Methods, apparatus, devices, chips, and readable storage media for determining arrival time (ToA)

Abstract

This application proposes a method, apparatus, device, chip, and readable storage medium for determining the Time of Arrival (ToA). The method includes: for any target symbol in a probe sequence of a received signal, determining the differential phase information of the target symbol based on the coarse synchronization position of the target symbol and the coarse synchronization positions of adjacent symbols; 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 probe sequence based on the differential phase information of each target symbol in the probe sequence; and determining the ToA of the received signal based on the precise delay and the coarse delay of the probe sequence in the received signal. Thus, by utilizing the characteristic of alternating 0 and 1 bits in the probe sequence, a measurement of a fractional multiple of the precise delay is achieved, thereby realizing accurate ToA measurement. This effectively reduces the computational load, thereby reducing implementation cost and power consumption, and also eliminates the influence of carrier frequency offset on the measurement.

Description

Technical Field

[0001] This application relates to the field of wireless communication technology, and in particular to a method, apparatus, device, chip, and readable storage medium for determining the Time of Arrival (ToA). Background Technology

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

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

[0004] This application aims to at least partially address one of the technical problems in the related art.

[0005] Therefore, the following technical solution is proposed:

[0006] The first aspect of this application proposes a method for determining arrival time ToA, including:

[0007] For any target symbol in the probe sequence of the received signal, the differential phase information of the target symbol is determined based on the coarse synchronization position of the target symbol and the coarse synchronization positions of the adjacent symbols 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] The precise time delay of the detection sequence is determined based on the differential phase information of each target symbol in the detection sequence.

[0009] The ToA of the received signal is determined based on the precise time delay and the coarse time delay of the detection sequence in the received signal.

[0010] Optionally, determining the differential phase information of any target symbol in the probe sequence of the received signal, based on the coarse synchronization position of the target symbol and the coarse synchronization positions of its neighboring symbols, includes:

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

[0012] The phase angle of the target symbol is determined based on the differential information of the target symbol;

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

[0014] Optionally, the coarse synchronization position is represented using complex number notation, and the coarse synchronization position of the target symbol is characterized by a complex number with the target phase. The target phase is determined based on the modulation bit value of the target symbol, the modulation frequency offset of the probe sequence, the frequency offset of the target symbol, and the precise time delay.

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

[0016] The phase differences of each target symbol in the detection sequence are summed to obtain the phase difference sum;

[0017] The ratio between the sum of the phase differences 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 target symbols and the modulation frequency offset of the detection sequence.

[0018] Optionally, determining the ToA of the received signal based on the precise time delay and the coarse time delay of the probe sequence in the received signal includes:

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

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

[0021] The received signal is sampled to obtain the IQ data corresponding to the received signal;

[0022] 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.

[0023] The coarse synchronization position of each symbol in the detection sequence is determined based on 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 the symbol corresponding to the target position in the detection sequence.

[0025] A second aspect of this application provides an arrival time (ToA) determination device, comprising:

[0026] The processing module is configured to determine the differential phase information of any target symbol in the probe sequence of the received signal, based on the coarse synchronization position of the target symbol and the coarse synchronization positions of the adjacent symbols 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.

[0027] The processing module is further configured to determine the precise time delay of the detection sequence based on 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 based on the precise time delay and the coarse time delay of the detection sequence in the received signal.

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

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

[0031] The phase angle of the target symbol is determined based on the differential information of the target symbol;

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

[0033] Optionally, the coarse synchronization position is represented using complex number notation, and the coarse synchronization position of the target symbol is characterized by a complex number with the target phase. The target phase is determined based on the modulation bit value of the target symbol, the modulation frequency offset of the probe sequence, the frequency offset of the target symbol, and the precise time delay.

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

[0035] The phase differences of each target symbol in the detection sequence are summed to obtain the phase difference sum;

[0036] The ratio between the sum of the phase differences 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 target symbols and the modulation frequency offset of the detection sequence.

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

[0038] The sum of the precise delay and the approximate 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 configured to:

[0040] The received signal is sampled to obtain the IQ data corresponding to the received signal;

[0041] 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.

[0042] The coarse synchronization position of each symbol in the detection sequence is determined based on 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 the symbol corresponding to the target position in the detection sequence.

[0044] A third aspect of this application provides 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, it implements the arrival time ToA determination method proposed in the first aspect of this application.

[0045] A fourth aspect of this application provides a chip including at least one processor and a communication interface; the communication interface is used to receive signals input to the chip or signals output from the chip, and the processor communicates with the communication interface and implements the arrival time ToA determination method proposed in the first aspect of this application through logic circuits or executing code instructions.

[0046] The fifth aspect of this application provides a non-transitory computer-readable storage medium that, when instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to perform the arrival time ToA determination method proposed in the first aspect of this application.

[0047] The technical solution of this application determines the differential phase information of any target symbol in the probe sequence of the received signal based on the coarse synchronization position of the target symbol and the coarse synchronization positions of its adjacent symbols. The differential phase information indicates the difference between the coarse synchronization position and the actual synchronization position of the target symbol. The precise time delay of the probe sequence is determined based on the differential phase information of each target symbol in the probe sequence. The Time of Arrival (ToA) of the received signal is determined based on the precise time delay and the coarse time delay of the probe sequence in the received signal. Thus, by utilizing the alternating 0 and 1 bits in the probe sequence, a measurement of a fractional multiple of the precise time delay is achieved, thereby realizing accurate ToA measurement. This effectively reduces the computational load, thereby reducing implementation cost and power consumption, and simultaneously eliminates the influence of carrier frequency offset on the measurement.

[0048] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

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

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

[0051] Figure 1B This is a schematic diagram of an RTT ranging scheme provided in an embodiment of this application;

[0052] Figure 1C This is a schematic diagram of a phase ranging scheme provided in an embodiment of this application;

[0053] Figure 1D This is a schematic diagram of a Preamble sequence structure provided in an embodiment of this application;

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

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

[0056] Figure 2A A flowchart illustrating an arrival time ToA determination method provided in an embodiment of this application;

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

[0058] Figure 2C A schematic diagram showing that the coarse synchronization position is exactly the same as the actual synchronization position, provided for an embodiment of this application;

[0059] Figure 2D A schematic diagram illustrating a coarse synchronization position leading the actual synchronization position, provided for an embodiment of this application;

[0060] Figure 2E A schematic diagram illustrating a coarse synchronization position lagging behind the actual synchronization position, provided as an embodiment of this application;

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

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

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

[0064] Figure 6 This is a schematic diagram of an arrival time (ToA) determination device provided in an embodiment of this application;

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

[0066] Figure 8 This is a schematic diagram of the structure of a chip system proposed in an embodiment of this application. Detailed Implementation

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

[0068] In some embodiments, the apparatus and device 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", "body", etc.

[0069] To better understand the arrival time ToA determination method disclosed in the embodiments of this application, the communication system to which the embodiments of this application are applicable is first described below.

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

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

[0072] In some embodiments, terminal 101 includes, for example, at least one of the following: mobile phone, wearable device, Internet of Things (IoT) device, narrowband Internet of Things (NB-IoT) device, satellite communication device, car with communication function, smart car, tablet computer, computer with wireless transceiver function, virtual reality (VR) terminal device, augmented reality (AR) terminal device, wireless terminal device in industrial control, wireless terminal device in self-driving, wireless terminal device in remote medical surgery, wireless terminal device in smart grid, wireless terminal device in transportation safety, wireless terminal device in smart city, wireless terminal device in smart home, and red-capped terminal, but is not limited thereto.

[0073] In some embodiments, network device 102 may be a node or device that connects a terminal to a wireless network. The network device may include, but is not limited to, nodes such as satellites or drones in an information transmission network, evolved Node B (eNB), next-generation eNB (ng-eNB), next-generation Node B (gNB), next-generation RAN node (NG-RAN node), node B (NB), home node B (HNB), home evolved node B (HeNB), wireless backhaul device, 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 RAN, cloud RAN, base station in other communication systems, and access node in a Wi-Fi system.

[0074] It is understood that the communication system described in the embodiments of this application is for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and does not constitute a limitation on the technical solutions proposed in the embodiments of this application. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions proposed in the embodiments of this application are also applicable to similar technical problems.

[0075] The following embodiments of this application can be applied to Figure 1A The communication system 100 shown, or a part thereof, but not limited to it. Figure 1A The entities shown are illustrative; a communication system may include... Figure 1A All or part of the main body, or may include Figure 1A Other entities besides the main body, the number and form of each entity are arbitrary, each entity can be physical or virtual, the connection relationship between the entities is illustrative, the entities can be unconnected or connected, and the connection can be in any way, it can be a direct connection or an indirect connection, it can be a wired connection or a wireless connection.

[0076] In some embodiments, Bluetooth (BT) technology incorporates Channel Sounding (CS) ranging technology. CS ranging is based on Low Energy 1Mbps Physical Layer (LE 1M PHY) and Low Energy 2Mbps Physical Layer (LE 2M PHY) physical schemes, achieving centimeter-level ranging accuracy. Ranging employs two types of data packets: the first type uses the same LE 1M PHY and LE 2M PHY as used in Access Control List (ACL) connections and also employs Gaussian Frequency Shift Keying (GFSK) modulation, referred to as the CSSYNC (Synchronization) data packet. The second type of data packet is based on a constant channel carrier and employs Amplitude Shift Keying (ASK) modulation, referred to as the CS 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 sends a CS SYNC data packet to the reflector (Time of Flight (ToF) is the time of flight). I-R The Reflector returns data in the form of CS SYNC packets (time of flight is ToF). R-1 Then, based on the round-trip time (RTT = ToF) of the data packets... I-R +ToF R-1 ,) Calculate the distance between the Initiator and the Reflector.

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

[0079] In some embodiments, BT technology uses CS SYNC packets to achieve RTT ranging, the core of which is the measurement of 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] The Preamble sequence (or lead sequence) follows the Bluetooth Low Energy (BLE) format, with the following sequence structure: Figure 1D As shown, it is used for initial access power detection and gain control of BT terminals. Figure 1D In this context, MSB represents the Most Significant Bit (MSB).

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

[0083] The time synchronization position with symbol-level precision (µs) is obtained by correlating the IQ data of the received signal (where "I" and "Q" represent the in-phase and quadrature components, respectively) with the local sequence. High-magnification sampling typically yields a synchronization precision of 1 / 8 symbol (LE 1M PHY: 1 / 8µs, LE 2M PHY: 1 / 16µs). This method is commonly used in traditional BLE reception to meet demodulation performance requirements. However, for ranging, taking a 1 / 16µs time measurement precision as an example, the ranging accuracy is only 18.75 meters, far exceeding the centimeter-level ranging accuracy requirement. Therefore, BT technology introduces a Sounding Sequence for precise time synchronization, using alternating "0101…0101" bits (with "1100" or "0011" inserted in the middle of the sequence for attack prevention). The Sounding Sequence structure is as follows... Figure 1F As shown, Figure 1F In this context, LSB stands for Least Significant Bit.

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

[0085] The time estimate can be derived from the modulated repeating [0 1] bit sequence. This modulation occurs on the LE1M PHY, LE2M PHY, or Low Energy 2Megabit 2-Bit Transition Physical Layer (LE 2M 2BT PHY).

[0086] Let f represent the frequency of the complex sine wave, and α represent 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] Let T s Let represent the sampling period of the receiver, n represent the number of samples of the corresponding complex sine wave starting from time t, and M represent the integration period of a complete unit of the complex sine wave period. Then,

[0090] The signal containing the modulated repeating [0 1] bit sequence is represented as: S(n,t)=s(t+nT) s Then, the phases of the two complex sine waves are measured using the following two correlations:

[0091]

[0092] Due to receiver time quantization errors and random sampling clock skew, the estimated time of arrival (ToA) measured at the receiver's sampling clock rate differs from the actual time of arrival. (Using t...) sync This represents a rough estimate of the start of the detection sequence measured at the antenna port of the receiver. Using the two equations above, the fractional delay can be calculated as:

[0093]

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

[0095] Where +f and -f are 1 / (2*Tsym), Tsym is the symbol period, BLE 1M corresponds to 500kHz and -500kHz, and BLE 2M corresponds to 1MHz and -1MHz. The precise fractional multiple synchronization position is calculated using the phase difference of the carriers +f and -f. However, this method requires complex multiplication and addition of 2*L points because it correlates with the local +f and -f single-tone sequences to obtain the carrier phase of +f and -f. Moreover, if there is a carrier frequency offset Δf, the two single-tone components of the received sequence will appear in +f+Δf and -f+Δf. Using this correlation method will also lead to a relatively large measurement error.

[0096] The arrival time ToA determination method, apparatus, device, chip, and readable storage medium of this application are described in detail below with reference to the accompanying drawings.

[0097] Figure 2A This is a flowchart illustrating a method for determining arrival time (ToA) according to an embodiment of this application. It should be noted that the ToA determination method of this embodiment can be applied to an arrival time (ToA) determination device, which can be configured in an electronic device or chip to enable the electronic device or chip to perform the arrival time (ToA) determination function.

[0098] Among them, electronic devices can be any device with computing capabilities, such as personal computers (PCs), mobile terminals, terminal devices, servers, etc. Mobile terminals can be, for example, in-vehicle devices, mobile phones, tablets, personal digital assistants, wearable devices, and other hardware devices with various operating systems, touch screens, and / or displays.

[0099] Alternatively, the arrival time (ToA) determination device can also be software within an electronic device. Software, for example, includes arrival time (ToA) determination software. The following embodiments will use an electronic device as an example for explanation.

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

[0101] Step 201: For any target symbol in the probe sequence of the received signal, determine the differential phase information of the target symbol based on the coarse synchronization position of the target symbol and the coarse synchronization positions of the adjacent symbols of the target symbol.

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

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

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

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

[0106] It should be noted that when determining the differential phase information of any target symbol in the detection sequence of the received signal, the adjacent symbols selected for the target symbol are those on the same side. For example, assuming the target symbol is the third symbol in the detection sequence, and the second symbol in the detection sequence is selected as the adjacent symbol, then if the target symbol is the fourth symbol in the detection sequence, the third symbol in the detection sequence is selected as the adjacent symbol, not the fifth symbol, and so on.

[0107] In some embodiments, the coarse synchronization position of the target symbol and the coarse synchronization position of its adjacent symbols can be obtained by correlating the IQ data corresponding to the received signal (where "I" and "Q" represent in-phase and quadrature components, respectively) with the modulation sequence corresponding to the received signal. The modulation sequence corresponding to the received signal can be a GFSK modulation sequence of the 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, which, after GFSK modulation (BLE standard: 1MHz or 2MHz symbol rate, modulation depth 0.5), exhibits the following phase characteristics: Figure 2B As shown. Figure 2BIn the GFSK modulation, if the value is "1", the phase within one symbol increases by -pi / 2 in the positive direction; if the value is "0", the phase within one symbol 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 at the center sampling point are the same. However, when there is a deviation in the sampling position, the i and q phases of the two symbols at the center sampling point are not the same. Specifically, when all sampling points are at the center, i.e., 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, that is, the coarse synchronization position is ahead of the actual synchronization position, such as... Figure 2D As shown; when the sampling point lags behind, that is, the coarse synchronization position lags behind the actual synchronization position, as shown... Figure 2E As shown, this characteristic can be used to achieve accurate time delay estimation. Optionally, for any target symbol in the detection sequence in the received signal, the differential phase information of the target symbol can be determined based on the coarse synchronization position of the target symbol and the coarse synchronization positions of the adjacent symbols of the target symbol. Then, based on the differential phase information of each target symbol in the detection sequence, the accurate time delay of the detection sequence can be determined.

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

[0110] In some embodiments, the precise time delay of the above-mentioned detection sequence can be a fraction of a time delay, thereby effectively improving the ranging accuracy.

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

[0112] Step 203: Determine the ToA of the received signal based on the precise time delay and the coarse time delay of the probe sequence in the received signal.

[0113] In some embodiments, the coarse 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] This application embodiment determines the differential phase information of any target symbol in the probe sequence of the received signal based on the coarse synchronization position of the target symbol and the coarse synchronization positions of its adjacent symbols. The differential phase information indicates the difference between the coarse synchronization position and the actual synchronization position of the target symbol. The precise delay of the probe sequence is determined based on the differential phase information of each target symbol in the probe sequence. The ToA of the received signal is determined based on the precise delay and the coarse delay of the probe sequence in the received signal. Thus, by utilizing the alternating 0 and 1 bits in the probe sequence, a precision delay of a fraction of a bit is achieved, thereby realizing accurate ToA measurement. This effectively reduces computational load, thereby reducing implementation cost and power consumption, and simultaneously eliminates the influence of carrier frequency offset on the measurement.

[0116] Figure 3 This is a flowchart illustrating another method for determining arrival time (ToA) provided in an embodiment of this application. It should be noted that the ToA determination method of this embodiment can be applied to an ToA determination device, which can be configured in an electronic device or chip to enable the electronic device or chip to perform the ToA determination function.

[0117] Among them, electronic devices can be any device with computing capabilities, such as personal computers (PCs), mobile terminals, terminal devices, servers, etc. Mobile terminals can be, for example, in-vehicle devices, mobile phones, tablets, personal digital assistants, wearable devices, and other hardware devices with various operating systems, touch screens, and / or displays.

[0118] Alternatively, the arrival time (ToA) determination device can also be software within an electronic device. Software, for example, includes arrival time (ToA) determination software. The following embodiments will use an electronic device as an example for explanation.

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

[0120] Step 301: For any target symbol in the probe sequence of the received signal, perform a conjugate operation on the coarse synchronization position of the target symbol and the coarse synchronization position of the adjacent symbols of the target symbol to obtain the differential information of the target symbol.

[0121] In some embodiments, the above conjugate operation is a conjugate dot product operation. The probe sequence uses a "0101…0101" data sequence, which, after GFSK modulation (BLE standard: 1MHz or 2MHz symbol rate, modulation depth 0.5), has the following phase characteristics: Figure 2B As shown. Figure 2BIn the GFSK modulation, if the value is "1", the phase within one symbol increases by -pi / 2 in the positive direction; if the value is "0", the phase within one symbol 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 at the center sampling point are the same, meaning the phase obtained by the conjugate dot product is 0 degrees. However, when there is a deviation in the sampling position, the i and q phases of the two symbols at the center sampling point will not be the same. This characteristic can be used to achieve accurate time delay estimation.

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

[0123] In some embodiments, the following formula can be used to perform a conjugate operation on 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 in the probe sequence of the received signal, to obtain the differential information of the target symbol:

[0124]

[0125] Among them, diff iq (n) represents the difference 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 complex numbers, iq(n-1) represents the coarse synchronization position of the (n-1)th symbol (the adjacent symbol of the target symbol mentioned above), iq(n) represents the coarse synchronization position of the nth symbol, e jθ Let f be a complex number with phase θ, Δf be the frequency offset of the nth symbol, T be the symbol period, bit(n) be the modulation bit value of the nth symbol (-1 or 1, which is a known sounding sequence), Δt be the precise time delay (also known as the time offset) of the nth symbol, and f be a complex number with phase θ. mod This indicates the modulation frequency offset of the probe sequence (i.e., the BLE FM modulation frequency offset, 250kHz for BLE 1M and 500kHz for BLE 2M).

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

[0127] In some embodiments, the difference information diff of the target symbol is obtained using the above formula. iq(n) After that, the angle() function can be used to determine the phase angle (diff) of the target symbol. iq (n)). Among them, 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 based on the phase angle and modulation bit value of the target symbol.

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

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

[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). The meanings of the other letters can be found in the description above, and will not be repeated here.

[0133] Step 304: The phase differences of each target symbol in the detection sequence are accumulated to obtain the phase difference sum.

[0134] In some embodiments, after obtaining the phase difference t of the target symbol described above err After (n), the phase differences of each target symbol in the above detection sequence can be accumulated to obtain the phase difference sum. Since bit(n) alternates between "-1" and "1", the positive and negative values ​​cancel each other out after bit(n)*2πΔfT is accumulated, resulting in a value of 0, which can eliminate the influence of carrier frequency offset on the measurement.

[0135] In some embodiments, the phase differences of each target symbol in the above detection sequence can be accumulated using the following formula to obtain the phase difference sum:

[0136]

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

[0138] Step 305: The ratio between the phase difference summation and the target data is determined as the precise time delay of the probe sequence, which is determined based on the number of target symbols and the modulation frequency offset of the probe sequence.

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

[0140] Step 306: The sum of the precise delay and the coarse delay of the probe sequence in the received signal is determined as the ToA of the received signal.

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

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

[0143] This embodiment of the application obtains the differential information of a target symbol by performing a conjugate operation on the coarse synchronization position of the target symbol and the coarse synchronization positions of its adjacent symbols for any target symbol in the probe sequence of the received signal. Based on the differential information, the phase angle of the target symbol is determined. Based on the phase angle and the modulation bit value of the target symbol, the differential phase information of the target symbol is determined. The phase differences of each target symbol in the probe sequence are accumulated to obtain a phase difference sum. The ratio between the phase difference sum and the target data is determined as the precise time delay of the probe sequence, where the target data is determined based on the number of target symbols and the modulation frequency offset of the probe sequence. The sum of the precise time delay and the coarse time delay of the probe sequence in the received signal is determined as the ToA of the received signal. Thus, by utilizing the alternating 0 and 1 bits in the probe sequence, a fractional multiple of the precise time delay is measured, thereby achieving accurate ToA measurement. This effectively reduces the computational load, thereby reducing implementation cost and power consumption, and simultaneously eliminates the influence of carrier frequency offset on the measurement.

[0144] Figure 4 This is a flowchart illustrating another method for determining arrival time (ToA) provided in an embodiment of this application. It should be noted that the ToA determination method of this embodiment can be applied to an ToA determination device, which can be configured in an electronic device or chip to enable the electronic device or chip to perform the ToA determination function.

[0145] Among them, electronic devices can be any device with computing capabilities, such as personal computers (PCs), mobile terminals, terminal devices, servers, etc. Mobile terminals can be, for example, in-vehicle devices, mobile phones, tablets, personal digital assistants, wearable devices, and other hardware devices with various operating systems, touch screens, and / or displays.

[0146] Alternatively, the arrival time (ToA) determination device can also be software within an electronic device. Software, for example, includes arrival time (ToA) determination software. The following embodiments will use an electronic device as an example for explanation.

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

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

[0149] In some embodiments, the received signal can be sampled at a set multiple by a digital front end (DFE) to obtain the IQ data corresponding to the signal. The set multiple sampling can be high-multiple sampling, meaning the received signal is sampled at a relatively high sampling rate. Here, "high-multiple" refers to a sampling frequency much higher than twice the highest frequency of the signal or much higher than the Nyquist frequency.

[0150] Step 402: Correlate the IQ data with the modulation sequence corresponding to the received signal to obtain the coarse synchronization position of each symbol in the received signal.

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

[0152] In some embodiments, the high-sampling IQ data can be correlated with the modulation sequence corresponding to the received signal to obtain the coarse synchronization position of each symbol in the received signal.

[0153] It should be noted that the related processing in this step and the sampling in step 401 can be performed simultaneously, that is, the related processing can be performed while sampling, or the entire sample of the received signal can be completed first and then the related processing can be performed. This application embodiment does not impose any restrictions on this.

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

[0155] In some embodiments, the coarse synchronization position of each symbol in the above-mentioned detection sequence can be determined from the coarse synchronization position of each symbol in the above-mentioned received signal, based on the characteristic that the detection sequence adopts a "0101...0101" data sequence.

[0156] It should be noted that if the sampling and correlation processing method is adopted, it is possible that the coarse synchronization of the received signal has been completed (that is, the coarse synchronization position of each symbol in the part of the received signal corresponding to the part of the IQ data has been determined based on the part of the IQ data and the modulation sequence corresponding to the received signal). However, since 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 entire detection sequence in the received signal before determining the coarse synchronization position of each symbol in the detection sequence.

[0157] Step 404: For any target symbol in the probe sequence of the received signal, determine the differential phase information of the target symbol based on the coarse synchronization position of the target symbol and the coarse synchronization positions of the adjacent symbols of the target symbol.

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

[0159] Step 406: Determine the ToA of the received signal based on the precise time delay and the coarse time delay of the probe sequence in the received signal.

[0160] This application embodiment obtains IQ data corresponding to the received signal by sampling the received signal; it then performs correlation processing between the IQ data and the modulation sequence corresponding to the received signal to obtain the coarse synchronization position of each symbol in the received signal; based on the coarse synchronization position of each symbol in the received signal, the coarse synchronization position of each symbol in the detection sequence is determined. Therefore, by performing correlation processing between the IQ data corresponding to the received signal and 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. Furthermore, during communication, the received signal is often affected by noise and interference. Through high-magnification sampling and correlation processing, these noises and interferences can be filtered out more effectively, thereby improving the system's anti-interference capability.

[0161] The following examples illustrate this. Figure 5 This is a flowchart illustrating another method for determining arrival time ToA provided in an embodiment of this application.

[0162] like Figure 5 As shown, the DFE performs high-level sampling of the received signal to obtain high-level sampled IQ data corresponding to the received signal. Then, the high-level sampled IQ data and the GFSK modulation sequence of the CS Access Address are subjected to sliding correlation to complete coarse synchronization. Next, the IQ sampling at the center position of each symbol in the probe sequence is determined. Then, fine synchronization is calculated using the differential phase of adjacent symbols using the IQ sampling at the center position of each symbol in the probe sequence. Finally, the precise ToA of the received signal is determined.

[0163] The specific steps are as follows:

[0164] 1. Perform a sliding correlation between the high-sampling 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. Determine the sampled IQ value (center position) of each Symbol in the Sounding Sequence using the coarse synchronization position, and perform a sign-conjugate dot product on the sampled IQ value of each Symbol in the Sounding Sequence:

[0166]

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

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

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

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

[0171] 4. Transfer the t values ​​of L symbols err (n) is accumulated:

[0172]

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

[0174] 5. Decimal multiples of the time deviance: Δt′=terr Sum2π*2*L*f mod The sign of Δt′ represents leading or lagging, and the calculation is precise: ToA: t sync +Δt′.

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

[0176] The above process can be applied to scenarios where RTT ranging is achieved using CS SYNC data packets in BT technology. In this process, the CS Access Address sequence in the CSSYNC data packet is used to achieve coarse synchronization, and the Sounding Sequence is used to achieve fine synchronization.

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

[0178] To implement the above embodiments, this application also proposes an arrival time ToA determination device.

[0179] Figure 6 This is a schematic diagram of an arrival time (ToA) determination device provided in an embodiment of this application.

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

[0181] The processing module 610 is configured to determine the differential phase information of any target symbol in the detection sequence of the received signal, based on the coarse synchronization position of the target symbol and the coarse synchronization positions of the adjacent symbols 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 time delay of the detection sequence based on 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 based on the precise time delay and the coarse time 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, a conjugate operation is performed on the coarse synchronization position of the target symbol and the coarse synchronization position of the adjacent symbol of the target symbol to obtain the differential information of the target symbol;

[0186] The phase angle of the target symbol is determined based on the differential information of the target symbol;

[0187] The differential phase information of the target symbol is determined based on 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 characterized by a complex number with a target phase. The target phase is determined based on the modulation bit value of the target symbol, the modulation frequency offset of the probe sequence, the frequency offset of the target symbol, and the precise time delay.

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

[0190] The phase differences of each target symbol in the detection sequence are summed to obtain the phase difference sum;

[0191] The ratio between the sum of the phase differences 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 target symbols and the modulation frequency offset of the detection sequence.

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

[0193] The sum of the precise delay and the approximate 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] The received signal is sampled to obtain the IQ data corresponding to the received signal;

[0196] 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.

[0197] The coarse synchronization position of each symbol in the detection sequence is determined based on 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 phase measurement and time calculation of the symbol corresponding to the target position in the detection sequence.

[0199] The Time of Arrival (ToA) determination apparatus of this application determines the differential phase information of any target symbol in the probe sequence of the received signal based on the coarse synchronization position of the target symbol and the coarse synchronization positions of adjacent symbols. The differential phase information indicates the difference between the coarse synchronization position and the actual synchronization position of the target symbol. Based on the differential phase information of each target symbol in the probe sequence, the precise delay of the probe sequence is determined. Based on the precise delay and the coarse delay of the probe sequence in the received signal, the ToA of the received signal is determined. Thus, by utilizing the alternating 0 and 1 bits in the probe sequence, a measurement of a fractional-fold precise delay is achieved, thereby realizing accurate ToA measurement. This effectively reduces computational load, thereby reducing implementation cost and power consumption, and simultaneously eliminates the influence of carrier frequency offset on the measurement.

[0200] It should be noted that the foregoing explanation of the arrival time ToA determination method embodiment also applies to the arrival time ToA determination device of this embodiment, and will not be repeated here.

[0201] To implement the above embodiments, this application also proposes 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 executes the computer program to implement the arrival time ToA determination method proposed in the foregoing embodiments.

[0202] To implement the above embodiments, this application also provides a chip, including at least one processor and a communication interface; the communication interface is used to receive signals input to the chip or signals output from the chip, and the processor communicates with the communication interface and implements the arrival time ToA determination method proposed in the foregoing embodiments through logic circuits or executing code instructions.

[0203] To implement the above embodiments, this application also proposes a non-transitory computer-readable storage medium, wherein the instructions in the storage medium, when executed by the processor of an electronic device, enable the electronic device to execute the arrival time ToA determination method proposed in the foregoing embodiments.

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

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

[0206] Processing component 702 typically controls the overall operation of electronic device 700, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 702 may include one or more processors 720 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 702 may include one or more modules to facilitate interaction between processing component 702 and other components. For example, processing component 702 may include a multimedia module to facilitate interaction between multimedia component 708 and processing component 702.

[0207] Memory 704 is configured to store various types of data to support the operation of electronic device 700. Examples of such data include instructions for any application or method operating on electronic device 700, contact data, phonebook data, messages, pictures, videos, etc. Memory 704 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

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

[0209] Multimedia component 708 includes a screen that provides an output interface between electronic device 700 and 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 touchscreen to receive input signals from the user. The Touch Panel includes one or more touch sensors to sense touches, swipes, and gestures on the Touch Panel. The touch sensors may sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 708 includes a front-facing camera and / or a rear-facing camera. When electronic device 700 is in an operating mode, such as a shooting mode or video mode, the front-facing camera and / or rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0210] Audio component 710 is configured to output and / or input audio signals. For example, audio component 710 includes a microphone (MIC) configured to receive external audio signals when electronic device 700 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 704 or transmitted via communication component 716. In some embodiments, 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, home buttons, volume buttons, power buttons, and lock buttons.

[0212] Sensor assembly 714 includes one or more sensors for providing state assessments of various aspects of electronic device 700. For example, sensor assembly 714 may detect the on / off state of electronic device 700, the relative positioning of components such as the display and keypad of electronic device 700, changes in position of electronic device 700 or a component of electronic device 700, the presence or absence of user contact with electronic device 700, orientation or acceleration / deceleration of electronic device 700, and temperature changes of electronic device 700. Sensor assembly 714 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 714 may also include an optical sensor, such as a Complementary Metal Oxide Semiconductor (CMOS) or Charge Coupled Device (CCD) image sensor, for use in imaging applications. In some embodiments, sensor assembly 714 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

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

[0214] In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

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

[0216] Figure 8 This is a schematic diagram of a chip system according to an embodiment of this application. For cases where the electronic device 700 can be a chip or a chip system, please refer to... Figure 8 The schematic diagram of the chip system 800 shown is not limited to this.

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

[0218] In some embodiments, the chip system 800 further includes one or more interface circuits 802. Optionally, terms such as interface circuit, interface, and transceiver pin can be used interchangeably. In some embodiments, the chip system 800 further includes one or more memories 803 for storing data. Optionally, all or part of the memories 803 may be located outside the chip system 800. Optionally, the interface circuit 802 is connected to the memories 803, and the interface circuit 802 can be used to receive data from the memories 803 or other devices, and the interface circuit 802 can be used to send data to the memories 803 or other devices. For example, the interface circuit 802 can read data stored in the memories 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-described method. For example, the interface circuit 802 performing the communication steps, such as sending and / or receiving, in the above-described method 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 various embodiments, such as virtual devices, physical devices, and chips, can be combined or separated arbitrarily as needed. Optionally, some or all steps can also be performed collaboratively by multiple modules and / or devices, which is not limited here.

[0221] This application also proposes a storage medium storing instructions that, when executed on an electronic device 700, cause the electronic device 700 to perform any of the methods described above. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer-readable storage medium, but is not limited thereto; 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; it may also be a temporary storage medium.

[0222] This application also proposes a program product that, when executed by an electronic device 700, causes the electronic device 700 to perform any of the above methods. Optionally, the program product is a computer program product.

[0223] This application also proposes a computer program that, when run on a computer, causes the computer to perform any of the above methods.

[0224] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this application can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented through hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the described functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this application.

[0225] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0226] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0227] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0228] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0229] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0230] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0231] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0232] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

[0233] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0234] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for determining arrival time ToA, characterized in that, The method includes: For any target symbol in the probe sequence of the received signal, the probe sequence is a bit alternation sequence. A conjugate operation is performed on the coarse synchronization position of the target symbol and the coarse synchronization position of the adjacent symbol of the target symbol to determine the differential phase information of the target symbol. The differential phase information is used to indicate the difference between the coarse synchronization position and the actual synchronization position of the target symbol, and the differential phase information is a phase difference. The precise time delay of the detection sequence is determined based on the differential phase information of each target symbol in the detection sequence. 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.

2. The method according to claim 1, characterized in that, The step of performing a conjugate operation on the coarse synchronization position of the target symbol and the coarse synchronization positions of adjacent symbols to determine the differential phase information of the target symbol includes: Perform a conjugate operation on the coarse synchronization position of the target symbol and the coarse synchronization positions of the adjacent symbols of the target symbol to obtain the differential information of the target symbol; The phase angle of the target symbol is determined based on the differential information of the target symbol; The differential phase information of the target symbol is determined based on 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 using complex number notation, and the coarse synchronization position of the target symbol is characterized by a complex number with the target phase. The target phase is determined based on the modulation bit value of the target symbol, the modulation frequency offset of the probe sequence, the frequency offset of the target symbol, and the precise time delay.

4. The method according to claim 1, characterized in that, Determining the precise time delay of the detection sequence based on the differential phase information of each target symbol in the detection sequence includes: The phase differences of each target symbol in the detection sequence are summed to obtain the phase difference sum; The ratio between the sum of the phase differences 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 target symbols and the modulation frequency offset of the detection sequence.

5. The method according to any one of claims 1-4, characterized in that, The process of obtaining the coarse synchronization position of each symbol in the detection sequence includes: The received signal is sampled to obtain the IQ data corresponding to 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 based on the coarse synchronization position of each symbol in the received signal.

6. The method according to any one of claims 1-4, characterized in that, The coarse delay of the detection sequence is obtained by phase measurement and time calculation of the symbol corresponding to the target position in the detection sequence.

7. An arrival time ToA determination device, characterized in that, The device includes: The processing module is configured to perform a 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 in the probe sequence of the received signal, wherein the probe sequence is a bit alternation sequence, to determine the differential phase information 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, and the differential phase information is a phase difference; The processing module is further configured to determine the precise time delay of the detection sequence based on 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 by summing the precise delay with the coarse delay of the detection sequence in the received signal.

8. An electronic device comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method of any one of claims 1-6.

9. A chip, characterized in that, It includes at least one processor and a communication interface; the communication interface is used to receive signals input to the chip or signals output from the chip, and the processor communicates with the communication interface and implements the method according to any one of claims 1-6 through logic circuits or executing code instructions.

10. A non-transitory computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor of the electronic device, the electronic device is able to perform the method as described in any one of claims 1-6.

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