Ranging method and apparatus

Abstract

A ranging method and apparatus, which relate to the field of wireless communications, and can reduce distance errors corresponding to different loads, thereby improving the accuracy of ranging. The method comprises: sending indication information (S601), which instructs a second communication apparatus to send sound wave signals; receiving N sound wave signals (S602); and on the basis of N relative coordinates, N reception times and a first time difference, determining a distance offset value (S603). The N sound wave signals respectively correspond to the N relative coordinates, the N relative coordinates are respective coordinates of N signal reception positions relative to a reference position, and N is a positive integer greater than or equal to 3; and the N reception times are reception times respectively corresponding to the N sound wave signals, the first time difference is a time difference between signals of a first communication apparatus and the second communication apparatus, and the distance offset value is used for determining a distance between the first communication apparatus and the second communication apparatus.

Description

Ranging method and apparatus

[0001] The present application claims priority from the Chinese patent application No. 202411247205.X filed on September 5, 2024, and entitled "Ranging method and apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of wireless communication, and more particularly, to a ranging method and apparatus. BACKGROUND

[0003] Distance is an important parameter that needs to be detected in different occasions and controls. For example, when one electronic device is searching for another electronic device, the distance and the included angle between the two electronic devices are accurately measured by using ultra wide band (UWB) technology, so as to inform the user of the specific distance and direction of the searched electronic device, and then the searched electronic device is accurately found. Taking searching for a headset by using a mobile phone as an example, the mobile phone and the headset need to be time-synchronized by using Bluetooth first, and then the distance between the mobile phone and the headset is determined according to the time difference of arrival of the ultrasonic waves.

[0004] Among them, for different models of mobile phones and / or different models of headsets, due to the device capability and the time delay inside the chip, there is a fixed time offset (i.e., the time difference of Bluetooth time synchronization) in the Bluetooth time synchronization; and there are also different fixed time offsets under different Bluetooth loads, so it is necessary to measure and compensate in advance. That is to say, every time a new mobile phone is added, the time difference of Bluetooth time synchronization between the mobile phone and different models of headsets, and the fixed time offset under the corresponding Bluetooth load of the mobile phone need to be measured; similarly, every time a new headset is added, the time difference of Bluetooth time synchronization between the headset and different models of mobile phones, and the fixed time offset under different Bluetooth loads need to be measured.

[0005] However, this method has a large adaptation workload, and the above adaptation work is only for different models of devices, and there is a large error in the time offset between each pair of devices (such as a mobile phone and a headset). SUMMARY

[0006] The present application provides a ranging method and apparatus, which can reduce the distance error corresponding to different loads and improve the accuracy of ranging.

[0007] In a first aspect, an embodiment of the present application provides a ranging method, which can be executed by a first communication device. In the present application, the first communication device can refer to the first communication device itself, a component (for example, a communication module, a processor, a circuit, a chip, or a chip system) in the first communication device, or a logic module or software capable of realizing all or part of the functions of the first communication device. The method comprises the following steps: sending indication information, the indication information indicating that a second communication device sends a sound wave signal; receiving N sound wave signals; and determining a distance offset value according to N relative coordinates, N receiving times, and a first time difference. The N sound wave signals correspond to the N relative coordinates respectively, the N relative coordinates are coordinates of N signal receiving positions relative to a reference position respectively, N is a positive integer greater than or equal to 3, the N receiving times are receiving times corresponding to the N sound wave signals respectively, the first time difference is a time difference of a signal between the first communication device and the second communication device, and the distance offset value is used to determine a distance between the first communication device and the second communication device.

[0008] Based on the scheme, an embodiment of the present application provides a ranging method. The first communication device can send indication information to the second communication device, to instruct the second communication device to send a sound wave signal. Thus, the first communication device can receive the sound wave signal at different positions (that is, N relative coordinates, the N relative coordinates being coordinates of N signal receiving positions relative to a reference position respectively) respectively (that is, receiving N sound wave signals). Further, according to the position where the sound wave signal is located, the receiving time of the sound wave signal, and the signal time difference (that is, the first time difference) between the two, the distance offset value between the first communication device and the second communication device is determined, so that the ranging can be performed based on the distance offset value, and the accuracy of the ranging is improved.

[0009] It can be understood that, when the first communication device and the second communication device transmit signals, in order to improve the accuracy of the determined transmission time of the signal, the clock of the two devices needs to be synchronized. That is, the time of the two devices needs to be synchronized before the signal transmission. Thus, the signal time difference between the two devices can also be considered as the time difference determined in the process of synchronizing the time of the two devices (for example, the time difference corresponding to the Bluetooth time synchronization).

[0010] Therefore, in the present application, before ranging, the first communication device can determine the distance error between the two devices based on the position where the first communication device is located when receiving the sound wave signal and the receiving time of the sound wave signal, and further, subtract the distance error caused by the time difference existing in the time adjustment (i.e., the signal time difference between the two, or the first time difference) from the distance error to obtain the distance error caused by the time difference corresponding to the load (i.e., the distance offset value). That is, in the present application, the distance error caused by the time difference corresponding to the load can be measured in real time. Compared with the scheme of manually measuring and storing the distance error caused by the time difference corresponding to different loads in advance, the workload of adaptation can be reduced.

[0011] In addition, in the present application, for each device pair (i.e., the device pair composed of the first communication device and the second communication device), the distance error caused by the time difference corresponding to the load between the two can be measured in real time; compared with the scheme of measuring only the distance error caused by the time difference corresponding to the load between devices of different styles, the measurement is more accurate, and the accuracy of the subsequent ranging result is also higher.

[0012] In a possible design, the sending indication information includes: determining whether there is a distance offset value according to the load of the first communication device; in the case where there is no distance offset value, sending the indication information; and in the case where there is a distance offset value, determining the distance between the first communication device and the second communication device by using the distance offset value.

[0013] Based on the possible design, before sending the indication information, the first communication device can first determine whether there is a distance offset value, and if there is a distance offset value, the first communication device can directly determine the distance between the first communication device and the second communication device based on the distance offset value, without the need to determine the distance offset value again, thereby saving resources and improving the efficiency of ranging.

[0014] In a possible design, the distance offset value is determined according to the N relative coordinates, the N receiving times, and the first time difference, including: determining a second time difference according to the N relative coordinates and the N receiving times, the second time difference being the local time difference between the first communication device and the second communication device; and determining the distance offset value according to the second time difference and the first time difference.

[0015] In a possible design, the second time difference is determined according to the N relative coordinates and the N receiving times, including: determining the coordinate position of the second communication device according to the N relative coordinates and the N receiving times; determining N distances, the N distances being the distances between the N relative coordinates and the coordinate position of the second communication device respectively; and determining the second time difference according to the N distances and the N receiving times.

[0016] In a possible design, the coordinate position of the second communication apparatus is determined according to the N relative coordinates and the N receiving times, including: the coordinate position of the second communication apparatus is determined according to the N relative coordinates, the N receiving times, and the N sending times, the N sending times being sending times of the N sound wave signals respectively.

[0017] In a possible design, the following relationship is met among the N relative coordinates, the N receiving times, the N sending times, and the coordinate position of the second communication apparatus:

[0018] wherein, (x, y) represents the coordinate position of the second communication apparatus, (x i , y i ) represents the i-th coordinate in the N relative coordinates, i represents the number of the i-th coordinate in the N relative coordinates, t' i represents the receiving time of the sound wave signal received at the i-th coordinate, t i represents the sending time of the sound wave signal received at the i-th coordinate, (x j , y j ) represents the j-th coordinate in the N relative coordinates, j represents the number of the j-th coordinate in the N relative coordinates, t' j represents the receiving time of the sound wave signal received at the j-th coordinate, t j represents the sending time of the sound wave signal received at the j-th coordinate, the i-th coordinate and the j-th coordinate being any two coordinates in the N relative coordinates, v represents the transmission speed of the sound wave signal, i and j are positive integers less than or equal to N, and i and j are different.

[0019] Based on the above two possible designs, the first communication apparatus can determine the coordinate position of the second communication apparatus based on the N relative coordinates and the N receiving and sending times (i.e., receiving times and sending times). In this way, whether the sending mode of the sound wave signal is non-periodic sending or periodic sending, the coordinate position of the second communication apparatus can be determined. The application range is wider.

[0020] In a possible design, the sound wave signal is periodically sent; the following relationship is met among the N relative coordinates, the N receiving times, and the coordinate position of the second communication apparatus:

[0021] wherein, (x, y) represents the coordinate position of the second communication apparatus, (x i , y i ) represents the i-th coordinate in the N relative coordinates, i represents the number of the i-th coordinate in the N relative coordinates, t' irepresents the receiving time of the sound wave signal received at the i-th coordinate, (x j , y j ) represents the j-th coordinate among the N relative coordinates, j represents the number of the j-th coordinate among the N relative coordinates, t′ j represents the receiving time of the sound wave signal received at the j-th coordinate, the i-th coordinate and the j-th coordinate are any two coordinates among the N relative coordinates, T represents the sending period of the sound wave signal, v represents the transmission speed of the sound wave signal, i and j are positive integers less than or equal to N, and i and j are different.

[0022] Based on the possible design, when the sound wave signal is periodically sent, the first communication device can determine the coordinate position of the second communication device based on the N relative coordinates, the N receiving times (i.e., the receiving time and the sending time), and the sending period. That is, in this scheme, the N sending times do not need to be used, so the second communication device does not need to inform the first communication device of the N sending times, thereby reducing the air interface resources.

[0023] In a possible design, the indication information instructs the second communication device to send the sound wave signal, including: the indication information instructs the second communication device to periodically send the sound wave signal.

[0024] In a possible design, the N distances, the N receiving times, and the second time difference satisfy the following relationship:

[0025] wherein, Δt represents the second time difference, N represents the number of the N distances, D k represents the k-th distance among the N distances, k = 1, 2, …, N, t k represents the sending time of the sound wave signal used to determine the k-th distance among the N sound wave signals, t′ k represents the receiving time of the sound wave signal used to determine the k-th distance among the N sound wave signals, and v represents the transmission speed of the sound wave signal.

[0026] In a possible design, the second time difference, the first time difference, and the distance offset value satisfy the following relationship: d = v * (Δt - Δt B ).

[0027] wherein, d represents the distance offset value, Δt represents the second time difference, Δt B represents the first time difference, and v represents the transmission speed of the sound wave signal.

[0028] In a possible design, before receiving the N sound wave signals, the measurement method further includes: providing a preset motion trajectory, the positions corresponding to the N relative coordinates are determined based on the preset motion trajectory.

[0029] Based on the possible design, in order to improve the accuracy of the calculated distance offset value, the N relative coordinates can be made as much as possible not to be on a straight line. Generally, the user moves the first communication device so that the first communication device is at different positions (such as the N relative coordinates), but the user can not be aware of whether the positions he moves to are on a straight line with the other positions, and therefore a movement track (i.e., a preset movement track) can be displayed on the first communication device, so that the movement can be based on the movement track, thereby achieving the purpose of receiving the sound wave signals at the N relative positions respectively.

[0030] In a second aspect, the embodiments of the present application provide a ranging method, which can be executed by the second communication device. In the present application, the "second communication device" can refer to the second communication device itself, a component (such as a communication module, a processor, a circuit, a chip, or a chip system) 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, unless otherwise specified. The method comprises: receiving indication information, the indication information indicating that the second communication device transmits sound wave signals; and transmitting a plurality of sound wave signals according to the indication information, wherein N sound wave signals correspond to N relative coordinates respectively, the N relative coordinates being coordinates of N signal receiving positions relative to a reference position, the N relative coordinates being used to determine a distance offset value, the distance offset value being used to determine a distance between the first communication device and the second communication device, and N being a positive integer greater than or equal to 3.

[0031] Based on the scheme, the embodiments of the present application provide a ranging method. The second communication device can receive indication information from the first communication device and transmit sound wave signals based on the indication information. Thus, the first communication device can receive sound wave signals (i.e., N sound wave signals) at different positions (i.e., N relative coordinates, the N relative coordinates being coordinates of N signal receiving positions relative to a reference position) respectively. Further, according to the position at which the sound wave signal is located, the receiving time of the sound wave signal, and the signal time difference (i.e., the first time difference) between the two, the distance offset value between the first communication device and the second communication device is determined, so that the distance offset value can be used for ranging, thereby improving the accuracy of ranging.

[0032] It can be understood that, in order to improve the accuracy of the transmission time of the determined signal, the clock of the first communication device and the clock of the second communication device need to be synchronized when the first communication device and the second communication device transmit signals to each other; that is, the time of the two devices needs to be synchronized before the two devices transmit signals to each other; and thus the signal time difference between the two devices can also be considered as the time difference determined in the process of synchronizing the time of the two devices (such as the time difference corresponding to Bluetooth time synchronization). In addition, in general, the distance determined based on the different positions and the different reception times of the sound wave signals is the distance error between the two devices, and the distance error between the two devices generally includes the distance error caused by the time difference existing in the time synchronization process and the time difference corresponding to different loads.

[0033] Therefore, in the present application, before ranging, the first communication device can determine the distance error between the two devices based on the position at which the first communication device receives the sound wave signal and the reception time of the sound wave signal, and further subtract the distance error caused by the time difference existing in the time synchronization process (i.e., the signal time difference between the two devices, or the first time difference) from the distance error to obtain the distance error caused by the time difference corresponding to the load (i.e., the distance offset value). That is, in the present application, the distance error caused by the time difference corresponding to the load can be measured in real time. Compared with the scheme of manually measuring and storing the distance error caused by the time difference corresponding to different loads in advance, the workload of adaptation can be reduced.

[0034] In addition, in the present application, for each device pair (i.e., a device pair composed of the first communication device and the second communication device), the distance error caused by the time difference corresponding to the load between the two devices can be measured in real time; compared with the scheme of measuring only the distance error caused by the time difference corresponding to the load between devices of different models, the measurement is more accurate; and accordingly, the accuracy of the subsequent ranging result is also higher.

[0035] In a possible design, the N phase coordinates, the N reception times, and the first time difference are used to determine the distance offset value, the N reception times are the reception times corresponding to the N sound wave signals respectively, and the first time difference is the time difference between signals of the first communication device and the second communication device.

[0036] In a possible design, the N phase coordinates, the N reception times, and the first time difference are used to determine the distance offset value, including that the N phase coordinates and the N reception times are used to determine a second time difference, and the second time difference and the first time difference are used to determine the distance offset value, and the second time difference is a local time difference between the first communication device and the second communication device.

[0037] In a possible design, the N phase coordinates and the N reception times are used to determine the coordinate position of the second communication apparatus, including: the N relative coordinates, the N reception times, and the N transmission times are used to determine the coordinate position of the second communication apparatus, and the N transmission times are transmission times of the N sound wave signals respectively.

[0038] In a possible design, the N phase coordinates and the N reception times are used to determine the coordinate position of the second communication apparatus, including: the N relative coordinates, the N reception times, and the N transmission times are used to determine the coordinate position of the second communication apparatus, and the N transmission times are transmission times of the N sound wave signals respectively.

[0039] In a possible design, the sound wave signals are periodically transmitted; the N phase coordinates and the N reception times are used to determine the coordinate position of the second communication apparatus, including: the N phase coordinates, the N reception times, and the period of the sound wave signals are used to determine the coordinate position of the second communication apparatus.

[0040] In a possible design, the indication information indicates that the second communication apparatus transmits the sound wave signals, including: the indication information indicates that the second communication apparatus periodically transmits the sound wave signals.

[0041] In a possible design, the N relative coordinates cannot form a straight line.

[0042] Any of the designs in the second aspect can bring the technical effects as described in the corresponding designs in the first aspect, which will not be repeated here.

[0043] In a third aspect, a communication apparatus is provided for implementing various methods. The communication apparatus can be the first communication apparatus in the first aspect, or the second communication apparatus in the second aspect, or a device included in the first communication apparatus or the second communication apparatus, such as a chip or a chip system. The communication apparatus includes modules, units, or means for implementing the corresponding methods, which can be implemented by hardware, software, or by executing corresponding software by hardware. The hardware or software includes one or more modules or units corresponding to the functions.

[0044] In some possible designs, the communication apparatus can include a processing module and a transceiver module. The processing module can be used to implement the processing functions in any of the aspects and any possible implementation manners thereof. The transceiver module can include a receiving module and a sending module, which are used to implement the receiving functions and the sending functions in any of the aspects and any possible implementation manners thereof respectively.

[0045] In some possible design, the transceiver module can be composed of a transceiver circuit, a transceiver, a transceiver, or a communication interface.

[0046] In a fourth aspect, a communication apparatus is provided, which comprises a processor and a memory. The memory is configured to store computer instructions, and the processor is configured to execute the instructions to cause the communication apparatus to perform the method in any one of the aspects. The communication apparatus can be the first communication apparatus in the first aspect, or the second communication apparatus in the second aspect, or an apparatus included in the first communication apparatus or the second communication apparatus, such as a chip or a chip system. The communication apparatus comprises modules, units, or means corresponding to the method, which can be implemented by hardware, software, or by hardware executing corresponding software. The hardware or software comprises one or more modules or units corresponding to the functions.

[0047] In a fifth aspect, a communication apparatus is provided, which comprises a processor and a communication interface. The communication interface is configured to communicate with modules outside the communication apparatus. The processor is configured to execute computer programs or instructions to cause the communication apparatus to perform the method in any one of the aspects. The communication apparatus can be the first communication apparatus in the first aspect, or the second communication apparatus in the second aspect, or an apparatus included in the first communication apparatus or the second communication apparatus, such as a chip or a chip system. The communication apparatus comprises modules, units, or means corresponding to the method, which can be implemented by hardware, software, or by hardware executing corresponding software. The hardware or software comprises one or more modules or units corresponding to the functions.

[0048] In a sixth aspect, a communication apparatus is provided, which comprises at least one processor. The processor is configured to execute computer programs or instructions to cause the communication apparatus to perform the method in any one of the aspects. The communication apparatus can be the first communication apparatus in the first aspect, or the second communication apparatus in the second aspect, or an apparatus included in the first communication apparatus or the second communication apparatus, such as a chip or a chip system. The communication apparatus comprises modules, units, or means corresponding to the method, which can be implemented by hardware, software, or by hardware executing corresponding software. The hardware or software comprises one or more modules or units corresponding to the functions.

[0049] In some possible design, the communication apparatus comprises a memory, which is configured to store necessary programs, instructions, and / or data. The memory can be coupled with the processor, or can be independent of the processor.

[0050] In some possible design, the apparatus is a chip system, which can be composed of a chip, or can include a chip and other discrete devices.

[0051] It can be understood that, when the communication apparatus in any one of the third aspect to the sixth aspect is a chip, the sending action / function of the communication apparatus can be understood as outputting information, and the receiving action / function of the communication apparatus can be understood as inputting information.

[0052] In a seventh aspect, a computer-readable storage medium is provided, which stores a computer program or instructions, when the computer program or instructions are executed on a communication apparatus, cause the communication apparatus to perform the method in any one of the aspects.

[0053] In an eighth aspect, a computer program product is provided, which includes instructions, when the instructions are executed on a communication apparatus, cause the communication apparatus to perform the method in any one of the aspects.

[0054] In a ninth aspect, a communication system is provided, which includes the first communication apparatus (or the apparatus included in the first communication apparatus, such as a chip or a chip system) in the first aspect and the second communication apparatus (or the apparatus included in the second communication apparatus, such as a chip or a chip system) in the second aspect.

[0055] The technical effects brought by any one of the third aspect to the ninth aspect can refer to the technical effects brought by different design manners of the first aspect or the second aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0056] FIG. 1 is a schematic diagram of an architecture of a wireless communication system suitable for embodiments of the present application;

[0057] FIG. 2 is a schematic diagram of a structure of a first communication apparatus according to an embodiment of the present application;

[0058] FIG. 3 is a schematic diagram of a structure of a second communication apparatus according to an embodiment of the present application;

[0059] FIG. 4 is a schematic diagram of an architecture of another wireless communication system suitable for embodiments of the present application;

[0060] FIG. 5 is a flowchart of a ranging method according to an embodiment of the present application;

[0061] FIG. 6 is a flowchart of another ranging method according to an embodiment of the present application;

[0062] FIG. 7 is a schematic diagram of a time of transmission and reception of a sound wave signal according to an embodiment of the present application;

[0063] FIG. 8 is a flowchart of yet another ranging method according to an embodiment of the present application;

[0064] FIG. 9 is a flow diagram of another ranging method provided by the present application;

[0065] FIG. 10 is a schematic diagram of a preset motion trajectory provided by the present application;

[0066] FIG. 11 is a schematic diagram of determining the coordinate position of a second communication device provided by the present application;

[0067] FIG. 12 is a schematic diagram of the structure of a communication device provided by the present application;

[0068] FIG. 13 is a schematic diagram of the structure of another communication device provided by the present application;

[0069] FIG. 14 is a schematic diagram of the structure of yet another communication device provided by the present application. DETAILED DESCRIPTION

[0070] In the description of the present application, unless otherwise specified, " / " represents that the objects before and after the " / " are in an "or" relationship, for example, A / B can represent A or B; "and / or" in the present application is only a description of the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A alone, A and B together, B alone, and the like, where A and B can be singular or plural.

[0071] In the description of the present application, unless otherwise specified, "multiple" means two or more than two. "At least one of the following" or the like means any combination of the items, including any combination of single item or multiple items. For example, at least one of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0072] In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, "first", "second", and the like are used to distinguish the same items or similar items with basically the same function and effect. Those skilled in the art can understand that "first", "second", and the like do not limit the quantity and execution order, and "first", "second", and the like do not necessarily mean different.

[0073] 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 presented as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or advantageous than other embodiments or design solutions. Rather, the use of "exemplary" or "for example" is intended to present concepts in a concrete manner. The use of "exemplary" or "for example" is intended to present concepts in a concrete manner.

[0074] It can be understood that the "embodiments" mentioned in the specification throughout mean that the specific features, structures or characteristics related to the embodiments are included in at least one embodiment of the present application. Therefore, the various embodiments throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It can be understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0075] It can be understood that the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0076] It can be understood that in the present application, "when" and "if" both refer to making corresponding processing under certain objective conditions, not limited to time, and do not require judgment actions when implementing, nor mean that there are other limitations.

[0077] It can be understood that some optional features in the embodiments of the present application can be implemented independently in some scenarios without relying on other features, such as the scheme currently based on, to solve the corresponding technical problems and achieve the corresponding effects, or can be combined with other features according to the needs in some scenarios. Correspondingly, the devices given in the embodiments of the present application can also realize these features or functions, which will not be described here.

[0078] It can be understood that in this application, "indication" can include direct indication and indirect indication, and can also include explicit indication and implicit indication. When describing "a certain indication information indicates A" or "indication information of A", it can include that the indication information directly indicates A or indirectly indicates A, and does not mean that A is carried in the indication information. The information indicated by certain information is called to be indicated information, and there are many ways to indicate the to-be-indicated information in the specific implementation process, for example but not limited to, the to-be-indicated information can be directly indicated, such as the to-be-indicated information itself or the index of the to-be-indicated information. The to-be-indicated information can also be indirectly indicated by indicating other information, where the other information and the to-be-indicated information have an association relationship. The to-be-indicated information can also be only indicated a part, and the other part of the to-be-indicated information is known or agreed in advance. For example, the indication of a specific information can be achieved by means of the arrangement order of each information agreed in advance (for example, a protocol stipulates), thereby reducing the indication overhead to a certain extent. At the same time, the common part of each information can be identified and uniformly indicated, so as to reduce the indication overhead caused by separately indicating the same information. In addition, the specific indication method can also be various existing indication methods, for example but not limited to, the above indication methods and various combinations thereof. As can be seen from the above, for example, when multiple information of the same type needs to be indicated, the indication methods of different information can not be the same. In the specific implementation process, the required indication method can be selected according to the specific needs, and the selected indication method is not limited by the embodiments of the application. In this way, the indication method involved in the embodiments of the application should be understood as covering various methods that can enable the to-be-indicated party to know the to-be-indicated information. The to-be-indicated information can be sent as a whole, or can be divided into multiple sub-information and sent separately, and the sending period or sending time of the sub-information can be the same or different. The specific sending method is not limited by the application. The sending period or sending time of the sub-information can be pre-defined, for example, pre-defined according to a protocol, or configured by the transmitting end device by sending configuration information to the receiving end device.

[0079] In the present application, "sending" and "receiving" represent the direction of signal transmission. For example, "sending information to XX" can be understood as that the destination of the information is XX, which can include direct sending through the air interface, or indirect sending through the air interface by other units or modules. "Receiving information from YY" can be understood as that the source of the information is YY, which can include direct receiving from YY through the air interface, or indirect receiving from YY through the air interface by other units or modules. "Sending" can also be understood as the "output" of the chip interface, and "receiving" can also be understood as the "input" of the chip interface. In other words, sending and receiving can be carried out between devices, such as between network devices and terminal devices, or can be carried out within a device, such as between components, modules, chips, software modules or hardware modules within a device through a bus, wire or interface.

[0080] In the present application, "predefined" can mean standard protocol predefined, or can also mean pre-agreed or pre-negotiated between devices. In the present application, "protocol" can refer to standard protocols in the field of communication, which can include 5G protocol, NR protocol and related protocols applied to future communication systems, and the present application does not limit it. "Predefined" can include predefinition. For example, protocol definition. "Pre-configuration" can be realized by pre-saving corresponding codes, tables or other ways that can be used to indicate related information in the device, and the present application does not limit its implementation.

[0081] In the present application, the words such as "exemplarily" and "such as" are used to represent examples, illustrations or descriptions. Any embodiment or design scheme described as "example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. On the contrary, the word "example" is used to present the concept in a specific way. In the embodiments of the present application, "of", "corresponding" and "corresponding" can be used interchangeably at times. It should be pointed out that when there is no emphasis on their differences, the meanings they express are consistent.

[0082] In the present application, the same or similar parts of each embodiment can be mutually referred to, unless otherwise specified. In the present application, the terms and / or descriptions of different embodiments are consistent and can be mutually referred to, unless otherwise specified and logically conflicted. Different embodiments can be combined to form new embodiments according to their inherent logical relationship. The implementation modes of the present application described below do not constitute a limitation on the protection scope of the present application.

[0083] The technical solutions provided in the present application can be applied to various communication systems, which can be a third generation partnership project (3rd generation partnership project, 3GPP) related cellular system, for example, a fourth generation (4th generation, 4G) long term evolution (long term evolution, LTE) system, an evolved LTE system (LTE-Advanced, LTE-A) system, an LTE frequency division duplex (frequency division duplex, FDD) system, an LTE time division duplex (time division duplex, TDD), a universal mobile communication system (universal mobile telecommunication system, UMTS), a fifth generation (5th generation, 5G) new radio (new radio, NR) system, a vehicle to everything (vehicle to everything, V2X) system, a system of LTE and NR hybrid networking, or a device-to-device (device-to-device, D2D) system, a machine to machine (machine to machine, M2M) communication system, an internet of things (internet of things, IoT), a narrowband internet of things (narrow band-internet of things, NB-IoT), and a future communication system.

[0084] Alternatively, the communication system can also be a non-3GPP communication system, for example, an open radio access network (open radio access network, O-RAN or ORAN), a cloud radio access network (cloud radio access network, CRAN), a wireless fidelity (wireless fidelity, WiFi) system, or can also be a communication system combined with the above-mentioned multiple communication systems, which is not limited in the present application.

[0085] The above-mentioned communication system applicable to the present application is only an example, and the communication system applicable to the present application is not limited thereto. Herein, the following will not be described in detail.

[0086] For example, as shown in FIG. 1, the technical solutions provided in the present application are applicable to a communication system which can include at least one first communication device and at least one second communication device. The first communication device and the second communication device can communicate with each other.

[0087] Among them, the first communication device and the second communication device can transmit acoustic signals. For example, the acoustic signal can be an ultrasonic signal.

[0088] Optionally, the first communication device can include a mobile phone, a tablet computer, a notebook computer, a palm computer, a desktop computer, a laptop computer, a mobile internet device (MID), a wearable device (such as a watch), a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control, a wireless terminal in self driving (for example, a drone, a vehicle), a wireless terminal in remote medical surgery, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, or a wireless terminal in a smart home, a head-mounted display, a portable game console, a reader device, a Tag device, etc. For example, the wireless terminal in self driving can be a drone, a helicopter, or an airplane, etc. For example, the wireless terminal in Internet of Vehicles can be a vehicle-mounted device, a whole-vehicle device, a vehicle-mounted module, a vehicle, or a ship, etc. The wireless terminal in industrial control can be a camera, a robot, or a mechanical arm, etc. The wireless terminal in a smart home can be a television, an air conditioner, a sweeping machine, a portable music player (such as a sound box), or a set-top box, etc.

[0089] Optionally, the second communication device can include a mobile phone, a tablet computer, a notebook computer, a palm computer, a desktop computer, a laptop computer, a MID, a wearable device, a VR device, an AR device, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical surgery, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, or a wireless terminal in a smart home, a head-mounted display, a portable game console, a reader device, a Tag device, etc.

[0090] Optionally, the first communication device includes a wireless communication module and a sound wave module. The wireless communication module is configured to perform wireless communication (such as interaction of electronic signals) between the first communication device and the second communication device. The sound wave module is configured to perform sound wave communication (such as transmitting and receiving sound wave signals) between the first communication device and the second communication device.

[0091] Specifically, if the first communication device is a mobile phone and the second communication device is a Tag device, the first communication device includes a wireless communication module and a sound wave module.

[0092] Optionally, the wireless communication module and the acoustic wave module each comprise a transceiver module and a processing module; wherein the transceiver module in the wireless communication module is configured to transceive electronic signals, and the processing module is configured to process the electronic signals. The transceiver module in the acoustic wave module is configured to transceive acoustic wave signals, and the processing module is configured to process the acoustic wave signals. Sometimes, the processing module configured to process the electronic signals and the processing module configured to process the acoustic wave signals can be combined into one processing module.

[0093] Optionally, the second communication device also comprises a wireless communication module and an acoustic wave module. For example, the implementation of the wireless communication module and the acoustic wave module can refer to the related description of the above embodiments, which will not be described here.

[0094] For the convenience of description, the following will take the first communication device and the second communication device both processing electronic signals and acoustic wave signals through one processing module as an example for introduction, which will be described uniformly here and will not be described again.

[0095] Optionally, the second communication device can send acoustic wave signals to the first communication device, and correspondingly, the first communication device can receive the acoustic wave signals from the second device; and then determine the distance between the first communication device and the second communication device based on the acoustic wave signals. That is, the transceiver module in the first communication module for transceiving acoustic wave signals meets the function of receiving acoustic wave signals. The transceiver module in the first communication module for transceiving acoustic wave signals meets the function of sending acoustic wave signals.

[0096] For example, the first communication device can receive acoustic wave signals through a microphone; and the second communication device can send acoustic wave signals through a loudspeaker. At this time, as shown in FIG. 2, the first communication device 200 can at least comprise one or more microphones 201, one or more transceivers 202, and one or more processors 203. Further, the first communication device 200 can also comprise one or more memories 204. Wherein the microphone 201 is configured to receive acoustic wave signals; the transceiver 202 is configured to transceive electronic signals; the memory 204 is configured to store instructions; and the processor 203 can invoke the instructions in the memory 204, so that the first communication device 200 executes the related method. The processor 203 and the microphone 201, the transceiver 202, and the memory 204 are connected through a bus to realize data exchange.

[0097] As shown in FIG. 3, the second communication device 300 can at least include one or more speakers 301, one or more transceivers 302, and one or more processors 303, and further can include one or more memories 304. The speaker 301 is configured to send acoustic wave signals; the transceiver 302 is configured to send and receive electronic signals; and the memory 304 is configured to store instructions. The processor 303 can invoke the instructions in the memory 304, so that the second communication device 300 performs the related method. The processor 303, the speaker 301, the transceiver 302, and the memory 304 are connected through a bus to exchange data.

[0098] Taking the first communication device as a mobile phone and the second communication device as a tag device as an example, the communication system provided by the present application can be as shown in FIG. 4, that is, FIG. 1 can be replaced by FIG. 4. In FIG. 4, the first communication device can include a wireless communication module and a microphone. Further, the first communication device can further include a display module configured to display the distance and / or angle between the first communication device and the second communication device.

[0099] In order to facilitate the understanding of the technical solutions of the embodiments of the present application, first, a brief introduction of the related technologies of the present application is given as follows.

[0100] Bluetooth time alignment:

[0101] Bluetooth time alignment refers to the process that, before the connection is established, the Bluetooth device selects a frequency modulation frequency (or the frequency modulation frequency is determined by the address of the queried device) in a fixed frequency band, rapidly exchanges handshake information time and address, and quickly obtains the time and frequency synchronization of the device. After the connection is established, the device can change the frequency according to the channel hopping sequence, so that the frequency hopping frequency has random characteristics.

[0102] In the process of finding the device by the UE, it is usually required to display the distance and angle between the device and the UE and update in real time as the user (i.e., the user holding the UE) moves. Taking the mobile phone finding the tag device as an example, one-way ultrasonic ranging can be usually used. Specifically, first, the mobile phone and the tag device need to perform Bluetooth time alignment (as shown in FIG. 5, the Bluetooth time alignment is performed between the two devices through the respective Bluetooth modules), and then the distance between the mobile phone and the tag device can be determined according to the time difference (i.e., the difference between the time when the ultrasonic wave is sent from the tag device and the time when the mobile phone receives the ultrasonic wave) of the ultrasonic wave sent from the tag device to the mobile phone. As shown in FIG. 5, the time when the ultrasonic wave is sent from the tag device is t k , and the time when the mobile phone receives the ultrasonic wave is t k , so that the mobile phone can determine the distance difference D = (t k -t kv, where v represents the transmission speed of the ultrasonic wave. k The tag device can inform the mobile phone of the TB module.

[0103] For different models of mobile phones and / or different models of tag devices, due to the device capability and the internal time delay of the chip, there is a fixed time offset (i.e., the time difference of the Bluetooth time) in the Bluetooth time; and there is also a different fixed time offset under different Bluetooth loads, so it is necessary to measure in advance and then compensate.

[0104] That is, the distance difference D determined in the above Figure 5 is not the real distance between the mobile phone and the tag device, and the distance also needs to add the distance error corresponding to the Bluetooth time (i.e., the time difference corresponding to the Bluetooth time) and the distance error corresponding to the Bluetooth load (i.e., the time difference corresponding to the Bluetooth load). In other words, the distance between the mobile phone and the tag device can satisfy the following relationship (1): d k = (t' k -t k + Δt B )v + d α , relationship (1);

[0105] where d α = Δt α *v.

[0106] where d k represents the distance between the mobile phone and the tag device, t k represents the time when the ultrasonic wave is sent from the tag device, t' k represents the time when the mobile phone receives the ultrasonic wave, Δt B represents the time difference corresponding to the Bluetooth time, Δt α represents the time difference corresponding to the Bluetooth load α, d α represents the distance error caused by the Bluetooth load α.

[0107] For the distance error caused by the Bluetooth load, it is currently measured and determined by manual for each mobile phone and each tag device; that is, each time a new mobile phone is added, the time difference of the Bluetooth time between the mobile phone and different models of tags, and the fixed time offset under the corresponding Bluetooth load of the mobile phone need to be measured; similarly, each time a new tag is added, the time difference of the Bluetooth time between the tag and different models of mobile phones, and the fixed time offset under different Bluetooth loads need to be measured.

[0108] However, this adaptation method has a large workload, and the above adaptation work is only for different models of devices, and there is a large error in the time offset between each pair of devices (such as a mobile phone and a headset).

[0109] Therefore, the first communication device can receive the sound wave signal at different positions (i.e., N relative coordinates, N phase coordinates are coordinates of N signal receiving positions relative to a reference position), and further, determine a distance offset value between the first communication device and the second communication device according to the position where the sound wave signal is located, the receiving time of the sound wave signal, and a signal time difference (i.e., a first time difference) between the two, so that distance measurement can be performed based on the distance offset value, and the accuracy of distance measurement is improved.

[0110] It can be understood that, in order to improve the accuracy of the determined signal transmission time, the clock of the first communication device and the second communication device needs to be synchronized when transmitting signals between the two devices. That is, the time needs to be synchronized between the two devices before signal transmission. Therefore, the signal time difference between the two devices can also be considered as the time difference determined in the time synchronization process between the two devices (such as the time difference corresponding to Bluetooth time synchronization).

[0111] Therefore, in the present application, before distance measurement, the first communication device can determine the distance error between the two devices based on the position where the sound wave signal is located and the receiving time of the sound wave signal, and further, subtract the distance error caused by the time difference in the time synchronization process (i.e., the signal time difference between the two devices, or the first time difference) from the distance error to obtain the distance error caused by the load corresponding time difference (i.e., the distance offset value). That is, the distance error caused by the load corresponding time difference can be measured in real time in the present application. Compared with the scheme of manually measuring and storing the distance error caused by the load corresponding time difference in advance, the workload of adaptation can be reduced.

[0112] In addition, in the present application, for each device pair (i.e., a device pair composed of the first communication device and the second communication device), the distance error caused by the load corresponding time difference between the two devices can be measured in real time. Compared with the scheme of measuring only the distance error caused by the load corresponding time difference between devices of different models, the measurement accuracy is higher, and the accuracy of the subsequent distance measurement result is also higher.

[0113] The ranging method provided by the embodiments of the present application will be described below with reference to the accompanying drawings. It can be understood that, in the embodiments of the present application, the first communication device or the second communication device can perform part or all of the steps in the embodiments of the present application, and these steps or operations are merely examples, and the embodiments of the present application can also perform other operations or variations of various operations. In addition, each step can be performed in a different order from that presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application are performed.

[0114] It should be noted that the names of messages between devices in the following embodiments of the present application or the names of parameters in the messages are merely examples, and other names can also be used in specific implementations, and the embodiments of the present application do not make specific limitations.

[0115] Referring to FIG. 6, FIG. 6 is a flowchart of a ranging method according to an embodiment of the present application. The method shown in FIG. 6 can include the following steps S601-S603:

[0116] S601, the first communication device sends indication information to the second communication device; correspondingly, the second communication device receives the indication information from the first communication device. The indication information indicates that the second communication device sends a sound wave signal.

[0117] For example, the sound wave signal includes but is not limited to sound waves, ultrasonic waves.

[0118] For example, the indication information can be represented by 1 bit; when the 1 bit is 1 or 0, it indicates that the second communication device needs to send a sound wave signal.

[0119] Optionally, the first communication device sends the indication information to the second communication device through a wireless communication module thereof; correspondingly, the second communication device receives the indication information from the first communication device through a wireless communication module thereof.

[0120] For example, the wireless communication module can be a Bluetooth module; that is, the first communication device and the second communication device can transmit the indication information through the Bluetooth modules thereof. That is, the first communication device sends the indication information to the second communication device through the Bluetooth module thereof; correspondingly, the second communication device receives the indication information from the first communication device through the Bluetooth module thereof.

[0121] Optionally, the sending mode of the sound wave signal can be determined by the first communication device; or, it can also be determined by the second communication device. The sending mode of the sound wave signal can include periodic sending or non-periodic sending.

[0122] For example, the first communication device can instruct the second communication device to periodically transmit the sound wave signal; or the first communication device can instruct the second communication device to non-periodically transmit the sound wave signal.

[0123] Specifically, the information for instructing the transmission mode of the sound wave signal can be represented by 1 bit. When the 1 bit is 1, it indicates that the transmission mode of the sound wave signal is periodic transmission; correspondingly, when the 1 bit is 1, it indicates that the transmission mode of the sound wave signal is non-periodic transmission. Or, when the 1 bit is 1, it indicates that the transmission mode of the sound wave signal is non-periodic transmission; correspondingly, when the 1 bit is 1, it indicates that the transmission mode of the sound wave signal is periodic transmission.

[0124] For example, the information for instructing the transmission mode of the sound wave signal can be the same as the above-mentioned indication information, that is, the above-mentioned indication information can also indicate the transmission mode of the sound wave signal. Or, the information for instructing the transmission mode of the sound wave signal can be different from the above-mentioned indication information.

[0125] For example, when the information for instructing the transmission mode of the sound wave signal can be the same as the above-mentioned indication information, that is, the indication information also indicates the transmission mode of the sound wave signal. That is, the indication information instructing the second communication device to transmit the sound wave signal includes: the indication information instructing the second communication device to periodically transmit the sound wave signal.

[0126] For example, when the transmission mode of the sound wave signal is periodic transmission, the transmission period of the sound wave signal can be predefined; or it can be determined by the first communication device and informed to the second communication device; or it can be determined by the second communication device.

[0127] S602, the second communication device transmits N sound wave signals to the first communication device according to the indication information; correspondingly, the first communication device receives N sound wave signals from the second communication device.

[0128] Wherein, the N sound wave signals correspond to N relative coordinates respectively, the N phase coordinates are coordinates of N signal receiving positions relative to a reference position respectively, and N is a positive integer greater than or equal to 3.

[0129] For example, the indication information can be understood as trigger information for triggering the second communication device to transmit the sound wave signal. That is, the second communication device transmits N sound wave signals to the first communication device according to the indication information, which can be understood as: the second communication device transmits N sound wave signals to the first communication device based on the trigger of the indication information.

[0130] Exemplarily, the second communication apparatus sends N acoustic wave signals to the first communication apparatus, which can be understood as that the second communication apparatus sends N times of acoustic wave signals. Or, the second communication apparatus sends at least N times of acoustic wave signals.

[0131] Specifically, the N acoustic wave signals can be sent at N different time instants respectively; that is, the sending time of the N acoustic wave signals is different. Or, the N acoustic wave signals correspond to N sending times, and the N sending times are different. Wherein, the N acoustic wave signals and the N sending times correspond to each other one by one.

[0132] Exemplarily, when the sending mode of the acoustic wave signal is periodic sending, the N sending times can be located in different periods. When the sending mode of the acoustic wave signal is non-periodic sending, the N sending times can be located at different time instants.

[0133] Exemplarily, the N acoustic wave signals correspond to N relative coordinates respectively, which can be understood as that the first communication apparatus receives the acoustic wave signals at the N relative coordinates respectively, thereby obtaining the N acoustic wave signals.

[0134] It should be understood that in the present application, "correspond to each other respectively" can be understood as "correspond to each other one by one"; that is, A parameter #1 and A parameter #2 correspond to each other respectively, which is expressed as A parameter #1 and A parameter #2 correspond to each other one by one; this is uniformly described here, and will not be described again.

[0135] Exemplarily, the N phase coordinates are coordinates of N signal receiving positions relative to a reference position respectively, which can be understood as that a two-dimensional coordinate system (such as an XY coordinate system) can be established with the reference position as the coordinate origin, and the acoustic wave signals are received at N positions respectively; the coordinates of each position in the N positions can be called relative coordinates, that is, the coordinates of the position relative to the coordinate origin (that is, the reference position). Thus, N relative coordinates are obtained.

[0136] S603, the first communication apparatus determines a distance offset value according to the N relative coordinates, the N receiving times, and the first time difference.

[0137] Wherein, the N receiving times are receiving times corresponding to the N acoustic wave signals respectively, the first time difference is a time difference of signals between the first communication apparatus and the second communication apparatus, and the distance offset value is used to determine the distance between the first communication apparatus and the second communication apparatus.

[0138] Exemplarily, the N receiving times are receiving times corresponding to the N acoustic wave signals respectively, which can be understood as the time when the first communication apparatus receives the acoustic wave signals at the N relative coordinates respectively. That is, each acoustic wave signal in the N acoustic wave signals corresponds to a receiving time respectively.

[0139] Specifically, as shown in FIG. 7, the second communication device can send a first sound wave signal at time t1, and the corresponding receiving time of the sound wave signal is t'1; similarly, the second communication device can send a second sound wave signal at time t2, and the corresponding receiving time of the sound wave signal is t'2; the second communication device can send a third sound wave signal at time t3, and the corresponding receiving time of the sound wave signal is t'3; the second communication device can send a fourth sound wave signal at time t4, and the corresponding receiving time of the sound wave signal is t'4; the second communication device can send an Nth sound wave signal at time tN, and the corresponding receiving time of the sound wave signal is t'N. N N

[0140] For example, the first communication device can determine the position (i.e., relative coordinates) at which it is located when receiving each sound wave signal based on its sensor.

[0141] It can be understood that, in order to improve the accuracy of the determined transmission time of the signal, the clocks of the first communication device and the second communication device need to be synchronized when transmitting the signal therebetween; that is, the clocks need to be synchronized before the signal is transmitted therebetween; thus, the signal time difference between the two devices can also be considered as the time difference determined in the process of synchronizing the clocks therebetween (e.g., the time difference corresponding to Bluetooth synchronization). Thus, the first time difference is the time difference of the signal between the first communication device and the second communication device, which can be understood as the time difference determined in the process of synchronizing the clocks between the first communication device and the second communication device.

[0142] For example, the time difference determined in the process of synchronizing the clocks between the two devices is usually the result of synchronizing the clocks between the two devices. For example, the two devices can perform Bluetooth synchronization, and the first time difference is the time difference of Bluetooth synchronization.

[0143] Specifically, the process of synchronizing the clocks between the first communication device and the second communication device can be performed before step S601 and / or step S602, or after step S601 and / or step S602, or simultaneously with step S601 and / or step S602, which is not limited in the present application, as long as it is performed before step S603. When step S601 and / or step S602 are performed simultaneously, the time delay of the ranging in the present solution can be reduced, and the efficiency of the ranging can be improved.

[0144] Optionally, the distance offset value can be a distance error corresponding to the time difference of the load. That is, the distance offset value is the distance error corresponding to the time difference of the load.

[0145] ​​It can be understood that the distance error between the two devices usually includes the distance error caused by the time difference existing in the time synchronization process and the time difference corresponding to different loads. The distance error between the two devices is the local time difference v between the two devices. That is, the local time difference, the time difference determined in the time synchronization process, and the time difference corresponding to the load satisfy the following relationship (2): Δt = Δt B + Δt α relationship (2);

[0146] wherein, Δt represents the local time difference, Δt B the time difference determined in the time synchronization process (such as the time difference of Bluetooth time synchronization), Δt α represents the time difference corresponding to the load α. Wherein, the load α is the load of the first communication device.

[0147] For example, usually, the local time difference can be determined based on the above-mentioned N relative coordinates and N receiving times. That is, the first communication device can determine the local time difference between the first communication device and the second communication device based on the N relative coordinates and the N receiving times, and then determine the time difference corresponding to the load (i.e. the difference between the local time difference and the time difference determined in the time synchronization process) according to the local time difference and the time difference determined in the time synchronization process (i.e. the first time difference), and then determine the distance error corresponding to the load (i.e. the time difference corresponding to the load * v, i.e. the distance offset value).

[0148] Optionally, after step S603, the ranging method can further include step S604 as shown in FIG. 8:

[0149] S604, the first communication device determines the distance between the first communication device and the second communication device based on the distance offset value.

[0150] Optionally, the first communication device determines the distance between the first communication device and the second communication device based on the distance offset value, including:

[0151] The first communication device determines the distance between the first communication device and the second communication device according to the transmission and reception time (i.e. the transmission time and the reception time) of any one of the N sound wave signals, the first time difference, and the distance offset value.

[0152] For example, the first communication device determines the distance between the first communication device and the second communication device, which is similar to the implementation of the mobile phone determining the distance between the mobile phone and the tag device in the above-mentioned relationship (1), and the relevant description of the above-mentioned relationship (1) can be referred to, which will not be repeated here.

[0153] The embodiment of the present application provides a ranging method, a first communication device can send indication information to a second communication device, and the indication information is used for instructing the second communication device to send a sound wave signal. Therefore, the first communication device can receive the sound wave signal at different positions (namely, N relative coordinates, N phase coordinates are coordinates of N signal receiving positions relative to a reference position) respectively (namely, receive N sound wave signals); further, according to the position where the sound wave signal is located, the receiving time of the sound wave signal, and the signal time difference (namely, a first time difference) between the two, a distance offset value between the first communication device and the second communication device is determined, so that the distance offset value can be used for ranging, and the ranging accuracy is improved.

[0154] It can be understood that, when the first communication device and the second communication device transmit signals, in order to improve the accuracy of the determined signal transmission time, the clock of the two devices needs to be synchronized; that is, the time of the two devices needs to be synchronized before the signal transmission; therefore, the signal time difference between the two devices can also be considered as the time difference determined in the time synchronization process (such as the time difference corresponding to Bluetooth time synchronization).

[0155] Therefore, in the present application, before ranging, the first communication device can determine the distance error between the two devices based on the position where the sound wave signal is located and the receiving time of the sound wave signal, and further, subtract the distance error caused by the time difference in the time synchronization process (namely, the signal time difference between the two devices, or the first time difference) from the distance error, to obtain the distance error caused by the load corresponding time difference (namely, the distance offset value). That is, the distance error caused by the load corresponding time difference can be measured in real time in the present application. Compared with the scheme of manually measuring and storing the distance error caused by the load corresponding time difference in advance, the workload of adaptation can be reduced.

[0156] In addition, in the present application, for each device pair (namely, the device pair composed of the first communication device and the second communication device), the distance error caused by the load corresponding time difference between the two devices can be measured in real time; compared with the scheme of measuring only the distance error caused by the load corresponding time difference between different models of devices, the measurement accuracy is higher; and accordingly, the accuracy of the subsequent ranging result is also higher.

[0157] The above is the overall description of the ranging method provided by the present application, and the steps S601-S603 in the above embodiment will be introduced as follows:

[0158] (1) For step S601:

[0159] Optionally, the sending the indication information comprises: determining whether there is a distance offset value according to the load of the first communication device; in the case that there is no distance offset value, sending the indication information; in the case that there is a distance offset value, determining the distance between the first communication device and the second communication device by using the distance offset value.

[0160] For example, as shown in FIG. 9, since the distance offset value corresponding to each load is different, the first communication device can determine whether there is a distance offset value corresponding to the load based on the load of the first communication device; if there is, the distance between the first communication device and the second communication device can be directly determined based on step S604 (i.e., the distance between the first communication device and the second communication device is determined based on the distance offset value). If there is not, the distance offset value corresponding to the load is determined based on steps S601-S603 (i.e., the indication information is sent; the N sound wave signals are received; and the distance offset value is determined according to the N relative coordinates, the N receiving times, and the first time difference), and then the distance between the first communication device and the second communication device is determined based on the distance offset value.

[0161] Based on the optional scheme, before sending the indication information, the first communication device can first determine whether there is a distance offset value corresponding to the load of the first communication device. If there is a distance offset value corresponding to the load, the first communication device can directly determine the distance between the first communication device and the second communication device based on the distance offset value corresponding to the load, without the need to determine the distance offset value corresponding to the load, thereby saving resources and improving the efficiency of distance measurement.

[0162] (2) For step S602:

[0163] Optionally, in order to improve the accuracy of the calculated distance offset value, the N relative coordinates can be as far away from each other as possible, i.e., the N relative coordinates cannot form a straight line. Further, the moving range of the first communication device can be expanded, i.e., the distance between the N relative coordinates can be as far as possible. However, in general, the user moves the first communication device to different positions (such as the N relative coordinates), but the user can not be aware of whether the positions are on a straight line or not. Therefore, a movement track can be displayed on the first communication device, so that the user can move based on the movement track, thereby achieving the purpose of receiving the N sound wave signals at the N relative positions. That is, before receiving the N sound wave signals, the distance measurement method further comprises step S605:

[0164] S605, the first communication device provides a preset movement track. The positions corresponding to the N relative coordinates are determined based on the preset movement track.

[0165] For example, the first communication apparatus can provide a movement track (i.e., the preset movement track) and display the movement track on the display module (i.e., the first communication apparatus also comprises a display module) so that the user can move according to the movement track and receive N acoustic signals during the movement, wherein each position where the user is located when receiving an acoustic signal is the relative position corresponding to the acoustic signal, i.e., the N relative positions are located on the movement track of the user (or the first communication apparatus). In addition, since the user moves according to the preset movement track, it can also be considered that the positions corresponding to the N relative coordinates are determined based on the preset movement track.

[0166] Specifically, the display module of the first communication apparatus can display the content shown in FIG. 10. That is, the first communication apparatus can indicate the preset movement track by an arrow; wherein the solid circle in FIG. 10 represents the current position of the first communication apparatus. Further, the display module can also prompt the user by text, i.e., it can display "Please walk in the direction of the arrow"; so that the user can know that he needs to move according to the movement track (i.e., the preset movement track) indicated by the display module in combination with the text prompt.

[0167] (Three), for step S603:

[0168] Optionally, the first communication apparatus determines the distance offset value based on the N relative coordinates, the N receiving times, and the first time difference, comprising: the first communication apparatus determines a second time difference based on the N relative coordinates and the N receiving times; determines the distance offset value based on the second time difference and the first time difference. Wherein the second time difference is the local time difference between the first communication apparatus and the second communication apparatus.

[0169] For example, based on the foregoing, the N relative coordinates and the N receiving times can be used to determine the local time difference between the first communication apparatus and the second communication apparatus; and the local time difference and the first time difference satisfy the relationship shown in the above relationship (2). Therefore, the first communication apparatus can determine the local time difference based on the N relative coordinates and the N receiving times, further, determine the time difference corresponding to the load of the first communication apparatus based on the above relationship (2), thereby determining the distance offset value (i.e., the distance error corresponding to the load).

[0170] Optionally, the first communication apparatus determines the second time difference based on the N relative coordinates and the N receiving times, comprising: the first communication apparatus determines the coordinate position of the second communication apparatus based on the N relative coordinates and the N receiving times; determines N distances, the N distances are the distances between the N relative coordinates and the coordinate position of the second communication apparatus, respectively; determines the second time difference based on the N distances and the N receiving times.

[0171] For example, the first communication apparatus can determine the coordinate position of the second communication apparatus based on N relative coordinates and N receiving times. The coordinate position of the second communication apparatus refers to the coordinate of the second communication apparatus relative to a reference position. Further, the N relative coordinates and N distances between the second communication apparatus are determined, and then the local time difference is determined based on the N distances and the N receiving times.

[0172] Specifically, taking N=3 as an example, as shown in FIG. 11, the first communication apparatus can receive sound wave signals at points A, B and C respectively. The relative coordinate of point A is (x1, y1); the relative coordinate of point B is (x2, y2); and the relative coordinate of point C is (x3, y3). For example, the first communication apparatus can determine the relative coordinates of points A, B and C through its sensor. Further, the first communication apparatus can determine the coordinate position (x, y) of the second communication apparatus based on the time of receiving the sound wave signal at each relative coordinate based on the three relative coordinates.

[0173] Further, the distance between each relative coordinate and the coordinate position (x, y) of the second communication apparatus is determined. The distance between (x1, y1) and (x, y) is D1; the distance between (x2, y2) and (x, y) is D2; and the distance between (x3, y3) and (x, y) is D3. Then, the local time difference (i.e., the second time difference) is determined according to D1, D2, D3 and the time of receiving the sound wave signal at points A, B and C respectively.

[0174] For example, the first communication apparatus can determine the coordinate position of the second communication apparatus based on the following two possible implementation manners:

[0175] In one possible implementation manner, the first communication apparatus can determine the coordinate position of the second communication apparatus based on N relative coordinates and N receiving and transmitting times (i.e., receiving times and transmitting times).

[0176] Optionally, the first communication apparatus determines the coordinate position of the second communication apparatus according to N relative coordinates and N receiving times, comprising: determining the coordinate position of the second communication apparatus according to N relative coordinates, N receiving times and N transmitting times. The N transmitting times are the transmitting times corresponding to the N sound wave signals respectively.

[0177] For example, the implementation of N transmitting times can refer to the related description of the above embodiments, which will not be described here.

[0178] Optionally, the N relative coordinates, N receiving times, N transmitting times and the coordinate position of the second communication apparatus satisfy the following relationship (3):

[0179] wherein (x, y) represents the coordinate position of the second communication device, (x i , y i ) represents the i-th coordinate among the N relative coordinates, i represents the number of the i-th coordinate among the N relative coordinates, t' i represents the receiving time of the sound wave signal received at the i-th coordinate, t i represents the sending time of the sound wave signal received at the i-th coordinate, (x j , y j ) represents the j-th coordinate among the N relative coordinates, j represents the number of the j-th coordinate among the N relative coordinates, t' j represents the receiving time of the sound wave signal received at the j-th coordinate, t j represents the sending time of the sound wave signal received at the j-th coordinate, the i-th coordinate and the j-th coordinate are any two coordinates among the N relative coordinates, v represents the transmission speed of the sound wave signal, i and j are positive integers less than or equal to N, and i and j are different.

[0180] Taking N = 3 as an example, the relationship (3) can be replaced by relationship (3A):

[0181] wherein (x, y) represents the coordinate position of the second communication device; (x1, y1), (x2, y2), (x3, y3) are three relative coordinates; t'1 represents the time at which the sound wave signal is received at (x1, y1), t1 represents the sending time of the sound wave signal; t'2 represents the time at which the sound wave signal is received at (x2, y2), t2 represents the sending time of the sound wave signal; t'3 represents the time at which the sound wave signal is received at (x3, y3), t3 represents the sending time of the sound wave signal. Thus, the first communication device can determine the coordinate position of the second communication device based on the above relationship (3A).

[0182] Optionally, the N sending times can be informed by the second communication device to the first communication device. For example, the second communication device and the first communication device can interact the N sending times through a wireless communication module. Optionally, in this possible implementation manner, the sending mode of the sound wave signal is non-periodic sending or periodic sending.

[0183] Based on this possible implementation manner, the first communication device can determine the coordinate position of the second communication device based on the N relative coordinates and the N sending and receiving times (i.e. receiving time and sending time). In this manner, it is not necessary to consider whether the sending mode of the sound wave signal is non-periodic sending or periodic sending. That is, whether the sending mode of the sound wave signal is non-periodic sending or periodic sending, this manner can be used to determine the coordinate position of the second communication device. The application range is wider.

[0184] In another possible implementation, when the sending manner of the sound wave signal is periodic sending. The first communication apparatus can determine the coordinate position of the second communication apparatus based on the N relative coordinates, the N receiving times, and the sending period.

[0185] Optionally, when the sound wave signal is periodically sent, the N relative coordinates, the N receiving times, and the coordinate position of the second communication apparatus satisfy the following relationship (4):

[0186] where (x, y) represents the coordinate position of the second communication apparatus, (x i , y i ) represents the i-th coordinate in the N relative coordinates, i represents the number of the i-th coordinate in the N relative coordinates, t' i represents the receiving time of the sound wave signal received at the i-th coordinate, (x j , y j ) represents the j-th coordinate in the N relative coordinates, j represents the number of the j-th coordinate in the N relative coordinates, t' j represents the receiving time of the sound wave signal received at the j-th coordinate, the i-th coordinate and the j-th coordinate are any two coordinates in the N relative coordinates, T represents the sending period of the sound wave signal, v represents the transmission speed of the sound wave signal, i and j are positive integers less than or equal to N, and i and j are different.

[0187] Taking 3 as the value of N, the relationship (4) can be replaced by relationship (4A):

[0188] where (x, y) represents the coordinate position of the second communication apparatus; (x1, y1), (x2, y2), and (x3, y3) are the three relative coordinates; t'1 represents the time at which the sound wave signal is received at (x1, y1), t1 represents the sending time of the sound wave signal; t'2 represents the time at which the sound wave signal is received at (x2, y2), t2 represents the sending time of the sound wave signal; t'3 represents the time at which the sound wave signal is received at (x3, y3), and t3 represents the sending time of the sound wave signal. Thus, the first communication apparatus can determine the coordinate position of the second communication apparatus based on the above relationship (4A).

[0189] Based on the possible implementation, when the sound wave signal is periodically sent, the first communication apparatus can determine the coordinate position of the second communication apparatus based on the N relative coordinates, the N receiving times (i.e., the receiving times and the sending times), and the sending period. That is, in this scheme, the N sending times do not need to be used, so that the second communication apparatus does not need to inform the first communication apparatus of the N sending times, thereby reducing the air interface resources.

[0190] Combining the two possible implementation methods mentioned above, the N distances, N reception times, and the second time difference can satisfy the following relationship (5):

[0191] Where Δt represents the second time difference, N represents the number of N distances, and D k This represents the k-th distance among N distances, where k = 1, 2, ..., N, and t k Let t′ represent the transmission time of the sound wave signal used to determine the k-th distance among N sound wave signals. k Let v represent the reception time of the sound wave signal used to determine the k-th distance among N sound wave signals, and v represent the transmission speed of the sound wave signal. Thus, the first communication device can determine the second time difference (i.e., the local time difference) based on the above relationship (5).

[0192] Combining the two possible implementation methods mentioned above, optionally, the second time difference, the first time difference, and the distance offset value satisfy the following relationship (6): d=v*(Δt-Δt) B Relationship (6);

[0193] Where d represents the distance offset value, Δt represents the second time difference, and Δt B Let v represent the first time difference, and v represent the transmission speed of the acoustic signal. Thus, the first communication device can determine the distance offset value (i.e., the distance error corresponding to the load) based on the above relationship (6).

[0194] It should be noted that the various embodiments of this application can be implemented independently or in combination, without limitation. Unless otherwise specified or in conflict, the terminology and / or descriptions between the different embodiments provided in this application are consistent and can be referenced mutually. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0195] The foregoing primarily describes the solutions provided in this application from the perspective of device-to-device interaction. It is understood that each device, in order to achieve the aforementioned functions, includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, based on the algorithm steps of the examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0196] It should be noted that the communication apparatus includes hardware structure and / or software module corresponding to each function in order to realize the above functions. Those skilled in the art can clearly understand the units and algorithm steps of each example described in combination with the embodiments disclosed in the present document. The present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is realized in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0197] The embodiments of the present application can divide the functional modules of each device according to the above method examples. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The integrated module can be realized in the form of hardware or software functional module. It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical functional division. Actual implementation can have another division manner.

[0198] FIG. 12 shows a structural schematic diagram of a communication apparatus 1200. The communication apparatus 1200 includes a processing module 1201 and a transceiver module 1202. The communication apparatus can be used to realize the functions of the first communication apparatus or the second communication apparatus.

[0199] In some embodiments, the communication apparatus 1200 can further include a storage module (not shown in FIG. 12) for storing programs, instructions and / or data.

[0200] In some embodiments, the transceiver module 1202, also referred to as a transceiver unit, is used to realize the sending and / or receiving functions. The transceiver module 1202 can be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0201] In some embodiments, the transceiver module 1202 can include a receiving module and a sending module, which are respectively used to perform the receiving and sending steps in the above method embodiments performed by the first communication apparatus or the second communication apparatus, and / or other processes for supporting the technologies described herein; the processing module 1201 can be used to perform the processing steps (such as determination, etc.) in the above method embodiments performed by the first communication apparatus or the second communication apparatus, and / or other processes for supporting the technologies described herein.

[0202] When the communication apparatus 1200 is used to realize the functions of the first communication apparatus:

[0203] In some embodiments, the transceiver module 1202 is configured to send indication information, the indication information indicating that the second communication device sends the sound wave signals; the transceiver module 1202 is further configured to receive N sound wave signals, the N sound wave signals corresponding to N relative coordinates respectively, the N relative coordinates being coordinates of N signal receiving positions relative to a reference position respectively, N being a positive integer greater than or equal to 3; the processing module 1201 is configured to determine a distance offset value according to the N relative coordinates, N receiving times, and a first time difference, wherein the N receiving times are receiving times corresponding to the N sound wave signals respectively, the first time difference is a time difference of signals between the first communication device and the second communication device, and the distance offset value is used to determine a distance between the first communication device and the second communication device.

[0204] Optionally, the processing module 1201 is further configured to determine whether the distance offset value exists according to a load of the first communication device; in the case where the distance offset value does not exist, the indication information is sent; and in the case where the distance offset value exists, the distance between the first communication device and the second communication device is determined by using the distance offset value.

[0205] Optionally, the processing module 1201 is further configured to determine a second time difference according to the N relative coordinates and the N receiving times, the second time difference being a local time difference between the first communication device and the second communication device; and determine the distance offset value according to the second time difference and the first time difference.

[0206] Optionally, the processing module 1201 is further configured to determine a coordinate position of the second communication device according to the N relative coordinates and the N receiving times; determine N distances, the N distances being distances between the N relative coordinates and the coordinate position of the second communication device respectively; and determine the second time difference according to the N distances and the N receiving times.

[0207] Optionally, the processing module 1201 is further configured to determine the coordinate position of the second communication device according to the N relative coordinates, the N receiving times, and N sending times, the N sending times being sending times corresponding to the N sound wave signals respectively.

[0208] Optionally, the N relative coordinates, the N receiving times, the N sending times, and the coordinate position of the second communication device satisfy the following relationship:

[0209] wherein (x, y) represents the coordinate position of the second communication device, (x i , y i ) represents the i-th coordinate in the N relative coordinates, i represents the number of the i-th coordinate in the N relative coordinates, t′ i represents the receiving time of the sound wave signal received at the i-th coordinate, t idenotes the sending time of the sound wave signal received at the i-th coordinate, (x j , y j ) denotes the j-th coordinate among the N relative coordinates, j denotes the number of the j-th coordinate among the N relative coordinates, t′ j denotes the receiving time of the sound wave signal received at the j-th coordinate, t j denotes the sending time of the sound wave signal received at the j-th coordinate, the i-th coordinate and the j-th coordinate are any two coordinates among the N relative coordinates, v denotes the transmission speed of the sound wave signal, i and j are positive integers less than or equal to N, and i and j are different.

[0210] Optionally, the sound wave signal is periodically sent; the N relative coordinates, the N receiving times, and the coordinate position of the second communication device satisfy the following relationship:

[0211] wherein (x, y) denotes the coordinate position of the second communication device, (x i , y i ) denotes the i-th coordinate among the N relative coordinates, i denotes the number of the i-th coordinate among the N relative coordinates, t′ i denotes the receiving time of the sound wave signal received at the i-th coordinate, (x j , y j ) denotes the j-th coordinate among the N relative coordinates, j denotes the number of the j-th coordinate among the N relative coordinates, t′ j denotes the receiving time of the sound wave signal received at the j-th coordinate, the i-th coordinate and the j-th coordinate are any two coordinates among the N relative coordinates, T denotes the sending period of the sound wave signal, v denotes the transmission speed of the sound wave signal, i and j are positive integers less than or equal to N, and i and j are different.

[0212] Optionally, the indication information indicates that the second communication device sends the sound wave signal, comprising: the indication information indicates that the second communication device periodically sends the sound wave signal.

[0213] Optionally, the N distances, the N receiving times, and the second time difference satisfy the following relationship:

[0214] wherein Δt denotes the second time difference, N denotes the number of the N distances, D k denotes the k-th distance among the N distances, k = 1, 2, …, N, t k denotes the sending time of the sound wave signal used for determining the k-th distance among the N sound wave signals, t′ k denotes the receiving time of the sound wave signal used for determining the k-th distance among the N sound wave signals, v denotes the transmission speed of the sound wave signal.

[0215] Optionally, the second time difference, the first time difference, and the distance offset value satisfy the following relationship: d = v * (Δt - Δt B );

[0216] wherein d represents the distance offset value, Δt represents the second time difference, Δt B represents the first time difference, and v represents the transmission speed of the sound wave signal.

[0217] Optionally, the processing module 1201 is further configured to provide a preset motion trajectory, and the positions corresponding to the N relative coordinates are determined based on the preset motion trajectory.

[0218] When the communication apparatus 1200 is configured to implement the functions of the second communication apparatus described above, the processing module 1201 is configured to:

[0219] In some embodiments, the transceiver module 1202 is configured to receive indication information, the indication information indicating that the second communication apparatus transmits sound wave signals; and the processing module 1201 is configured to transmit a plurality of sound wave signals according to the indication information, wherein the N sound wave signals correspond to N relative coordinates respectively, the N relative coordinates are N signal receiving positions relative to a reference position respectively, and the N relative coordinates are used to determine a distance offset value, the distance offset value is used to determine a distance between the first communication apparatus and the second communication apparatus, and N is a positive integer greater than or equal to 3.

[0220] Optionally, the N relative coordinates are used to determine the distance offset value, including that the N relative coordinates, N receiving times, and the first time difference are used to determine the distance offset value, the N receiving times are N receiving times corresponding to the N sound wave signals respectively, and the first time difference is a time difference between signals of the first communication apparatus and the second communication apparatus.

[0221] Optionally, the N relative coordinates, the N receiving times, and the first time difference are used to determine the distance offset value, including that the N relative coordinates and the N receiving times are used to determine a second time difference, the second time difference and the first time difference are used to determine the distance offset value, and the second time difference is a local time difference between the first communication apparatus and the second communication apparatus.

[0222] Optionally, the N relative coordinates and the N receiving times are used to determine the second time difference, including that the N relative coordinates and the N receiving times are used to determine a coordinate position of the second communication apparatus, the coordinate position of the second communication apparatus and the N relative coordinates are used to determine N distances, the N distances and the N receiving times are used to determine the second time difference, and the N distances are distances between the N relative coordinates and the coordinate position of the second communication apparatus respectively.

[0223] Optionally, the N phase coordinates and the N receiving times are used to determine the coordinate position of the second communication device, and the N phase coordinates, the N receiving times, and N sending times of the N sound wave signals are used to determine the coordinate position of the second communication device.

[0224] Optionally, the sound wave signals are periodically sent, and the N phase coordinates and the N receiving times are used to determine the coordinate position of the second communication device, and the N phase coordinates, the N receiving times, and a period of the sound wave signals are used to determine the coordinate position of the second communication device.

[0225] Optionally, the indication information indicates that the second communication device sends the sound wave signals, and the indication information indicates that the second communication device periodically sends the sound wave signals.

[0226] Optionally, the N relative coordinates cannot form a straight line.

[0227] All the related contents of the steps involved in the method embodiments described above can be referred to the function description of the corresponding function modules, and will not be repeated here.

[0228] In the present application, the communication device (i.e., the first communication device or the second communication device) 1200 is presented in the form of dividing various function modules in an integrated manner. The "module" here can refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and a memory executing one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions.

[0229] In some embodiments, when the communication device 1200 in FIG. 12 is a chip or a chip system, the function / implementation process of the transceiver module 1202 can be implemented through the input / output interface (or the communication interface) of the chip or the chip system, and the function / implementation process of the processing module 1201 can be implemented through the processor (or the processing circuit) of the chip or the chip system.

[0230] Since the communication device 1200 provided in the present embodiment can execute the above method, the technical effects that can be obtained thereby can be referred to the above method embodiments, and will not be repeated here.

[0231] As another possible product form, the first communication device or the second communication device described in the embodiments of the present application can adopt the component structure shown in FIG. 13 or include the components shown in FIG. 13. FIG. 13 is a component diagram of a communication device 1300 provided by the embodiments of the present application. The communication device 1300 can be a first communication device or a chip or system on chip in the first communication device; or can be a second communication device or a chip or system on chip in the second communication device. As shown in FIG. 13, the communication device 1300 includes a processor 1301, a transceiver 1302, and a communication line 1303.

[0232] Further, the communication device 1300 can further include a memory 1304. The processor 1301, the memory 1304, and the transceiver 1302 can be connected through the communication line 1303.

[0233] The processor 1301 can be a central processing unit (CPU), a general processor network processor (NP), a digital signal processing (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 1301 can also be other devices with processing functions, such as a circuit, a device, or a software module, without limitation.

[0234] The transceiver 1302 is configured to communicate with other devices or other communication networks. The other communication networks can be an Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc. The transceiver 1302 can be a module, a circuit, a transceiver, or any device capable of communication.

[0235] The communication line 1303 is configured to connect different components in the communication device 1300 so that the different components can communicate. The communication line 1303 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is shown in FIG. 13, but it does not mean that there is only one bus or only one type of bus.

[0236] The memory 1304 can be a device having a storage function, configured to store instructions and / or data. The instructions can be a computer program.

[0237] For example, the memory 1304 can be a read-only memory (ROM) or other type of static storage device that can store static information and / or instructions, or a random access memory (RAM) or other type of dynamic storage device that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, etc., without limitation.

[0238] It should be noted that the memory 1304 can exist independently of the processor 1301, or can be integrated with the processor 1301. The memory 1304 can be configured to store instructions or program codes or some data, etc. The memory 1304 can be located in the communication device 1300 or outside the communication device 1300, without limitation. The processor 1301 is configured to execute the instructions stored in the memory 1304 to implement the ranging method provided by the embodiments described below.

[0239] In an example, the processor 1301 can include one or more CPUs, such as CPU0 and CPU1 in FIG. 13.

[0240] In some embodiments, in hardware implementation, those skilled in the art can conceive that the communication device 1200 can be in the form of the communication device 1300 shown in FIG. 13.

[0241] As an example, the functions / implementation processes of the processing module 1201 in FIG. 12 can be implemented by the processor 1301 in the communication device 1300 shown in FIG. 13 invoking the computer execution instructions stored in the memory 1304. The functions / implementation processes of the transceiver module 1202 in FIG. 12 can be implemented by the transceiver 1302 in the communication device 1300 shown in FIG. 13.

[0242] As an optional implementation, the communication device 1300 includes multiple processors, for example, in addition to the processor 1301 in FIG. 13, the processor 1307 can also be included.

[0243] As an optional implementation, the communication apparatus 1300 further includes an output device 1305 and an input device 1306. For example, the input device 1306 is a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, a projector, or the like. For example, the input device 1306 can be a keyboard, a mouse, a microphone, a joystick, a touch screen device, a sensing device, or the like. The output device 1305 is a display screen, a speaker, or the like.

[0244] It should be noted that the communication apparatus 1300 can be a desktop computer, a laptop computer, a network server, a mobile phone, a tablet computer, a wireless terminal, an embedded device, a chip system, or a device having a similar structure to that shown in FIG. 13. In addition, the constituent structures shown in FIG. 13 do not constitute a limitation on the communication apparatus, and the communication apparatus can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0245] In embodiments of the present application, a chip system can be composed of a chip, or can include a chip and other discrete devices.

[0246] As another possible product form, the first communication apparatus or the second communication apparatus described in embodiments of the present application can be implemented by a general bus architecture. For ease of illustration, refer to FIG. 14, which is a structural schematic diagram of a communication apparatus 1400 provided in embodiments of the present application. The communication apparatus 1400 includes a processor 1401 and a transceiver 1402. The communication apparatus 1400 can be the first communication apparatus, or a chip or a chip system therein. Alternatively, the communication apparatus 1400 can be the second communication apparatus, or a chip or a module therein. FIG. 14 only shows main components of the communication apparatus 1400. In addition to the processor 1401 and the transceiver 1402, the communication apparatus can further include a memory 1403.

[0247] Optionally, the processor 1401 is mainly used for processing a communication protocol and communication data, and controlling the entire communication apparatus, executing a software program, and processing data of the software program. The memory 1403 is mainly used for storing the software program and the data. The transceiver 1402 can include a radio frequency circuit and an antenna. The radio frequency circuit is mainly used for conversion between a baseband signal and a radio frequency signal, and processing of the radio frequency signal. The antenna is mainly used for transceiving a radio frequency signal in the form of an electromagnetic wave.

[0248] Optionally, the processor 1401, the transceiver 1402, and the memory 1403 can be connected through a communication bus.

[0249] When the communication apparatus is powered on, the processor 1401 can read the software program in the memory 1403, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be transmitted wirelessly, the processor 1401 performs baseband processing on the data to be transmitted, and outputs the baseband signal to the radio frequency circuit. The radio frequency circuit performs radio frequency processing on the baseband signal, and transmits the radio frequency signal in the form of electromagnetic wave through the antenna. When data is transmitted to the communication apparatus, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 1401. The processor 1401 converts the baseband signal into data and processes the data.

[0250] In some embodiments, the transceiver 1402 can include a transmitter and a receiver, wherein the transmitter is configured to implement the transmitting operations in the above method embodiments; and the receiver is configured to implement the receiving operations in the above method embodiments.

[0251] For example, when the communication apparatus is a chip, the chip can not include the memory 1403, that is, the communication apparatus includes the processor 1401 and the transceiver 1402. At this time, the transceiver 1402 is the input and output interface of the chip, wherein the transmitter in the transceiver corresponds to the output interface of the chip, and the receiver in the transceiver corresponds to the input interface of the chip.

[0252] In some embodiments, the communication apparatus also includes a processor, which is configured to implement the method in any of the above method embodiments.

[0253] As a possible implementation manner, the communication apparatus also includes a memory. The memory is configured to store necessary computer programs or instructions. The processor can invoke the computer programs or instructions in the memory to enable the communication apparatus to execute the method in any of the above method embodiments. Of course, the memory can also be external to the communication apparatus.

[0254] As another possible implementation manner, the communication apparatus also includes an interface circuit, which is a code / data read-write interface circuit. The interface circuit is configured to receive computer execution instructions (the computer execution instructions are stored in the memory, which can be directly read from the memory or can pass through other devices) and transmit the computer execution instructions to the processor.

[0255] As yet another possible implementation manner, the communication apparatus also includes a communication interface, which is configured to communicate with modules outside the communication apparatus.

[0256] It can be understood that the communication apparatus can be a chip or a chip system, when the communication apparatus is a chip system, the communication apparatus can be composed of a chip or can include a chip and other discrete devices, and embodiments of the present application do not make specific limitations.

[0257] The present application further provides a computer readable storage medium, which stores a computer program or instructions, and the computer program or instructions realize the functions of any of the method embodiments when executed by a computer.

[0258] The present application further provides a computer program product, which realizes the functions of any of the method embodiments when executed by a computer.

[0259] Those skilled in the art can understand that, for the convenience and brevity of description, the specific working processes of the above-described system, apparatus and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0260] It can be understood that the system, apparatus and method described in the present application can also be implemented in other ways. For example, the apparatus embodiments described above are only schematic, for example, the division of the units is only a logical function 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 interface, apparatus or unit, and can be electrical, mechanical or other forms.

[0261] The units described as separate components can or can not be physically separate, that is, can be located in one place, or can be distributed on a plurality of network units. The components shown as units can or can not be physical units. Part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.

[0262] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0263] In the embodiments described above, all or some of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or some of the embodiments can be implemented in the form of a computer program product storing computer program instructions. The computer program instructions are executed in a computer to implement the procedures or functions described in the embodiments of the present application. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer program instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer program instructions can be transmitted from a website, a computer, a server or a data center to another website, computer, server or data center through a wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium that can be accessed by a computer or data storage device including one or more servers, data centers, etc. integrated with the medium. The available medium can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, DVD), or a semiconductor medium (for example, solid state drive (SSD)), etc. In the embodiments of the present application, the computer can include the device described above.

[0264] Although the present application is described herein in conjunction with various embodiments, it is understood that other variations of the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed application, from an inspection of the drawings, the disclosure, and the appended claims. The word "comprising" does not exclude other components or steps not listed in the claims. The word "a" or "an" does not exclude a plurality. A single processor or other unit can fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to an advantage.

Claims

1. A method of ranging, characterized by, The method is performed by a first communication device, and the method comprises: sending indication information, the indication information indicating a second communication device to send acoustic signals; receiving N acoustic signals, the N acoustic signals corresponding to N relative coordinates respectively, the N relative coordinates being coordinates of N signal receiving positions relative to a reference position respectively, N being a positive integer greater than or equal to 3; determining a distance offset value according to the N relative coordinates, N receiving times, and a first time difference, the N receiving times being receiving times corresponding to the N acoustic signals respectively, the first time difference being a time difference of signals between the first communication device and the second communication device, the distance offset value being used to determine a distance between the first communication device and the second communication device. The sending of the indication information comprises:

2. The method of claim 1, wherein, determining whether the distance offset value exists according to a load of the first communication device; in a case where the distance offset value does not exist, sending the indication information; in a case where the distance offset value exists, determining the distance between the first communication device and the second communication device by using the distance offset value. The determination of the distance offset value according to the N relative coordinates, N receiving times, and the first time difference comprises:

3. The method according to claim 1 or 2, characterized in that, determining a second time difference according to the N relative coordinates and the N receiving times, the second time difference being a local time difference between the first communication device and the second communication device; determining the distance offset value according to the second time difference and the first time difference. The determination of the second time difference according to the N relative coordinates and the N receiving times comprises:

4. The method of claim 3, wherein, determining a coordinate position of the second communication device according to the N relative coordinates and the N receiving times; determining N distances, the N distances being distances between the N relative coordinates and the coordinate position of the second communication device respectively; determining the second time difference according to the N distances and the N receiving times. The determination of the coordinate position of the second communication device according to the N relative coordinates and the N receiving times comprises:

5. The method of claim 4, wherein, determining the coordinate position of the second communication device according to the N relative coordinates, the N receiving times, and N sending times, the N sending times being sending times corresponding to the N acoustic signals respectively. The acoustic signals are periodically sent; 6. The method of claim 5, wherein, The N relative coordinates, the N reception times, the N transmission times, and the coordinate position of the second communication device satisfy the following relationship: wherein (x, y) represents a coordinate position of the second communication device, (x i , y i ) represents an i-th coordinate among the N relative coordinates, i represents a number of the i-th coordinate among the N relative coordinates, t' i represents a receiving time of the acoustic wave signal received at the i-th coordinate, t i represents a transmitting time of the acoustic wave signal transmitted at the i-th coordinate, (x j , y j ) represents a j-th coordinate among the N relative coordinates, j represents a number of the j-th coordinate among the N relative coordinates, t' j represents a receiving time of the acoustic wave signal received at the j-th coordinate, t j represents a transmitting time of the acoustic wave signal transmitted at the j-th coordinate, the i-th coordinate and the j-th coordinate are any two coordinates among the N relative coordinates, v represents a transmission speed of the acoustic wave signal, i and j are positive integers less than or equal to N, and i and j are different.

7. The method of claim 4, wherein, The indication information indicating the second communication device to send acoustic signals comprises: the indication information indicating the second communication device to periodically send the acoustic signals. The N relative coordinates, the N reception times, and the coordinate position of the second communication device satisfy the following relationship: wherein (x, y) represents a coordinate position of the second communication device, (x i , y i ) represents an i-th coordinate among the N relative coordinates, i represents a number of the i-th coordinate among the N relative coordinates, t' i represents a reception time of a sound wave signal received at the i-th coordinate, (x j , y j ) represents a j-th coordinate among the N relative coordinates, j represents a number of the j-th coordinate among the N relative coordinates, t' j represents a reception time of a sound wave signal received at the j-th coordinate, the i-th coordinate and the j-th coordinate are any two coordinates among the N relative coordinates, T represents a transmission period of the sound wave signal, v represents a transmission speed of the sound wave signal, i and j are positive integers less than or equal to N, and i and j are different.

8. The method of claim 7, wherein, Before the receiving of the N acoustic signals, the method further comprises:

9. The method according to any one of claims 4-8, characterized in that, The N distances, the N reception times, and the second time difference satisfy the following relationship: wherein Δt represents the second time difference, N represents the number of the N distances, D k represents the kth distance in the N distances, k = 1, 2, …, N, t k represents the transmission time of the sound wave signal used for determining the kth distance in the N sound wave signals, t' k represents the reception time of the sound wave signal used for determining the kth distance in the N sound wave signals, v represents the transmission speed of the sound wave signal.

10. The method according to any one of claims 3-9, characterized in that, The second time difference, the first time difference, and the distance offset value satisfy the following relationship: d = v * (Δt - Δt B ); where d represents the distance offset value, At represents the second time difference, At B represents the first time difference, and v represents the transmission speed of the sound wave signal.

11. The method according to any one of claims 1 to 10, characterized in that, providing a preset motion trajectory, positions corresponding to the N relative coordinates being determined based on the preset motion trajectory. The N relative coordinates cannot form a straight line.

12. The method according to any one of claims 1 to 11, characterized in that, The method is performed by a second communication device, and the method comprises:

13. A method of ranging, the method comprising: receiving indication information, the indication information indicating the second communication device to send acoustic signals; sending a plurality of acoustic signals according to the indication information; ​ The N acoustic wave signals correspond to N relative coordinates respectively, the N phase coordinates are coordinates of the N signal receiving positions relative to a reference position respectively, the N phase coordinates are used to determine a distance offset value, the distance offset value is used to determine a distance between the first communication device and the second communication device, and N is a positive integer greater than or equal to 3.

14. The method of claim 13, wherein, The N phase coordinates are used to determine a distance offset value, including: The N phase coordinates, N receiving times, and a first time difference are used to determine the distance offset value, the N receiving times are receiving times corresponding to the N acoustic wave signals respectively, and the first time difference is a time difference between signals between the first communication device and the second communication device.

15. The method of claim 14, wherein, The N phase coordinates, N receiving times, and a first time difference are used to determine the distance offset value, including: The N phase coordinates and N receiving times are used to determine a second time difference, the second time difference and the first time difference are used to determine the distance offset value, and the second time difference is a local time difference between the first communication device and the second communication device.

16. The method of claim 15, wherein, The N phase coordinates and N receiving times are used to determine a second time difference, including: The N phase coordinates and N receiving times are used to determine a coordinate position of the second communication device, the coordinate position of the second communication device and the N relative coordinates are used to determine N distances, the N distances and the N receiving times are used to determine the second time difference, and the N distances are distances between the N relative coordinates and the coordinate position of the second communication device respectively.

17. The method of claim 16, wherein, The N phase coordinates and N receiving times are used to determine a coordinate position of the second communication device, including: The N relative coordinates, the N receiving times, and N sending times are used to determine a coordinate position of the second communication device, and the N sending times are sending times corresponding to the N acoustic wave signals respectively.

18. The method of claim 16, wherein, The acoustic wave signal is periodically sent; The N phase coordinates and N receiving times are used to determine a coordinate position of the second communication device, including: The N phase coordinates, the N receiving times, and a period of the acoustic wave signal are used to determine a coordinate position of the second communication device.

19. The method of claim 18, wherein, The indication information indicates that the second communication device sends an acoustic wave signal, including that the indication information indicates that the second communication device periodically sends the acoustic wave signal.

20. The method according to any one of claims 13-19, characterized by, The N relative coordinates cannot form a straight line.

21. A communications device, characterized by The communication device includes a transceiver module and a processing module, The transceiver module is used to perform a receiving action or a sending action in the method of any one of claims 1-12, or is used to perform a receiving action or a sending action in the method of any one of claims 13-20; The processing module is used to perform a processing action in the method of any one of claims 1-12, or is used to perform a processing action in the method of any one of claims 13-20.

22. A communications device, characterized by The communication device comprises a processor; the processor is configured to run computer programs or instructions, so that the communication device performs the method according to any one of claims 1-12, or so that the communication device performs the method according to any one of claims 13-20.

23. The apparatus of claim 22, wherein, The communication device further comprises a memory; the memory is configured to store computer programs or instructions required for performing the method according to any one of claims 1-12, or to store computer programs or instructions required for performing the method according to any one of claims 13-20.

24. A computer-readable storage medium, characterized in that, A computer readable storage medium stores computer instructions or programs; when the computer instructions or programs are run on a computer, the method according to any one of claims 1-12 is performed, or the method according to any one of claims 13-20 is performed.

25. A computer program product, characterised in that, The computer program product comprises computer programs or instructions; when part or all of the computer instructions are run on a computer, the method according to any one of claims 1-12 is performed, or the method according to any one of claims 13-20 is performed.

26. A chip, characterized by The computer program product comprises computer programs or instructions; when part or all of the computer instructions are run on a computer, the method according to any one of claims 1-12 is performed, or the method according to any one of claims 13-20 is performed. comprise: a memory configured to store computer program instructions; a processor configured to execute the computer program instructions, so that the communication device comprising the chip performs the method according to any one of claims 1-12, or so that the communication device comprising the chip performs the method according to any one of claims 13-20.

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