Wireless Bluetooth ranging method, initiating end, reflecting end and storage medium

Abstract

The invention provides a wireless Bluetooth ranging method, an initiating end, a reflecting end and a storage medium, and the method comprises the steps: the initiating end carries out the frequency mixing of a single carrier signal and a first modulation signal, and obtains a first intermediate signal; the initiating end converts the first intermediate signal into a first analog signal through a digital-to-analog converter; the initiating end performs frequency conversion processing on the first analog signal to obtain a first continuous wave signal; the initiating end sends a first continuous wave signal; the reflection end is used for receiving the first continuous wave signal and performing frequency conversion processing on the first continuous wave signal to obtain a first measurement value; and the initiating end receives a second continuous wave signal sent by the transmitting end and performs frequency conversion processing on the second continuous wave signal through the first digital mixer to obtain a second measurement value, and the first digital mixer and the first modulation signal use the same signal source. According to the method provided by the invention, phase jump caused by frequency modulation of the phase-locked loop can be eliminated to a certain extent, so that wireless Bluetooth ranging is more accurate.

Description

Technical Field

[0001] This application belongs to the field of Bluetooth technology, and particularly relates to a wireless Bluetooth ranging method, a transmitting end, a reflecting end, and a storage medium. Background Art

[0002] Currently, when the transmitting end or the reflecting end of a wireless Bluetooth ranging method switches between the transmit (Tx) and receive (Rx) modes, the phase-locked loop frequency hopping will cause the continuous wave signal to jump, resulting in a deviation between the ranging between the transmitting end and the reflecting end and the actual situation, and thus the measurement accuracy of the wireless Bluetooth ranging device is relatively low.

[0003] Therefore, how to improve the measurement accuracy of a wireless Bluetooth ranging device is an urgent problem to be solved. Summary of the Invention

[0004] In view of the problems existing in the above-mentioned prior art, a wireless Bluetooth ranging method, a transmitting end, a reflecting end, and a storage medium are proposed. By using this wireless Bluetooth ranging method, transmitting end, reflecting end, and storage medium, the measurement accuracy of a wireless Bluetooth ranging device can be improved.

[0005] This application provides the following solutions.

[0006] In a first aspect, this application provides a wireless Bluetooth ranging method, which is applied to the transmitting end of a wireless Bluetooth ranging device. The wireless Bluetooth ranging device further includes a reflecting end. The method includes:

[0007] The transmitting end mixes a single-carrier signal with a first modulation signal to obtain a first intermediate signal;

[0008] The transmitting end converts the first intermediate signal into a first analog signal through a digital-to-analog converter;

[0009] The transmitting end performs frequency conversion processing on the first analog signal to obtain a first continuous wave signal;

[0010] The transmitting end sends the first continuous wave signal;

[0011] The reflecting end is configured to receive the first continuous wave signal and perform frequency conversion processing on the first continuous wave signal to obtain a first measurement value;

[0012] The transmitting end receives the second continuous wave signal sent by the transmitting end and performs frequency conversion processing on the second continuous wave signal through a first digital mixer to obtain a second measurement value. The product of the first measurement value and the second measurement value is used to determine the distance between the transmitting end and the reflecting end. The first digital mixer and the first modulation signal use the same signal source.

[0013] In some possible embodiments, the transmitting end includes a low intermediate frequency transmitter and a transmitting end receiver. The method further includes:

[0014] The initiating end corrects the product of the first measurement value and the second measurement value by a preset value to obtain a corrected product, and the corrected product is used to determine the distance between the initiating end and the reflecting end;

[0015] The preset value is determined by the initiating end receiver according to the received test continuous wave signal, and the test continuous wave signal is sent by the low intermediate frequency transmitter.

[0016] In some possible embodiments, the first continuous wave signal is exp(j(2π(Frx + Fif)(T1 - T1)+α + γ)) = exp(j(2πFtx(T1 - T1)+α + γ));

[0017] The first measurement value PCT1 is calculated by the following formula:

[0018] PCT1 = exp(j(2πFtx(T1 - T1)+α + γ - 2πFtx(T2 - T1)-β)) = exp(j(α + γ - 2πFtx(T2 - T1)-β))

[0019] Wherein, Frx is the operating frequency of the initiating end phase-locked loop, Ftx is the operating frequency of the reflecting end phase-locked loop, the frequency of the first modulation signal is Fif, and Fif + Frx = Ftx, T1 is the moment when the initiating end sends the first continuous wave signal, T2 is the moment when the reflecting end receives the first continuous wave signal, α is the phase of the initiating end at the moment T1, γ is the phase of the first modulation signal at the moment T1, and β is the phase of the reflecting end at the moment T1.

[0020] In some possible embodiments, the second continuous wave signal is exp(j(β + 2πFtx(T5 - T1)));

[0021] The second measurement value PCT2 is calculated by the following formula:

[0022] PCTr = exp(j(β + 2πFtx(T5 - T1)-α - 2πFrx(T6 - T1)-2πFif(T6 - T4)-δ)) = exp(j(β + 2πFtx(T5 - T6)+2πFif(T4 - T1)-α - δ))

[0023] Wherein, T4 is the moment when the initiating end switches to the receiving state, T5 is the moment when the reflecting end starts to send the second continuous wave signal, T6 is the moment when the initiating end receives the second continuous wave signal, and δ is the phase of the first digital mixer of the initiating end at the moment T4.

[0024] In some possible embodiments, the product PCT1*PCT2 of the first measurement value PCT1 and the second measurement value PCT2 is calculated by the following formula;

[0025] PCT1 * PCT2 = exp(j(α + γ - 2πFtx(T2 - T1) - β + β + 2πFtx(T5 - T6) + 2πFif(T4 - T1) - α - δ))

[0026] = exp(j(-2πFtx(T2 - T1 + T6 - T5) - δ + γ + 2πFif(T4 - T1)))

[0027] Wherein, both T2 - T1 and T6 - T5 are signal flight times, and -δ + γ + 2πFif(T4 - T1) = 0.

[0028] In a second aspect, the present application provides a wireless Bluetooth ranging method, which is applied to the reflection end of a wireless Bluetooth ranging device. The wireless Bluetooth ranging device further includes a transmitting end. The method includes:

[0029] The reflection end receives the third continuous wave signal sent by the transmitting end, and performs frequency conversion processing on the third continuous wave signal through a second digital mixer to obtain a third measurement value;

[0030] The reflection end mixes the single - carrier signal with the second modulation signal to obtain a second intermediate signal;

[0031] The reflection end converts the second intermediate signal into a second analog signal;

[0032] The reflection end performs frequency conversion processing on the second analog signal to obtain a fourth continuous wave signal;

[0033] The reflection end transmits the fourth continuous wave signal;

[0034] The transmitting end is used to receive the fourth continuous wave signal, and perform frequency conversion processing on the fourth continuous wave signal to obtain a fourth measurement value. The product of the third measurement value and the fourth measurement value is used to determine the distance between the transmitting end and the reflection end. The second digital mixer and the second modulation signal use the same signal source.

[0035] In some possible embodiments, the reflection end includes a reflection - end transmitter and a low - intermediate - frequency receiver. The method further includes:

[0036] The reflection end corrects the product of the third measurement value and the fourth measurement value through a preset value to obtain a corrected product, and the corrected product is used to determine the distance between the transmitting end and the reflection end;

[0037] The preset value is determined by the low - intermediate - frequency receiver according to the received test continuous wave signal, and the test continuous wave signal is sent by the reflection - end transmitter.

[0038] In some possible embodiments, the third continuous wave signal is exp(j(2πFtx’(t1 - t1)+α’)) = exp(jα’);

[0039] The third measurement value PCT3 is calculated by the following formula:

[0040] PCT3 = exp(j(2πFtx’(t1 - t1)+α’ - 2πFrx’(t2 - t1)-β’ - 2πFif’(t2 - t2)-δ’))

[0041] = exp(j(α’ - 2πFrx’(t2 - t1)-β’ - δ’))

[0042] wherein, Ftx’ is the operating frequency of the transmitting end phase - locked loop, Frx’ is the operating frequency of the reflecting end phase - locked loop, the frequency of the second modulation signal is Fif’, and Fif’ + Frx’ = Ftx’, t1 is the time when the transmitting end sends the third continuous wave signal, t2 is the time when the reflecting end receives the third continuous wave signal, α’ is the phase of the transmitting end at time t1, β’ is the phase of the reflecting end at time t1, and δ’ is the phase of the second digital mixer at time t2.

[0043] In some possible embodiments, the fourth continuous wave signal is exp(j(β’ + 2πFrx’(t5 - t1)+γ’ + 2πFif’(t5 - t5))) = exp(j(β’ + 2πFrx’(t5 - t1)+γ’));

[0044] The fourth measurement value PCT4 is calculated by the following formula:

[0045] PCT4 = exp(j(β’ + 2πFrx’(t5 - t1)+γ’ - 2πFtx’(t6 - t1)-α’))

[0046] wherein, t5 is the time when the reflecting end starts to send the fourth continuous wave signal, t6 is the time when the transmitting end receives the fourth continuous wave, and γ’ is the phase of the second modulation signal at time t5.

[0047] In some possible embodiments, the product PCT3 * PCT4 of the third measurement value PCT3 and the fourth measurement value PCT4 is calculated by the following formula;

[0048] PCT3 * PCT4 = exp(j(β’ + 2πFrx’(t5 - t1)+γ’ - 2πFtx’(t6 - t1)-α’ + α’ - 2πFrx’

[0049] (t2 - t1)-β’ - δ’))

[0050] = exp(j(2πFtx’(t5 - t1)-2πFif’(t5 - t1)+γ’ - 2πFtx’(t6 - t1)-2πFtx’(t2 - t1)+2πFif’

[0051] (t2 - t1) - δ'))

[0052] = exp(j(-2πFtx'(t6 - t5 + t2 - t1) - 2πFif'(t5 - t2) + γ' - δ'))

[0053] Wherein, both t2 - t1 and t6 - t5 are signal flight times, and -δ' + γ' - 2πFif'(t5 - t2) = 0.

[0054] In a third aspect, the present application provides a transmitting end, which is applied to a wireless Bluetooth ranging device, and the wireless Bluetooth ranging device further includes a reflecting end;

[0055] The transmitting end is configured to mix a single - carrier signal with a first modulation signal to obtain a first intermediate signal;

[0056] The transmitting end is configured to convert the first intermediate signal into a first analog signal through a digital - to - analog converter;

[0057] The transmitting end is configured to perform frequency conversion processing on the first analog signal to obtain a first continuous - wave signal;

[0058] The transmitting end is configured to transmit the first continuous - wave signal;

[0059] The reflecting end is configured to receive the first continuous - wave signal and perform frequency conversion processing on the first continuous - wave signal to obtain a first measurement value;

[0060] The transmitting end is configured to receive a second continuous - wave signal sent by the transmitting end and perform frequency conversion processing on the second continuous - wave signal through a first digital mixer to obtain a second measurement value. The product of the first measurement value and the second measurement value is used to determine the distance between the transmitting end and the reflecting end. The first digital mixer and the first modulation signal use the same signal source.

[0061] In a fourth aspect, the present application provides a reflecting end, and the wireless Bluetooth ranging device further includes a transmitting end;

[0062] The reflecting end is configured to receive a third continuous - wave signal sent by the transmitting end and perform frequency conversion processing on the third continuous - wave signal through a second digital mixer to obtain a third measurement value;

[0063] The reflecting end is configured to mix a single - carrier signal with a second modulation signal to obtain a second intermediate signal;

[0064] The reflecting end is configured to convert the second intermediate signal into a second analog signal;

[0065] The reflecting end is configured to perform frequency conversion processing on the second analog signal to obtain a fourth continuous - wave signal;

[0066] The reflecting end is configured to transmit the fourth continuous - wave signal;

[0067] The initiating end is used to receive a fourth continuous wave signal, perform frequency conversion processing on the fourth continuous wave signal to obtain a fourth measurement value, and the product of the third measurement value and the fourth measurement value is used to determine the distance between the initiating end and the reflecting end. The second digital mixer and the second modulation signal use the same signal source.

[0068] In a fifth aspect, the present application provides a computer-readable storage medium storing a program that, when executed by a multi-core processor, causes the multi-core processor to execute the above-mentioned wireless Bluetooth ranging method.

[0069] In the wireless Bluetooth ranging method provided by the embodiments of the present application, by mixing a single-carrier signal with a first modulation signal on the digital side at the initiating end, and the first modulation signal and the first digital mixer at the initiating end use the same signal source, this enables the phase jump caused by PLL frequency modulation to be eliminated to a certain extent when calculating the product of the first measurement value and the second measurement value, thereby making the wireless Bluetooth ranging more accurate.

[0070] Other advantages of the present application will be explained in more detail in conjunction with the following description and drawings.

[0071] It should be understood that the above description is only an overview of the technical solution of the present application, so as to be able to understand the technical means of the present application more clearly, and thus can be implemented in accordance with the content of the description. In order to make the above and other objects, features and advantages of the present application more obvious and understandable, the following specifically illustrates the specific implementation manners of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] By reading the following detailed description of the exemplary embodiments, those of ordinary skill in the art will understand the advantages and benefits described herein as well as other advantages and benefits. The drawings are only for the purpose of showing the exemplary embodiments and are not considered to be a limitation of the present application. In the drawings:

[0073] Figure 1 is a schematic flowchart of a wireless Bluetooth ranging method provided by an embodiment of the present application;

[0074] Figure 2 is a schematic flowchart of another wireless Bluetooth ranging method provided by an embodiment of the present application;

[0075] Figure 3 is a schematic diagram of an initiating end provided by an embodiment of the present application;

[0076] Figure 4 is a schematic diagram of a transmitting end provided by an embodiment of the present application;

[0077] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0078] Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present application can be more thoroughly understood and the scope of the present application can be fully communicated to those skilled in the art.

[0079] In the description of the embodiments of the present application, it should be understood that terms such as "including" or "having" are intended to indicate the presence of the disclosed features, numbers, steps, actions, components, parts, or combinations thereof in this specification, and do not exclude the possibility of the presence of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0080] Unless otherwise specified, " / " means "or". For example, A / B can mean A or B; "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.

[0081] Terms such as "first", "second", etc. are only used for convenience of description to distinguish the same or similar technical features, and should not be understood as indicating or implying the relative importance or quantity of these technical features. Thus, the features defined by "first", "second", etc. may explicitly or implicitly include one or more of these features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of the term "plurality" is two or more than two.

[0082] In addition, it should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0083] The wireless Bluetooth ranging method provided by the embodiment of the present application is applied to the initiating end of a wireless Bluetooth ranging device, and the wireless Bluetooth ranging device further includes a reflecting end. As Figure 1 shown, the wireless Bluetooth ranging method provided by the embodiment of the present application includes:

[0084] S101: The initiating end mixes a single-carrier signal with a first modulation signal to obtain a first intermediate signal.

[0085] S102: The initiating end converts the first intermediate signal into a first analog signal through a digital-to-analog converter.

[0086] S103: The initiating end performs frequency conversion processing on the first analog signal to obtain a first continuous wave signal.

[0087] It should be noted that the initiating end in the embodiments of the present application includes a special low-IF transmitter, which is used to generate and send a first continuous wave signal. Specifically, the low-IF transmitter in the present application may include a digital side mixer and a zero-IF transmitter. The digital side mixer mixes a single-carrier signal with a first modulation signal to obtain a first intermediate signal. The zero-IF transmitter converts the first intermediate signal into a first analog signal through a digital-to-analog converter, and performs frequency conversion processing on the first analog signal to obtain a first continuous wave signal. Specifically, in the embodiments of the present application, the first continuous wave signal is exp(j(2π(Frx + Fif)(T1 - T1) + α + γ)) = exp(j(2πFtx(T1 - T1) + α + γ)).

[0088] S104: The initiating end sends the first continuous wave signal, and the reflecting end is used to receive the first continuous wave signal and perform frequency conversion processing on the first continuous wave signal to obtain a first measurement value.

[0089] The first measurement value PCT1 is calculated by the following formula:

[0090] PCT1 = exp(j(2πFtx(T1 - T1) + α + γ - 2πFtx(T2 - T1) - β)) = exp(j(α + γ - 2πFtx(T2 - T1) - β))

[0091] Wherein, Frx is the operating frequency of the phase-locked loop at the initiating end, Ftx is the operating frequency of the phase-locked loop at the reflecting end, the frequency of the first modulation signal is Fif, and Fif + Frx = Ftx, T1 is the time when the initiating end sends the first continuous wave signal, T2 is the time when the reflecting end receives the first continuous wave signal, α is the phase at the initiating end at time T1, γ is the phase of the first modulation signal at time T1, and β is the phase at the reflecting end at time T1.

[0092] S105: The initiating end receives the second continuous wave signal sent by the transmitting end and performs frequency conversion processing on the second continuous wave signal through a first digital mixer to obtain a second measurement value. The product of the first measurement value and the second measurement value is used to determine the distance between the initiating end and the reflecting end. The first digital mixer and the first modulation signal use the same signal source.

[0093] In the embodiments of the present application, the second continuous wave signal may be exp(j(β + 2πFtx(T5 - T1))).

[0094] The second measurement value PCT2 is calculated by the following formula:

[0095] PCTr = exp(j(β + 2πFtx(T5 - T1) - α - 2πFrx(T6 - T1) - 2πFif(T6 - T4) - δ))

[0096] = exp(j(β + 2πFtx(T5 - T6) + 2πFif(T4 - T1) - α - δ))

[0097] Wherein, T4 is the moment when the initiating end switches to the receiving state, T5 is the moment when the reflecting end starts to send the second continuous wave signal, T6 is the moment when the initiating end receives the second continuous wave, and δ is the phase of the first digital mixer at the initiating end at moment T4.

[0098] In the embodiment of the present application, the product PCT1 * PCT2 of the first measurement value PCT1 and the second measurement value PCT2 can be calculated through the following formula;

[0099] PCT1 * PCT2 = exp(j(α + γ - 2πFtx(T2 - T1) - β + β + 2πFtx(T5 - T6) + 2πFif(T4 - T1) - α - δ))

[0100] = exp(j(-2πFtx(T2 - T1 + T6 - T5) - δ + γ + 2πFif(T4 - T1)))

[0101] Wherein, since the first digital mixer and the first modulation signal use the same signal source, so -δ + γ + 2πFif(T4 - T1) = 0. Therefore, PCT1 * PCT2 = exp(j(-2πFtx(T2 - T1 + T6 - T5))). The wireless Bluetooth ranging method provided by the present application can, to a certain extent, eliminate the phase jump caused by the phase-locked loop frequency modulation when calculating the product of the first measurement value and the second measurement value, thereby making the wireless Bluetooth ranging more accurate. Both T2 - T1 and T6 - T5 are the signal flight times, and the distance between the initiating end and the transmitting end can be determined through the signal flight time.

[0102] The wireless Bluetooth ranging method provided by the embodiment of the present application mixes a single-carrier signal with a first modulation signal on the digital side at the initiating end, and the first modulation signal and the first digital mixer at the initiating end use the same signal source, which makes it possible to, to a certain extent, eliminate the phase jump caused by the phase-locked loop frequency modulation when calculating the product of the first measurement value and the second measurement value, thereby making the wireless Bluetooth ranging more accurate.

[0103] In the embodiments of the present application, the initiating end includes a low-IF transmitter and a low-IF receiver. The low-IF transmitter is used to transmit a first continuous wave signal, and the low-IF receiver is used to receive a second continuous wave signal. The applicant of the present application has found that part of the error in wireless Bluetooth ranging comes from the internal circuit of the initiating end. In order to eliminate this error, the low-IF transmitter of the initiating end can transmit a test continuous wave signal to the low-IF receiver of the initiating end (the transmission frequency of the low-IF transmitter and the reception frequency of the low-IF receiver can be kept consistent), and the low-IF receiver can then determine the ranging error caused by the internal circuit of the initiating end based on the received test continuous wave signal.

[0104] In some possible embodiments, for the wireless Bluetooth ranging method provided by the embodiments of the present application, after obtaining the first measurement value and the second measurement value, the initiating end can also correct the product of the first measurement value and the second measurement value through a preset value to obtain a corrected product, and the corrected product is used to determine the distance between the initiating end and the reflecting end. It should be noted that the preset value is determined by the low-IF receiver of the initiating end according to the received test continuous wave signal, and the test continuous wave signal is sent by the low-IF transmitter of the initiating end.

[0105] Specifically, the preset value in the embodiments of the present application can be determined according to the channels where the first measurement value and the second measurement value are located. The applicant of the present application has found that when receiving and sending signals on different channels, there are also differences in the measurement errors caused by the internal circuit of the initiating end. Therefore, the present application can pre-measure the preset values corresponding to multiple channels, and then determine the preset value for correcting the product of the first measurement value and the second measurement value according to the channel where the actual ranging is performed. In this way, through the determined preset value, the present application can further correct the product of the first measurement value and the second measurement value, and eliminate the error caused by the internal circuit to a certain extent, so that the wireless Bluetooth ranging is more accurate.

[0106] In summary, for the wireless Bluetooth ranging method provided by the embodiments of the present application, by mixing a single-carrier signal with a first modulation signal on the digital side at the initiating end, and the first modulation signal and the first digital mixer at the initiating end use the same signal source, this makes it possible to eliminate the phase jump caused by PLL frequency modulation to a certain extent when calculating the product of the first measurement value and the second measurement value, so that the wireless Bluetooth ranging is more accurate. In addition, the present application also further corrects the product of the first measurement value and the second measurement value through the pre-measured preset value, and eliminates the error caused by the internal circuit to a certain extent, so that the wireless Bluetooth ranging is more accurate.

[0107] According to the wireless Bluetooth ranging method implemented at the initiating end provided by the above embodiments, the embodiments of the present application also provide a wireless Bluetooth ranging method implemented at the reflecting end.

[0108] The wireless Bluetooth ranging method provided by the embodiment of the present application is applied to the reflection end of a wireless Bluetooth ranging device, and the wireless Bluetooth ranging device further includes a starting end. As Figure 2 shown, the method includes:

[0109] S201: The reflection end receives the third continuous wave signal sent by the starting end, and performs frequency conversion processing on the third continuous wave signal through a second digital mixer to obtain a third measurement value.

[0110] In the embodiment of the present application, the third continuous wave signal is exp(j(2πFtx’(t1 - t1)+α’)) = exp(jα’). The third measurement value PCT3 can be calculated by the following formula:

[0111] PCT3 = exp(j(2πFtx’(t1 - t1)+α’ - 2πFrx’(t2 - t1)-β’ - 2πFif’(t2 - t2)-δ’))

[0112] = exp(j(α’ - 2πFrx’(t2 - t1)-β’ - δ’))

[0113] wherein, Ftx’ is the operating frequency of the phase-locked loop of the starting end, Frx’ is the operating frequency of the phase-locked loop of the reflection end, the frequency of the second modulation signal is Fif’, and Fif’ + Frx’ = Ftx’, t1 is the moment when the starting end sends the third continuous wave signal, t2 is the moment when the reflection end receives the third continuous wave signal, α’ is the phase of the starting end at the moment t1, β’ is the phase of the reflection end at the moment t1, and δ’ is the phase of the second digital mixer at the moment t2.

[0114] S202: The reflection end mixes the single-carrier signal with the second modulation signal to obtain a second intermediate signal.

[0115] S203: The reflection end converts the second intermediate signal into a second analog signal.

[0116] S204: The reflection end performs frequency conversion processing on the second analog signal to obtain a fourth continuous wave signal.

[0117] S205: The reflection end transmits the fourth continuous wave signal, and the starting end is used to receive the fourth continuous wave signal and perform frequency conversion processing on the fourth continuous wave signal to obtain a fourth measurement value. The product of the third measurement value and the fourth measurement value is used to determine the distance between the starting end and the reflection end. The second digital mixer and the second modulation signal use the same signal source.

[0118] In the embodiment of the present application, the fourth continuous wave signal is exp(j(β’ + 2πFrx’(t5 - t1)+γ’ + 2πFif’(t5 - t5))) = exp(j(β’ + 2πFrx’(t5 - t1)+γ’));

[0119] The fourth measurement value PCT4 is calculated by the following formula:

[0120] PCT4 = exp(j(β’ + 2πFrx’(t5 - t1) + γ’ - 2πFtx’(t6 - t1) - α’))

[0121] Wherein, t5 is the moment when the reflection end starts to send the fourth continuous wave signal, t6 is the moment when the initiating end receives the fourth continuous wave, and γ’ is the phase of the second modulation signal at the moment t5.

[0122] In the embodiment of the present application, the product PCT3 * PCT4 of the third measurement value PCT3 and the fourth measurement value PCT4 can be calculated by the following formula;

[0123] PCT3 * PCT4 = exp(j(β’ + 2πFrx’(t5 - t1) + γ’ - 2πFtx’(t6 - t1) - α’ + α’ - 2πFrx’

[0124] (t2 - t1) - β’ - δ’)) = exp(j(2πFtx’(t5 - t1) - 2πFif’(t5 - t1) + γ’ - 2πFtx’(t6 - t1) - 2πFtx’(t2 - t1) + 2πFif’

[0125] (t2 - t1) - δ’))

[0126] = exp(j(-2πFtx’(t6 - t5 + t2 - t1) - 2πFif’(t5 - t2) + γ’ - δ’))

[0127] Wherein, both t2 - t1 and t6 - t5 are signal flight times. Since the second digital mixer and the second modulation signal use the same signal source, so -δ’ + γ’ - 2πFif’(t5 - t2) = 0.

[0128] Therefore, PCT3 * PCT4 = exp(j(-2πFtx’(t6 - t5 + t2 - t1))). The wireless Bluetooth ranging method provided by the present application can eliminate the phase jump caused by the phase-locked loop frequency modulation to a certain extent when multiplying the third measurement value and the fourth measurement value, thereby making the wireless Bluetooth ranging more accurate.

[0129] As a possible implementation manner, the reflection end in the embodiment of the present application includes a reflection end transmitter and a low intermediate frequency receiver.

[0130] The reflection end corrects the product of the third measurement value and the fourth measurement value through a preset value to obtain a corrected product, and the corrected product is used to determine the distance between the initiating end and the reflection end; the preset value is determined by the low- and intermediate-frequency receiver according to the received test continuous wave signal, and the test continuous wave signal is sent by the reflection end transmitter. In the embodiments of the present application, the low- and intermediate-frequency transmitter and the low- and intermediate-frequency receiver at the transmitting end are similar to the low- and intermediate-frequency transmitter and the low- and intermediate-frequency receiver at the initiating end in the above embodiments, and will not be elaborated herein.

[0131] It should be noted that the wireless Bluetooth ranging method implemented at the reflection end in the embodiments of the present application can implement each process of the foregoing embodiments of the wireless Bluetooth ranging method implemented at the initiating end, and achieve the same effects and functions, which will not be elaborated herein.

[0132] In the description of this specification, the descriptions made with reference to terms such as "some possible implementation manners", "some implementation manners", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in connection with the implementation manner or example are included in at least one implementation manner or example of the present application, and the above terms do not necessarily represent the same implementation manner or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more implementation manners or examples. In addition, without contradiction, those skilled in the art can combine and combine the different implementation manners or examples described in this specification and the features of different implementation manners or examples.

[0133] Regarding the method flowcharts of the embodiments of the present application, certain operations are described as different steps executed in a certain order. Such flowcharts are illustrative rather than restrictive. Certain steps described herein can be grouped together and executed in a single operation, or certain steps can be split into multiple sub-steps, and certain steps can be executed in an order different from that shown herein. Each step shown in the flowchart can be implemented in any way by any circuit structure and / or tangible mechanism (for example, by software running on a computer device, hardware (such as a processor or logic function implemented by a chip), etc., and / or any combination thereof).

[0134] Those skilled in the art can understand that in the methods described in the above specific implementation manners, the writing order of each step does not mean a strict execution order, and the specific execution order of each step should be determined according to its function and possible internal logic.

[0135] According to the wireless Bluetooth ranging method provided in the above embodiments, the embodiments of the present application further provide an initiating end.

[0136] As Figure 3As shown, the initiating end 100 is applied to a wireless Bluetooth ranging device, and the wireless Bluetooth ranging device further includes a reflecting end 200;

[0137] The initiating end 100 is used to mix a single-carrier signal with a first modulation signal to obtain a first intermediate signal;

[0138] The initiating end 100 is used to convert the first intermediate signal into a first analog signal through a digital-to-analog converter;

[0139] The initiating end 100 is used to perform frequency conversion processing on the first analog signal to obtain a first continuous wave signal;

[0140] The initiating end 100 is used to send the first continuous wave signal;

[0141] The reflecting end 200 is used to receive the first continuous wave signal and perform frequency conversion processing on the first continuous wave signal to obtain a first measurement value;

[0142] The initiating end 100 is used to receive a second continuous wave signal sent by the transmitting end and perform frequency conversion processing on the second continuous wave signal through a first digital mixer 101 to obtain a second measurement value. The product of the first measurement value and the second measurement value is used to determine the distance between the initiating end 100 and the reflecting end 200. The first digital mixer 101 and the first modulation signal use the same signal source.

[0143] It should be noted that the initiating end in the embodiments of the present application can implement each process of the embodiments of the foregoing method and achieve the same effects and functions, which will not be elaborated here.

[0144] According to the wireless Bluetooth ranging method provided in the above embodiments, the embodiments of the present application further provide a reflecting end.

[0145] As Figure 4 shown, the reflecting end 200 is applied to a wireless Bluetooth ranging device, and the wireless Bluetooth ranging device further includes an initiating end 100;

[0146] The reflecting end 200 is used to receive a third continuous wave signal sent by the initiating end 100 and perform frequency conversion processing on the third continuous wave signal through a second digital mixer 201 to obtain a third measurement value;

[0147] The reflecting end 200 is used to mix a single-carrier signal with a second modulation signal to obtain a second intermediate signal;

[0148] The reflecting end 200 is used to convert the second intermediate signal into a second analog signal;

[0149] The reflecting end 200 is used to perform frequency conversion processing on the second analog signal to obtain a fourth continuous wave signal;

[0150] The reflection end 200 is used to transmit a fourth continuous wave signal;

[0151] The initiating end 100 is used to receive the fourth continuous wave signal, perform frequency conversion processing on the fourth continuous wave signal to obtain a fourth measurement value, and the product of the third measurement value and the fourth measurement value is used to determine the distance between the initiating end 100 and the reflection end 200. The second digital mixer 201 and the second modulation signal use the same signal source.

[0152] It should be noted that the reflection end in the embodiments of the present application can implement each process of the embodiments of the foregoing method and achieve the same effects and functions, which will not be elaborated here.

[0153] According to some embodiments of the present application, a non-volatile computer storage medium for a wireless Bluetooth ranging method is provided, on which computer-executable instructions are stored. The computer-executable instructions are set to execute the method described in the above embodiments when run by a processor.

[0154] Computer-readable media include both permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory, read-only memory, electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally, certain steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple sub-steps for execution.

[0155] Although the spirit and principles of the present application have been described above with reference to several specific embodiments, it should be understood that the present application is not limited to the disclosed specific embodiments, and the division of each aspect does not mean that the features in these aspects cannot be combined. The present application aims to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A wireless Bluetooth distance measurement method, characterized in that: The method is applied to the initiator end of a wireless Bluetooth distance measuring device, wherein the wireless Bluetooth distance measuring device further includes a reflection end, and the method includes: The initiator mixes the single carrier signal with the first modulated signal to obtain a first intermediate signal; The initiator converts the first intermediate signal into a first analog signal through a digital-to-analog converter; The initiator performs frequency conversion processing on the first analog signal to obtain a first continuous wave signal; The initiator sends the first continuous wave signal; The reflection end is used to receive the first continuous wave signal and perform frequency conversion processing on the first continuous wave signal to obtain a first measurement value; The initiating end receives a second continuous wave signal sent by the transmitting end, and performs frequency conversion processing on the second continuous wave signal through a first digital mixer to obtain a second measurement value. The product of the first measurement value and the second measurement value is used to determine the distance between the initiating end and the reflecting end. The first digital mixer and the first modulation signal use the same signal source.

2. The method according to claim 1, characterized in that The initiator includes a low intermediate frequency transmitter and an initiator receiver, and the method further includes: The initiating end corrects the product of the first measurement value and the second measurement value by a preset value to obtain a corrected product, wherein the corrected product is used to determine the distance between the initiating end and the reflecting end; The preset value is determined by the initiator receiver according to a received test continuous wave signal, and the test continuous wave signal is sent by the low intermediate frequency transmitter.

3. The method according to claim 1, characterized in that The first continuous wave signal is exp(j(2π(Frx+Fif)(T1-T1)+α+γ))=exp(j(2πFtx(T1-T1)+α+γ)); The first measured value PCT1 is calculated by the following formula: PCT1=exp(j(2πFtx(T1-T1)+α+γ-2πFtx(T2-T1)-β))=exp(j(α+γ-2πFtx(T2-T1)-β)) where, Frx is the operating frequency of the phase-locked loop of the initiating end, Ftx is the operating frequency of the phase-locked loop of the reflecting end, the frequency of the first modulation signal is Fif, and Fif+Frx=Ftx, T1 is the moment when the initiating end sends the first continuous wave signal, T2 is the moment when the reflecting end receives the first continuous wave signal, α is the phase of the initiating end at time T1, γ is the phase of the first modulation signal at time T1, and β is the phase of the reflecting end at time T1.

4. The method according to claim 3, characterized in that The second continuous wave signal is exp(j(β+2πFtx(T5-T1))); The second measured value PCT2 is calculated by the following formula: PCTr=exp(j(β+2πFtx(T5-T1)-α-2πFrx(T6-T1)-2πFif(T6-T4)-δ))=exp(j(β+2πFtx(T5-T6)+2πFif(T4-T1)-α-δ)) Among them, T4 is the moment when the initiator switches to the receiving state, T5 is the moment when the reflector starts to send the second continuous wave signal, T6 is the moment when the initiator receives the second continuous wave, and δ is the phase of the first digital mixer of the initiator at the moment T4.

5. The method according to claim 4, characterized in that The product PCT1*PCT2 of the first measurement value PCT1 and the second measurement value PCT2 is calculated by the following formula; PCT1*PCT2=exp(j(α+γ-2πFtx(T2-T1)-β+β+2πFtx(T5-T6)+2πFif(T4-T1)-α-δ))=exp(j(-2πFtx(T2-T1+T6-T5)-δ+γ+2πFif(T4-T1))) Among them, T2-T1 and T6-T5 are both signal flight time, -δ+γ+2πFif(T4-T1)=0.

6. A wireless Bluetooth distance measurement method, characterized in that: The method is applied to a reflection end of a wireless Bluetooth distance measuring device, wherein the wireless Bluetooth distance measuring device further comprises an initiating end, and the method comprises: The reflecting end receives the third continuous wave signal sent by the initiating end, and performs frequency conversion processing on the third continuous wave signal through a second digital mixer to obtain a third measurement value; The reflector mixes the single carrier signal with the second modulated signal to obtain a second intermediate signal; The reflection end converts the second intermediate signal into a second analog signal; The reflecting end performs frequency conversion processing on the second analog signal to obtain a fourth continuous wave signal; The reflecting end transmits the fourth continuous wave signal; The initiating end is used to receive the fourth continuous wave signal and perform frequency conversion processing on the fourth continuous wave signal to obtain a fourth measurement value. The product of the third measurement value and the fourth measurement value is used to determine the distance between the initiating end and the reflecting end. The second digital mixer and the second modulation signal use the same signal source.

7. The method according to claim 6, characterized in that The reflection end includes a reflection end transmitter and a low intermediate frequency receiver, and the method further includes: The reflecting end corrects the product of the third measurement value and the fourth measurement value by a preset value to obtain a corrected product, wherein the corrected product is used to determine the distance between the initiating end and the reflecting end; The preset value is determined by the low intermediate frequency receiver according to a received test continuous wave signal, and the test continuous wave signal is sent by the reflector end transmitter.

8. The method according to claim 6, characterized in that The third continuous wave signal is exp(j(2πFtx'(t1-t1)+α'))=exp(jα'); The third measured value PCT3 is calculated by the following formula: PCT3=exp(j(2πFtx'(t1-t1)+α'-2πFrx'(t2-t1)-β'-2πFif'(t2-t2)-δ')) =exp(j(α'-2πFrx'(t2-t1)-β'-δ')) Among them, Ftx' is the operating frequency of the phase-locked loop of the initiating end, Frx' is the operating frequency of the phase-locked loop of the reflecting end, the frequency of the second modulation signal is Fif', and Fif'+Frx'=Ftx', t1 is the moment when the initiating end sends the third continuous wave signal, t2 is the moment when the reflecting end receives the third continuous wave signal, α' is the phase of the initiating end at time t1, β' is the phase of the reflecting end at time t1, and δ' is the phase of the second digital mixer at time t2.

9. The method according to claim 8, characterized in that The fourth continuous wave signal is exp(j(β'+2πFrx'(t5-t1)+γ'+2πFif'(t5-t5)))=exp(j(β'+2πFrx'(t5-t1)+γ')); The fourth measured value PCT4 is calculated by the following formula: PCT4=exp(j(β'+2πFrx'(t5-t1)+γ'-2πFtx'(t6-t1)-α')) Among them, t5 is the moment when the reflecting end starts to send the fourth continuous wave signal, t6 is the moment when the initiating end receives the fourth continuous wave, and γ' is the phase of the second modulated signal at the moment t5.

10. The method according to claim 9, characterized in that The product PCT3*PCT4 of the third measurement value PCT3 and the fourth measurement value PCT4 is calculated by the following formula; PCT3*PCT4=exp(j(β'+2πFrx'(t5-t1)+γ'-2πFtx'(t6-t1)-α'+α'-2πFrx' (t2-t1)-β'-δ')) =exp(j(2πFtx'(t5-t1)-2πFif'(t5-t1)+γ'-2πFtx'(t6-t1)-2πFtx'(t2-t1)+2πFif' (t2-t1)-δ')) =exp(j(-2πFtx'(t6-t5+t2-t1)-2πFif'(t5-t2)+γ'-δ')) Wherein, t2-t1 and t6-t5 are both signal flight times, the second digital mixer and the second modulation signal use the same signal source, -δ'+γ'-2πFif'(t5-t2)=0.

11. An initiator, characterized in that: The initiator is applied to a wireless Bluetooth distance measuring device, and the wireless Bluetooth distance measuring device also includes a reflector; The initiator is used to mix the single carrier signal with the first modulated signal to obtain a first intermediate signal; The initiator is used to convert the first intermediate signal into a first analog signal through a digital-to-analog converter; The initiator is used to perform frequency conversion processing on the first analog signal to obtain a first continuous wave signal; The initiator is used to send the first continuous wave signal; The reflection end is used to receive the first continuous wave signal and perform frequency conversion processing on the first continuous wave signal to obtain a first measurement value; The initiating end is used to receive a second continuous wave signal sent by the transmitting end, and perform frequency conversion processing on the second continuous wave signal through a first digital mixer to obtain a second measurement value. The product of the first measurement value and the second measurement value is used to determine the distance between the initiating end and the reflecting end. The first digital mixer and the first modulation signal use the same signal source.

12. A reflector, characterized in that: The wireless Bluetooth distance measuring device also includes an initiator; The reflector is used to receive the third continuous wave signal sent by the initiator, and perform frequency conversion processing on the third continuous wave signal through the second digital mixer to obtain a third measurement value; The reflection end is used to mix the single carrier signal with the second modulated signal to obtain a second intermediate signal; The reflection end is used to convert the second intermediate signal into a second analog signal; The reflection end is used to perform frequency conversion processing on the second analog signal to obtain a fourth continuous wave signal; The reflection end is used to transmit the fourth continuous wave signal; The initiating end is used to receive the fourth continuous wave signal and perform frequency conversion processing on the fourth continuous wave signal to obtain a fourth measurement value. The product of the third measurement value and the fourth measurement value is used to determine the distance between the initiating end and the reflecting end. The second digital mixer and the second modulation signal use the same signal source.

13. A computer-readable storage medium storing a program, wherein when the program is executed by a multi-core processor, the multi-core processor executes the method according to any one of claims 1 to 10.

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