Method and device for returning ranging waves at reflection end, Bluetooth ranging system and medium

Abstract

The invention provides a method and a device for returning ranging waves at a reflection end, a Bluetooth ranging system and a medium, the method is applied to the Bluetooth ranging system, and the Bluetooth ranging system comprises a transmitting end and the reflection end. The method comprises the following steps: a reflecting end determines a target duration according to a time difference between a moment of receiving a ranging wave sent by a transmitting end and a moment of sending and returning the ranging wave; the reflection end determines a lookup table corresponding to the target duration; the reflecting end selects a tap of a Gaussian filter through a lookup table to obtain sampling data sampled by a delayed target time length; and the reflecting end sends back ranging waves to the transmitting end according to the sampling data. The taps are selected through a lookup table method, sampling data can be obtained through delay sampling on the premise that the sampling rate of hardware is not increased, and the ranging waves can be transmitted back more accurately on the basis of low power consumption.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of Bluetooth ranging, and particularly relates to a method and device for reflecting-end back transmission of ranging waves, a Bluetooth ranging system and a medium. BACKGROUND

[0002] In the Bluetooth ranging method, the transmitting end needs to send ranging waves to the reflecting end, and then the reflecting end needs to back transmit time information of ranging to the transmitting end, so that the transmitting end can calculate the distance between the transmitting end and the reflecting end according to the time information of the reflecting end. Currently, the time information of ranging can be directly transmitted by adjusting the signal transmission time of the reflecting end. The reflecting end no longer needs to back transmit the complete arrival time to the initiating end, but adjusts the waveform to make the waveform received by the transmitting end advance by a certain time, thereby realizing in-line transmission.

[0003] However, the time precision of the waveform change sent by the reflecting end is very high, usually higher than the timing sampling precision of the transmitter of the transmitting end. For example, the frequency of the baseband clock of the transmitter needs to be 1 / (0.5ns) to meet the requirements, so that the complexity and power consumption of the transmitter will be very high. Therefore, how the reflecting end can back transmit the ranging wave more accurately on the basis of lower power consumption is a problem to be solved. SUMMARY

[0004] In view of the problems in the prior art, the application provides a method and device for reflecting-end back transmission of ranging waves, a Bluetooth ranging system and a medium. The method and device for reflecting-end back transmission of ranging waves can back transmit the ranging wave more accurately on the basis of lower power consumption.

[0005] The application provides the following solutions.

[0006] In a first aspect, the application provides a method for reflecting-end back transmission of ranging waves. The method is applied to a Bluetooth ranging system, the Bluetooth ranging system includes a transmitting end and a reflecting end, and the method includes the following steps. The reflecting end determines a target time length according to a time difference between a time of receiving ranging waves sent by the transmitting end and a time of back transmitting ranging waves. The reflecting end determines a lookup table corresponding to the target time length. The reflecting end selects taps of a Gaussian filter through the lookup table to obtain sampling data of delaying the target time length. The reflecting end sends back transmission of ranging waves to the transmitting end according to the sampling data.

[0007] In some possible embodiments, the lookup table includes startIdx+OSR×k. startIdx=round(frac_part×OSR×Fbb) frac_part represents the target time length, OSR is an oversampling rate, Fbb is a clock frequency of the transmitter, and k is an integer greater than or equal to 0.

[0008] In some possible embodiments, the reflection end selects the taps of the Gaussian filter through a lookup table, including: The reflection end selects the taps according to startIdx+OSR×k to obtain the sampling data of the delayed target time length samples.

[0009] In some possible embodiments, when the clock frequency of the transmitter is 24MHz, the oversampling rate is greater than or equal to 128.

[0010] In some possible embodiments, the time difference between the time when the reflection end receives the signal and the time when the reflection end sends the signal includes an integer part and a fractional part; The integer part is an integer multiple of the period of the timer of the reflection end; The fractional part is the target time length.

[0011] In some possible embodiments, before the reflection end selects the taps of the Gaussian filter through the lookup table, the method further includes: According to the simulation results, the waveform distortion of the Gaussian filter is compensated to obtain a compensated lookup table.

[0012] In some possible embodiments, the method further includes: The transmission end obtains the target time length according to the backhaul ranging wave; The transmission end determines the distance between the transmission end and the reflection end according to the target time length.

[0013] In a second aspect, the present application also provides a device of a reflection end backhaul ranging wave, including: The time length determination module is configured to determine the target time length according to the time difference between the time when the ranging wave sent by the transmission end is received and the time when the backhaul ranging wave is sent; The lookup table determination module is configured to determine the lookup table corresponding to the target time length; The data obtaining module is configured to select the taps of the Gaussian filter through the lookup table to obtain the sampling data of the delayed target time length samples; The sending module is configured to send the backhaul ranging wave to the transmission end according to the sampling data.

[0014] In some possible embodiments, the lookup table includes startIdx+OSR×k; startIdx=round(frac_part×OSR×Fbb) frac_part represents the target time length, OSR is an oversampling rate, Fbb is a clock frequency of the transmitter, and k is an integer greater than or equal to 0.

[0015] In a third aspect, the present application provides a Bluetooth ranging system, comprising a transmitting end and a reflecting end. The transmitting end is configured to send a ranging wave to the reflecting end. The reflecting end is configured to determine a target time length according to a time difference between a time when the ranging wave sent by the transmitting end is received and a time when a return ranging wave is sent back. The reflecting end is configured to determine a lookup table corresponding to the target time length. The reflecting end is configured to select taps of a Gaussian filter through the lookup table to obtain sampling data of a delay target time length. The reflecting end is configured to send the return ranging wave to the transmitting end according to the sampling data.

[0016] The transmitting end is configured to determine a distance between the transmitting end and the reflecting end according to the return ranging wave.

[0017] In some possible embodiments, the lookup table comprises startIdx+OSR×k. startIdx=round(frac_part×OSR×Fbb) frac_part represents the target time length, OSR is an oversampling rate, Fbb is a clock frequency of the transmitter, and k is an integer greater than or equal to 0.

[0018] In a fourth aspect, the present application provides a computer readable storage medium, which stores a program, and when the program is executed by a multi-core processor, the multi-core processor executes the method for sending back a ranging wave by the reflecting end described above.

[0019] The method for sending back a ranging wave by the reflecting end provided by the embodiments of the present application can select taps through a lookup table, can obtain sampling data through delay sampling without improving the sampling rate of hardware, and thus can obtain a return ranging wave by advancing the waveform of the sampling data by a target time length, so that the return ranging wave can be sent back more accurately at a lower power consumption.

[0020] Other advantages of the present application will be described in more detail in conjunction with the following description and drawings.

[0021] It should be understood that the above description is only a summary of the technical solutions of the present application, so as to enable a clearer understanding of the technical means of the present application, and thus the content of the description can be implemented. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0022] Those of ordinary skill in the art will appreciate the advantages and superiorities of the application together with other advantages that can be apparent upon reading the detailed description of exemplary embodiments. The accompanying drawings are included to provide a description of exemplary embodiments and are not meant to limit the present application. In the drawings: Figure 1 An interactive schematic diagram of a transmitting end and a reflecting end provided for an embodiment of the present application; Figure 2 A flow schematic diagram of a method of reflecting end backhaul ranging wave provided for an embodiment of the present application; Figure 3 A schematic diagram of a sampling waveform of a delay 20.8333ns Gaussian filter provided for an embodiment of the present application; Figure 4 A schematic diagram of an apparatus of reflecting end backhaul ranging wave provided for an embodiment of the present application; Figure 5 A schematic diagram of a Bluetooth ranging system provided for an embodiment of the present application.

[0023] In the drawings, the same or similar notations represent the same or similar parts. DETAILED DESCRIPTION

[0024] Exemplary embodiments of the present application will be described in detail with reference to the drawings, in which exemplary embodiments of the present application are shown. It should be understood that the exemplary embodiments of the present application can be implemented in various forms, and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0025] In the description of the embodiments of the present application, it should be understood that terms such as "include" or "have" are intended to indicate that there is existence of the disclosed features, numbers, steps, actions, components, parts or combinations thereof in the specification, and do not exclude the possibility that one or more other features, numbers, steps, actions, components, parts or combinations thereof exist.

[0026] Unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" herein is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone.

[0027] The terms “first”, “second”, etc. are used only to distinguish the same or similar technical features, and cannot be understood as indicating or implying relative importance or quantity of the technical features. Therefore, the features defined by “first”, “second”, etc. can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of the term “a plurality of” is two or more than two. In addition, it should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0028] In the Bluetooth ranging method, the transmitting end needs to send a ranging wave to the reflecting end, and then the reflecting end needs to feedback the ranging time information to the transmitting end, so that the transmitting end can calculate the distance between the transmitting end and the reflecting end according to the time information generated by the reflecting end. As shown in Figure 1 , the reflecting end needs to feed back to the transmitting end to calculate the distance between the transmitting end and the reflecting end.

[0029]

[0030] The time when the transmitting end sends the ranging wave is , the time when the reflecting end receives the ranging wave is , the time when the reflecting end sends the feedback ranging wave is , the time when the transmitting end receives the feedback ranging wave is , the signal transmission time between the transmitting end and the reflecting end is , and the distance between the transmitting end and the reflecting end can be determined.

[0031] Currently, the direct transmission of time information can be avoided by adjusting the signal transmission time of the reflecting end. The reflecting end no longer needs to feed back the complete arrival time to the initiating end, but sends the waveform in advance , so that the reflecting end receives time information, thereby realizing inline transmission.

[0032] Suppose the clock frequency Fbb sent by the transmitter hardware is 24MHz. In the present application, the time that needs to be sent in advance can be divided into an integer part and a fractional part.

[0033] = (1 / Fbb) × int_part + frac_part The integer part, `int_part`, can be controlled by adjusting the timer, while the fractional part, `frac_part`, has very high precision, typically exceeding the timing sampling precision of the transmitter. Currently, to improve precision, resampling using a Gaussian filter can be employed. The value range of `frac_part` is [0:0.5 / Fbb], with a step requirement of less than 0.5 ns, resulting in very high transmitter complexity and power consumption. Therefore, how to achieve more accurate return of the ranging wave at the reflecting end with lower power consumption is a pressing issue.

[0034] The method for transmitting ranging waves back from the reflecting end provided in this application embodiment can transmit ranging waves more accurately with lower power consumption.

[0035] The present application will now be described in detail with reference to the accompanying drawings and embodiments.

[0036] like Figure 2 As shown in the embodiment of this application, a method for transmitting ranging waves back from a reflecting end is provided. This method is applied to a Bluetooth ranging system, which includes a transmitting end and a reflecting end. The method includes: S201: The reflecting end determines the target duration based on the time difference between the time when the ranging wave is sent by the receiving and transmitting end and the time when the ranging wave is sent back.

[0037] It should be noted that the time difference between the moment the reflector receives the signal and the moment the reflector transmits the signal (i.e., the time difference between the moment the reflector receives the signal and the moment the reflector transmits the signal) is significant. The timer consists of an integer part and a fractional part. The integer part is an integer multiple of the period of the timer at the reflecting end, and the fractional part can be the target duration. In this application, the return ranging wave transmitted by the reflecting end needs to be pre-processed for both the integer and fractional parts. The integer part can be adjusted by changing the timer, but the fractional part will affect the waveform and cannot be directly addressed by the timer.

[0038] S202: Lookup table corresponding to the time required for the reflector to determine the target.

[0039] As one possible implementation, the lookup table provided in this application embodiment includes startIdx + OSR × k; startIdx=round(frac_part×OSR×Fbb) frac_part represents the target duration, OSR is the oversampling rate, Fbb is the transmitter clock frequency, and k is an integer greater than or equal to 0.

[0040] In practical applications, if the oversampling rate OSR = 128 and the transmitter clock frequency Fbb = 24MHz, startIdx_table

[42] = {0,2,3,5,6,8,9,11,12,14,15,17,18,20,22,23,25,26,28,29,31,32,34,35,37,38,40,41,43,45,46,48,49,51,52,54,55,57,58,60,61,63}. Therefore, only 42 tables need to be stored. Obviously, increasing the OSR will not cause the number of tables to increase, so this application can choose a larger OSR. As another example, if OSR=8192 and Fbb=24MHz, then startIdx_table

[42] ={0,98,197,295,393,492,590,688,786,885,983,1081,1180,1278,1376,1475,1573,1671,1769,1868,1966,2064,2163,2261,2359,2458,2556,2654,2753,2851,2949,3047,3146,3244,3342,3441,3539,3637,3736,3834,3932,4030}, it still only needs to store 42 tables.

[0041] S203: The reflector selects the tap of the Gaussian filter through a lookup table to obtain the sampling data of the delayed target duration.

[0042] As one possible implementation, the reflector selects taps according to startIdx + OSR × k to obtain sampled data for the target delay duration. As an example, when the transmitter clock frequency is 24MHz, the oversampling rate can be greater than or equal to 128. In this embodiment, a new Gaussian filter can be formed by selecting the starting tap startIdx and then selecting taps according to startIdx + 128 × k, such as... Figure 3 As shown, a new filter with a delay of 20.8333ns can be formed.

[0043] As one possible implementation, after obtaining the lookup table, embodiments of this application can compensate for the waveform distortion of the Gaussian filter based on simulation results to obtain a compensated lookup table. The applicant has discovered that using OSR=8192 and Fbb=24MHz, the transmitter estimation (…) can be achieved through configuration. The actual value is [0:0.5e-9:1 / 24e6]s ahead of schedule. The difference between the actual and expected values ​​is due to waveform distortion caused by the Gaussian filter, which requires compensation. For OSR=8192 and Fbb=24MHz, the compensated lookup table startIdx_table

[42] ={0,97,192,289,385,481,578,674,771,866,963,1059,1155,1251,1348,1443,1539,1636,1732,1828,1924,2020,2116,2212,2308,2404,2500,2596,2692,2788,2884,2980,3075,3172,3268,3363,3459,3555,3651,3747,3843,3939}.

[0044] S204: The reflecting end sends a return ranging wave to the transmitting end based on the sampled data.

[0045] In practical applications, the ranging wave sent back by the reflecting end based on the sampled data is a waveform that is delayed by the target duration. Thus, after the transmitting end receives the ranging wave, it can infer from the waveform that the reflecting end sent the ranging wave ahead of the target duration, thereby determining the target duration.

[0046] In this embodiment, after the transmitting end sends a return ranging wave to the receiving end based on the sampled data, the transmitting end can determine the distance between the transmitting end and the reflecting end based on the return ranging wave. Specifically, the transmitting end can estimate the target duration based on the return ranging wave, and thus obtain the target duration and timer value. ), and then calculate the distance between the transmitting end and the reflecting end. According to ( The calculation principle for the distance between the transmitting end and the reflecting end has been explained in detail above, and will not be repeated here in the embodiments of this application.

[0047] The method for transmitting ranging waves back from the reflecting end provided in this application embodiment selects taps using a lookup table. This allows for obtaining sampled data through delayed sampling without increasing the hardware sampling rate. The waveform of the sampled data is delayed by a target duration to obtain the transmitted ranging wave, enabling more accurate transmission of the ranging wave with lower power consumption. Furthermore, this application adjusts the taps in the lookup table based on simulation results, which can mitigate the impact of waveform distortion from the Gaussian filter.

[0048] In the description of this specification, references to terms such as "some possible implementations," "some implementations," "example," "specific example," or "some examples" indicate that a specific feature, structure, material, or characteristic described in connection with that implementation or example is included in at least one implementation or example of this application, and the aforementioned terms do not necessarily refer to the same implementation or example. Furthermore, the described specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more implementations or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different implementations or examples described in this specification, as well as the features of different implementations or examples.

[0049] The method flowcharts for embodiments of this application describe certain operations as different steps performed in a certain order. Such flowcharts are illustrative and not restrictive. Some steps described herein may be grouped together and performed in a single operation, or some steps may be divided into multiple sub-steps, and some steps may be performed in an order different from that shown herein. The various steps shown in the flowcharts may be implemented in any way by any circuit structure and / or tangible mechanism (e.g., by software running on a computer device, hardware (e.g., logic functions implemented by a processor or chip), and / or any combination thereof).

[0050] Those skilled in the art will understand that in the methods described in the above specific embodiments, the order in which the steps are written does not imply a strict execution order, and the specific execution order of each step should be determined by its function and possible internal logic.

[0051] Based on the method for transmitting ranging waves back from the reflecting end provided in the above embodiments, this application also provides an apparatus for transmitting ranging waves back from the reflecting end.

[0052] like Figure 4 As shown in the embodiment of this application, the device for transmitting ranging waves back from the reflecting end includes: The duration determination module 100 is used to determine the target duration based on the time difference between the time of the ranging wave sent by the receiving transmitter and the time of the return ranging wave. The lookup table determination module 200 is used to determine the lookup table corresponding to the target duration. The data acquisition module 300 is used to select the tap of the Gaussian filter through a lookup table to obtain the sampling data of the target delay time. The transmitting module 400 is used to send the return ranging wave to the transmitting end based on the sampled data.

[0053] As one possible implementation, the lookup table includes startIdx + OSR × k; startIdx=round(frac_part×OSR×Fbb) frac_part represents the target duration, OSR is the oversampling rate, Fbb is the transmitter clock frequency, and k is an integer greater than or equal to 0.

[0054] In one possible implementation, the data acquisition module 300 selects taps according to startIdx + OSR × k to obtain sampled data for the target delay duration. In another possible implementation, when the transmitter clock frequency is 24MHz, the oversampling rate is greater than or equal to 128.

[0055] As one possible implementation, the time difference between the moment the reflector receives the signal and the moment the reflector transmits the signal includes an integer part and a fractional part; the integer part is an integer multiple of the period of the reflector's timer; and the fractional part is the target duration.

[0056] As one possible implementation, the device also includes a compensation module for compensating for the waveform distortion of the Gaussian filter based on simulation results, thereby obtaining a compensated lookup table.

[0057] It should be noted that the apparatus in the embodiments of this application can implement the various processes of the aforementioned method embodiments and achieve the same effects and functions, which will not be repeated here.

[0058] Based on the method and apparatus for transmitting ranging waves back from the reflecting end provided in the above embodiments, this application also provides a Bluetooth ranging system.

[0059] like Figure 5 As shown, the Bluetooth ranging system provided in this application embodiment includes a transmitter 10 and a reflector 20; Transmitter 10 is used to send ranging waves to reflector 20; The reflector 20 is used to determine the target duration based on the time difference between the time of receiving the ranging wave sent by the transmitter 10 and the time of sending the returned ranging wave. The reflector 20 is used to determine the lookup table corresponding to the target duration; The reflector 20 is used to select the tap of the Gaussian filter through a lookup table to obtain the sampling data of the delayed target duration sampling. The reflector 20 is used to send the return ranging wave to the transmitter 10 based on the sampled data.

[0060] The transmitting end is used to determine the distance between the transmitting end 10 and the reflecting end 20 based on the returned ranging wave.

[0061] As one possible implementation, the lookup table includes startIdx + OSR × k; startIdx=round(frac_part×OSR×Fbb) frac_part represents the target duration, OSR is the oversampling rate, Fbb is the transmitter clock frequency, and k is an integer greater than or equal to 0.

[0062] As one possible implementation, the lookup table includes startIdx + OSR × k; startIdx=round(frac_part×OSR×Fbb) frac_part represents the target duration, OSR is the oversampling rate, Fbb is the transmitter clock frequency, and k is an integer greater than or equal to 0.

[0063] As one possible implementation, the reflector can select taps according to startIdx + OSR × k to obtain sampled data for the delayed target duration. As another possible implementation, when the transmitter clock frequency is 24MHz, the oversampling rate is greater than or equal to 128.

[0064] As one possible implementation, the time difference between the moment the reflector receives the signal and the moment the reflector transmits the signal includes an integer part and a fractional part; the integer part is an integer multiple of the period of the reflector's timer; and the fractional part is the target duration.

[0065] As one possible implementation, the reflector is also used to compensate for the waveform distortion of the Gaussian filter based on simulation results, and to obtain a compensated lookup table.

[0066] As one possible implementation, the transmitter is also used to obtain the target duration based on the returned ranging wave, and to determine the distance between the transmitter and the reflector based on the target duration.

[0067] It should be noted that the Bluetooth ranging system in this application embodiment can implement the various processes of the aforementioned method embodiments and achieve the same effect and function, which will not be repeated here.

[0068] According to some embodiments of this application, a non-volatile computer storage medium is provided for a method of transmitting a ranging wave back from a reflecting end, having stored thereon computer-executable instructions configured to execute, when run by a processor, the method described in the above embodiments.

[0069] Computer-readable media include permanent and non-permanent, removable and non-removable media, which can store information by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory, read-only memory, electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device. Furthermore, although the operations of the methods of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally, certain steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple sub-steps.

[0070] While the spirit and principles of this application have been described above with reference to several specific embodiments, it should be understood that this application is not limited to the disclosed specific embodiments, and the division of aspects does not imply that features in these aspects cannot be combined. This application is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A method for transmitting a ranging wave back from a reflecting end, characterized in that, The method is applied to a Bluetooth ranging system, which includes a transmitter and a reflector, and the method includes: The reflecting end determines the target duration based on the time difference between the time of receiving the ranging wave sent by the transmitting end and the time of sending the returned ranging wave; The reflective end determines the lookup table corresponding to the target duration; The reflecting end selects the tap of the Gaussian filter through a lookup table to obtain the sampling data that is sampled with a delay of the target duration; The reflecting end sends a ranging wave back to the transmitting end based on the sampled data.

2. The method according to claim 1, characterized in that, The lookup table includes startIdx+OSR k; startIdx=round(frac_part OSR Fbb) frac_part represents the target duration, OSR is the oversampling rate, Fbb is the transmitter clock frequency, and k is an integer greater than or equal to 0.

3. The method according to claim 2, characterized in that, The reflecting end selects the tap of the Gaussian filter through a lookup table, including: The reflector selects a tap according to startIdx + OSR × k to obtain sampling data with a delay of the target sampling time.

4. The method according to claim 2, characterized in that, When the clock frequency of the transmitter is 24MHz, the oversampling rate is greater than or equal to 128.

5. The method according to claim 1, characterized in that, The time difference between the moment when the reflector receives the signal and the moment when the reflector sends the signal includes an integer part and a fractional part; The integer part is an integer multiple of the period of the reflective end timer; The decimal part is the target duration.

6. The method according to claim 1, characterized in that, Before selecting the tap of the Gaussian filter at the reflection end using a lookup table, the method further includes: Based on the simulation results, the waveform distortion of the Gaussian filter is compensated to obtain the compensated lookup table.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: The transmitting end obtains the target duration based on the returned ranging wave; The transmitter determines the distance between the transmitter and the reflector based on the target duration.

8. A device for transmitting a ranging wave back from a reflecting end, characterized in that, include: The duration determination module is used to determine the target duration based on the time difference between the time of the ranging wave sent by the receiving and transmitting end and the time of the return ranging wave. The lookup table determination module is used to determine the lookup table corresponding to the target duration; The data acquisition module is used to select the tap of the Gaussian filter through a lookup table to obtain the sampled data sampled with a delay of the target duration. The transmitting module is used to send a return ranging wave to the transmitting end based on the sampled data.

9. The device for transmitting ranging waves back from the reflecting end according to claim 8, characterized in that, The lookup table includes startIdx + OSR × k; startIdx=round(frac_part×OSR×Fbb) frac_part represents the target duration, OSR is the oversampling rate, Fbb is the transmitter clock frequency, and k is an integer greater than or equal to 0.

10. A Bluetooth ranging system, characterized in that, Includes the transmitting end and the reflecting end; The transmitting end is used to send ranging waves to the reflecting end; The reflecting end is used to determine the target duration based on the time difference between the time of receiving the ranging wave sent by the transmitting end and the time of sending the returned ranging wave; The reflective end is used to determine the lookup table corresponding to the target duration; The reflector is used to select the tap of the Gaussian filter through a lookup table to obtain sampled data that is sampled with a delay of the target duration. The reflecting end is used to send a return ranging wave to the transmitting end based on the sampled data. The transmitting end is used to determine the distance between the transmitting end and the reflecting end based on the returned ranging wave.

11. The Bluetooth ranging system according to claim 10, characterized in that, The lookup table includes startIdx + OSR × k; startIdx=round(frac_part×OSR×Fbb) frac_part represents the target duration, OSR is the oversampling rate, Fbb is the transmitter clock frequency, and k is an integer greater than or equal to 0.

12. A computer-readable storage medium storing a program that, when executed by a multi-core processor, causes the multi-core processor to perform the method as described in any one of claims 1-7.

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