A ranging method and device based on an ultra-wideband chip

Abstract

The present invention provides a ranging method and device based on an ultra-wideband chip, including: initiating a ranging request; the ranging initiator sending a first ranging frame and obtaining a first ranging mark R1; the ranging responder receiving the first ranging frame and obtaining a second ranging mark R2; the ranging responder sending a second ranging frame and obtaining a third ranging mark R3; the ranging initiator receiving the second ranging frame and obtaining a fourth ranging mark R4; the ranging initiator delaying the sending of a third ranging frame at a set delay time and obtaining a fifth ranging mark R5; the ranging responder receiving the third ranging frame and obtaining a sixth ranging mark R6; the ranging responder calculating 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 ranging mark time data obtained by itself, and further calculating the distance between the ranging initiator and the ranging responder. The ranging efficiency is improved by adopting the present invention.

Description

Technical Field

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

[0002] Currently, ranging technologies between devices include Bluetooth, WiFi (Wireless Fidelity), and GPS (Global Positioning System) positioning technologies, whose positioning accuracy is up to the meter level at most, while UWB (Ultra Wideband) technology can improve the positioning accuracy to the centimeter level. Impulse radio ultra-wideband (IR-UWB) is a wireless communication technology that uses ultra-short pulses with extremely low power spectral density as the carrier of information and can share spectrum resources with other communication systems. It operates in the unlicensed frequency band between 3.1 GHz and 10.6 GHz and limits the transmit power to below -41.3 dBm / MHz. It has the advantages of good concealment, high transmission rate, low power consumption, high positioning accuracy, strong anti-multipath ability, strong penetration ability, and good security.

[0003] However, in the existing UWB technology, there are problems such as a large number of ranging frames required to be sent for ranging, too 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. By delaying the sending of ranging frames at a set delay time, the time of the ranging mark is calculated and obtained, reducing the number of ranging frames required to be sent and improving the ranging efficiency.

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

[0007] Initiating 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. 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. When the second ranging frame is sent, the ranging responder obtains a third ranging mark R3;

[0011] The ranging initiator receives the second ranging frame. When the reception of the second ranging frame is completed, the ranging initiator obtains the fourth ranging mark R4;

[0012] The ranging initiator delays and sends the third ranging frame at a set delay time. When the transmission of the third ranging frame is completed, the ranging initiator obtains the fifth ranging mark R5;

[0013] The ranging responder receives the third ranging frame. When the reception of the third ranging frame is completed, the ranging responder obtains the sixth ranging mark R6;

[0014] The third ranging frame contains 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 moments when it obtains the second ranging mark R2, the third ranging mark R3, and the sixth ranging mark R6 by itself, and then 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] where, T prop is the flight time of the ranging frame between the ranging initiator and the ranging responder; T round1 is the first interval time between the first ranging mark R1 and the fourth ranging mark R4; T round2 is the second interval time between the third ranging mark R3 and the sixth ranging mark R6; T reply1 is the first reply time between the second ranging mark R2 and the third ranging mark R3; T reply2 is the second reply time between the fourth ranging mark R4 and the fifth ranging 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] 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.

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

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

[0023] The protocol layer configures the transmission start register to start the countdown of the set delay time; meanwhile, the physical layer generates a TX-START signal to trigger the acquisition of the count value T of the ranging timer at this moment start ;

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

[0025] The protocol layer reads the value of T R5 , and calculates the second reply time T between the fourth ranging mark R4 and the fifth ranging mark R5 according to T R5 and the moment data of obtaining the fourth ranging mark R4; calculates the first interval time T between the first ranging mark R1 and the fourth ranging mark R4 according to the moment data of obtaining the first ranging mark R1 and the fourth ranging mark R4 reply2 ; round1 ;

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

[0027] When the countdown of the set delay time ends, start sending the third ranging frame.

[0028] Preferably, the third ranging frame is a protocol standard frame SP0, and 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 round1 and T reply2 of the ranging initiator are written into the PSDU field of the third ranging frame.

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

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

[0031] Wherein, T R5 is the time when the fifth ranging mark is acquired; T start is the count value of the ranging timer for starting the countdown of the set delay time; T delayFor setting the delay time; T shr 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, and 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.

[0033] Preferably, the fourth 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 calculated distance data between the ranging initiator and the ranging responder is written into the PSDU field of the fourth ranging frame.

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

[0035] An embodiment of the present invention further provides a ranging device based on an ultra-wideband chip, which is characterized by including:

[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 moment when the ranging mark is obtained; the ranging initiation module sends a first ranging frame, and when the first ranging frame is sent, obtains a first ranging mark R1; receives the second ranging frame, and when the second ranging frame is received, obtains a fourth ranging mark R4; delays and sends a third ranging frame at the set delay time, and when the third ranging frame is sent, obtains a fifth ranging mark R5;

[0038] A ranging response 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; the ranging response module receives the first ranging frame, and when the first ranging frame is received, obtains a second ranging mark R2; sends the second ranging frame, and when the second ranging frame is sent, obtains a third ranging mark R3; receives the third ranging frame, and when the third ranging frame is received, obtains a sixth ranging mark R6; 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 moment data of itself obtaining the second ranging mark R2, the third ranging mark R3, and the sixth ranging mark R6, and further 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] A ranging method and device based on an ultra-wideband chip provided by an embodiment of the present invention include: initiating a ranging request; the ranging initiator sending a first ranging frame, and when the first ranging frame is sent completely, the ranging initiator obtaining a first ranging mark R1; the ranging responder receiving the first ranging frame, and when the first ranging frame is received completely, the ranging responder obtaining a second ranging mark R2; the ranging responder sending a second ranging frame, and when the second ranging frame is sent completely, the ranging responder obtaining a third ranging mark R3; the ranging initiator receiving the second ranging frame, and when the second ranging frame is received completely, the ranging initiator obtaining a fourth ranging mark R4; the ranging initiator delaying and sending a third ranging frame at a set delay time, and when the third ranging frame is sent completely, the ranging initiator obtaining a fifth ranging mark R5; the ranging responder receiving the third ranging frame, and when the third ranging frame is received completely, the ranging responder obtaining a 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 moment data of itself obtaining the second ranging mark R2, the third ranging mark R3 and the sixth ranging mark R6, and further calculates the distance between the ranging initiator and the ranging responder; by delaying and sending the ranging frame at a set delay time, calculating the time for obtaining the ranging mark, reducing the number of frames of the ranging frames to be sent, and improving the ranging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention, rather than all embodiments. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

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

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

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

[0045] Figure 4 A schematic diagram of the modules of a ranging device based on an ultra-wideband chip provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0047] The technical solutions of the present invention will be described in detail below with specific embodiments. These specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated 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. By delaying the transmission of ranging frames at a set delay time, the time of the ranging mark is calculated and obtained, reducing the number of ranging frames to be transmitted and improving the ranging efficiency.

[0049] Figure 1 It is a schematic flowchart of a ranging method based on an ultra-wideband chip provided for an embodiment of the present invention; Figure 2 It is another schematic flowchart of a ranging method based on an ultra-wideband chip provided for an embodiment of the present invention; Figure 3 It is a schematic diagram of the ranging mark and time relationship of a ranging method based on an ultra-wideband chip provided for an embodiment of the present invention.

[0050] Now refer to Figures 1-3 , the embodiments of the present invention provide a ranging method based on an ultra-wideband chip, including:

[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 a 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 delays the transmission of the third ranging frame by a set delay time. When the transmission of the third ranging frame is completed, the ranging initiator obtains the fifth ranging mark R5;

[0057] S107: The ranging responder receives the third ranging frame. When the reception of the third ranging frame is completed, the ranging responder obtains the sixth ranging mark R6;

[0058] S108: The third ranging frame contains 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 moments when it obtains 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] where, T prop is the flight time of the ranging frame between the ranging initiator and the ranging responder; T round1 is the first interval time between the first ranging mark R1 and the fourth ranging mark R4; T round2 is the second interval time between the third ranging mark R3 and the sixth ranging mark R6; T reply1 is the first reply time between the second ranging mark R2 and the third ranging mark R3; T reply2 is the second reply time between the fourth ranging mark R4 and the fifth ranging 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 delays the transmission of the third ranging frame by a set delay time, including:

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

[0067] The protocol layer configures the transmission start register to start the countdown of the delay time; meanwhile, the physical layer generates a TX-START signal to trigger the acquisition of the count value T of the ranging timer at this moment. start ;

[0068] The physical layer calculates and obtains the time T when the fifth ranging marker R5 is acquired according to the format of the third ranging frame. R5 , and writes the value of T R5 into the data register;

[0069] The protocol layer reads the value of T R5 , and calculates the second reply time T between the fourth ranging marker R4 and the fifth ranging marker R5 according to T R5 and the moment data of obtaining the fourth ranging marker R4; calculates the first interval time T between the first ranging marker R1 and the fourth ranging marker R4 according to the moment data of obtaining the first ranging marker R1 and the fourth ranging marker R4 reply2 ; round1 ;

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

[0071] When the countdown of the set delay time ends, start sending the third ranging frame.

[0072] In some embodiments, the third ranging frame is a protocol standard frame SP0. The protocol standard frame SP0 includes fields of SHR (Synchronisation Header), PHR (Physical Layer Header), and PSDU (Physical Layer Service Data Unit). Data writing is not allowed in the SHR and PHR fields, and data writing is allowed in the PSDU field. The ranging time data T round1 and T reply2 are written into the PSDU field of the third ranging frame.

[0073] In some embodiments, the time T when the fifth ranging marker is acquired R5 is calculated by the following formula:

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

[0075] Among them, T R5 is the time when the fifth ranging marker is acquired; T startis the count value of the countdown ranging timer for starting to set the delay time; T delay is the set delay time; T shr is a fixed value and is related to the configuration of the third ranging frame.

[0076] If the third ranging frame is not sent after a delay, after the third ranging frame is sent by the ranging initiator, the ranging initiator can know the specific time of the fifth ranging mark R5 only after obtaining the fifth ranging mark R5, and then calculates T round1 and T reply2 The information of and T round1 and T reply2 needs to be sent to the ranging responder through another ranging frame for distance calculation; by modifying the third ranging frame to the SP0 standard frame format and sending it after a delay, the specific time of the fifth ranging mark R5 and the information of T

[0077] In some embodiments, the ranging responder sends a fourth ranging frame, and 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.

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

[0079] In some embodiments, both the first ranging frame and the second ranging frame are the protocol standard frame SP3. The protocol standard frame SP3 includes SHR (Synchronisation Header) and STS (Scrambled Timestamp Sequence) fields; the SHR and STS fields do not allow data writing.

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

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

[0082] Now refer to Figure 4, an embodiment of the present invention further provides a ranging device based on an ultra-wideband chip, including:

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

[0084] A ranging initiation module 22, which is used to send and receive ranging frames, and obtain a ranging mark when sending or receiving a ranging frame is completed, and record the moment when the ranging mark is obtained; the ranging initiation module sends a first ranging frame, and when the first ranging frame is sent, obtain the first ranging mark R1; receive the second ranging frame, and when the second ranging frame is received, obtain the fourth ranging mark R4; send the third ranging frame after a set delay time, and when the third ranging frame is sent, obtain the fifth ranging mark R5;

[0085] A ranging response module 23, which is used to send and receive ranging frames, and obtain a ranging mark when sending or receiving a ranging frame is completed; the ranging response module receives the first ranging frame, and when the first ranging frame is received, obtain the second ranging mark R2; send the second ranging frame, and when the second ranging frame is sent, obtain the third ranging mark R3; receive the third ranging frame, and when the third ranging frame is received, obtain the sixth ranging mark R6; 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 moment data of itself obtaining the second ranging mark R2, the third ranging mark R3, and the sixth ranging mark R6, and further calculates the distance between the ranging initiation module 22 and the ranging response module 23.

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

[0087] In summary, a ranging method and apparatus based on an ultra-wideband chip provided by an embodiment of the present invention include: initiating a ranging request; the ranging initiator sending a first ranging frame, and when the sending of the first ranging frame is completed, the ranging initiator obtaining a first ranging mark R1; the ranging responder receiving the first ranging frame, and when the receiving of the first ranging frame is completed, the ranging responder obtaining a second ranging mark R2; the ranging responder sending a second ranging frame, and when the sending of the second ranging frame is completed, the ranging responder obtaining a third ranging mark R3; the ranging initiator receiving the second ranging frame, and when the receiving of the second ranging frame is completed, the ranging initiator obtaining a fourth ranging mark R4; the ranging initiator delaying the sending of a third ranging frame at a set delay time, and when the sending of the third ranging frame is completed, the ranging initiator obtaining a fifth ranging mark R5; the ranging responder receiving the third ranging frame, and when the receiving of the third ranging frame is completed, the ranging responder obtaining a sixth ranging mark R6; the third ranging frame contains 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 moment data of itself obtaining the second ranging mark R2, the third ranging mark R3, and the sixth ranging mark R6, and further calculates the distance between the ranging initiator and the ranging responder; by delaying the sending of the ranging frame at a set delay time, calculating the time to obtain the ranging mark, reducing the number of frames of the ranging frames to be sent, and improving the ranging efficiency.

[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 them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions 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. ; The ranging responder receives the first ranging frame. When the first ranging frame is received, the ranging responder obtains the second ranging mark. ; The ranging responder sends a second ranging frame. When the second ranging frame is sent, the ranging responder obtains a third ranging flag. ; The ranging initiator receives the second ranging frame. When the second ranging frame is received, the ranging initiator obtains a fourth ranging flag. ; The ranging initiator sends the third ranging frame after the set delay time. When the third ranging frame is sent, the ranging initiator obtains the fifth ranging mark. ; The ranging responder receives the third ranging frame. When the third ranging frame is received, the ranging responder obtains a sixth ranging flag. ; The third ranging frame includes the ranging time data of the ranging initiator, and the ranging responder obtains the second ranging mark according to the ranging time data of the ranging initiator in the third ranging frame and itself. , the third distance measurement mark and the sixth range marker The time data of the ranging frame is used to calculate the flight time between the ranging initiator and the ranging responder, and then the distance between the ranging initiator and the ranging responder is calculated; The ranging initiator delaying sending the third ranging frame within the set delay time includes: The protocol layer configures the send delay register; Configure the set delay time of the send delay register ; 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 of the ranging timer at this moment. ; The physical layer calculates and obtains the fifth ranging mark according to the format of the third ranging frame Time , and Write the value of into the data register; Protocol layer reading The value of and get the fourth ranging marker The fourth distance measurement mark is calculated based on the time data With the fifth distance marker Second response time between ;According to the first ranging mark obtained With the fourth ranging mark The time data is used to calculate the first distance measurement mark With the fourth ranging mark The first interval between ; The protocol layer will and 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.

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: in, is the flight time of a ranging frame between the ranging initiator and the ranging responder; The first distance measurement mark With the fourth ranging mark The first interval between The third distance marker With the sixth ranging marker The second interval between The second distance marker With the third ranging marker First response time between; The fourth distance measurement mark With the fifth distance marker The second response time between.

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: in, is the distance between the ranging initiator and the ranging responder; 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 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 of the ranging initiator and The PSDU field of the third ranging frame is written.

5. The distance measurement method based on ultra-wideband chip according to claim 1, characterized in that: Get the time when the fifth distance measurement mark is Calculated by the following formula: in, The time when the fifth ranging mark is obtained; The count value of the countdown distance measuring timer for starting to set the delay time; To set the delay time; It is a fixed value and is related to the configuration of the third ranging frame.

6. 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.

7. The distance measurement method based on ultra-wideband chip according to claim 6, 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 PSDU field of the fourth ranging frame.

8. 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.

9. 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 is used to send and receive ranging frames, obtain a ranging mark when the ranging frame is sent or received, and record the time of obtaining the ranging mark; the ranging initiation module sends a first ranging frame, and obtains a first ranging mark when the first ranging frame is sent. ; Receive the second ranging frame, and when the second ranging frame is received, obtain the fourth ranging mark ; Send the third ranging frame after the set delay time, and obtain the fifth ranging mark 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 when the first ranging frame is received. ; Send a second ranging frame, and when the second ranging frame is sent, obtain a third ranging mark ; receiving the third ranging frame, and obtaining the sixth ranging mark when the third ranging frame is received The ranging response module obtains the second ranging mark according to the ranging time data of the ranging initiation module contained in the third ranging frame and itself , the third distance measurement mark and the sixth range marker The time data of the ranging frame is used to calculate the flight time between the ranging initiation module and the ranging response module, and then the distance between the ranging initiation module and the ranging response module is calculated; the ranging initiator sends the third ranging frame after a delay of a set delay time, including: The protocol layer configures the send delay register; Configure the set delay time of the send delay register ; 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 of the ranging timer at this moment. ; The physical layer calculates and obtains the fifth ranging mark according to the format of the third ranging frame Time , and Write the value of into the data register; Protocol layer reading The value of and get the fourth ranging marker The fourth distance measurement mark is calculated based on the time data With the fifth distance marker Second response time between ;According to the first ranging mark obtained With the fourth ranging mark The time data is used to calculate the first distance measurement mark With the fourth ranging mark The first interval between ; The protocol layer will and 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.

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