positions of symbols adjacent to the target symbol; wherein the differential phase information is used to indicate a difference between a coarse synchronization position and an actual synchronization position of the target symbol;

[0027] The processing module is further used to determine the precise delay of the detection sequence according to the differential phase information of each target symbol in the detection sequence;

[0028] The processing module is further configured to determine the ToA of the received signal according to the precise delay and the coarse delay of the detection sequence in the received signal.

[0029] Optionally, the processing module is further used to:

[0030] For any target symbol in the detection sequence, performing a conjugate operation on a coarse synchronization position of the target symbol and a coarse synchronization position of a symbol adjacent to the target symbol to obtain differential information of the target symbol;

[0031] Determining the phase angle of the target symbol according to the differential information of the target symbol;

[0032] The differential phase information of the target symbol is determined according to the phase angle of the target symbol and the modulation bit value of the target symbol.

[0033] Optionally, the coarse synchronization position is represented by a complex number representation, and the coarse synchronization position of the target symbol is represented by a complex number whose phase is a target phase, and the target phase is determined based on the modulation bit value of the target symbol, the modulation frequency deviation of the detection sequence, the frequency deviation of the target symbol and the precise delay.

[0034] Optionally, the differential phase information is a phase difference; and the processing module is further used to:

[0035] Accumulating the phase differences of the target symbols in the detection sequence to obtain a phase difference accumulation sum;

[0036] The ratio between the accumulated phase difference and the target data is determined as the precise time delay of the detection sequence; wherein the target data is determined based on the number of the target symbols and the modulation frequency deviation of the detection sequence.

[0037] Optionally, the processing module is further used to:

[0038] The sum of the precise time delay and the coarse time delay of the detection sequence in the received signal is determined as the ToA of the received signal.

[0039] Optionally, the processing module is further used to:

[0040] Sampling the received signal to obtain IQ data corresponding to the received signal;

[0041] Correlation processing is performed on the IQ data and a modulation sequence corresponding to the received signal to obtain a coarse synchronization position of each symbol in the received signal;

[0042] The coarse synchronization position of each symbol in the detection sequence is determined according to the coarse synchronization position of each symbol in the received signal.

[0043] Optionally, the coarse delay of the detection sequence is obtained by performing phase measurement and time calculation on a symbol corresponding to a target position in the detection sequence.

[0044] The third aspect embodiment of the present application proposes an electronic device, including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor. When the processor executes the computer program, the arrival time ToA determination method proposed in the first aspect embodiment of the present application is implemented.

[0045] The fourth aspect embodiment of the present application proposes a chip, including at least one processor and a communication interface; the communication interface is used to receive a signal input into the chip or a signal output from the chip, the processor communicates with the communication interface and implements the arrival time ToA determination method proposed in the first aspect embodiment of the present application through a logic circuit or executing code instructions.

[0046] The fifth aspect embodiment of the present application proposes a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by the processor of an electronic device, the electronic device can execute the arrival time ToA determination method proposed in the first aspect embodiment of the present application.

[0047] The technical solution of the present application determines the differential phase information of the target symbol according to the coarse synchronization position of the target symbol and the coarse synchronization position of the adjacent symbols of the target symbol for any target symbol of the detection sequence in the received signal; wherein the differential phase information is used to indicate the difference between the coarse synchronization position and the actual synchronization position of the target symbol; the precise delay of the detection sequence is determined according to the differential phase information of each target symbol in the detection sequence; the ToA of the received signal is determined according to the precise delay and the coarse delay of the detection sequence in the received signal; thus, by utilizing the characteristic of alternating 01 bits in the detection sequence, the measurement of fractional multiple precise delay is achieved, thereby achieving precise measurement of ToA, which can effectively reduce the amount of calculation, thereby reducing the implementation cost and power consumption, and at the same time can eliminate the influence of carrier frequency offset on the measurement.

[0048] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0050] Figure 1A A schematic diagram of a communication system provided in an embodiment of the present application;

[0051] Figure 1B A schematic diagram of an RTT ranging solution provided in an embodiment of the present application;

[0052] Figure 1C A schematic diagram of a phase ranging solution provided in an embodiment of the present application;

[0053] Figure 1D A schematic diagram of a sequence structure of a Preamble provided in an embodiment of the present application;

[0054] Figure 1E A schematic diagram of the sequence structure of a CS Access Address provided in an embodiment of the present application;

[0055] Figure 1F A schematic diagram of the sequence structure of a Sounding Sequence provided in an embodiment of the present application;

[0056] Figure 2A A flowchart of a method for determining a time of arrival (ToA) provided in an embodiment of the present application;

[0057] Figure 2B A schematic diagram of the phase characteristics of a detection sequence after GFSK modulation provided in an embodiment of the present application;

[0058] Figure 2C A schematic diagram of a rough synchronization position and an actual synchronization position being completely identical provided in an embodiment of the present application;

[0059] Figure 2D A schematic diagram of a rough synchronization position leading an actual synchronization position provided in an embodiment of the present application;

[0060] Figure 2E A schematic diagram of a rough synchronization position lagging behind an actual synchronization position provided in an embodiment of the present application;

[0061] Figure 3 A flowchart of another method for determining the time of arrival ToA provided in an embodiment of the present application;

[0062] Figure 4 A flowchart of another method for determining the time of arrival ToA provided in an embodiment of the present application;

[0063] Figure 5 A flowchart of another method for determining the time of arrival ToA provided in an embodiment of the present application;

[0064] Figure 6 A schematic diagram of the structure of a device for determining a time of arrival (ToA) provided in an embodiment of the present application;

[0065] Figure 7 A structural block diagram of an electronic device provided in an embodiment of the present application;

[0066] Figure 8 A schematic diagram of the structure of a chip system proposed in an embodiment of the present application. DETAILED DESCRIPTION

[0067] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0068] In some embodiments, devices and equipment may be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. In some cases, they may also be understood as "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", "subject", etc.

[0069] In order to better understand a method for determining a time of arrival ToA disclosed in an embodiment of the present application, the communication system to which the embodiment of the present application is applicable is first described below.

[0070] Figure 1A It is a schematic diagram of the architecture of a communication system according to an embodiment of the present application.

[0071] like Figure 1A As shown, the communication system 100 includes a terminal 101 and a network device 102 .

[0072] In some embodiments, the terminal 101 includes, for example, a mobile phone, a wearable device, an Internet of Things device, a Narrow Band-Internet of Things device (NB-IoT), a satellite communication device, a car with communication function, a smart car, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, a wireless terminal device in a smart home, and at least one of a reduced capability (RedCap) terminal, but is not limited to these.

[0073] In some embodiments, the network device 102 is, for example, a node or device that accesses a terminal to a wireless network. The network device may include nodes such as satellites or drones in an information sending network, evolved NodeB (eNB) in a 5G communication system, next generation evolved NodeB (ng-eNB), next generation NodeB (gNB), next generation RAN node (NG-RAN node), node B (NB), home node B (HNB), home evolved node B (HeNB), wireless backhaul equipment, radio network controller (RNC), base station controller (BSC), base transceiver station (BTS), base band unit (BBU), mobile switching center, base station in a 6G communication system, open base station (Open RAN), cloud base station (Cloud RAN), base station in other communication systems, and at least one of access nodes in a Wi-Fi system, but is not limited thereto.

[0074] It can be understood that the communication system described in the embodiment of the present application is for more clearly illustrating the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution proposed in the embodiment of the present application. Ordinary technicians in this field can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution proposed in the embodiment of the present application is also applicable to similar technical problems.

[0075] The following embodiments of the present application can be applied to Figure 1A The communication system 100, or a portion thereof, is shown but is not limited thereto. Figure 1A The various entities shown are examples, and the communication system may include Figure 1A All or part of the subject, and may also include Figure 1A The number and form of other entities are arbitrary, each entity can be physical or virtual, the connection relationship between the entities is illustrative, the entities can be connected or disconnected, the connection can be in any way, it can be direct or indirect, and it can be wired or wireless.

[0076] In some embodiments, the Channel Sounding (CS) ranging technology is introduced into the Bluetooth (Blue Tooth, BT) technology. The CS ranging technology is based on the Low Energy 1Mbps Physical Layer (LE 1M PHY) and Low Energy 2Mbps Physical Layer (LE 2M PHY) physical solutions, which can achieve centimeter-level ranging accuracy. Ranging uses two data packets: the first data packet is the same as the LE 1M PHY and LE 2M PHY used in the Access Control List (ACL) connection and also uses the Gaussian Frequency Shift Keying (GFSK) modulation method, which is called the CSSYNC (Synchronization) data packet. The second data packet is based on a constant channel carrier and uses the Amplitude Shift Keying (ASK) modulation method, which is called the CS tone (constant tone) data packet. The CS SYNC data packet is used for round-trip time (RTT) measurement, and the CS tone data packet is used for phase measurement.

[0077] like Figure 1B As shown, in the RTT ranging scheme, the initiator device (Initiator) sends a CS SYNC packet to the reflector device (Reflector) (Time of Flight (ToF) is ToF I-R ,), Reflector returns data CS SYNC data packet (flight time is ToF R-1 ). Then according to the round-trip time of the data packet transmission (RTT = ToF I-R +ToF R-1 ,) Calculate the distance between Initiator and Reflector.

[0078] like Figure 1C As shown in Figure 1, in the Phase-Based Ranging (PBR) solution, the initiator device (Initiator) sends a CS tone data packet signal to the reflector device (Reflector), and the reflector returns a CS tone data packet signal. This process is repeated on multiple frequencies. The distance between the initiator and the reflector is calculated based on the phase difference between the transmitted signal and the received signal.

[0079] In some embodiments, CS SYNC packets are used in BT technology to implement RTT ranging, the core of which is the measurement of the time of arrival (ToA), that is, the measurement of the accurate arrival time of the CS SYNC data. The data structure of the CS SYNC packet is as follows:

[0080]

[0081] Among them, the Preamble sequence (preface sequence or boot sequence) follows the Bluetooth Low Energy (BLE), and the sequence structure is as follows Figure 1D As shown, it is used for BT terminal initial access power detection and gain control. Figure 1D In the above, MSB stands for Most Significant Bit (MSB);

[0082] CS Access Address sequence (CS connection specific access address sequence or CS access address sequence) is used for coarse time synchronization and follows BLE. The sequence structure is as follows: Figure 1E As shown;

[0083] The IQ data of the received signal (where "I" and "Q" represent the in-phase and quadrature components, respectively) is correlated with the local sequence to obtain the time synchronization position with symbol-level accuracy (us). Through high-multiple sampling, a synchronization accuracy of 1 / 8 symbol (LE 1M PHY: 1 / 8us, LE 2M PHY: 1 / 16us) can generally be obtained. This method is commonly used in traditional BLE reception and meets the demodulation performance requirements. However, for ranging, taking the 1 / 16us time measurement accuracy as an example, the ranging accuracy is 18.75 meters, which is much greater than the centimeter-level ranging accuracy requirement. Therefore, the Sounding Sequence is introduced in BT technology for precise time synchronization, with "0101...0101" bits appearing alternately ("1100" or "0011" is inserted in the middle of the sequence for attack prevention). The sequence structure of the Sounding Sequence is as follows: Figure 1F As shown, Figure 1F In the figure, LSB stands for the least significant bit (Least Significant Bit, LSB).

[0084] In some embodiments, the sounding sequence synchronization method used in BT technology is as follows:

[0085] The timing estimate can be derived from the repetitive [0 1] bit sequence modulated over the LE1M PHY, LE 2M PHY, or Low Energy 2Megabit 2-Bit Transition Physical Layer (LE 2M 2BT PHY).

[0086] Assume: f represents the frequency of the complex sine wave, α represents the common complex gain of the two signals. Then, the two complex sine wave baseband signals can be expressed as:

[0087] S +f (t) = αe +j2πft

[0088] S -f (t) = αe -j2πft

[0089] Assume: T s represents the sampling period of the receiver, n represents the number of samples of the corresponding complex sine wave starting from time t, and M represents the integration period in units of complete cycles of the complex sine wave. Then,

[0090] The signal containing the modulated repetitive [0 1] bit sequence is expressed as: S(n,t)=s(t+nT s ). The phase of these two complex sinusoids is then measured by the following two correlations:

[0091]

[0092] Due to the receiver's time quantization error and random sampling clock offset, the estimated time of arrival (ToA) measured at the receiver's sampling clock rate is different from the actual time of arrival. sync represents a rough estimate of the start of the sounding sequence measured at the receiver’s antenna port. Using the above two equations, the fractional delay can be calculated as:

[0093]

[0094] The final estimate of the actual arrival time is t sync +Δt, that is, the ToA value is t sync +Δt.

[0095] Among them, +f and -f are 1 / (2*Tsym), Tsym is the symbol period, BLE 1M corresponds to 500kHz and -500kHz, BLE2M corresponds to 1MHz and -1MHz, and the phase difference of the carriers of +f and -f is used to calculate the precise decimal multiple synchronization position. However, since this method is correlated with the local +f and -f single-tone sequences to obtain the carrier phases of +f and -f, it is necessary to perform complex multiplication and addition of 2*L points. Moreover, if there is a carrier frequency deviation △f, the two single-tone components of the received sequence will appear at +f+△f and -f+△f. Using this correlation method will also lead to relatively large measurement errors.

[0096] The following describes in detail the arrival time ToA determination method, apparatus, device, chip and readable storage medium according to the embodiments of the present application with reference to the accompanying drawings.

[0097] Figure 2A A flowchart of a method for determining a time of arrival ToA provided in an embodiment of the present application. It should be noted that the method for determining a time of arrival ToA of the present embodiment can be applied to a device for determining a time of arrival ToA, which can be configured in an electronic device or chip so that the electronic device or chip can perform a function for determining a time of arrival ToA.

[0098] Among them, the electronic device can be any device with computing capabilities, such as a personal computer (PC), a mobile terminal, a terminal device, a server, etc. The mobile terminal can be, for example, a vehicle-mounted device, a mobile phone, a tablet computer, a personal digital assistant, a wearable device, and other hardware devices with various operating systems, touch screens and / or display screens.

[0099] In addition, the arrival time ToA determining device may also be software in an electronic device, etc. The software may be, for example, arrival time ToA determining software, etc. In the following embodiments, the execution subject is an electronic device as an example for description.

[0100] like Figure 2A As shown, the method for determining the arrival time ToA may include the following steps:

[0101] Step 201: for any target symbol of a detection sequence in a received signal, determine the differential phase information of the target symbol according to the coarse synchronization position of the target symbol and the coarse synchronization positions of symbols adjacent to the target symbol.

[0102] In some embodiments, the differential phase information is used to indicate the difference between the rough synchronization position and the actual synchronization position of the target symbol.

[0103] In some embodiments, the received signal at least includes a detection sequence. The sequence structure of the detection sequence is as follows: Figure 1F shown.

[0104] In some embodiments, the above-mentioned received signal may be obtained by correspondingly processing the CS SYNC data packet.

[0105] In some embodiments, the target symbol is any symbol in the detection sequence in the received signal, and the target symbol is adjacent to the adjacent symbol position of the target symbol. For example, assuming that the target symbol is the nth symbol in the detection sequence, the adjacent symbol of the target symbol is the n-1th symbol in the detection sequence or the n+1th symbol in the detection sequence.

[0106] It should be noted that, for any target symbol of the detection sequence in the received signal, when determining the differential phase information of the target symbol, the adjacent symbols of the target symbol are selected to be symbols on the same side. For example, assuming that the target symbol is the third symbol in the detection sequence, the second symbol in the detection sequence is selected as the adjacent symbol of the target symbol, then when the target symbol is the fourth symbol in the detection sequence, the third symbol in the detection sequence is selected as the adjacent symbol of the target symbol, instead of selecting the fifth symbol in the detection sequence as the adjacent symbol of the target symbol, and so on.

[0107] In some embodiments, the coarse synchronization position of the target symbol and the coarse synchronization position of the adjacent symbol of the target symbol may be obtained by correlating the IQ data corresponding to the received signal (where "I" and "Q" represent the in-phase and quadrature components, respectively) with the modulation sequence corresponding to the received signal. The modulation sequence corresponding to the received signal may be a GFSK modulation sequence of a CS Access Address (CS connection specific access address sequence or CS access address sequence).

[0108] In some embodiments, the sounding sequence uses a "0101...0101" data sequence, and the phase characteristics of the sequence after GFSK modulation (BLE standard: 1MHz or 2MHz symbol rate, modulation index 0.5) are as follows: Figure 2B shown. Figure 2BIf it is "1", the phase in a symbol after GFSK modulation increases positively by -pi / 2; if it is "0", the phase in a symbol after GFSK modulation increases by pi / 2. Therefore. If the sampling position is at the center of each symbol, the i and q phases of the two symbols before and after at the center sampling point are the same. When there is a deviation in the sampling position, the i and q phases of the two symbols before and after at the center sampling point are different. Among them, when the sampling points are all at the center, that is, the coarse synchronization position is exactly the same as the actual synchronization position, such as Figure 2C As shown; when the sampling point is ahead, the rough synchronization position is ahead of the actual synchronization position, such as Figure 2D As shown; when the sampling point lags behind, the rough synchronization position lags behind the actual synchronization position, such as Figure 2E As shown, this characteristic can be used to achieve accurate delay estimation. Optionally, for any target symbol of the detection sequence in the received signal, the differential phase information of the target symbol can be determined according to the coarse synchronization position of the target symbol and the coarse synchronization position of the adjacent symbol of the target symbol, and then the accurate delay of the detection sequence can be determined according to the differential phase information of each target symbol in the detection sequence.

[0109] Step 202: Determine the precise time delay of the detection sequence according to the differential phase information of each target symbol in the detection sequence.

[0110] In some embodiments, the precise time delay of the above detection sequence may be a small multiple of the time delay, thereby being able to effectively improve the ranging accuracy.

[0111] In some embodiments, the sign of the precise time delay of the above-mentioned detection sequence is used to indicate whether the coarse synchronization position of the detection sequence is ahead of the actual synchronization position or behind the actual synchronization position.

[0112] Step 203: Determine the ToA of the received signal according to the precise delay and the coarse delay of the detection sequence in the received signal.

[0113] In some embodiments, the rough delay of the above-mentioned detection sequence is obtained by performing phase measurement and time calculation on the symbol corresponding to the target position in the above-mentioned detection sequence.

[0114] In some embodiments, the sum of the precise delay and the coarse delay of the detection sequence in the received signal is determined as the ToA of the received signal.

[0115] The embodiment of the present application determines the differential phase information of the target symbol according to the coarse synchronization position of the target symbol and the coarse synchronization position of the adjacent symbols of the target symbol for any target symbol of the detection sequence in the received signal; wherein the differential phase information is used to indicate the difference between the coarse synchronization position and the actual synchronization position of the target symbol; the precise delay of the detection sequence is determined according to the differential phase information of each target symbol in the detection sequence; the ToA of the received signal is determined according to the precise delay and the coarse delay of the detection sequence in the received signal; thus, by utilizing the characteristic of alternating 01 bits in the detection sequence, the measurement of fractional multiple precise delay is achieved, thereby achieving precise measurement of ToA, which can effectively reduce the amount of calculation, thereby reducing the implementation cost and power consumption, and at the same time can eliminate the influence of carrier frequency offset on the measurement.

[0116] Figure 3 A flowchart of another method for determining the time of arrival ToA provided in an embodiment of the present application. It should be noted that the method for determining the time of arrival ToA of the present embodiment can be applied to a device for determining the time of arrival ToA, which can be configured in an electronic device or chip so that the electronic device or chip can perform the function of determining the time of arrival ToA.

[0117] Among them, the electronic device can be any device with computing capabilities, such as a personal computer (PC), a mobile terminal, a terminal device, a server, etc. The mobile terminal can be, for example, a vehicle-mounted device, a mobile phone, a tablet computer, a personal digital assistant, a wearable device, and other hardware devices with various operating systems, touch screens and / or display screens.

[0118] In addition, the arrival time ToA determining device may also be software in an electronic device, etc. The software may be, for example, arrival time ToA determining software, etc. In the following embodiments, the execution subject is an electronic device as an example for description.

[0119] like Figure 3 As shown, the method for determining the arrival time ToA may include the following steps:

[0120] Step 301: for any target symbol of a detection sequence in a received signal, a conjugate operation is performed on a coarse synchronization position of the target symbol and a coarse synchronization position of a symbol adjacent to the target symbol to obtain differential information of the target symbol.

[0121] In some embodiments, the conjugate operation is a conjugate point multiplication operation. The detection sequence uses a "0101...0101" data sequence, which is modulated by GFSK (BLE standard: 1MHz or 2MHz symbol rate, modulation index 0.5) and has a phase characteristic as follows: Figure 2B shown. Figure 2BIn the example, if it is "1", the phase in a symbol after GFSK modulation increases positively by -pi / 2; if it is "0", the phase in a symbol after GFSK modulation increases by pi / 2. Therefore, if the sampling position is at the center of each symbol, the i and q phases of the two symbols before and after at the center sampling point are the same, that is, the phase obtained by the conjugate point multiplication is 0 degrees. When there is a deviation in the sampling position, the i and q phases of the two symbols before and after at the center sampling point are different, so this feature can be used to achieve accurate delay estimation.

[0122] In some embodiments, the coarse synchronization position is represented by a complex number representation, and the coarse synchronization position of the target symbol is represented by a complex number whose phase is a target phase, and the target phase is determined based on the modulation bit value of the target symbol, the modulation frequency deviation of the detection sequence, the frequency deviation of the target symbol and the precise delay.

[0123] In some embodiments, the following formula may be used to perform a conjugate operation on a coarse synchronization position of any target symbol of a detection sequence in a received signal and a coarse synchronization position of an adjacent symbol of the target symbol to obtain differential information of the target symbol:

[0124]

[0125] Among them, diff iq (n) represents the differential information of the nth symbol (the target symbol mentioned above), conj(iq(n-1))*iq(n) represents the product of the conjugate of iq(n-1) and iq(n), the conj() function is used to calculate the conjugate of a complex number, iq(n-1) represents the coarse synchronization position of the n-1th symbol (the adjacent symbol of the target symbol mentioned above), iq(n) represents the coarse synchronization position of the nth symbol, e jθ represents a complex number with a phase of θ, Δf represents the frequency deviation of the nth symbol, T represents the symbol period, bit(n) represents the modulation bit value of the nth symbol (-1 or 1, which is a known Sounding Sequence), Δt represents the precise delay (also known as time deviation) of the nth symbol, and f mod Indicates the modulation frequency deviation of the detection sequence (that is, the BLE FM modulation frequency deviation, BLE 1M is 250kHz, BLE2M is 500kHz).

[0126] Step 302: Determine the phase angle of the target symbol according to the differential information of the target symbol.

[0127] In some embodiments, the differential information diff of the target symbol is obtained by using the above formula. iq(n) After that, the angle() function can be used to determine the phase angle angle (diff iq (n)). The angle() function is used to calculate the phase angle of a complex number.

[0128] Step 303: Determine the differential phase information of the target symbol according to the phase angle of the target symbol and the modulation bit value of the target symbol.

[0129] In some embodiments, after obtaining the differential information diff of the target symbol, iq (n) and the phase angle angle (diff iq (n)) After that, the differential phase information caused by the frequency offset Δf and the time offset Δt can be determined.

[0130] In some embodiments, the differential phase information is a phase difference, and the phase difference of the target symbol may be determined according to the phase angle of the target symbol and the modulation bit value of the target symbol using the following formula:

[0131] t err (n) = bit (n) * angle (diff iq (n))=bit(n)*2πΔfT+2π*2Δt*f mod

[0132] Among them, t err (n) represents the phase difference of the nth symbol (the target symbol mentioned above), and the meanings of the remaining letters can be found in the above description and will not be repeated here.

[0133] Step 304: Accumulate the phase difference of each target symbol in the detection sequence to obtain a phase difference accumulation sum.

[0134] In some embodiments, after obtaining the phase difference t of the target symbol, err After (n), the phase differences of the target symbols in the detection sequence can be accumulated to obtain the phase difference accumulation sum. Since bit (n) is "-1" and "1" appear alternately, the positive and negative values ​​of bit (n)*2πΔfT are offset after accumulation, and the value is 0, thereby eliminating the influence of carrier frequency deviation on the measurement.

[0135] In some embodiments, the following formula may be used to accumulate the phase differences of the target symbols in the detection sequence to obtain a phase difference accumulation sum:

[0136]

[0137] Among them, t errSum represents the accumulated sum of phase differences, L represents the number of the target symbols in the detection sequence, Δt′ represents the sum of the precise time delays of the target symbols in the detection sequence, and the meanings of the remaining letters can be found in the above description and will not be repeated here.

[0138] Step 305: Determine the ratio between the accumulated phase difference and the target data as the precise delay of the detection sequence, where the target data is determined based on the number of target symbols and the modulation frequency offset of the detection sequence.

[0139] In some embodiments, the target data is 2π*2*L*f mod , after obtaining the above phase difference accumulation and t err After Sum, the precise delay of the above detection sequence can be determined. err Sum2π*2*L*f mod .

[0140] Step 306: Determine the sum of the precise delay and the coarse delay of the detection sequence in the received signal as the ToA of the received signal.

[0141] In some embodiments, the rough delay of the above detection sequence in the above received signal is t sync After obtaining the precise delay Δt′ of the above detection sequence, the ToA of the above received signal can be determined to be t sync +Δt′.

[0142] In summary, the calculation steps only require L-1 complex multiplications and additions, which reduces the amount of calculation by 50% compared to 2*L point complex multiplications and additions, and also eliminates the error caused by the carrier frequency offset.

[0143] The embodiment of the present application performs conjugate operation on the coarse synchronization position of the target symbol and the coarse synchronization position of the adjacent symbol of the target symbol for any target symbol of the detection sequence in the received signal to obtain differential information of the target symbol; determines the phase angle of the target symbol according to the differential information of the target symbol; determines the differential phase information of the target symbol according to the phase angle of the target symbol and the modulation bit value of the target symbol; accumulates the phase difference of each target symbol in the detection sequence to obtain the accumulated sum of the phase differences; determines the ratio between the accumulated sum of the phase differences and the target data as the precise delay of the detection sequence, and the target data is determined based on the number of target symbols and the modulation frequency deviation of the detection sequence; determines the sum of the precise delay and the coarse delay of the detection sequence in the received signal as the ToA of the received signal; thus, by utilizing the characteristic of alternating 01 bits in the detection sequence, the measurement of fractional multiple precise delay is realized, thereby realizing accurate measurement of ToA, which can effectively reduce the amount of calculation, thereby reducing the implementation cost and power consumption, and at the same time can eliminate the influence of carrier frequency deviation on the measurement.

[0144] Figure 4 A flowchart of another method for determining the time of arrival ToA provided in an embodiment of the present application. It should be noted that the method for determining the time of arrival ToA of the present embodiment can be applied to a device for determining the time of arrival ToA, which can be configured in an electronic device or chip so that the electronic device or chip can perform the function of determining the time of arrival ToA.

[0145] Among them, the electronic device can be any device with computing capabilities, such as a personal computer (PC), a mobile terminal, a terminal device, a server, etc. The mobile terminal can be, for example, a vehicle-mounted device, a mobile phone, a tablet computer, a personal digital assistant, a wearable device, and other hardware devices with various operating systems, touch screens and / or display screens.

[0146] In addition, the arrival time ToA determining device may also be software in an electronic device, etc. The software may be, for example, arrival time ToA determining software, etc. In the following embodiments, the execution subject is an electronic device as an example for description.

[0147] like Figure 4 As shown, the method for determining the arrival time ToA may include the following steps:

[0148] Step 401: Sample a received signal to obtain IQ data corresponding to the received signal.

[0149] In some embodiments, the digital front end (DFE) may perform a set multiple sampling on the above-mentioned received signal to obtain IQ data corresponding to the above-mentioned signal. The set multiple sampling may be high multiple sampling, that is, the above-mentioned received signal is sampled at a relatively high sampling rate, and the "high multiple" here is relative to the highest frequency or Nyquist frequency of the signal, generally referring to a sampling frequency that is much higher than twice the highest frequency of the signal or much higher than the Nyquist frequency.

[0150] Step 402: Correlation processing is performed on the IQ data and the modulation sequence corresponding to the received signal to obtain a rough synchronization position of each symbol in the received signal.

[0151] In some embodiments, the modulation sequence corresponding to the above-mentioned received signal may be a GFSK modulation sequence of a CS Access Address.

[0152] In some embodiments, a sliding correlation may be performed between the high-multiple sampled IQ data and a modulation sequence corresponding to the received signal to obtain a coarse synchronization position of each symbol in the received signal.

[0153] It should be noted that the correlation processing of this step and the sampling of step 401 can be performed simultaneously, that is, the correlation processing can be performed while sampling, or all sampling of the received signal can be completed first, and then the correlation processing can be performed. There is no limitation on this in the embodiments of the present application.

[0154] Step 403: Determine the coarse synchronization position of each symbol in the detection sequence according to the coarse synchronization position of each symbol in the received signal.

[0155] In some embodiments, the coarse synchronization position of each symbol in the detection sequence may be determined from the coarse synchronization position of each symbol in the received signal according to the characteristic that the detection sequence adopts a "0101...0101" data sequence.

[0156] It should be noted that if a method of sampling and performing correlation processing is adopted, the coarse synchronization of the received signal may have been completed (that is, the coarse synchronization position of each symbol in the partial received signal corresponding to this part of the IQ data has been determined based on the partial IQ data corresponding to the above-mentioned received signal and the modulation sequence corresponding to the above-mentioned received signal), but because the detection sequence in the received signal has not been fully sampled, when determining the coarse synchronization position of each symbol in the detection sequence, it is necessary to first complete the sampling of the detection sequence in the received signal, and then determine the coarse synchronization position of each symbol in the detection sequence.

[0157] Step 404: for any target symbol of the detection sequence in the received signal, determine the differential phase information of the target symbol according to the coarse synchronization position of the target symbol and the coarse synchronization positions of symbols adjacent to the target symbol.

[0158] Step 405: Determine the precise time delay of the detection sequence according to the differential phase information of each target symbol in the detection sequence.

[0159] Step 406: Determine the ToA of the received signal according to the precise delay and the coarse delay of the detection sequence in the received signal.

[0160] The embodiment of the present application obtains the IQ data corresponding to the received signal by sampling the received signal; the IQ data is correlated with the modulation sequence corresponding to the received signal to obtain the coarse synchronization position of each symbol in the received signal; the coarse synchronization position of each symbol in the detection sequence is determined according to the coarse synchronization position of each symbol in the received signal, thereby, by correlating the IQ data corresponding to the received signal with the modulation sequence corresponding to the received signal, the coarse synchronization position of each symbol in the received signal can be accurately identified, thereby improving the accuracy of ranging. Moreover, during the communication process, the received signal is often affected by noise and interference. Through high-multiple sampling and correlation processing, these noises and interferences can be more effectively filtered out, thereby improving the anti-interference ability of the system.

[0161] The following example is used to illustrate this. Figure 5 A flowchart of another method for determining the time of arrival (ToA) provided in an embodiment of the present application.

[0162] like Figure 5 As shown in the figure, DFE performs high-multiple sampling on the received signal to obtain high-multiple sampled IQ data corresponding to the received signal. After that, the high-multiple sampled IQ data is slidingly correlated with the GFSK modulation sequence of the CS Access Address to complete the coarse synchronization. After that, the IQ sampling at the center position of each symbol in the detection sequence in the received signal is determined. After that, the differential phase of the adjacent symbols of the IQ sampling at the center position of each symbol in the detection sequence is used to calculate the fine synchronization. Finally, the accurate ToA of the received signal is determined.

[0163] The specific steps are as follows:

[0164] 1. Perform sliding correlation on the high-multiple sampled IQ data and the GFSK modulation sequence of the locally stored CS Access Address to obtain coarse synchronization of the Symbol center position.

[0165] 2. Use the coarse synchronization position to determine the sampled IQ value (center position) of each Symbol in the Sounding Sequence, and perform the conjugate dot product of the front and back symbols of the sampled IQ value of each Symbol in the Sounding Sequence:

[0166]

[0167] The meaning of the letters can be found in the above description and will not be repeated here.

[0168] 3. Calculate the phase difference t caused by time deviation and frequency deviation err (n):

[0169] t err (n) = bit (n) * angle (diff iq (n))=bit(n)*2πΔfT+2π*2Δt*f mod

[0170] The meaning of the letters can be found in the above description and will not be repeated here.

[0171] 4. The t of L symbols err (n) Accumulate:

[0172]

[0173] The meaning of the letters can be found in the above description and will not be repeated here.

[0174] 5. Decimal time deviation: Δt′=terr Sum2π*2*L*f mod , the sign of Δt′ represents the lead or lag, and the accurate ToA is calculated: t sync +Δt′.

[0175] The meaning of the letters can be found in the above description and will not be repeated here.

[0176] The above process can be applied to the scenario of using CS SYNC data packets to implement RTT ranging in BT technology, wherein the CS Access Address sequence in the CSSYNC data packet is used to implement coarse synchronization, and the Sounding Sequence is used to implement fine synchronization.

[0177] In the embodiment of the present application, the calculation step only requires L-1 complex multiplications and additions, which reduces the amount of calculation by 50% compared to the complex multiplications and additions of 2*L points, and also eliminates the error caused by the carrier frequency offset.

[0178] In order to implement the above embodiment, the present application also proposes a device for determining a time of arrival (ToA).

[0179] Figure 6 A schematic diagram of the structure of a device for determining a time of arrival (ToA) provided in an embodiment of the present application.

[0180] like Figure 6 As shown, the arrival time ToA determination device includes: a processing module 610. Among them,

[0181] The processing module 610 is used to determine, for any target symbol of the detection sequence in the received signal, differential phase information of the target symbol according to the coarse synchronization position of the target symbol and the coarse synchronization position of the adjacent symbol of the target symbol; wherein the differential phase information is used to indicate the difference between the coarse synchronization position and the actual synchronization position of the target symbol;

[0182] The processing module 610 is further configured to determine the precise delay of the detection sequence according to the differential phase information of each target symbol in the detection sequence;

[0183] The processing module 610 is further configured to determine the ToA of the received signal according to the precise delay and the coarse delay of the detection sequence in the received signal.

[0184] In some embodiments, the processing module 610 is further configured to:

[0185] For any target symbol in the detection sequence, performing a conjugate operation on a coarse synchronization position of the target symbol and a coarse synchronization position of a symbol adjacent to the target symbol to obtain differential information of the target symbol;

[0186] Determining the phase angle of the target symbol according to the differential information of the target symbol;

[0187] The differential phase information of the target symbol is determined according to the phase angle of the target symbol and the modulation bit value of the target symbol.

[0188] In some embodiments, the coarse synchronization position is represented by a complex number representation, and the coarse synchronization position of the target symbol is represented by a complex number whose phase is a target phase, and the target phase is determined based on the modulation bit value of the target symbol, the modulation frequency deviation of the detection sequence, the frequency deviation of the target symbol and the precise delay.

[0189] In some embodiments, the differential phase information is a phase difference; the processing module 610 is further configured to:

[0190] Accumulating the phase differences of the target symbols in the detection sequence to obtain a phase difference accumulation sum;

[0191] The ratio between the accumulated phase difference and the target data is determined as the precise time delay of the detection sequence; wherein the target data is determined based on the number of the target symbols and the modulation frequency deviation of the detection sequence.

[0192] In some embodiments, the processing module 610 is further configured to:

[0193] The sum of the precise time delay and the coarse time delay of the detection sequence in the received signal is determined as the ToA of the received signal.

[0194] In some embodiments, the processing module 610 is further configured to:

[0195] Sampling the received signal to obtain IQ data corresponding to the received signal;

[0196] Correlation processing is performed on the IQ data and a modulation sequence corresponding to the received signal to obtain a coarse synchronization position of each symbol in the received signal;

[0197] The coarse synchronization position of each symbol in the detection sequence is determined according to the coarse synchronization position of each symbol in the received signal.

[0198] In some embodiments, the coarse delay of the detection sequence is obtained by performing phase measurement and time calculation on the symbol corresponding to the target position in the detection sequence.

[0199] The arrival time ToA determination device of the embodiment of the present application determines the differential phase information of the target symbol according to the coarse synchronization position of the target symbol and the coarse synchronization position of the adjacent symbols of the target symbol for any target symbol of the detection sequence in the received signal; wherein the differential phase information is used to indicate the difference between the coarse synchronization position and the actual synchronization position of the target symbol; the precise delay of the detection sequence is determined according to the differential phase information of each target symbol in the detection sequence; the ToA of the received signal is determined according to the precise delay and the coarse delay of the detection sequence in the received signal; thus, by utilizing the characteristic of alternating 01 bits in the detection sequence, the measurement of fractional multiple precise delay is realized, thereby realizing the precise measurement of ToA, which can effectively reduce the amount of calculation, thereby reducing the implementation cost and power consumption, and at the same time can eliminate the influence of carrier frequency offset on the measurement.

[0200] It should be noted that the above explanation of the embodiment of the method for determining the arrival time ToA is also applicable to the device for determining the arrival time ToA of this embodiment, and will not be repeated here.

[0201] In order to implement the above embodiments, the embodiments of the present application also propose an electronic device, including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein the processor implements the arrival time ToA determination method proposed in the above embodiments when executing the computer program.

[0202] In order to implement the above embodiments, the embodiments of the present application also provide a chip, including at least one processor and a communication interface; the above communication interface is used to receive signals input into the above chip or signals output from the above chip, and the above processor communicates with the above communication interface and implements the arrival time ToA determination method proposed in the above embodiments through logic circuits or execution code instructions.

[0203] In order to implement the above embodiments, the embodiments of the present application also propose a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by the processor of the electronic device, the electronic device can execute the arrival time ToA determination method proposed in the above embodiments.

[0204] Figure 7 This is a structural block diagram of an electronic device provided in an embodiment of the present application. For example, the electronic device 700 may be a mobile phone, a computer, a digital broadcast terminal, a message transceiver device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0205] Reference Figure 7The electronic device 700 may include one or more of the following components: a processing component 702 , a memory 704 , a power component 706 , a multimedia component 708 , an audio component 710 , an input / output (I / O) interface 712 , a sensor component 714 , and a communication component 716 .

[0206] The processing component 702 generally controls the overall operation of the electronic device 700, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 702 may include one or more processors 720 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 702 may include one or more modules to facilitate the interaction between the processing component 702 and other components. For example, the processing component 702 may include a multimedia module to facilitate the interaction between the multimedia component 708 and the processing component 702.

[0207] The memory 704 is configured to store various types of data to support operations on the electronic device 700. Examples of such data include instructions for any application or method operating on the electronic device 700, contact data, phone book data, messages, pictures, videos, etc. The memory 704 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0208] The power component 706 provides power to the various components of the electronic device 700. The power component 706 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 700.

[0209] The multimedia component 708 includes a screen that provides an output interface between the electronic device 700 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 708 includes a front camera and / or a rear camera. When the electronic device 700 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and the rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0210] The audio component 710 is configured to output and / or input audio signals. For example, the audio component 710 includes a microphone (MIC), and when the electronic device 700 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 704 or sent via the communication component 716. In some embodiments, the audio component 710 also includes a speaker for outputting audio signals.

[0211] I / O interface 712 provides an interface between processing component 702 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0212] The sensor assembly 714 includes one or more sensors for providing various aspects of status assessment for the electronic device 700. For example, the sensor assembly 714 can detect the open / closed state of the electronic device 700, the relative positioning of the components, such as the display and keypad of the electronic device 700, and the sensor assembly 714 can also detect the position change of the electronic device 700 or a component of the electronic device 700, the presence or absence of contact between the user and the electronic device 700, the orientation or acceleration / deceleration of the electronic device 700, and the temperature change of the electronic device 700. The sensor assembly 714 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 714 may also include an optical sensor, such as a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor imager Sensor, CMOS) or a charge coupled device (Charged Coupled Device, CCD) image sensor, for use in imaging applications. In some embodiments, the sensor assembly 714 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0213] The communication component 716 is configured to facilitate wired or wireless communication between the electronic device 700 and other devices. The electronic device 700 can access a wireless network based on a communication standard, such as WiFi, 4G or 4G, or a combination thereof. In an exemplary embodiment, the communication component 716 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 716 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0214] In an exemplary embodiment, the electronic device 700 can be implemented by one or more application-specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field-programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above method.

[0215] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 704 including instructions, and the instructions can be executed by a processor 720 of an electronic device 700 to complete the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a compact disc read-only memory (CDROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0216] Figure 8 Schematic diagram of a chip system proposed in an embodiment of the present application. For the case where the electronic device 700 can be a chip or a chip system, please refer to Figure 8 The structure of the chip system 800 is shown, but is not limited to this.

[0217] The chip system 800 includes one or more processors 801. The chip system 800 is used to execute any of the above methods.

[0218] In some embodiments, the chip system 800 further includes one or more interface circuits 802. Optionally, the terms such as interface circuit, interface, transceiver pin, etc. can be interchangeable. In some embodiments, the chip system 800 further includes one or more memories 803 for storing data. Optionally, all or part of the memory 803 can be outside the chip system 800. Optionally, the interface circuit 802 is connected to the memory 803, and the interface circuit 802 can be used to receive data from the memory 803 or other devices, and the interface circuit 802 can be used to send data to the memory 803 or other devices. For example, the interface circuit 802 can read the data stored in the memory 803 and send the data to the processor 801.

[0219] In some embodiments, the interface circuit 802 performs at least one of the communication steps such as sending and / or receiving in the above method. The interface circuit 802 performs the communication steps such as sending and / or receiving in the above method, for example, means that the interface circuit 802 performs data interaction between the processor 801, the chip system 800, the memory 803 or the transceiver device. In some embodiments, the processor 801 performs at least one of the other steps.

[0220] The modules and / or devices described in the embodiments such as virtual devices, physical devices, chips, etc. can be combined or separated as needed. Optionally, some or all steps can also be performed by multiple modules and / or devices in collaboration, which is not limited here.

[0221] The present application also proposes a storage medium, on which instructions are stored, and when the instructions are executed on the electronic device 700, the electronic device 700 executes any of the above methods. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer-readable storage medium, but is not limited thereto, and it may also be a storage medium readable by other devices. Optionally, the storage medium may be a non-transitory storage medium, but is not limited thereto, and it may also be a temporary storage medium.

[0222] The present application also proposes a program product, and when the program product is executed by the electronic device 700, the electronic device 700 executes any of the above methods. Optionally, the program product is a computer program product.

[0223] The present application also proposes a computer program, which, when executed on a computer, enables the computer to execute any of the above methods.

[0224] Those skilled in the art may also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application may be implemented by electronic hardware, computer software, or a combination of the two. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the functions described for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present application.

[0225] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0226] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0227] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0228] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0229] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0230] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0231] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0232] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

[0233] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0234] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for determining a time of arrival (ToA), characterized in that: The method comprises: For any target symbol of the detection sequence in the received signal, determine the differential phase information of the target symbol according to the coarse synchronization position of the target symbol and the coarse synchronization position of the adjacent symbol of the target symbol; wherein the differential phase information is used to indicate the difference between the coarse synchronization position and the actual synchronization position of the target symbol; Determining the precise delay of the detection sequence according to the differential phase information of each target symbol in the detection sequence; The ToA of the received signal is determined according to the precise delay and the coarse delay of the detection sequence in the received signal.

2. The method according to claim 1, characterized in that The step of determining, for any target symbol of a detection sequence in a received signal, differential phase information of the target symbol according to a coarse synchronization position of the target symbol and a coarse synchronization position of an adjacent symbol of the target symbol, comprises: For any target symbol in the detection sequence, performing a conjugate operation on a coarse synchronization position of the target symbol and a coarse synchronization position of a symbol adjacent to the target symbol to obtain differential information of the target symbol; Determining the phase angle of the target symbol according to the differential information of the target symbol; The differential phase information of the target symbol is determined according to the phase angle of the target symbol and the modulation bit value of the target symbol.

3. The method according to claim 2, characterized in that The coarse synchronization position is represented by a complex number representation, and the coarse synchronization position of the target symbol is represented by a complex number whose phase is a target phase, and the target phase is determined based on the modulation bit value of the target symbol, the modulation frequency deviation of the detection sequence, the frequency deviation of the target symbol and the precise delay.

4. The method according to claim 1, characterized in that: The differential phase information is a phase difference; and determining the precise delay of the detection sequence according to the differential phase information of each target symbol in the detection sequence comprises: Accumulating the phase differences of the target symbols in the detection sequence to obtain a phase difference accumulation sum; The ratio between the accumulated phase difference and the target data is determined as the precise time delay of the detection sequence; wherein the target data is determined based on the number of the target symbols and the modulation frequency deviation of the detection sequence.

5. The method according to claim 1, characterized in that The determining, according to the precise delay and the coarse delay of the detection sequence in the received signal, the ToA of the received signal comprises: The sum of the precise time delay and the coarse time delay of the detection sequence in the received signal is determined as the ToA of the received signal.

6. The method according to any one of claims 1 to 5, characterized in that The process of acquiring the rough synchronization position of each symbol in the detection sequence includes: Sampling the received signal to obtain IQ data corresponding to the received signal; Correlation processing is performed on the IQ data and a modulation sequence corresponding to the received signal to obtain a coarse synchronization position of each symbol in the received signal; The coarse synchronization position of each symbol in the detection sequence is determined according to the coarse synchronization position of each symbol in the received signal.

7. The method according to any one of claims 1 to 5, characterized in that The rough delay of the detection sequence is obtained by performing phase measurement and time calculation on the symbol corresponding to the target position in the detection sequence.

8. A device for determining a time of arrival (ToA), characterized in that: The device comprises: A processing module, configured to determine, for any target symbol of a detection sequence in a received signal, differential phase information of the target symbol according to a coarse synchronization position of the target symbol and coarse synchronization positions of symbols adjacent to the target symbol; wherein the differential phase information is used to indicate a difference between a coarse synchronization position and an actual synchronization position of the target symbol; The processing module is further used to determine the precise delay of the detection sequence according to the differential phase information of each target symbol in the detection sequence; The processing module is further configured to determine the ToA of the received signal according to the precise delay and the coarse delay of the detection sequence in the received signal.

9. An electronic device comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A chip, characterized in that: It includes at least one processor and a communication interface; the communication interface is used to receive a signal input to the chip or a signal output from the chip, and the processor communicates with the communication interface and implements the method according to any one of claims 1-7 through a logic circuit or executing code instructions.

11. A non-transitory computer-readable storage medium, characterized in that: When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method as claimed in any one of claims 1 to 7.

Images