Ranging method, terminal device, system, storage medium and computer program product

Abstract

The invention provides a distance measurement method, terminal equipment, a system, a storage medium and a computer program product. The method comprises the following steps: a communication mode between first equipment and second equipment is an interactive communication mode, the first equipment and the second equipment mutually send and receive a first measurement signal corresponding to at least one preset frequency point in a mixing manner at a first time interval, and a first phase measurement value and a first phase fusion value are generated; determining the distance between the two devices at least according to the first phase fusion value; and / or, the communication mode between the first device and the second device is a one-way communication mode, and at a first time interval, the first device sends second measurement signals corresponding to the at least two preset frequency points to the second device; and the second device receives the second measurement signal to obtain a second measurement value and a second phase fusion value, and determines the distance between the two devices based on the second phase fusion value. According to the embodiment of the invention, the air interface occupation time can be significantly reduced, the time required for distance measurement is significantly reduced, and the highest measurement precision is high.

Description

Technical Field

[0001] The present application relates to the field of wireless communication and positioning technology, and in particular to a ranging method, terminal equipment, system, storage medium and computer program product. Background Art

[0002] Wireless positioning technology refers to the measurement of some parameters of the received radio wave signal, and based on this, the position of the device to be located is determined according to a specific algorithm. At present, wireless communication systems can use data transmission to solve the problem of locating the device to be located, but in most cases, they need to rely on dedicated sensors. For example, radar is usually used for distance measurement, or multi-antenna radar or inertial measurement unit (IMU) and other angle measurement methods are used to measure distance. However, the installation of sensors will inevitably lead to an increase in the cost of wireless communication systems. Therefore, how to use the inherent hardware capabilities of existing wireless communication systems to solve environmental perception problems has become an urgent problem to be solved. Summary of the invention

[0003] In view of at least one of the above technical problems existing in the prior art, the present application is proposed. According to a first aspect of the present application, a distance measurement method is provided, the method comprising:

[0004] In a case where the communication mode between the first device and the second device is an interactive communication mode, the first device and the second device each generate the same at least one preset frequency point according to a predetermined protocol;

[0005] At a preset time interval, the first device and the second device mutually transmit and receive a first measurement signal corresponding to the at least one preset frequency point based on their respective common carrier signals, so as to generate a first phase measurement value in both the first device and the second device;

[0006] The first device and / or the second device fuses the first phase measurement values ​​of the first device and the second device to obtain a first phase fusion value;

[0007] The first device and / or determines the distance between the first device and the second device at least according to the first phase fusion value;

[0008] and / or,

[0009] In a case where the communication mode between the first device and the second device is a one-way communication mode, the first device and the second device each generate the same at least two preset frequency points according to a predetermined protocol;

[0010] At a preset time interval, the first device sends a second measurement signal corresponding to the at least two preset frequency points to the second device based on its common carrier signal;

[0011] The second device receives the second measurement signal corresponding to the at least two preset frequency points based on the mixing of the common carrier signal thereof, obtains the second measurement value corresponding to the at least two preset frequency points, and fuses the second measurement values ​​corresponding to the at least two preset frequency points to form a second phase fusion value;

[0012] The second device determines a distance between the first device and the second device based at least on the second phase fusion value.

[0013] According to the second aspect of the present application, an embodiment of the present application further provides a terminal device, where the communication mode between the terminal device and the tag device is an interactive communication mode, the terminal device includes:

[0014] A high frequency oscillation circuit configured to generate a first common carrier signal and a second common carrier signal at at least one preset frequency point according to a predetermined protocol;

[0015] The sending module is configured to send a first measurement signal corresponding to the at least one preset frequency point to the tag device based on the first common carrier signal at a first time interval, so that the tag device receives the first measurement signal by mixing at the first time interval, and obtains a first phase measurement value corresponding to the at least one preset frequency point after processing the first measurement signal;

[0016] The receiving module is configured to receive a second measurement signal sent by the tag device based on the second common carrier signal mixing at a second time interval, and obtain a corresponding second phase measurement value after processing the second measurement signal, wherein the first measurement signal and the second measurement signal include single-tone signals;

[0017] The position calculation module is configured to fuse the first phase measurement value and the second phase measurement value to obtain a first phase fusion value, and determine the distance between the terminal device and the beacon device according to the first phase fusion value;

[0018] as well as,

[0019] Wherein, when the communication mode between the terminal device and the tag device is a one-way communication mode, the terminal device includes:

[0020] The high frequency oscillation circuit is configured to generate a third common carrier signal and a fourth common carrier signal at at least two preset frequency points respectively according to a predetermined protocol;

[0021] The sending module is configured to send a third measurement signal and a fourth measurement signal corresponding to the at least two preset frequency points to the tag device based on the third common carrier signal and the fourth common carrier signal at a third time interval, so that the tag device receives the third measurement signal and the fourth measurement signal in a mixed frequency at the third time interval, and obtains a second phase fusion value after fusing the third measurement signal and the fourth measurement signal, and calculates the distance between the terminal device and the beacon device according to the second phase fusion value; wherein the third measurement signal and the fourth measurement signal include a single-tone signal

[0022] According to the third aspect of the present application, an embodiment of the present application further provides a terminal device,

[0023] The terminal device includes a communication module, a high-frequency oscillation circuit, a sending module, a receiving module and a position calculation module; wherein the communication mode between the terminal device and the beacon device is an interactive communication mode; wherein,

[0024] The communication module is configured to determine at least one frequency point group according to a predetermined protocol, each frequency point group including at least two frequency points;

[0025] The high frequency oscillation circuit is configured to generate a first common carrier signal and a second common carrier signal corresponding to the at least two frequency points in a first time interval;

[0026] The receiving module is configured to receive a first measurement signal and a second measurement signal sent by the beacon device based on the mixing of the first common carrier signal and the second common carrier signal, so as to obtain a first phase measurement value and a second phase measurement value corresponding to the at least two frequency points; wherein the first measurement signal and the second measurement signal include single-tone signals;

[0027] The sending module is configured to transmit a third measurement signal and a fourth measurement signal to the beacon device at the at least two frequency points at a second time interval, so that the beacon device generates a third common carrier signal and a fourth common carrier signal at the at least two frequency points at the second time interval, and receives the third measurement signal and the fourth measurement signal based on the mixing of the third common carrier signal and the fourth common carrier signal, so as to obtain a third phase measurement value and a fourth phase measurement value for each frequency point of each frequency point group; wherein the third measurement signal and the fourth measurement signal include single-tone signals;

[0028] The position calculation module is configured to fuse the first phase measurement value with the third phase measurement value to obtain a first phase fusion value, and fuse the second phase measurement value with the fourth phase measurement value to obtain a second phase fusion value, and determine the distance between the terminal device and the beacon device based on the first phase fusion value and the second phase fusion value;

[0029] or,

[0030] The communication module is configured to determine at least two frequency point groups according to a predetermined protocol, each frequency point group including at least one frequency point;

[0031] The high-frequency oscillation circuit is configured to generate a fifth common carrier signal corresponding to at least one frequency point of a first frequency point group of the at least two frequency point groups in a third time interval; the high-frequency oscillation circuit is further configured to generate a sixth common carrier signal corresponding to at least one frequency point of a second frequency point group of the at least two frequency point groups in a fourth time interval;

[0032] The receiving module is configured to receive a fifth measurement signal sent by the beacon device based on the fifth common carrier signal mixing, so as to obtain a fifth phase measurement value corresponding to at least one frequency point of the first frequency point group; wherein the fifth measurement signal includes a single tone signal;

[0033] The receiving module is further configured to receive a sixth measurement signal sent by the beacon device based on the sixth common carrier signal mixing, so as to obtain a sixth phase measurement value corresponding to at least one frequency point of the second frequency point group; wherein the fifth measurement signal and the sixth measurement signal include single-tone signals;

[0034] The sending module is configured to transmit a seventh measurement signal to the beacon device at at least one frequency point of the first frequency point group at a third time interval, so that the beacon device generates a seventh common carrier signal at at least one frequency point of the first frequency point group at a third time interval, and receives the seventh measurement signal based on the seventh common carrier signal mixing, so as to obtain a seventh phase measurement value corresponding to at least one frequency point of the first frequency point group; wherein the seventh measurement signal includes a single-tone signal;

[0035] The sending module is further configured to transmit an eighth measurement signal to the beacon device at at least one frequency point of the second frequency point group at a fourth time interval, so that the beacon device generates an eighth common carrier signal at at least one frequency point of the second frequency point group at a fourth time interval, and receives the eighth measurement signal based on the eighth common carrier signal mixing, so as to obtain an eighth phase measurement value corresponding to at least one frequency point of the second frequency point group; wherein the eighth measurement signal includes a single-tone signal;

[0036] The position calculation module is configured to fuse the fifth phase measurement value with the seventh phase measurement value to obtain a third phase fusion value, and fuse the sixth phase measurement value with the eighth phase measurement value to obtain a fourth phase fusion value, and determine the distance between the terminal device and the beacon device based on the third phase fusion value and the fourth phase fusion value

[0037] According to the fourth aspect of the present application, the terminal device includes a communication module, a high-frequency oscillation circuit, a receiving module and a position calculation module; the communication mode between the terminal device and the beacon device is a one-way communication mode; wherein,

[0038] The communication module is configured to determine at least two frequency point groups according to a predetermined protocol, wherein the at least two frequency point groups include at least a first frequency point group and a second frequency point group; each frequency point group includes at least two frequencies;

[0039] The high frequency oscillation circuit is configured to generate a first common carrier signal at any frequency point in the first frequency point group;

[0040] The high frequency oscillation circuit is further configured to generate a second common carrier signal at any one frequency point in the second frequency point group;

[0041] The receiving module is configured to receive a first measurement signal sent by the beacon device based on the first common carrier mixing, so as to obtain a first phase measurement value corresponding to any one frequency point in the first frequency point group; wherein the first measurement signal is generated by the beacon device based on any one frequency point in the first frequency point group; wherein the first measurement signal includes a single tone signal;

[0042] The receiving module is further configured to receive a second measurement signal sent by the beacon device based on the second common carrier mixing, so as to obtain a second phase measurement value corresponding to any one frequency point in the second frequency point group; wherein the second measurement signal is generated by the beacon device based on any one frequency point in the second frequency point group; wherein the second measurement signal includes a single tone signal;

[0043] The position calculation module is configured to fuse the first phase measurement value with the second phase measurement value to obtain a first phase fusion value, and determine the distance between the terminal device and the beacon device at least according to the first phase fusion value;

[0044] or,

[0045] A communication module, configured to determine at least one frequency point group according to a predetermined protocol, wherein the at least one frequency point group includes at least two frequency points;

[0046] The high frequency oscillation circuit is configured to generate a third common carrier signal corresponding to a first frequency point among the at least two frequency points;

[0047] The high frequency oscillation circuit is further configured to generate a fourth common carrier signal corresponding to a second frequency point among the at least two frequency points;

[0048] The receiving module is configured to receive a third measurement signal sent by the beacon device based on the third common carrier mixing, so as to obtain a third phase measurement value corresponding to any one frequency point in the first frequency point group; wherein the third measurement signal is generated by the beacon device based on the first frequency point; wherein the third measurement signal includes a single tone signal;

[0049] The receiving module is further configured to receive a fourth measurement signal sent by the beacon device based on the fourth common carrier mixing to obtain a fourth phase measurement value corresponding to the second frequency point; wherein the fourth measurement signal is generated by the beacon device based on the second frequency point; wherein the fourth measurement signal includes a single-tone signal;

[0050] The position calculation module is configured to fuse the third phase measurement value with the fourth phase measurement value to obtain a second phase fusion value, and determine the distance between the terminal device and the beacon device at least according to the second phase fusion value

[0051] According to a fifth aspect of the present application, an embodiment of the present application further provides a ranging system,

[0052] The ranging system includes the terminal device as described above;

[0053] The ranging system also includes the terminal device as described above.

[0054] According to the fifth aspect of the present application, an embodiment of the present application further provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes the ranging method as described above.

[0055] According to a sixth aspect of the present application, a computer program product includes: instructions or a computer program;

[0056] When the instructions or the computer program are executed, the method described above is implemented.

[0057] The ranging method of the embodiment of the present application fuses the phase measurement value on the first device side and the phase measurement value on the second device side, and calculates the distance between the first device and the second device through the phase fusion value. It can be applicable to interactive communication mode, unidirectional communication mode, and hybrid communication system of interactive communication mode and unidirectional communication mode. Through this ranging method, the air interface occupancy time can be significantly reduced, the time required for ranging can be significantly reduced, and the maximum measurement accuracy is high. The tag device can be flexibly configured according to its own hardware limitations, measurement delay requirements, and measurement accuracy requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0059] Figure 1 A schematic flow chart of a distance measurement method according to an embodiment of the present application is shown;

[0060] Figure 2 A schematic diagram showing a device interaction process according to an embodiment of the present application;

[0061] Figure 3 A schematic flowchart showing a process 300 in which a first device and a second device send measurement signals to each other to generate a phase fusion value according to an embodiment of the present application;

[0062] Figure 4 A schematic flowchart showing a phase measurement value fusion process 400 within a group when a first device and a second device communicate in an interactive communication manner according to an embodiment of the present application;

[0063] Figure 5 A schematic flowchart showing an inter-group phase measurement value fusion process 500 when a first device and a second device communicate in an interactive communication manner according to an embodiment of the present application;

[0064] Figure 6 A schematic flowchart showing a phase measurement value fusion process 600 within a group when there is an abnormality in the communication between the first device and the second device according to an embodiment of the present application;

[0065] Figure 7 A schematic flowchart showing an inter-group phase measurement value fusion process 700 when there is an abnormality in the communication between the first device and the second device according to an embodiment of the present application;

[0066] Figure 8A schematic flow chart showing a ranging method when the communication mode between the first device and the second device according to another embodiment of the present application is a unidirectional communication mode;

[0067] Fig. 9 A schematic flowchart showing an inter-group ranging method when the communication mode between the first device and the second device according to an embodiment of the present application is a unidirectional communication mode;

[0068] Fig.10 A schematic flowchart showing an inter-group ranging method when the communication mode between the first device and the second device according to an embodiment of the present application is a unidirectional communication mode;

[0069] Fig.11 A schematic diagram showing that each device occupies an air interface to send a signal / data according to an embodiment of the present application;

[0070] FIG. 12( a ) shows a schematic diagram of a terminal device 1200 ( a ) of a first structure according to an embodiment of the present application;

[0071] FIG12( b ) shows a schematic diagram of a terminal device 1200 ( b ) of a second structure according to an embodiment of the present application;

[0072] Fig.13 A schematic diagram showing a terminal device 1300 according to an embodiment of the present application is shown;

[0073] Fig.14 A schematic diagram of a terminal device 1400 according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0074] In order to enable those skilled in the art to better understand the technical solutions of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0075] Channel Sounding (CS) based on the Bluetooth 6.0 standard is a phase ranging technology, which is mainly used for high-accuracy distance measurements (HADM) between two Bluetooth Low Energy (BLE) devices. While detecting the channel, the distance is estimated by measuring the phase and round-trip time (RTT), and the two are corrected to obtain the distance between the two Bluetooth Low Energy (BLE) devices. This detection method has higher positioning accuracy and a higher security protection mechanism.

[0076] Compared with the traditional technologies of Received Signal Strength Indicator (RSSI) and Angle-of-Arrival (AoA), the advantages of Channel Sounding (CS) based on Bluetooth 6.0 standard are:

[0077] (1) Compared with the strength indication ranging method (Received Signal Strength Indicator, RSSI), the positioning accuracy of channel sounding technology (Channel Sounding, CS) has been significantly improved. Under ideal conditions, the positioning accuracy of channel sounding technology (Channel Sounding, CS) can be achieved within 1m. In addition, the stability of channel sounding technology (Channel Sounding, CS) is also much better than that of the strength indication ranging method (Received Signal Strength Indicator, RSSI), because the strength indication ranging method (Received Signal Strength Indicator, RSSI) is based on signal strength for ranging, and since the signal strength is prone to drift, its stability will be lower.

[0078] (2) Compared with the angle-of-arrival (AoA) ranging method, the biggest advantage of channel sounding (CS) technology is that it does not require the addition of an array antenna. Since channel sounding (CS) technology is a phase radar mode, it can be implemented with a single antenna. Although the angle-of-arrival (AoA) ranging method has higher accuracy, it requires the addition of an array antenna, which is more expensive.

[0079] Although the channel detection technology based on the Bluetooth 6.0 standard can achieve higher distance measurement accuracy, this technology still has the following disadvantages:

[0080] First, both devices involved in distance measurement must be able to maintain a constant carrier phase during a frequency point phase measurement, one reception and one transmission. This requires that the local analog oscillation circuit of the device must continue to work within a few hundred microseconds of switching between transmission and reception. This puts forward requirements for the implementation of the device and also increases the power consumption of the device.

[0081] Secondly, the two devices involved in the distance measurement must complete one reception and one transmission of the measurement signal at each frequency point, and the received phase measurement values ​​must also be summarized through the data communication link. If it is a one-to-many broadcast scenario, the above operations are performed one by one, and the time required for measurement increases linearly with the number of broadcast target devices.

[0082] Based on at least one of the aforementioned technical problems, the present application provides a ranging method, the method comprising: a first device and a second device generate a first common carrier signal and a second common carrier signal at at least two preset frequency points respectively according to a predetermined protocol; the first device sends a first measurement signal to the second device at the at least two preset frequency points based on the first common carrier signal at a first time interval; the second device receives the first measurement signal sent by the first device at the first time interval based on the second common carrier mixing; after processing the first measurement signal, the second device obtains a first phase measurement value and a second phase measurement value corresponding to the at least two preset frequency points respectively, and fuses the first phase measurement value with the second phase measurement value to obtain a first phase fusion value; the second device determines the distance between the first device and the second device based on the first phase fusion value; wherein, the first device and the second device are in an interactive communication mode and / or a unidirectional communication mode. The ranging method of the embodiment of the present application fuses the phase measurement value on the first device side and the phase measurement value on the second device side, and calculates the distance between the first device and the second device through the phase fusion value. It can be applicable to interactive communication mode, unidirectional communication mode, and hybrid communication system of interactive communication mode and unidirectional communication mode. Through this ranging method, the air interface occupancy time can be significantly reduced, the time required for ranging can be significantly reduced, and the maximum measurement accuracy is high. The tag device can be flexibly configured according to its own hardware limitations, measurement delay requirements, and measurement accuracy requirements.

[0083] Figure 1 A schematic flow chart of a distance measurement method according to an embodiment of the present application is shown; Figure 1As shown, the ranging method 100 according to the embodiment of the present application may include the following steps S101(a), S102(a), S103(a), S104(a), S101(b), S102(b), S103(b) and S104(b):

[0084] In step S101 (a), when the communication mode between the first device and the second device is an interactive communication mode, the first device and the second device each generate the same at least one preset frequency point according to a predetermined protocol.

[0085] The first device is a beacon device, and the second device may be a tag device. In one example, there may be one beacon device, and there may be one or more tag devices, that is, the beacon device and the tag device may have a one-to-one or one-to-many relationship in terms of data volume.

[0086] It is worth noting that when a beacon device is simultaneously measuring distance with multiple tag devices by sending and receiving measurement signals, the frequency point and sending time selected by the beacon device when sending need to be notified to the tag device in advance through broadcasting and other means. The timing of each tag device sending a measurement signal to the beacon device needs to be coordinated in advance, and at most one tag device can send a measurement signal at any time. The frequency point sequence number and frequency point number selected by each tag device in the group can be different. If the number of frequency points selected by the tag device to send the measurement signal is not zero, the sending time and frequency point sequence number need to be negotiated with the beacon device in advance.

[0087] In step S102 (a), at a preset time interval, the first device and the second device transmit and mix-receive a first measurement signal corresponding to the at least one preset frequency point based on their respective common carrier signals to each other, so as to generate a first phase measurement value in both the first device and the second device.

[0088] As mentioned above, the Channel Sounding (CS) technology of the Bluetooth 6.0 standard refers to the fact that two Bluetooth devices that establish a connection can measure the distance between the two Bluetooth devices with high precision by measuring the phase of the single-tone measurement signal emitted by each other.

[0089] Wherein, the first measurement signal can be a single-tone signal. A single-tone signal is a signal containing only a single frequency, also known as a pure tone signal or a sine wave signal. A single-tone signal is generated by generating a sine wave signal with a fixed frequency in a transmitter. In a receiver, the frequency of the signal can be reliably detected by performing frequency analysis on the received signal. There are many methods for generating a single-tone signal, among which electronic oscillators and digital signal generators are commonly used.

[0090] For the convenience of description, assuming that the first device is device A (hereinafter, the first device and device A refer to the same device), and the second device is device B (hereinafter, the second device and device B refer to the same device), the local carriers generated by device A and device B can be respectively expressed by the following formulas:

[0091]

[0092] Where f represents the carrier frequency, θ A and θ B They represent the carrier phases of the two devices at t=0 respectively.

[0093] It is worth noting that the initial carrier phase of device A and device B is unknown and uncontrollable, and will change every time the analog circuit is powered on again or the carrier frequency is changed.

[0094] In step S103 (a), the first device and / or the second device fuses the first phase measurement values ​​of the first device and the second device to obtain a first phase fusion value.

[0095] In step S104(a), the first device and / or at least according to the first phase fusion value determines the distance between the first device and the second device.

[0096] In step S101(b), when the communication mode between the first device and the second device is a one-way communication mode, the first device and the second device each generate the same at least two preset frequency points according to a predefined protocol;

[0097] In step S102(b), at a preset time interval, the first device sends a second measurement signal corresponding to the at least two preset frequency points to the second device based on its common carrier signal;

[0098] In step S103(b), the second device receives the second measurement signal corresponding to the at least two preset frequency points based on the common carrier signal mixing, obtains the second measurement value corresponding to the at least two preset frequency points, and fuses the second measurement values ​​corresponding to the at least two preset frequency points to form a second phase fusion value;

[0099] In step S104(b), the second device determines a distance between the first device and the second device based at least on the second phase fusion value.

[0100] In the embodiment of the present application, steps S101(a) to S104(a) may be implemented separately, or steps S101(b) to S104(b) may be implemented separately, or steps S101(a) to S104(a) and steps S101(b) to S104(b) may be implemented in combination. For example, in a ranging system, there may be one first device and multiple second devices at the same time, some of which support two-way communication and some of which support one-way communication. Therefore, for the second device that supports two-way communication, steps S101(a) to S104(a) may be implemented, and for the second device that supports one-way communication, steps S101(b) to S104(b) may be implemented.

[0101] The second measurement signal may be a single-tone signal.

[0102] Wherein, the first device and the second device use an interactive communication mode and / or a one-way communication mode. Figure 2 As shown, for the convenience of description, it is assumed that the first device is device A and the second device is device B. In a ranging system, there is one device A and four devices B, namely device B1, device B2, device B3, and device B4. Among them, device A and device B1, device B2, and device B3 are in a two-way interactive communication mode, and device A and device B4 are in a one-way communication mode.

[0103] Continue to combine Figure 2 In the case of two-way interactive communication between device A and device B, device A and device B can transmit data and measurement signals. Figure 2 The solid line in the figure indicates the transmission of measurement signals, and the dashed line indicates the transmission of data. Since the communication between devices A and B1 is interactive, there is both measurement signal transmission and data transmission between device A and devices B1 and B2. Since abnormal communication occurs between device A and device B3, the measurement signal display between device A and device B3 can be interactive, but data transmission cannot be performed. Device A and device B4 have one-way communication, and device A can only transmit measurement signals to device B4.

[0104] The distance measurement method of the embodiment of the present application can be applied to many fields such as smart door locks, smart car keys, etc.

[0105] The interactive communication mode and the one-way communication mode between the first device and the second device are introduced below respectively.

[0106] In one embodiment of the present application, the communication mode between the first device and the second device is an interactive communication mode. Figure 3As shown, it is a schematic flow chart of a process 300 in which a first device and a second device send measurement signals to each other to generate a phase fusion value. In the process 300 in which a first device and a second device send measurement signals to each other to generate a phase fusion value, the following steps S301, S302, S303 and S304 are included:

[0107] In step S301, at a first time interval, the first device sends a third measurement signal corresponding to the at least one preset frequency point to the second device based on the first common carrier signal, so that the second device mixes and receives the third measurement signal to obtain a third phase measurement value.

[0108] The third measurement signal may be a single-tone signal.

[0109] Device A sends a carrier signal (i.e., a first common carrier signal) carrying a measurement signal to device B. After transmission, the signal received by device B is:

[0110]

[0111] Wherein, D represents the distance between device A and device B, c represents the speed of light, and j represents an integer.

[0112] Device B uses a local carrier (ie, a second common carrier signal) to mix the received measurement signal to obtain a baseband signal:

[0113]

[0114] Wherein, D represents the distance between device A and device B, c represents the speed of light, and j represents an integer.

[0115] Device B can measure the phase value of the above baseband signal as follows:

[0116]

[0117] Here, k represents an integer and 2kπ represents the integer period ambiguity of the phase measurement.

[0118] In step S302, at a second time interval, the second device sends a fourth measurement signal corresponding to the at least one preset frequency point to the first device based on a second common carrier signal, so that the first device mixes and receives the fourth measurement signal to obtain a fourth phase measurement value.

[0119] The fourth measurement signal may be a single-tone signal.

[0120] After the first measurement signal is sent from device A to device B, device B sends the second measurement signal to device A in reverse, and then device A measures the phase measurement value of the second measurement signal. The phase measurement value of the second measurement signal is as follows:

[0121]

[0122] where 2kπ represents the integer cycle ambiguity of the phase measurement.

[0123] It is worth noting that the third phase measurement value corresponding to the second measurement signal The first phase measurement value φ corresponding to the first measurement signal B The integer periodic ambiguities in (f) are not necessarily the same.

[0124] In step S303, the first device and / or the second device fuses the third phase measurement value with the third phase measurement value to obtain a third phase fusion value.

[0125] By integrating the above phase measurement value into device A and / or device B through the data communication link between device A and device B, the unknown initial carrier phase θ can be removed by adding the above two phase measurement values. A and θ B , as shown below:

[0126]

[0127] Among them, k represents the integer ambiguity; f represents the frequency; c represents the speed of light, and D represents the distance between device A and device B.

[0128] In step S304, the first device and / or the second device determines the distance between the first device and the second device at least according to the third phase fusion value.

[0129] Furthermore, the above formula (7) can be used directly to estimate the distance, and the distance D between device A and device B is:

[0130]

[0131] Where f represents the frequency; c represents the speed of light; ψ(f) represents the phase fusion value.

[0132] Due to the existence of integer ambiguity k, for example, if the working frequency of Bluetooth is f = 2442 MHz and the speed of light is c = 3e8 m / s, the unambiguous ranging range of this method can only be 0 to Obviously, it cannot meet the accuracy requirements of most applications.

[0133] In one example, we can take the partial derivative of ψ(f) with respect to frequency f to obtain:

[0134]

[0135] Where D is the distance between device A and device B; c is the speed of light; ψ(f) is the phase fusion value.

[0136] The distance D between device A and device B can be obtained using formula (9). If the derivative is approximated using ψ(f1) and ψ(f2) corresponding to two different frequency points f1 and f2, Get the distance D between device A and device B:

[0137]

[0138] Where ψ(f) represents the phase fusion value; f1 and f2 represent the frequency points respectively;

[0139] The unambiguous range here is 0 to For example, assuming that the minimum frequency interval of Bluetooth is 1 MHz, the maximum unambiguous ranging range can reach 300 m.

[0140] Assume that under a certain signal-to-noise ratio condition, the phase (i.e., φ A (f) and φ B (f)) The measurement error is ±ε. Then the distance measurement error is as follows:

[0141]

[0142] Where, f represents the frequency; c represents the speed of light; and ε represents the phase measurement error.

[0143] It can be seen that according to the Bluetooth protocol, the highest frequency point that can be selected for CS is 2478MHz, and the minimum frequency point is 2404MHz. For example, when ε is 5 degrees under a certain signal-to-noise ratio, the maximum distance measurement error is only 11.26cm. The measurement accuracy is greatly improved.

[0144] In the case where the first device and the second device are in interactive communication mode, the multiple frequency points generated by the two devices can be grouped to obtain multiple frequency point groups, and then the distance between device A and device B is calculated based on the intra-group phase measurement value fusion or the inter-group phase measurement value fusion.

[0145] In the first case, the communication mode between device A and device B is an interactive communication mode, and the communication is normal. The distance between device A and device B is calculated based on the fusion of the intra-group phase measurement values.

[0146] like Figure 4As shown, it is a schematic flow chart of a phase measurement value fusion process 400 within a group when a first device and a second device communicate in an interactive communication manner. The phase measurement value fusion process 400 within the group includes the following steps S401, S402, S403, S404 and S405:

[0147] In step S401, the first device and the second device determine at least one frequency point group according to a predefined protocol, each frequency point group includes at least two frequency points.

[0148] In the embodiment of the present application, M groups of operating frequencies may be determined through negotiation between device A and device B, and the serial numbers of the mth group of operating frequencies constitute a set S m The following measurement signal transmission and reception processes are all in the frequency point set S m On.

[0149] In step S402, the first device generates a third common carrier signal corresponding to a first frequency point of the at least one frequency point group.

[0150] The two devices respectively start the high-frequency oscillation circuit locally to generate a frequency point set S m Common carrier on:

[0151]

[0152] Where f0 represents the common carrier frequency; θ (m) Represents a random initial carrier phase.

[0153] In one example, f0 can be represented by the set S m The value is obtained by dividing the mean, median, or sum of the highest and lowest frequencies of each frequency point by 2.

[0154] It is worth noting that every time the device is restarted or f0 is switched, the initial carrier phase changes randomly.

[0155] In step S403, the first device sends a fifth measurement signal to the second device at a first frequency point of the at least one frequency point group based on the third common carrier signal at a third time interval.

[0156] The fifth measurement signal may be a single-tone signal.

[0157] Furthermore, device A transmits a single tone signal at at least one frequency point at an agreed time interval T1:

[0158]

[0159] in, It represents the modified carrier of the signal at frequency f, which is usually generated by a digital circuit; Δθ(f) represents a controllable and knowable phase deviation.

[0160] In step S404, the second device generates a fourth common carrier signal corresponding to the first frequency point of the at least one frequency point group at a third time interval.

[0161] In step S405, the second device receives the fifth measurement signal sent by the first device based on the fourth common carrier mixing, so as to obtain a fifth phase measurement value corresponding to the first frequency point of the at least one frequency point group.

[0162] The third measurement signal propagates through the distance D between device A and device B, and the signal received by device B in each time interval is (the change of signal amplitude is ignored in the following expressions):

[0163]

[0164] Among them, S m Indicates frequency group; f i represents the i-th frequency point; t represents the time variable, and its value range is the device A / B according to the frequency f i The time interval for signal transmission and reception; j represents an integer; D represents the distance between device A and device B; Indicates that the signal is at frequency f i The corrected carrier; Δθ A (f i ) indicates that device A is at frequency f i Controllable and predictable phase deviation.

[0165] Using the same method as the above device A, device B generates local carrier signals at corresponding multiple frequency points at time intervals T1. The local carrier signals are as follows:

[0166]

[0167] Among them, S m Indicates frequency group; f i represents the i-th frequency point; t represents the time variable, and its value range is the device A / B according to the frequency f i The time interval for sending and receiving signals; j represents an integer; Indicates that the signal is at frequency f i The corrected carrier; Δθ B (f i ) indicates that device B is at frequency f i Controllable and predictable phase deviation.

[0168] Then device B uses the above local carrier signal to mix and receive the above signal. The received signal is as follows:

[0169]

[0170] Among them, f i represents the i-th frequency point.

[0171] Thus, we get each frequency point f i Phase measurement on:

[0172]

[0173] Among them, Δθ A (f i ) and Δθ B (f i ) represents a known phase deviation, which is therefore corrected and removed from the measurement; k is an integer, representing the integer cycle ambiguity of the phase measurement.

[0174] In step S406, based on the same steps as above, the second device obtains a sixth phase measurement value corresponding to the second frequency point of the at least one frequency point group.

[0175] The process of the second device obtaining the sixth phase measurement value corresponding to the second frequency point of the at least one frequency point group is briefly described as follows:

[0176] After device A completes the transmission of the measurement signal, device B transmits a single tone signal at a number of frequency points in the group at a time interval T2. The single tone signal is represented as follows:

[0177]

[0178] Among them, i′∈S m .

[0179] The above measurement signal propagates between device A and device B, and the signal received by device A at each time interval T2 is:

[0180]

[0181] Among them, i′∈S m .

[0182] Accordingly, device A generates a local carrier signal at a corresponding frequency point at a time interval T2. The carrier signal is as follows:

[0183]

[0184] Where i∈S m , i′∈S m .

[0185] Device A uses the local carrier signal represented by the above equation (20) to perform mixing reception, and the obtained signal is represented as follows:

[0186]

[0187] Where i∈S m , i′∈S m ; k represents an integer.

[0188] Thus, device A obtains each frequency point f i The phase measurement value on is as follows:

[0189]

[0190] Where i∈S m , i′∈S m ; k represents an integer.

[0191] In step S407, the first device and / or the second device fuses the fifth phase measurement value with the sixth phase measurement value via the communication link between the second device and the first device to obtain a fourth phase fusion value.

[0192] Through the data communication link, the phase measurement values ​​of device A and device B are summarized and added to obtain:

[0193]

[0194] Where i∈S m , i′∈S m ; k represents an integer.

[0195] In step S408, the first device and / or the second device determines a distance between the first device and the second device based on the fourth phase fusion value.

[0196] It is worth noting that the calculation process of the above step S407 and step S408 can be performed on the first device and the second device. Then, according to actual needs, after any device completes the calculation and obtains the calculation result, the calculation result can be sent to the other device.

[0197] In the second case, the communication mode between device A and device B is an interactive communication mode, and the communication is normal, and the distance between device A and device B is calculated based on the fusion of the inter-group phase measurement values.

[0198] like Figure 5 As shown, it is a schematic flow chart of the inter-group phase measurement value fusion process 500 when the first device and the second device communicate in an interactive communication manner. Figure 5As shown, the inter-group phase measurement value fusion process 500 includes the following steps S501, S502, S503, S504 and S505:

[0199] In step S501, the first device and the second device determine at least two frequency groups according to a predefined protocol, each frequency group including at least one frequency point.

[0200] In step S502, the first device generates a fifth common carrier signal corresponding to at least one frequency point of a first frequency point group of at least two frequency point groups.

[0201] In step S503, the first device sends a sixth measurement signal to the second device at at least one frequency point of the first frequency point group based on the fifth common carrier signal at a fourth time interval.

[0202] Wherein, the sixth measurement signal includes a single-tone signal.

[0203] In step S504, the second device generates a sixth common carrier signal corresponding to at least one frequency point of the first frequency point group at a fourth time interval.

[0204] In step S505, the second device receives the sixth measurement signal sent by the first device based on the sixth common carrier signal mixing, so as to obtain a seventh phase measurement value corresponding to at least one frequency point of the first frequency point group.

[0205] In step S506, based on the second frequency point group among the at least two frequency point groups, the first device and the second device execute the same steps as above, and the second device obtains the eighth phase measurement value corresponding to at least one frequency point of the second frequency point group among the at least two frequency point groups.

[0206] Among them, steps S501 to S506 can adopt the same method as steps S401 to S405 to obtain the sixth phase measurement value and the seventh phase measurement value. For details, please refer to the introduction of steps S401 to S405, which will not be repeated here.

[0207] In step S507, the first device and / or the second device fuses the seventh phase measurement value with the eighth phase measurement value through the communication link between the second device and the first device to obtain a fifth phase fusion value.

[0208] Assume that after switching the frequency point group, another frequency point group N can be obtained, and its frequency point sequence number set is S n Then the phase measurement values ​​of device A and device B are summed up and added to get:

[0209]

[0210] Among them, j∈S n , j′∈S n , k represents an integer.

[0211] In step S508, the first device and / or the second device determines the distance between the first device and the second device according to the fifth phase fusion value.

[0212] Furthermore, the phase measurement values ​​from at least two frequency point groups may be fused to obtain a distance estimate, wherein the distance estimate is as follows:

[0213]

[0214] Where f represents the frequency; c represents the speed of light; ψ(f) represents the phase fusion value.

[0215] In the embodiment of the present application, there is no limit on the number of frequency point groups, and there may be multiple frequency point groups. Multiple phase measurement values ​​are calculated based on the multiple frequency point groups, and then the multiple phase measurement values ​​are fused, and the distance between device A and device B is calculated based on the fused phase fusion value. For example, when there are more than three frequency point groups, the above method is used to calculate and obtain the phase measurement values ​​of more than three frequency point groups. These phase measurement values ​​are fused and calculated according to the above formulas (24) and (25) to obtain the distance estimation value.

[0216] It is worth noting that the calculation process of the above step S507 and step S508 can be performed on the first device and the second device. Then, according to actual needs, after any device completes the calculation and obtains the calculation result, the calculation result can be sent to the other device.

[0217] Combination Figure 2 , Figure 2 Device B3 in the figure corresponds to the first and second cases mentioned above. Device A communicates normally with device B1 and device B2. In actual implementation, device A can send measurement signals to device B1 and device B2, and device B1 and device B2 can also send measurement signals to device A. Based on the measurement signals sent between device A and device B1, the phase measurement value between device A and device B1 can be determined, and then the phase measurement values ​​at different frequencies are fused, and then the distance between device A and device B1 is further calculated based on the phase fusion value. Similarly, based on the same method mentioned above, the distance between device A and device B2 can be calculated.

[0218] In the third case, the communication mode between device A and device B is an interactive communication mode, and the communication is abnormal, and the distance between device A and device B is calculated based on the fusion of the phase measurement values ​​within the group.

[0219] like Figure 6 As shown, it is a schematic flowchart of the intra-group phase measurement value fusion process 600 when there is an abnormality in the communication between the first device and the second device. The intra-group phase measurement value fusion process 600 when there is an abnormality in the communication between the first device and the second device includes the following steps S601, S602, S603, S604, S605, S606, S607 and S608:

[0220] In step S601, the first device and the second device determine at least one frequency point group according to a predefined protocol, wherein each frequency point group includes at least two frequency points.

[0221] In step S602, the first device generates a seventh common carrier signal for each frequency point in the first frequency point group.

[0222] In step S603, the first device sends a seventh measurement signal to the second device at a first frequency point of the at least one frequency point group based on the seventh common carrier signal at a fifth time interval.

[0223] The seventh measurement signal may be a single-tone signal.

[0224] In step S604, the second device generates an eighth common carrier signal corresponding to the first frequency point of the at least one frequency point group at a fifth time interval.

[0225] In step S605, the second device receives the seventh measurement signal sent by the first device based on the eighth common carrier signal mixing, so as to obtain a ninth phase measurement value corresponding to the first frequency point of the at least one frequency point group.

[0226] In step S606, based on the same steps as above, the second device obtains the tenth phase measurement value corresponding to the second frequency point of the at least one frequency point group.

[0227] In step S607, the second device fuses the ninth phase measurement value with the tenth phase measurement value to obtain a sixth phase fusion value.

[0228] In step S608, the second device determines the distance between the first device and the second device according to the sixth phase fusion value.

[0229] Although device B supports the function of sending measurement signals to device A, in special cases such as when device B is abnormal or based on speed or accuracy, device B no longer sends measurement signals to device A. Device B needs to calculate the distance between device A and device B based on multiple intra-group or inter-group carrier signals it receives.

[0230] In the fourth case, the communication mode between device A and device B is an interactive communication mode, and the communication is abnormal, and the distance between device A and device B is calculated based on the fusion of the inter-group phase measurement values.

[0231] like Figure 7 As shown, it is a schematic flow chart of the inter-group phase measurement value fusion process 700 when there is an abnormality in the communication between the first device and the second device. The intra-group phase measurement value fusion process 700 includes the following steps S701, S702, S703, S704, S705, S706, S707 and S708:

[0232] In step S701, the first device and the second device determine at least two frequency groups according to a predefined protocol, each frequency group including at least one frequency point.

[0233] In step S702, the first device generates a ninth common carrier signal for each frequency point in the first frequency point group.

[0234] In step S703, the first device sends an eighth measurement signal to the second device at a sixth time interval based on the ninth common carrier signal at at least one frequency point of a first frequency point group of at least two frequency point groups, wherein the eighth measurement signal may be a single tone signal.

[0235] In step S704, the second device generates a tenth common carrier signal for each frequency point in the first frequency point group at a sixth time interval.

[0236] In step S705, the second device receives the eighth measurement signal sent by the first device based on the tenth common carrier mixing, so as to obtain an eleventh phase measurement value of each frequency point of the first frequency point group.

[0237] In step S706, after the first device switches to the second frequency point group, the same steps as above are performed, so that the second device obtains a twelfth phase measurement value corresponding to at least one frequency point of the second frequency point group of at least two frequency point groups.

[0238] In step S707, the second device fuses the eleventh phase measurement value with the twelfth phase measurement value to obtain a seventh phase fusion value.

[0239] In step S708, the second device determines the distance between the first device and the second device according to the seventh phase fusion value.

[0240] Combination Figure 2 , Figure 2The device B3 in corresponds to the third and fourth cases mentioned above. Data transmission cannot be performed between device A and device B3 due to communication anomalies. In actual implementation, device A can send a measurement signal to device B3, and device B3 can also send a measurement signal to device A, but device A cannot receive the measurement signal sent by device B3. Therefore, device B3 can only calculate the phase measurement value based on the measurement signal it receives. It is worth noting that the measurement signal received by device B3 at this time is not necessarily all the measurement signals sent by device A, but it is still necessary to ensure that device B3 receives signals of at least two frequencies to obtain at least two phase measurement values ​​and obtain a phase fusion value to calculate the distance between the first device and the second device.

[0241] In specific implementation, you can choose to use Figure 6 or Figure 7 The method shown in FIG. 1 can also be implemented simultaneously when there are multiple frequency groups. Figure 6 and Figure 7 The method shown, for example, first calculates the intra-group phase fusion value, then calculates the inter-group phase fusion value, and calculates the distance between the two devices based on the final phase fusion value.

[0242] In another embodiment of the present application, the communication mode between the first device and the second device may be a one-way communication mode.

[0243] like Figure 8 As shown, it is a schematic flow chart of a distance measurement method when the communication mode between the first device and the second device is a one-way communication mode. The distance measurement method 800 may include the following steps S801, S802, S803, S804, S805 and S806:

[0244] In step S801, the first device generates an eleventh common carrier signal at at least two preset frequency points.

[0245] In step S802, the first device sends a ninth measurement signal to the second device at each frequency point of the at least two preset frequency points based on the eleventh common carrier signal at a seventh time interval.

[0246] The ninth measurement signal may be a single-tone signal.

[0247] In step S803, the second device generates a twelfth common carrier signal corresponding to each frequency point of the at least two preset frequency points at a seventh time interval.

[0248] In step S804, the second device receives the ninth measurement signal sent by the first device based on the twelfth common carrier signal mixing, so as to obtain the thirteenth phase measurement value and the fourteenth phase measurement value corresponding to the at least two preset frequency points respectively.

[0249] In step S805, the second device fuses the thirteenth phase measurement value with the fourteenth phase measurement value to obtain an eighth phase fusion value.

[0250] In step S806, the second device determines the distance between the first device and the second device according to the eighth phase fusion value.

[0251] Similar to the case where the first device and the second device use an interactive communication method, when the first device and the second device communicate unidirectionally, there are still intra-group fusion and inter-group fusion of phase measurement values. The following introduces embodiments of inter-group fusion and intra-group fusion of phase measurement values ​​when the first device and the second device communicate unidirectionally.

[0252] In the first case, the communication mode between device A and device B is a one-way communication mode, and the distance between device A and device B is calculated based on the fusion of inter-group phase measurement values.

[0253] like Fig. 9 As shown, a schematic flow chart of the inter-group ranging method when the communication mode between the first device and the second device is a one-way communication mode. The ranging method 900 also includes the following steps S901, S902, S903, S904, S905, S906, S907 and S908:

[0254] In step S901, the first device and the second device determine at least two frequency groups according to a predefined protocol, each frequency group including at least one frequency point.

[0255] In step S902, the first device generates a thirteenth common carrier signal for each frequency point in the first frequency point group.

[0256] In step S903, the first device sends a tenth measurement signal to the second device at an eighth time interval based on the thirteenth common carrier signal at at least one frequency point of a first frequency point group of at least two frequency point groups. The tenth measurement signal may be a single tone signal.

[0257] In step S904, the second device generates a fourteenth common carrier signal for each frequency point in the first frequency point group at an eighth time interval.

[0258] In step S905, the second device receives the tenth measurement signal sent by the first device based on the fourteenth common carrier mixing, so as to obtain the fifteenth phase measurement value of each frequency point of the first frequency point group.

[0259] In step S906, after the first device switches to the second frequency point group, the same steps as above are performed, so that the second device obtains the sixteenth phase measurement value corresponding to at least one frequency point of the second frequency point group of at least two frequency point groups.

[0260] After switching the frequency point group, device B can obtain the phase measurement value under another set of frequency points. Assume that the sequence number set of another set of frequency points is S n .

[0261]

[0262] Among them, j∈S n , j′∈S n , k represents an integer.

[0263] In step S907, the second device fuses the fifteenth phase measurement value with the sixteenth phase measurement value to obtain a ninth phase fusion value.

[0264] Further, one phase measurement value is taken from each of the measurement values ​​in at least two frequency point groups for fusion to obtain a phase fusion value as follows:

[0265]

[0266] Among them, S m and S n Represents at least two frequency groups; i′∈S m ,j′∈S n .

[0267] In step S908, the second device determines the distance between the first device and the second device according to the ninth phase fusion value.

[0268] Furthermore, the phase measurement values ​​from at least two frequency point groups may be fused to obtain a distance estimate, wherein the distance estimate is as follows:

[0269]

[0270] Here, c represents the speed of light.

[0271] It is worth noting that in order to obtain dφ(f) / df, at least one of the frequency point groups involved in the above calculation needs to contain 2 or more frequency values.

[0272] It is worth noting that the calculation process of the above step S907 and step S908 can also be performed on the first device (device A). If the calculation is completed on the first device (device A), the calculation result (for example, phase fusion value and / or distance value) can be sent to the second device (device B).

[0273] In the second case, the communication mode between device A and device B is a one-way communication mode, and the distance between device A and device B is calculated based on the fusion of the phase measurement values ​​within the group.

[0274] In fact, the intra-group phase measurement value fusion can be a variation of the inter-group phase measurement value fusion calculation method. When the two frequency point groups in the above steps S901 to S908 are the same frequency point group, it is the intra-group phase measurement value fusion, and the distance value in the case of the intra-group phase measurement value fusion can be calculated using formula (26) to formula (28).

[0275] Specifically, Fig.10 , which is a schematic flow chart of the inter-group ranging method when the communication mode between the first device and the second device is a one-way communication mode. The ranging method 1000 also includes the following steps S1001, S1002, S1003, S1004, S1005, S1006, S1007 and S1008:

[0276] In step S1001, the first device and the second device determine at least one frequency point group according to a predefined protocol, each frequency point group including at least two frequency points.

[0277] In step S1002, the first device generates a fifteenth common carrier signal of a first frequency point in the at least one frequency point group.

[0278] In step S1003, the first device sends an eleventh measurement signal to the second device at a first frequency point of the at least one frequency point group based on the fifteenth common carrier signal at a ninth time interval, wherein the eleventh measurement signal may be a single tone signal.

[0279] In step S1004, the second device generates a sixteenth common carrier signal corresponding to the first frequency point of the at least one frequency point group at a ninth time interval.

[0280] In step S1005, the second device receives the eleventh measurement signal sent by the first device based on the sixteenth common carrier signal mixing, so as to obtain the seventeenth phase measurement value corresponding to the first frequency point of the at least one frequency point group.

[0281] In step S1006, based on the same steps as above, the second device obtains the eighteenth phase measurement value corresponding to the second frequency point of the at least one frequency point group.

[0282] In step S1007, the second device fuses the seventeenth phase measurement value with the eighteenth phase measurement value to obtain a tenth phase fusion value.

[0283] In step S1008, the second device determines the distance between the first device and the second device according to the tenth phase fusion value.

[0284] In short, Figure 2 In the example, device A broadcasts the measurement signal as a beacon device, and multiple tag devices B1, B2, B3, and B4 monitor and measure at the same time. After device A sends the measurement signal of each frequency point set (or frequency point group), B1, B2, and B3 select one or more frequency points in the current frequency point set (or frequency point group) to send the measurement signal to device A. The sending timing needs to be agreed in advance and cannot conflict; tag device B4 does not send the measurement signal to A. Device A transmits the corresponding phase measurement values ​​from each tag device to each tag device through the data path. In special cases, due to some reason, the data path between device A and device B3 cannot be established normally, so the phase measurement value obtained on the device A side cannot be transmitted to device B3. Tag devices B1 and B2 can use the local phase measurement value and the corresponding phase measurement value of device A to calculate the distance; tag device B4 directly uses the local phase measurement value to calculate the distance. Since the tag device B3 has no data path with the beacon device A, it cannot obtain the phase measurement value on the device A side. Therefore, like the tag device B4, it directly uses the local phase measurement value to calculate the distance.

[0285] Recombination Fig.11 In the first frequency group (Group1), device A sends x The carrier signal (measurement signal) is broadcasted, wherein the first frequency point group includes frequency points f1, f2, ..., f 10 . Device B1 at frequency f1 and frequency f 10 , with a time interval T x The corresponding carrier signal (measurement signal) is transmitted to device A; device B2 transmits the corresponding carrier signal (measurement signal) at frequency f1 with a time interval T x Transmit the corresponding carrier signal (measurement signal) to device A; device B3 at frequency f 10 , with a time interval T x The corresponding carrier signal (measurement signal) is transmitted to device A. In the second frequency point group (Group2), device A transmits a measurement signal at a time interval T x The broadcast transmission carrier signal (measurement signal) includes the second frequency point group including the frequency point f11 、f 12 ……f 20 . Device B1 at frequency f 11 Sum frequency f 20 , with a time interval T x The corresponding carrier signal (measurement signal) is transmitted to device A; device B2 at frequency f 11 , with a time interval T x Transmit the corresponding carrier signal (measurement signal) to device A; device B3 at frequency f 20 , with a time interval T x The corresponding carrier signal (measurement signal) is transmitted to device A. Since device B4 and device A are in one-way communication mode, device B4 will not transmit a carrier signal to device A. Similarly, the phase measurement value on the device A side and the phase measurement value from device B1 to device B4 can be obtained, and finally the distance between device A and device B1 to device B4 can be calculated based on the phase measurement value. Fig.11 It can be seen that when a device needs to perform ranging with multiple devices separately, the ranging method provided in the embodiment of the present application can significantly reduce the air interface occupancy time and significantly reduce the time required for ranging.

[0286] In addition, when device A communicates with device B1 and device B2, when device B1 and device B2 also need to send measurement signals to device A, device A will process the measurement signals to obtain the measurement signal values. If it is stipulated in advance that device B1 and device B2 will perform fusion processing, device A needs to send the measurement signal values ​​to device B1 and device B2. That is to say, device A sends the measurement signal values ​​to device B1 and device B2 at the time interval T. x The signal meas.val is sent to send the measured signal value to device B1 and device B2. In this way, device B1 and device B2 can fuse the two measured signal values ​​to obtain a phase fusion value, and then calculate the distance between the two devices through the phase fusion value.

[0287] The technical effects of the embodiments of the present application are described below through the following aspects.

[0288] First, in a scenario where a device needs to perform ranging with N devices separately, it can significantly reduce the air interface occupancy time and significantly reduce the time required for ranging.

[0289] For example, using the Channel Sounding (CS) technology in Bluetooth 6.0, assuming that the ranging algorithm used between every two devices requires the exchange of at least two frequency measurement signals, and assuming that each measurement signal (including frequency and transceiver switching) takes T time, the total time required for the measurement signal exchange is 4NT.

[0290] If the method of the embodiment of the present application is adopted, the beacon device broadcasts the measurement signal sequentially on two frequency points in a frequency point group, and the tag device directly uses the phase measurement values ​​on these two frequency points to calculate the distance, and the total time required for the measurement signal exchange is only 2T. It can be seen that the ranging time is greatly shortened.

[0291] Second, the maximum measurement accuracy is almost the same as the channel sounding technology (CS) in Bluetooth 6.0.

[0292] Assume that under a certain signal-to-noise ratio condition, the phase measurement error is ±ε. Then according to formula (24), the distance measurement error obtained by fusing two sets of frequency points with a frequency interval of Δf is small, and the error calculation formula is as follows:

[0293]

[0294] Where c represents the speed of light; Δf represents the interval between two sets of frequencies.

[0295] Of course, the specific accuracy is still limited by the transceiver bandwidth of the device simulation device. For example, according to the Bluetooth protocol, the highest frequency point that can be selected for CS is 2478MHz, and the minimum frequency point is 2404MHz. Assuming that the transceiver bandwidth of the device simulation device is 10MHz, the difference between the highest frequency and the lowest frequency in each frequency point set is agreed to be 9MHz, then the frequency point set with the largest interval is 2404-2413MHz and 2469-2478MHz, that is, Δf=65MHz. If ε is 5 degrees under a certain signal-to-noise ratio, the maximum distance measurement error ρ1 is only 12.82cm, which is almost the same as ρ0's 11.26cm.

[0296] Third, tag devices can be flexibly configured according to their own hardware limitations, measurement delay requirements, and measurement accuracy requirements.

[0297] For a certain tag device, it is not required that the carrier phase remain constant when switching between receiving and transmitting. For such a tag device, the method shown in the above one-way communication method can be selected for ranging.

[0298] For tag devices with higher distance measurement accuracy, they can use a two-way interactive communication method to measure distance according to their own hardware bandwidth limitations.

[0299] The present application also provides a terminal device, which can have two structures. As shown in FIG. 12( a ), it is a schematic diagram of a terminal device 1200( a ) of the first structure. When the communication mode between the terminal device and the tag device is an interactive communication mode, the terminal device 1200( a ) includes:

[0300] The high frequency oscillator circuit 1201 ( a ) is configured to generate a first common carrier signal and a second common carrier signal at at least one preset frequency point according to a predetermined protocol.

[0301] Among them, an electronic oscillator is an electronic circuit that can generate a periodic signal. An oscillation circuit is usually used to generate a single tone signal. The working principle of the oscillation circuit is to use an oscillation element and a linear element in the circuit (such as a resistor, capacitor, inductor, etc.) to achieve oscillation. Common oscillation elements include electron tubes and transistors.

[0302] The sending module 1202(a) is configured to send a first measurement signal corresponding to the at least one preset frequency point to the tag device based on the first common carrier signal at a first time interval, so that the tag device receives the first measurement signal by mixing at the first time interval, and obtains a first phase measurement value corresponding to the at least one preset frequency point after processing the first measurement signal.

[0303] The receiving module 1203 is configured to receive a second measurement signal sent by the tag device based on the second common carrier signal mixing at a second time interval, and obtain a corresponding second phase measurement value after processing the second measurement signal, wherein the first measurement signal and the second measurement signal include single-tone signals.

[0304] The position calculation module 1204 is configured to fuse the first phase measurement value and the second phase measurement value to obtain a first phase fusion value, and determine the distance between the terminal device and the beacon device according to the first phase fusion value.

[0305] As shown in FIG12( b ), it is a schematic diagram of a terminal device 1200 ( b ) of the second structure. Wherein, when the communication mode between the terminal device and the tag device is a one-way communication mode, the terminal device 1200 ( b ) includes:

[0306] The high frequency oscillator circuit 1201 ( b ) is configured to generate a third common carrier signal and a fourth common carrier signal at at least two preset frequencies, respectively, according to a predetermined protocol;

[0307] The sending module 1202(b) is configured to send a third measurement signal and a fourth measurement signal corresponding to the at least two preset frequency points to the tag device based on the third common carrier signal and the fourth common carrier signal at a third time interval, so that the tag device receives the third measurement signal and the fourth measurement signal by mixing at the third time interval, and obtains a second phase fusion value after fusing the third measurement signal and the fourth measurement signal, and calculates the distance between the terminal device and the beacon device according to the second phase fusion value; wherein the third measurement signal and the fourth measurement signal include single-tone signals.

[0308] The present application also provides a terminal device, such as Fig.13 As shown, the terminal device 1300 includes a communication module 1301, a high-frequency oscillation circuit 1302, a sending module 1303, a receiving module 1304 and a position calculation module 1305; wherein the communication mode between the terminal device 1300 and the beacon device is an interactive communication mode; wherein,

[0309] The communication module 1301 is configured to determine at least one frequency point group according to a predetermined protocol, each frequency point group including at least two frequency points;

[0310] The high frequency oscillation circuit 1302 is configured to generate a first common carrier signal and a second common carrier signal corresponding to the at least two frequency points in a first time interval;

[0311] The receiving module 1303 is configured to receive a first measurement signal and a second measurement signal sent by the beacon device based on the mixing of the first common carrier signal and the second common carrier signal to obtain a first phase measurement value and a second phase measurement value corresponding to the at least two frequency points; wherein the first measurement signal and the second measurement signal include single-tone signals;

[0312] The sending module 1304 is configured to transmit a third measurement signal and a fourth measurement signal to the beacon device at the at least two frequency points at a second time interval, so that the beacon device generates a third common carrier signal and a fourth common carrier signal at the at least two frequency points at a second time interval, and receives the third measurement signal and the fourth measurement signal based on the mixing of the third common carrier signal and the fourth common carrier signal, so as to obtain a third phase measurement value and a fourth phase measurement value for each frequency point of each frequency point group; wherein the third measurement signal and the fourth measurement signal include single-tone signals;

[0313] The position calculation module 1305 is configured to fuse the first phase measurement value with the third phase measurement value to obtain a first phase fusion value, and fuse the second phase measurement value with the fourth phase measurement value to obtain a second phase fusion value, and determine the distance between the terminal device and the beacon device based on the first phase fusion value and the second phase fusion value;

[0314] or,

[0315] The communication module 1301 is configured to determine at least two frequency groups according to a predetermined protocol, each frequency group including at least one frequency point;

[0316] The high-frequency oscillation circuit 1302 is configured to generate a fifth common carrier signal corresponding to at least one frequency point of a first frequency point group of the at least two frequency point groups at a third time interval; the high-frequency oscillation circuit is further configured to generate a sixth common carrier signal corresponding to at least one frequency point of a second frequency point group of the at least two frequency point groups at a fourth time interval;

[0317] The receiving module 1303 is configured to receive a fifth measurement signal sent by the beacon device based on the fifth common carrier signal mixing, so as to obtain a fifth phase measurement value corresponding to at least one frequency point of the first frequency point group; wherein the fifth measurement signal includes a single tone signal;

[0318] The receiving module 1303 is further configured to receive a sixth measurement signal sent by the beacon device based on the sixth common carrier signal mixing, so as to obtain a sixth phase measurement value corresponding to at least one frequency point of the second frequency point group; wherein the fifth measurement signal and the sixth measurement signal include single-tone signals;

[0319] The sending module 1304 is configured to transmit a seventh measurement signal to the beacon device at at least one frequency point of the first frequency point group at a third time interval, so that the beacon device generates a seventh common carrier signal at at least one frequency point of the first frequency point group at a third time interval, and receives the seventh measurement signal based on the seventh common carrier signal mixing, so as to obtain a seventh phase measurement value corresponding to at least one frequency point of the first frequency point group; wherein the seventh measurement signal includes a single-tone signal;

[0320] The sending module 1304 is further configured to transmit an eighth measurement signal to the beacon device at at least one frequency point of the second frequency point group at a fourth time interval, so that the beacon device generates an eighth common carrier signal at at least one frequency point of the second frequency point group at a fourth time interval, and receives the eighth measurement signal based on the eighth common carrier signal mixing, so as to obtain an eighth phase measurement value corresponding to at least one frequency point of the second frequency point group; wherein the eighth measurement signal includes a single-tone signal;

[0321] The position calculation module 1305 is configured to fuse the fifth phase measurement value with the seventh phase measurement value to obtain a third phase fusion value, and to fuse the sixth phase measurement value with the eighth phase measurement value to obtain a fourth phase fusion value, and to determine the distance between the terminal device and the beacon device based on the third phase fusion value and the fourth phase fusion value.

[0322] The present application embodiment further provides a terminal device. Fig.14 As shown, the terminal device 1400 includes a communication module 1401, a high-frequency oscillation circuit 1402, a receiving module 1403 and a position calculation module 1404; the communication mode between the terminal device 1400 and the beacon device is a one-way communication mode; wherein,

[0323] The communication module 1401 is configured to determine at least two frequency point groups according to a predetermined protocol, wherein the at least two frequency point groups include at least a first frequency point group and a second frequency point group; each frequency point group includes at least two frequencies;

[0324] The high frequency oscillation circuit 1402 is configured to generate a first common carrier signal at any frequency point in the first frequency point group;

[0325] The high frequency oscillation circuit 1402 is further configured to generate a second common carrier signal at any one frequency point in the second frequency point group;

[0326] The receiving module 1403 is configured to receive a first measurement signal sent by the beacon device based on the first common carrier mixing, so as to obtain a first phase measurement value corresponding to any one frequency point in the first frequency point group; wherein the first measurement signal is generated by the beacon device based on any one frequency point in the first frequency point group; wherein the first measurement signal includes a single tone signal;

[0327] The receiving module 1403 is further configured to receive a second measurement signal sent by the beacon device based on the second common carrier mixing, so as to obtain a second phase measurement value corresponding to any one frequency point in the second frequency point group; wherein the second measurement signal is generated by the beacon device based on any one frequency point in the second frequency point group; wherein the second measurement signal includes a single tone signal;

[0328] The position calculation module 1404 is configured to fuse the first phase measurement value with the second phase measurement value to obtain a first phase fusion value, and determine the distance between the terminal device and the beacon device at least according to the first phase fusion value;

[0329] or,

[0330] The communication module 1401 is configured to determine at least one frequency point group according to a predetermined protocol, wherein the at least one frequency point group includes at least two frequency points;

[0331] The high frequency oscillation circuit 1402 is configured to generate a third common carrier signal corresponding to a first frequency point among the at least two frequency points;

[0332] The high frequency oscillation circuit 1402 is further configured to generate a fourth common carrier signal corresponding to a second frequency point among the at least two frequency points;

[0333] The receiving module 1403 is configured to receive a third measurement signal sent by the beacon device based on the third common carrier mixing, so as to obtain a third phase measurement value corresponding to any one frequency point in the first frequency point group; wherein the third measurement signal is generated by the beacon device based on the first frequency point; wherein the third measurement signal includes a single tone signal;

[0334] The receiving module 1403 is further configured to receive a fourth measurement signal sent by the beacon device based on the fourth common carrier mixing to obtain a fourth phase measurement value corresponding to the second frequency point; wherein the fourth measurement signal is generated by the beacon device based on the second frequency point; wherein the fourth measurement signal includes a single-tone signal;

[0335] The position calculation module 1404 is configured to fuse the third phase measurement value with the fourth phase measurement value to obtain a second phase fusion value, and determine the distance between the terminal device and the beacon device at least based on the second phase fusion value.

[0336] The present application also provides a distance measurement system, wherein the distance measurement system comprises: Figures 12(a) to 12(b) The terminal device shown; the ranging system also includes Fig.13 The terminal equipment shown, and / or Fig.14 The terminal device shown.

[0337] In addition, according to an embodiment of the present application, a computer-readable storage medium is also provided, on which program instructions are stored, and when the program instructions are executed by a computer or a processor, the corresponding steps of the ranging method of the embodiment of the present application are executed. The storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a USB memory, or any combination of the above storage media.

[0338] The embodiment of the present application also provides a computer program product, including: instructions or a computer program;

[0339] When the instructions or the computer program are executed, the distance measurement method described above is implemented.

[0340] The terminal device and storage medium of the embodiments of the present application have the same advantages as the aforementioned ranging method because they can implement the aforementioned ranging method.

[0341] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0342] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0343] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0344] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0345] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0346] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0347] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0348] The various component embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The application can also be implemented as a device program (e.g., computer program and computer program product) for executing a part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0349] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names.

[0350] The above is only a specific implementation or description of a specific implementation of the present application, and the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A distance measurement method, characterized in that: The method comprises: In a case where the communication mode between the first device and the second device is an interactive communication mode, the first device and the second device each generate the same at least one preset frequency point according to a predetermined protocol; At a preset time interval, the first device and the second device mutually transmit and receive a first measurement signal corresponding to the at least one preset frequency point based on their respective common carrier signals, so as to generate a first phase measurement value in both the first device and the second device; The first device and / or the second device fuses the first phase measurement values ​​of the first device and the second device to obtain a first phase fusion value; The first device and / or determines the distance between the first device and the second device at least according to the first phase fusion value; and / or, In a case where the communication mode between the first device and the second device is a one-way communication mode, the first device and the second device each generate the same at least two preset frequency points according to a predetermined protocol; At a preset time interval, the first device sends a second measurement signal corresponding to the at least two preset frequency points to the second device based on its common carrier signal; The second device receives the second measurement signal corresponding to the at least two preset frequency points based on the mixing of the common carrier signal thereof, obtains the second measurement value corresponding to the at least two preset frequency points, and fuses the second measurement values ​​corresponding to the at least two preset frequency points to form a second phase fusion value; The second device determines a distance between the first device and the second device based at least on the second phase fusion value.

2. The method according to claim 1, characterized in that The communication mode between the first device and the second device is an interactive communication mode; the method further includes: In a first time interval, the first device sends a third measurement signal corresponding to the at least one preset frequency point to the second device based on the first common carrier signal, so that the second device mixes and receives the third measurement signal to obtain a third phase measurement value; In a second time interval, the second device sends a fourth measurement signal corresponding to the at least one preset frequency point to the first device based on the second common carrier signal, so that the first device mixes and receives the fourth measurement signal to obtain a fourth phase measurement value; The first device and / or the second device fuses the third phase measurement value with the third phase measurement value to obtain a third phase fusion value; The first device and / or the second device determines the distance between the first device and the second device at least according to the third phase fusion value.

3. The method according to claim 2, characterized in that The method further comprises: The first device and the second device determine at least one frequency point group according to a predefined protocol, each frequency point group includes at least two frequency points; The first device generates a third common carrier signal corresponding to a first frequency point of the at least one frequency point group; The first device sends a fifth measurement signal to the second device at a first frequency point of the at least one frequency point group based on the third common carrier signal at a third time interval; The second device generates a fourth common carrier signal corresponding to the first frequency point of the at least one frequency point group at a third time interval; The second device receives the fifth measurement signal sent by the first device based on the fourth common carrier mixing, so as to obtain a fifth phase measurement value corresponding to the first frequency point of the at least one frequency point group; Based on the same steps as above, the second device obtains a sixth phase measurement value corresponding to the second frequency point of the at least one frequency point group; The first device and / or the second device fuses the fifth phase measurement value with the sixth phase measurement value through a communication link between the second device and the first device to obtain a fourth phase fusion value; The first device and / or the second device determines a distance between the first device and the second device based on the fourth phase fusion value.

4. The method according to claim 2, characterized in that: The method further comprises: The first device and the second device determine at least two frequency groups according to a predefined protocol, each frequency group including at least one frequency point; The first device generates a fifth common carrier signal corresponding to at least one frequency point of a first frequency point group of the at least two frequency point groups; The first device sends a sixth measurement signal to the second device at at least one frequency point of the first frequency point group based on the fifth common carrier signal at a fourth time interval; The second device generates a sixth common carrier signal corresponding to at least one frequency point of the first frequency point group at a fourth time interval; The second device receives, based on the sixth common carrier signal mixing, the sixth measurement signal sent by the first device to obtain a seventh phase measurement value corresponding to at least one frequency point of the first frequency point group; Based on a second frequency point group in the at least two frequency point groups, the first device and the second device perform the same steps as above, and the second device obtains an eighth phase measurement value corresponding to at least one frequency point of the second frequency point group in the at least two frequency point groups; The first device and / or the second device fuses the seventh phase measurement value with the eighth phase measurement value through a communication link between the second device and the first device to obtain a fifth phase fusion value; The first device and / or the second device determines the distance between the first device and the second device according to the fifth phase fusion value.

5. The method according to claim 1, characterized in that The communication mode between the first device and the second device is an interactive communication mode, when a communication abnormality occurs between the first device and the second device, and the first device does not receive a carrier signal sent by the second device; the method further includes: The first device and the second device determine at least one frequency point group according to a predefined protocol, wherein each frequency point group includes at least two frequency points; The first device generates a seventh common carrier signal for each frequency point in the first frequency point group; The first device sends a seventh measurement signal to the second device at a first frequency point of the at least one frequency point group based on the seventh common carrier signal at a fifth time interval; The second device generates an eighth common carrier signal corresponding to the first frequency point of the at least one frequency point group at a fifth time interval; The second device receives the seventh measurement signal sent by the first device based on the eighth common carrier signal mixing, so as to obtain a ninth phase measurement value corresponding to the first frequency point of the at least one frequency point group; Based on the same steps as above, the second device obtains a tenth phase measurement value corresponding to the second frequency point of the at least one frequency point group; The second device fuses the ninth phase measurement value with the tenth phase measurement value to obtain a sixth phase fusion value; The second device determines, according to the sixth phase fusion value, a distance between the first device and the second device; or, The first device and the second device determine at least two frequency groups according to a predefined protocol, each frequency group including at least one frequency point; The first device generates a ninth common carrier signal for each frequency point in the first frequency point group; The first device sends an eighth measurement signal to the second device at a sixth time interval based on the ninth common carrier signal at at least one frequency point of a first frequency point group of at least two frequency point groups; The second device generates, at a sixth time interval, a tenth common carrier signal of each frequency point in the first frequency point group; The second device receives, based on the tenth common carrier mixing, the eighth measurement signal sent by the first device to obtain an eleventh phase measurement value corresponding to each frequency point of the first frequency point group; After the first device switches to the second frequency point group, the same steps as above are performed, so that the second device obtains a twelfth phase measurement value corresponding to at least one frequency point of the second frequency point group of the at least two frequency point groups; The second device fuses the eleventh phase measurement value with the twelfth phase measurement value to obtain a seventh phase fusion value; The second device determines the distance between the first device and the second device according to the seventh phase fusion value.

6. The method according to claim 1, characterized in that The communication mode between the first device and the second device is a one-way communication mode; the method further includes: The first device generates an eleventh common carrier signal at at least two preset frequency points; The first device sends a ninth measurement signal to the second device at each frequency point of the at least two preset frequency points based on the eleventh common carrier signal at a seventh time interval; The second device generates a twelfth common carrier signal corresponding to each frequency point of the at least two preset frequency points at a sixth time interval; The second device receives the ninth measurement signal sent by the first device based on the twelfth common carrier signal mixing, so as to obtain a thirteenth phase measurement value and a fourteenth phase measurement value corresponding to the at least two preset frequency points respectively; The second device fuses the thirteenth phase measurement value with the fourteenth phase measurement value to obtain an eighth phase fusion value; The second device determines the distance between the first device and the second device according to the eighth phase fusion value.

7. The method according to claim 6, characterized in that The method further comprises: The first device and the second device determine at least two frequency groups according to a predefined protocol, each frequency group including at least one frequency point; The first device generates a thirteenth common carrier signal for each frequency point in the first frequency point group; The first device sends a tenth measurement signal to the second device at an eighth time interval based on the thirteenth common carrier and at at least one frequency point of a first frequency point group of at least two frequency point groups; The second device generates a fourteenth common carrier signal of each frequency point in the first frequency point group at an eighth time interval; The second device receives the tenth measurement signal sent by the first device based on the fourteenth common carrier mixing, so as to obtain the fifteenth phase measurement value of each frequency point of the first frequency point group; After the first device switches to the second frequency point group, the same steps as above are performed, so that the second device obtains a sixteenth phase measurement value corresponding to at least one frequency point of the second frequency point group of at least two frequency point groups; The second device fuses the fifteenth phase measurement value with the sixteenth phase measurement value to obtain a ninth phase fusion value; The second device determines the distance between the first device and the second device according to the ninth phase fusion value.

8. The method according to claim 6, characterized in that The method further comprises: The first device and the second device determine at least one frequency point group according to a predefined protocol, each frequency point group includes at least two frequency points; The first device generates a fifteenth common carrier signal of a first frequency point in the at least one frequency point group; The first device sends, at a ninth time interval, an eleventh measurement signal to the second device at a first frequency point of the at least one frequency point group based on the fifteenth common carrier signal; The second device generates a sixteenth common carrier signal corresponding to the first frequency point of the at least one frequency point group at a ninth time interval; The second device receives, based on the sixteenth common carrier signal mixing, the eleventh measurement signal sent by the first device to obtain a seventeenth phase measurement value corresponding to the first frequency point of the at least one frequency point group; Based on the same steps as above, the second device obtains an eighteenth phase measurement value corresponding to the second frequency point of the at least one frequency point group; The second device fuses the seventeenth phase measurement value with the eighteenth phase measurement value to obtain a tenth phase fusion value; The second device determines the distance between the first device and the second device according to the tenth phase fusion value.

9. The method according to any one of claims 1 to 8, characterized in that: in, The first measurement signal, the second measurement signal, the third measurement signal, the fourth measurement signal, the fifth measurement signal, the sixth measurement signal, the seventh measurement signal, the eighth measurement signal, the ninth measurement signal, the tenth measurement signal and the eleventh measurement signal are all single-tone signals.

10. A terminal device, characterized in that: In the case where the communication mode between the terminal device and the tag device is an interactive communication mode, the terminal device includes: A high frequency oscillation circuit configured to generate a first common carrier signal and a second common carrier signal at at least one preset frequency point according to a predetermined protocol; The sending module is configured to send a first measurement signal corresponding to the at least one preset frequency point to the tag device based on the first common carrier signal at a first time interval, so that the tag device receives the first measurement signal by mixing at the first time interval, and obtains a first phase measurement value corresponding to the at least one preset frequency point after processing the first measurement signal; The receiving module is configured to receive a second measurement signal sent by the tag device based on the second common carrier signal mixing at a second time interval, and obtain a corresponding second phase measurement value after processing the second measurement signal, wherein the first measurement signal and the second measurement signal include single-tone signals; The position calculation module is configured to fuse the first phase measurement value and the second phase measurement value to obtain a first phase fusion value, and determine the distance between the terminal device and the beacon device according to the first phase fusion value; as well as, Wherein, when the communication mode between the terminal device and the tag device is a one-way communication mode, the terminal device includes: The high frequency oscillation circuit is configured to generate a third common carrier signal and a fourth common carrier signal at at least two preset frequency points respectively according to a predetermined protocol; The sending module is configured to send a third measurement signal and a fourth measurement signal corresponding to the at least two preset frequency points to the tag device based on the third common carrier signal and the fourth common carrier signal at a third time interval, so that the tag device receives the third measurement signal and the fourth measurement signal by mixing at the third time interval, and obtains a second phase fusion value after fusing the third measurement signal and the fourth measurement signal, and calculates the distance between the terminal device and the beacon device according to the second phase fusion value; wherein the third measurement signal and the fourth measurement signal include single-tone signals.

11. A terminal device, characterized in that: The terminal device includes a communication module, a high-frequency oscillation circuit, a sending module, a receiving module and a position calculation module; wherein the communication mode between the terminal device and the beacon device is an interactive communication mode; wherein, The communication module is configured to determine at least one frequency point group according to a predetermined protocol, each frequency point group including at least two frequency points; The high frequency oscillation circuit is configured to generate a first common carrier signal and a second common carrier signal corresponding to the at least two frequency points in a first time interval; The receiving module is configured to receive a first measurement signal and a second measurement signal sent by the beacon device based on the mixing of the first common carrier signal and the second common carrier signal, so as to obtain a first phase measurement value and a second phase measurement value corresponding to the at least two frequency points; wherein the first measurement signal and the second measurement signal include single-tone signals; The sending module is configured to transmit a third measurement signal and a fourth measurement signal to the beacon device at the at least two frequency points at a second time interval, so that the beacon device generates a third common carrier signal and a fourth common carrier signal at the at least two frequency points at the second time interval, and receives the third measurement signal and the fourth measurement signal based on the mixing of the third common carrier signal and the fourth common carrier signal, so as to obtain a third phase measurement value and a fourth phase measurement value for each frequency point of each frequency point group; wherein the third measurement signal and the fourth measurement signal include single-tone signals; The position calculation module is configured to fuse the first phase measurement value with the third phase measurement value to obtain a first phase fusion value, and fuse the second phase measurement value with the fourth phase measurement value to obtain a second phase fusion value, and determine the distance between the terminal device and the beacon device based on the first phase fusion value and the second phase fusion value; or, The communication module is configured to determine at least two frequency point groups according to a predetermined protocol, each frequency point group including at least one frequency point; The high-frequency oscillation circuit is configured to generate a fifth common carrier signal corresponding to at least one frequency point of a first frequency point group of the at least two frequency point groups in a third time interval; the high-frequency oscillation circuit is further configured to generate a sixth common carrier signal corresponding to at least one frequency point of a second frequency point group of the at least two frequency point groups in a fourth time interval; The receiving module is configured to receive a fifth measurement signal sent by the beacon device based on the fifth common carrier signal mixing, so as to obtain a fifth phase measurement value corresponding to at least one frequency point of the first frequency point group; wherein the fifth measurement signal includes a single tone signal; The receiving module is further configured to receive a sixth measurement signal sent by the beacon device based on the sixth common carrier signal mixing, so as to obtain a sixth phase measurement value corresponding to at least one frequency point of the second frequency point group; wherein the fifth measurement signal and the sixth measurement signal include single-tone signals; The sending module is configured to transmit a seventh measurement signal to the beacon device at at least one frequency point of the first frequency point group at a third time interval, so that the beacon device generates a seventh common carrier signal at at least one frequency point of the first frequency point group at a third time interval, and receives the seventh measurement signal based on the seventh common carrier signal mixing, so as to obtain a seventh phase measurement value corresponding to at least one frequency point of the first frequency point group; wherein the seventh measurement signal includes a single-tone signal; The sending module is further configured to transmit an eighth measurement signal to the beacon device at at least one frequency point of the second frequency point group at a fourth time interval, so that the beacon device generates an eighth common carrier signal at at least one frequency point of the second frequency point group at a fourth time interval, and receives the eighth measurement signal based on the eighth common carrier signal mixing, so as to obtain an eighth phase measurement value corresponding to at least one frequency point of the second frequency point group; wherein the eighth measurement signal includes a single-tone signal; The position calculation module is configured to fuse the fifth phase measurement value with the seventh phase measurement value to obtain a third phase fusion value, and to fuse the sixth phase measurement value with the eighth phase measurement value to obtain a fourth phase fusion value, and to determine the distance between the terminal device and the beacon device based on the third phase fusion value and the fourth phase fusion value.

12. A terminal device, characterized in that: The terminal device includes a communication module, a high-frequency oscillation circuit, a receiving module and a position calculation module; the communication mode between the terminal device and the beacon device is a one-way communication mode; wherein, The communication module is configured to determine at least two frequency point groups according to a predetermined protocol, wherein the at least two frequency point groups include at least a first frequency point group and a second frequency point group; each frequency point group includes at least two frequencies; The high frequency oscillation circuit is configured to generate a first common carrier signal at any frequency point in the first frequency point group; The high frequency oscillation circuit is further configured to generate a second common carrier signal at any one frequency point in the second frequency point group; The receiving module is configured to receive a first measurement signal sent by the beacon device based on the first common carrier mixing, so as to obtain a first phase measurement value corresponding to any one frequency point in the first frequency point group; wherein the first measurement signal is generated by the beacon device based on any one frequency point in the first frequency point group; wherein the first measurement signal includes a single tone signal; The receiving module is further configured to receive a second measurement signal sent by the beacon device based on the second common carrier mixing, so as to obtain a second phase measurement value corresponding to any one frequency point in the second frequency point group; wherein the second measurement signal is generated by the beacon device based on any one frequency point in the second frequency point group; wherein the second measurement signal includes a single tone signal; The position calculation module is configured to fuse the first phase measurement value with the second phase measurement value to obtain a first phase fusion value, and determine the distance between the terminal device and the beacon device at least according to the first phase fusion value; or, A communication module, configured to determine at least one frequency point group according to a predetermined protocol, wherein the at least one frequency point group includes at least two frequency points; The high frequency oscillation circuit is configured to generate a third common carrier signal corresponding to a first frequency point among the at least two frequency points; The high frequency oscillation circuit is further configured to generate a fourth common carrier signal corresponding to a second frequency point among the at least two frequency points; The receiving module is configured to receive a third measurement signal sent by the beacon device based on the third common carrier mixing, so as to obtain a third phase measurement value corresponding to any one frequency point in the first frequency point group; wherein the third measurement signal is generated by the beacon device based on the first frequency point; wherein the third measurement signal includes a single tone signal; The receiving module is further configured to receive a fourth measurement signal sent by the beacon device based on the fourth common carrier mixing to obtain a fourth phase measurement value corresponding to the second frequency point; wherein the fourth measurement signal is generated by the beacon device based on the second frequency point; wherein the fourth measurement signal includes a single-tone signal; The position calculation module is configured to fuse the third phase measurement value with the fourth phase measurement value to obtain a second phase fusion value, and determine the distance between the terminal device and the beacon device at least based on the second phase fusion value.

13. A distance measurement system, characterized in that: The ranging system comprises the terminal device as claimed in claim 10; The ranging system also includes the terminal device as claimed in claim 11 and / or claim 12.

14. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, which, when executed by a processor, enables the processor to execute the ranging method according to any one of claims 1 to 9.

15. A computer program product, characterized in that include: instructions or computer programs; When the instructions or the computer program are executed, the method according to any one of claims 1 to 9 is implemented.

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