Ranging method and device based on ultra wide band chip

Abstract

The invention provides a ranging method and device based on an ultra wide band chip. The ranging method comprises the following steps: initiating a ranging request; a distance measurement initiator sends a first distance measurement frame to obtain a first distance measurement mark R1; the distance measurement responder receives the first distance measurement frame and obtains a second distance measurement mark R2; the distance measurement responder sends a second distance measurement frame to obtain a third distance measurement mark R3; the distance measurement initiator receives the second distance measurement frame and obtains a fourth distance measurement mark R4; the distance measurement initiator sends a third distance measurement frame in a delayed mode within set delay time, and a fifth distance measurement mark R5 is obtained; the distance measurement responder receives the third distance measurement frame and obtains a sixth distance measurement mark R6; and the distance measurement responder calculates the flight time of the distance measurement frame between the distance measurement initiator and the distance measurement responder according to the distance measurement time data of the distance measurement initiator in the third distance measurement frame and the distance measurement mark moment data acquired by the distance measurement responder, and further calculates the distance between the distance measurement initiator and the distance measurement responder. According to the invention, the ranging efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of ultra-wideband technology, and in particular to a distance measurement method and device based on an ultra-wideband chip. Background Art

[0002] At present, the distance measurement technologies between devices include Bluetooth, WiFi (wireless fidelity, wireless local area network), and GPS (Global Positioning System) positioning technology, whose positioning accuracy is at most meter level, while UWB (Ultra Wideband) technology can improve the positioning accuracy to centimeter level. Pulse ultra-wideband (IR-UWB) is a wireless communication technology that uses ultra-short pulses with extremely low power spectrum density as information carriers and can share spectrum resources with other communication systems. It is used in the unlicensed frequency band between 3.1GHz and 10.6GHz and limits the transmission power to below -41.3dBm / MHz. It has the advantages of good concealment, high transmission rate, low power consumption, high positioning accuracy, strong anti-multipath capability, strong penetration, and good security.

[0003] However, the existing UWB technology has problems such as a large number of ranging frames required for ranging, long parameter configuration time and encryption time, resulting in low ranging efficiency.

[0004] Therefore, it is necessary to provide a ranging method and device based on an ultra-wideband chip to effectively solve the above problems. Summary of the invention

[0005] The present invention provides a ranging method and device based on an ultra-wideband chip, which calculates the time for acquiring a ranging mark by delaying the sending of ranging frames at a set delay time, reduces the number of ranging frames required to be sent, and improves ranging efficiency.

[0006] An embodiment of the present invention provides a ranging method based on an ultra-wideband chip, comprising:

[0007] Initiate a ranging request;

[0008] The ranging initiator sends a first ranging frame. When the first ranging frame is sent, the ranging initiator obtains a first ranging mark R1;

[0009] The ranging responder receives the first ranging frame, and when the first ranging frame is received, the ranging responder obtains a second ranging mark R2;

[0010] The ranging responder sends a second ranging frame, and when the sending of the second ranging frame is completed, the ranging responder obtains a third ranging mark R3;

[0011] The ranging initiator receives the second ranging frame, and when the second ranging frame is received, the ranging initiator obtains a fourth ranging flag R4;

[0012] The ranging initiator sends a third ranging frame after a set delay time, and when the third ranging frame is sent, the ranging initiator obtains a fifth ranging mark R5;

[0013] The ranging responder receives the third ranging frame, and when the third ranging frame is received, the ranging responder obtains a sixth ranging flag R6;

[0014] The third ranging frame includes the ranging time data of the ranging initiator. The ranging responder calculates the flight time of the ranging frame between the ranging initiator and the ranging responder according to the ranging time data of the ranging initiator in the third ranging frame and the time data of the second ranging mark R2, the third ranging mark R3 and the sixth ranging mark R6 acquired by itself, and further calculates the distance between the ranging initiator and the ranging responder.

[0015] Preferably, the flight time of the ranging frame between the ranging initiator and the ranging responder is calculated by the following formula:

[0016]

[0017] Among them, T prop T is the flight time of the ranging frame between the ranging initiator and the ranging responder; round1 is the first interval time between the first distance measurement mark R1 and the fourth distance measurement mark R4; T round2 is the second interval time between the third distance measurement mark R3 and the sixth distance measurement mark R6; T reply1 is the first response time between the second ranging mark R2 and the third ranging mark R3; T reply2 is the second recovery time between the fourth distance measurement mark R4 and the fifth distance measurement mark R5.

[0018] Preferably, the distance between the ranging initiator and the ranging responder is calculated by the following formula:

[0019] Distance=T prop *C

[0020] Wherein, Distance is the distance between the ranging initiator and the ranging responder; T prop is the flight time of the ranging frame between the ranging initiator and the ranging responder; C is the speed of light.

[0021] Preferably, the ranging initiator delaying sending the third ranging frame within the set delay time includes:

[0022] The protocol layer configures the send delay register; configures the set delay time T of the send delay register delay ;

[0023] The protocol layer configures the send start register and starts the countdown of the set delay time; at the same time, the physical layer generates a TX-START signal to trigger the collection of the count value T of the ranging timer at this moment. start ;

[0024] The physical layer calculates the time T when obtaining the fifth ranging mark R5 according to the format of the third ranging frame. R5 , and T R5 Write the value of into the data register;

[0025] Protocol layer reads T R5 The value of T R5 and obtain the time data of the fourth distance measuring mark R4 to calculate the second reply time T between the fourth distance measuring mark R4 and the fifth distance measuring mark R5 reply2 Calculate the first interval time T between the first ranging mark R1 and the fourth ranging mark R4 according to the acquired time data of the first ranging mark R1 and the fourth ranging mark R4 round1 ;

[0026] The protocol layer will T round1 and T reply2 Writing ranging time data as the ranging initiator into a third ranging frame;

[0027] When the countdown of the set delay time ends, the third ranging frame starts to be sent.

[0028] Preferably, the third ranging frame is a protocol standard frame SP0, the protocol standard frame SP0 includes SHR, PHR and PSDU fields, the PSDU field allows data to be written, and the ranging time data T of the ranging initiator is round1 and T reply2 The PSDU field of the third ranging frame is written.

[0029] Preferably, the time T when the fifth ranging mark is obtained is R5 Calculated by the following formula:

[0030] T R5 =T start +T delay +T shr

[0031] Among them, T R5 The time when the fifth ranging mark is obtained; T start The count value of the countdown distance measuring timer for starting to set the delay time; T delayTo set the delay time; T shr It is a fixed value and is related to the configuration of the third ranging frame.

[0032] Preferably, the ranging responder sends a fourth ranging frame, wherein the fourth ranging frame includes calculated distance data between the ranging initiator and the ranging responder; and the ranging initiator receives the fourth ranging frame to obtain the distance data between the ranging initiator and the ranging responder.

[0033] Preferably, the fourth ranging frame is a protocol standard frame SP0, which includes SHR, PHR and PSDU fields, the PSDU field allows data to be written, and the calculated distance data between the ranging initiator and the ranging responder is written into the fourth ranging frame PSDU field.

[0034] Preferably, there is one ranging initiator and at least one ranging responder.

[0035] The embodiment of the present invention further provides a distance measuring device based on an ultra-wideband chip, characterized in that it includes:

[0036] A ranging request module, which is used to initiate a ranging request;

[0037] A ranging initiation module, which is used to send and receive ranging frames, and obtain a ranging mark when the sending or receiving of the ranging frame is completed, and record the time of obtaining the ranging mark; the ranging initiation module sends a first ranging frame, and obtains a first ranging mark R1 when the first ranging frame is sent; receives the second ranging frame, and obtains a fourth ranging mark R4 when the second ranging frame is received; sends a third ranging frame after a set delay time, and obtains a fifth ranging mark R5 when the third ranging frame is sent;

[0038] A ranging response module is used to send and receive ranging frames, and obtain a ranging mark when the sending or receiving of the ranging frame is completed; the ranging response module receives the first ranging frame, and obtains a second ranging mark R2 when the first ranging frame is received; sends the second ranging frame, and obtains a third ranging mark R3 when the sending of the second ranging frame is completed; receives the third ranging frame, and obtains a sixth ranging mark R6 when the receiving of the third ranging frame is completed; the ranging response module calculates the flight time of the ranging frame between the ranging initiation module and the ranging response module according to the ranging time data of the ranging initiation module included in the third ranging frame and the time data of the second ranging mark R2, the third ranging mark R3 and the sixth ranging mark R6 obtained by itself, and then calculates the distance between the ranging initiation module and the ranging response module.

[0039] Compared with the prior art, the technical solution of the embodiment of the present invention has the following beneficial effects:

[0040] An ultra-wideband chip-based ranging method and device provided by an embodiment of the present invention include: initiating a ranging request; a ranging initiator sends a first ranging frame, and when the first ranging frame is sent, the ranging initiator obtains a first ranging mark R1; a ranging responder receives the first ranging frame, and when the first ranging frame is received, the ranging responder obtains a second ranging mark R2; the ranging responder sends a second ranging frame, and when the second ranging frame is sent, the ranging responder obtains a third ranging mark R3; the ranging initiator receives the second ranging frame, and when the second ranging frame is received, the ranging initiator obtains a fourth ranging mark R4; the ranging initiator sends a third ranging frame after a set delay time, and when the third ranging frame is sent, the ranging initiator sends a third ranging frame after a set delay time, and when the third ranging frame is sent, the ranging initiator sends a third ranging frame after a set delay time. The ranging responder obtains the fifth ranging mark R5; the ranging responder receives the third ranging frame, and when the third ranging frame is received, the ranging responder obtains the sixth ranging mark R6; the third ranging frame contains the ranging time data of the ranging initiator, and the ranging responder calculates the flight time of the ranging frame between the ranging initiator and the ranging responder according to the ranging time data of the ranging initiator in the third ranging frame and the time data of the second ranging mark R2, the third ranging mark R3 and the sixth ranging mark R6, and then calculates the distance between the ranging initiator and the ranging responder; by setting a delay time to delay the sending of the ranging frame, the time to obtain the ranging mark is calculated, the number of ranging frames to be sent is reduced, and the ranging efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are some embodiments of the present invention, not all embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor.

[0042] Figure 1 A schematic flow chart of a distance measurement method based on an ultra-wideband chip provided by an embodiment of the present invention;

[0043] Figure 2 Another schematic flow chart of a distance measurement method based on an ultra-wideband chip provided by an embodiment of the present invention;

[0044] Figure 3 A schematic diagram of distance measurement marks and time relationships of a distance measurement method based on an ultra-wideband chip provided by an embodiment of the present invention;

[0045] Figure 4 A module schematic diagram of a distance measuring device based on an ultra-wideband chip provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0048] Based on the problems existing in the prior art, the embodiments of the present invention provide a ranging method and device based on an ultra-wideband chip, which calculates the time for obtaining the ranging mark by delaying the sending of the ranging frame at a set delay time, reduces the number of ranging frames required to be sent, and improves the ranging efficiency.

[0049] Figure 1 A schematic flow chart of a distance measurement method based on an ultra-wideband chip provided by an embodiment of the present invention; Figure 2 Another schematic flow chart of a distance measurement method based on an ultra-wideband chip provided by an embodiment of the present invention; Figure 3 A schematic diagram of ranging marks and time relationships of a ranging method based on an ultra-wideband chip provided by an embodiment of the present invention.

[0050] View now Figure 1-Figure 3 , an embodiment of the present invention provides a ranging method based on an ultra-wideband chip, comprising:

[0051] S101: Initiate a ranging request;

[0052] S102: The ranging initiator sends a first ranging frame. When the first ranging frame is sent, the ranging initiator obtains a first ranging mark R1;

[0053] S103: The ranging responder receives the first ranging frame. When the first ranging frame is received, the ranging responder obtains the second ranging mark R2;

[0054] S104: the ranging responder sends a second ranging frame. When the second ranging frame is sent, the ranging responder obtains a third ranging mark R3;

[0055] S105: The ranging initiator receives the second ranging frame. When the second ranging frame is received, the ranging initiator obtains a fourth ranging mark R4;

[0056] S106: The ranging initiator sends a third ranging frame after a set delay time. When the third ranging frame is sent, the ranging initiator obtains a fifth ranging mark R5;

[0057] S107: The ranging responder receives the third ranging frame. When the third ranging frame is received, the ranging responder obtains a sixth ranging flag R6;

[0058] S108: The third ranging frame includes the ranging time data of the ranging initiator. The ranging responder calculates the flight time of the ranging frame between the ranging initiator and the ranging responder based on the ranging time data of the ranging initiator in the third ranging frame and the time data of the second ranging mark R2, the third ranging mark R3 and the sixth ranging mark R6, and then calculates the distance between the ranging initiator and the ranging responder.

[0059] In some embodiments, the flight time of the ranging frame between the ranging initiator and the ranging responder is calculated by the following formula:

[0060]

[0061] Among them, T prop T is the flight time of the ranging frame between the ranging initiator and the ranging responder; round1 is the first interval time between the first distance measurement mark R1 and the fourth distance measurement mark R4; T round2 is the second interval time between the third distance measurement mark R3 and the sixth distance measurement mark R6; T reply1 is the first response time between the second ranging mark R2 and the third ranging mark R3; T reply2 is the second recovery time between the fourth distance measurement mark R4 and the fifth distance measurement mark R5.

[0062] Specifically, the distance between the ranging initiator and the ranging responder is calculated by the following formula:

[0063] Distance=T prop *C

[0064] Where Distance is the distance between the ranging initiator and the ranging responder; T prop is the flight time of the ranging frame between the ranging initiator and the ranging responder; C is the speed of light.

[0065] In some embodiments, the ranging initiator delaying sending the third ranging frame within the set delay time includes:

[0066] The protocol layer configures the send delay register; configures the set delay time T of the send delay register delay ;

[0067] The protocol layer configures the send start register and starts the countdown of the set delay time; at the same time, the physical layer generates a TX-START signal to trigger the collection of the count value T of the ranging timer at this moment. start ;

[0068] The physical layer calculates the time T when obtaining the fifth ranging mark R5 according to the format of the third ranging frame. R5 , and T R5 Write the value of into the data register;

[0069] Protocol layer reads T R5 The value of T R5 and obtain the time data of the fourth distance measuring mark R4 to calculate the second reply time T between the fourth distance measuring mark R4 and the fifth distance measuring mark R5 reply2 Calculate the first interval time T between the first ranging mark R1 and the fourth ranging mark R4 according to the acquired time data of the first ranging mark R1 and the fourth ranging mark R4 round1 ;

[0070] The protocol layer will T round1 and T reply2 The ranging time data of the ranging initiator is written into the third ranging frame;

[0071] When the countdown of the set delay time ends, the third ranging frame starts to be sent.

[0072] In some embodiments, the third ranging frame is a protocol standard frame SP0, and the protocol standard frame SP0 includes SHR (Synchronisation Header, synchronization frame header), PHR (Physical Layer Header, physical layer frame header) and PSDU (Physical Layer Service Data Unit, physical layer service data unit) fields, SHR and PHR fields do not allow data to be written, PSDU field allows data to be written, and the ranging time data T of the ranging initiator is round1 and T reply2 Write to the PSDU field of the third ranging frame.

[0073] In some embodiments, the time T when the fifth ranging mark is obtained is R5 Calculated by the following formula:

[0074] T R5 =T start +T delay +T shr

[0075] Among them, T R5 The time when the fifth ranging mark is obtained; T startThe count value of the countdown distance measuring timer for starting to set the delay time; T delay To set the delay time; T shr It is a fixed value and is related to the configuration of the third ranging frame.

[0076] If the third ranging frame is not sent in a delayed manner, the ranging initiator can only know the specific time of the fifth ranging mark R5 after obtaining the fifth ranging mark R5 after the third ranging frame is sent, and then calculate T round1 and T reply2 The information needs to be sent to the ranging responder through another ranging frame to calculate the distance; by modifying the third ranging frame to the SP0 standard frame format and delaying the sending, the specific time of the fifth ranging mark R5 and T are calculated during the delay period. round1 and T reply2 The information is encapsulated into the PSDU field of the SP0 standard frame format of the third ranging frame, which reduces the number of ranging frames, simplifies the single bilateral ranging process, improves efficiency, reduces the error probability, and reduces the ranging power consumption of the chip.

[0077] In some embodiments, the ranging responder sends a fourth ranging frame, which includes the calculated distance data between the ranging initiator and the ranging responder; the ranging initiator receives the fourth ranging frame and obtains the distance data between the ranging initiator and the ranging responder.

[0078] In some embodiments, the fourth ranging frame is a protocol standard frame SP0, which includes SHR, PHR and PSDU fields. The SHR and PHR fields do not allow data to be written, but the PSDU field allows data to be written. The calculated distance data between the ranging initiator and the ranging responder is written into the fourth ranging frame PSDU field.

[0079] In some embodiments, the first ranging frame and the second ranging frame are both protocol standard frames SP3, and the protocol standard frame SP3 includes SHR (Synchronisation Header) and STS (Scrambled Timestamp Sequence) fields; data is not allowed to be written into the SHR and STS fields.

[0080] In some embodiments, there is one ranging initiator and at least one ranging responder; there may be multiple ranging responders, and the distances between the multiple ranging responders and the ranging initiator may be measured respectively.

[0081] Figure 4 A module schematic diagram of a distance measuring device based on an ultra-wideband chip provided by an embodiment of the present invention.

[0082] View now Figure 4The embodiment of the present invention further provides a distance measuring device based on an ultra-wideband chip, comprising:

[0083] A ranging request module 21, which is used to initiate a ranging request;

[0084] The ranging initiation module 22 is used to send and receive ranging frames, obtain the ranging mark when the ranging frame is sent or received, and record the time of obtaining the ranging mark; the ranging initiation module sends the first ranging frame, obtains the first ranging mark R1 when the first ranging frame is sent; receives the second ranging frame, obtains the fourth ranging mark R4 when the second ranging frame is received; sends the third ranging frame after a set delay time, and obtains the fifth ranging mark R5 when the third ranging frame is sent;

[0085] The ranging response module 23 is used to send and receive ranging frames and obtain a ranging mark when the sending or receiving of the ranging frame is completed; the ranging response module receives the first ranging frame, and obtains the second ranging mark R2 when the first ranging frame is received; sends the second ranging frame, and obtains the third ranging mark R3 when the second ranging frame is sent; receives the third ranging frame, and obtains the sixth ranging mark R6 when the third ranging frame is received; the ranging response module 23 calculates the flight time of the ranging frame between the ranging initiation module 22 and the ranging response module 23 according to the ranging time data of the ranging initiation module 22 included in the third ranging frame and the time data of the second ranging mark R2, the third ranging mark R3 and the sixth ranging mark R6 obtained by itself, and then calculates the distance between the ranging initiation module 22 and the ranging response module 23.

[0086] Specifically, both the ranging initiating module 22 and the ranging responding module 23 include ultra-wideband chips.

[0087] In summary, an embodiment of the present invention provides a ranging method and device based on an ultra-wideband chip, including: initiating a ranging request; a ranging initiator sends a first ranging frame, and when the first ranging frame is sent, the ranging initiator obtains a first ranging mark R1; a ranging responder receives the first ranging frame, and when the first ranging frame is received, the ranging responder obtains a second ranging mark R2; the ranging responder sends a second ranging frame, and when the second ranging frame is sent, the ranging responder obtains a third ranging mark R3; the ranging initiator receives the second ranging frame, and when the second ranging frame is received, the ranging initiator obtains a fourth ranging mark R4; the ranging initiator sends a third ranging frame after a set delay time, and when the third ranging frame is sent, the ranging responder obtains a fourth ranging mark R5; the ranging initiator sends a third ranging frame after a set delay time, and when the third ranging frame is sent, the ranging responder obtains a fourth ranging mark R6; the ranging initiator sends a third ranging frame after a set delay time, and when the third ranging frame is sent, the ranging responder obtains a fourth ranging mark R7; the ranging initiator sends a third ranging frame after a set delay time, and when the third ranging frame is sent, the ranging responder obtains a third ranging mark R8; the ranging responder sends a second ranging frame after a set delay time, and when the third ranging frame is sent, the ranging responder obtains a fourth ranging mark R9; the ranging responder sends a third ranging frame after a set delay time, and when the third ranging frame is sent, the ranging responder obtains a third ranging mark R10; the ranging responder sends a second ranging frame after a set delay time, and when the third ranging frame is sent, the ranging responder obtains a third ranging mark R11; the ranging responder sends a second ranging frame after a set delay time, and when the third ranging frame is sent, the ranging responder obtains a third ranging mark R12; the ranging responder sends a second ranging frame after a set delay time, and when the third ranging frame is sent, the ranging responder obtains a third ranging mark R13; the ranging responder sends The initiator obtains the fifth ranging mark R5; the ranging responder receives the third ranging frame, and when the third ranging frame is received, the ranging responder obtains the sixth ranging mark R6; the third ranging frame contains the ranging time data of the ranging initiator, and the ranging responder calculates the flight time of the ranging frame between the ranging initiator and the ranging responder according to the ranging time data of the ranging initiator in the third ranging frame and the time data of the second ranging mark R2, the third ranging mark R3 and the sixth ranging mark R6, and then calculates the distance between the ranging initiator and the ranging responder; by setting a delay time to delay the sending of the ranging frame, the time for obtaining the ranging mark is calculated, the number of ranging frames required to be sent is reduced, and the ranging efficiency is improved.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A ranging method based on an ultra-wideband chip, characterized in that: include: Initiate a ranging request; The ranging initiator sends a first ranging frame. When the first ranging frame is sent, the ranging initiator obtains a first ranging mark R1; The ranging responder receives the first ranging frame, and when the first ranging frame is received, the ranging responder obtains a second ranging mark R2; The ranging responder sends a second ranging frame, and when the sending of the second ranging frame is completed, the ranging responder obtains a third ranging mark R3; The ranging initiator receives the second ranging frame, and when the second ranging frame is received, the ranging initiator obtains a fourth ranging flag R4; The ranging initiator sends a third ranging frame after a set delay time, and when the third ranging frame is sent, the ranging initiator obtains a fifth ranging mark R5; The ranging responder receives the third ranging frame, and when the third ranging frame is received, the ranging responder obtains a sixth ranging flag R6; The third ranging frame includes the ranging time data of the ranging initiator. The ranging responder calculates the flight time of the ranging frame between the ranging initiator and the ranging responder according to the ranging time data of the ranging initiator in the third ranging frame and the time data of the second ranging mark R2, the third ranging mark R3 and the sixth ranging mark R6 acquired by itself, and further calculates the distance between the ranging initiator and the ranging responder.

2. The distance measurement method based on ultra-wideband chip according to claim 1, characterized in that: The flight time of the ranging frame between the ranging initiator and the ranging responder is calculated by the following formula: Among them, T prop T is the flight time of the ranging frame between the ranging initiator and the ranging responder; round1 is the first interval time between the first distance measurement mark R1 and the fourth distance measurement mark R4; T round2 is the second interval time between the third distance measurement mark R3 and the sixth distance measurement mark R6; T reply1 is the first response time between the second ranging mark R2 and the third ranging mark R3; T reply2 is the second recovery time between the fourth distance measurement mark R4 and the fifth distance measurement mark R5.

3. The distance measurement method based on ultra-wideband chip according to claim 2, characterized in that: The distance between the ranging initiator and the ranging responder is calculated by the following formula: Distance=T prop *C Wherein, Distance is the distance between the ranging initiator and the ranging responder; T prop is the flight time of the ranging frame between the ranging initiator and the ranging responder; C is the speed of light.

4. The distance measurement method based on ultra-wideband chip according to claim 1, characterized in that: The ranging initiator delaying sending the third ranging frame within the set delay time includes: The protocol layer configures the send delay register; configures the set delay time T of the send delay register delay ; The protocol layer configures the send start register and starts the countdown of the set delay time; at the same time, the physical layer generates a TX-START signal to trigger the collection of the count value T of the ranging timer at this moment. start ; The physical layer calculates the time T when obtaining the fifth ranging mark R5 according to the format of the third ranging frame. R5 , and T R5 Write the value of into the data register; Protocol layer reads T R5 The value of T R5 and obtain the time data of the fourth distance measuring mark R4 to calculate the second reply time T between the fourth distance measuring mark R4 and the fifth distance measuring mark R5 reply2 Calculate the first interval time T between the first ranging mark R1 and the fourth ranging mark R4 according to the acquired time data of the first ranging mark R1 and the fourth ranging mark R4 round1 ; The protocol layer will T round1 and T reply2 Writing ranging time data as the ranging initiator into a third ranging frame; When the countdown of the set delay time ends, the third ranging frame starts to be sent.

5. The distance measurement method based on ultra-wideband chip according to claim 4, characterized in that: The third ranging frame is a protocol standard frame SP0, which includes SHR, PHR and PSDU fields. The PSDU field allows data to be written. The ranging time data T of the ranging initiator round1 and T reply2 The PSDU field of the third ranging frame is written.

6. The distance measurement method based on ultra-wideband chip according to claim 4, characterized in that: The time T when the fifth ranging mark is obtained R5 Calculated by the following formula: T R5 =T start +T delay +T shr Among them, T R5 The time when the fifth ranging mark is obtained; T start The count value of the countdown distance measuring timer for starting to set the delay time; T delay To set the delay time; T shr It is a fixed value and is related to the configuration of the third ranging frame.

7. The distance measurement method based on ultra-wideband chip according to claim 1, characterized in that: The ranging responder sends a fourth ranging frame, where the fourth ranging frame includes the calculated distance data between the ranging initiator and the ranging responder; the ranging initiator receives the fourth ranging frame and obtains the distance data between the ranging initiator and the ranging responder.

8. The distance measurement method based on ultra-wideband chip according to claim 7, characterized in that: The fourth ranging frame is a protocol standard frame SP0, which includes SHR, PHR and PSDU fields. The PSDU field allows data to be written, and the calculated distance data between the ranging initiator and the ranging responder is written into the fourth ranging frame PSDU field.

9. The distance measurement method based on ultra-wideband chip according to claim 1, characterized in that: There is one ranging initiator and at least one ranging responder.

10. A distance measuring device based on an ultra-wideband chip, characterized in that: include: A ranging request module, which is used to initiate a ranging request; A ranging initiation module, which is used to send and receive ranging frames, and obtain a ranging mark when the sending or receiving of the ranging frame is completed, and record the time of obtaining the ranging mark; the ranging initiation module sends a first ranging frame, and obtains a first ranging mark R1 when the first ranging frame is sent; receives the second ranging frame, and obtains a fourth ranging mark R4 when the second ranging frame is received; sends a third ranging frame after a set delay time, and obtains a fifth ranging mark R5 when the third ranging frame is sent; A ranging response module is used to send and receive ranging frames, and obtain a ranging mark when the sending or receiving of the ranging frame is completed; the ranging response module receives the first ranging frame, and obtains a second ranging mark R2 when the first ranging frame is received; sends the second ranging frame, and obtains a third ranging mark R3 when the sending of the second ranging frame is completed; receives the third ranging frame, and obtains a sixth ranging mark R6 when the receiving of the third ranging frame is completed; the ranging response module calculates the flight time of the ranging frame between the ranging initiation module and the ranging response module according to the ranging time data of the ranging initiation module included in the third ranging frame and the time data of the second ranging mark R2, the third ranging mark R3 and the sixth ranging mark R6 obtained by itself, and then calculates the distance between the ranging initiation module and the ranging response module.

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