Distance measurement method and apparatus

Abstract

A distance measurement method and apparatus. The method comprises: sending first ranging information, wherein the first ranging information comprises a reference ranging value; and receiving second ranging information, wherein the second ranging information is used for indicating whether a second ranging value is reliable, the second ranging value is obtained by means of a first apparatus performing ranging, and the second ranging information is obtained by the first apparatus on the basis of the reference ranging value and the second ranging value. Thus, the reliability of ranging can be improved when the complexity of data processing by a server is reduced.

Description

Method and apparatus for measuring distance

[0001] This application claims priority from the Chinese patent application No. 202410997081.0 filed on July 23, 2024, and entitled "Method and apparatus for measuring distance", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of communication, and in particular, to a method and apparatus for measuring distance. BACKGROUND

[0003] With the continuous development of communication technology, the demand for positioning of objects in the current scene, such as tags, is increasing. Generally, various ranging technologies can be used to obtain the position of the tag or the direct distance between the tag and other objects, such as anchors. The ranging technology includes ultra wide band (UWB) ranging, which can also be referred to as UWB positioning technology, etc. The UWB positioning technology has the advantages of wide coverage, high precision, and relatively low cost, but also has problems such as hopping.

[0004] In order to solve these problems, the server may need to determine the accuracy of the ranging result obtained by the ranging technology, but how to improve the reliability of the ranging while reducing the data processing complexity of the server becomes a problem to be solved. SUMMARY

[0005] The present application provides a method and apparatus for measuring distance, which can improve the reliability of the ranging while reducing the data processing complexity of the server.

[0006] In a first aspect, the present application provides a method for measuring distance, which can be executed by a first apparatus. In the absence of special description, the "first apparatus" in the present application can refer to the first apparatus (for example, a terminal node (which can also be referred to as a terminal device or a tag), a component (for example, a processor, a chip, or a chip system, etc.) in the first apparatus, or a logic module or software capable of realizing all or part of the functions of the first apparatus, etc.). The method comprises: sending first ranging information, the first ranging information comprising a first ranging value of the first apparatus, the first ranging value being used as a reference value of a second ranging value; receiving second ranging information, the second ranging information being used to indicate whether the second ranging value is reliable, the second ranging value being obtained by the first apparatus through ranging, and the second ranging information being obtained by the first apparatus based on the first ranging value and the second ranging value.

[0007] The first ranging value of the first device can also be referred to as a reference ranging value. The first ranging value is obtained by the first device through a ranging method such as UWB, and represents a distance between the third device and the first device that has been obtained. The second ranging value is obtained by the first device measuring the distance between the current third device and the first device. The third device can determine whether the second ranging value is reliable according to the first ranging value, and carry the determination result in the second ranging information and send it to the first device, so that the first device can determine whether the second ranging value is reliable. Instead of sending the second ranging value to the server to determine whether it is reliable after operation, the reliability of the ranging can be improved while reducing the data processing complexity of the server.

[0008] In a possible implementation, the method further includes determining the first ranging value according to a historical ranging value. For example, the historical ranging value can be a distance between the first device and the third device measured last time, or an average value of multiple ranging values before the current ranging, etc. The first ranging value determined according to the historical ranging value can provide a more effective reference, so that the determination of whether the second ranging value is reliable is more accurate.

[0009] In a possible implementation, the method further includes receiving third ranging information sent by the second device, the third ranging information being obtained by the second device according to the signal for auxiliary positioning; and obtaining the first ranging value according to the third ranging information.

[0010] In a possible implementation, the method further includes that the signal for auxiliary positioning includes a real-time dynamic (RTK) positioning value. The integer solution coordinate (such as the RTK positioning value) in the RTK positioning has high reliability, and is often used as a true value. Therefore, using the RTK positioning value as the first ranging value of the reference ranging can provide a more effective reference, so that the determination of whether the second ranging value is reliable is more accurate.

[0011] In a possible implementation, the second ranging information is further used to indicate the second ranging value, and the method further includes: if the second ranging information indicates that the second ranging value is reliable, sending the second ranging value to the second device; and if the second ranging information indicates that the second ranging value is unreliable, discarding N ranging values including the second ranging value, or sending the second device after modifying the N ranging values, where N is a preconfigured positive integer, that is, N is a parameter configured by the first device itself, and the value of N can be designed and configured according to business conditions.

[0012] In a possible implementation, the first device sends the second ranging information to the second device according to whether the second ranging value is reliable. For example, the second device can be a server or a component in the server.

[0013] Optionally, the second ranging information can carry the unreliable second ranging value, and the third device can modify or discard the received second ranging value, so as to save measurement resources. Alternatively, the second ranging information can indicate that the second ranging value is unreliable, and the second ranging information can not carry the second ranging value, so as to reduce the transmission overhead of the system.

[0014] Optionally, the second ranging information can carry the reliable second ranging value.

[0015] Optionally, the second ranging information can also indicate whether the second ranging value is reliable, so as to help the server determine whether the second ranging value is reliable.

[0016] In a possible implementation, the first ranging information further includes at least one of a first preset threshold and a reference signal source type, wherein the first preset threshold is used to determine whether the second ranging value is reliable, and the reference signal source type is used to indicate the source of the first ranging value.

[0017] The first ranging information can include a plurality of fields, such as a first field corresponding to the first ranging value. The plurality of fields can further include at least one of a second field and a third field. The second field can be a first preset threshold, also referred to as a rejection threshold, used to determine whether the second ranging value is reliable, and the value of the second field is configured by the first device. The third field can be a reference signal source type, also referred to as a first signal source type, used to indicate the source of the first ranging value. For example, the reference signal source type includes an internal source or an external source. By indicating at least one of the first preset threshold or the reference signal source type to the third device, the third device can more accurately determine whether the second ranging value is reliable.

[0018] For example, the third field can be used to represent the internal source or the external source by using one bit, and the single-bit indication of the internal source or the external source can save transmission overhead.

[0019] For example, the first field and the second field can be carried in a variable length of the first ranging information, so that the transmission is more flexible.

[0020] In a second aspect, the present application provides a method for measuring distance, which can be executed by a second communication device. The second communication device in the present application can refer to the second communication device itself (e.g., a terminal node (also referred to as a terminal device or a T node), a component (e.g., a processor, a chip, or a chip system, etc.) in the second communication device, or a logic module or software capable of realizing all or part of the functions of the second communication device, etc.), unless otherwise specified. The method comprises: receiving first ranging information, the first ranging information comprising a first ranging value; and transmitting second ranging information based on a second ranging value obtained by ranging and the first ranging value, the second ranging information being used to indicate that the second ranging value is reliable, or the second ranging information being used to indicate that the second ranging value is unreliable.

[0021] In a possible implementation, the first ranging value is determined according to a historical ranging value.

[0022] In a possible implementation, the first ranging value is determined according to a signal for auxiliary positioning.

[0023] In a possible implementation, the signal for auxiliary positioning comprises an RTK positioning value.

[0024] In a possible implementation, the method further comprises: if an absolute value of a difference between the second ranging value and the first ranging value is less than or equal to a first preset threshold, the second ranging information is used to indicate that the second ranging value is reliable; and if the absolute value of the difference between the second ranging value and the first ranging value is greater than the first preset threshold, the second ranging information is used to indicate that the second ranging value is unreliable.

[0025] In a possible implementation, the first ranging information further comprises at least one of the first preset threshold and a reference signal source type, wherein the first preset threshold is used to determine whether the second ranging value is reliable, and the reference signal source type is used to indicate a source of the first ranging value.

[0026] In a possible implementation, the second ranging information is further used to indicate the second ranging value, and the transmitting the second ranging information comprises:

[0027] The second ranging information is transmitted to at least one communication device, the at least one communication device comprising a third communication device, the third device being the device that transmits the first ranging information.

[0028] It should be understood that the second aspect of the present application corresponds to the technical solution of the first aspect of the present application, and the beneficial effects obtained by each aspect and the corresponding possible implementation are similar, which will not be described here again.

[0029] In a third aspect, the present application provides a third device, which comprises a transmitting module and a receiving module.

[0030] The sending module is configured to send first ranging information, the first ranging information comprising a first ranging value of the first device, the first ranging value being used as a reference value of a second ranging value.

[0031] The receiving module is configured to receive second ranging information, the second ranging information being used to indicate whether the second ranging value is reliable, the second ranging value being obtained by the first device, and the second ranging information being obtained by the first device based on the first ranging value and the second ranging value.

[0032] In a possible implementation, the third device further comprises a processing module configured to determine the first ranging value according to historical ranging values.

[0033] In a possible implementation, the receiving module is further configured to receive third ranging information sent by the second device, the third ranging information being obtained by the second device according to the signal for assisting positioning; and the processing module is further configured to obtain the first ranging value according to the third ranging information.

[0034] In a possible implementation, the signal for assisting positioning comprises an RTK positioning value.

[0035] In a possible implementation, the second ranging information is further used to indicate the second ranging value, the sending module is further configured to send the second ranging value to the second device if the second ranging information indicates that the second ranging value is reliable; and the processing module is further configured to discard N ranging values or send the N ranging values after modification to the second device if the second ranging information indicates that the second ranging value is unreliable, the N ranging values comprising the second ranging value, and N being a preconfigured positive integer.

[0036] In a possible implementation, the first ranging information further comprises at least one of a first preset threshold and a reference signal source type, wherein the first preset threshold is used to determine whether the second ranging value is reliable, and the reference signal source type is used to indicate a source of the first ranging value.

[0037] It should be understood that the third aspect of the present application is the same as the technical solution of the first aspect of the present application, and the beneficial effects achieved by each aspect and the corresponding possible implementation are similar, which will not be described here.

[0038] In a fourth aspect, the present application provides a first device, comprising a receiving module and a sending module.

[0039] The receiving module is configured to receive first ranging information, the first ranging information comprising a first ranging value.

[0040] The sending module is configured to send second ranging information based on the second ranging value obtained by the ranging and the first ranging value, the second ranging information being used to indicate that the second ranging value is reliable, or the second ranging information being used to indicate that the second ranging value is unreliable.

[0041] In a possible implementation, the first ranging value is determined according to a historical ranging value, or the first ranging value is determined according to a signal of auxiliary positioning.

[0042] In a possible implementation, the signal of auxiliary positioning includes an RTK positioning value.

[0043] In a possible implementation, the first device further includes a processing module.

[0044] The processing module is configured to, if an absolute value of a difference between the second ranging value and the first ranging value is less than or equal to a first preset threshold, generate second ranging information used to indicate that the second ranging value is reliable, or if the absolute value of the difference between the second ranging value and the first ranging value is greater than the first preset threshold, generate the second ranging information used to indicate that the second ranging value is unreliable.

[0045] In a possible implementation, the first ranging information further includes at least one of the first preset threshold and a reference signal source type, wherein the first preset threshold is used to determine whether the second ranging value is reliable, and the reference signal source type is used to indicate a source of the first ranging value.

[0046] In a possible implementation, the second ranging information is further used to indicate the second ranging value, and the sending module is specifically configured to send the second ranging information to at least one communication device, the at least one communication device including a third communication device, the third device being the device that sends the first ranging information.

[0047] It should be understood that the fourth aspect of the present application corresponds to the technical solution of the first aspect of the present application, and is the same as the technical solution of the second aspect of the present application, and the beneficial effects obtained by each aspect and the corresponding possible implementation manner are similar, which will not be described here.

[0048] In a fifth aspect, the present application provides a communication device, which can be a node or a device (for example, a chip) in a node. The communication device includes a module for executing the method as described in any of the above aspects or any possible implementation manner of any aspect, for example, a processing module and a transceiver module.

[0049] In a sixth aspect, the present application provides a communication device, which can be a node or a device (for example, a processor, a chip, or a chip system, etc.) in a node. The communication device includes a transceiver and a processor for executing the method as described in any of the above aspects or any possible implementation manner of any aspect.

[0050] Optionally, the communication device comprises a transceiver, a memory and a processor for performing the method according to any one of the preceding aspects or any possible implementation of any one of the preceding aspects. The memory can be arranged in the communication device or can be external to the communication device.

[0051] In a seventh aspect, the present application provides a communication device, comprising: an input / output interface, configured to obtain input information and / or output information; and a logic circuit, configured to perform the method according to any one of the preceding aspects or any possible implementation of any one of the preceding aspects, and process the input information and / or generate the output information.

[0052] In an eighth aspect, the present application provides a communication device, comprising at least one processor and a storage medium, the at least one processor being coupled to the storage medium, and the storage medium storing instructions which, when executed by the processor, cause the processor to perform the method according to any one of the preceding aspects or any possible implementation of any one of the preceding aspects. The storage medium can be arranged in the communication device or can be external to the communication device.

[0053] In a ninth aspect, the present application provides a computer-readable storage medium, storing a computer program which, when executed on a processor, implements the method according to any one of the preceding aspects or any possible implementation of any one of the preceding aspects.

[0054] In a tenth aspect, the present application provides a computer program product comprising instructions which, when executed on a processor, implement the method according to any one of the preceding aspects or any possible implementation of any one of the preceding aspects.

[0055] In an eleventh aspect, the present application provides a chip, comprising: an interface circuit and a processor. The interface circuit and the processor are connected, and the processor is configured to cause the chip to perform the method according to any one of the preceding aspects and the part or all operations included in any possible implementation of any one of the preceding aspects.

[0056] In a twelfth aspect, the present application provides a chip, comprising: at least one processor, configured to execute code in a memory. When the at least one processor executes the code, the chip implements the method according to any one of the preceding aspects and the part or all operations included in any possible implementation of any one of the preceding aspects.

[0057] Optionally, the chip further comprises a memory. The memory can be integrated with the processor, or can be arranged separately from the processor. The memory can be integrated on the same chip as the processor, or can be arranged on a different chip.

[0058] Optionally, the chip can be an integrated circuit.

[0059] In a thirteenth aspect, the present application provides a system, which comprises the first communication device according to the third aspect, and the second communication device according to the fourth aspect.

[0060] In a fourteenth aspect, the present application provides a system, which comprises the communication device according to any one of the third aspect to the twelfth aspect.

[0061] It should be understood that the fifth aspect to the fourteenth aspect of the present application are consistent or corresponding with the technical solutions of the first aspect and the second aspect of the present application, and the beneficial effects obtained by each aspect and the corresponding feasible implementation manners are similar, which will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0063] Fig. 1 is a structural schematic diagram of a communication system 100 provided by an embodiment of the present application;

[0064] Fig. 2 is a flow schematic diagram of a method for measuring distance provided by an embodiment of the present application;

[0065] Fig. 3 is a flow schematic diagram of another method for measuring distance provided by an embodiment of the present application;

[0066] Fig. 4 is a flow schematic diagram of still another method for measuring distance provided by an embodiment of the present application;

[0067] Fig. 5 is a flow schematic diagram of still another method for measuring distance provided by an embodiment of the present application;

[0068] Fig. 6 is a flow schematic diagram of still another method for measuring distance provided by an embodiment of the present application;

[0069] Fig. 7 is a structural schematic diagram of a third device provided by an embodiment of the present application;

[0070] Fig. 8 is a structural schematic diagram of another third device provided by an embodiment of the present application;

[0071] FIG. 9 is a structural schematic diagram of a first device according to an embodiment of the present application;

[0072] FIG. 10 is a structural schematic diagram of another first device according to an embodiment of the present application;

[0073] FIG. 11 is a structural schematic diagram of a device 60 according to an embodiment of the present application;

[0074] FIG. 12 is a structural schematic diagram of a device 70 according to an embodiment of the present application. DETAILED DESCRIPTION

[0075] In order to make the personnel in the technical field better understand the scheme in the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0076] The term "and / or" in the present application is only used to describe 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, where A and B can be single or multiple. "At least one of the following" or similar expressions are used to represent any combination of the listed items, for example, at least one of A, B and (or) C can mean that A exists alone, B exists alone, C exists alone, A and B exist together, B and C exist together, A and C exist together, and A, B and C exist together, where A, B and C can be single or multiple.

[0077] The terms "first" and "second" and the like in the description and claims of the embodiments of the present application are used to distinguish different objects, rather than to describe a specific order of the objects. For example, the first target object and the second target object are used to distinguish different target objects, rather than to describe a specific order of the target objects.

[0078] In the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Rather, the use of "exemplary" or "for example" is intended to present relevant concepts in a concrete manner.

[0079] In the description of the embodiments of the present application, unless otherwise specified, "a plurality of" means two or more. For example, a plurality of processing units means two or more processing units; a plurality of systems means two or more systems.

[0080] For the convenience of understanding, the related terms or terms used in the embodiments of the present application are explained as follows:

[0081] 1. UWB ranging

[0082] Including various ranging methods, such as two-way ranging (TWR) and one-way ranging / time-difference of arrival (OWR / TDOA), TWR includes single-sided two-way ranging (SS-TWR) and double-sided two-way ranging (DS-TWR) and the like.

[0083] Among them, SS-TER includes measuring the round-trip time of a single message to perform ranging (or positioning), such as measuring the distance between device A and device B by measuring the time of a message from device A to device B and then returned to device A. DS-TWR can be extended on the basis of SS-TER, which can use and combine the round-trip time between device A and device B to perform ranging, which includes using three messages or four messages between device A and device B to perform ranging. OWR / TDOA includes a technology for positioning based on the difference in transmission time using a single message or multiple messages.

[0084] 2. RTK

[0085] Including reference station and flow station, the three-dimensional coordinate information of the reference station is generally known, and the flow station performs real-time difference operation based on the relative positioning principle on the basis of the reference station data and its own data to obtain the three-dimensional coordinates of the flow station. The positioning accuracy of RTK is high, and the reliability of the positioning is also high.

[0086] FIG. 1 is a structural schematic diagram of a communication system 100 provided by an embodiment of the present application. As shown in FIG. 1, the communication system 100 can include at least one base station 10, a server 20 and at least one terminal device 30. In the communication system 100, the base station 10, the server 20 and the at least one terminal device 30 can perform positioning on one or more terminal devices 30 by using a ranging technology such as UWB ranging. Optionally, in different communication scenarios, the devices in the communication system 100 can use different names. For example, in the communication scenarios of positioning, ranging and the like, the base station 10 can be referred to as an anchor, and the terminal device 30 can be referred to as a tag, and the like. The method for measuring distance provided by the embodiment of the present application can be applied in different systems (such as the example system provided by the embodiment of the present application, the communication system 100). The system can include a wireless local area network (WLAN), a narrowband Internet of Things (NB-IoT), a global system for mobile communications (GSM), an enhanced data rates for GSM evolution (EDGE), a wideband code division multiple access (WCDMA), a code division multiple access 2000 (CDMA2000), a time division-synchronous code division multiple access (TD-SCDMA), an LTE system, satellite communication, a fifth-generation (5G) communication system, a sixth-generation (6G) communication system or a new communication system to be developed in the future. The communication system 100 can also include a wireless short-range communication system and a wireless communication system supporting longer distance transmission (such as 1 km to 18 km, more than 18 km) (such as a next-generation satellite flash wireless communication system) and the like. The wireless short-range communication system can include Bluetooth and the like, and can also include a wireless short-range communication technology (also referred to as Starlink 1.0 technology). The wireless short-range communication system has the advantages of ultra-low latency, ultra-high reliability, precise synchronization and the like, and is suitable for applications in scenarios such as intelligent vehicles, smart homes, intelligent terminals and intelligent manufacturing.The wireless communication system supporting longer distance transmission (such as 1km-18km) mainly includes next-generation star flash wireless communication systems, such as Star Flash 2.0 wireless communication system, Star Flash 3.0 wireless communication system, etc., which are not only suitable for communication scenarios with low time delay requirements, such as the above vehicle-mounted communication, industrial control, etc., but also can be applied to communication scenarios with no high time delay requirements.

[0087] The tag in the embodiments of the present application is a device, apparatus, module, chip or chip system with transceiving function, which can also be referred to as terminal device, terminal node, user equipment (UE), access terminal, subscriber unit, user station, mobile station (MS), mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user equipment. The tag in the embodiments of the present application can be a mobile phone, cellular phone, smart phone, Pad, mouse, remote controller, stylus, set-top box, router, camera, screen, smart screen, wireless data card, personal digital assistant (PDA), wireless modem, handset, laptop computer, smart watch, smart bracelet, wireless earphone, electronic conference whiteboard, machine type communication (MTC) terminal, computer with wireless transceiving function, virtual reality (VR) terminal, augmented reality (AR) terminal, smart home device (for example, refrigerator, television, air conditioner, washing machine, electric rice cooker, table lamp, electric meter, etc.), smart robot, mechanical arm, workshop equipment, wireless terminal in self-driving, wireless terminal in industrial control, wireless terminal in self-driving, wireless terminal in remote medical, wireless terminal in smart grid, wireless terminal in transportation safety, wireless terminal in smart city, wireless terminal in smart home, vehicle-mounted terminal, vehicle-mounted screen, vehicle-mounted audio, vehicle key, road side unit (RSU) with terminal function, etc., flight equipment (for example, smart robot, hot air balloon, unmanned aerial vehicle, airplane), etc. The tag provided in the embodiments of the present application can also be a vehicle-mounted module, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip or vehicle-mounted unit built in a vehicle as one or more components or units. The tag can also be other devices with terminal function, etc.

[0088] Among them, the wearable device can also be called a wearable smart device, which is a general term of devices that can be designed and developed by applying wearable technology to daily wear, such as glasses, gloves, watches, clothing, and shoes. The wearable device is a portable device that is directly worn on the body or integrated into the clothes or accessories of the user. The wearable device is not only a hardware device, but also a powerful function realized through software support and data interaction, cloud interaction. The general wearable smart device includes a full function, a large size, and can realize complete or partial functions without relying on a smart phone, such as a smart watch or smart glasses, and focuses on only one application function, and needs to cooperate with other devices such as a smart phone, such as various smart bracelets, smart jewelry, and the like for monitoring body signs.

[0089] The anchor point (anchor) involved in the embodiments of the present application is a device, equipment, module, chip or chip system with transceiving function, which includes but is not limited to a network device, an access network device, a management device, a management node, an access network node, a radio access network (RAN) node, a RAN entity or an access node, a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP or transmission point, TP), a next generation NodeB (gNB), a next generation base station in a sixth generation (6G) mobile communication system, a base station in a future mobile communication system, or an access node (AP) in a wireless fidelity (Wi-Fi) system, etc. The anchor point (anchor) can be a macro base station, a micro base station or an indoor station, a relay node or a donor node, an open radio access network (ORAN), or a wireless controller in a centralized radio access network (CRAN) scenario. The anchor point (anchor) can also be one or a group (including multiple antenna panels) of antenna panels of a base station in the fifth generation (5G), or can also be a network node constituting a gNB, a TRP or a TP or a transmission measurement function (TMF), such as a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), a road side unit (RSU) with base station function. Optionally, the anchor point (anchor) can also be a server, a wearable device, a vehicle or a vehicle-mounted device, etc. Optionally, the anchor point (anchor) can also be a control unit in unmanned driving, a central controller of a smart factory / smart home, a handheld or automatic control remote sensing of a flight device, etc. Optionally, the anchor point (anchor) can also be a control device such as a central control or a control panel, such as a controller of an unmanned aerial vehicle, a control unit in industrial control.All or part of the functions of the anchor in this application can also be implemented by software functions running on hardware, or by virtualized functions instantiated on a platform, such as a cloud platform. The anchor provided in the embodiments of the application can also be a logical node, a logical module or software capable of implementing all or part of the functions of the anchor.

[0090] The server involved in the embodiments of the application includes but is not limited to a service device configured on the side of a core network or a data network (DN), etc. The server can include network elements with different functions, which are not limited in the embodiments of the application.

[0091] It should be pointed out that the scheme in the embodiments of the application can also be applied to other communication systems, and the corresponding names can also be replaced by the names of the corresponding functions in other communication systems.

[0092] Referring to the example of FIG. 1, assuming in a ranging scenario, a terminal device 30, i.e., a tag, can interact with multiple base stations 10, each base station 10 being an anchor corresponding to the tag, and each anchor obtains a distance value from the tag. Referring to FIG. 1, assuming that three base stations 10 are included in the communication system 100, denoted as anchors A, B and C, respectively, anchor A measures (e.g., through TWR ranging) to determine that the distance between it and the tag is d1, anchor B measures (e.g., through TWR ranging) to determine that the distance between it and the tag is d2, and anchor C measures (e.g., through TWR ranging) to determine that the distance between it and the tag is d3. Each anchor can send (or referred to as feedback) the measured distance value to the tag, and the tag sends the obtained ranging values to the server 20. The server 20 designs a related algorithm to determine whether the received ranging values are reliable and can be used to calculate the position of the tag, and calculates the position of the tag. This method of calculating the distance value of the tag to obtain the position has some problems: first, in a complex environment, although UWB ranging is used by each anchor, which has wide positioning coverage, high accuracy and relatively low cost, a single positioning technology has problems such as bias and jump. Generally, multiple positioning technologies can be considered to be fused to improve such problems. For the convenience of expression, the fusion of multiple positioning technologies (the positioning technology is not limited in the embodiments of the present application, and any positioning technology can be regarded as a positioning technology) is referred to as multi-positioning technology fusion, which can be named according to the use scenario, and is not limited to the "multi-positioning technology fusion" provided in the embodiments of the present application. In the case of multi-positioning technology fusion, although the advantages of different technologies are complementary, the possibility of bias, jump and other problems is reduced, but it is more important to determine under what circumstances to trust or reject (reject or rejection) the UWB data source (i.e., the ranging value obtained by each anchor) and the influence on the fusion performance. Based on this situation, the server 20 usually performs a relatively complex operation on the measurement data obtained by the multi-positioning technology fusion, to determine whether the measurement data (such as the ranging value) is reliable. For reliable data, trust is selected, and for unreliable data, rejection is selected. Although this method can calculate whether the ranging value measured by each anchor is reliable through the server 20, all data is processed on the server side, which causes problems such as high algorithm design threshold and complex data processing logic.Secondly, in the case of problems in the anchor device itself, the tag is difficult to identify the ranging error introduced by the anchor, and how to exclude the ranging error caused by problems in the anchor device itself is also a problem.

[0093] The embodiment of the present application provides a method for measuring distance, which can effectively solve the above problems. FIG. 2 is a flowchart of a method for measuring distance provided by the embodiment of the present application, which is taken as an example for explaining that the method is executed by a third device (for example, a processor, a chip, or a chip system, etc.), which can be a device or a component in the tag, or the tag itself, and the embodiment of the present application does not make any limitation. As shown in FIG. 2, the method comprises S101 and S102.

[0094] S101, the third device sends first ranging information, the first ranging information comprising a first ranging value of a first device, and the first ranging value is used as a reference value of a second ranging value.

[0095] Optionally, the third device can obtain the first ranging value of the first device in different ways, and the first ranging value can also be referred to as a reference ranging value. The first ranging value of the first device can comprise a distance between the third device and the first device (i.e., the present device) measured by the first device, and the distance value is obtained; or the first ranging value of the first device can comprise a ranging value obtained by the first device through other ways, for example, the first device obtains positioning information of the third device, the positioning information comprising three-dimensional information, etc., and the first device obtains the distance between the third device and itself based on the position of the first device and the positioning information, and the distance value is obtained. Wherein, the first device can be an anchor, or a device or a component in the anchor, etc. The distance between the first device and the third device obtained by the first device is referred to as the first ranging value of the first device, and the name is not limited, for example, it can also be referred to as the first ranging value corresponding to the first device, and the ranging value representing the distance between the first device and the third device, etc.

[0096] For example, the first ranging value (i.e., the reference ranging value) can be obtained according to the historical ranging value of the tag, or obtained according to the historical positioning of the tag, or the current positioning data of the tag, etc. Referring to the example of FIG. 1, assuming that the third device is a tag, the anchor A can obtain the distance value between the anchor A and the tag, and the distance value is the first ranging value of the anchor A; the anchor B can obtain the distance value between the anchor B and the tag, and the distance value is the first ranging value of the anchor B, etc.

[0097] S102, the third device receives second ranging information, the second ranging information is used to indicate whether the second ranging value is reliable, the second ranging value is obtained by the first device, and the second ranging information is obtained by the first device based on the first ranging value and the second ranging value.

[0098] Optionally, the second ranging information can indicate that the second ranging value is reliable, and the reliable second ranging value is carried in the second ranging information; or the second ranging information can indicate that the second ranging value is unreliable, and the second ranging information can not carry the second ranging value, so as to reduce the transmission overhead of the system.

[0099] Optionally, the second ranging information can also carry the unreliable second ranging value, and the third device can modify or discard the received second ranging value, so as to save the measurement resource.

[0100] The second ranging value is obtained by the first device measuring the distance between the current third device and the first device. For example, referring to FIG. 1, the third device is a tag A, and the first device is an anchor A. After the anchor A measures the current position of the tag A (for example, by TWR, the method of obtaining the ranging value by TWR can refer to the description of S305 in the following example), the anchor A determines that the distance between the anchor A and the tag A is d4, and the second ranging value of the anchor A is d4, or simply referred to as the second ranging value is d4. The ranging of other anchors, such as anchor B and anchor C, refers to the example of anchor A, and will not be described in detail. Assuming that the first ranging value received by the anchor A is d5, the anchor A can determine whether the second ranging value d4 is reliable according to the second ranging value d4 and the first ranging value d1, and generate a second ranging message according to the second ranging information and send it to the terminal device 30. The terminal device 30 can determine whether the second ranging value is reliable according to the indication of the second ranging information.

[0101] The third device can determine whether the second ranging value is reliable according to the indication of the second ranging information, and effectively eliminate the influence of unreliable ranging values on the ranging result, so that the ranging is more accurate. Meanwhile, since the third device can determine whether the second ranging value is reliable, the server does not need to determine whether to trust or reject the second ranging value through complex calculation, thereby effectively reducing the calculation difficulty of the server.

[0102] In a possible implementation, after receiving the second ranging value and the indication of whether the second ranging value is reliable, the third device can perform a processing of trusting or rejecting (e.g., rejection) the second ranging value according to the indication of the second ranging information, for example, sending the trusted second ranging value to the server, or rejecting (e.g., rejection) the unreliable second ranging value, for example, modifying the unreliable second ranging value, or discarding the unreliable second ranging value, so as to improve the transmission efficiency of the correct second ranging value. In this way, the processing of trusting or rejecting (e.g., rejection) the second ranging value can be performed at the third device side, thereby reducing the calculation overhead of the server.

[0103] FIG. 3 is a flow diagram of another method for measuring a distance according to an embodiment of the present application. The method is described by taking an example of a first device (e.g., a processor, a chip, or a chip system) as an example. The first device can be a terminal device or a device or component in an anchor, or can be the anchor itself, which is not limited in the present application. As shown in FIG. 3, the method includes S201 and S202.

[0104] S201, the first device receives first ranging information, and the first ranging information includes a first ranging value.

[0105] The manner of obtaining the first ranging value can refer to the description in the examples of S101, S302, S401, or S502 in the embodiments of the present application, which will not be described here.

[0106] S202, the first device sends second ranging information based on the second ranging value obtained by ranging and the first ranging value, the second ranging information being used to indicate that the second ranging value is reliable, or the second ranging information being used to indicate that the second ranging value is unreliable.

[0107] Optionally, the second ranging information can indicate that the second ranging value is reliable, and the reliable second ranging value is carried in the second ranging information; or the second ranging information can indicate that the second ranging value is unreliable, and the second ranging information can not carry the second ranging value to reduce the transmission overhead of the system; or the second ranging information can indicate that the second ranging value is unreliable and carry the unreliable second ranging value.

[0108] The first device can measure the position of the second device to obtain the second ranging value, and determine whether the second ranging value is reliable based on the first ranging value sent by the first device. If it is determined that the second ranging value is reliable, the generated second ranging information can indicate that the second ranging value is reliable, and if it is determined that the second ranging value is unreliable, the generated second ranging information can indicate that the second ranging value is unreliable.

[0109] The first device indicates whether the second ranging value is reliable by sending the second ranging information to the third device, helps the third device to determine whether the second measurement value is reliable, thereby effectively excluding the influence of unreliable ranging values on the ranging result, and makes the ranging more accurate. At the same time, since the third device can determine whether the second ranging value is reliable, it is no longer necessary to send all the second ranging values to the server for complex calculation by the server to determine whether the second ranging value is reliable, thereby effectively reducing the calculation difficulty of the server.

[0110] In a possible implementation, the third device receives the second ranging information, the second ranging information including the second ranging value and an indication of whether the second ranging value is reliable, and the third device can perform a trusted or rejected processing on the second ranging value based on the indication of the second ranging information, such as sending the trusted second ranging value to the server, or rejecting the unreliable second ranging value, the rejecting the unreliable second ranging value including modifying the unreliable second ranging value or discarding the unreliable second ranging value, to improve the transmission efficiency of the correctly transmitted second ranging value.

[0111] The embodiment of the present application can be applied in a tag positioning scenario, including a tracking scenario, an automatic driving identification scenario and different scenarios. FIG. 4 takes an anchor A and a tag as an example to illustrate a distance measurement method. The anchor A is any one of a plurality of anchors for measuring a tag. FIG. 4 is a flowchart of another distance measurement method provided by the embodiment of the present application. As shown in FIG. 4, the method includes S301-S308.

[0112] S301, the tag initiates a ranging process to the anchor A.

[0113] In different scenarios, the tag can initiate a ranging process to multiple anchors. The embodiment of the present application takes the tag initiating a ranging process to the anchor A as an example to illustrate the ranging. Other anchors can implement ranging according to the operation of the anchor A. It should be understood that in different scenarios, there can be multiple tags. The embodiment of the present application takes one of the tags as an example to illustrate the ranging. Other tags, such as a tag', a tag A and the like, can implement ranging according to the operation of the tag in the embodiment of the present application or implement ranging with a reference ranging value based on the second ranging value obtained by the anchor A in S307. For example, FIG. 4 of the embodiment of the present application illustrates the tag' implementing ranging with a reference ranging value based on the second ranging value obtained by the anchor A in S307, which is an example for illustration but is not limited.

[0114] For example, the ranging process can be triggered by initiating first ranging information, triggered by other information, initiated according to an agreed time between the tag and the anchor A, and the like, which is not limited by the example of the embodiment of the present application.

[0115] S302, the tag determines a first ranging value of the anchor A according to a historical ranging value.

[0116] The historical ranging values ​​of a tag can be ranging values ​​saved by this device. Optionally, they can be ranging values ​​received by the tag from other devices and saved, such as those obtained from a server or from anchors. One possible implementation is that if a tag receives distance values ​​from three different anchors, it can save the historical ranging values ​​for each anchor accordingly. For example, if the tag received a ranging value d1 from anchor A, then anchor A corresponding to d1 can be saved as a historical ranging value; if the tag received a ranging value d2 from anchor B, then anchor B corresponding to d2 can be saved as a historical ranging value; and if the tag received a ranging value d3 from anchor C, then anchor C corresponding to d3 can be saved as a historical ranging value. Based on the historical ranging values ​​of each anchor point, the tag determines the first ranging information to send to that anchor point. This first ranging information carries the first ranging value corresponding to that anchor point. For example, if the tag needs to initiate a positioning process to anchor point A, it determines the first ranging value to be d1 based on the historical ranging value d1 corresponding to anchor point A. The tag then sends the first ranging information to anchor point A, carrying the first ranging value d1.

[0117] This application uses the historical ranging value as an example of the distance between the tag and anchor point A, but it is not limited to that. The historical ranging value can also be the distance between the tag and other devices or fixed objects, or it can be the three-dimensional spatial position of the tag, etc.

[0118] S303, The tag sends the first ranging information to anchor point A.

[0119] For example, the first ranging information includes a first ranging value of anchor A, and at least one of a first preset threshold and a reference signal source type.

[0120] The first ranging information can include a plurality of fields, such as a first field including the first ranging value d1 determined in S302. The plurality of fields can further include at least one of a second field and a third field. The second field can be a first preset threshold, which can also be referred to as a rejection threshold, and is used to determine whether the second ranging value is reliable. For example, the first preset threshold is a parameter configured by a tag. The third field can be a reference signal source type, which can also be referred to as a first signal source type, and is used to indicate the source of the first ranging value. For example, the reference signal source type includes an internal source or an external source. If the tag records (or stores) the ranging value of the anchor A in the last time (or the previous time) as the first ranging value, the first ranging value can be identified as the internal source. If the tag obtains the first ranging value according to a message sent by another device, the first ranging value can be identified as the external source.

[0121] In a possible implementation, the anchor A can obtain the first preset threshold in other manners, such as that the anchor A configures the threshold by itself, or that the anchor A receives the first preset threshold from other messages of the tag, or that the tag receives the first preset threshold from other devices, such as a server, and the like. In summary, the anchor A can obtain the first preset threshold.

[0122] For example, the third field can be used to indicate the internal source or the external source by using one bit, such as that “0” is used to indicate the internal source, and “1” is used to indicate the external source, or that “1” is used to indicate the internal source, and “0” is used to indicate the external source. The one-bit indication of the internal source or the external source can save transmission overhead.

[0123] For example, the first field and the second field can be carried in a variable length of the first ranging information, so that transmission is more flexible.

[0124] S304, the anchor A receives the first ranging information.

[0125] S305, the anchor A measures the second ranging value.

[0126] The anchor A can obtain the second ranging value by using a UWB ranging technology or the like. For example, the tag initiates measurement, such as that the tag sends an information (such as a measurement information (poll) or an identity of the measurement information (poll ID)) for initiating measurement, and the anchor A can obtain the second ranging value according to Formula 1.

[0127] Wherein, TOF(time of flight) is a kind of time of flight method, that is, a kind of distance measurement method based on that original signal is back and forth between tag and anchor A twice;Response reception time (time of response reception, TRR) refers to the time required for pulse or signal, such as signal (poll) from the sending end to the target and is received back;Time of sending poll (TSP) indicates the time point of sending signal (poll);Time of sending response (TSR) refers to the time that the target receives the request of the sending end and feedback response signal;Time of receive pulse (TRP) refers to the time that the receiving end (i.e. the receiving end opposite to the target sending signal) receives the response signal from the target;Time start final (TSF) refers to the starting time of the last sent signal;Time Receive final (TRF) refers to the time of completely receiving and processing the signal.Formula 1 obtains the time of light propagation required for signal transmission between the sending end and the target for four times through four sections of signal transmission, and then obtains four times of the distance between the sending end and the target according to time of flight method and speed of light, and finally divides by 4 to obtain d, which is the second distance value.

[0128] It should be understood that the sending end can be anchor A, and the target can be tag, and d is the distance value between anchor A and tag.

[0129] Optionally, anchor A can be triggered by first ranging information to indicate the ranging process, or other information sent by tag to indicate the ranging process, and the embodiments of the application are not limited.

[0130] S306, the absolute value of the difference between the second ranging value measured by anchor A and the first ranging value, if less than or equal to the first preset threshold, the second ranging value is determined to be reliable, and the second ranging information is generated to indicate that the second ranging value is reliable;If greater than the first preset threshold, the second ranging value is determined to be unreliable, and the second ranging information is generated to indicate that the second ranging value is unreliable.

[0131] For example, if the second ranging value obtained by using UWB ranging jumps, it indicates that the second ranging value is unreliable. That is, whether the second ranging value jumps or not can be identified by comparing the second ranging value with a historical ranging value, such as the last ranging value (for example, the first ranging value d1 provided in the embodiment of the present application). For example, if the second ranging value measured by the anchor A is d4, it can be determined that the second ranging value is reliable according to formula 2, and it can be determined that the second ranging value is unreliable according to formula 3. |d4-d1|≤δ Formula 2 |d4-d1|>δ Formula 3

[0132] Wherein, δ is the first preset threshold, and the value thereof can be designed and configured according to the business situation, which is not limited in the embodiment of the present application.

[0133] Optionally, after the anchor A measures the second ranging value, it can also determine whether the second ranging value is reliable according to the other comparison relationship between the difference between the second ranging value and the first ranging value and the first preset threshold. The S306 and the formula 1 and the formula 2 in the embodiment of the present application are only examples, which are not limited.

[0134] For example, in the case where the anchor A determines that the difference between the second ranging value and the first ranging value is less than or equal to the first preset threshold, the second ranging value and the indication that the second ranging value is reliable can be carried in the generated second ranging information. For example, the indication that the second ranging value is reliable can be rejection signaling (that is, the signaling indicates reliability). In the case where the anchor A determines that the difference between the second ranging value and the first ranging value is greater than the first preset threshold, the indication that the second ranging value is unreliable can be carried in the generated second ranging information. For example, the second ranging information can be represented by (d4, 0), the second ranging value d4 is unreliable (that is, 0 indicates that d4 is unreliable). Alternatively, the second ranging value can not be carried in the second ranging information. The indication that the second ranging value is unreliable by using “0” is only an example, which is not limited.

[0135] For example, the second ranging information can carry the second ranging value in variable length, so that the transmission is more flexible. The second ranging information can carry 1 bit of information to indicate whether the second ranging value is reliable.

[0136] S307, the anchor A broadcasts the second ranging information.

[0137] The anchor A broadcasts the second ranging information. In addition to the tag that can receive the first ranging information, other devices, such as other tags, can also receive the second ranging information, so as to obtain the second ranging value according to the second ranging information. In other words, the reference ranging value can be provided for other devices (including the tag without the reference ranging value, such as the tag'). The tag with the reference data source can indicate the tag' without the reference data source, so as to help the tag' to obtain the reference ranging value when performing positioning or ranging, and thus the ranging is more accurate.

[0138] In S308, the tag receives the second ranging information. If the second ranging information indicates that the second ranging value is reliable, the second ranging value is sent to the second device. If the second ranging information indicates that the second ranging value is unreliable, N ranging values including the second ranging value are discarded or modified and then sent to the second device, where N is a positive integer configured in advance.

[0139] The second device provided in the embodiment of the present application can be a server or a device in the server.

[0140] For example, N is a positive integer configured in advance by the tag. The value of N can be designed and configured according to business conditions, which is not limited in the embodiment of the present application.

[0141] When the tag receives the unreliable second ranging value, the accuracy of the second ranging value sent to the server can be improved by modifying or discarding the second ranging value that is not sent to the server. On the one hand, the accuracy of the transmitted data is improved. On the other hand, the server is avoided to judge whether the received second ranging value is reliable, and the overhead caused by the calculation and judgment of the server is reduced.

[0142] In another possible implementation, the method for measuring distance is described by taking the anchor A and the tag as an example. It should be understood that in different scenarios, there can be multiple tags. The embodiment of the present application takes one of the tags as an example, which is denoted as tag. Other tags, such as tag', tag A and the like, can also measure distance according to the operation of the tag in the embodiment of the present application, or measure distance with reference to the second ranging value obtained by the anchor A in S402 and S407. FIG. 5 is a flowchart of another method for measuring distance provided in the embodiment of the present application. As shown in FIG. 5, the method includes S401 to S408.

[0143] S401. The tag receives third ranging information sent by the second device.

[0144] The second device can be a server, or a component or device in the server, etc.

[0145] The third ranging information is obtained by the second device according to the signal for assisting positioning. For example, the signal for assisting positioning includes an RTK positioning value. It should be understood that an integer solution coordinate in the RTK positioning (such as the RTK positioning value) has a high reliability, and is often used as a true value. When the server has an RTK positioning value input (such as in a scenario of fusion of multiple positioning technologies, an RTK positioning value is obtained), the server can use the RTK positioning value to deduce a distance value between the tag and an anchor such as the anchor A, and send the RTK positioning value to the tag. For example, the server obtains an RTK positioning value of the tag and an RTK positioning value of the anchor A, calculates a distance value between the tag and the anchor A, obtains a first ranging value of the anchor A, and sends third ranging information to the tag. The third ranging information can indicate the first ranging value of the anchor A, or the third ranging information can indicate the RTK positioning value of the tag and the RTK positioning value of the anchor A, and the first ranging value of the anchor A is calculated by the tag itself.

[0146] It should be understood that the RTK positioning value provided by the embodiments of the present application is an example of the signal for assisting positioning. In actual application, other three-dimensional coordinates, position representations, and other parameters capable of assisting positioning can be carried in the field of the signal for assisting positioning, which are not limited by the example of the embodiments of the present application.

[0147] For example, after the tag receives the first ranging value of the anchor A, the tag can configure N according to the data. Optionally, the N is used to skip a plurality of ranging processes when ranging is unreliable. A possible implementation manner is that if the second ranging information indicates that the second ranging value is unreliable, N ranging values are discarded, or the N ranging values are modified and then sent to the second device. In other words, the N is counted by the tag. The N provided by the embodiments of the present application is a parameter configured by the tag itself, and the value of the N can be designed and configured according to business conditions, which is not limited by the embodiments of the present application.

[0148] S402. The tag initiates a ranging process to the anchor A.

[0149] It should be understood that in different scenarios, there can be multiple tags, and embodiments of the present application take a tag as an example for description. Other tags, such as a tag', can be identified as a tag'. The tag' can implement ranging based on the operation of the tag in the embodiments of the present application, or can perform ranging with a reference ranging value based on the second ranging value obtained by the anchor A in S407. FIG. 5 of the embodiments of the present application takes the ranging with a reference ranging value based on the second ranging value obtained by the anchor A in S407 as an example, but is not limited thereto.

[0150] S403, the tag sends first ranging information to the anchor A.

[0151] The first ranging information includes a first ranging value of the anchor A, and at least one of a first preset threshold and a reference signal source type.

[0152] For example, in the embodiments of the present application, the first ranging value obtained by the tag is exogenous, and if the first ranging information needs to indicate the reference signal source type, it can be indicated as exogenous.

[0153] S404, the anchor A receives the first ranging information.

[0154] S405, the anchor A measures a second ranging value.

[0155] S406, the anchor A determines whether the second ranging value is reliable by comparing the absolute value of the difference between the second ranging value and the first ranging value with the first preset threshold. If the absolute value of the difference is less than or equal to the first preset threshold, it is determined that the second ranging value is reliable, and second ranging information indicating that the second ranging value is reliable is generated. If the absolute value of the difference is greater than the first preset threshold, it is determined that the second ranging value is unreliable, and second ranging information indicating that the second ranging value is unreliable is generated.

[0156] S407, the anchor A broadcasts the second ranging information.

[0157] S408, the tag receives the second ranging information. If the second ranging information indicates that the second ranging value is reliable, the tag sends the second ranging value to the second device. If the second ranging information indicates that the second ranging value is unreliable, the tag discards N ranging values, or modifies N ranging values and then sends them to the second device, where the N ranging values include the second ranging value.

[0158] The value of N can be N configured by the tag in S401.

[0159] S403 to S408 of the embodiments of the present application correspond to the description in the example of S303 to S308, and will not be described again.

[0160] The first ranging value is obtained by the signal for assisting positioning, including the RTK positioning value, and the first ranging value is obtained from other devices and is regarded as the reference ranging value of the external source. The acquisition possibility of the first ranging value can be expanded, and the application range of the ranging method provided by the embodiment of the application is increased.

[0161] In a possible implementation, still taking the anchor point (anchor) A and the tag as an example, the method for measuring the distance is described, and the method for measuring the distance is different from that in FIG. 4 and FIG. 5, and the ranging process is initiated by the anchor point (anchor). FIG. 6 is a flowchart of another method for measuring the distance provided by the embodiment of the application, as shown in FIG. 6, the method includes S501 to S508.

[0162] S501, the anchor point (anchor) A initiates the ranging process to the tag.

[0163] For example, the anchor point (anchor) A can initiate the ranging process by sending information for triggering the ranging process to the tag. Alternatively, the anchor point (anchor) A can indicate the time when the ranging process starts to the tag. The anchor point (anchor) A can initiate the ranging process to the tag in various ways, which is not limited by the examples of the embodiment of the application.

[0164] In a possible implementation, when the positioning initiator is the same as the distance calculation party, the ranging process can be initiated by the anchor point (anchor), such as the anchor point (anchor) A provided by the embodiment of the application.

[0165] In different scenarios, the anchor point (anchor) A initiates the ranging process to a certain tag (tag), and the terminal is represented by the tag in the embodiment of the application. The anchor point (anchor) A does not currently initiate the ranging process to a certain tag (tag), and the terminal can be represented by the tag (tag).

[0166] In the subsequent process, in the case that the anchor point (anchor) A initiates the ranging process to the tag (tag), the tag (tag) can implement the ranging by referring to the operation of the tag in the embodiment of the application. It should be understood that in the case that the tag (tag) does not range, the tag (tag) can receive the second ranging value broadcasted by the anchor point (anchor) A in S507 as the reference for subsequent ranging.

[0167] S502, the tag (tag) determines the first ranging value of the anchor point (anchor) A.

[0168] Optionally, the tag can determine the first ranging value of the anchor A according to historical ranging values. The operation can refer to the example provided in S302, which will not be repeated here.

[0169] Alternatively, the tag can obtain the first ranging value of the anchor A from other devices, such as a server, by referring to the method provided in S401, which will not be repeated here.

[0170] S503, the tag sends the first ranging information to the anchor A.

[0171] The first ranging information includes the first ranging value of the anchor A, and at least one of the first preset threshold and the reference signal source type.

[0172] For example, in the embodiments of the present application, if the tag obtains the first ranging value according to historical ranging values, the reference signal source type can be an internal source, and if the tag obtains the first ranging value according to the third ranging information, the reference signal source type can be an external source.

[0173] S504, the anchor A receives the first ranging information.

[0174] S505, the anchor A measures the second ranging value.

[0175] S506, the anchor A determines whether the second ranging value is reliable according to the measured second ranging value and the obtained first ranging value, and correspondingly generates the second ranging information.

[0176] The method of the anchor A determining whether the second ranging value is reliable according to the measured second ranging value and the obtained first ranging value, and correspondingly generating the second ranging information can refer to the example in S306, which will not be repeated here.

[0177] S507, the anchor A broadcasts the second ranging information.

[0178] S508, the tag receives the second ranging information, and if the second ranging information indicates that the second ranging value is reliable, sends the second ranging value to the second device; if the second ranging information indicates that the second ranging value is unreliable, discards N ranging values, or sends the N ranging values after modifying, the N ranging values including the second ranging value.

[0179] The value of N can refer to the N configured by the tag in S401. Alternatively, the value of N is a positive integer pre-configured by the tag, and the value thereof can be designed and configured according to business conditions, which is not limited in the embodiments of the present application.

[0180] The method provided by the embodiments of the present application initiates a ranging process through an anchor point, so that the ranging method can be applied to more scenarios, and the applicability of the ranging method is improved.

[0181] FIG. 7 is a structural schematic diagram of a third device provided by the embodiments of the present application. As shown in FIG. 7, the third device 40 includes a sending module 401 and a receiving module 402.

[0182] The sending module 401 is configured to send first ranging information, where the first ranging information includes a first ranging value of the first device, and the first ranging value is used as a reference value of a second ranging value.

[0183] The receiving module 402 is configured to receive second ranging information, where the second ranging information is used to indicate whether the second ranging value is reliable, the second ranging value is obtained by the first device through ranging, and the second ranging information is obtained by the first device based on the first ranging value and the second ranging value.

[0184] In a possible implementation, with reference to FIG. 8, the first device further includes a processing module 403, configured to determine the first ranging value according to a historical ranging value.

[0185] In a possible implementation, the receiving module 402 is further configured to receive third ranging information sent by the second device, where the third ranging information is obtained by the second device according to a signal for assisting positioning; and the processing module 403 is further configured to obtain the first ranging value according to the third ranging information.

[0186] In a possible implementation, the signal for assisting positioning includes an RTK positioning value.

[0187] In a possible implementation, the second ranging information is further used to indicate the second ranging value, the sending module 401 is further configured to send the second ranging value to the second device if the second ranging information indicates that the second ranging value is reliable; and the processing module 403 is further configured to discard N ranging values or send the N ranging values to the second device after modifying the N ranging values if the second ranging information indicates that the second ranging value is unreliable, where the N ranging values include the second ranging value, and N is a preconfigured positive integer.

[0188] In a possible implementation, the first ranging information further includes at least one of a first preset threshold and a reference signal source type, where the first preset threshold is used to determine whether the second ranging value is reliable, and the reference signal source type is used to indicate a source of the first ranging value.

[0189] It should be understood that the modules shown in FIG. 7 and FIG. 8 are merely examples, each of which can perform its operation according to the method part of the embodiments of the present application or a variation of the operation thereof. In the examples provided by the embodiments of the present application, other operations can also be performed, which are not limited to the examples of the embodiments of the present application.

[0190] FIG. 9 is a structural schematic diagram of a first device provided by an embodiment of the present application. As shown in FIG. 9, the first device 50 includes a sending module 501 and a receiving module 502.

[0191] The receiving module 502 is configured to receive first ranging information, the first ranging information including a first ranging value.

[0192] The sending module 501 is configured to send second ranging information based on a second ranging value obtained by ranging and the first ranging value, the second ranging information being used to indicate that the second ranging value is reliable, or the second ranging information being used to indicate that the second ranging value is unreliable.

[0193] In a possible implementation, the first ranging value is determined according to a historical ranging value, or the first ranging value is determined according to a signal of auxiliary positioning.

[0194] In a possible implementation, the signal of auxiliary positioning includes an RTK positioning value.

[0195] In a possible implementation, referring to FIG. 10, the first device further includes a processing module 503.

[0196] The processing module 503 is configured to, if an absolute value of a difference between the second ranging value and the first ranging value is less than or equal to a first preset threshold, generate second ranging information used to indicate that the second ranging value is reliable, or if the absolute value of the difference between the second ranging value and the first ranging value is greater than the first preset threshold, generate the second ranging information used to indicate that the second ranging value is unreliable.

[0197] In a possible implementation, the first ranging information further includes at least one of a first preset threshold and a reference signal source type, wherein the first preset threshold is used to determine whether the second ranging value is reliable, and the reference signal source type is used to indicate a source of the first ranging value.

[0198] In a possible implementation, the second ranging information is further used to indicate the second ranging value, and the sending module 501 is specifically configured to send the second ranging information to at least one communication device, the at least one communication device including a third communication device, the third device being the device that sends the first ranging information.

[0199] It should be understood that the modules shown in FIG. 9 and FIG. 10 are merely examples, each module can perform its operation according to the method part of the embodiments of the present application, or a variation of its operation. In the examples provided by the embodiments of the present application, other operations can also be performed, which are not limited by the examples of the embodiments of the present application.

[0200] In addition, as shown in FIG. 11, FIG. 11 is a structural schematic diagram of a device 60 according to an embodiment of the present application. The device 60 shown in FIG. 11 includes a transceiver 601 and a processor 602. The device 60 corresponds to the third device, the tag or the terminal 10, etc. in the examples of the method, and is used to perform the method S101 and S102 in the above embodiments, or perform S301 to S308, or perform S401 to S408, or perform S501 to S508. Alternatively, the device 60 corresponds to the first device, the anchor, the anchor A or the base station in the examples of the method, and is used to perform the method S201 and S202 in the above embodiments, or perform S301 to S308, or perform S401 to S408, or perform S501 to S508. Alternatively, the device 60 corresponds to the second device or the server in the examples of the method, and is used to perform the method S301 to S308 in the above embodiments, or perform S401 to S408, or perform S501 to S508.

[0201] It should be noted that the division of each part in the embodiments of the present application is illustrative, and is only a logical function division. In actual implementation, another division manner can be used. Each function in the embodiments of the present application can be integrated in one processor, or the transceiver and the processor can exist separately. In addition, the device 60 can include a built-in memory, or can not include a memory, and can also include an external memory, etc. The above integrated device can be realized in the form of hardware, such as a chip, or in the form of a software function unit, or in the form of a combination of software and hardware.

[0202] Further, the embodiment of the present application further provides a device 70, as shown in FIG. 12, which is a structural schematic diagram of the device 70 provided by the embodiment of the present application. As shown in FIG. 12, the device 70 can include a processor 701, a memory 702 coupled with the processor 701, and a transceiver 703. The transceiver 703 can include an MR, an LR, a communication interface, an optical module, etc., and is configured to receive a packet or data information, etc. The processor 701 can include a central processing unit (CPU), a network processor (NP), or a combination of the CPU and the NP, and is configured to perform the related steps of the wake-up signal processing in the device exemplified in the above embodiment. The processor can also be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The PLD can be a complex programmable logic device (CPLD), a feld-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof. The processor 701 can refer to one processor, or can include a plurality of processors. The memory 702 can include a volatile memory such as a random-access memory (RAM); the memory can also include a non-volatile memory such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); and the memory 702 can further include a combination of the above-mentioned memories. The memory 702 can refer to one memory, or can include a plurality of memories, and is configured to store program instructions. In an embodiment, the memory 702 stores computer readable instructions, and the computer readable instructions include a plurality of software modules, such as a sending module, a processing module and a receiving module. The processor 701 performs the respective software modules and can perform corresponding operations according to the instructions of the respective software modules. In the embodiment, the operation performed by one software module is actually the operation performed by the processor 701 according to the instructions of the software module.Optionally, the processor 701 can also store the program code or instructions for implementing the embodiments of the present application, in which case the processor 701 does not need to read the program code or instructions from the memory 702.

[0203] The device 70 can be configured to perform the methods in the above embodiments. Specifically, the device 70 corresponds to the example third device, tag or terminal 10, etc. in the methods, and can perform the methods S101 and S102 in the above embodiments, or perform S301 to S308, or perform S401 to S408, or perform S501 to S508. Alternatively, the device 70 corresponds to the example first device, anchor, anchor A or base station in the methods, and can perform the methods S201 and S202 in the above embodiments, or perform S301 to S308, or perform S401 to S408, or perform S501 to S508. Alternatively, the device 70 corresponds to the example second device or server in the methods, and can perform the methods S301 to S308 in the above embodiments, or perform S401 to S408, or perform S501 to S508.

[0204] In addition, the embodiments of the present application further provide a communication device. The communication device includes a storage medium and a processor connected with the storage medium. The storage medium stores instructions, and the processor executes the instructions to implement part or all of the operations in any of the methods in any of the embodiments described above.

[0205] In addition, the embodiments of the present application further provide a communication device. The communication device includes a processor, and the processor is connected with a storage medium. The storage medium can be arranged in the communication device or arranged outside the communication device, and the storage medium stores instructions, and the processor executes the instructions to implement part or all of the operations in any of the methods in any of the embodiments described above.

[0206] The embodiments of the present application further provide a computer readable storage medium, which stores instructions, and the instructions, when executed on a processor, implement part or all of the operations in any of the methods in any of the embodiments described above.

[0207] The embodiments of the present application further provide a computer program product, which includes a computer program, and the computer program, when executed on a processor, implements part or all of the operations in any of the methods in any of the embodiments described above.

[0208] The embodiments of the present application further provide a chip, which includes an interface circuit and a processor. The interface circuit and the processor are connected, and the processor is configured to cause the chip to perform part or all of the operations in any of the methods in any of the embodiments described above.

[0209] The chip system can include one or more processors. The processor can be implemented by hardware or software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented by software, the processor can be a general-purpose processor which is configured to implement the chip system by reading software codes stored in the memory.

[0210] The chip system can include one or more memories. The memory can be integrated with the processor or arranged separately from the processor. The embodiments of the present application do not limit the type of the memory and the arrangement of the memory and the processor. For example, the memory can be a non-transitory processor, such as a read-only memory (ROM), which can be integrated on the same chip as the processor or arranged on different chips separately.

[0211] The chip system can be an FPGA, an ASIC, a system on chip (SoC), a CPU, an NP, a digital signal processor (DSP), a micro controller unit (MCU), a programmable logic device (PLD) or other integrated chip.

[0212] The embodiments of the present application also provide a system including one or more of the above-described device, apparatus, computer readable storage medium, computer program product, chip or chip system. The system can be applied in the scenario shown in FIG. 1, but the present application is not limited thereto.

[0213] In a possible implementation, the system provided by the embodiments of the present application includes at least one first apparatus, at least one third apparatus and at least one second apparatus. For example, refer to the example shown in FIG. 1.

[0214] In a possible implementation, the system provided by the embodiments of the present application includes at least one first apparatus, at least one third apparatus and at least one second apparatus. For example, refer to the example shown in FIG. 1.

[0215] The terms "first", "second", "third", "fourth", and the like in the description and in the claims of the present application, and above, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of these terms herein is to be construed to cover the embodiments of the application whether or not the embodiments are described using the same term. For example, a first element, feature, structure, or characteristic also can be termed a second element, feature, structure, or characteristic without departing from the teachings of the present application. The terms "comprises", "comprising", "includes", "including", "contains", "containing" or any other variation thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, article, or apparatus that comprises, includes, contains or contains one or more steps or units listed need not comprise, include, contain or contain only those one or more steps or units but can include other steps or units not expressly listed or inherent to such process, method, article, or apparatus. Other definitions will be apparent to one of ordinary skill in the art.

[0216] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0217] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical business division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0218] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e. they can be located in one place or distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0219] In addition, each business unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The above integrated unit can be realized in the form of hardware or software business unit.

[0220] The integrated unit, if implemented in the form of a software service unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solutions of the present application can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various media that can store program codes.

[0221] Those skilled in the art should be aware that, in one or more of the above examples, the services described in the present application can be implemented in hardware, software, firmware, or any combination thereof. When implemented in software, these services can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. The computer-readable medium includes a computer storage medium and a communication medium, wherein the communication medium includes any medium that facilitates the transfer of a computer program from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0222] The above detailed description is further detailed for the purpose of the present application, technical solutions and beneficial effects. It should be understood that the above is only a specific embodiment of the present application.

[0223] The above, the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for measuring distance, characterized in that, include: Send first ranging information, the first ranging information including a first ranging value of the first device, the first ranging value being used as a reference value for the second ranging value; The system receives second ranging information, which is used to indicate whether the second ranging value is reliable. The second ranging value is obtained by the first device through ranging, and the second ranging information is obtained by the first device based on the first ranging value and the second ranging value.

2. The method according to claim 1, characterized in that, Also includes: The first ranging value is determined based on historical ranging values; or, Receive third ranging information sent by the second device, the third ranging information being obtained by the second device based on the auxiliary positioning signal; The first distance value is obtained based on the third distance measurement information.

3. The method according to claim 2, characterized in that, The auxiliary positioning signal includes real-time dynamic RTK positioning values.

4. The method according to any one of claims 1 to 3, characterized in that, The second ranging information is also used to indicate the second ranging value. The method further includes: If the second ranging information indicates that the second ranging value is reliable, then the second ranging value is sent to the second device; If the second ranging information indicates that the second ranging value is unreliable, then N ranging values ​​are discarded, or N ranging values ​​are modified and sent to the second device, wherein the N ranging values ​​include the second ranging value, and N is a pre-configured positive integer.

5. The method according to any one of claims 1 to 4, characterized in that, The first ranging information further includes at least one of a first preset threshold and a reference signal source type, wherein the first preset threshold is used to determine whether the second ranging value is reliable, and the reference signal source type is used to indicate the source of the first ranging value.

6. A method for measuring distance, characterized in that, include: Receive first ranging information, the first ranging information including a first ranging value; Based on the second ranging value obtained from the ranging and the first ranging value, second ranging information is sent. The second ranging information is used to indicate that the second ranging value is reliable, or the second ranging information is used to indicate that the second ranging value is unreliable.

7. The method according to claim 6, characterized in that, The first ranging value is determined based on historical ranging values; or, The first ranging value is determined based on the auxiliary positioning signal.

8. The method according to claim 7, characterized in that, The auxiliary positioning signal includes real-time dynamic RTK positioning values.

9. The method according to any one of claims 6 to 8, characterized in that, Also includes: If the absolute value of the difference between the second ranging value and the first ranging value is less than or equal to a first preset threshold, then the second ranging information is used to indicate that the second ranging value is reliable. If the absolute value of the difference between the second ranging value and the first ranging value is greater than the first preset threshold, then the second ranging information is used to indicate that the second ranging value is unreliable.

10. The method according to any one of claims 6 to 9, characterized in that, The first ranging information further includes at least one of a first preset threshold and a reference signal source type, wherein the first preset threshold is used to determine whether the second ranging value is reliable, and the reference signal source type is used to indicate the source of the first ranging value.

11. The method according to any one of claims 6 to 10, characterized in that, The second ranging information is also used to indicate the second ranging value. Sending the second ranging information includes: The second ranging information is sent to at least one communication device, the at least one communication device including a third communication device, the third device being the device that sends the first ranging information.

12. A communication device, characterized in that, The communication device includes a module for performing the method according to any one of claims 1 to 5, or includes a module for performing the method according to any one of claims 6 to 11.

13. A communication device, characterized in that, The communication device includes a processor configured to perform the method of any one of claims 1 to 5, or configured to perform the method of any one of claims 6 to 11.

14. A communication device, characterized in that, include: The input / output interface and logic circuit are provided, wherein the input / output interface is used to acquire at least one of input information or output information; and the logic circuit is used to perform the method of any one of claims 1 to 5, or to perform the method of any one of claims 6 to 11.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes instructions that, when executed, cause the method of any one of claims 1 to 5 to be implemented, or cause the method of any one of claims 6 to 11 to be implemented.

16. A computer program product, characterized in that, The computer program product includes instructions that, when executed, cause the method of any one of claims 1 to 5 to be implemented, or cause the method of any one of claims 6 to 11 to be implemented.

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