Timing calibration method and apparatus, storage medium, electronic device, and chip

Abstract

The present disclosure provides a timing calibration method, device, storage medium, electronic equipment and chip, and relates to the technical field of Bluetooth, wherein the method comprises the following steps: for a receiving end Bluetooth device of a probe sequence, a direct current component corresponding to the probe sequence is first filtered, that is, the direct current component affected by frequency offset is filtered out, and then timing calibration is performed based on the filtered probe sequence. By applying the technical solution of the present disclosure, the influence of frequency offset can be avoided, the accuracy of timing calibration through the probe sequence can be improved, and the accuracy of ToA estimation can be improved, thereby improving the accuracy of RTT ranging. Moreover, the technical solution provided by the present disclosure reduces the computational complexity and has better robustness.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of Bluetooth technology, and particularly relates to a timing calibration method and device, a storage medium, an electronic device and a chip. BACKGROUND

[0002] With the continuous rise of the demand for high-precision positioning of Bluetooth devices in the field of Internet of Things and smart home, the Bluetooth technology standard introduces channel sounding (CS) technology, aiming to achieve safe and reliable precise ranging between Bluetooth devices. The technology includes a round trip time (RTT) ranging method.

[0003] At present, in the actual application of the RTT ranging method, in order to achieve accurate time synchronization between the sending end and the receiving end, timing calibration needs to be completed through a sounding sequence. However, in the case of residual frequency offset between the sending end and the receiving end, the accuracy of timing calibration will be reduced. SUMMARY

[0004] The present disclosure provides a timing calibration method, device, storage medium, electronic device and chip, the main purpose of which is to improve the accuracy of timing calibration through a sounding sequence when using an RTT ranging method for ranging between Bluetooth devices.

[0005] According to a first aspect of an embodiment of the present disclosure, a timing calibration method is provided, comprising:

[0006] receiving a sounding sequence;

[0007] filtering a direct current component corresponding to the sounding sequence;

[0008] performing timing calibration based on the sounding sequence after filtering.

[0009] Optionally, filtering the direct current component corresponding to the sounding sequence comprises:

[0010] using a filter to filter out frequency components within a preset range corresponding to the direct current component.

[0011] Optionally, the timing calibration based on the sounding sequence after filtering comprises:

[0012] obtaining a phase difference of a target frequency point based on the sounding sequence after filtering;

[0013] correcting the phase difference;

[0014] performing timing calibration based on the corrected phase difference.

[0015] Optionally, the phase difference is corrected, comprising:

[0016] An adjustment amount of the phase difference corresponding to the filtering is obtained;

[0017] The phase difference is corrected according to the adjustment amount.

[0018] Optionally, the adjustment amount of the phase difference corresponding to the filtering is obtained, comprising:

[0019] A first adjustment amount caused by the filter and a second adjustment amount caused by a sequence sampling point offset are obtained;

[0020] The adjustment amount of the phase difference is determined according to the first adjustment amount and the second adjustment amount.

[0021] Optionally, the timing calibration is performed based on the corrected phase difference, comprising:

[0022] The corrected phase difference is converted in a value range;

[0023] A timing adjustment amount is determined according to the converted phase difference;

[0024] The timing calibration is performed based on the timing adjustment amount.

[0025] Optionally, before the direct current component corresponding to the probe sequence is filtered, the method further comprises:

[0026] The marker signal of the probe sequence is removed;

[0027] The direct current component corresponding to the probe sequence is filtered, comprising:

[0028] The direct current component corresponding to the probe sequence after the marker signal is removed is filtered.

[0029] According to a second aspect of the embodiments of the present disclosure, a timing calibration apparatus is provided, comprising:

[0030] A receiving module configured to receive a probe sequence;

[0031] A processing module configured to filter a direct current component corresponding to the probe sequence; and perform timing calibration based on the probe sequence after the filtering.

[0032] Optionally, the processing module is specifically configured to filter out frequency components in a preset range corresponding to the direct current component using a filter.

[0033] Optionally, the processing module is specifically configured to obtain a phase difference of the target frequency point based on the filtered detection sequence; correct the phase difference; and perform timing calibration based on the corrected phase difference.

[0034] Optionally, the processing module is specifically configured to obtain a phase difference adjustment amount corresponding to the filtering; and correct the phase difference according to the phase difference adjustment amount.

[0035] Optionally, the processing module is specifically configured to obtain a first adjustment amount caused by a filter and a second adjustment amount caused by a sequence sampling point offset; and determine the phase difference adjustment amount according to the first adjustment amount and the second adjustment amount.

[0036] According to a third aspect of the embodiments of the present disclosure, an electronic device is provided, including:

[0037] a processor;

[0038] a memory connected with the processor, and having a computer program stored thereon, the computer program being executed by the processor to implement the timing calibration method in the first aspect.

[0039] According to a fourth aspect of the embodiments of the present disclosure, a computer readable storage medium is provided, having a computer program stored thereon, the computer program being executed by a processor to implement the timing calibration method in the first aspect.

[0040] According to a fifth aspect of the embodiments of the present disclosure, a computer program product is provided, including a computer program, and the computer program is executed by a processor to implement the timing calibration method in the first aspect.

[0041] According to a sixth aspect of the embodiments of the present disclosure, a chip is provided, including one or more interface circuits and one or more processors; the interface circuit is used to receive a signal from a memory of an electronic device and send the signal to the processor, the signal including computer instructions stored in the memory; when the processor executes the computer instructions, the electronic device performs the timing calibration method in the first aspect.

[0042] By means of the technical solutions, the timing calibration method, device, storage medium, electronic equipment and chip provided by the present disclosure are provided. In the process of using the RTT ranging method for ranging between Bluetooth devices, in the case of residual frequency offset between the sending end and the receiving end, the accuracy of timing calibration by the probe sequence is poor due to the DC component. The technical solutions provided by the present disclosure can first filter the DC component corresponding to the probe sequence, i.e. filter out the DC component affected by the frequency offset, and then perform timing calibration based on the filtered probe sequence. By applying the technical solutions of the present disclosure, the influence of the frequency offset can be avoided, the accuracy of timing calibration by the probe sequence can be improved, and the accuracy of ToA estimation can be improved, thereby improving the accuracy of RTT ranging. Moreover, the technical solutions provided by the present disclosure reduce the computational complexity and have better robustness.

[0043] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0044] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0045] Figure 1 An example schematic diagram provided by the embodiments of the present disclosure is shown;

[0046] Figure 2 Another example schematic diagram provided by the embodiments of the present disclosure is shown;

[0047] Figure 3 A flowchart of a timing calibration method provided by the embodiments of the present disclosure is shown;

[0048] Figure 4 A flowchart of another timing calibration method provided by the embodiments of the present disclosure is shown;

[0049] Figure 5 A structural schematic diagram of a timing calibration device provided by the embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0050] Some embodiments of this disclosure will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. Various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will become apparent upon understanding this disclosure. For example, the order of operations described herein is merely illustrative and is not limited to those orders set forth herein, but can be changed as will become apparent upon understanding this disclosure, except for operations that must be performed in a particular order. Furthermore, for clarity and brevity, descriptions of features known in the art may be omitted. It should be noted that, without conflict, the embodiments and features in the embodiments of this disclosure can be combined with each other.

[0051] For ease of understanding, the terminology used in the embodiments of this disclosure will be introduced first.

[0052] 1. Channel Sounding (CS)

[0053] Bluetooth technology standards are constantly evolving. Different versions introduce different features. Early Bluetooth standards used Received Signal Strength Indication (RSSI) for ranging, which was simple to implement but inaccurate. Later, Angle of Arrival (AoA) or Angle of Departure (AoD) was used to measure direction, but these methods suffered from inaccuracies due to reflections. The newly released Bluetooth Low Energy (BLE) standard introduced channel sensing, which provides high-precision ranging, achieving centimeter-level accuracy. It's important to note that achieving such high accuracy with channel sensing relies heavily on device support. Devices must meet numerous technical specifications; otherwise, non-ideal factors will reduce estimation accuracy.

[0054] Fractional Frequency Offset (FFO) is one of the specifications that devices need to meet. The Bluetooth standard requires that the FFO be less than 50 parts per million (ppm) across all 72 radio frequency (RF) channels (e.g., the 2402-2480MHz band of the LE 2M PHY, spaced 1MHz apart), and the absolute value of the difference in FFO between channels must be less than 1 ppm. Controlling the difference in FFO between different channels places requirements on the device.

[0055] 2. Sounding Sequence

[0056] Channel Sounding (CS) provides Phase Based Ranging (PBR) and Round Trip Time (RTT) ranging methods. In order to support RTT ranging, Channel Sounding supports coarse timing through CS Access Address and fine timing through Random Sequence or Sounding Sequence.

[0057] Channel Sounding needs to measure the time difference from the sending end to the receiving end (i.e. ToA) with high precision, and the sounding sequence is a special modulation signal (generated by [0, 1] bit repetition sequence modulation), which can generate a characteristic "frequency component" in the spectrum, so as to facilitate the receiving end to extract timing information.

[0058] The implementations described in some embodiments of the present disclosure below do not represent all implementations consistent with the present disclosure. Instead, they are merely examples of apparatuses and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0059] The technical solutions of the embodiments of the present disclosure can be used for RTT-based ranging in Mode 1 step or Mode 3 step of the ranging process. Taking Mode 1 step as an example, the Initiator and the Reflector exchange CS_SYNC data packets, such as the Initiator sending a CS_SYNC data packet, and the Reflector receiving and replying the CS_SYNC data packet accordingly. The Initiator and the Reflector respectively estimate the Time of Arrival (ToA) of the data packet received from the other party. At the same time, both parties will record the Time of Departure (ToD) of the CS_SYNC data packet. For example, as shown in the following table, Device A (i.e. Initiator) and Device B (i.e. Reflector) respectively calculate Figure 1 and .

[0060] Finally, the ToA and ToD measured by the Initiator and the Reflector are summarized to a node, and the RTT (Round Trip Time) is calculated according to the following formula to realize ranging.

[0061]

[0062] ​wherein, denotes the one-way signal time of flight, denotes the frequency offset between the Initiator's own crystal oscillator and the Reflector's crystal oscillator as estimated by the Initiator.

[0063] To improve the accuracy of RTT calculation, it is necessary to ensure the accuracy of ToA estimation. In the ranging process of Bluetooth channel sounding (Channel Sounding), more accurate Time of Arrival (ToA) estimation is achieved by optimizing the sounding sequence and signal processing, thereby improving the accuracy of RTT ranging. That is, the sounding sequence is transmitted through the CS_SYNC data packet, and the ToA of the signal is measured by the transceiver, and finally the RTT is calculated to realize ranging.

[0064] wherein the sounding sequence is used for precise time synchronization, and the bit alternately appears as "0101…0101", and the sending order is from left to right, such as the sounding sequence can be a sequence of 01 alternation. The modulation of the sounding sequence produces two complex sinusoidal signals. The signal collected by the receiving end contains the modulation information of the sounding sequence, and the phases of the two complex sinusoidal signals are extracted through correlation operation. Since there is a time quantization error (sampling clock and sending end are not completely synchronized) in the receiving end, the timing information obtained by direct sampling is not the real ToA. The fractional delay (or can be called timing adjustment amount) needs to be calculated by the difference between the two phases. Then, based on the timing information preliminarily measured by the receiving end for the sounding sequence, and combining the timing adjustment amount, a more real ToA is calculated.

[0065] For example, the phases of the two target frequencies are calculated on a complete 01 period (i.e. an even number of symbols) and Then the timing adjustment amount is calculated by the following formula :

[0066]

[0067] wherein the , wherein, is the symbol duration. The two target frequencies are and , and the corresponding phases are and . If the 0101 sequence is wirelessly extended, the sounding sequence is a periodic signal, and the minimum positive period of the periodic signal is wherein is the symbol duration. The power spectral density of the periodic signal is shown in Figure 2 . The frequency The frequency spectrum at that point represents the DC component of the signal. That is the target frequency.

[0068] However, when a residual frequency offset exists between the transmitter and receiver, the DC component can lead to poor accuracy in timing calibration using the probe sequence (see the method described above), thus reducing the accuracy of ToA estimation. Therefore, to improve the accuracy of ToA estimation, this disclosure provides a timing calibration method, such as... Figure 3 As shown, this method can be applied to the Bluetooth device side of the probe sequence receiver and includes the following steps.

[0069] Step 101: Receive the probe sequence.

[0070] For example, the sending end sends a CS_SYNC data packet to the receiving end. The CS_SYNC data packet can be a control packet for Bluetooth channel probing. The CS_SYNC data packet includes a probe sequence, and the receiving end receives the probe sequence in the CS_SYNC data packet.

[0071] Step 102: Filter the DC component corresponding to the detection sequence.

[0072] based on Figure 1 and Figure 2 The example shown illustrates that, in the presence of residual frequency offset between the transmitter and receiver, the DC component can lead to poor accuracy in timing calibration using the probe sequence. For example, as... Figure 2 As shown, in the case that there is no residual frequency offset between the transmitting and receiving ends, the frequency... The frequency spectrum at that point represents the DC component of the signal. However, when a residual frequency offset exists between the transmitting and receiving ends, this DC component corresponds to... Figure 2 The DC component at the dotted line position in the diagram can lead to poor accuracy during timing calibration using the probe sequence. Therefore, this DC component can be filtered out from the probe sequence. For example, filtering the DC component corresponding to the probe sequence yields a filtered probe sequence, i.e., a new sequence.

[0073] Step 103: Perform timing calibration based on the filtered detection sequence.

[0074] For example, the new sequence obtained in step 102 is used as a sample of the probe sequence. Since the DC component has been filtered out, it will not be affected by the frequency offset. Next, the phase difference between the two target frequency points is calculated, and then the timing adjustment amount is calculated based on the phase difference. Timing calibration is then performed based on the timing adjustment amount. For example, a more realistic ToA is calculated based on the timing information initially measured by the receiver for the probe sequence and combined with the timing adjustment amount. RTT is then calculated based on the more realistic ToA to achieve ranging.

[0075] In the process of ranging between Bluetooth devices using the RTT (Real-Time To-A) method, residual frequency offset between the transmitting and receiving ends can lead to poor accuracy in timing calibration using the probe sequence due to the DC component. The technical solution provided in this disclosure first filters the DC component corresponding to the probe sequence for the receiving Bluetooth device, removing the DC component affected by the frequency offset, and then performs timing calibration based on the filtered probe sequence. By applying the technical solution of this disclosure, the influence of frequency offset can be avoided, improving the accuracy of timing calibration using the probe sequence, thereby improving the accuracy of ToA (To-A) estimation and ultimately improving the accuracy of RTT ranging. Furthermore, the technical solution provided in this disclosure reduces computational complexity and offers better robustness.

[0076] As Figure 3 An alternative embodiment is provided as follows: Figure 4 The specific implementation method shown includes:

[0077] Step 201: Receive the probe sequence.

[0078] To prevent attacks, as an optional implementation, for the probe sequence, four consecutive bits (the first bit of these four bits may be 0 or 1) in its alternating 0 and 1 bits are randomly replaced with one or two marker signals. Each marker signal corresponds to bit 1100 or 0011, and the transmission order is from left to right. In this case, the receiver can first remove the marker signals from the probe sequence, such as the probe sequence after removing the marker signals appearing periodically as 0101; then, the DC component corresponding to the probe sequence after removing the marker signals is filtered, i.e., step 202 is executed, which can improve the accuracy of the filtering process and accurately remove the DC component.

[0079] For example, the sampled sequence received by the receiver after removing the marker signal is denoted as... , . This represents the number of sampling points after removing the marker signal. The oversampling rate is... That is, one symbol (bit) corresponds to Each sampling point. In practical applications, You can choose 12, 16, 24, etc. Each sampling point corresponds to There are 10 symbols. The number of symbols containing the marker signal and the total number of symbols containing the marker signal are both even. Therefore, the number of symbols after removing the marker signal is... Also even.

[0080] Step 202, using a filter to filter out the frequency components in the preset range corresponding to the direct current component, so as to realize filtering processing of the direct current component corresponding to the detection sequence.

[0081] For example, based on the above example, the sampling sequence received by the receiving end after removing the marker signal is denoted as Since contains frequency offset, the highest spectral line in the power spectral density moves left or right, and diffusion occurs, so the DC cannot be estimated by averaging Add. To reduce the computational complexity, it is not estimated what the residual frequency offset is, positive or negative. A filter is designed to filter , and get , and then according to , the phase and are calculated in the above-mentioned manner, and then the timing adjustment amount is calculated.

[0082] Among them, the filter satisfies the following three conditions:

[0083] (1) The frequency components in the preset range near the frequency 0 (because when there is a frequency offset, a single spectral line will be translated and diffused) cannot pass through;

[0084] (2) The frequency components in the preset range near the frequency (corresponding to the target frequency point) can pass through;

[0085] (3) Whether the remaining frequency components (for example, the frequency components near the frequency , ) pass through or not, and how much they pass through, can not be required.

[0086] From the frequency domain characteristics of the filter, the filter that satisfies these conditions includes a high-pass filter (the cutoff frequency is between 0 and ), a band-pass filter (the frequency 0 is not in the passband, and the frequency is in the passband), etc. For high-pass or band-pass filters, from the unit impulse response of the filter, the filter is divided into Finite Impulse Response (FIR) filter and Infinite Impulse Response (IIR) filter. Among them, there are multiple design schemes for the parameters of the filter, which are not limited by the embodiments of the present disclosure.

[0087] Step 203, based on the detection sequence after filtering processing, the phase difference of the target frequency point is obtained.

[0088] For example, the target frequency point could be These two frequency points, where the detection sequence is a periodic signal alternating between 0101 and 01, and the minimum positive period of this periodic signal is... , The symbol duration is used. Embodiments of this disclosure can calculate the phase difference between these two frequency points.

[0089] Step 204: Correct the phase difference of the target frequency.

[0090] In some embodiments, the phase difference adjustment amount corresponding to the filtering process can be obtained; then the phase difference of the target frequency point can be corrected based on the phase difference adjustment amount.

[0091] In some examples, the first adjustment caused by the filter and the second adjustment caused by the sequence sampling point offset can be obtained first; then, based on the first and second adjustments, the phase difference adjustment corresponding to the filtering process can be determined.

[0092] For example, target frequency Although the frequency components pass through the filter, the filter may alter the phase difference between the two target frequencies. Furthermore, the sampling position of the signal after passing through the filter (the data becomes longer after passing through the filter, and usually the first few sampling points are discarded) also affects the phase difference between the two target frequencies. Therefore, it is necessary to correct the calculated phase difference.

[0093] Based on the above example, the sampled sequence received by the receiver after removing the marker signal is denoted as follows: , ( After passing through the filter, the result is obtained ( ).give up The beginning The first sampling point is not needed; use the next one. The actual sequence used for the sampling points is shown below:

[0094]

[0095] against Calculate the phase of the two target frequency points. and As shown below:

[0096]

[0097]

[0098] The phase difference adjustment caused by the filter (i.e., the first adjustment) is shown below:

[0099]

[0100] wherein, is the frequency response of the filter at frequency (real frequency, not normalized frequency). is the symbol duration.

[0101] The phase difference adjustment amount (i.e., the second adjustment amount) caused by discarding the first samples is as follows:

[0102]

[0103] wherein, is the sampling interval, is the symbol duration.

[0104] Based on the above calculated results, the corrected phase difference is obtained, and is specifically as shown in the following formula:

[0105]

[0106] Step 205, timing calibration is performed based on the corrected phase difference.

[0107] In some embodiments, the corrected phase difference is first converted in value range; then the timing adjustment amount is determined according to the converted phase difference; and then timing calibration is performed based on the timing adjustment amount.

[0108] For example, by adding or subtracting an integer multiple of , the value of the corrected phase difference is adjusted to . The value of

[0109]

[0110] Correspondingly, the timing adjustment amount is as follows:

[0111]

[0112] wherein, . For the FIR filter, usually is selected as the group delay, and is calculated. But for the IIR filter, the group delay at the target frequency point may not be an integer. may be a non-zero value.

[0113] Subsequently, based on the timing information preliminarily measured by the receiving end for the probe sequence, and in combination with the timing adjustment amount A more accurate ToA is calculated, and thus a RTT is calculated based on the more accurate ToA, to achieve ranging.

[0114] By applying the technical solutions of the embodiments of the present disclosure, when there is a frequency offset between the transceiving terminals, the direct current component affected by the frequency offset can be filtered out by using the symmetric spectrum characteristics of GMSK modulation, and then time offset estimation is performed, and the estimation result is not affected by the frequency offset. Compared with the method of estimating the frequency offset by using the differential phase method and eliminating the phase compensation, the complexity is lower, the robustness is better, and thus a higher estimation accuracy is obtained. Especially for devices with large FFO phase difference in different channels, a higher estimation accuracy can also be obtained.

[0115] Figure 5 is a timing calibration device block diagram according to some embodiments of the present disclosure, which can be configured to perform the method shown in Figures 1 to 4 Referring to Figure 5 , the device comprises a receiving module 31 and a processing module 32.

[0116] The receiving module 31 is configured to receive a probe sequence.

[0117] The processing module 32 is configured to perform filtering processing on a direct current component corresponding to the probe sequence, and perform timing calibration based on the probe sequence after the filtering processing.

[0118] In some embodiments of the present disclosure, the processing module 32 is specifically configured to use a filter to filter out frequency components within a preset range corresponding to the direct current component.

[0119] In some embodiments of the present disclosure, the processing module 32 is specifically configured to obtain a phase difference of a target frequency point based on the probe sequence after the filtering processing, correct the phase difference, and perform timing calibration based on the corrected phase difference.

[0120] In some embodiments of the present disclosure, the processing module 32 is specifically configured to obtain a phase difference adjustment amount corresponding to the filtering processing, and correct the phase difference according to the phase difference adjustment amount.

[0121] In some embodiments of the present disclosure, the processing module 32 is specifically configured to obtain a first adjustment amount caused by the filter and a second adjustment amount caused by sequence sampling point offset, and determine the phase difference adjustment amount according to the first adjustment amount and the second adjustment amount.

[0122] In some embodiments of the present disclosure, the processing module 32 is specifically configured to convert a value range of the corrected phase difference, determine a timing adjustment amount according to the converted phase difference, and perform timing calibration based on the timing adjustment amount.

[0123] In some embodiments of the present disclosure, the processing module 32 is further configured to remove the marker signal of the probe sequence; accordingly, the processing module 32 is specifically configured to filter the direct current component corresponding to the probe sequence after removing the marker signal.

[0124] As to the apparatus in the above-mentioned embodiments, the specific manners in which various modules perform operations have been described in detail in the embodiments of the method, and thus will not be described in detail here.

[0125] It should be noted that other corresponding descriptions of the functions of the various functional units involved in the timing calibration apparatus provided in the embodiments of the present disclosure can be referred to the corresponding descriptions in the Figures 1 to 4 , which will not be described here in detail.

[0126] Based on the method as shown in Figures 1 to 4 , accordingly, the embodiments of the present disclosure further provide a computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as shown in Figures 1 to 4 .

[0127] Based on the method as shown in Figures 1 to 4 , accordingly, the embodiments of the present disclosure further provide a computer program product comprising a computer program, which, when executed by a processor, implements the method as shown in Figures 1 to 4 .

[0128] Based on such understanding, the technical solutions of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a U disk, a mobile hard disk, etc.) and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods of various implementation scenarios of the present disclosure.

[0129] Based on the method as shown in Figures 1 to 4 , and the virtual apparatus embodiment as shown in Figure 5 , in order to achieve the above-mentioned purpose, the embodiments of the present disclosure further provide an electronic device, which comprises a memory and a processor, the memory is connected with the processor; the memory is used to store a computer program; the processor is used to execute the computer program to implement the method as shown in Figures 1 to 4 .

[0130] Optionally, the electronic device can further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a WI-FI module, and the like. The user interface can include a display, an input unit such as a keyboard, and the like. Optionally, the user interface can further include a USB interface, a card reader interface, and the like. The network interface can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), and the like.

[0131] Those skilled in the art can understand that the above-mentioned entity device structure provided by the embodiments of the present disclosure does not constitute a limitation on the entity device, and can include more or fewer components, or combine certain components, or different component arrangements.

[0132] The storage medium can further include an operating system, a network communication module. The operating system is a program for managing hardware and software resources of the above-mentioned entity device, supporting the running of information processing programs and other software and / or programs. The network communication module is used to realize the communication between the components in the storage medium, and the communication with other hardware and software in the information processing entity device.

[0133] Based on the method as shown in Figures 1 to 4 , and the virtual device embodiment as shown in Figure 5 , the embodiments of the present disclosure further provide a chip including one or more interface circuits and one or more processors; the interface circuit is used to receive a signal from a memory of an electronic device and send the signal to the processor, the signal including computer instructions stored in the memory; when the processor executes the computer instructions, the electronic device performs the method as shown in Figures 1 to 4 .

[0134] Through the description of the above embodiments, those skilled in the art can clearly understand that the present disclosure can be realized by means of software plus necessary general hardware platforms, or by hardware. In the process of using the RTT ranging method for ranging between Bluetooth devices, in the case of residual frequency offset between the sending end and the receiving end, the accuracy of timing calibration through the probe sequence is poor due to the direct current component. The technical scheme provided by the embodiments of the present disclosure can first filter the direct current component corresponding to the probe sequence, i.e. filter out the direct current component affected by the frequency offset, and then perform timing calibration based on the filtered probe sequence. By applying the technical scheme of the embodiments of the present disclosure, the influence of the frequency offset can be avoided, the accuracy of timing calibration through the probe sequence can be improved, the computational complexity is reduced, and the robustness is better.

[0135] It has to be noted that, in the present document, relational terms are intended only to convey a possible relationship between elements or

[0136] The above description is merely that of the specific embodiments of the present disclosure and therefore is not intended to limit the present disclosure. Various modifications made to the embodiments of the present disclosure will be apparent to those skilled in the art to which the present disclosure pertains, and such modifications are not to be interpreted within the scope or spirit of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein but will be construed to include all modifications, equivalents, and substitutes falling within the scope of the present disclosure.

Claims

1. A method of timing calibration, characterized by, The method comprises: receiving a detection sequence; filtering a direct current component corresponding to the detection sequence; performing timing calibration based on the filtered detection sequence, comprising: obtaining a phase difference of a target frequency point based on the filtered detection sequence; obtaining a first adjustment amount caused by a filter and a second adjustment amount caused by sequence sampling point offset; determining a phase difference adjustment amount according to the first adjustment amount and the second adjustment amount; correcting the phase difference according to the phase difference adjustment amount; and performing timing calibration based on the corrected phase difference.

2. The method of claim 1, wherein, The filtering of the direct current component corresponding to the detection sequence comprises: using a filter to filter out frequency components within a preset range corresponding to the direct current component.

3. The method of claim 1, wherein, The timing calibration based on the corrected phase difference comprises: converting the value range of the corrected phase difference; determining a timing adjustment amount according to the converted phase difference; performing timing calibration based on the timing adjustment amount.

4. The method of claim 1, wherein, Before filtering the direct current component corresponding to the detection sequence, the method further comprises: removing a marker signal of the detection sequence; The filtering of the direct current component corresponding to the detection sequence comprises: filtering the direct current component corresponding to the detection sequence after removing the marker signal.

5. A timing calibration apparatus, characterized by comprising: Comprise: a receiving module configured to receive a detection sequence; a processing module configured to filter a direct current component corresponding to the detection sequence; performing timing calibration based on the filtered detection sequence, comprising: obtaining a phase difference of a target frequency point based on the filtered detection sequence; obtaining a first adjustment amount caused by a filter and a second adjustment amount caused by sequence sampling point offset; determining a phase difference adjustment amount according to the first adjustment amount and the second adjustment amount; correcting the phase difference according to the phase difference adjustment amount; and performing timing calibration based on the corrected phase difference.

6. The apparatus of claim 5, wherein: the processing module is specifically configured to use a filter to filter out frequency components within a preset range corresponding to the direct current component.

7. An electronic device, comprising: Comprise: a processor; a memory connected with the processor, the memory storing a computer program, and the computer program being executed by the processor to implement the method of any one of claims 1 to 4.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the method of any one of claims 1 to 4.

9. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the method of any one of claims 1 to 4.

10. A chip, characterized by Comprise one or more interface circuits and one or more processors; the interface circuit is used to receive a signal from the memory of an electronic device, and send the signal to the processor, the signal comprising computer instructions stored in the memory; when the processor executes the computer instructions, the electronic device executes the method of any one of claims 1 to 4.

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