Wireless Bluetooth ranging correction method and device, initiating end and medium

Abstract

The invention provides a wireless Bluetooth ranging correction method and device, an initiating end and a medium, the method is applied to a wireless Bluetooth ranging device, the wireless Bluetooth ranging device comprises the initiating end and a reflecting end, and the method comprises the following steps: the initiating end sends a first continuous wave signal; the reflection end receives the first continuous wave signal and performs frequency conversion processing on the first continuous wave signal to obtain a first measurement value; the initiating end is switched to a receiving state and obtains a first timestamp; the reflection end sends a second continuous wave signal; the initiating end receives the second continuous wave signal and obtains a first timestamp; the initiating end performs frequency conversion processing on the second continuous wave signal to obtain a second measurement value; and the initiating end obtains the first measurement value from the reflecting end and corrects the first measurement value and the second measurement value through the first timestamp and the second timestamp. According to the method provided by the invention, the distance between the initiating end and the reflecting end can be corrected, and the measurement deviation during wireless Bluetooth distance measurement is reduced.

Description

Technical Field

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

[0002] Currently, mainstream Bluetooth devices usually use low-intermediate frequency receivers for signal transmission and reception. A low-intermediate frequency receiver is a receiver architecture that down-converts a radio frequency signal to a low-frequency signal close to direct current (but not zero). It avoids the direct current offset and flicker noise problems of a zero-intermediate frequency receiver by staggering the local oscillator signal from the received frequency band by a certain frequency interval.

[0003] However, when a Bluetooth device using a low-intermediate frequency receiver is in conversion, the generated digital intermediate frequency is inconsistent with the actual intermediate frequency, resulting in a deviation in the measured phase. Therefore, how to reduce the measurement deviation during wireless Bluetooth ranging 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 correction method, device, initiating end, and medium are proposed. By using this method, device, and computer-readable storage medium, the measurement deviation during wireless Bluetooth ranging can be reduced.

[0005] This application provides the following solutions.

[0006] This application provides a wireless Bluetooth ranging correction method. The method is applied to a wireless Bluetooth ranging device, which includes an initiating end and a reflecting end. The method includes:

[0007] The initiating end sends a first continuous wave signal;

[0008] 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;

[0009] The reflecting end switches to the transmitting state;

[0010] The initiating end switches to the receiving state and obtains a first timestamp, where the first timestamp indicates the moment when the initiating end switches to the receiving state;

[0011] The reflecting end sends a second continuous wave signal;

[0012] The initiating end receives the second continuous wave signal and obtains a second timestamp, where the second timestamp indicates the moment when the initiating end receives the second continuous wave signal;

[0013] The initiating end performs frequency conversion processing on the second continuous wave signal to obtain a second measurement value;

[0014] The initiating end obtains a first measurement value from the reflecting end, and corrects the first measurement value and a second measurement value by using a first timestamp and a second timestamp. The first measurement value and the second measurement value are used to determine the distance between the initiating end and the reflecting end.

[0015] In some possible embodiments, when executing the wireless Bluetooth ranging correction method, the digital mixer of the initiating end remains on, so that the phases δ of the continuous wave signals collected by the digital mixer of the initiating end on channels with different frequencies are consistent.

[0016] In some possible embodiments, the initiating end corrects the first measurement value and the second measurement value by using a first timestamp and a second timestamp, including:

[0017] The initiating end determines the product of the first measurement value and the second measurement value;

[0018] The initiating end corrects the product by using a first timestamp and a second timestamp.

[0019] In some possible embodiments, the first measurement value PCTi is calculated by the following formula:

[0020] PCTi = exp(j*(2π*Ftx*(T1 - T1)+α - 2π*Ftx*(T2 - T1)-β)) = exp(j*(α - 2π*Ftx*(T2 - T1)-β)

[0021] where Ftx is the operating frequency of the phase-locked loop in the transmitting state, 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, and β is the phase of the reflecting end at the moment T1.

[0022] In some possible embodiments, the second measurement value PCTr is calculated by the following formula: PCTr = exp(j*(β + 2π*Ftx*(T5 - T1)-2π*Ftx*(T4 - T1)-α - 2π*Frx*(T6 - T4)-2π*Fdig*(T6 - T4)-δ - σ)) = exp(j*(β + 2π*Ftx*(T5 - T4)-α - 2π*Frx*(T6 - T4)-2π*Fdig*(T6 - T4)-δ - σ))

[0023] Among them, Frx is the operating frequency of the phase-locked loop in the receiving state, Fdig is the operating frequency of the digital mixer, Fif + Frx = Ftx, T3 is the moment when the reflection end switches to the transmitting state, T4 is the moment when the initiating end switches to the receiving state, T5 is the moment when the reflection end starts to send the second continuous wave signal, T6 is the moment when the initiating end receives the second continuous wave, δ is the phase of the continuous wave signal collected by the digital mixer of the initiating end at the moment T4, and σ is the phase jitter when the initiating end switches between transmitting and receiving.

[0024] In some possible embodiments, the initiating end calculates the product PCTi * PCTr of the first measurement value PCTi and the second measurement value PCTr through the following formula;

[0025] PCTi * PCTr = exp(j * (α - 2π * Ftx * (T2 - T1) - β + β + 2π * Ftx * (T5 - T4) - α - 2π * Frx * (T6 - T4) - 2π

[0026] * Fdig * (T6 - T4) - δ - σ))

[0027] = exp(j * (-2π * Ftx * (T2 - T1 - T5 + T6) + 2π * (Fif - Fdig) * (T6 - T4)) - δ - σ))

[0028] Among them, both T2 - T1 and T6 – T5 are the signal flight times.

[0029] In a second aspect, the present application provides a wireless Bluetooth ranging correction method, which is applied to the initiating end of a wireless Bluetooth ranging device. The wireless Bluetooth ranging device further includes a reflection end. The method includes:

[0030] The initiating end sends a first continuous wave signal, and the reflection end is used to perform frequency conversion processing on the first continuous wave signal to obtain a first measurement value;

[0031] The initiating end switches to the receiving state and obtains a first timestamp, where the first timestamp indicates the moment when the initiating end switches to the receiving state;

[0032] The initiating end receives the second continuous wave signal sent by the reflection end and obtains a second timestamp, where the second timestamp indicates the moment when the initiating end receives the second continuous wave signal;

[0033] The initiating end performs frequency conversion processing on the second continuous wave signal to obtain a second measurement value;

[0034] The initiating end obtains the first measurement value from the reflection end and corrects the first measurement value and the second measurement value through the first timestamp and the second timestamp. The first measurement value and the second measurement value are used to determine the distance between the initiating end and the reflection end.

[0035] In some possible embodiments, when performing the wireless Bluetooth ranging correction method, the digital mixer at the initiating end remains on, so that the phases δ of the continuous wave signals collected by the digital mixer at the initiating end on channels with different frequencies are the same.

[0036] In some possible embodiments, the initiating end determines the product of the first measurement value and the second measurement value;

[0037] The initiating end corrects the product using the first timestamp and the second timestamp.

[0038] In some possible embodiments, the first measurement value PCTi is calculated by the following formula:

[0039] PCTi = exp(j*(2π*Ftx*(T1 - T1)+α - 2π*Ftx*(T2 - T1)-β)) = exp(j*(α - 2π*Ftx*(T2 - T1)-β))

[0040] where Ftx is the operating frequency of the phase-locked loop in the transmitting state, 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 moment T1, and β is the phase of the reflecting end at moment T1.

[0041] In some possible embodiments, the second measurement value PCTr is calculated by the following formula: PCTr = exp(j*(β + 2π*Ftx*(T5 - T1)-2π*Ftx*(T4 - T1)-α - 2π*Frx*(T6 - T4)-2π*Fdig*(T6 - T4)-δ - σ)) = exp(j*(β + 2π*Ftx*(T5 - T4)-α - 2π*Frx*(T6 - T4)-2π*Fdig*(T6 - T4)-δ - σ))

[0042] where Frx is the operating frequency of the phase-locked loop in the receiving state, Fdig is the operating frequency of the digital mixer, Fif + Frx = Ftx, T3 is the moment when the reflecting end switches to the transmitting state, 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, δ is the phase of the continuous wave signal collected by the digital mixer at the initiating end at moment T4, and σ is the phase jitter when the initiating end switches between transmitting and receiving.

[0043] In some possible embodiments, the initiating end calculates the product PCTi * PCTr of the first measurement value PCTi and the second measurement value PCTr using the following formula;

[0044] IPM*PCT = exp(j*(α - 2π*Ftx*(T2 - T1) - β + β + 2π*Ftx*(T5 - T4) - α - 2π*Frx*(T6 - T4) - 2π*

[0045] Fdig*(T6 - T4) - δ - σ))

[0046] = exp(j*(-2π*Ftx*(T2 - T1 - T5 + T6) + 2π*(Fif - Fdig)*(T6 - T4)) - δ - σ))

[0047] Wherein, both T2 - T1 and T6–T5 are the signal flight times.

[0048] In a third aspect, the present application provides a wireless Bluetooth ranging device, which includes a transmitting end and a reflecting end;

[0049] The transmitting end is used to send a first continuous wave signal;

[0050] 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;

[0051] The reflecting end is used to switch to the transmitting state;

[0052] The transmitting end is used to switch to the receiving state and obtain a first timestamp, where the first timestamp indicates the moment when the transmitting end switches to the receiving state;

[0053] The reflecting end is used to send a second continuous wave signal;

[0054] The transmitting end is used to receive the second continuous wave signal and obtain a second timestamp, where the second timestamp indicates the moment when the transmitting end receives the second continuous wave signal;

[0055] The transmitting end is used to perform frequency conversion processing on the second continuous wave signal to obtain a second measurement value;

[0056] The transmitting end is used to obtain the first measurement value from the reflecting end and correct the first measurement value and the second measurement value through the first timestamp and the second timestamp, where the first measurement value and the second measurement value are used to determine the distance between the transmitting end and the reflecting end.

[0057] In a fourth 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;

[0058] The transmitting end is used to send a first continuous wave signal, and the reflecting end is used to perform frequency conversion processing on the first continuous wave signal to obtain a first measurement value;

[0059] The initiating end is used to switch to the receiving state and obtain a first timestamp, where the first timestamp indicates the moment when the initiating end switches to the receiving state;

[0060] The initiating end is used to receive a second continuous wave signal sent by the reflecting end and obtain a second timestamp, where the second timestamp indicates the moment when the initiating end receives the second continuous wave signal;

[0061] The initiating end is used to perform frequency conversion processing on the second continuous wave signal to obtain a second measurement value;

[0062] The initiating end is used to obtain a first measurement value from the reflecting end and correct the first measurement value and the second measurement value based on the first timestamp and the second timestamp. The first measurement value and the second measurement value are used to determine the distance between the initiating end and the reflecting end.

[0063] In a fifth aspect, the present application provides a computer-readable storage medium. The computer-readable storage medium stores a program. When the program is executed by a multi-core processor, the multi-core processor is caused to execute the above-mentioned wireless Bluetooth ranging correction method.

[0064] One of the advantages of the above embodiments is that by adding the first timestamp and the second timestamp, it is possible to eliminate the deviation in the measured phase caused by the inconsistency between the digital intermediate frequency and the actual intermediate frequency. Thus, the technical solution of the present application can correct the distance between the initiating end and the reflecting end and reduce the measurement deviation during wireless Bluetooth ranging.

[0065] Other advantages of the present application will be explained in more detail in conjunction with the following description and drawings.

[0066] 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 more clearly understand the technical means of the present application, and thus it can be implemented in accordance with the content of the specification. In order to make the above and other purposes, 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

[0067] By reading the detailed description of the exemplary embodiments below, 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 illustrating the exemplary embodiments and are not considered to be a limitation of the present application. In the drawings:

[0068] Figure 1 is a schematic flowchart of a wireless Bluetooth ranging correction method provided by an embodiment of the present application;

[0069] Figure 2 is a schematic flowchart of signal interaction between an initiating end and a reflecting end provided by an embodiment of the present application;

[0070] Figure 3Schematic flowchart of another wireless Bluetooth ranging correction method provided by an embodiment of the present application.

[0071] Figure 4 Schematic diagram of a wireless Bluetooth ranging device provided by an embodiment of the present application.

[0072] Figure 5 Communication schematic diagram of an initiating end provided by an embodiment of the present application.

[0073] In the drawings, the same or corresponding reference numerals indicate the same or corresponding parts. Detailed implementation manners

[0074] The exemplary embodiments of the present application will be described in more detail below with reference to the 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 conveyed to those skilled in the art.

[0075] 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.

[0076] Unless otherwise specified, " / " means "or". For example, A / B may represent A or B; herein, "and / or" is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone.

[0077] Terms such as "first" and "second" are only used for convenience of description to distinguish the same or similar technical features, and cannot 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 such 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.

[0078] 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.

[0079] In an embodiment of the present application, the initiating end can be used as an executor to correct the distance between the initiating end and the reflecting end. This will be introduced through a specific example below.

[0080] As Figure 1 shown, the wireless Bluetooth ranging correction method provided by this application is applied to a wireless Bluetooth ranging device. The wireless Bluetooth ranging device includes a transmitting end and a reflecting end. The method includes:

[0081] S101: The transmitting end sends a first continuous wave signal.

[0082] S102: 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.

[0083] S103: The reflecting end switches to the transmitting state.

[0084] S104: The transmitting end switches to the receiving state and obtains a first timestamp, where the first timestamp indicates the moment when the transmitting end switches to the receiving state.

[0085] S105: The reflecting end sends a second continuous wave signal.

[0086] S106: The transmitting end receives the second continuous wave signal and obtains a second timestamp, where the second timestamp indicates the moment when the transmitting end receives the second continuous wave signal.

[0087] S107: The transmitting end performs frequency conversion processing on the second continuous wave signal to obtain a second measurement value.

[0088] S108: The transmitting end obtains the first measurement value from the reflecting end and corrects the first measurement value and the second measurement value through the first timestamp and the second timestamp. The first measurement value and the second measurement value are used to determine the distance between the transmitting end and the reflecting end.

[0089] In the embodiment of this application, by adding the first timestamp and the second timestamp, it is possible to eliminate the phase deviation caused by the inconsistency between the digital intermediate frequency and the actual intermediate frequency in measurement. Specifically, the transmitting end corrects the product through the first timestamp and the second timestamp, which can eliminate the phase deviation caused by the inconsistency between the digital intermediate frequency and the actual intermediate frequency in measurement. In this way, the technical solution of this application can correct the distance between the transmitting end and the reflecting end and reduce the measurement deviation during wireless Bluetooth ranging.

[0090] As a possible implementation, in the embodiments of the present application when executing the wireless Bluetooth ranging correction method, the digital mixer at the initiating end remains on, which can make the phases δ of the second continuous wave signals collected by the digital mixer at the initiating end in channels with different frequencies consistent, thereby compensating for the difference between the carrier frequency at the transmitting end and the carrier frequency at the reflecting end. In the method of the embodiments of the present application, by adding the first timestamp and the second timestamp and combining with the digital mixer at the initiating end remaining on, the continuity of the phase of the phase-locked loop during the transceiver conversion process can be ensured, the differences in the phases of the digital mixer during the frequency sweep process can be eliminated, and the differences between the digital intermediate frequency and the carrier frequency can be eliminated, thereby reducing the measurement deviation during wireless Bluetooth ranging.

[0091] In actual applications, the initiating end can calculate the product of the first measurement value PCTi and the second measurement value PCTr through the first timestamp and the second timestamp; the initiating end determines the distance between the initiating end and the reflecting end through the products of the first measurement value PCTi and the second measurement value PCTr in channels with different frequencies, thereby correcting the distance between the initiating end and the reflecting end and reducing the measurement deviation during wireless Bluetooth ranging.

[0092] As Figure 2 shown, in the embodiments of the present application, the initiating end, as the party performing the correction, starts transmitting a continuous wave (CW) at time T1.

[0093] At time T1, the phase of the initiating end is α, and the first continuous wave signal it transmits is:

[0094] exp(j*(2πFtx(T1 - T1)+α))

[0095] where Ftx is the operating frequency of the phase-locked loop in the transmitting state.

[0096] At time T1, the phase of the reflecting end is β, and its phase-locked loop operating state is:

[0097] exp(j*(2π*Ftx*(t - T1)+β))

[0098] At time T2, the reflecting end receives the first continuous wave signal.

[0099] The reflecting end performs down-conversion processing on the first continuous wave signal through its phase-locked loop to obtain the first measurement value PCTi:

[0100] PCTi = exp(j*(2π*Ftx*(T1 - T1)+α - 2π*Ftx*(T2 - T1)-β)) = exp(j*(α - 2π*Ftx*(T2 - T1)-β)

[0101] At time T3, the reflecting end switches to the transmitting (Tx) state.

[0102] The operating state of the phase-locked loop at the reflection end is:

[0103] exp(j*(β + 2π*Ftx*(t - T1)))

[0104] At time T4, the initiating end switches to the receiving (Rx) state.

[0105] The operating state of the phase-locked loop at the initiating end is:

[0106] exp(j*(2π*Ftx*(T4 - T1) + α + 2π*Ftx*(t - T4) + σ))

[0107] where σ is the phase jitter during the transceiver switch.

[0108] At time T4, the phase of the digital mixer at the initiating end is δ, and its operating state is:

[0109] exp(j*(2π*Fdig*(t - T4) + δ))

[0110] where Fdig is the operating frequency of the digital mixer

[0111] At time T5, the reflection end starts to transmit the second continuous wave signal.

[0112] The second continuous wave signal it transmits is:

[0113] exp(j*(β + 2π*Ftx*(T5 - T1)))

[0114] At time T6, the initiating end receives the second continuous wave signal.

[0115] The initiating end performs down-conversion processing on the second continuous wave signal through its phase-locked loop to obtain: PCTr = exp(j*(β + 2π*Ftx*(T5 - T1) - 2π*Ftx*(T4 - T1) - α - 2π*Frx*(T6 - T4) - 2π*Fdig*(T6 - T4) - δ - σ)) = exp(j*(β + 2π*Ftx*(T5 - T4) - α - 2π*Frx*(T6 - T4) - 2π*Fdig*(T6 - T4) - δ - σ))

[0116] where Frx is the operating frequency of the phase-locked loop in the receiving state.

[0117] In actual applications, the initiating end can calculate the product PCTi * PCTr of the first measurement value PCTi and the second measurement value PCTr through the following formula;

[0118] PCTi * PCTr

[0119] = exp(j * (α - 2π * Ftx * (T2 - T1) - β + β + 2π * Ftx * (T5 - T4) - α - 2π * Frx * (T6 - T4) - 2π * Fdig * (T6 -

[0120] T4) - δ - σ))

[0121] = exp(j * (-2π * Ftx * (T2 - T1 - T5 + T6) + 2π * (Fif - Fdig) * (T6 - T4)) - δ - σ))

[0122] Wherein, Ftx is the operating frequency of the phase-locked loop in the transmitting state, Frx is the operating frequency of the phase-locked loop in the receiving state, Fdig is the operating frequency of the digital mixer, 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, T3 is the moment when the reflecting end switches to the transmitting state, 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 both T2 - T1 and T6 – T5 are the signal flight times. α is the phase of the initiating end at moment T1, β is the phase of the reflecting end at moment T1, δ is the phase of the continuous wave signal collected by the digital mixer of the initiating end at moment T4, and σ is the phase jitter when the initiating end switches between transmitting and receiving.

[0123] It should be noted that δ is the phase of the digital mixer of the initiating end at moment T4. For δ between different channels, as long as the digital mixer is kept on all the time, it can be corrected by the time stamp corresponding to T4. Moreover, the action corresponding to T4 is executed by the initiating end, and the initiating end can correct it by recording the first time stamp.

[0124] In the embodiment of the present application, the initiating end can calculate the product PCTi * PCTr of the first measurement value PCTi and the second measurement value PCTr through the above formula. Then the initiating end can obtain the corresponding PCTi * PCTr in channels with different frequencies. Since the actions corresponding to T4 and T6 are both executed by the initiating end, the initiating end can obtain the value of T6 - T4 in the above formula by obtaining the moment T4 corresponding to the first time stamp and the moment T6 corresponding to the second time stamp. Moreover, since the digital mixer of the initiating end is kept on, the phase δ of the second continuous wave signal collected by the digital mixer of the initiating end in channels with different frequencies can be made consistent. Therefore, δ can be eliminated through the corresponding PCTi * PCTr in channels with different frequencies. Moreover, σ in the corresponding PCTi * PCTr in channels with different frequencies is also basically the same, so σ can also be eliminated.

[0125] It can be seen that after σ and δ are eliminated, the present application can calculate the signal flight time T2 - T1 (T2 - T1 = T6 – T5) through the time T4 indicated by the first timestamp and the time T6 indicated by the second timestamp. After determining the signal flight time, the initiating end can determine the distance between the initiating end and the reflecting end through the signal flight time. Thus, in the method of the embodiment of the present application, by adding the first timestamp and the second timestamp, and keeping the digital mixer at the initiating end turned on, the continuity of the phase of the phase-locked loop during the transceiver conversion process can be ensured, the phase difference of the digital mixer during the frequency sweep process can be eliminated, and the difference between the digital intermediate frequency and the carrier frequency can be eliminated, thereby reducing the measurement deviation during wireless Bluetooth ranging.

[0126] According to the above wireless Bluetooth ranging method with the initiating end as the executor, the embodiment of the present application also provides a wireless Bluetooth ranging method that can be implemented by the initiating end.

[0127] The present application provides a wireless Bluetooth ranging correction method, which is applied to the initiating end of a wireless Bluetooth ranging device. The wireless Bluetooth ranging device further includes a reflecting end. The method includes:

[0128] S301: The initiating end sends a first continuous wave signal, and the reflecting end is used to perform frequency conversion processing on the first continuous wave signal to obtain a first measurement value.

[0129] S302: The initiating end switches to the receiving state and obtains a first timestamp, where the first timestamp indicates the moment when the initiating end switches to the receiving state.

[0130] S303: The initiating end receives the second continuous wave signal sent by the reflecting end and obtains a second timestamp, where the second timestamp indicates the moment when the initiating end receives the second continuous wave signal.

[0131] S304: The initiating end performs frequency conversion processing on the second continuous wave signal to obtain a second measurement value.

[0132] S305: The initiating end obtains the first measurement value from the reflecting end and corrects the first measurement value and the second measurement value through the first timestamp and the second timestamp. The first measurement value and the second measurement value are used to determine the distance between the initiating end and the reflecting end.

[0133] As a possible implementation manner, when executing the wireless Bluetooth ranging correction method, the digital mixer at the initiating end remains turned on, so that the phase δ of the second continuous wave signal collected by the digital mixer at the initiating end in channels with different frequencies is consistent.

[0134] As a possible implementation, the initiating end corrects the first measurement value and the second measurement value by using the first timestamp and the second timestamp, including: the initiating end determines the product of the first measurement value and the second measurement value; the initiating end corrects the product by using the first timestamp and the second timestamp.

[0135] As a possible implementation, the first measurement value PCTi is calculated by the following formula: PCTi = exp(j*(2π*Ftx*(T1 - T1)+α - 2π*Ftx*(T2 - T1)-β)) = exp(j*(α - 2π*Ftx*(T2 - T1)-β))

[0136] Wherein, Ftx is the operating frequency of the phase-locked loop in the transmitting state, 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, and β is the phase of the reflecting end at the moment T1.

[0137] As a possible implementation, the second measurement value PCTr is calculated by the following formula: PCTr = exp(j*(β + 2π*Ftx*(T5 - T1)-2π*Ftx*(T4 - T1)-α - 2π*Frx*(T6 - T4)-2π*Fdig*(T6 - T4)-δ - σ)) = exp(j*(β + 2π*Ftx*(T5 - T4)-α - 2π*Frx*(T6 - T4)-2π*Fdig*(T6 - T4)-δ - σ))

[0138] Wherein, Frx is the operating frequency of the phase-locked loop in the receiving state, Fdig is the operating frequency of the digital mixer, Fif + Frx = Ftx, T3 is the moment when the reflecting end switches to the transmitting state, 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, δ is the phase of the continuous wave signal collected by the digital mixer of the initiating end at the moment T4, and σ is the phase jitter when the initiating end switches between transmitting and receiving.

[0139] As a possible implementation, the initiating end calculates the product PCTi*PCTr of the first measurement value PCTi and the second measurement value PCTr by the following formula;

[0140] PCTi*PCTr = exp(j*(α - 2π*Ftx*(T2 - T1)-β + β + 2π*Ftx*(T5 - T4)-α - 2π*Frx*(T6 - T4)-2π

[0141] *Fdig*(T6 - T4)-δ - σ))

[0142] = exp(j * (-2π * Ftx * (T2 - T1 - T5 + T6) + 2π * (Fif - Fdig) * (T6 - T4)) - δ - σ))

[0143] Wherein, both T2 - T1 and T6 – T5 are the time of flight of the signal.

[0144] It should be noted that the wireless Bluetooth ranging correction method in the embodiments of the present application can implement each process of the foregoing method embodiments and achieve the same effects and functions, which will not be elaborated here.

[0145] 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.

[0146] 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 functions implemented by a chip), etc., and / or any combination thereof).

[0147] 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 by its function and possible internal logic.

[0148] According to the wireless Bluetooth ranging correction method provided by the above embodiments, the embodiments of the present application also provide a wireless Bluetooth ranging device. As Figure 4 shown, the wireless Bluetooth ranging device provided by the embodiments of the present application includes a transmitting end 100 and a reflecting end 200;

[0149] The transmitting end 100 is used to send a first continuous wave signal;

[0150] The reflection end 200 is used to receive the first continuous wave signal, perform frequency conversion processing on the first continuous wave signal, and obtain a first measurement value;

[0151] The reflection end 200 is used to switch to the transmission state;

[0152] The initiating end 100 is used to switch to the receiving state and obtain a first timestamp, where the first timestamp indicates the moment when the initiating end 100 switches to the receiving state;

[0153] The reflection end 200 is used to send a second continuous wave signal;

[0154] The initiating end 100 is used to receive the second continuous wave signal and obtain a second timestamp, where the second timestamp indicates the moment when the initiating end 100 receives the second continuous wave signal;

[0155] The initiating end 100 is used to perform frequency conversion processing on the second continuous wave signal to obtain a second measurement value;

[0156] The initiating end 100 is used to obtain the first measurement value from the reflection end 200, and correct the first measurement value and the second measurement value based on the first timestamp and the second timestamp. The first measurement value and the second measurement value are used to determine the distance between the initiating end 100 and the reflection end 200.

[0157] It should be noted that the wireless Bluetooth ranging device in the embodiments of the present application includes each component implementing the foregoing method embodiments and achieves the same effects and functions, which will not be elaborated here.

[0158] According to the wireless Bluetooth ranging correction method provided in the above embodiments, the embodiments of the present application further provide an initiating end. As Figure 5 shown, the initiating end 100 provided in the embodiments of the present application is applied to a wireless Bluetooth ranging device, and the wireless Bluetooth ranging device further includes a reflection end 200;

[0159] The initiating end 100 is used to send a first continuous wave signal, and the reflection end 200 is used to perform frequency conversion processing on the first continuous wave signal to obtain a first measurement value;

[0160] The initiating end 100 is used to switch to the receiving state and obtain a first timestamp, where the first timestamp indicates the moment when the initiating end 100 switches to the receiving state;

[0161] The initiating end 100 is used to receive the second continuous wave signal sent by the reflection end 200 and obtain a second timestamp, where the second timestamp indicates the moment when the initiating end 100 receives the second continuous wave signal;

[0162] The initiating end 100 is used to perform frequency conversion processing on the second continuous wave signal to obtain a second measurement value;

[0163] The initiating end 100 is used to obtain a first measurement value from the reflecting end 200, and correct the first measurement value and a second measurement value by using a first timestamp and a second timestamp. The first measurement value and the second measurement value are used to determine the distance between the initiating end 100 and the reflecting end 200.

[0164] It should be noted that the initiating end in the embodiments of the present application includes each component of the embodiments implementing the foregoing method, and achieves the same effects and functions, which will not be elaborated here. According to some embodiments of the present application, there is provided a wireless Bluetooth ranging device according to an embodiment of the present application, which is used to execute Figure 1 or Figure 3 the wireless Bluetooth ranging correction method shown in the figure. The device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the wireless Bluetooth ranging correction method of the foregoing embodiment.

[0165] According to some embodiments of the present application, there is provided a non-volatile computer storage medium for the wireless Bluetooth ranging correction method, on which computer-executable instructions are stored, and the computer-executable instructions are configured to execute, when run by a processor: the wireless Bluetooth ranging correction method of the foregoing embodiment.

[0166] 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, some 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.

[0167] Although the spirit and principle 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 specific embodiments disclosed, and the division of each aspect does not mean that the features in these aspects cannot be combined. The present 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 distance measurement calibration method, characterized in that: The method is applied to a wireless Bluetooth distance measuring device, the wireless Bluetooth distance measuring device includes an initiating end and a reflecting end, and the method includes: The initiator sends a first continuous wave signal; The reflection end receives the first continuous wave signal and performs frequency conversion processing on the first continuous wave signal to obtain a first measurement value; The reflective end is switched to a transmitting state; The initiator switches to a receiving state and obtains a first timestamp, where the first timestamp indicates a time when the initiator switches to the receiving state; The reflection end sends a second continuous wave signal; The initiator receives the second continuous wave signal and obtains a second timestamp, where the second timestamp indicates a time when the initiator receives the second continuous wave signal; The initiator performs frequency conversion processing on the second continuous wave signal to obtain a second measurement value; The initiating end obtains the first measurement value from the reflecting end, and corrects the first measurement value and the second measurement value through the first timestamp and the second timestamp, wherein the first measurement value and the second measurement value are used to determine the distance between the initiating end and the reflecting end.

2. The method according to claim 1, characterized in that When executing the wireless Bluetooth distance measurement correction method, the digital mixer of the initiating end is kept turned on, so that the phase δ of the second continuous wave signal collected by the digital mixer of the initiating end in channels with different frequencies is consistent.

3. The method according to claim 1, characterized in that The initiator corrects the first measurement value and the second measurement value by using the first timestamp and the second timestamp, including: The initiator determines a product of the first measurement value and the second measurement value; The initiator corrects the product by using the first timestamp and the second timestamp.

4. The method according to claim 3, characterized in that The first measured value PCTi is calculated by the following formula: PCTi=exp(j*(2π*Ftx*(T1-T1)+α-2π*Ftx*(T2-T1)-β))=exp(j*(α-2π*Ftx*(T2-T1)-β)where, Ftx is the operating frequency of the phase-locked loop in the transmitting state, T1 is the moment when the initiator sends the first continuous wave signal, T2 is the moment when the reflector receives the first continuous wave signal, α is the phase of the initiator at time T1, and β is the phase of the reflector at time T1.

5. The method according to claim 4, characterized in that The second measured value PCTr is calculated by the following formula: PCTr=exp(j*(β+2π*Ftx*(T5-T1)-2π*Ftx*(T4-T1)-α-2π*Frx*(T6-T4)-2π*Fdig*(T6-T 4)-δ-σ))=exp(j*(β+2π*Ftx*(T5-T4)-α-2π*Frx*(T6-T4)-2π*Fdig*(T6-T4)-δ-σ))where, Frx is the operating frequency of the phase-locked loop in the receiving state, Fdig is the operating frequency of the digital mixer, Fif+Frx=Ftx, T3 is the moment when the reflector end switches to the transmitting state, T4 is the moment when the initiator end switches to the receiving state, T5 is the moment when the reflector end starts to send the second continuous wave signal, T6 is the moment when the initiator end receives the second continuous wave, δ is the phase of the continuous wave signal collected by the digital mixer of the initiator end at time T4, and σ is the phase jitter when the initiator end switches between sending and receiving.

6. The method according to claim 5, characterized in that The initiator calculates the product PCTi*PCTr of the first measurement value PCTi and the second measurement value PCTr by the following formula; PCTi*PCTr=exp(j*(α-2π*Ftx*(T2-T1)-β+β+2π*Ftx*(T5-T4)-α-2π*Frx*(T6-T4)-2π*Fdig*(T6-T4)-δ-σ)) =exp(j*(-2π*Ftx*(T2-T1-T5+T6)+2π*(Fif-Fdig)*(T6-T4))-δ-σ)) Among them, T2-T1 and T6–T5 are the flight time of the signal.

7. A wireless Bluetooth distance measurement calibration 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 initiating end sends a first continuous wave signal, and the reflecting end is used to perform frequency conversion processing on the first continuous wave signal to obtain a first measurement value; The initiator switches to a receiving state and obtains a first timestamp, where the first timestamp indicates a time when the initiator switches to the receiving state; The initiating end receives the second continuous wave signal sent by the reflecting end, and obtains a second timestamp, where the second timestamp indicates the time when the initiating end receives the second continuous wave signal; The initiator performs frequency conversion processing on the second continuous wave signal to obtain a second measurement value; The initiating end obtains the first measurement value from the reflecting end, and corrects the first measurement value and the second measurement value through the first timestamp and the second timestamp, wherein the first measurement value and the second measurement value are used to determine the distance between the initiating end and the reflecting end.

8. The method according to claim 9, characterized in that When executing the wireless Bluetooth distance measurement correction method, the digital mixer of the initiating end is kept turned on, so that the phase δ of the second continuous wave signal collected by the digital mixer of the initiating end in channels with different frequencies is consistent.

9. The method according to claim 10, characterized in that The initiator corrects the first measurement value and the second measurement value by using the first timestamp and the second timestamp, including: The initiator determines a product of the first measurement value and the second measurement value; The initiator corrects the product by using the first timestamp and the second timestamp.

10. The method according to claim 9, characterized in that The first measured value PCTi is calculated by the following formula: PCTi=exp(j*(2π*Ftx*(T1-T1)+α-2π*Ftx*(T2-T1)-β))=exp(j*(α-2π*Ftx*(T2-T1)-β) Among them, Ftx is the operating frequency of the phase-locked loop in the transmitting state, T1 is the moment when the initiator sends the first continuous wave signal, T2 is the moment when the reflector receives the first continuous wave signal, α is the phase of the initiator at time T1, and β is the phase of the reflector at time T1.

11. The method according to claim 10, characterized in that The second measured value PCTr is calculated by the following formula: PCTr=exp(j*(β+2π*Ftx*(T5-T1)-2π*Ftx*(T4-T1)-α-2π*Frx*(T6-T4)-2π*Fdig*(T6-T 4)-δ-σ))=exp(j*(β+2π*Ftx*(T5-T4)-α-2π*Frx*(T6-T4)-2π*Fdig*(T6-T4)-δ-σ))where, Frx is the operating frequency of the phase-locked loop in the receiving state, Fdig is the operating frequency of the digital mixer, Fif+Frx=Ftx, T3 is the moment when the reflector end switches to the transmitting state, T4 is the moment when the initiator end switches to the receiving state, T5 is the moment when the reflector end starts to send the second continuous wave signal, T6 is the moment when the initiator end receives the second continuous wave, δ is the phase of the continuous wave signal collected by the digital mixer of the initiator end at time T4, and σ is the phase jitter when the initiator end switches between sending and receiving.

12. The method according to claim 11, characterized in that The initiator calculates the product PCTi*PCTr of the first measurement value PCTi and the second measurement value PCTr by the following formula; IPM*PCT=exp(j*(α-2π*Ftx*(T2-T1)-β+β+2π*Ftx*(T5-T4)-α-2π*Frx*(T6-T4)-2π*Fdig*(T6-T4)-δ-σ)) =exp(j*(-2π*Ftx*(T2-T1-T5+T6)+2π*(Fif-Fdig)*(T6-T4))-δ-σ)) Among them, T2-T1 and T6–T5 are the flight time of the signal.

13. A wireless Bluetooth distance measuring device, characterized in that: The wireless Bluetooth distance measuring device comprises an initiating end and a reflecting end; The initiator is used to send a 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 reflective end is used to switch to a transmitting state; The initiating end is used to switch to a receiving state and obtain a first timestamp, where the first timestamp indicates a time when the initiating end switches to the receiving state; The reflection end is used to send a second continuous wave signal; The initiator is used to receive the second continuous wave signal and obtain a second timestamp, where the second timestamp indicates the time when the initiator receives the second continuous wave signal; The initiating end is used to perform frequency conversion processing on the second continuous wave signal to obtain a second measurement value; The initiating end is used to obtain the first measurement value from the reflecting end, and correct the first measurement value and the second measurement value through the first timestamp and the second timestamp, and the first measurement value and the second measurement value are used to determine the distance between the initiating end and the reflecting end.

14. 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 initiating end is used to send a first continuous wave signal, and the reflecting end is used to perform frequency conversion processing on the first continuous wave signal to obtain a first measurement value; The initiating end is used to switch to a receiving state and obtain a first timestamp, where the first timestamp indicates a time when the initiating end switches to the receiving state; The initiating end is used to receive the second continuous wave signal sent by the reflecting end, and obtain a second timestamp, where the second timestamp indicates the time when the initiating end receives the second continuous wave signal; The initiating end is used to perform frequency conversion processing on the second continuous wave signal to obtain a second measurement value; The initiating end is used to obtain the first measurement value from the reflecting end, and correct the first measurement value and the second measurement value through the first timestamp and the second timestamp, and the first measurement value and the second measurement value are used to determine the distance between the initiating end and the reflecting end.

15. 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 12.

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