Signal processing method, related equipment, distance measuring method and related equipment

Abstract

The embodiment of the invention provides a signal processing method, a related device, a distance measuring method and a related device. The signal processing method comprises the following steps: receiving a preset frequency signal; performing orthogonal down-conversion processing on the received preset frequency signal to obtain a to-be-processed signal; performing first filtering processing on the to-be-processed signal to obtain a target signal; wherein a first filtering frequency range corresponding to the first filtering processing and a frequency difference form a target corresponding relationship, so that the first filtering processing can filter out a mirror image interference signal in the to-be-processed signal; wherein the frequency difference is used for representing the frequency deviation between the two communication devices sending and receiving the preset frequency. According to the processing method, the related equipment, the distance measurement method and the related equipment provided by the embodiment of the invention, the mirror image interference signal in the received signal can be eliminated based on a filtering mode, the implementation mode is simple, and the cost is low.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of signal processing technology, and specifically to a signal processing method and related equipment, a ranging method and related equipment. Background Art

[0002] The baseband data transmitted by a communication system is typically carried on a quadrature signal consisting of an in-phase (I) component and a quadrature-phase (Q) component. Ideally, the I and Q components have identical amplitudes and a 90-degree phase difference. However, in practical systems, circuit components often experience varying degrees of mismatch due to process variations and geometric layout differences, resulting in amplitude errors (gain imbalance) and phase errors (phase imbalance) between the I and Q components. This phenomenon is known as IQ imbalance. IQ imbalance generates interference signals in the transmitted signal, known as image interference signals. The presence of image interference signals can reduce the dynamic range of the communication system's receiver and, in severe cases, can affect the demodulation of the baseband signal.

[0003] Currently, one method of solving the IQ imbalance problem is to use better-performing RF analog devices to overcome the IQ imbalance at the receiving end from a hardware perspective and eliminate the image interference signal in the received signal. However, this method increases the size, power consumption and cost of the equipment. Another method is to correct the IQ imbalance through pre-correction methods, such as mid-RF correction, baseband-side correction and auxiliary equipment correction. However, each correction method requires complex calculation processes and has high hardware requirements, which increases the difficulty of hardware design and hardware cost. Summary of the Invention

[0004] The present application provides a signal processing method and related equipment, a ranging method and related equipment, which can solve the adverse effects of IQ imbalance on the receiving end to a certain extent, and the implementation is simple and low-cost.

[0005] In a first aspect, an embodiment of the present application provides a signal processing method, including:

[0006] receiving a preset frequency signal;

[0007] Performing orthogonal down-conversion processing on the received preset frequency signal to obtain a signal to be processed;

[0008] A first filtering process is performed on the signal to be processed to obtain a target signal; wherein, a first filtering frequency range corresponding to the first filtering process and the frequency difference are in a target corresponding relationship, so that the first filtering process can filter out the mirror interference signal in the signal to be processed; wherein, the frequency difference is used to characterize the frequency deviation between the first frequency of the communication device receiving the preset frequency signal and the second frequency of the communication device sending the preset frequency signal.

[0009] In a possible implementation, when the frequency difference is the first frequency minus the second frequency, the target correspondence includes: when the frequency difference is greater than 0, the first filtering frequency range corresponding to the frequency difference is a filtering frequency range in which the lower limit value of the passband frequency range is greater than 0 and / or the upper limit value of the stopband frequency range is less than 0; when the frequency difference is less than 0, the first filtering frequency range corresponding to the frequency difference is a filtering frequency range in which the upper limit value of the passband frequency range is less than 0 and / or the lower limit value of the stopband frequency range is greater than 0; or,

[0010] When the frequency difference is the second frequency minus the first frequency, the target correspondence includes: when the frequency difference is greater than 0, the first filtering frequency range corresponding to the frequency difference is a filtering frequency range in which the upper limit value of the passband frequency range is less than 0 and / or the lower limit value of the stopband frequency range is greater than 0; when the frequency difference is less than 0, the first filtering frequency range corresponding to the frequency difference is a filtering frequency range in which the lower limit value of the passband frequency range is greater than 0 and / or the upper limit value of the stopband frequency range is less than 0.

[0011] In a possible implementation, before performing the first filtering process on the signal to be processed to obtain the target signal, the method further includes:

[0012] The relationship between the frequency difference and the first filtering frequency range is adjusted to the target corresponding relationship.

[0013] In a possible implementation, adjusting the relationship between the frequency difference and the first filtering frequency range to a target corresponding relationship includes:

[0014] According to the first filtering frequency range and the target corresponding relationship, adjusting the frequency difference to adjust the relationship between the frequency difference and the first filtering frequency range to the target corresponding relationship; or,

[0015] The first filtering frequency range is adjusted according to the frequency difference and the target corresponding relationship, so as to adjust the relationship between the frequency difference and the first filtering frequency range to the target corresponding relationship.

[0016] In a possible implementation, adjusting the frequency difference according to the first filtering frequency range and the target correspondence includes:

[0017] According to the first filtering frequency range and the target corresponding relationship, the first frequency is adjusted so that the relationship between the frequency difference and the first filtering frequency range becomes the target corresponding relationship; or,

[0018] Determine, based on the first frequency, the first filtering frequency range, and the target correspondence, a second frequency required when the relationship between the frequency difference and the first filtering frequency range satisfies the target correspondence; and send the required second frequency to a communication device used to send the preset frequency signal, so that the communication device used to send the preset frequency signal adjusts its own frequency to the required second frequency.

[0019] In a possible implementation, adjusting the first filtering frequency range according to the frequency difference and the target correspondence includes:

[0020] determining, according to the frequency difference and the target corresponding relationship, the first filtering frequency range required when the relationship between the frequency difference and the first filtering frequency range satisfies the target corresponding relationship;

[0021] According to the required first filtering frequency range, a filter whose filtering frequency range is the required first filtering frequency range is selected as a filter for performing the first filtering process.

[0022] In a possible implementation, the signal processing method further includes:

[0023] A second filtering process is performed on the signal to be processed before or after the first filtering process to filter out high-frequency interference signals in the signal to be processed.

[0024] In a second aspect, an embodiment of the present application provides a ranging method, including:

[0025] receiving a first ranging signal;

[0026] According to any one of the aforementioned signal processing methods, the received first ranging signal is processed to obtain a first target ranging signal; the first target ranging signal is used to determine the distance between two ranging devices that send and receive the first ranging signal.

[0027] In a third aspect, an embodiment of the present application provides a ranging method, including:

[0028] Sending a first ranging signal of a preset frequency;

[0029] receiving a feedback signal; wherein the feedback signal is determined and sent by a ranging device for receiving the first ranging signal based on a first target ranging signal, and the ranging device for receiving the first ranging signal processes the received first ranging signal according to any one of the aforementioned signal processing methods to obtain the first target ranging signal;

[0030] The distance between the two ranging devices that send and receive the first ranging signal is determined according to the feedback signal.

[0031] In a possible implementation, the ranging method further includes:

[0032] receiving a second ranging signal of a preset frequency; the second ranging signal is sent by a ranging device for receiving the first ranging signal;

[0033] Processing the received second ranging signal according to any one of the aforementioned signal processing methods to obtain a second target ranging signal;

[0034] Determining, according to the feedback signal, a distance between two ranging devices that send and receive the first ranging signal, comprising:

[0035] Determining a composite channel phase of a first phase and a second phase according to the feedback signal and the second target ranging signal; wherein the first phase is a phase corresponding to the first target ranging signal, and the second phase is a phase corresponding to the second target ranging signal;

[0036] The distance is determined according to the composite channel phases corresponding to at least two different preset frequencies.

[0037] In a possible implementation, determining, according to the feedback signal and the second target ranging signal, a composite channel phase of a first phase and a second phase includes:

[0038] determining the first target ranging signal according to the feedback signal; measuring the phase of a signal obtained by multiplying the first target ranging signal and the second target ranging signal to obtain the corresponding composite channel phase; or,

[0039] The first phase and the second phase are determined respectively according to the feedback signal and the second target ranging signal, and the first phase and the second phase are added to obtain the composite channel phase.

[0040] In a fourth aspect, an embodiment of the present application provides a communication device, including:

[0041] A receiving unit, configured to receive a preset frequency signal;

[0042] A frequency conversion processing unit, configured to perform orthogonal down-conversion processing on the received preset frequency signal to obtain a signal to be processed;

[0043] A filtering processing unit is used to perform a first filtering process on the signal to be processed to obtain a target signal; wherein, a first filtering frequency range corresponding to the first filtering process and a frequency difference are in a target corresponding relationship, so that the first filtering process can filter out the image interference signal in the signal to be processed; wherein, the frequency difference is used to characterize the frequency deviation between the first frequency of the communication device receiving the preset frequency signal and the second frequency of the communication device sending the preset frequency signal.

[0044] In a fifth aspect, an embodiment of the present application provides a ranging device, including:

[0045] a receiving unit, configured to receive a first ranging signal;

[0046] A signal processing unit processes the first ranging signal according to the signal processing method as described in any one of the above items to obtain a first target ranging signal, where the first ranging signal is used to determine the distance between two ranging devices that receive and send the first ranging signal.

[0047] In a sixth aspect, an embodiment of the present application provides a ranging device, including:

[0048] a sending unit, configured to send a first ranging signal;

[0049] a receiving unit, configured to receive a feedback signal; wherein the feedback signal is determined and sent by a ranging device configured to receive the first ranging signal based on a first target ranging signal, and the ranging device configured to receive the first target ranging signal processes the received first ranging signal according to the signal processing method described in any one of the preceding claims to obtain the first target ranging signal;

[0050] The ranging unit is configured to determine, based on the feedback signal, the distance between the two ranging devices that send and receive the first ranging signal.

[0051] In the seventh aspect, an embodiment of the present application provides a computer device, including a processor and a memory, wherein the memory is used to store programs, instructions or codes, and the processor is used to execute the programs, instructions or codes in the memory to complete any one of the aforementioned signal processing methods or any one of the aforementioned ranging methods.

[0052] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, wherein the computer program is loaded by a processor to execute any one of the aforementioned signal processing methods or any one of the aforementioned ranging methods.

[0053] In a ninth aspect, an embodiment of the present application provides a computer program product, which is used to implement any one of the aforementioned signal processing methods or any one of the aforementioned ranging methods.

[0054] In multiple embodiments provided in the present application, after the received preset frequency signal is orthogonally down-mixed to obtain a signal to be processed, the image interference signal in the signal to be processed is eliminated by performing a first filtering process on the signal to be processed in which the filtering frequency range is in a target relationship with the frequency difference between the two communication devices receiving and sending the preset frequency signal. The implementation method is simple and low-cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0056] Figure 1 A schematic structural diagram of a communication system provided for one embodiment of the present application.

[0057] Figure 2 A flowchart of a signal processing method provided for one embodiment of the present application is provided.

[0058] Figure 3 A flowchart of a signal processing method provided for another embodiment of the present application is provided.

[0059] Figure 4 A flowchart of a signal processing method provided for another embodiment of the present application is provided.

[0060] Figure 5 A flowchart of a signal processing method provided for another embodiment of the present application is provided.

[0061] Figure 6 A schematic structural diagram of a distance measurement system provided for one embodiment of the present application.

[0062] Figure 7 A flowchart of a distance measurement method provided for one embodiment of the present application.

[0063] Figure 8 A flowchart of a distance measurement method provided in accordance with another embodiment of the present application is provided.

[0064] Figure 9 A schematic diagram of the structure of a communication device provided for one embodiment of the present application.

[0065] Figure 10 A schematic structural diagram of a communication device provided for another embodiment of the present application.

[0066] Figure 11 A schematic structural diagram of a distance measuring device provided in one embodiment of the present application.

[0067] Figure 12 A schematic structural diagram of a distance measuring device provided in another embodiment of the present application.

[0068] Figure 13 A schematic diagram of the structure of a computer device provided for one embodiment of the present application. DETAILED DESCRIPTION

[0069] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0070] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0071] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as: fifth generation (5G) or new radio (NR) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, etc. The technical solutions provided by the present application can also be applied to future communication systems, such as the sixth generation mobile communication system. With the development of communication technology, mobile communication systems will not only support traditional communications, but will also support, for example, device to device (D2D) communication, vehicle to everything (V2X) communication (also known as vehicle network communication), machine to machine (M2M) communication, machine type communication (MTC), etc. Among them, vehicle-to-everything communications include vehicle-to-infrastructure (V2I) communication, vehicle-to-vehicle (V2V) communication, vehicle-to-pedestrian (V2P) communication, and vehicle-to-network (V2N) communication.

[0072] Figure 1 This is a schematic diagram of a communication system 10 that can be adapted to an embodiment of the present application. The communication system 10 includes a first communication device 102 and a second communication device 104. Wireless signals can be transmitted between the first communication device 102 and the second communication device 104, that is, a communication connection relationship exists between the first communication device 102 and the second communication device 104. In this embodiment of the present application, there is no limit on the number of devices in the application scenario 100. For example, the communication system 10 may also include a third communication device or a fourth communication device, etc., which can be configured according to actual usage. In this embodiment of the present application, the communication system 10 including the first communication device 102 and the second communication device 104 is used as an example for illustration, and does not constitute a limitation on the applicable scenarios of the technical solutions provided in this application.

[0073] The first communication device 102 and the second communication device 104 refer to two communication devices used for receiving and sending signals, respectively, during a communication. However, it should be noted that the device serving as the first communication device 102 in a communication system is not limited to being used only for receiving signals, and the device serving as the second communication device 104 is not limited to being used only for sending signals. For example, in one communication, communication device A in the communication system sends a signal to communication device B. In this communication, communication device B is the first communication device 102, and communication device A is the second communication device 104. In another communication, if communication device B sends a signal to communication device A, communication device A is the first communication device 102, and communication device B is the second communication device 104. That is, in some embodiments, the communication device serving as the first communication device 102 can be used to send signals in addition to receiving signals. Similarly, the communication device serving as the second communication device 104 can be used to receive signals in addition to sending signals.

[0074] The communication device serving as the first communication device 102 may be a communication device having wireless transceiver functions and communication transmission capabilities. The communication device may identify a communication endpoint or redistribution point, which may be a user equipment UE, a terminal device, a terminal, a wireless communication device, a user agent, or a user device. In addition, the device serving as the first communication device 102 may also be a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA), a cellular phone, a cordless phone, a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, an in-vehicle device, a wearable device, a terminal device in a 5G cellular network, or a terminal device in a Public Land Mobile Network (PLMN). From a product form perspective, in an embodiment of the present application, the communication device serving as the first communication device 102 may be a device supporting an NR air interface, in particular, a terminal device, such as a mobile phone, a computer, a tablet, a wristband, a smartwatch, a data card, a sensor, and the like. The communication device serving as the second communication device 104 may be a Bluetooth Low Energy (BLE) device, a Sparklink Low Energy (SLE) device, etc., and may also be a hotspot, a home base station, a transmission point (TP), a relay, etc.

[0075] In the communication system 10, after the second communication device 104 sends a signal to the first communication device 102, the first communication device 102 performs orthogonal down conversion on the signal from the second communication device 104 to obtain a receiving end baseband signal. The orthogonal down conversion (ODC) processing process includes: dividing the received signal into an in-phase component (I component) and a quadrature component (Q component), and then multiplying these two components with the I component (cosine component) and Q component (sine component) of the local oscillator signal generated by the local oscillator (LO) to obtain two components (I component and Q component) of the receiving end baseband signal, and then adding the two components corresponding to the receiving end baseband signal to obtain the receiving end baseband signal, which is also the signal to be processed in the embodiment of the present application.

[0076] Due to factors such as engineering implementation errors, amplitude and phase errors exist between the I and Q components corresponding to the local oscillator, making the presence of mirror interference signals in the baseband signal at the receiving end unavoidable. A mirror interference signal refers to a signal that interferes with the baseband signal at the receiving end due to the amplitude and phase errors between the I and Q components of the local oscillator during the orthogonal down-conversion process of the received signal. Therefore, to prevent the presence of mirror interference signals in the baseband signal at the receiving end by pre-correcting IQ imbalance, multiple calculations and table lookups are required at different communication frequencies, resulting in a complex and costly implementation. Based on this, the present application conducts the following research and analysis of the transmit and receive signals and the corresponding influencing factors in the communication of the communication system 10, hoping to propose a relatively simple implementation method to address the problem of mirror interference caused by the IQ imbalance of the local oscillator on the baseband signal at the receiving end.

[0077] The research and analysis process for this application is described below.

[0078] In the communication system 10, it is assumed that the amplitude errors between the I component and the Q component corresponding to the first communication device 102 and the second communication device 104 during the signal processing are respectively recorded as the first amplitude error α T and the second amplitude error α G , the phase errors are respectively recorded as the first phase error Υ T and the second phase error γ G , and the first local oscillator signal generated by the first local oscillator of the first communication device 102 is marked as L T (t), the second local oscillator signal generated by the second local oscillator of the second communication device 104 is marked as L G (t) Then, the first local oscillator signal L T (t) and the second local oscillator signal L G (t) can be expressed by the following expressions (1) and (2) respectively:

[0079] L T (t) = α T *cos(2πf T t+θ G +Υ T )+j*sin(2πf T t+θ T ) (1);

[0080] L G (t) = α G *cos(2πf G t+θ G +Υ G )+j*sin(2πf G t+θ G ) (2);

[0081] Among them, f T represents the first frequency of the first local oscillator, ie, the channel frequency of the first communication device 102; f G represents the second frequency of the second local oscillator, ie, the channel frequency of the second communication device 104, θ T and θ G denote a first initial phase of the first communication device 102 and a second initial phase of the second communication device 104, respectively; t denotes time; j denotes an imaginary unit; cos denotes a cosine function; and sin denotes a sine function.

[0082] According to the above expression (2), the second local oscillation signal L is transformed accordingly. G (t) can also be expressed by the following expression (3):

[0083] L G (t) = α G *cos(Υ G )*cos(2πf G t+θ G )―α G *sin(Υ G )*sin(2πf G t+θ G )+j*sin(2πf G t+θ G ) (3);

[0084] According to Euler's formula, the above expression (3) can also be transformed into the following expression (4), that is, the second local oscillation signal L G (t) can also be expressed by the following expression (4):

[0085]

[0086] Similarly, the first local oscillator signal L T (t) can be expressed by the following expression (5):

[0087]

[0088] Assume that the second communication device 104 communicates with the first communication device 102 at frequency i, and the signal sent by the second communication device 104 at frequency i is marked as X. G (t), then according to the second local oscillation signal L corresponding to the second communication device 104 G (t) expression (4), send signal X G (t) can be expressed by the following expression (6):

[0089]

[0090] Among them, frequency point i is the frequency point agreed upon by the first communication device 102 and the second communication device 104. When the first communication device 102 and the second communication device 104 need to transmit the target signal, the two parties will negotiate to negotiate the channel frequency for transmitting the target signal. The first communication device 102 and the second communication device 104 can negotiate to transmit the target signal at a certain frequency point or transmit the target signal at multiple preset frequency points. The first communication device 102 and the second communication device 104 each have a corresponding channel frequency at each frequency point. For example, the channel frequency corresponding to the first communication device 102 at frequency point i is f T,i , the channel frequency corresponding to the frequency point i of the second communication device 104 is f G,i The target signal refers to a signal that needs to be sent from the second communication device 104 to the first communication device 102, which is based on a negotiation agreement between the two.

[0091] The first communication device 102 transmits and receives a signal X from the second communication device 104. G (t), and uses the first local oscillator signal L T (t) Down-converting the received signal to obtain a baseband signal at the receiving end, and defining the signal as a received signal of the first communication device 102, and marking the received signal as Y T (t), which can be expressed by the following expression (7):

[0092]

[0093] Wherein, d represents the distance between the second communication device 104 and the first communication device 102, c represents the speed of light, () H represents the conjugate operation. Expanding expression (7) yields the following expression (8):

[0094] Y T(t) = A + B + C + D (8);

[0095] The expressions of the four items A, B, C, and D in expression (8) are shown in the following expressions (9), (10), (11), and (12), respectively:

[0096]

[0097]

[0098] Among them, the frequency corresponding to the above items B and C is f G,i +f T,i , because in the communication system, usually f G,i +f T,i Much larger than |f G,i ―f T,i |, so the items B and C are high-frequency signals relative to the baseband signal item A of the first communication device 102. When they are received by the first communication device 102, they will be filtered out by the low-pass filter in the first communication device 102. The received signal with the high-frequency components filtered out is represented by the following expressions (13) and (14):

[0099] Y T (t) = A + D (13)

[0100]

[0101] In expression (13), term A is the received signal Y T (t) The desired target result can be obtained by performing corresponding processing, calculation and / or judgment based on the item corresponding to the baseband signal.

[0102] After the above derivation and analysis, according to expression (14), the present application found that the received signal Y T (t) After low-pass filtering, an interference signal D still exists, and the D term is generated due to the corresponding phase error and amplitude error between the I component and the Q component corresponding to the local oscillator in the first communication device 102 and the second communication device 104, which is an image interference signal. For example, if there is no corresponding phase error and amplitude error between the I component and the Q component corresponding to the local oscillator in the first communication device 102 and the second communication device 104, then the first amplitude error α T and the second amplitude error α G 1 respectively, and the first phase error Υ T and the second phase error γ G =0 respectively. At this time, the D term is equal to 0, that is, no image interference signal is generated. Obviously, the D term is the image interference signal generated by IQ imbalance.

[0103] After determining the received signal Y T After the image interference signal in (t), the present application obtains through analysis: the received signal Y T The D-term signal corresponding to the image interference signal in (t) has an opposite frequency relationship to the A-term signal corresponding to the baseband signal at the receiving end, and the absolute values of the two frequencies are respectively equal to the frequency difference between the first communication device 102 and the second communication device 104. The frequency difference is the first local oscillator signal frequency f corresponding to the current communication frequency point. T (ie, the first frequency of the first communication device 102) and the second local oscillation signal frequency f G (i.e., the second frequency of the second communication device 104). The frequency difference is denoted as Δ, and the expression of the frequency difference Δ can be shown as the following expression (15) or the following expression (16):

[0104] Δ=f G ―f T (15);

[0105] Δ=f T ―f G (16);

[0106] If the expression corresponding to the frequency difference Δ is expression (15), then when the frequency difference Δ is greater than 0, the frequency of the above-mentioned D item is less than 0, and when the frequency difference Δ is less than 0, the frequency of the above-mentioned D item is greater than 0. If the expression corresponding to the frequency difference Δ is expression (16), then when the frequency difference Δ is greater than 0, the frequency of the above-mentioned D item is greater than 0, and when the frequency difference Δ is less than 0, the frequency of the above-mentioned D item is less than 0. When the communication system 10 transmits a signal at the frequency point i, the above-mentioned first frequency f T =f T,i , the second frequency f G =f G,i , that is, the first frequency f T and the second frequency f G are the channel frequencies of the first communication device 102 and the second communication device 104 at corresponding frequency points respectively.

[0107] Based on the above analysis, the conclusion of this application is: the received signal Y T The frequency of the image interference signal in (t) is opposite to the frequency of the baseband signal at the receiving end, and is the same as the absolute value of the frequency difference Δ. A filter or filtering algorithm whose filtering frequency range is in a target correspondence with the frequency difference Δ can be used to filter the baseband signal at the receiving end (the signal after down-conversion) received by the first communication device 102 to filter out the D term and retain the required A term, thereby eliminating the image interference signal in the baseband signal at the receiving end. Based on this analysis result, the present application provides a method that can be applied to the first communication device 102 to filter the received signal Y T(t) A signal processing method and a related device for performing signal processing, wherein the signal processing method processes the received signal Y T (t) Perform filtering processing with the filtering frequency range and the upper frequency difference in a target relationship to eliminate the received signal Y Y (t) to obtain a relatively pure target signal, which is simple to implement and low in cost.

[0108] See also Figure 2 , Figure 2 This is a flow chart of a signal processing method in an embodiment of the present application. Figure 2 and Figure 1 The communication system 10 in the embodiment of the present application is described from the perspective of the interaction between the first communication device 102 and the second communication device 104. It should be noted that in order to describe the signal processing method in the embodiment of the present application in more detail, the present application describes the corresponding execution subject as the first communication device 102 or the second communication device 104 in each process step, but this does not mean that the embodiment of the present application can only perform the corresponding method process through the described execution subject.

[0109] Step S202 : the second communication device 104 sends a preset frequency signal to the first communication device 102 .

[0110] In the communication system 10, the second communication device 104 is the end that transmits signals, and the first communication device 102 is the end that receives signals. When the second communication device 104 communicates with the first communication device 102, it negotiates with the first communication device 102 for information related to the communication event corresponding to the current communication and performs clock synchronization with the first communication device 102. Communication events may include, but are not limited to, ranging events or angle measurement events. Communication event-related information refers to information required to transmit and / or negotiate to implement the communication event, such as communication event request information, clock synchronization information, and frequency synchronization information. It may also include the target signal required to be transmitted for the communication event, as well as the frequency, frequency point, and frequency interval of the target signal. For example, when the second communication device 104 needs to perform ranging with the first communication device 102, it may initiate a ranging request signal to the first communication device 102 and negotiate with the first communication device 102 for the ranging method and the frequency corresponding to the ranging signal. If the ranging signal needs to be transmitted at multiple frequencies, information about the multiple frequencies and the time interval between the frequencies, i.e., the frequency hopping step size, must also be negotiated.

[0111] The preset frequency signal is the above-mentioned sending signal X G(t), wherein the preset frequency is the frequency corresponding to the signal required to be sent for the current communication negotiated between the second communication device 104 and the first communication device 102, that is, the second communication device 104 adjusts the frequency of its corresponding local oscillator to the currently agreed preset frequency according to the negotiation result, and then sends a signal to the first communication device 102 at the preset frequency corresponding to the current frequency point.

[0112] In some embodiments, the step of the second communication device 104 sending the preset frequency signal includes: performing orthogonal up-conversion on the baseband signal of the receiving end carrying the target information based on the local oscillator, and then performing corresponding filtering processing to obtain the transmission signal X G (t), and sent to the first communication device 102 via a sending module (such as a sending antenna). The orthogonal up conversion (OUC) processing process includes: dividing the baseband signal at the receiving end into an in-phase component (I component) and a quadrature component (Q component), and then multiplying these two components with the I component (cosine component) and Q component (sine component) of the local oscillator signal generated by the local oscillator, and adding the two products to obtain the transmission signal X G (t).

[0113] Step S204: the first communication device 102 performs orthogonal down-conversion processing on the received preset frequency signal to obtain a signal to be processed.

[0114] The transmission signal X sent by the second communication device 104 G When (t) is transmitted to the first communication device 102, it is represented as The preset frequency signal received by the first communication device 102 The process of performing orthogonal down-conversion processing has been described above. The signal to be processed obtained after the orthogonal down-conversion processing can be the received signal Y including the four signals A, B, C and D above. T (t), after eliminating item D, the B and C signals in the signal to be processed can be filtered out. The signal to be processed obtained after orthogonal down-conversion processing can also be the received signal Y from which the B and C signals have been filtered out. T (t), that is, after the orthogonal down-conversion processing, the signal processing method provided in the embodiment of the present application further includes filtering the signal obtained by the orthogonal down-conversion processing to filter out the B-item signal and the C-item signal to obtain the signal to be processed.

[0115] Step S206: performing a first filtering process on the signal to be processed to obtain a target signal.

[0116] The first filtering frequency range corresponding to the first filtering process is in a target corresponding relationship with the frequency difference, so that the first filtering process can filter out the image interference signal in the signal to be processed. The frequency difference here is the frequency difference Δ, which is used to represent the first frequency f of the first communication device 102. T The second frequency f of the second communication device 104 G The first communication device 102 is used to receive a preset frequency signal, and the second communication device 104 is used to send the preset frequency signal. The frequency difference Δ can be f T ―f G , can also be f G ―f T .

[0117] In some embodiments, a hardware filter may be used to perform the first filtering process. The relationship between the filtering frequency range of the hardware filter performing the first filtering process and the frequency difference Δ needs to satisfy a certain correspondence, i.e., a target correspondence, so that the first filtering process can eliminate the signal to be processed (received signal Y T The target signal is obtained by removing the image interference signal from the baseband signal at the receiving end and retaining the desired signal A. The target signal is the baseband signal at the receiving end that needs to be retained, namely the aforementioned signal A. Hardware filters can be either analog or digital, and the appropriate filter type can be selected based on the requirements of the application scenario.

[0118] In other embodiments, the first filtering process can also be performed on the signal to be processed in software based on a filtering algorithm. Based on the technical solution of the embodiment of the present application, the relationship between the filtering frequency corresponding to the filtering algorithm module used to perform the first filtering process and the frequency difference Δ is adjusted to a target relationship, and the first filtering process can be performed on the signal to be processed based on the filtering algorithm module to eliminate the D-term signal.

[0119] The first filter frequency range may be a channel frequency range or a stopband frequency range corresponding to the first filter process. The channel frequency range refers to the frequency range corresponding to the signal allowed to pass during the filter process, and the stopband frequency range refers to the frequency range corresponding to the signal filtered out during the filter process.

[0120] The signal processing method provided in the embodiment of the present application first processes a received preset frequency signal through orthogonal down-conversion to obtain a signal to be processed. Then, based on the relationship between the desired receiving end baseband signal to be retained and the desired image interference signal to be eliminated in the signal to be processed and the frequency difference Δ, the signal to be processed is subjected to a first filtering process in which the filtering frequency range and the frequency difference Δ form a target correspondence, thereby eliminating the image interference signal in the signal to be processed while retaining the desired receiving end baseband signal, thereby obtaining a relatively pure target signal. The elimination of the image interference signal can be achieved by filtering by simply adjusting the correspondence between the first filtering frequency range corresponding to the first filtering process and the frequency difference Δ, resulting in a simple and low-cost implementation.

[0121] In some embodiments, the frequency difference Δ is f T ―f G According to the above expression (14), the frequency of the A-term signal is opposite to the frequency difference Δ, and the frequency of the D-term signal is the same as the frequency difference Δ. When the frequency difference Δ is greater than 0, the frequency of the D-term signal is greater than 0, while the frequency of the A-term signal is less than 0. A filter or filtering algorithm module with a negative passband and a positive stopband can be used to filter out the D-term, while retaining the A-term. When the frequency difference Δ is less than 0, the frequency of the D-term signal is less than 0, while the frequency of the A-term signal is greater than 0. A filter or filtering algorithm module with a positive passband and a negative stopband can be used to filter out the D-term, while retaining the A-term. A positive passband refers to a frequency range in the passband frequency range where the lower limit is greater than 0, and a negative passband refers to a frequency range in the passband frequency range where the upper limit is less than 0; similarly, a positive stopband refers to a frequency range in the stopband frequency range where the lower limit is greater than 0, and a negative stopband refers to a frequency range in the stopband frequency range where the upper limit is less than 0.

[0122] According to the above analysis, if the frequency difference Δ is f T ―f G , the target correspondence relationship includes: when the frequency difference Δ is greater than 0, the first filtering frequency range corresponding to the frequency difference Δ is a filtering frequency range in which the upper limit of the passband frequency range is less than 0 and / or the lower limit of the stopband frequency range is greater than 0; when the frequency difference Δ is less than 0, the first filtering frequency range corresponding to the frequency difference Δ is a filtering frequency range in which the lower limit of the passband frequency range is greater than 0 and / or the upper limit of the stopband frequency range is less than 0. In some embodiments, the frequency difference Δ is f G ―f TAccording to the above expression (14), the frequency of the A-term signal is the same as the frequency difference Δ, and the frequency of the D-term signal is opposite to the frequency difference Δ. When the frequency difference Δ is greater than 0, the frequency of the D-term signal is less than 0, while the frequency of the A-term signal is greater than 0. A filter or filtering algorithm module with a positive passband and a negative stopband can be used to filter out the D-term signal, while retaining the A-term. When the frequency difference Δ is less than 0, the frequency of the D-term signal is greater than 0, while the frequency of the A-term signal is less than 0. A filter or filtering algorithm module with a negative passband and a positive stopband can be used to filter out the D-term signal, while retaining the A-term.

[0123] According to the above analysis, if the frequency difference Δ is f G ―f T , the above-mentioned target correspondence includes: when the frequency difference Δ is greater than 0, the first filtering frequency range corresponding to the frequency difference Δ is the first filtering frequency range corresponding to the lower limit value of the passband frequency range greater than 0 and / or the upper limit value of the stopband frequency range less than 0; when the frequency difference Δ is less than 0, the first filtering frequency range corresponding to the frequency difference Δ is the first filtering frequency range corresponding to the upper limit value of the passband frequency range less than 0 and / or the lower limit value of the stopband frequency range greater than 0.

[0124] The signal processing method provided in one embodiment of the present application, at the signal receiving end, that is, the first communication device 102 end, performs a first filtering process on the signal to be processed after orthogonal down-conversion, in which the filtering frequency and the frequency difference Δ meet the above-mentioned target correspondence relationship, so as to simply and effectively achieve the elimination of the image interference signal. The condition that the first filtering process needs to meet is: the first filtering frequency range is in a corresponding relationship with the frequency difference Δ. Therefore, the signal processing method provided in an embodiment of the present application, by adjusting the relationship between the first filtering frequency range and the frequency difference Δ, only requires corresponding filtering process, and can eliminate the image interference signal, without the need for a complex calculation process, the implementation method is simple, and the implementation cost is low.

[0125] In some embodiments, before performing the first filtering process on the signal to be processed, the first communication device 102 adjusts the relationship between the first filtering frequency range corresponding to the first filtering process and the frequency difference Δ to a target corresponding relationship. In another possible implementation, the first communication device 102 may interact with the second communication device 104, and the second communication device 104 may adjust its own second frequency to adjust the correspondence between the frequency difference Δ and the currently determined first filtering frequency range to a target corresponding relationship. The relationship between the frequency difference Δ and the first filtering frequency range is adjusted to the target corresponding relationship, which can be satisfied by adjusting the frequency difference Δ or by adjusting the first filtering frequency range corresponding to the first filtering process.

[0126] In some embodiments, the first communication device 102 adjusts the frequency difference Δ based on the first filtering frequency range and the target correspondence corresponding to the first filtering process, so as to adjust the relationship between the frequency difference Δ and the first filtering frequency range to the target correspondence. That is, in this implementation, the first communication device 102 determines the frequency difference Δ required to form a target correspondence with the currently known first filtering frequency range based on the target correspondence, thereby adjusting the current frequency difference Δ to the required frequency difference Δ. For example, the filtering frequency information and the target correspondence information of the filter or filtering algorithm module used to perform the first filtering process on the processed signal have been stored in the memory of the first communication device 102. The processor in the first communication device 102 determines the required frequency difference Δ based on the information of the first filtering frequency range and the target correspondence stored in the memory, and adjusts its own first frequency f T and a second frequency f of the second communication device 104 G Align to adjust the frequency difference Δ to the desired frequency difference Δ.

[0127] In order to avoid frequency deviation noise caused by a large frequency difference Δ, when adjusting the frequency difference Δ, the size of the frequency difference Δ is controlled to not exceed a preset value, on the premise that the relationship between the frequency difference Δ and the first filtering frequency range satisfies the target correspondence.

[0128] In some communication systems, the frequencies of both transceiver devices are usually synchronized through negotiation, that is, it is expected that the frequencies of the first communication device 102 and the second communication device 104 are both the required center frequency f0, so as to minimize the adverse effects of the frequency deviation between the transceiver devices on the communication quality. However, in reality, due to factors such as the process deviation of the hardware equipment, it is difficult to achieve absolute synchronization of the frequencies between the two communication devices, and there will be a frequency deviation of a certain size. The frequency deviation here is not deliberately set, and it is usually expected to be 0, but in reality it is a value near 0, which can be greater than 0 or less than 0. Based on this phenomenon, the present application combines the above research and analysis process. When the frequency difference Δ is adjusted to meet the target correspondence with the first filter frequency range, its absolute value can be controlled to a preset value that is not equal to 0. During the adjustment process, the positive and negative of the frequency difference Δ is adjusted according to the first filter frequency range. The preset value here can be a value within the frequency deviation error range allowed by the communication system, such as the value a. Then if the frequency difference Δ is f G ―f T , when the first filter frequency range is positive for the passband and negative for the stopband, if f G ―f T If it is -a, then according to the above adjustment process, f G ―fT By adjusting it to a, the relationship between the adjusted frequency difference Δ and the first filtering frequency range can meet the target corresponding relationship, and its absolute value remains unchanged and is still within the allowable frequency deviation range. No new frequency deviation interference signal will be added due to the elimination of the mirror interference signal, which effectively improves the communication quality.

[0129] like Figure 3 As shown, in some embodiments, the first communication device 102 can adjust its first frequency f T To adjust the frequency difference Δ to the required frequency difference Δ, the signal processing method includes the following steps.

[0130] Step S302: The first communication device 102 determines, based on the first filtering frequency range and the target corresponding relationship, a frequency difference Δ required to form a target corresponding relationship with the first filtering frequency range.

[0131] Step S304: The first communication device 102 determines the frequency difference Δ and the second frequency f of the second communication device 104 according to the desired frequency difference Δ. G , adjust its own first frequency f T , so as to adjust the relationship between the frequency difference Δ and the first filtering frequency range to a target corresponding relationship.

[0132] Step S306: When the relationship between the frequency difference Δ and the first filtering frequency range is in a target corresponding relationship, the second communication device 104 sends a preset frequency signal X to the first communication device 102. G (t).

[0133] Step S308: The first communication device 102 receives the preset frequency signal Perform orthogonal down-conversion processing to obtain the signal to be processed.

[0134] Step S3010: The first communication device 102 performs a first filtering process on the signal to be processed using a first filtering module with a filtering frequency in a first frequency range.

[0135] The first communication device 102 changes the second frequency f of the second communication device 104 to the second frequency f of the second communication device 104 according to the required frequency difference Δ. G and its own first frequency f T Align, and by adjusting its own first frequency f T In this way, the frequency difference Δ is adjusted to the desired frequency difference Δ.

[0136] The target correspondence relationship may be a mapping relationship table or a mapping function, which is stored in the memory of the first communication device 102. The first filtering module may be a first filtering circuit composed of a hardware filter or a software filtering algorithm.

[0137] In some embodiments, the first filtering module is a first filtering circuit, and the first filtering circuit includes a filter with a filtering frequency range of a first filtering frequency range, so as to filter the signal to be processed after the orthogonal down-conversion processing.

[0138] The processor of the first communication device 102 determines the information of the correspondence between the first filtering frequency range and the target according to the information stored in the memory, and determines its own first frequency f according to the interaction signal with the second communication device 104. T and a second frequency f of the second communication device 104 G , and maintain the second frequency f G In the case of T , so that the relationship between the adjusted frequency difference Δ and the first filtering frequency range becomes a target corresponding relationship, and the corresponding absolute value is a preset value, so as to avoid the frequency deviation problem while eliminating the image interference signal.

[0139] like Figure 4 As shown, in some embodiments, the second communication device 104 can adjust its own second frequency f G , to adjust the relationship between the frequency difference Δ and the first filtering frequency range to a target corresponding relationship, the corresponding signal processing method includes the following steps.

[0140] Step S402: the first communication device 102 determines a frequency difference Δ required for the filtering frequency range of the first filter to satisfy the target corresponding relationship based on the filtering frequency range of the first filter used for performing the first filtering process on the signal to be processed and the target corresponding relationship.

[0141] Step S404: The first communication device 102 changes its own first frequency f according to the required frequency difference Δ. T and a second frequency f of the second communication device 104 G Align and determine the required second frequency f G .

[0142] Step S406: The first communication device 102 sets the required second frequency f G Sent to the second communication device 104.

[0143] Step S407: The second communication device 104 adjusts its own frequency to the required second frequency f G .

[0144] Step S408: The second communication device 104 receives a second signal at the desired second frequency f G A signal is sent to the first communication device 102 .

[0145] Step S4010: The first communication device 102 performs orthogonal down-conversion processing on the received signal, and then inputs the signal into the second filter for second filtering processing.

[0146] Step S4012: The first communication device 102 inputs the signal to be processed after the second filtering process into the first filter to perform the first filtering process.

[0147] In this embodiment, the first filter performs the first filtering on the signal to be processed. The first communication device 102 instructs the second communication device 104 to adjust the second frequency f according to the corresponding relationship between the filtering frequency of the first filter and the target. G In other embodiments, the information of the correspondence between the first filtering frequency range and the target may also be stored in the second communication device 104, or sent by the first communication device 102 to the second communication device 104, so that the second communication device 104 can adjust its own second frequency f according to the correspondence between the first filtering frequency range and the target. G , or instruct the first communication device 102 to adjust the first frequency f T In this way, the frequency difference Δ and the first filtering frequency range are adjusted to a target corresponding relationship.

[0148] like Figure 5 As shown, in some embodiments, the first communication device 102 may further adjust the frequency difference Δ and the first filtering frequency range to a target corresponding relationship by adjusting the first filtering frequency range, and the corresponding signal processing method includes the following steps.

[0149] Step S502: According to the preset frequency information, the second communication device 104 sends a signal to the first communication device 102 at a frequency corresponding to the preset frequency.

[0150] Step S504: The first communication device 102 and the second communication device 104 perform frequency alignment to determine a current frequency difference Δ.

[0151] Step S506: Determine the required first filtering frequency range according to the current frequency difference Δ and the target corresponding relationship.

[0152] Step S508: According to the required first filtering frequency range, a first filter having a frequency range within the required first filtering frequency range is selected to perform first filtering processing on the signal to be processed.

[0153] As a possible implementation manner, after step S508 , a second filter is used to perform a second filtering process on the signal to be processed, so as to filter out high-frequency interference signals in the signal to be processed.

[0154] The first filtering unit connected to the rear end of the orthogonal down-conversion unit of the first communication device 102 includes at least one filter with a positive passband and a negative stopband, and at least one filter with a negative passband and a positive stopband. According to the required first filtering frequency range, a filter that meets the requirements is selected from the first filtering unit as the first filter to implement the first filtering process of the signal to be processed. The signal processing method provided in this embodiment does not require adjusting the frequency difference Δ. It only requires setting multiple optional filters on the hardware circuit to select the corresponding filter to perform the first filtering process according to the current frequency difference Δ, so as to achieve the elimination of the image interference signal. The processing method is simple and easy to implement.

[0155] In this embodiment, a second filtering process is performed on the signal to be processed after the first filtering process to filter out high-frequency interference signals in the signal to be processed. In other embodiments, the second filtering process may also be performed on the signal to be processed before the first filtering process. The signal processing method provided in the embodiment of the present application provides a corresponding filtering module at the receiving end, and by adjusting the correspondence between the frequency difference Δ and the filtering module, the IQ imbalance problem can be solved.

[0156] The technical solution provided in the embodiment of the present application can also be applied in a wireless ranging system to improve the accuracy of wireless ranging. In wireless communications, it is often necessary to know the location of the target so as to provide personalized services for specific targets. In Bluetooth 6.0 and Star Flash protocols, the function of ranging by sending and receiving single-tone signals has been introduced. By performing frequency hopping and phase measurement on the single-tone signals received by the two devices, the distance between the two devices is calculated, and the signal processing method provided in the embodiment of the present application is used to process the received signal in the wireless ranging system, the ranging accuracy can be effectively improved. However, it should be noted that the signal processing method provided in the embodiment of the present application is not limited to application in wireless ranging systems, and it can also be used in other communication systems such as wireless angle measurement.

[0157] In a ranging system, it is usually necessary to perform corresponding processing based on the received signal to obtain a ranging result. However, the presence of image interference signals in the received signal can adversely affect the accuracy of the ranging result. Based on this, an embodiment of the present application provides a ranging method. By adopting the signal processing method provided in the embodiment of the present application, the received signal in the ranging system is processed to eliminate the image interference signals in the received signal, thereby effectively improving the ranging accuracy.

[0158] In order to better understand the technical solution of the present application, the ranging system to which the ranging method provided in the embodiment of the present application is applicable is briefly described below.

[0159] Figure 6The present invention illustrates a ranging system used in the ranging method provided in an embodiment of the present application. The ranging system 60 may include, but is not limited to, a first ranging device 602 and a second ranging device 604. In some embodiments, the second ranging device 604 may be an initiating device that initiates ranging in the ranging system, and the first ranging device 602 is a reflecting device that responds to the signal sent by the first ranging device. In some embodiments, the first ranging device 602 and the second ranging device 604 are transceivers with signal receiving and transmitting functions. In the process of the second ranging device 604 sending a signal to the first ranging device 602, the second ranging device 602 plays the role of the aforementioned second communication device 104, and the first ranging device 602 plays the role of the aforementioned first communication device 102. The first ranging device 602 processes the received signal using the signal processing method provided in an embodiment of the present application. During the period when the first ranging device 602 sends a signal to the second ranging device 604, the second ranging device 604 plays the role of the aforementioned first communication device 102, and the first ranging device 602 plays the role of the aforementioned second communication device 104. The second ranging device 604 applies the signal processing method provided in the embodiment of the present application to process the received signal.

[0160] Figure 7 This is a flow chart of a distance measurement method in an embodiment of the present application. Figure 7 and Figure 6 The ranging system 60 in the embodiment of the present application is described from the perspective of the interaction between the first ranging device 602 and the second ranging device 604. It should be noted that in order to more fully describe the signal processing method in the embodiment of the present application, the present application describes the corresponding execution entity in each process step as the first ranging device 602 or the second ranging device 604, but this does not mean that the embodiment of the present application can only perform the corresponding method process through the described execution entity.

[0161] Step S702: the second ranging device 604 sends a first ranging signal of a preset frequency to the first ranging device 602.

[0162] The first ranging signal is equivalent to the transmission signal X sent by the second communication device 104 G (t), which is marked as X in this application G1 (t), namely the first ranging signal X G1 (t) Send signal X G1 (t)The corresponding expressions are the same.

[0163] The first ranging signal X G1(t) is a ranging initiation signal sent by the second ranging device 604 to the first ranging device 602. It can be determined by negotiation between the first ranging device 602 and the second ranging device 604. After the first ranging device 602 and the second ranging device 604 have negotiated the relevant information of the ranging event, the second ranging device 604 sends the corresponding first ranging signal X to the first ranging device 602 according to the negotiation result. G1 (t).

[0164] Step S704: The first ranging device 602 processes the received first ranging signal according to the signal processing method provided in any embodiment of the present application to obtain a first target ranging signal. The first target ranging signal is used to determine the distance between the first ranging device 602 and the second ranging device 604, that is, to determine the distance between the two ranging devices that sent and received the first ranging signal.

[0165] The first target ranging signal is equivalent to the target signal obtained by the first communication device 102, that is, the received signal Y after eliminating the mirror interference signal. T (t), which is the baseband signal at the receiving end. The first ranging signal is marked as Y T1 (t), which is the same as the received signal Y after filtering out B, C and D. T (t) corresponds to the same expression, that is, Y T1 (t) = A.

[0166] The first ranging device 602 and the second ranging device 604 can be BLE (Bluetooth Low Energy) devices or SLE (StarFlash Low Energy) devices respectively. The two ranging devices can communicate with each other based on the first target ranging signal Y T1 (t) Perform ranging.

[0167] In some embodiments, the first ranging device 602 may be configured to measure the distance of the first target based on the first target ranging signal Y. T1 (t), determine the distance between the first ranging device 602 and the second ranging device 604. For example, the first ranging signal X G1 (t) can be a Bluetooth ranging signal sent by the second ranging device 604, and the first ranging device 602 can measure the distance according to the first target ranging signal Y T1 (t), determine the strength of the Bluetooth ranging signal, and determine the distance between the first ranging device 602 and the second ranging device 604 according to the strength of the Bluetooth ranging signal. For another example, the first ranging device 602 can also measure the first target ranging signal Y T1 (t) and determining the distance between the first ranging device 602 and the second ranging device 604 according to the first phase.

[0168] In some embodiments, the first ranging device 602 transmits the first target ranging signal Y T1 (t) is transmitted back to the second ranging device 604, so that the second ranging device 604 can calculate the distance of the first target according to the first target ranging signal Y in the feedback signal. T1 (t) to determine the distance between the first ranging device 602 and the second ranging device 604.

[0169] The ranging method provided in the embodiment of the present application processes the first ranging signal X received from the second ranging device 604 by the first ranging device 602 according to the signal processing method provided in any embodiment of the present application. G1 (t) After performing corresponding signal processing, the first target ranging signal Y is obtained by eliminating the image interference signal T1 (t), so that the first target distance signal Y T1 (t) The distance between the first ranging device 602 and the second ranging device 604 is accurately obtained, which effectively avoids the adverse effect of IQ imbalance on the ranging result, and the implementation is simple and low-cost.

[0170] According to the first target ranging signal Y T1 (t) The method for determining the distance between the first ranging device 602 and the second ranging device 604 may be, but is not limited to, the aforementioned ranging method based on the strength of the received signal, and may also be based on the time of flight method or the phase-based ranging method.

[0171] In some embodiments, please refer to Figure 7 As shown, the ranging method provided in the embodiment of the present application also includes the following steps.

[0172] Step S706: The first distance measuring device 602 measures the distance of the first target according to the first target distance measuring signal Y. T1 (t), determine the feedback signal.

[0173] Step S707: Send a corresponding feedback signal to the second ranging device 604.

[0174] Step S708: The second ranging device 604 determines the distance between the first ranging device and the second ranging device according to the received feedback signal.

[0175] In some embodiments, the first ranging device 602 obtains the first target ranging signal Y T1 (t) After that, the first target ranging signal Y can be measured T1 (t) and transmits back to the second ranging device 604 the frequency and phase of the first target ranging signal Y T1(t) the same feedback signal, so that the second ranging device 604 determines the distance according to the phase of the feedback signal, or determines the first ranging signal X according to the phase information contained in the feedback signal G1 (t) a round-trip phase deviation between the first ranging device 602 and the second ranging device 604, and determining the distance between the first ranging device 602 and the second ranging device 604 based on the phase deviation.

[0176] After receiving the feedback signal, the second ranging device 604 may process the feedback signal based on the signal processing method provided in any embodiment of the present application, and then perform distance measurement based on the processed feedback signal to improve ranging accuracy.

[0177] In some embodiments, the first ranging device 602 obtains the first target ranging signal Y T1 (t) After that, measure the first target ranging signal Y T1 (t), and includes the information of the first phase in the feedback signal, and sends it to the second ranging device 604, so that the second ranging device 604 can perform distance measurement according to the information of the feedback signal.

[0178] See also Figure 8 As shown, in some embodiments, the first ranging device 602 and the second ranging device 604 perform ranging based on channel sounding (CS) to combine time-of-flight ranging and phase ranging to improve ranging accuracy. The signal sent by the second ranging device 604 in the CS-based ranging is marked as the first ranging signal X G1 (t), the second ranging signal sent by the first ranging device 602 is marked as X G2 (t), and the first ranging signal X received by the first ranging device 602 G1 (t) The first target ranging signal obtained by performing any of the above signal processing is marked as Y T1 (t), the second ranging signal X received by the second ranging device 604 G2 (t) The second target ranging signal obtained by performing any of the above signal processing is marked as Y T2 (t), the ranging method corresponding to the embodiment of the present application includes the following steps.

[0179] Step S802: The second distance measuring device 604 sends a first distance measuring signal X of a preset frequency to the first distance measuring device 604. G1 (t).

[0180] Step S804: The first ranging device 602 processes the received first ranging signal X according to the signal processing method provided in any embodiment of the present application. G1(t) Processing to obtain the first target ranging signal Y T1 (t).

[0181] Step S806: The first distance measuring device 602 sends a second distance measuring signal X corresponding to a preset frequency to the second distance measuring device 604. G2 (t). The first ranging device 602 may receive the first ranging signal X. G1 (t) After that, the first ranging signal X is sent to the second ranging device 604 at a preset interval. G1 (t) The second ranging signal X with the same frequency G2 (t).

[0182] Step S808: The second ranging device 604 processes the received second ranging signal X according to the signal processing method provided in any embodiment of the present application. G2 (t) Processing to obtain the second target ranging signal Y T2 (t).

[0183] Step S8010: The first distance measuring device 602 receives the first target distance measuring signal Y T1 The information of (t) is included in the feedback signal and transmitted back to the second ranging device 604.

[0184] Step S8012: The second distance measuring device 604 measures the distance of the second target according to the feedback signal and the second target distance measuring signal Y. T2 (t), determine the first target ranging signal Y T1 (t) The corresponding first phase and second target ranging signal Y T2 (t) Composite channel phase of the second phase.

[0185] Step S8014: The second ranging device 604 determines the distance between the first ranging device 602 and the second ranging device 604 according to at least two composite channel phases corresponding to the preset frequency.

[0186] The second ranging device 604 sends a first ranging signal Y to the first ranging device 602 T1 Before (t), the second ranging device 604 and the first ranging device 602 are initialized based on negotiation, achieving clock synchronization and frequency alignment between the first ranging device 602 and the second ranging device 604. Clock synchronization means that the clocks of the first ranging device 602 and the second ranging device 604 are the same. Frequency alignment includes setting the frequency difference Δ between the first ranging device 602 and the second ranging device 604 to a preset value. Clock synchronization and frequency alignment can be performed by the second ranging device 604 or the first ranging device 602.

[0187] The second ranging device 604 negotiates with the first ranging device 602 to perform steps S8002 and S8014 at at least two different frequencies. For example, steps S8002 and S8014 are performed at frequency i and frequency k, respectively. Frequency i and frequency k are frequency hopping frequencies corresponding to the ranging system 60. The frequency hopping frequencies, the preset frequencies corresponding to each frequency, and the interval between frequencies (the hopping step) are determined based on a negotiation between the second ranging device 604 and the first ranging device 602. After the negotiation, the ranging system 60 performs steps S8002 and S8014 at each frequency according to the predetermined hopping frequency and frequency interval.

[0188] Assume that the preset frequencies corresponding to the frequency point i of the second distance measuring device 604 and the first distance measuring device 602 are f G,i and f T,i , and the preset frequencies corresponding to frequency point k are f G,k and f T,k According to the above expressions, the first ranging signal X G1 (t), the second ranging signal is marked as X G2 (t), first target ranging signal Y T1 (t) and the second target ranging signal Y T2 The expressions corresponding to (t) at frequency point i are shown in the following expressions (17) to (20):

[0189]

[0190] In step S8010, the feedback signal sent back by the first distance measuring device 602 to the second distance measuring device 604 includes the first target distance measurement signal Y t1 (t) Information or first target ranging signal Y T1 (t) The signal of the first phase information corresponding to the second ranging device 604 can determine the first target ranging signal Y according to the feedback signal T1 (t) or information of the first phase. Based on expressions (17) to (20), in step S8012, the second ranging device 604 determines the composite channel phase in the following process.

[0191] The composite channel phase corresponding to frequency point i is marked as Γ(f i ), the corresponding expression is shown in (21):

[0192]

[0193] Y T1 (t)*Y T2 (t) is the first target ranging signal Y T1 (t) and the second target ranging signal Y T2(t) and the target ranging signal are fused. In other implementations, the fusion method is not limited to multiplying the two. Indicates the phase measurement of the fused target ranging signal to obtain the corresponding composite channel phase. In the above expression (21), K is The generated phase does not change with frequency, so it is recorded as a constant K.

[0194] Similarly, according to the above method, the frequency point is hopped to the frequency point k, and the composite channel phase corresponding to the frequency point k is obtained and marked as Γ(f ik ), and its corresponding expressions are shown in (22) and (23) below:

[0195]

[0196] In step S8014, the second ranging device 604 determines the distance between the first ranging device 602 and the second ranging device 604 based on at least two composite channel phases corresponding to the preset frequency. One possible implementation is to obtain the distance d between the first ranging device 602 and the second ranging device 604 based on the following distance calculation expression (24) according to the change of the composite channel phase corresponding to the frequency point i and the frequency point k:

[0197]

[0198] In expression (24), F is the frequency hopping step size, which is the frequency difference between two adjacent frequency points.

[0199] According to the channel sounding and ranging method provided in the embodiments of the present application, during the ranging process, corresponding signal processing is performed on the signal received by the ranging device based on the signal processing method provided in any embodiment of the present application to eliminate the influence of the image interference signal generated by IQ imbalance on the ranging result, thereby effectively improving the accuracy of the ranging.

[0200] In some embodiments, the first distance measuring device 602 and the second distance measuring device 604 respectively obtain the first target distance measurement signal Y T1 (t) and the second target ranging signal Y T2(t), the phase of the target ranging signal obtained by each can also be measured separately to obtain the first phase and the second phase respectively. Then, the first ranging device 602 includes the first phase information in the feedback signal and sends it to the second ranging device 604. The second ranging device 604 combines the first phase and the second phase to obtain a composite channel phase. The method of combining the first phase and the second phase includes but is not limited to adding the two. In addition, the second ranging device 604 can also send the phase information obtained by each measurement to the other party based on the interaction with the first ranging device 602, so that the first ranging device 602 and the second ranging device 604 can both obtain the corresponding first phase and second phase, and thus can both obtain the corresponding composite channel phase based on the first phase and the second phase, and then obtain the distance between the two ranging devices based on the change of the composite channel phase at different frequency points.

[0201] See also Figure 9 , which is a schematic diagram of the structure of a communication device 90 provided according to an embodiment of the present application. The communication device 90 includes a first receiving unit 902, a frequency conversion processing unit 904, and a filtering processing unit 906. The receiving unit 902 is used to receive a preset frequency signal. The frequency conversion processing unit 904 is used to perform orthogonal down-conversion processing on the received preset frequency signal to obtain a signal to be processed (the received signal Y before the image interference signal is eliminated). T (t)). The filtering processing unit 906 is used to perform a first filtering process on the signal to be processed to obtain the target signal (the received signal Y after the image interference signal is eliminated). T (t)). The first filtering frequency range corresponding to the first filtering process is in a target corresponding relationship with the frequency difference Δ, so that the first filtering process can filter out the image interference signal in the signal to be processed.

[0202] The communication device 90 may serve as the aforementioned first communication device 102 in the communication system, and the preset frequency signal received by the receiving unit 902 may be sent by the aforementioned second communication device 104 .

[0203] In some embodiments, the communication device 90 further includes a regulating unit ( Figure 9 (not shown), the adjustment unit is used to adjust the relationship between the frequency difference Δ and the first filtering frequency range to a target corresponding relationship. The adjustment unit can be a baseband signal processing unit in the communication device 90.

[0204] In some embodiments, the adjustment unit in the communication device 90 adjusts the frequency difference Δ based on the first filtering frequency range and the target correspondence. In other embodiments, the adjustment unit in the communication device 90 adjusts the first filtering frequency range based on the frequency difference Δ and the target correspondence. The adjustment unit in the communication device 90 can adjust the frequency difference Δ by adjusting its own first frequency, or it can instruct the second first communication device to adjust the second frequency according to the required frequency difference Δ to meet the required frequency difference Δ. The adjustment unit in the communication device 90 can determine the required first filtering frequency range based on the frequency difference Δ and the target correspondence, and then select a hardware filter or software filter whose frequency meets the required first frequency filtering frequency range according to the required first filtering frequency range to perform the first filtering processing on the processed signal.

[0205] As a possible implementation manner, the filtering processing unit 906 is further configured to perform a second filtering process on the signal to be processed before or after the first filtering process, so as to filter out high-frequency interference signals in the signal to be processed.

[0206] In this embodiment, the functions and effects achieved by the communication device 90 can be explained in comparison with the signal processing method provided in the aforementioned embodiment, and will not be described in detail.

[0207] See also Figure 10 , which is a schematic diagram of the structure of a communication device 100 provided in another embodiment of the present application. The communication device 100 can be used as the aforementioned first communication device 102 in a communication system, and includes a receiving circuit 1002, an orthogonal mixing circuit 1004, and a first filtering circuit 1006. The receiving circuit 1002 is used to receive a preset frequency signal X G (t). Wherein, the preset frequency signal X G (t) can be sent by the aforementioned second communication device 104. The orthogonal mixing circuit 1004 is connected to the receiving circuit 1002 and is used to receive the preset frequency signal X G (t) performing orthogonal down-conversion processing to output the signal to be processed. The first filtering circuit 1006 is connected to the orthogonal mixing circuit 1004 and is used to perform a first filtering process on the signal to be processed to obtain a target signal. The first filtering frequency range corresponding to the first filtering process is in a target corresponding relationship with the frequency difference Δ, so that the first filtering process can filter out the image interference signal in the signal to be processed. The frequency difference Δ is used to characterize the reception and transmission of the preset frequency signal X. G (t) is the frequency deviation between the two communicating devices.

[0208] The communication device 100 provided in the embodiment of the present application performs a first filtering process on the signal to be processed by adding a first filtering circuit 1006 whose filtering frequency has a target corresponding relationship with the frequency difference Δ at the back end of the orthogonal mixing circuit 1004 to eliminate the image interference signal in the signal to be processed. The circuit structure is simple and the cost is low.

[0209] Continue reading Figure 10 As shown, a second filtering circuit 1008 is further connected between the orthogonal mixing circuit 1004 and the first filtering circuit 1006. The second filtering circuit 1008 is configured to perform a second filtering process on the signal to be processed to filter out high-frequency interference signals in the signal to be processed. In another implementation, the second filtering circuit 1008 can also be connected to the output end of the first filtering circuit 1004 to perform a second filtering process on the signal to be processed after the first filtering process, thereby obtaining a relatively pure baseband signal at the receiving end.

[0210] The communication device 100 further includes a baseband signal processor 1010, which is configured to process the target signal obtained after eliminating the image interference signal to obtain a corresponding processing result, such as a result of phase measurement of the target signal. The baseband signal processor 1010 can also be configured to adjust the relationship between the frequency difference Δ and the first filtering frequency range to a target corresponding relationship. Figure 11 As shown, it is a structural schematic diagram of the ranging device 110 provided in some embodiments of the present application. The ranging device 110 can serve as the above-mentioned first ranging device 602 in the ranging system, and includes a second receiving unit 1102 and a first signal processing unit 1104. The second receiving unit 1102 is used to receive a first ranging signal. The first ranging signal can be sent by the above-mentioned second communication device 104. The first signal processing unit 1104 is used to process the first ranging signal according to any of the signal processing methods described above to obtain a first target ranging signal. The first target ranging signal is used to determine the distance between the two ranging devices that receive and send the first ranging signal, such as the distance between the first ranging device 602 and the second ranging device 604.

[0211] In some embodiments, the first receiving unit 902 in the communication device 90 corresponds to the receiving circuit 1002 in the communication device 100, that is, the first receiving unit 902 may include the receiving circuit 1002. The frequency conversion processing unit 904 in the communication device 90 corresponds to the orthogonal mixing circuit 1004 in the communication device 100, that is, the frequency conversion processing unit 904 may include the orthogonal mixing circuit 1004. The filtering processing unit 906 in the communication device 90 corresponds to the first filtering circuit 1006 in the communication device 100, that is, the filtering processing unit 906 may include the first filtering circuit 1006. In addition, the filtering processing unit 906 may include the second filtering circuit 1008. The communication device provided in the embodiment of the present application performs a first filtering process on the received signal based on hardware filtering to eliminate image interference signals. The hardware circuit implementation is simple and low-cost.

[0212] Continue reading Figure 11 As shown, the ranging device 110 further includes a first sending unit 1106. The first sending unit 1106 is configured to send a corresponding feedback signal to the second ranging device 604 according to the first target ranging signal, so that the second ranging device 604 determines the distance between the first ranging device 602 and the second ranging device 604 according to the feedback signal.

[0213] In some embodiments, the first sending unit 1106 of the ranging device 110 is further configured to send a second ranging signal, wherein the second ranging signal may be received by the second ranging device 604 .

[0214] The functions and effects achieved by the ranging device 110 in each embodiment can be explained in comparison with the ranging method provided in the aforementioned embodiment, and will not be described in detail.

[0215] See also Figure 12 As shown, it is a structural schematic diagram of a ranging device 120 provided in another embodiment of the present application. The ranging device 120 can serve as the above-mentioned second ranging device 604 in the ranging system, and includes a second sending unit 1202, a third receiving unit 1204, and a ranging unit 1206. The second sending unit 1202 is used to send a first ranging signal of a preset frequency. The first ranging signal can be received by the above-mentioned first ranging device 602. The third receiving unit 1204 is used to receive a feedback signal. The feedback signal can be determined and sent by a ranging device (such as the first ranging device 602) used to receive the first ranging signal based on the first target ranging signal. The ranging device used to receive the first ranging signal processes the received first ranging signal according to the signal processing method provided in any embodiment of the present application to obtain the first target ranging signal. The ranging unit 1206 is used to determine the distance between the two ranging devices that receive and send the first ranging signal based on the feedback signal, such as the distance between the first ranging device 602 and the second ranging device 604.

[0216] In some embodiments, the third receiving unit 1204 is further configured to receive a second ranging signal. The second ranging signal may be sent by the first ranging device 602. The ranging device 120 further includes a second signal processing unit 1208 configured to process the received second ranging signal according to the signal processing method provided in any embodiment of the present application to obtain a second target ranging signal.

[0217] In some embodiments, the ranging unit 1206 is specifically configured to determine a composite channel phase of a first phase and a second phase based on the feedback signal and the second target ranging signal, and determine the distance based on the composite channel phase corresponding to at least two different preset frequencies, where the first phase is the phase corresponding to the first target ranging signal, and the second phase is the phase corresponding to the second target ranging signal.

[0218] The functions and effects achieved by the ranging device 120 in each embodiment can be explained in comparison with the ranging method provided in the aforementioned embodiment, and will not be described in detail.

[0219] An embodiment of the present application provides a computer device, including a processor and a memory, wherein the memory is used to store programs, instructions or codes, and the processor is used to execute the programs, instructions or codes in the memory to complete the signal processing method or ranging method introduced in the aforementioned embodiment.

[0220] In this example, see Figure 13 The computer device 130 may include a memory 1301 and a processor 1302. The processor 1302 may include a random access memory (RAM), a flash memory, a read-only memory (ROM), an EPROM, an electronic programmable ROM (EPROM), a register, a hard disk, a removable disk, or the like. The memory 1301 may store computer instructions. When the computer instructions stored in the memory 1301 are executed by the processor 1302, the processor 1302 may be configured to execute the aforementioned signal processing method or the aforementioned ranging method.

[0221] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0222] The present application also provides a readable storage medium for storing the signal processing method or ranging method provided in the above embodiments, such as a random access memory (RAM), flash memory, read-only memory (ROM), EPROM, electronic programmable ROM (EPROM), register, hard disk, removable disk, or any other form of storage medium known in the art.

[0223] The present application also provides a computer program product, including a computer program; when executed by a processor, the computer program can implement the aforementioned navigation guidance method. The present application also provides no limitation on the implementation form of the computer program product. In some embodiments, the computer program product can be implemented as signal processing software and / or ranging software; in other embodiments, the computer program product can be implemented as other application software with signal processing and / or ranging functions.

[0224] It can be understood that the "connection" in the embodiments of the present application should be understood as "electrical connection", "communication connection", etc. if the connected circuits, units, units, etc. can transmit electrical signals or data to each other.

[0225] It should be understood that the specific examples in this article are only intended to help those skilled in the art better understand the embodiments of the present application, and are not intended to limit the scope of the present invention.

[0226] It can be understood that in the various embodiments of the present application, the size of the serial number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0227] It can be understood that the various embodiments described in this application can be implemented individually or in combination, and the embodiments of this application are not limited to this.

[0228] Unless otherwise indicated, all technical and scientific terms used in the embodiments of the present application have the same meaning as those generally understood by those skilled in the art in the technical field of the present application. The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit the scope of this application. The term "and / or" used in this application includes any and all combinations of one or more related listed items. The singular forms of "a", "above" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0229] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0230] The above are merely specific embodiments of the present application, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A signal processing method, characterized in that: include: receiving a preset frequency signal; Performing orthogonal down-conversion processing on the received preset frequency signal to obtain a signal to be processed; A first filtering process is performed on the signal to be processed to obtain a target signal; wherein, a first filtering frequency range corresponding to the first filtering process and the frequency difference are in a target corresponding relationship, so that the first filtering process can filter out the mirror interference signal in the signal to be processed; wherein, the frequency difference is used to characterize the frequency deviation between the first frequency of the communication device receiving the preset frequency signal and the second frequency of the communication device sending the preset frequency signal.

2. The signal processing method according to claim 1, wherein: When the frequency difference is the first frequency minus the second frequency, the target corresponding relationship includes: when the frequency difference is greater than 0, the first filtering frequency range corresponding to the frequency difference is a filtering frequency range in which the lower limit value of the passband frequency range is greater than 0 and / or the upper limit value of the stopband frequency range is less than 0; when the frequency difference is less than 0, the first filtering frequency range corresponding to the frequency difference is a filtering frequency range in which the upper limit value of the passband frequency range is less than 0 and / or the lower limit value of the stopband frequency range is greater than 0; or, When the frequency difference is the second frequency minus the first frequency, the target correspondence includes: when the frequency difference is greater than 0, the first filtering frequency range corresponding to the frequency difference is a filtering frequency range in which the upper limit value of the passband frequency range is less than 0 and / or the lower limit value of the stopband frequency range is greater than 0; when the frequency difference is less than 0, the first filtering frequency range corresponding to the frequency difference is a filtering frequency range in which the lower limit value of the passband frequency range is greater than 0 and / or the upper limit value of the stopband frequency range is less than 0.

3. The signal processing method according to claim 1 or 2, characterized in that: Before performing a first filtering process on the signal to be processed to obtain a target signal, the method further includes: The relationship between the frequency difference and the first filtering frequency range is adjusted to the target corresponding relationship.

4. The signal processing method according to claim 3, wherein: Adjusting the relationship between the frequency difference and the first filtering frequency range to a target corresponding relationship includes: According to the first filtering frequency range and the target corresponding relationship, adjusting the frequency difference to adjust the relationship between the frequency difference and the first filtering frequency range to the target corresponding relationship; or, The first filtering frequency range is adjusted according to the frequency difference and the target corresponding relationship, so as to adjust the relationship between the frequency difference and the first filtering frequency range to the target corresponding relationship.

5. The signal processing method according to claim 4, characterized in that Adjusting the frequency difference according to the first filtering frequency range and the target correspondence includes: According to the first filtering frequency range and the target corresponding relationship, the first frequency is adjusted so that the relationship between the frequency difference and the first filtering frequency range becomes the target corresponding relationship; or, Determine, based on the first frequency, the first filtering frequency range, and the target correspondence, a second frequency required when the relationship between the frequency difference and the first filtering frequency range satisfies the target correspondence; and send the required second frequency to a communication device used to send the preset frequency signal, so that the communication device used to send the preset frequency signal adjusts its own frequency to the required second frequency. The signal processing method according to claim 4 , wherein: Adjusting the first filtering frequency range according to the frequency difference and the target correspondence includes: determining, according to the frequency difference and the target corresponding relationship, the first filtering frequency range required when the relationship between the frequency difference and the first filtering frequency range satisfies the target corresponding relationship; According to the required first filtering frequency range, a filter whose filtering frequency range is the required first filtering frequency range is selected as a filter for performing the first filtering process.

7. The signal processing method according to any one of claims 1, 2, and 4 to 6, characterized in that: Also includes: A second filtering process is performed on the signal to be processed before or after the first filtering process to filter out high-frequency interference signals in the signal to be processed.

8. A distance measurement method, characterized in that: include: receiving a first ranging signal; According to the signal processing method according to any one of claims 1 to 7, the received first ranging signal is processed to obtain a first target ranging signal; the first target ranging signal is used to determine the distance between two ranging devices that send and receive the first ranging signal.

9. A distance measurement method, characterized in that: include: Sending a first ranging signal of a preset frequency; receiving a feedback signal; wherein the feedback signal is determined and sent by a ranging device for receiving the first ranging signal based on a first target ranging signal, and the ranging device for receiving the first ranging signal processes the received first ranging signal according to the signal processing method according to any one of claims 1 to 7 to obtain the first target ranging signal; The distance between the two ranging devices that send and receive the first ranging signal is determined according to the feedback signal.

10. The distance measurement method according to claim 9, characterized in that: Also includes: receiving a second ranging signal of a preset frequency; the second ranging signal is sent by a ranging device for receiving the first ranging signal; Processing the received second ranging signal according to the signal processing method according to any one of claims 1 to 7 to obtain a second target ranging signal; Determining, according to the feedback signal, a distance between two ranging devices that send and receive the first ranging signal, comprising: Determining a composite channel phase of a first phase and a second phase according to the feedback signal and the second target ranging signal; wherein the first phase is a phase corresponding to the first target ranging signal, and the second phase is a phase corresponding to the second target ranging signal; The distance is determined according to the composite channel phases corresponding to at least two different preset frequencies.

11. The distance measurement method according to claim 10, characterized in that: Determining a composite channel phase of a first phase and a second phase according to the feedback signal and the second target ranging signal includes: determining the first target ranging signal according to the feedback signal; measuring the phase of a signal obtained by multiplying the first target ranging signal and the second target ranging signal to obtain the corresponding composite channel phase; or, The first phase and the second phase are determined respectively according to the feedback signal and the second target ranging signal, and the first phase and the second phase are added to obtain the composite channel phase.

12. A communication device, characterized in that: include: A receiving unit, configured to receive a preset frequency signal; A frequency conversion processing unit, configured to perform orthogonal down-conversion processing on the received preset frequency signal to obtain a signal to be processed; A filtering processing unit is used to perform a first filtering process on the signal to be processed to obtain a target signal; wherein, a first filtering frequency range corresponding to the first filtering process and a frequency difference are in a target corresponding relationship, so that the first filtering process can filter out the image interference signal in the signal to be processed; wherein, the frequency difference is used to characterize the frequency deviation between the first frequency of the communication device receiving the preset frequency signal and the second frequency of the communication device sending the preset frequency signal.

13. A distance measuring device, characterized in that: include: a receiving unit, configured to receive a first ranging signal; A signal processing unit, configured to process the first ranging signal according to the signal processing method according to any one of claims 1 to 7, to obtain a first target ranging signal, where the first ranging signal is used to determine a distance between two ranging devices that receive and send the first ranging signal.

14. A distance measuring device comprising: a sending unit, configured to send a first ranging signal; a receiving unit, configured to receive a feedback signal; wherein the feedback signal is determined and sent by a ranging device configured to receive the first ranging signal based on a first target ranging signal, and the ranging device configured to receive the first ranging signal processes the received first ranging signal according to the signal processing method according to any one of claims 1 to 7 to obtain the first target ranging signal; The ranging unit is configured to determine, based on the feedback signal, the distance between the two ranging devices that send and receive the first ranging signal.

15. A computer device, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store programs, instructions or codes, and the processor is used to execute the programs, instructions or codes in the memory to complete the signal processing method according to any one of claims 1 to 7 or the ranging method according to any one of claims 8 to 11.

16. A computer-readable storage medium, characterized in that A computer program is stored, and the computer program is loaded by a processor to execute the signal processing method according to any one of claims 1 to 7 or the ranging method according to any one of claims 8 to 11.

17. A computer program product, characterized in that The computer program product is used to implement the signal processing method according to any one of claims 1 to 7 or the ranging method according to any one of claims 8 to 11.

Images