Distance measurement method and related device

Abstract

The present invention provides a distance measurement method and related apparatus that achieve higher distance measurement accuracy. [Solution] The distance measurement method includes the steps of: S301, a first device sending a first measurement frame on a first frequency to a second device; S302, receiving a second measurement frame sent by the second device on the first frequency; S303, a first device sending a third measurement frame on a second frequency different from the first frequency to the second device; S304, receiving a fourth measurement frame sent by the second device on the second frequency; S305, a first device acquiring a first measurement result based on the second measurement frame; S306, a first device acquiring a third measurement result based on the fourth measurement frame; and S307, a first device sending the first measurement result and the third measurement result to the third device.

Claims

1. A distance measurement method, The steps include: sending a first measurement frame on a first frequency to a second device using a first device, and receiving a second measurement frame sent by the second device on the first frequency; The first device sends a third measurement frame on a second frequency to the second device, and receives a fourth measurement frame sent by the second device on the second frequency, wherein the second frequency is different from the first frequency. The first device obtains a first measurement result based on the second measurement frame, The first device obtains a third measurement result based on the fourth measurement frame, The first device sends the first measurement result and the third measurement result to the third device, wherein the first measurement result and the third measurement result are used for distance measurement. Methods that include...

2. The method according to claim 1, wherein the first frequency and the second frequency are adjacent frequencies in order of usage time, the first frequency belongs to a first frequency set, the second frequency belongs to a second frequency set, and the first frequency set includes the first frequency and the second frequency set.

3. The aforementioned method, The first device determines the first frequency in the first frequency set in a pseudo-random manner based on a first random seed, The first device determines the second frequency in the second frequency set in a pseudo-random manner based on the second random seed. The method according to claim 1 or 2, further comprising:

4. The aforementioned method, The first device generates and transmits the first random seed and / or the second random seed, or The first device receives the first random seed and / or the second random seed. The method according to claim 3, further comprising:

5. The method according to any one of claims 1 to 4, wherein the first measurement result includes phase information or in-phase and quadrature component IQ information of a single-frequency sinusoidal signal contained in the second measurement frame at a first time point, or phase information or IQ information of a signal obtained by extending the single-frequency sinusoidal signal contained in the second measurement frame according to a single-frequency sinusoidal model at a first time point.

6. The aforementioned method, A step of determining a first timing offset using the first device, wherein the first timing offset represents the timing offset of the first device with respect to the second measurement frame, The first device performs the steps of determining the first time point based on the first timing offset and The method according to claim 5, further comprising:

7. The method according to claim 6, wherein the first time point satisfies T1 = t0 + t1 / 2, where t0 represents a reference time point, t1 represents the first timing offset, and T1 represents the first time point.

8. The step of determining the first timing offset is: The first step of determining the first timing offset by measuring the signal in the second measurement frame using the first device. The method according to claim 6 or 7, including the method described in claim 6 or 7.

9. The aforementioned method, The first device receives a first message and / or sends a first message. The first message further includes the reference time, or The method according to claim 7 or 8, wherein the reference time is a pre-configured or pre-defined time.

10. The aforementioned method, The first device receives and / or sends a second message, wherein the second message indicates a reference value, or the reference value is a pre-configured or pre-defined value. A step of determining the reference time based on the reference value and the first frequency offset, wherein the first frequency offset represents the frequency offset of the first device relative to the second measurement frame. The method according to claim 7 or 8, further comprising:

11. The method according to any one of claims 1 to 10, wherein the single-frequency sinusoidal signal contained within the first measurement frame comprises at least two symbols, each of which is obtained through modulation based on a first sequence by using a first constellation diagram, the first sequence being a sequence comprising N bits, the value of which corresponds to the modulation scheme of the first constellation diagram.

12. The first symbol is obtained through modulation based on the first sequence by using the first constellation diagram. The method according to claim 11, wherein the first symbol is located adjacent to the single-frequency sinusoidal signal and within the first measurement frame, and / or the first symbol is located after the single-frequency sinusoidal signal and within the first measurement frame.

13. The single-frequency sinusoidal signal contained within the first measurement frame includes at least two symbols, each of which is acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on a first bit. The method according to any one of claims 1 to 10, wherein the second symbol is obtained through GFSK modulation based on the first bit, and the second symbol includes a symbol located before and adjacent to the single-frequency sinusoidal signal and within the first measurement frame, and / or a first symbol located after the single-frequency sinusoidal signal and within the first measurement frame.

14. The aforementioned method, The first device receives the distance measurement result. The distance measurement result further includes information regarding the distance between the first device and the second device. The method according to any one of claims 1 to 13.

15. A distance measurement method, The steps include: a second device receiving a first measurement frame transmitted by the first device on a first frequency, and transmitting a second measurement frame to the first device on the first frequency; A step of receiving a third measurement frame transmitted by the first device on a second frequency, and transmitting a fourth measurement frame to the first device on the second frequency, wherein the second frequency is different from the first frequency. The second device obtains a second measurement result based on the first measurement frame, The second device obtains a fourth measurement result based on the third measurement frame, The steps of receiving a first measurement result and a third measurement result from a fourth device by the second device, wherein the first measurement result is the measurement result of the first device on the second measurement frame, and the third measurement result is the measurement result of the first device on the fourth measurement frame, The second device determines the distance between the first device and the second device based on the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result. A method that includes this.

16. The method according to claim 15, wherein the first frequency and the second frequency are adjacent frequencies in order of usage time, the first frequency belongs to a first frequency set, the second frequency belongs to a second frequency set, and the first frequency set includes the first frequency and the second frequency set.

17. The aforementioned method, The second device determines the first frequency in the first frequency set in a pseudo-random manner based on the first random seed, The second device determines the second frequency in the second frequency set in a pseudo-random manner based on the second random seed; The method according to claim 15 or 16, further comprising:

18. The aforementioned method, The second device generates and transmits the first random seed and / or the second random seed, or The second device receives the first random seed and / or the second random seed. The method according to claim 17, further comprising:

19. The aforementioned method, A step of obtaining a second measurement result based on the first measurement frame using the second device, wherein the second measurement result includes phase information or in-phase and quadrature component IQ information of a single-frequency sinusoidal signal contained in the first measurement frame at a second time point, or phase information or IQ information of a signal obtained by extending the single-frequency sinusoidal signal contained in the first measurement frame according to a single-frequency sinusoidal model, and the second measurement result is used for distance measurement. The method according to any one of claims 15 to 18, further comprising:

20. The aforementioned method, A step of determining a second timing offset using the second device, wherein the second timing offset represents the timing offset of the second device relative to the first measurement frame. The second device performs the steps of determining the second time point based on the second timing offset and The method according to claim 19, further comprising:

21. The method according to claim 20, wherein the second time point satisfies T2 = t0 + t2 / 2, where t0 represents the reference time point, t2 represents the second timing offset, and T2 represents the second time point.

22. The step of determining the second timing offset is: The second device measures the signal in the first measurement frame to determine the second timing offset. The method according to claim 20 or 21, including the method described in claim 20 or 21.

23. The aforementioned method, The second device sends a first message and / or receives a first message. The first message further includes the reference time, or The method according to claim 21 or 22, wherein the reference time is a pre-configured or pre-defined time.

24. The aforementioned method, The steps of sending and / or receiving a second message by the second device, wherein the second message indicates a reference value, or the reference value is a pre-configured or pre-defined value; A step of determining the reference time based on the reference value and the second frequency offset, wherein the second frequency offset represents the frequency offset of the second device relative to the first measurement frame. The method according to claim 21 or 22, further comprising:

25. The method according to any one of claims 15 to 24, wherein the single-frequency sinusoidal signal contained within the second measurement frame comprises at least two symbols, each of which is obtained through modulation based on a second sequence by using a second constellation diagram, the second sequence being a sequence comprising M bits, the value of which corresponds to the modulation scheme of the second constellation diagram.

26. The third symbol is obtained through modulation based on the second sequence by using the second constellation diagram. The method according to claim 25, wherein the third symbol is located adjacent to the single-frequency sinusoidal signal and within the second measurement frame, and / or the first symbol is located after the single-frequency sinusoidal signal and within the second measurement frame.

27. The single-frequency sinusoidal signal contained within the second measurement frame comprises at least two symbols, each of which is acquired through Gaussian frequency shift modulation (GFSK) modulation based on a second bit. The fourth symbol is obtained through GFSK modulation based on the second bit, The method according to any one of claims 15 to 24, wherein the fourth symbol is located before and adjacent to the single-frequency sinusoidal signal and is within the second measurement frame, and / or the first symbol is located after the single-frequency sinusoidal signal and is within the second measurement frame.

28. The aforementioned method, The second device sends out the distance measurement result. The distance measurement result further includes information relating to the distance between the first device and the second device. The method according to any one of claims 15 to 27.

29. A communication device comprising a module or unit configured to carry out the method described in any one of claims 1 to 14 or any one of claims 15 to 28.

30. A communication device equipped with a processor, A communication device wherein, when the processor invokes a computer program or instruction in memory, the method according to any one of claims 1 to 14 or the method according to any one of claims 15 to 28 is performed.

31. A communication device equipped with logic circuits and a communication interface, The aforementioned communication interface is configured to receive or transmit information, A communication device wherein the logic circuit is configured to receive or transmit the information through the communication interface, and as a result, the method according to any one of claims 1 to 14 or the method according to any one of claims 15 to 28 is carried out.

32. A computer-readable storage medium, A computer-readable storage medium configured to store instructions or computer programs, wherein when the instructions or computer programs are executed, the method according to any one of claims 1 to 14 or the method according to any one of claims 15 to 28 is implemented.

33. A computer program product comprising instructions or computer programs, A computer program product in which, when the instruction or the computer program is executed, the method according to any one of claims 1 to 14 is implemented, or the method according to any one of claims 15 to 28 is implemented.

34. A terminal device comprising the communication device described in claim 29, the communication device described in claim 30, or the communication device described in claim 31.

35. A vehicle and a system comprising a communication device according to claim 29, or a communication device according to claim 30, or a communication device according to claim 31.

Images