Distance measuring method and distance measuring system

Abstract

The invention provides a distance measuring method and a distance measuring system, and particularly relates to the technical field of wireless communication, the method is applied to the distance measuring system, the distance measuring system comprises a transmitter and a receiver, and the method comprises the following steps: based on the receiver, receiving a first signal sent by the transmitter; based on the receiver, coherent demodulation is carried out on a first frequency component and a second frequency component in the first signal to obtain first phase data and second phase data, and the first frequency component and the second frequency component are respectively one of a plurality of frequency components included in the first signal and one of the plurality of frequency components included in the first signal. Frequency components corresponding to the highest and second highest energies; based on the receiver, according to the phase difference between the first phase data and the second phase data, a distance value is generated, and the distance value is used for representing the distance between the receiver and the transmitter. According to the invention, distance measurement is carried out through one-way signal transmission, and the advantages of low power consumption and high distance measurement precision can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless communications, and in particular to a ranging method and a ranging system. Background Art

[0002] With the continuous development of wireless communication technology, positioning and ranging technologies have been widely used in the fields of Internet of Things, indoor positioning, smart home, logistics tracking, etc.

[0003] Traditional wireless ranging methods mainly rely on parameters such as time difference, received signal strength, and arrival angle. However, these methods are often limited by factors such as multipath interference, signal attenuation, and hardware complexity, resulting in low ranging accuracy or high implementation costs.

[0004] At present, Bluetooth is a widely used short-range communication technology with significant advantages in terms of low power consumption, high efficiency and low cost. Existing Bluetooth ranging technology usually relies on means such as signal delay and signal strength. The accuracy of the received signal strength indication (RSSI) technology is relatively low, and the linear relationship between the RSSI value and the distance is poor. It is easily affected by environmental interference, resulting in large ranging errors. RSSI technology is also susceptible to man-in-the-middle attacks and has the risk of distance deception. Technologies based on phase-based ranging (PBR) and round-trip time (RTT) require complex two-way signal interaction, which increases system power consumption and computational complexity. In complex environments, they are easily interfered by multipath effects, resulting in large ranging errors.

[0005] It can be seen that the ranging solution provided by the prior art has the defects of low ranging accuracy and excessive power consumption. Summary of the Invention

[0006] The present invention aims to provide a ranging method and a ranging system, which are used to solve the technical problems of low ranging accuracy and high power consumption in the ranging solutions provided by the prior art.

[0007] In a first aspect, an embodiment of the present invention provides a ranging method, which is applied to a ranging system, the ranging system including a transmitter and a receiver, and the method including:

[0008] Receiving, by the receiver, a first signal sent by the transmitter;

[0009] Based on the receiver, coherently demodulate a first frequency component and a second frequency component in the first signal, respectively, to obtain first phase data and second phase data, wherein the first frequency component is: a frequency component corresponding to the highest energy among multiple frequency components included in the first signal; the second frequency component is: a frequency component corresponding to the second highest energy among the multiple frequency components included in the first signal; the first phase data is used to represent the phase of the first frequency component, and the second phase data is used to represent the phase of the second frequency component;

[0010] Based on the receiver, a distance value is generated according to the phase difference between the first phase data and the second phase data, where the distance value is used to represent the distance between the receiver and the transmitter.

[0011] In a second aspect, an embodiment of the present invention further provides a ranging system, the ranging system comprising a transmitter and a receiver;

[0012] The receiver is configured to receive a first signal sent by the transmitter;

[0013] The receiver is further configured to coherently demodulate a first frequency component and a second frequency component in the first signal, respectively, to obtain first phase data and second phase data, wherein the first frequency component is a frequency component corresponding to the highest energy among multiple frequency components included in the first signal; and the second frequency component is a frequency component corresponding to the second highest energy among the multiple frequency components included in the first signal; the first phase data is used to represent the phase of the first frequency component, and the second phase data is used to represent the phase of the second frequency component;

[0014] The receiver is further configured to generate a distance value according to a phase difference between the first phase data and the second phase data, where the distance value is used to represent a distance between the receiver and the transmitter.

[0015] In a third aspect, the present invention provides an electronic device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the method described in the first aspect.

[0016] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.

[0017] In a fifth aspect, the present invention provides a computer program product comprising computer instructions, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0018] In the present invention, one-way signal transmission and reception are performed between a receiver and a transmitter, and the phase of the frequency component corresponding to the highest energy and the phase of the frequency component corresponding to the second highest energy in the one-way signal are obtained through coherent demodulation. Then, based on the phase difference between the two, a distance value representing the distance between the receiver and the transmitter is generated. In this way, a distance value with high accuracy is obtained through a relatively simple implementation method and low implementation cost, so that the ranging solution disclosed by the present invention has the advantages of low power consumption and high ranging accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 1 is a flow chart of a distance measurement method provided by an embodiment of the present invention;

[0020] Figure 2 1 is a schematic diagram of the architecture of a channel detection and ranging system based on one-way signal transmission provided by an embodiment of the present invention;

[0021] Figure 3 1 is a schematic structural diagram of a distance measurement system provided by an embodiment of the present invention;

[0022] Figure 4 is a schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0024] The embodiment of the present invention provides a ranging method, which is applied to a ranging system. The ranging system includes a transmitter and a receiver. Figure 1 , Figure 1 : is a flow chart of a distance measurement method provided by an embodiment of the present invention, such as Figure 1 As shown, the following steps are included:

[0025] Step 101: Receive, based on the receiver, a first signal sent by the transmitter.

[0026] In the present invention, the first signal should be understood as: a signal emitted by the transmitter, transmitted through the air interface, and finally received by the receiver.

[0027] For example, if the baseband signal is set to S1, the RF signal after the transmitter modulates the baseband signal S1 based on the local oscillator signal S2 is S3, the transmitter sends the RF signal S3 through the transmitter antenna, and the RF signal S3 is transformed into the RF signal S4 received by the receiver antenna after being transmitted through the air interface. Then, in this example, the aforementioned first signal is signal S4.

[0028] Step 102: Based on the receiver, coherently demodulate the first frequency component and the second frequency component in the first signal respectively to obtain first phase data and second phase data.

[0029] The first frequency component is: a frequency component corresponding to the highest energy among the multiple frequency components included in the first signal;

[0030] The second frequency component is: a frequency component corresponding to the second highest energy among the multiple frequency components included in the first signal;

[0031] The first phase data is used to represent the phase of the first frequency component, and the second phase data is used to represent the phase of the second frequency component.

[0032] Exemplarily, the energy corresponding to each of the different frequency components in the first signal can be determined by Fourier transform; the energy corresponding to each of the different frequency components in the first signal can also be determined by wavelet transform; the energy corresponding to each of the different frequency components in the first signal can also be determined by energy envelope analysis.

[0033] The present invention does not limit the specific method of determining the energy corresponding to different frequency components in the first signal, and the user can make an adaptive selection according to actual needs.

[0034] Step 103: Based on the receiver, generate a distance value according to the phase difference between the first phase data and the second phase data.

[0035] The distance value is used to represent the distance between the receiver and the transmitter.

[0036] Exemplarily, the same test signal can be transmitted and received based on different test transmission and reception distances to collect the phase difference between the first frequency component and the second frequency component at different test transmission and reception distances, and then, based on the different phase differences corresponding to different test transmission and reception distances, a mapping relationship / mapping function is established between the test transmission and reception distance and the frequency component phase difference; finally, the phase difference between the first phase data and the second phase data is substituted into the aforementioned mapping relationship / mapping function to calculate the distance value; wherein, the test signal and the first signal are signals of the same type.

[0037] Compared to the existing technology that requires multiple signal interactions during the ranging process, the present invention, based on the above-mentioned configuration, can complete the ranging work by only sending and receiving a one-way signal, which can significantly reduce the implementation complexity, equipment requirements, introduced interference and power consumption of the ranging operation. This greatly facilitates the implementation of the ranging work, improves the ranging accuracy, and expands the range of devices that can support ranging operations.

[0038] In general, in the present invention, one-way signal transmission and reception are performed between a receiver and a transmitter, and the phase of the frequency component corresponding to the highest energy and the phase of the frequency component corresponding to the second highest energy in the one-way signal are obtained through coherent demodulation. Then, based on the phase difference between the two, a distance value representing the distance between the receiver and the transmitter is generated. In this way, a distance value with high accuracy is obtained through a relatively simple implementation method and low implementation cost, so that the ranging solution disclosed in the present invention has the advantages of low power consumption and high ranging accuracy.

[0039] It should be noted that the ranging system can be applied to scenarios such as indoor positioning, asset tracking, smart home, vehicle-mounted systems, robots, and artificial intelligence systems. For example, a transmitter can be set on a high-value item, and a receiver can be set on a smart terminal (such as a smart phone, tablet computer, etc.) to support users in tracking and locating high-value items through the smart terminal through the ranging solution described in the present invention; or, a transmitter can be set on a vehicle, and a receiver can be set on a smart terminal (such as a smart phone, tablet computer, etc.) to support the keyless entry function through the ranging solution described in the present invention (that is, when the user holds the smart terminal close to the vehicle to a certain distance, the vehicle is automatically unlocked).

[0040] In one embodiment, generating a distance value based on a phase difference between the first phase data and the second phase data based on the receiver includes:

[0041] Calculating a phase difference value based on a phase difference between the first phase data and the second phase data, wherein the phase difference value is: a difference between a phase of the first frequency component and a phase of the second frequency component;

[0042] Determining a product of the phase difference value and the speed of light as a first target value, and determining a product of the frequency of the baseband signal of the first signal and a set coefficient as a second target value, wherein the set coefficient is 2;

[0043] A quotient of the first target value and the second target value is determined as the distance value.

[0044] The distance value can be calculated by referring to the following formula:

[0045]

[0046] In the above formula, d represents the distance value, c represents the speed of light, and w o represents the frequency of the baseband signal of the first signal, angle(I u ,Q u ) represents the phase of the first phase data, angle(I l ,Q l ) represents the phase of the second phase data;

[0047] I l Represents the in-phase component of the first frequency component, represented by S7 and S 6d The multiplied signal is obtained by filtering out the high-frequency components, S 6d represents the digital signal, S7 represents a carrier signal in the receiver for extracting the in-phase component of the first frequency component from the digital signal;

[0048] Q l The quadrature components of the first frequency component are represented by S8 and S 6d The multiplied signal is obtained after filtering out high-frequency components, S8 represents a carrier signal in the receiver for extracting the orthogonal component of the first frequency component from the digital signal;

[0049] I u The in-phase component of the second frequency component is represented by S9 and S 6d The multiplied signal is obtained after filtering out high-frequency components, S9 represents a carrier signal in the receiver for extracting an in-phase component of the second frequency component from the digital signal;

[0050] Q u The quadrature component of the second frequency component is represented by S 10 and S 6d The multiplied signal is obtained by filtering out the high-frequency components, S 10 It represents a carrier signal in the receiver, used to extract the orthogonal component of the second frequency component from the digital signal.

[0051] In this embodiment, compared with the method of calculating the distance value by establishing a mapping relationship / mapping function, the distance value directly calculated by adopting the above formula is more accurate.

[0052] In one embodiment, coherently demodulating the first signal to obtain first phase data and second phase data includes:

[0053] Performing down-conversion processing on the first signal to obtain a second signal, wherein a frequency of the second signal is lower than a frequency of the first signal;

[0054] performing low-pass filtering on the second signal to obtain a third signal, wherein the third signal is an analog signal;

[0055] Performing analog-to-digital conversion on the third signal to obtain a digital signal;

[0056] Coherently demodulate the first frequency component and the second frequency component in the digital signal to obtain the first phase data and the second phase data.

[0057] Among them, down-conversion processing is used to adapt to the situation where the local oscillator frequency of the receiver is lower than the local oscillator frequency of the transmitter, thereby supporting the application of the corresponding processing chip. In one example, the difference between the local oscillator frequency of the transmitter and the local oscillator frequency of the receiver can be 1MHz.

[0058] The high-frequency portion of the first signal introduced by external interference is filtered out through low-pass filtering, thereby ensuring the accuracy of the first frequency component and the second frequency component determined subsequently.

[0059] The analog-to-digital conversion process can support a digital data processing solution, thereby improving the calculation accuracy and efficiency of the first phase data and the second phase data.

[0060] In this embodiment, by sequentially performing down-conversion, low-pass filtering, and analog-to-digital conversion operations, interference noise can be filtered out as much as possible while supporting corresponding chip applications, thereby ensuring the data accuracy of the obtained first phase data and second phase data.

[0061] In one embodiment, the frequency value of the first frequency component is: the difference between the first frequency value and the second frequency value;

[0062] The frequency value of the second frequency component is: the sum of the first frequency value and the second frequency value;

[0063] The first frequency value is: a difference between a frequency value of a local oscillator frequency of the transmitter and a frequency value of a local oscillator frequency of the receiver;

[0064] The second frequency value is: the frequency value of the baseband signal of the first signal.

[0065] Specifically, if the frequency value of the transmitter's local oscillator frequency is set to w c The frequency value of the receiver's local oscillator frequency is w lo , the frequency value of the baseband signal of the first signal is w o , then the frequency value of the first frequency component can be expressed as: w c -w lo -w o Similarly, the frequency value of the second frequency component can be expressed as: wc -w lo +w o .

[0066] In one embodiment, the baseband signal of the first signal is a single frequency signal.

[0067] Among them, a single-frequency signal is a signal with only one obvious frequency component in the signal spectrum.

[0068] In this embodiment, the baseband signal of the first signal is set to a single-frequency signal to further simplify the transmission, reception and ranging process of the first signal, while avoiding interference introduced by complex signal frequency design, and further improving the accuracy of the ultimately generated distance value.

[0069] In some embodiments, when the signal ranging method described in the present invention is applied, signal transmission between the transmitter and the receiver can be performed in the 2.4 GHz frequency band to support the use of the signal ranging method described in the present invention by existing Bluetooth devices, thereby expanding the range of devices that can support the application of the signal ranging method described in the present invention to Bluetooth devices.

[0070] For ease of explanation, the following examples are provided:

[0071] See also Figure 2 , Figure 2 A channel detection and ranging system based on one-way signal transmission is shown. Figure 2 As shown, the transmitter generates a frequency w o The baseband signal S1 (which can be understood as the frequency of the baseband signal of the aforementioned first signal) is a single-tone signal (i.e., there is only one obvious frequency component in the spectrum of the signal), and the phase of the baseband signal S1 is expressed as cos(w o *t), where t represents the sampling period of the analog signal.

[0072] The baseband signal S1 is mixed or modulated by the transmitter's local oscillator signal S2 to become the RF signal S3. The phase of the transmitter's local oscillator signal S2 is expressed as Among them, w c is the local oscillator frequency of the transmitter, Used to indicate the interference introduced by the transmitter during the modulation process. is a random value between 0 and 2*π.

[0073] The modulated signal S3 is sent out through the antenna of the transmitter, and the signal transmission frequency band of S3 is the 2.4 GHz band.

[0074] After S3 is transmitted over the air interface, it is received by the receiver's antenna. The RF signal actually received by the receiver's antenna is called S4 (which can be understood as the aforementioned first signal). The received signal S4 is down-converted based on the receiver's local oscillator signal S5 to obtain a down-converted signal S6' (which can be understood as the aforementioned second signal). The phase of the receiver's local oscillator signal S5 is expressed as Among them, w lo is the local oscillator frequency of the receiver. The local oscillator frequency of the receiver and the local oscillator frequency of the transmitter meet the conditions: w lo =w c -1MHz; Used to indicate the interference introduced by the receiver during the down-conversion process. is a random value between 0 and 2*π.

[0075] The down-converted signal S6' is filtered out through a first-order low-pass filter 1 (LPF) to remove the high-frequency components to obtain a signal S6 (which can be understood as the aforementioned third signal). The signal S6 contains two main frequency components, namely w c -w lo -w o (It can be understood as the aforementioned first frequency component, which is hereinafter referred to as w dl Refers to) and w c -w lo +w o (It can be understood as the aforementioned second frequency component, which is hereinafter referred to as w du Refers to), where w c It can be understood as the frequency of the local oscillator signal of the transmitter in the above description, w lo It can be understood as the frequency of the local oscillator signal of the receiver in the above description.

[0076] Then the signal S6 is sampled by an analog-to-digital converter (ADC) to obtain a digitized signal S 6d (which can be understood as the aforementioned digital signal) for subsequent phase calculation.

[0077] The phase calculation process includes:

[0078] The receiver processes the digitized signal S 6d Coherent demodulation is performed to extract the phases of the two frequency components, which are angle(I u ,Q u ) (which can be understood as the aforementioned first phase data) and angle (I l ,Q l ) (which can be understood as the aforementioned second phase data), which is specifically expressed by the following formula:

[0079]

[0080] In the above formula, represents the interference introduced during the phase calculation process, and are all random values between 0 and 2*π, d is the distance between the transmitter and the receiver, and c is the speed of light.

[0081] Signals S7, S8, S9, S 10 Used to extract the digitized signal S 6d IQ signal.

[0082] Among them, S7 is represented by S8 is expressed as S9 is represented by S 10 Expressed as

[0083] S7 and S 6d The multiplied signal is filtered by a first-order low-pass filter 2 (LPF) to remove the high-frequency component, and the in-phase component I of the effective frequency component is obtained. l ; S8 and S 6d After the multiplied signal is filtered by LPF2 to remove the high frequency component, the orthogonal component Q of the effective frequency component is obtained. l ; S9 and S 6d After the multiplied signal is filtered by LPF2 to remove the high frequency component, the in-phase component I of the other effective frequency component is obtained. u ;S 10 and S 6d After the multiplied signal is filtered by LPF2 to remove the high frequency component, the orthogonal component Q of the other effective frequency component is obtained. u , t d Indicates the sampling period of the digital signal.

[0084] Since the signal will produce phase changes when it is transmitted in the air interface, and the phase change is caused by the influence of the propagation environment during the air interface propagation process, there is a certain correlation between the phase change of the signal and the signal transmission distance. Therefore, the signal transmission distance can be measured by the phase change of the signal, that is, the distance between the receiver and the transmitter can be measured. Specifically, the angle (I u ,Q u ) corresponds to the formula and angle(I l ,Q l ) The difference between the corresponding formulas can be obtained as follows:

[0085]

[0086] In general, Figure 2 A channel sounding ranging system based on one-way signal transmission and its corresponding ranging solution are shown, which have the advantages of low hardware requirements, simple implementation and high ranging accuracy.

[0087] See also Figure 3 , Figure 3 A distance measurement system is provided in an embodiment of the present invention. Figure 3 As shown, the ranging system 300 includes:

[0088] Transmitter 301 and receiver 302;

[0089] The receiver 302 is configured to receive a first signal sent by the transmitter;

[0090] The receiver 302 is further configured to perform coherent demodulation on a first frequency component and a second frequency component in the first signal, respectively, to obtain first phase data and second phase data, wherein the first frequency component is a frequency component corresponding to the highest energy among the multiple frequency components included in the first signal; the second frequency component is a frequency component corresponding to the second highest energy among the multiple frequency components included in the first signal; the first phase data is used to represent the phase of the first frequency component, and the second phase data is used to represent the phase of the second frequency component;

[0091] The receiver 302 is further configured to generate a distance value according to a phase difference between the first phase data and the second phase data, where the distance value is used to represent a distance between the receiver and the transmitter.

[0092] In one embodiment, the receiver 302 is specifically configured to:

[0093] Calculating a phase difference value based on a phase difference between the first phase data and the second phase data, wherein the phase difference value is: a difference between a phase of the first frequency component and a phase of the second frequency component;

[0094] Determining a product of the phase difference value and the speed of light as a first target value, and determining a product of the frequency of the baseband signal of the first signal and a set coefficient as a second target value, wherein the set coefficient is 2;

[0095] A quotient of the first target value and the second target value is determined as the distance value.

[0096] In one embodiment, the receiver 302 is specifically configured to:

[0097] Performing down-conversion processing on the first signal to obtain a second signal, wherein a frequency of the second signal is lower than a frequency of the first signal;

[0098] performing low-pass filtering on the second signal to obtain a third signal, wherein the third signal is an analog signal;

[0099] Performing analog-to-digital conversion on the third signal to obtain a digital signal;

[0100] Coherently demodulate the first frequency component and the second frequency component in the digital signal to obtain the first phase data and the second phase data.

[0101] In one embodiment, the frequency value of the first frequency component is: the difference between the first frequency value and the second frequency value;

[0102] The frequency value of the second frequency component is: the sum of the first frequency value and the second frequency value;

[0103] The first frequency value is: a difference between a frequency value of a local oscillator frequency of the transmitter and a frequency value of a local oscillator frequency of the receiver;

[0104] The second frequency value is: the frequency value of the baseband signal of the first signal.

[0105] In one embodiment, the baseband signal of the first signal is a single frequency signal.

[0106] In one embodiment, the distance value is calculated based on the following formula:

[0107]

[0108] In the above formula, d represents the distance value, c represents the speed of light, and w o represents the frequency of the baseband signal of the first signal, angle(I u ,Q u ) represents the phase of the first phase data, angle(I l ,Q l ) represents the phase of the second phase data;

[0109] I l Represents the in-phase component of the first frequency component, represented by S7 and S 6d The multiplied signal is obtained by filtering out the high-frequency components, S 6d represents the digital signal, S7 represents a carrier signal in the receiver for extracting the in-phase component of the first frequency component from the digital signal;

[0110] Q l The quadrature components of the first frequency component are represented by S8 and S 6dThe multiplied signal is obtained after filtering out high-frequency components, S8 represents a carrier signal in the receiver for extracting the orthogonal component of the first frequency component from the digital signal;

[0111] I u The in-phase component of the second frequency component is represented by S9 and S 6d The multiplied signal is obtained after filtering out high-frequency components, S9 represents a carrier signal in the receiver for extracting an in-phase component of the second frequency component from the digital signal;

[0112] Q u The quadrature component of the second frequency component is represented by S 10 and S 6d The multiplied signal is obtained by filtering out the high-frequency components, S 10 It represents a carrier signal in the receiver, used to extract the orthogonal component of the second frequency component from the digital signal.

[0113] The ranging system 300 provided in the embodiment of the present invention can implement each process in the above-mentioned ranging method embodiment, and will not be described again here to avoid repetition.

[0114] According to an embodiment of the present invention, the present invention further provides an electronic device and a readable storage medium.

[0115] Figure 4 A schematic block diagram of an example electronic device 400 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0116] like Figure 4 As shown, device 400 includes a computing unit 401, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 402 or a computer program loaded from a storage unit 408 into a random access memory (RAM) 403. Various programs and data required for the operation of device 400 can also be stored in RAM 403. Computing unit 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to bus 404.

[0117] Various components in device 400 are connected to I / O interface 405, including an input unit 406, such as a keyboard, mouse, etc.; an output unit 407, such as various types of displays, speakers, etc.; a storage unit 408, such as a magnetic disk, optical disk, etc.; and a communication unit 409, such as a network card, modem, wireless communication transceiver, etc. Communication unit 409 allows device 400 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0118] The computing unit 401 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the various methods and processes described above, such as the ranging method. For example, in some embodiments, the ranging method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 408. In some embodiments, part or all of the computer program can be loaded and / or installed on the device 400 via the ROM 402 and / or the communication unit 409. When the computer program is loaded into the RAM 403 and executed by the computing unit 401, one or more steps of the ranging method described above can be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to execute the ranging method in any other appropriate manner (for example, by means of firmware).

[0119] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0120] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. Such program code can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0121] In the context of the present invention, machine-readable medium can be a tangible medium that can contain or store a program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0122] As used herein, the term "machine-readable medium" refers to any computer program product, apparatus, and / or device (e.g., a magnetic disk, an optical disk, a memory, a programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0123] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0124] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0125] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact through a communication network. The client-server relationship arises through computer programs running on the respective computers and having a client-server relationship with each other. The server may be a cloud server, a server in a distributed system, or a server integrated with a blockchain.

[0126] The embodiment of the present invention also provides a computer program product, including computer instructions, which, when executed by a processor, implement the above Figure 1 The various processes of the method embodiment shown can achieve the same technical effect, and to avoid repetition, they will not be described here.

[0127] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present invention can be achieved. This is not limited herein.

[0128] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A distance measurement method, characterized in that: Applied to a ranging system, the ranging system includes a transmitter and a receiver, and the method includes: Receiving, by the receiver, a first signal sent by the transmitter; Based on the receiver, coherently demodulate a first frequency component and a second frequency component in the first signal, respectively, to obtain first phase data and second phase data, wherein the first frequency component is: a frequency component corresponding to the highest energy among multiple frequency components included in the first signal; the second frequency component is: a frequency component corresponding to the second highest energy among the multiple frequency components included in the first signal; the first phase data is used to represent the phase of the first frequency component, and the second phase data is used to represent the phase of the second frequency component; Based on the receiver, a distance value is generated according to the phase difference between the first phase data and the second phase data, where the distance value is used to represent the distance between the receiver and the transmitter.

2. The method according to claim 1, characterized in that The step of generating a distance value based on a phase difference between the first phase data and the second phase data based on the receiver includes: Calculating a phase difference value based on a phase difference between the first phase data and the second phase data, wherein the phase difference value is: a difference between a phase of the first frequency component and a phase of the second frequency component; Determining a product of the phase difference value and the speed of light as a first target value, and determining a product of the frequency of the baseband signal of the first signal and a set coefficient as a second target value, wherein the set coefficient is 2; A quotient of the first target value and the second target value is determined as the distance value.

3. The method according to claim 2, characterized in that The coherently demodulating the first frequency component and the second frequency component in the first signal to obtain first phase data and second phase data includes: Performing down-conversion processing on the first signal to obtain a second signal, wherein a frequency of the second signal is lower than a frequency of the first signal; performing low-pass filtering on the second signal to obtain a third signal, wherein the third signal is an analog signal; Performing analog-to-digital conversion on the third signal to obtain a digital signal; Coherently demodulate the first frequency component and the second frequency component in the digital signal to obtain the first phase data and the second phase data.

4. The method according to claim 3, characterized in that The frequency value of the first frequency component is: the difference between the first frequency value and the second frequency value; The frequency value of the second frequency component is: the sum of the first frequency value and the second frequency value; The first frequency value is: a difference between a frequency value of a local oscillator frequency of the transmitter and a frequency value of a local oscillator frequency of the receiver; The second frequency value is: the frequency value of the baseband signal of the first signal.

5. The method according to claim 1, wherein The baseband signal of the first signal is a single-frequency signal.

6. The method according to claim 3, characterized in that The distance value is calculated based on the following formula: In the above formula, d represents the distance value, c represents the speed of light, mod{·} represents the modulo operation, and w o represents the frequency of the baseband signal of the first signal, angle(I u ,Q u ) represents the phase of the first phase data, angle(I l ,Q l ) represents the phase of the second phase data; I l Represents the in-phase component of the first frequency component, represented by S7 and S 6d The multiplied signal is obtained by filtering out the high-frequency components, S 6d represents the digital signal, S7 represents a carrier signal in the receiver for extracting the in-phase component of the first frequency component from the digital signal; Q l The quadrature components of the first frequency component are represented by S8 and S 6d The multiplied signal is obtained after filtering out high-frequency components, S8 represents a carrier signal in the receiver for extracting the orthogonal component of the first frequency component from the digital signal; I u The in-phase component of the second frequency component is represented by S9 and S 6d The multiplied signal is obtained after filtering out high-frequency components, S9 represents a carrier signal in the receiver for extracting an in-phase component of the second frequency component from the digital signal; Q u The quadrature component of the second frequency component is represented by S 10 and S 6d The multiplied signal is obtained by filtering out the high-frequency components, S 10 It represents a carrier signal in the receiver, used to extract the orthogonal component of the second frequency component from the digital signal.

7. A ranging system, characterized in that: The ranging system includes a transmitter and a receiver; The receiver is configured to receive a first signal sent by the transmitter; The receiver is further configured to coherently demodulate a first frequency component and a second frequency component in the first signal, respectively, to obtain first phase data and second phase data, wherein the first frequency component is a frequency component corresponding to the highest energy among multiple frequency components included in the first signal; and the second frequency component is a frequency component corresponding to the second highest energy among the multiple frequency components included in the first signal; the first phase data is used to represent the phase of the first frequency component, and the second phase data is used to represent the phase of the second frequency component; The receiver is further configured to generate a distance value according to a phase difference between the first phase data and the second phase data, where the distance value is used to represent a distance between the receiver and the transmitter.

8. The distance measurement system according to claim 7, characterized in that: The receiver is specifically configured to: Calculating a phase difference value based on a phase difference between the first phase data and the second phase data, wherein the phase difference value is: a difference between a phase of the first frequency component and a phase of the second frequency component; Determining a product of the phase difference value and the speed of light as a first target value, and determining a product of the frequency of the baseband signal of the first signal and a set coefficient as a second target value, wherein the set coefficient is 2; A quotient of the first target value and the second target value is determined as the distance value.

9. The distance measurement system according to claim 8, characterized in that: The receiver is specifically configured to: Performing down-conversion processing on the first signal to obtain a second signal, wherein a frequency of the second signal is lower than a frequency of the first signal; performing low-pass filtering on the second signal to obtain a third signal, wherein the third signal is an analog signal; Performing analog-to-digital conversion on the third signal to obtain a digital signal; Coherently demodulate the first frequency component and the second frequency component in the digital signal to obtain the first phase data and the second phase data.

10. The distance measurement system according to claim 9, characterized in that: The frequency value of the first frequency component is: the difference between the first frequency value and the second frequency value; the frequency value of the second frequency component is: the sum of the first frequency value and the second frequency value; the first frequency value is: the difference between the frequency value of the local oscillator frequency of the transmitter and the frequency value of the local oscillator frequency of the receiver; The second frequency value is: the frequency value of the baseband signal of the first signal; and / or, The baseband signal of the first signal is a single frequency signal; and / or, The distance value is calculated based on the following formula: In the above formula, d represents the distance value, c represents the speed of light, and w o represents the frequency of the baseband signal of the first signal, angle(I u ,Q u ) represents the phase of the first phase data, angle(I l ,Q l ) represents the phase of the second phase data; I l Represents the in-phase component of the first frequency component, represented by S7 and S 6d The multiplied signal is obtained by filtering out the high-frequency components, S 6d represents the digital signal, S7 represents a carrier signal in the receiver for extracting the in-phase component of the first frequency component from the digital signal; Q l The quadrature components of the first frequency component are represented by S8 and S 6d The multiplied signal is obtained after filtering out high-frequency components, S8 represents a carrier signal in the receiver for extracting the orthogonal component of the first frequency component from the digital signal; I u The in-phase component of the second frequency component is represented by S9 and S 6d The multiplied signal is obtained after filtering out high-frequency components, S9 represents a carrier signal in the receiver for extracting an in-phase component of the second frequency component from the digital signal; Q u The quadrature component of the second frequency component is represented by S 10 and S 6d The multiplied signal is obtained by filtering out the high-frequency components, S 10 It represents a carrier signal in the receiver, used to extract the orthogonal component of the second frequency component from the digital signal.

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