A wireless bluetooth ranging method, an initiator, a reflector and a storage medium

Abstract

The application provides a wireless Bluetooth ranging method, an initiator, a reflection end and a storage medium. The method comprises the following steps: the initiator mixes a single carrier signal with a first modulation 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 transmits the 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; the initiator receives a second continuous wave signal transmitted by the transmission end and performs frequency conversion processing on the second continuous wave signal through a first digital frequency mixer to obtain a second measurement value, and the first digital frequency mixer and the first modulation signal use the same signal source. The method provided by the application can eliminate the phase jump caused by the frequency modulation of the phase-locked loop to some extent, so that the wireless Bluetooth ranging is more accurate.

Description

Technical Field

[0001] This application belongs to the field of Bluetooth technology, specifically relating to a wireless Bluetooth ranging method, an initiator, a reflector, and a storage medium. Background Technology

[0002] Currently, when the initiating or reflecting end of a wireless Bluetooth ranging method switches between transmit (Tx) and receive (Rx) modes, the phase-locked loop frequency hopping causes a jump in the continuous wave signal, which in turn causes a deviation between the ranging measured at the initiating end and the actual distance, resulting in low measurement accuracy of the wireless Bluetooth ranging device.

[0003] Therefore, improving the measurement accuracy of wireless Bluetooth ranging devices is an urgent problem to be solved. Summary of the Invention

[0004] To address the problems existing in the prior art, a wireless Bluetooth ranging method, initiator, reflector, and storage medium are proposed. By utilizing this wireless Bluetooth ranging method, initiator, reflector, and storage medium, the measurement accuracy of the 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 initiating end of a wireless Bluetooth ranging device, the wireless Bluetooth ranging device further including a reflecting end, and the method includes:

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

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

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

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

[0011] 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 the first measured value;

[0012] 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 the first digital mixer to obtain the 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.

[0013] In some possible embodiments, the initiating end includes a low-IF transmitter and an initiating end receiver, and the method further includes:

[0014] The initiating end corrects the product of the first and second measured values ​​using a preset value to obtain a correction product, which is used to determine the distance between the initiating end and the reflecting end.

[0015] The preset value is determined by the initiating receiver based on the received test continuous wave signal, which is transmitted 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 measured value PCT1 is calculated using 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 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 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.

[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 using 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] Where 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 at the initiator at time T4.

[0024] In some possible embodiments, the product of the first measurement value PCT1 and the second measurement value PCT2, PCT1*PCT2, is calculated using 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] Where T2-T1 and T6-T5 are both signal flight times, and -δ+γ+2πFif(T4-T1)=0.

[0028] Secondly, this application provides a wireless Bluetooth ranging method, which is applied to the reflective end of a wireless Bluetooth ranging device. The wireless Bluetooth ranging device also includes an initiating end, and the method includes:

[0029] 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 the second digital mixer to obtain the third measurement value;

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

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

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

[0033] The reflecting end emits a fourth continuous wave signal;

[0034] 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 the 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.

[0035] In some possible embodiments, the reflecting end includes a reflecting transmitter and a low-IF receiver, and the method further includes:

[0036] The reflector corrects the product of the third and fourth measurements using a preset value to obtain a correction product, which is used to determine the distance between the initiator and the reflector.

[0037] The preset value is determined by the low-frequency receiver based on the received test continuous wave signal, which is transmitted by the reflector 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 using 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] Where Ftx' is the operating frequency of the phase-locked loop at the initiating end, Frx' is the operating frequency of the phase-locked loop at the reflecting end, the frequency of the second modulation signal is Fif', and Fif'+Frx'=Ftx', t1 is the time when the initiating 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 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.

[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 using the following formula:

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

[0046] Where t5 is the time when the reflecting end starts sending the fourth continuous wave signal, t6 is the time when the initiating 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 of the third measurement value PCT3 and the fourth measurement value PCT4, PCT3*PCT4, is calculated using 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] Where t2-t1 and t6-t5 are both signal flight times, and -δ'+γ'-2πFif'(t5-t2)=0.

[0054] Thirdly, this application provides an initiator, which is applied to a wireless Bluetooth ranging device, and the wireless Bluetooth ranging device also includes a reflector.

[0055] The initiating end is used to mix the single-carrier signal with the first modulation signal to obtain the first intermediate signal;

[0056] The initiator is used to convert the first intermediate signal into a first analog signal via a digital-to-analog converter;

[0057] The initiator is used to perform frequency conversion processing on the first analog signal to obtain the first continuous wave signal;

[0058] The initiator is used to send the first continuous wave signal;

[0059] 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 the first measured value;

[0060] The initiating end is used to receive the 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 the 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.

[0061] Fourthly, this application provides a reflective end, and the wireless Bluetooth ranging device also includes an initiator;

[0062] The reflecting end is used to receive the third continuous wave signal sent by the initiating end, and performs frequency conversion processing on the third continuous wave signal through the second digital mixer to obtain the third measurement value;

[0063] The reflector is used to mix the single-carrier signal with the second modulation signal to obtain the second intermediate signal;

[0064] The reflector is used to convert the second intermediate signal into a second analog signal;

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

[0066] The reflector is used to transmit the fourth continuous wave signal;

[0067] 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 the 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.

[0068] Fifthly, this application provides a computer-readable storage medium storing a program that, when executed by a multi-core processor, causes the multi-core processor to perform the aforementioned wireless Bluetooth ranging method.

[0069] The wireless Bluetooth ranging method provided in this 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. This can eliminate the phase jump caused by phase-locked loop frequency modulation 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 this application will be explained in more detail with reference to the following description and figures.

[0071] It should be understood that the above description is merely an overview of the technical solution of this application, so as to enable a clearer understanding of the technical means of this application and thus allow for its implementation in accordance with the contents of the specification. To make the above and other objects, features, and advantages of this application more apparent and understandable, specific embodiments of this application are illustrated below. Attached Figure Description

[0072] By reading the detailed description of the exemplary embodiments below, those skilled in the art will understand the advantages and benefits described herein, as well as other advantages and benefits. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. In the drawings:

[0073] Figure 1 A flowchart illustrating a wireless Bluetooth ranging method provided in an embodiment of this application;

[0074] Figure 2 A flowchart illustrating another wireless Bluetooth ranging method provided in an embodiment of this application;

[0075] Figure 3 A schematic diagram of an initiator provided in an embodiment of this application;

[0076] Figure 4 A schematic diagram of a transmitter provided in an embodiment of this application;

[0077] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts. Detailed Implementation

[0078] Exemplary embodiments of this application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0079] In the description of embodiments of this application, it should be understood that terms such as “comprising” or “having” are intended to indicate the presence of the disclosed features, figures, steps, behaviors, components, portions or combinations thereof in this specification, and do not exclude the possibility of the presence of one or more other features, figures, steps, behaviors, components, portions or combinations thereof.

[0080] Unless otherwise stated, " / " means "or". For example, A / B can mean A or B. In this article, "and / or" is merely a way of describing the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A alone, A and B at the same time, and B alone.

[0081] The terms "first," "second," etc., are used only for ease of description to distinguish identical or similar technical features and should not be construed as indicating or implying the relative importance or number of these technical features. Therefore, a feature defined by "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of embodiments of this application, unless otherwise stated, the term "multiple" means two or more.

[0082] It should also be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0083] The wireless Bluetooth ranging method provided in this application is applied to the initiating end of a wireless Bluetooth ranging device, which also includes a reflecting end. For example... Figure 1 As shown, the wireless Bluetooth ranging method provided in this application includes:

[0084] S101: The initiating end mixes the single carrier signal with the first modulation signal to obtain the 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 initiator performs frequency conversion processing on the first analog signal to obtain the first continuous wave signal.

[0087] It should be noted that the initiating end in this application embodiment includes a special low-IF transmitter, which is used to generate and transmit a first continuous wave signal. Specifically, the low-IF transmitter in this application may include a digital-side mixer and a zero-IF transmitter. The digital-side mixer mixes the single-carrier signal with the 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 the first continuous wave signal. Specifically, in this application embodiment, 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 a first continuous wave signal, the reflecting end receives the first continuous wave signal, and performs frequency conversion processing on the first continuous wave signal to obtain a first measurement value.

[0089] The first measured value PCT1 is calculated using 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 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.

[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 the first digital mixer to obtain the 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 this embodiment of the application, the second continuous wave signal can be exp(j(β+2πFtx(T5-T1))).

[0094] The second measurement value PCT2 is calculated using 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] Where 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 at the initiator at time T4.

[0098] In this embodiment of the application, the product of the first measurement value PCT1 and the second measurement value PCT2, PCT1*PCT2, can be calculated using 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] Since the first digital mixer and the first modulation signal use the same signal source, -δ+γ+2πFif(T4-T1)=0. Therefore, PCT1*PCT2=exp(j(-2πFtx(T2-T1+T6-T5))). The wireless Bluetooth ranging method provided in this application can, to some extent, eliminate the phase jump caused by phase-locked loop frequency modulation when multiplying the first and second measured values, thereby making wireless Bluetooth ranging more accurate. T2-T1 and T6-T5 are both signal flight times, and the distance between the initiator and the transmitter can be determined by the signal flight time.

[0102] The wireless Bluetooth ranging method provided in this 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. This can eliminate the phase jump caused by phase-locked loop frequency modulation 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.

[0103] In this embodiment, the initiating end includes a low-intermediate frequency (IF) transmitter and a low-intermediate frequency (IF) receiver. The IF transmitter is used to transmit a first continuous wave signal, and the IF receiver is used to receive a second continuous wave signal. The applicant has discovered that a portion of the error in wireless Bluetooth ranging originates from the internal circuitry of the initiating end. To eliminate this error, the IF transmitter at the initiating end can transmit a test continuous wave signal to the IF receiver at the initiating end (the transmission frequency of the IF transmitter and the reception frequency of the IF receiver can be kept consistent). The IF receiver can then determine the ranging error caused by the internal circuitry of the initiating end through the received test continuous wave signal.

[0104] In some possible embodiments, the wireless Bluetooth ranging method provided in this application, after obtaining the first and second measurement values, can further correct the product of the first and second measurement values ​​using a preset value to obtain a corrected product. This 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 at the initiating end based on the received test continuous wave signal, which is transmitted by the low-IF transmitter at the initiating end.

[0105] Specifically, the preset values ​​in this application embodiment can be determined based on the channels where the first and second measured values ​​are located. The applicant has discovered that the measurement errors caused by the internal circuitry of the initiating end differ when receiving and transmitting signals on different channels. Therefore, this application can pre-measure preset values ​​corresponding to multiple channels, and then determine a preset value for correcting the product of the first and second measured values ​​based on the channel where the actual ranging occurs. In this way, by determining the preset value, this application can further correct the product of the first and second measured values, eliminating errors caused by the internal circuitry to a certain extent, thereby making wireless Bluetooth ranging more accurate.

[0106] In summary, the wireless Bluetooth ranging method provided in this application mixes a single-carrier signal with a first modulation signal on the digital side at the initiating end. Furthermore, the first modulation signal and the first digital mixer at the initiating end use the same signal source. This allows for the elimination of phase jumps caused by phase-locked loop frequency modulation to a certain extent when calculating the product of the first and second measured values, thereby making the wireless Bluetooth ranging more accurate. In addition, this application further corrects the product of the first and second measured values ​​using pre-measured preset values, eliminating errors caused by internal circuitry to a certain extent, thus making the wireless Bluetooth ranging even more accurate.

[0107] Based on the wireless Bluetooth ranging method implemented at the initiating end provided in the above embodiments, this application also provides a wireless Bluetooth ranging method implemented at the reflecting end.

[0108] The wireless Bluetooth ranging method provided in this application is applied to the reflective end of a wireless Bluetooth ranging device, which also includes an initiating end. For example... Figure 2 As shown, the method includes:

[0109] S201: 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 the second digital mixer to obtain the third measurement value.

[0110] In this embodiment, the third continuous wave signal is exp(j(2πFtx'(t1-t1)+α'))=exp(jα'). The third measured value PCT3 can be calculated using 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] Where Ftx' is the operating frequency of the phase-locked loop at the initiating end, Frx' is the operating frequency of the phase-locked loop at the reflecting end, the frequency of the second modulation signal is Fif', and Fif'+Frx'=Ftx', t1 is the time when the initiating 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 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.

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

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

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

[0117] S205: The reflecting end emits a fourth continuous wave signal, the initiating end receives the fourth continuous wave signal, and performs 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.

[0118] In this embodiment of the 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 using the following formula:

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

[0121] Where t5 is the time when the reflecting end starts sending the fourth continuous wave signal, t6 is the time when the initiating end receives the fourth continuous wave, and γ' is the phase of the second modulation signal at time t5.

[0122] In the embodiments of this application, the product of the third measurement value PCT3 and the fourth measurement value PCT4, PCT3*PCT4, can be calculated using 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] Where t2-t1 and t6-t5 are both signal flight times. Since the second digital mixer and the second modulation signal use the same signal source, -δ'+γ'-2πFif'(t5-t2)=0.

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

[0129] As one possible implementation, the reflector in this application embodiment includes a reflector transmitter and a low-intermediate frequency receiver.

[0130] The reflecting end corrects the product of the third and fourth measured values ​​using a preset value to obtain a corrected product. This corrected product is used to determine the distance between the initiating end and the reflecting end. The preset value is determined by the low-IF receiver based on the received test continuous wave signal, which is transmitted by the transmitter at the reflecting end. In this embodiment, the low-IF transmitter and low-IF receiver at the transmitting end are similar to those at the initiating end in the above embodiments, and will not be described again here.

[0131] It should be noted that the wireless Bluetooth ranging method implemented at the reflector end in this application embodiment can realize the various processes of the aforementioned wireless Bluetooth ranging method implemented at the initiator end embodiment and achieve the same effect and function, which will not be repeated here.

[0132] In the description of this specification, references to terms such as "some possible implementations," "some implementations," "example," "specific example," or "some examples" indicate that a specific feature, structure, material, or characteristic described in connection with that implementation or example is included in at least one implementation or example of this application, and the aforementioned terms do not necessarily refer to the same implementation or example. Furthermore, the described specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more implementations or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different implementations or examples described in this specification, as well as the features of different implementations or examples.

[0133] The method flowcharts for embodiments of this application describe certain operations as different steps performed in a certain order. Such flowcharts are illustrative and not restrictive. Some steps described herein may be grouped together and performed in a single operation, or some steps may be divided into multiple sub-steps, and some steps may be performed in an order different from that shown herein. The various steps shown in the flowcharts may be implemented in any way by any circuit structure and / or tangible mechanism (e.g., by software running on a computer device, hardware (e.g., logic functions implemented by a processor or chip), and / or any combination thereof).

[0134] Those skilled in the art will understand that in the methods described in the above specific embodiments, the order in which the steps are written does not imply a strict execution order, and the specific execution order of each step should be determined by its function and possible internal logic.

[0135] Based on the wireless Bluetooth ranging method provided in the above embodiments, this application also provides an initiator.

[0136] like Figure 3As shown, the initiator 100 is applied to the wireless Bluetooth ranging device, which also includes a reflector 200.

[0137] The initiator 100 is used to mix the single-carrier signal with the first modulation signal to obtain the first intermediate signal;

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

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

[0140] Initiator 100 is used to transmit the first continuous wave signal;

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

[0142] The initiating end 100 is used to receive the 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 101 to obtain the 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 this application embodiment can implement the various processes of the aforementioned method embodiments and achieve the same effect and function, which will not be repeated here.

[0144] Based on the wireless Bluetooth ranging method provided in the above embodiments, this application also provides a reflective end.

[0145] like Figure 4 As shown, the reflector 200 is used in a wireless Bluetooth ranging device, which also includes an initiator 100.

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

[0147] The reflector 200 is used to mix the single-carrier signal with the second modulation signal to obtain the second intermediate signal;

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

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

[0150] The reflector 200 is used to transmit the fourth continuous wave signal;

[0151] The initiating end 100 is used to receive the fourth continuous wave signal and perform frequency conversion processing on the fourth continuous wave signal to obtain the 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 100 and the reflecting end 200. The second digital mixer 201 and the second modulation signal use the same signal source.

[0152] It should be noted that the reflective end in the embodiments of this application can implement the various processes of the aforementioned method embodiments and achieve the same effect and function, which will not be repeated here.

[0153] According to some embodiments of this application, a non-volatile computer storage medium is provided for a wireless Bluetooth ranging method, having stored thereon computer-executable instructions configured to execute, when run by a processor, the method described in the above embodiments.

[0154] Computer-readable media include permanent and non-permanent, removable and non-removable media, which can store information by any method or technology. 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 optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device. Furthermore, although the operations of the methods of this application are described in a specific order in the accompanying 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, and / or one step may be broken down into multiple sub-steps.

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

Claims

1. A wireless Bluetooth ranging method, characterized in that, The method is applied to the initiating end of a wireless Bluetooth ranging device, the wireless Bluetooth ranging device further including a reflecting end, and the method includes: The initiating end mixes the single-carrier signal with the first modulation signal to obtain the 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 the first continuous wave signal; 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 the first measurement value; The initiating end receives the second continuous wave signal sent by the reflecting end, and performs frequency conversion processing on the second continuous wave signal through the 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. The initiating end includes a low-intermediate frequency transmitter and an initiating end 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 correction product, which is used to determine the distance between the initiating end and the reflecting end. The preset value is determined by the initiating receiver based on the received test continuous wave signal, which is transmitted by the low-intermediate frequency transmitter.

2. 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 using the following formula: PCT1=exp(j(2πFtx(T1 T1)+a+c 2πFtx(T2 T1) b))=exp(j(a+c) 2πFtx(T2 T1) b)) 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 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.

3. The method according to claim 2, characterized in that, The second continuous wave signal is exp(j(β+2πFtx(T5)). T1))); The second measured value PCT2 is calculated using the following formula: PCT2=exp(j(β+2πFtx(T5 T1) a 2πFrx(T6 T1) 2πFif(T6 T4) δ))=exp(j(β+2πFtx(T5 T6)+2πFif(T4 T1) a δ)) Where 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 of the initiating end at time T4.

4. The method according to claim 3, characterized in that, The product of the first measured value PCT1 and the second measured value PCT2, PCT1*PCT2, is calculated using the following formula; PCT1*PCT2=exp(j(α+γ) 2πFtx(T2 T1) β+β+2πFtx(T5 T6)+2πFif(T4 T1) a d)) =exp(j( 2πFtx(T2 T1+T6 T5) δ+γ+2πFif(T4 T1))) Among them, T2 T1 and T6 T5 refers to signal flight time. δ+γ+2πFif(T4 T1)=0.

5. A wireless Bluetooth ranging method, characterized in that, The method is applied to the reflective end of a wireless Bluetooth ranging device, which further includes an initiating end, and the method includes: 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 the second digital mixer to obtain the third measurement value; The reflecting end mixes the single-carrier signal with the second modulation signal to obtain the second intermediate signal; The reflecting 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 emits 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. The reflecting end includes a reflecting transmitter and a low-intermediate frequency receiver, and the method further includes: The reflective end corrects the product of the third and fourth measurement values ​​using a preset value to obtain a corrected product, which is used to determine the distance between the initiating end and the reflective end. The preset value is determined by the low-intermediate frequency receiver based on the received test continuous wave signal, which is transmitted by the reflector transmitter.

6. The method according to claim 5, characterized in that, The third continuous wave signal is exp(j(2πFtx'(t1)). t1)+α'))=exp(jα'); The third measurement value PCT3 is calculated using the following formula: PCT3=exp(j(2πFtx'(t1 t1)+a' 2πFrx'(t2 t1) b' 2πFif'(t2 t2) d')) =exp(j(a' 2πFrx'(t2 t1) b' d')) Wherein, Ftx' is the operating frequency of the phase-locked loop at the initiating end, Frx' is the operating frequency of the phase-locked loop at the reflecting end, the frequency of the second modulation signal is Fif', and Fif' + Frx' = Ftx', t1 is the time when the initiating 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 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.

7. The method according to claim 6, 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 measurement value, PCT4, is calculated using the following formula: PCT4= exp(j(β'+2πFrx'(t5 t1)+γ' 2πFtx'(t6 t1) α')) Where t5 is the time when the reflecting end starts sending the fourth continuous wave signal, t6 is the time when the initiating end receives the fourth continuous wave, and γ' is the phase of the second modulation signal at time t5.

8. The method according to claim 7, characterized in that, The product of the third measurement value PCT3 and the fourth measurement value PCT4, PCT3*PCT4, is calculated using the following formula; PCT3*PCT4=exp(j(β'+2πFrx'(t5 t1)+c' 2πFtx'(t6 t1) a'+a' 2πFrx'(t2 t1) b' d')) =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)+c' d')) Among them, t2 t1 and t6 t5 represents the signal flight time. The second digital mixer and the second modulation signal use the same signal source. δ'+γ' 2πFif'(t5 t2)=0.

9. An initiator, characterized in that, The initiating end is applied to the wireless Bluetooth ranging device, and the initiating end is used to execute the wireless Bluetooth ranging method according to any one of claims 1-4. The wireless Bluetooth ranging device further includes a reflecting end. The initiating end is used to mix the single-carrier signal with the first modulation signal to obtain the first intermediate signal; The initiating end is used to convert the first intermediate signal into a first analog signal through a digital-to-analog converter; The initiating end is used to perform frequency conversion processing on the first analog signal to obtain a first continuous wave signal; The initiating end is used to send the first continuous wave signal; 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 the first measurement value; The initiating end is used to receive the second continuous wave signal sent by the reflecting end, and to perform frequency conversion processing on the second continuous wave signal through the 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.

10. A reflective end, characterized in that, The reflective end is applied to the wireless Bluetooth ranging system, and the reflective end is used to execute the wireless Bluetooth ranging method according to any one of claims 5-8. The wireless Bluetooth ranging device also includes an initiator. The reflecting end is used to receive the third continuous wave signal sent by the initiating end, and to perform frequency conversion processing on the third continuous wave signal through the second digital mixer to obtain the third measurement value; The reflecting end is used to mix the single-carrier signal with the second modulation signal to obtain the second intermediate signal; The reflective end is used to convert the second intermediate signal into a second analog signal; The reflecting end is used to perform frequency conversion processing on the second analog signal to obtain a fourth continuous wave signal; The reflector is used to emit 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.

11. A computer-readable storage medium storing a program that, when executed by a multi-core processor, causes the multi-core processor to perform the method as described in any one of claims 1-8.

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