Distance measurement method and distance measurement apparatus

Abstract

A distance measurement method and a distance measurement apparatus, relating to the technical field of communications. The method (500) comprises: sending a first signal (S510a) and receiving a second signal (S510b), the first signal (S510a) and the second signal (S510b) being used for bidirectional distance measurement between a first device and a second device; receiving a third signal (S512); and on the basis of the first signal (S510a), the second signal (S510b) and the third signal (S512), determining a first distance at which the third signal (S512) is transmitted between the first device and the second device, wherein communication time of the first signal (S510a) on the first device, communication time of the first signal (S510a) on the second device, communication time of the second signal (S510b) on the first device, communication time of the second signal (S510b) on the second device, communication time of the third signal (S512) on the first device, communication time of the third signal (S512) on the second device, and the first distance satisfy a preset relationship. The method can improve the distance measurement accuracy and reduce the distance measurement delay.

Description

Methods and devices for measuring distance

[0001] This application claims priority to Chinese Patent Application No. 202411527664.3, filed on October 29, 2024, entitled "Method and Apparatus for Measuring Distance", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communication technology, and more specifically to a method and apparatus for measuring distance. Background Technology

[0003] With the development of communication technology, some communication systems support inter-device ranging to determine the distance between devices. However, existing ranging methods still have some problems, such as low accuracy and high latency. Summary of the Invention

[0004] This application provides a method and apparatus for measuring distance, which can improve the accuracy of distance measurement and reduce the time delay of distance measurement.

[0005] In a first aspect, a method for measuring distance is provided, the method being applied to a terminal device or a component in the terminal device (e.g., a processor, chip, chip system, circuit, or a functional module, etc.), the method comprising:

[0006] Sending a first signal and receiving a second signal, the first and second signals being used for bidirectional ranging between a first device and a second device; receiving a third signal; determining a first distance of transmission of the third signal between the first device and the second device based on the first signal, the second signal, and the third signal; wherein the communication time of the first signal on the first device, the communication time of the first signal on the second device, the communication time of the second signal on the first device, the communication time of the second signal on the second device, the communication time of the third signal on the first device, the communication time of the third signal on the second device, and the first distance satisfy a preset relationship.

[0007] In this embodiment, bidirectional ranging is first performed (sending a first signal and receiving a second signal), followed by unidirectional ranging (receiving a third signal), and a first distance is determined based on the first, second, and third signals. This combines the advantages of high precision of bidirectional ranging with the advantages of low latency and low complexity of unidirectional ranging, thereby improving ranging accuracy and reducing ranging latency.

[0008] Meanwhile, in unidirectional ranging, only one device needs to send a signal once and the other device needs to receive a signal once. This eliminates the need for each device to send and receive signals, reducing the number of signals transmitted between devices and minimizing interference. As a result, it can support more devices to perform ranging simultaneously.

[0009] In some possible implementations, the first device includes a first signal transmitting module and a first signal receiving module, and the second device includes a second signal transmitting module and a second signal receiving module; wherein, the communication time of the first signal on the first device is the time when the first signal receiving module receives the first signal, the communication time of the first signal on the second device is the time when the second signal receiving module receives the first signal, the communication time of the second signal on the first device is the time when the first signal receiving module receives the second signal, the communication time of the second signal on the second device includes the time when the second signal transmitting module transmits the second signal and the time when the second signal receiving module receives the second signal, and the communication time of the third signal on the first device is the time when the first signal receiving module receives the third signal, and the communication time of the third signal on the second device is the time when the second signal transmitting module transmits the third signal.

[0010] In this embodiment, the time when the first signal receiving module receives the first signal, the time when the second signal receiving module receives the first signal, the time when the first signal receiving module receives the second signal, the time when the second signal transmitting module transmits the second signal, the time when the second signal receiving module receives the second signal, the time when the first signal receiving module receives the third signal, the time when the second signal transmitting module transmits the third signal, and the first distance satisfy a preset relationship. In this way, the first distance can be easily determined based on these times and preset relationships, thereby improving the efficiency of distance measurement.

[0011] In some possible implementations, the preset relationship satisfies the following equation:

[0012] Among them, D i Let t represent the first distance. 11 t represents the time it takes for the first signal receiving module to receive the first signal. 21 t represents the time t takes for the second signal receiving module to receive the first signal. 12 t0 represents the time when the first signal receiving module receives the second signal, and t0 represents the time when the second signal transmitting module receives the second signal. 22 t′ represents the time at which the second signal receiving module receives the second signal. it represents the time at which the first signal receiving module receives the third signal. i The time when the second signal transmitting module sends the third signal is indicated, v represents the signal transmission speed, d1 represents the distance between the first signal transmitting module and the first signal receiving module, d2 represents the distance between the second signal transmitting module and the second signal receiving module, and i is a positive integer.

[0013] In this embodiment of the application, the first distance can be conveniently determined according to the above relationship, thereby improving the efficiency of distance measurement.

[0014] In some possible implementations, the third signal is transmitted periodically, and the time when the second signal transmitting module transmits the third signal and the time when the second signal transmitting module transmits the second signal satisfy the following relationship: t i = t0 + ΔT + (i-1)T

[0015] Among them, t i The time when the second signal transmitting module sends the third signal is t0, the time when the second signal transmitting module sends the second signal is i, the i-th time the third signal is sent in the i-th period, the T-the transmission period of the third signal is ΔT, and the interval between t0 and the time of the first periodic signal transmission is ΔT.

[0016] In this embodiment, the time when the second signal transmitting module transmits the third signal and the time when the second signal transmitting module transmits the second signal satisfy the above-mentioned relationship. Based on the above-mentioned relationship, the time when the second signal transmitting module transmits the third signal can be conveniently determined without the need for signaling, thereby improving the efficiency of ranging.

[0017] In some possible implementations, the method further includes: receiving first information, the first information being used to indicate the time when the second signal transmitting module transmits the third signal.

[0018] In this embodiment of the application, receiving the first information enables the determination of the time when the second signal transmitting module transmits the third signal, thereby facilitating the determination of the first distance based on the time when the second signal transmitting module transmits the third signal.

[0019] In some possible implementations, the first device includes a first signal transmitting module and a first signal receiving module, and the second device includes a second signal transmitting module and a second signal receiving module; wherein, the communication time of the first signal on the first device is the time when the first signal receiving module receives the first signal, the communication time of the first signal on the second device is the time when the second signal receiving module receives the first signal, the communication time of the second signal on the first device is the time when the first signal receiving module receives the second signal, the communication time of the third signal on the second device is the time when the second signal receiving module receives the second signal, and the communication time of the third signal on the first device is the time when the first signal receiving module receives the third signal, and the communication time of the third signal on the second device is the time when the second signal receiving module receives the third signal.

[0020] In this embodiment, the time when the first signal receiving module receives the first signal, the time when the second signal receiving module receives the first signal, the time when the first signal receiving module receives the second signal, the time when the second signal receiving module receives the second signal, the time when the first signal receiving module receives the third signal, the time when the second signal receiving module receives the third signal, and the first distance satisfy a preset relationship. In this way, the first distance can be easily determined based on these times and preset relationships, thereby improving the efficiency of distance measurement.

[0021] Meanwhile, these times do not include the time for transmitting the signal (i.e., these times are all the time for receiving the signal), which avoids errors caused by unstable signal transmission time and thus further improves the accuracy of ranging.

[0022] In some possible implementations, the preset relationship satisfies the following equation:

[0023] Among them, D i Let t represent the first distance. 11 t represents the time it takes for the first signal receiving module to receive the first signal. 21 t represents the time t takes for the second signal receiving module to receive the first signal. 12 t represents the time it takes for the first signal receiving module to receive the second signal. 22 t′ represents the time at which the second signal receiving module receives the second signal. i The time t″ represents the time at which the first signal receiving module receives the third signal. iThe time when the second signal receiving module receives the third signal is represented by v, the signal transmission speed is represented by v, d1 represents the distance between the first signal transmitting module and the first signal receiving module, d2 represents the distance between the second signal transmitting module and the second signal receiving module, and i is a positive integer.

[0024] In this embodiment of the application, the first distance can be conveniently determined according to the above relationship, thereby improving the efficiency of distance measurement.

[0025] In some possible implementations, the method further includes: receiving second information, the second information being used to indicate the time at which the second signal receiving module receives the third signal.

[0026] In this embodiment of the application, receiving the second information enables the information to be obtained about the time when the second signal receiving module receives the third signal, thereby facilitating the determination of the first distance based on the time when the second signal receiving module receives the third signal.

[0027] In some possible implementations, the method further includes receiving third information, the third information being used to indicate the communication time of the first signal on the second device and the communication time of the second signal on the second device.

[0028] In this embodiment of the application, receiving third information enables the knowledge of the communication time of the first signal on the second device and the communication time of the second signal on the second device, thereby facilitating the determination of the first distance based on the communication time of the first signal on the second device and the communication time of the second signal on the second device.

[0029] In some possible implementations, the method further includes: determining a second distance between the first device and the third device; determining a third distance between the first device and the fourth device; and locating the first device based on the first distance, the second distance, and the third distance.

[0030] In this embodiment of the application, multiple devices can perform distance measurement simultaneously, and the device can be located based on the distance measurement results between the same device and multiple devices.

[0031] In some possible implementations, the method further includes: sending a fourth signal and receiving a fifth signal when preset conditions are met, wherein the fourth signal and the fifth signal are used for bidirectional ranging between the first device and the second device.

[0032] In this embodiment of the application, under the condition that the preset conditions are met, the bidirectional ranging is re-performed. The ranging can be performed based on the result of the re-bidirectional ranging, which can reduce the error caused by clock drift and thus further improve the accuracy of ranging.

[0033] In some possible implementations, the third signal is periodically transmitted, and the preset conditions include one or more of the following: a first time interval is reached from the transmission time of the first signal; a second time interval is reached from the reception time of the second signal; a third time interval is reached from the time of the first periodic transmission of the signal; and the number of periodic transmissions of the signal reaches a first value.

[0034] Secondly, a method for measuring distance is provided, the method being applied to a terminal device or a component in the terminal device (e.g., a processor, chip, chip system, circuit, or a functional module, etc.), the method comprising:

[0035] A first signal is received and a second signal is sent, the first signal and the second signal being used for bidirectional ranging between a first device and a second device; a third signal is sent; wherein the communication time of the first signal on the first device, the communication time of the first signal on the second device, the communication time of the second signal on the first device, the communication time of the second signal on the second device, the communication time of the third signal on the first device, the communication time of the third signal on the second device, and the first distance satisfy a preset relationship.

[0036] In this embodiment, bidirectional ranging is performed first (receiving a first signal and sending a second signal), followed by unidirectional ranging (sending a third signal). This facilitates the determination of the first distance based on the first, second, and third signals, and helps to combine the advantages of high precision of bidirectional ranging with the advantages of low latency and low complexity of unidirectional ranging, thereby improving the accuracy of ranging and reducing the latency of ranging.

[0037] Meanwhile, in unidirectional ranging, only one device needs to send a signal once and the other device needs to receive a signal once. This eliminates the need for each device to send and receive signals, reducing the number of signals transmitted between devices and minimizing interference. As a result, it can support more devices to perform ranging simultaneously.

[0038] In some possible implementations, the first device includes a first signal transmitting module and a first signal receiving module, and the second device includes a second signal transmitting module and a second signal receiving module; wherein, the communication time of the first signal on the first device is the time when the first signal receiving module receives the first signal, the communication time of the first signal on the second device is the time when the second signal receiving module receives the first signal, the communication time of the second signal on the first device is the time when the first signal receiving module receives the second signal, the communication time of the second signal on the second device includes the time when the second signal transmitting module transmits the second signal and the time when the second signal receiving module receives the second signal, and the communication time of the third signal on the first device is the time when the first signal receiving module receives the third signal, and the communication time of the third signal on the second device is the time when the second signal transmitting module transmits the third signal.

[0039] In this embodiment, the time when the first signal receiving module receives the first signal, the time when the second signal receiving module receives the first signal, the time when the first signal receiving module receives the second signal, the time when the second signal transmitting module transmits the second signal, the time when the second signal receiving module receives the second signal, the time when the first signal receiving module receives the third signal, the time when the second signal transmitting module transmits the third signal, and the first distance satisfy a preset relationship. This helps to conveniently determine the first distance based on these times and preset relationships, thereby helping to improve the efficiency of distance measurement.

[0040] In some possible implementations, the preset relationship satisfies the following equation:

[0041] Among them, D i Let t represent the first distance. 11 t represents the time it takes for the first signal receiving module to receive the first signal. 21 t represents the time t takes for the second signal receiving module to receive the first signal. 12 t0 represents the time when the first signal receiving module receives the second signal, and t0 represents the time when the second signal transmitting module receives the second signal. 22 t′ represents the time at which the second signal receiving module receives the second signal. i t represents the time at which the first signal receiving module receives the third signal. iThe time when the second signal transmitting module sends the third signal is indicated, v represents the signal transmission speed, d1 represents the distance between the first signal transmitting module and the first signal receiving module, d2 represents the distance between the second signal transmitting module and the second signal receiving module, and i is a positive integer.

[0042] In this embodiment, it is helpful to conveniently determine the first distance based on the above relationship, thereby helping to improve the efficiency of distance measurement.

[0043] In some possible implementations, the third signal is transmitted periodically, and the time when the second signal transmitting module transmits the third signal and the time when the second signal transmitting module transmits the second signal satisfy the following relationship: t i = t0 + ΔT + (i-1)T

[0044] Among them, t i The time when the second signal transmitting module sends the third signal is t0, the time when the second signal transmitting module sends the second signal is i, the i-th time the third signal is sent in the i-th period, the T-the transmission period of the third signal is ΔT, and the interval between t0 and the time of the first periodic signal transmission is ΔT.

[0045] In this embodiment, the time when the second signal transmitting module transmits the third signal satisfies the above-mentioned relationship with the time when the second signal transmitting module transmits the second signal. This helps to conveniently determine the time when the second signal transmitting module transmits the third signal based on the above-mentioned relationship, without the need for signaling instructions, thereby helping to improve the efficiency of ranging.

[0046] In some possible implementations, the method further includes: sending first information, the first information being used to indicate the time when the second signal sending module sends the third signal.

[0047] In this embodiment of the application, sending first information to indicate the time when the second signal transmitting module sends the third signal helps to determine the first distance based on the time when the second signal transmitting module sends the third signal.

[0048] In some possible implementations, the first device includes a first signal transmitting module and a first signal receiving module, and the second device includes a second signal transmitting module and a second signal receiving module; wherein, the communication time of the first signal on the first device is the time when the first signal receiving module receives the first signal, the communication time of the first signal on the second device is the time when the second signal receiving module receives the first signal, the communication time of the second signal on the first device is the time when the first signal receiving module receives the second signal, the communication time of the third signal on the second device is the time when the second signal receiving module receives the second signal, and the communication time of the third signal on the first device is the time when the first signal receiving module receives the third signal, and the communication time of the third signal on the second device is the time when the second signal receiving module receives the third signal.

[0049] In this embodiment, the time when the first signal receiving module receives the first signal, the time when the second signal receiving module receives the first signal, the time when the first signal receiving module receives the second signal, the time when the second signal receiving module receives the third signal, and the first distance satisfy a preset relationship. This helps to conveniently determine the first distance based on these times and preset relationships, thereby helping to improve the efficiency of distance measurement.

[0050] At the same time, these times do not include the time for transmitting the signal (i.e., these times are all the time for receiving the signal), which helps to avoid errors caused by unstable signal transmission time, thereby helping to further improve the accuracy of ranging.

[0051] In some possible implementations, the preset relationship satisfies the following equation:

[0052] Among them, D i Let t represent the first distance. 11 t represents the time it takes for the first signal receiving module to receive the first signal. 21 t represents the time t takes for the second signal receiving module to receive the first signal. 12 t represents the time it takes for the first signal receiving module to receive the second signal. 22 t′ represents the time at which the second signal receiving module receives the second signal. i The time t″ represents the time at which the first signal receiving module receives the third signal. iThe time when the second signal receiving module receives the third signal is represented by v, the signal transmission speed is represented by v, d1 represents the distance between the first signal transmitting module and the first signal receiving module, d2 represents the distance between the second signal transmitting module and the second signal receiving module, and i is a positive integer.

[0053] In this embodiment, it is helpful to conveniently determine the first distance based on the above relationship, thereby helping to improve the efficiency of distance measurement.

[0054] In some possible implementations, the method further includes: sending second information, the second information being used to indicate the time at which the second signal receiving module receives the third signal.

[0055] In this embodiment of the application, sending second information to indicate the time when the second signal receiving module receives the third signal helps to determine the first distance based on the time when the second signal receiving module receives the third signal.

[0056] In some possible implementations, the method further includes receiving third information, the third information being used to indicate the communication time of the first signal on the second device and the communication time of the second signal on the second device.

[0057] In this embodiment of the application, sending third information indicating the communication time of the first signal on the second device and the communication time of the second signal on the second device helps to determine the first distance based on the communication time of the first signal on the second device and the communication time of the second signal on the second device.

[0058] In some possible implementations, the method further includes: receiving a fourth signal and sending a fifth signal when preset conditions are met, wherein the fourth signal and the fifth signal are used for bidirectional ranging between the first device and the second device.

[0059] In this embodiment of the application, under the condition of meeting the preset conditions, the bidirectional ranging is re-performed, which helps to measure the distance based on the result of the re-bidirectional ranging. This helps to reduce the error caused by clock drift, thereby helping to further improve the accuracy of the ranging.

[0060] In some possible implementations, the third signal is periodically transmitted, and the preset conditions include one or more of the following: a first time interval is reached from the transmission time of the first signal; a second time interval is reached from the reception time of the second signal; a third time interval is reached from the time of the first periodic transmission of the signal; and the number of periodic transmissions of the signal reaches a first value.

[0061] Thirdly, a distance measuring device is provided, comprising: the distance measuring device can be used in the terminal device of the first aspect, the distance measuring device can be the terminal device, or a device in the terminal device (e.g., a chip, or a chip system, or a circuit, or a processor), or a device that can be used in conjunction with the terminal device, or a logic module or software that can implement all or part of the terminal device.

[0062] The distance measuring device includes modules that perform the methods / operations / steps / actions described in the first aspect or any possible implementation of the first aspect. These modules can be hardware circuits, software, or a combination of hardware circuits and software.

[0063] Fourthly, a distance measuring device is provided, comprising: the distance measuring device can be used in the terminal device of the second aspect, the distance measuring device can be the terminal device, or a device in the terminal device (e.g., a chip, or a chip system, or a circuit, or a processor), or a device that can be used in conjunction with the terminal device, or a logic module or software that can implement all or part of the terminal device.

[0064] The distance measuring device includes modules that perform the methods / operations / steps / actions described in the second aspect or any possible implementation of the second aspect. These modules can be hardware circuits, software, or a combination of hardware circuits and software.

[0065] Fifthly, a distance measuring device is provided, comprising: a processor and a memory, the processor being coupled to the memory, the memory being used to store a computer program (also referred to as code or instructions), the computer program being executed by the processor causing the device to perform the method of the first aspect or any possible implementation thereof.

[0066] In some possible implementations, the device also includes a memory coupled to the processor.

[0067] In some possible implementations, there are one or more processors, and / or one or more memories.

[0068] In some possible implementations, the memory can be integrated with the processor, or the memory can be set up separately from the processor.

[0069] A sixth aspect provides a distance measuring device, comprising: a processor and a memory, the processor being coupled to the memory, the memory being used to store a computer program (also referred to as code or instructions), the computer program being executed by the processor causing the device to perform the method of the second aspect or any possible implementation thereof.

[0070] In some possible implementations, the device also includes a memory coupled to the processor.

[0071] In some possible implementations, there are one or more processors, and / or one or more memories.

[0072] In some possible implementations, the memory can be integrated with the processor, or the memory can be set up separately from the processor.

[0073] In a seventh aspect, a computer-readable storage medium is provided, on which a computer program (also referred to as code or instructions) is stored, which, when executed on a computer, causes the computer to perform the methods of any of the above aspects or any possible implementations thereof.

[0074] Eighthly, a computer program product is provided, comprising: a computer program (also referred to as code or instructions) that, when run on a computer, causes the computer to perform the method in any of the above aspects or any possible implementations of any of the above aspects.

[0075] A ninth aspect provides a chip comprising: a processor and a memory, the memory for storing a computer program (also referred to as code or instructions), the processor for calling and running the computer program stored in the memory, such that an apparatus or device on which the chip is mounted performs the method of any of the above aspects or any possible implementation thereof. Attached Figure Description

[0076] Figure 1 is a schematic block diagram of a wireless communication system applicable to this application.

[0077] Figure 2 is a schematic diagram of unidirectional ultrasonic ranging in one embodiment of this application.

[0078] Figure 3 is a schematic diagram of bidirectional ultrasonic ranging in one embodiment of this application.

[0079] Figure 4 is a schematic flowchart of a distance measurement method provided in one embodiment of this application.

[0080] Figure 5 is a schematic flowchart of a distance measurement method provided in another embodiment of this application.

[0081] Figure 6 is a schematic flowchart of a distance measurement method provided in another embodiment of this application.

[0082] Figure 7 is a schematic flowchart of a distance measurement method provided in another embodiment of this application.

[0083] Figure 8 is a schematic flowchart of a distance measurement method provided in another embodiment of this application.

[0084] Figure 9 is a schematic diagram of a triangulation method in one embodiment of this application.

[0085] Figure 10 is a schematic flowchart of a distance measurement method provided in another embodiment of this application.

[0086] Figure 11 is a schematic structural diagram of a distance measuring device provided in one embodiment of this application.

[0087] Figure 12 is a schematic structural diagram of a distance measuring device provided in another embodiment of this application.

[0088] Figure 13 is a schematic structural diagram of an apparatus provided in one embodiment of this application. Detailed Implementation

[0089] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0090] In the description of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can represent A or B. "And / or" in this application merely describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple. Additionally, to facilitate a clear description of the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or order of execution, and that "first," "second," etc., do not necessarily imply that they are different. It should be understood that in this application, descriptions such as "in the case of," "if," "when," "if," etc., can be used interchangeably.

[0091] The technical solutions of this application can be applied to various wireless communication systems, such as 5th generation (5G) systems or new radio (NR), long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, satellite and other non-terrestrial communication systems, and communication systems that integrate terrestrial and non-terrestrial communication. The technical solutions provided in this application can also be applied to future communication systems.

[0092] To facilitate understanding of the embodiments of this application, a communication system applicable to the embodiments of this application will first be described with reference to FIG1. ​​As shown in FIG1, the communication system includes a wireless access network 100. The wireless access network 100 may include at least one network device (FIG. 110a, 110b and 110c in FIG1), and may also include at least one terminal (FIG. 120a to 120g in FIG1).

[0093] The terminal device in this application embodiment may refer to user equipment (UE), station, access terminal, user unit, user station, mobile station, mobile station (MS), remote station, remote terminal, mobile terminal (MT), user terminal, terminal (or terminal device), wireless communication equipment, user agent or user device, etc., or a device used to provide voice or data connectivity to users, or an Internet of Things device. For example, terminal devices include handheld devices with wireless connection functions, vehicle-mounted devices, etc., but this application embodiment does not limit this. The terminal device in this application embodiment may be a mobile phone, cellular phone, cordless phone, session initiation protocol (SIP) phone, wireless local loop (WLL) station, personal digital assistant (PDA), handheld device with wireless communication function, computing device or other processing device connected to a wireless modem, large screen, vehicle-mounted device (e.g., car, bicycle, electric vehicle, airplane, ship, train, high-speed rail, etc.), wearable device (e.g., smartwatch, smart bracelet, pedometer, smart glasses, etc.), machine type communication (MTC) terminal device, terminal device in 5G network, or terminal device in future evolved public land mobile network (PLMN), etc., and is not limited to this in this application embodiment.The terminal device in the embodiments of this application may also be a tablet computer, a laptop computer, a handheld computer, a mobile internet device (MID), a virtual reality (VR) device, an augmented reality (AR) device, a point of sale (POS) machine, customer-premises equipment (CPE), a light UE, a reduced capability UE (RedCap UE), a wireless terminal in industrial control, a smart home device (e.g., a refrigerator, a television, an air conditioner, an electricity meter, etc.), a smart robot, a robotic arm, workshop equipment, 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, a wireless terminal in a smart home, or a flying device (e.g., a smart robot, a hot air balloon, a drone, an airplane), etc. Terminal devices can also be vehicle devices, such as vehicle devices, vehicle modules, vehicle chips, on-board units (OBU), or telematics boxes (T-BOX). Terminal devices can also be other devices with terminal functions. For example, a terminal device can also be a device that plays a terminal function in device-to-device (D2D) communication.

[0094] In some implementations, the terminal device can be used to act as a base station. Optionally, the terminal device can act as a scheduling entity to provide sidelink signals between terminal devices in vehicle-to-everything (V2X) or device-to-device (D2D) scenarios. For example, cellular phones and cars can communicate using sidelink signals, or cellular phones and smart home devices can communicate using sidelink signals without relaying communication signals through a base station.

[0095] The network device in this application embodiment can refer to a radio access network (RAN) node (or device) that connects a terminal device to a wireless network, and can also be called a base station (BS). For example, the network device can be a NodeB, an evolved NodeB (eNodeB), a next-generation NodeB (gNB) in a 5G mobile communication system, a transmission reception point (TRP), an access point (AP), a network device (such as a satellite) in a nonterrestrial network (NTN) system, a base station in a future mobile communication system or an access point (AP) in a WiFi system, a wireless controller, relay station, access point, vehicle-mounted device, wearable device, or network device in other future evolved communication systems, etc.

[0096] In some implementations, multiple RAN nodes can collaborate to assist terminal devices in achieving wireless access, with different RAN nodes each implementing some of the base station's functions. For example, a RAN node (i.e., the network device in this application) can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), etc. CUs and DUs can be set up separately or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio frequency equipment or radio frequency units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs). In different systems, CUs (or CU-CPs and CU-UPs), DUs, or RUs may have different names, but those skilled in the art will understand their meaning. For example, in an open radio access network (ORAN) system, a CU can also be called an open CU (O-CU), a DU can also be called an open DU (O-DU), a CU-CP can also be called an O-CU-CP, a CU-UP can also be called an O-CU-UP, and a RU can also be called an O-RU. Any of the CU (or CU-CP, CU-UP), DU, and RU units in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules. It should be understood that this application does not limit the specific technology or equipment form used in the radio access network.

[0097] In some implementations, the network device can be fixed or mobile, and this application does not limit this. For example, a helicopter or drone can be configured as a mobile network device, and one or more cells can move according to the location of the mobile network device. In other examples, a helicopter or drone can be configured as a device to communicate with another network device.

[0098] In some implementations, network devices can be deployed on land or in the air, and this application does not limit this. For example, network devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can also be deployed in the air on airplanes, balloons, and satellites.

[0099] In some implementations, the terminal device in this application embodiment may also be a zero-power terminal, such as an electronic tag. Correspondingly, the network device may be a reader for reading and writing electronic tags (e.g., a reader based on radio frequency identification (RFID) technology).

[0100] In this embodiment, the terminal device or network device may include a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on top of the operating system layer. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory (also called main memory). The operating system can be any one or more computer operating systems that implement business processing through processes. The application layer includes applications such as browsers, address books, word processing software, and instant messaging software. Furthermore, this embodiment does not specifically limit the specific structure of the execution entity of the method provided in this embodiment, as long as it can communicate according to the method provided in this embodiment by running a program that records the code of the method provided in this embodiment.

[0101] Furthermore, various aspects or features of this application can be implemented as methods, apparatus, or articles of manufacture using standard programming and / or engineering techniques. The term "article of manufacture" as used herein encompasses a computer program accessible from any computer-readable device, carrier, or medium. For example, computer-readable media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks, or magnetic tapes), optical discs (e.g., compact discs (CDs), digital versatile discs (DVDs), etc.), smart cards, and flash memory devices (e.g., erasable programmable read-only memory (EPROMs), cards, sticks, or key drives, etc.). Additionally, the various storage media described herein may represent one or more devices and / or other machine-readable media for storing information. The term "machine-readable medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0102] With the development of communication technology, some communication systems support inter-device ranging to determine the distance between devices. Commonly used ranging methods include one-way ranging and two-way ranging. Taking ultrasonic ranging as an example, ultrasonic ranging can include one-way ultrasonic ranging and two-way ultrasonic ranging. The following description, with reference to Figures 2 and 3, illustrates these two ranging methods.

[0103] As shown in Figure 2, unidirectional ultrasonic ranging requires Bluetooth (BT) time synchronization to obtain the clock drift (or clock difference, clock bias, etc.) between the two devices. Next, the first device sends an ultrasonic signal (also called an ultrasonic wave signal) and feeds back the transmission time t1 of the ultrasonic signal to the second device via BT. At this time, the second device can calculate the distance between the two devices based on the difference between the arrival time t2 and the transmission time t1 of the ultrasonic signal using the following formula: D = v*(t2-t1)

[0104] Where D represents the distance between the two devices, v represents the transmission speed of the ultrasonic signal, t1 represents the transmission time of the ultrasonic signal, and t2 represents the arrival time of the ultrasonic signal.

[0105] The advantage of unidirectional ultrasonic ranging is that only one Bluetooth time synchronization is needed, after which ranging can be continuously performed. If the transmission time is agreed upon, the receiving end can directly calculate the distance without needing to transmit the transmission time of each ultrasound. Furthermore, if multiple users want to perform ranging simultaneously, only one device needs to transmit the ultrasound, while the other devices only need to receive. However, the accuracy of unidirectional ranging depends on the error of Bluetooth time synchronization, which is typically around 3 milliseconds (ms). This can lead to an error in unidirectional ultrasonic ranging exceeding 1 meter.

[0106] As shown in Figure 3, the speaker (SPK) of the first device first sends the first ultrasonic signal at time t1, and the microphone (MIC) of the first device sends the first ultrasonic signal at time t2. 11 The second device's microphone receives the ultrasonic signal at any time. 21 The ultrasonic signal is received at time t2; next, the SPK of the second device sends a second ultrasonic signal at time t2, and the MIC of the second device sends a second ultrasonic signal at time t3. 22 The first device's microphone receives the ultrasonic signal at any time, and at t 12 The first device receives the ultrasonic signal at all times; the second device can use BT to feedback the arrival time t of the two ultrasonic signals. 21 and t 22 (or feedback t) 22 -t 21 At this point, the first device can calculate the distance between the two devices using the following formula:

[0107] Where D represents the distance between the two devices, v represents the transmission speed of the ultrasonic signal, d1 represents the distance between the SPK and MIC of the first device, d2 represents the distance between the SPK and MIC of the second device, and t 11t represents the time when the microphone of the first device receives the first ultrasonic signal. 21 t1 represents the time when the MIC of the second device receives the ultrasonic signal, and t2 represents the time when the SPK of the second device sends the second ultrasonic signal. 22 t represents the time it takes for the microphone of the second device to receive the second ultrasonic signal. 12 This indicates the time when the microphone of the first device receives the second ultrasonic signal.

[0108] Alternatively, the process can be reversed; the first device can also use BT to feed back the arrival times t of the two ultrasonic signals. 11 and t 12 (or feedback t) 12 -t 11 At this point, the distance between the two devices can be calculated by the second device.

[0109] Two-way ultrasonic ranging does not require Bluetooth time synchronization between the two devices and can achieve high ranging accuracy, typically down to the centimeter level. However, two-way ultrasonic ranging requires both devices to transmit and receive ultrasonic signals and necessitates Bluetooth transmission (e.g., feedback). 21 and t 22 、 or t 22 -t 21 If continuous ranging is performed, the time for each measurement is very long, resulting in high ranging latency. In addition, the bandwidth of the ultrasonic band is relatively limited (20-24kHz). In bidirectional ultrasonic ranging, different devices need to transmit and receive ultrasonic signals. If a low ranging latency is to be ensured, neither time division multiplexing nor frequency division multiplexing can support a large number of users.

[0110] It can be seen that existing ranging methods still have some problems. For example, they have low ranging accuracy, high ranging latency, and cannot support a large number of users.

[0111] In order to solve one or more of the above-mentioned technical problems, this application proposes a method and apparatus for measuring distance, which can improve the accuracy of distance measurement and reduce the time delay of distance measurement.

[0112] As shown in Figure 4, bidirectional ranging can be performed between devices first, followed by unidirectional ranging. This combines the high precision of bidirectional ranging with the low latency and low complexity of unidirectional ranging, thereby improving ranging accuracy and reducing latency. Furthermore, unidirectional ranging eliminates the need for each device to transmit and receive signals, reducing the amount of signals transmitted between devices and minimizing interference. This allows for simultaneous ranging by a larger number of devices.

[0113] If the preset conditions are met, bidirectional ranging is performed again (if the preset conditions are not met, unidirectional ranging continues). The ranging can be performed based on the results of the bidirectional ranging, which can reduce the error caused by clock drift and thus further improve the accuracy of ranging.

[0114] The method for measuring distance in the embodiments of this application will be illustrated in detail below with reference to Figure 5.

[0115] Figure 5 is a schematic flowchart of a distance measurement method provided in an embodiment of this application. The method 500 shown in Figure 5 may include steps S510, S520, and S530, as detailed below:

[0116] S510, the first device sends a first signal to the second device, and the second device sends a second signal to the first device.

[0117] The first device can be any of the terminal devices described in the foregoing embodiments, such as a mobile phone or an electronic tag; the second device can also be any of the terminal devices described in the foregoing embodiments, such as a mobile phone or an electronic tag.

[0118] The first and second signals can be used for bidirectional ranging between the first and second devices. For example, the first signal can be the ultrasonic signal sent by the first device in Figure 3, and the second signal can be the ultrasonic signal sent by the second device in Figure 3.

[0119] Optionally, the second device may indicate to the first device the communication time of the first signal on the second device and the communication time of the second signal on the second device. For example, method 500 may further include step S512, as follows:

[0120] S512, the second device sends third information to the first device.

[0121] The third information is used to indicate the communication time of the first signal on the second device and the communication time of the second signal on the second device.

[0122] In this embodiment of the application, receiving third information enables the knowledge of the communication time of the first signal on the second device and the communication time of the second signal on the second device, thereby facilitating the determination of the first distance based on the communication time of the first signal on the second device and the communication time of the second signal on the second device.

[0123] S520, the second device sends a third signal to the first device.

[0124] The third signal can be used for unidirectional ranging between the first and second devices. For example, the third signal can be the ultrasonic signal sent by the second device in Figure 2.

[0125] S530, the first device determines the first distance based on the first signal, the second signal and the third signal.

[0126] The first distance can refer to the distance the third signal travels between the first device and the second device, or the first distance can refer to the distance between the first device and the second device.

[0127] The communication time of the first signal on the first device, the communication time of the first signal on the second device, the communication time of the second signal on the first device, the communication time of the second signal on the second device, the communication time of the third signal on the first device, the communication time of the third signal on the second device, and the first distance can satisfy a preset relationship.

[0128] Optionally, the first device can determine the first distance based on the communication time of the first signal on the first device, the communication time of the first signal on the second device, the communication time of the second signal on the first device, the communication time of the second signal on the second device, the communication time of the third signal on the first device, the communication time of the third signal on the second device, and a preset relationship.

[0129] In this embodiment, bidirectional ranging is first performed (sending a first signal and receiving a second signal), followed by unidirectional ranging (receiving a third signal), and a first distance is determined based on the first, second, and third signals. This combines the advantages of high precision of bidirectional ranging with the advantages of low latency and low complexity of unidirectional ranging, thereby improving ranging accuracy and reducing ranging latency.

[0130] Meanwhile, in unidirectional ranging, only one device needs to send a signal once and the other device needs to receive a signal once. This eliminates the need for each device to send and receive signals, reducing the number of signals transmitted between devices and minimizing interference. As a result, it can support more devices to perform ranging simultaneously.

[0131] The first device may include a first signal transmitting module and a first signal receiving module. The first signal transmitting module can be used to transmit signals (such as a first signal), and the first signal receiving module can be used to receive signals (such as a second signal or a third signal).

[0132] For example, the first signal transmitting module may include an SPK for transmitting ultrasound signals, and the first signal receiving module may include a MIC for receiving ultrasound signals. Optionally, the first signal transmitting module may also include a communication module or a Bluetooth module for transmitting measurement results or Bluetooth signals, and the first signal receiving module may also include a communication module or a Bluetooth module for receiving measurement results or Bluetooth signals.

[0133] The second device may include a second signal transmitting module and a second signal receiving module. The second signal transmitting module can be used to transmit signals (such as a second signal or a third signal), and the second signal receiving module can be used to receive signals (such as a first signal).

[0134] For example, the second signal transmitting module may include an SPK for transmitting ultrasound signals, and the second signal receiving module may include a MIC for receiving ultrasound signals. Optionally, the second signal transmitting module may also include a communication module or a Bluetooth module for transmitting measurement results or Bluetooth signals, and the second signal receiving module may also include a communication module or a Bluetooth module for receiving measurement results or Bluetooth signals.

[0135] In some embodiments, the communication time of the first signal on the first device may be the time when the first signal receiving module receives the first signal, the communication time of the first signal on the second device may be the time when the second signal receiving module receives the first signal, the communication time of the second signal on the first device may be the time when the first signal receiving module receives the second signal, the communication time of the second signal on the second device may include the time when the second signal sending module sends the second signal and the time when the second signal receiving module receives the second signal, the communication time of the third signal on the first device may be the time when the first signal receiving module receives the third signal, and the communication time of the third signal on the second device may be the time when the second signal sending module sends the third signal.

[0136] In this embodiment, the time when the first signal receiving module receives the first signal, the time when the second signal receiving module receives the first signal, the time when the first signal receiving module receives the second signal, the time when the second signal transmitting module transmits the second signal, the time when the second signal receiving module receives the second signal, the time when the first signal receiving module receives the third signal, the time when the second signal transmitting module transmits the third signal, and the first distance satisfy a preset relationship. In this way, the first distance can be easily determined based on these times and preset relationships, thereby improving the efficiency of distance measurement.

[0137] Optionally, the preset relation can satisfy the following relation:

[0138] Among them, D i Let t represent the first distance. 11 t represents the time it takes for the first signal receiving module to receive the first signal. 21 t represents the time it takes for the second signal receiving module to receive the first signal. 12 t0 represents the time when the first signal receiving module receives the second signal, and t0 represents the time when the second signal transmitting module receives the second signal. 22 t′ represents the time at which the second signal receiving module receives the second signal. it represents the time it takes for the first signal receiving module to receive the third signal. i d1 represents the time when the second signal transmitting module sends the third signal, v represents the signal transmission speed, d2 represents the distance between the first signal transmitting module and the first signal receiving module, and i is a positive integer.

[0139] Optionally, the first device can determine the first distance according to the above-described relational formula. In subsequent embodiments, with reference to FIG6, the method by which the first device determines the first distance according to the above-described relational formula will be exemplarily described.

[0140] In this embodiment of the application, the first distance can be conveniently determined according to the above relationship, thereby improving the efficiency of distance measurement.

[0141] Optionally, the timing of the second device sending the third signal can be predetermined. For example, the third signal can be sent periodically, such as during the i-th period, where i is a positive integer.

[0142] Optionally, the time when the second signal transmitting module transmits the third signal and the time when the second signal transmitting module transmits the second signal can satisfy the following relationship: t i = t0 + ΔT + (i-1)T

[0143] Among them, t i t0 represents the time when the second signal transmitting module transmits the third signal, i represents the time when the second signal transmitting module transmits the second signal, T represents the transmission period of the third signal, and ΔT represents the interval between t0 and the time of the first periodic signal transmission.

[0144] In this embodiment, the time when the second signal transmitting module transmits the third signal and the time when the second signal transmitting module transmits the second signal satisfy the above-mentioned relationship. Based on the above-mentioned relationship, the time when the second signal transmitting module transmits the third signal can be conveniently determined without the need for signaling, thereby improving the efficiency of ranging.

[0145] Optionally, the second device may also indicate to the first device the time when the second device sends the third signal. For example, method 500 may further include step S522, as follows:

[0146] S522, the second device sends the first information to the first device.

[0147] The first piece of information can be used to indicate the time when the second signal transmitting module sends the third signal.

[0148] In this embodiment of the application, receiving the first information enables the determination of the time when the second signal transmitting module transmits the third signal, thereby facilitating the determination of the first distance based on the time when the second signal transmitting module transmits the third signal.

[0149] In some embodiments, the communication time of the first signal on the first device can be the time when the first signal receiving module receives the first signal, the communication time of the first signal on the second device can be the time when the second signal receiving module receives the first signal, the communication time of the second signal on the first device can be the time when the first signal receiving module receives the second signal, the communication time of the second signal on the second device can be the time when the second signal receiving module receives the second signal, the communication time of the third signal on the first device can be the time when the first signal receiving module receives the third signal, and the communication time of the third signal on the second device can be the time when the second signal receiving module receives the third signal.

[0150] In this embodiment, the time when the first signal receiving module receives the first signal, the time when the second signal receiving module receives the first signal, the time when the first signal receiving module receives the second signal, the time when the second signal receiving module receives the second signal, the time when the first signal receiving module receives the third signal, the time when the second signal receiving module receives the third signal, and the first distance satisfy a preset relationship. In this way, the first distance can be easily determined based on these times and preset relationships, thereby improving the efficiency of distance measurement.

[0151] Meanwhile, these times do not include the time for transmitting the signal (i.e., these times are all the time for receiving the signal), which avoids errors caused by unstable signal transmission time and thus further improves the accuracy of ranging.

[0152] Optionally, the preset relation can satisfy the following relational expression two:

[0153] Among them, D i Let t represent the first distance. 11 t represents the time it takes for the first signal receiving module to receive the first signal. 21 t represents the time it takes for the second signal receiving module to receive the first signal. 12 t represents the time it takes for the first signal receiving module to receive the second signal. 22 t′ represents the time at which the second signal receiving module receives the second signal. i The time t″ represents the time it takes for the first signal receiving module to receive the third signal. i d1 represents the time when the second signal receiving module receives the third signal, v represents the signal transmission speed, d2 represents the distance between the first signal transmitting module and the first signal receiving module, and i is a positive integer.

[0154] Optionally, the first device can determine the first distance according to the above-described relational formula two. In subsequent embodiments, with reference to FIG7, the method by which the first device determines the first distance according to the above-described relational formula two will be exemplarily described.

[0155] In this embodiment of the application, the first distance can be conveniently determined according to the above relationship, thereby improving the efficiency of distance measurement.

[0156] Optionally, the second device may also indicate to the first device the time when the second device receives the third signal. For example, method 500 may further include step S524, as follows:

[0157] S524, the second device sends the second information to the first device.

[0158] The second information can be used to indicate the time when the second signal receiving module receives the third signal.

[0159] In this embodiment of the application, receiving the second information enables the information to be obtained about the time when the second signal receiving module receives the third signal, thereby facilitating the determination of the first distance based on the time when the second signal receiving module receives the third signal.

[0160] Optionally, due to clock drift between the two devices, the first and second devices can perform bidirectional ranging again under preset conditions.

[0161] For example, method 500 may also include step S532, as follows:

[0162] S532, under the condition that the preset conditions are met, the first device sends a fourth signal to the second device, and the second device sends a fifth signal to the first device.

[0163] Among them, the fourth and fifth signals can be used for bidirectional ranging between the first and second devices.

[0164] In this embodiment of the application, under the condition that the preset conditions are met, the bidirectional ranging is re-performed. The ranging can be performed based on the result of the re-bidirectional ranging, which can reduce the error caused by clock drift and thus further improve the accuracy of ranging.

[0165] Optionally, the preset conditions may include one or more of the following: a first time interval is reached from the time the first signal is transmitted; a second time interval is reached from the time the second signal is received; a third time interval is reached from the time the first periodic signal is transmitted; and the number of periodic signal transmissions reaches a first value.

[0166] For example, assuming the first time interval is 15 seconds (s), the first device at t cSend the first signal at any time, if from t c If 15 seconds have elapsed since time t0, then the first and second devices will perform bidirectional ranging again; or, assuming the second time interval is 10 seconds, the second device sends a second signal at time t0, and if 10 seconds have elapsed since time t0, then the first and second devices will perform bidirectional ranging again; or, assuming the third time interval is 10 seconds, after completing bidirectional ranging, the second device sends ultrasonic signals multiple times at times t1, t2, ... t... n Time (where the third signal is t) i If the number of ultrasonic signals sent at time t1 reaches 10 seconds, then the first and second devices will perform bidirectional ranging again; or, assuming the first value is 20, after completing bidirectional ranging, if the number of ultrasonic signals sent by the second device reaches 20, then the first and second devices will perform bidirectional ranging again.

[0167] It should be noted that the above preset conditions are merely examples and not limitations. The preset conditions in this application embodiment may also include other conditions (such as those that can be set according to actual conditions), and this application embodiment does not limit them.

[0168] The method for determining the first distance using the first device according to relation one will be illustrated below with reference to Figure 6.

[0169] After the first device establishes a connection with the second device, bidirectional ranging is initiated first. As shown in Figure 6, the first device at t c The first device sends an ultrasonic signal at time t0, and the second device sends an ultrasonic signal at time t0. c t0 is the local time of the first device, and t0 is the local time of the second device.

[0170] The MIC of the first device is in t 11 The ultrasonic signal sent by the SPK of the first device is received at all times, at t 12 The second device's microphone receives the ultrasonic signal sent by the SPK at constant time. 21 The ultrasonic signal sent by the SPK of the first device is received at all times, at t 22 If the ultrasonic signal sent by the SPK of the second device is received at all times, then the bidirectional ranging result between the first and second devices is:

[0171] Where D represents the distance between the two devices, v represents the transmission speed of the ultrasonic signal, d1 represents the distance between the SPK and MIC of the first device, and d2 represents the distance between the SPK and MIC of the second device.

[0172] The second device can transmit its measured t to the first device via Bluetooth. 22-t 21 (or, t) 22 and t 21 This allows the first device to calculate the distance D between the first and second devices using the above formula.

[0173] Next, the SPK of the second device can send ultrasonic signals multiple times, with transmission times of t1, t2, ... t. n Time (t1, t2, ... t) n (where n is the local time of the second device), and n is a positive integer. Correspondingly, the MIC of the first device is at t′1, t′2, ..., t′. n Time (t′1, t′2, ..., t′) n If the first device receives the corresponding ultrasound signal at its local time (where t is the local time), then for the second device's SPK at t... i Given the ultrasonic signal transmitted at each moment (i is a positive integer), the first device can calculate the result of the i-th unidirectional ranging as: D i =(t′) i -t 12 -t i +t0)v+D

[0174] The second device sends ultrasonic signals (e.g., the second device transmits ultrasonic signals at t1, t2, ... t). n The timing of the ultrasonic signal transmission can be predetermined. For example, if the second device periodically transmits ultrasonic signals, then t... i = t0 + ΔT + (i-1)T, where ΔT represents the interval between t0 and the time of the first periodic transmission of the ultrasonic signal (i.e., t1), and T is the transmission period of the ultrasonic signal. At this time, when the first device calculates the result of the i-th unidirectional ranging, it can use t... i -t0=ΔT+iT can be directly substituted into the above formula to calculate the distance D between the first and second devices. i .

[0175] The second device can also relay the time t of each ultrasonic signal it sends to the first device via Bluetooth. i At this point, the first device can... i Substitute the above formula to calculate the result of the i-th unidirectional distance measurement.

[0176] Considering that clock drift may occur between the two devices, when unidirectional ranging is performed for a period of time T... th Time (i.e., from time t1, the duration T is reached) th If the above process is repeated, the first and second devices will perform bidirectional ranging again, and after completing the bidirectional ranging, the second device will send ultrasonic signals multiple times.

[0177] The method for determining the first distance using the first device according to relational formula two will be illustrated below with reference to Figure 7.

[0178] After the first device establishes a connection with the second device, bidirectional ranging is initiated first. As shown in Figure 7, the first device at t c The first device sends an ultrasonic signal at time t0, and the second device sends an ultrasonic signal at time t0. c t0 is the local time of the first device, and t0 is the local time of the second device.

[0179] The MIC of the first device is in t 11 The ultrasonic signal sent by the SPK of the first device is received at all times, at t 12 The second device's microphone receives the ultrasonic signal sent by the SPK at constant time. 21 The ultrasonic signal sent by the SPK of the first device is received at all times, at t 22 If the ultrasonic signal sent by the SPK of the second device is received at all times, then the bidirectional ranging result between the first and second devices is:

[0180] Where D represents the distance between the two devices, v represents the transmission speed of the ultrasonic signal, d1 represents the distance between the SPK and MIC of the first device, and d2 represents the distance between the SPK and MIC of the second device.

[0181] The second device can transmit its measured t to the first device via Bluetooth. 22 -t 21 (or, t) 22 and t 21 This allows the first device to calculate the distance D between the first and second devices using the above formula.

[0182] Next, the SPK of the second device can send ultrasonic signals multiple times, with transmission times of t1, t2, ... t. n Time (t1, t2, ... t) n (where n is the local time of the second device), and n is a positive integer. Correspondingly, the MIC of the first device is at t′1, t′2, ..., t′. n Time (t′1, t′2, ..., t′) n The first device receives the corresponding ultrasound signal at its local time (t″1, t″2, ..., t″). The second device's microphone receives the signal at t″1, t″2, ..., t″2. n Time intervals (t″1, t″2, ..., t″) n If the second device receives the corresponding ultrasound signal at time t (local time of the second device), then for the SPK of the second device at time t... VGiven the ultrasonic signal transmitted at each moment (i is a positive integer), the first device can calculate the result of the i-th unidirectional ranging as: D V =(t′) V -t 12 -t″ i +t 22 )v+D

[0183] Since the second device may not be able to transmit ultrasonic signals stably (e.g., it cannot transmit ultrasonic signals at fixed times), if the transmission time t of the ultrasonic signal is still used... i Calculating the distance can introduce errors due to the instability of signal transmission time. Therefore, it can be based on the time t″ when the second device receives the ultrasonic signal. i Calculate the distance. Optionally, the second device can also relay the time t″ of each received ultrasonic signal to the first device via Bluetooth. i At this point, the first device can... i Substitute the above formula to calculate the result of the i-th unidirectional distance measurement.

[0184] Considering that clock drift may occur between the two devices, when unidirectional ranging is performed for a period of time T... th Time (i.e., from time t1, the duration T is reached) th If the above process is repeated, the first and second devices will perform bidirectional ranging again, and after completing the bidirectional ranging, the second device will send ultrasonic signals multiple times.

[0185] In some embodiments, the first device may simultaneously determine the distance between the first device and multiple devices.

[0186] Optionally, after obtaining multiple ranging results, the first device can also perform positioning based on the multiple ranging results. In this embodiment of the application, multiple devices can perform ranging simultaneously, and the device can be positioned based on the ranging results between the same device and multiple devices.

[0187] For example, the first device can also determine a second distance between the first device and the third device; determine a third distance between the first device and the fourth device; and locate the first device based on the first distance, the second distance, and the third distance. The method by which the first device determines the second distance and the third distance can refer to the method in any of the above embodiments.

[0188] After the first device establishes connections with the second, third, and fourth devices, bidirectional ranging is initiated. As shown in Figure 8, the first device first sends an ultrasonic signal, and the second device then... A1 The third device receives the ultrasonic signal at all times. A2 The fourth device receives the ultrasonic signal at all times. A3The first device receives the ultrasonic signal at all times; the second, third, and fourth devices then transmit ultrasonic signals respectively, and the first device receives the ultrasonic signal at t. 1A Time, t 2A Time and t 3A The device continuously receives ultrasonic signals from the second, third, and fourth devices; the second, third, and fourth devices then transmit their measured time differences to the first device via Bluetooth, so that the first device can calculate the bidirectional ranging results.

[0189] After completing bidirectional ranging, unidirectional ranging can continue. The second, third, and fourth devices can each send ultrasonic signals to allow the first device to calculate the distances between itself and the multiple devices. Optionally, the first device can determine the distances between itself and the multiple devices according to the methods described in the above embodiments.

[0190] When the second, third, and fourth devices transmit ultrasonic signals, they can transmit orthogonal ultrasonic signals, ultrasonic signals of different frequency bands, or ultrasonic signals of different codewords simultaneously. Alternatively, the second, third, and fourth devices can also transmit ultrasonic signals in a time-sharing manner.

[0191] After obtaining the distances between the first device and multiple devices, the first device can also be positioned based on these distances using methods such as triangulation. As shown in Figure 9, r1 is the distance between the first device and the second device, r2 is the distance between the first device and the third device, and r3 is the distance between the first device and the fourth device. The first device can calculate its position based on r1, r2, r3, the position of the second device, the position of the third device, and the position of the fourth device.

[0192] When multiple devices perform positioning simultaneously, ultrasonic signals can also be reused. For example, devices A and B can simultaneously use a second, third, and fourth device for positioning.

[0193] As shown in Figure 10, device A and device B respectively send ultrasonic signals (e.g., device A and device B can simultaneously send orthogonal ultrasonic signals, ultrasonic signals of different frequency bands, or ultrasonic signals of different codewords; or, device A and device B can also send ultrasonic signals in a time-division manner). The second device at t A1 The ultrasonic signal sent by device A is received at all times, at t B1 The third device receives ultrasonic signals from device B at all times. A2 The ultrasonic signal sent by device A is received at all times, at t B2 The fourth device receives ultrasonic signals from device B at all times. A3 The ultrasonic signal sent by device A is received at all times, at t B3The system continuously receives ultrasonic signals from device B; the second, third, and fourth devices then transmit ultrasonic signals respectively, and device A receives ultrasonic signals at time t. 1A Time, t 2A Time and t 3A Device B receives ultrasonic signals from the second, third, and fourth devices at constant intervals. 1B Time, t 2B Time and t 3B It continuously receives ultrasonic signals from the second, third, and fourth devices; the second, third, and fourth devices then transmit their measured time differences to devices A and B via Bluetooth (either point-to-point or broadcast) so that devices A and B can calculate the bidirectional ranging results.

[0194] After completing two-way ranging, one-way ranging can be continuously performed. The second, third, and fourth devices can send ultrasonic signals respectively. Device A and Device B can calculate the distance between themselves and multiple devices based on the communication time of the ultrasonic signals, and perform positioning based on the calculated distances.

[0195] The method embodiments of this application have been described in detail above with reference to Figures 1 to 10. The apparatus embodiments of this application will be described in detail below with reference to Figures 11 to 13. It should be understood that the descriptions of the method embodiments correspond to the descriptions of the apparatus embodiments; therefore, any parts not described in detail can be referred to the preceding method embodiments.

[0196] Figure 11 is a schematic structural diagram of a distance measuring device provided in an embodiment of this application. The distance measuring device 1100 shown in Figure 11 can be used in the terminal device in the foregoing embodiments. The distance measuring device 1100 can be a terminal device, or a device in the terminal device (e.g., a processor, chip, chip system, circuit, or a functional module, etc.), or a device that can be matched with the terminal device, or a logic module or software that can implement all or part of the terminal device.

[0197] As shown in Figure 11, the distance measuring device 1100 includes a transceiver unit 1110 and a determination unit 1120, as detailed below:

[0198] The transceiver unit 1110 is used to send a first signal and receive a second signal, the first signal and the second signal being used for bidirectional ranging between the first device and the second device;

[0199] The transceiver unit 1110 is used to receive the third signal;

[0200] The determining unit 1120 is configured to determine, based on the first signal, the second signal, and the third signal, a first distance in which the third signal is transmitted between the first device and the second device;

[0201] The communication time of the first signal on the first device, the communication time of the first signal on the second device, the communication time of the second signal on the first device, the communication time of the second signal on the second device, the communication time of the third signal on the first device, the communication time of the third signal on the second device, and the first distance satisfy a preset relationship.

[0202] In some possible implementations, the first device includes a first signal transmitting module and a first signal receiving module, and the second device includes a second signal transmitting module and a second signal receiving module; wherein, the communication time of the first signal on the first device is the time when the first signal receiving module receives the first signal, the communication time of the first signal on the second device is the time when the second signal receiving module receives the first signal, the communication time of the second signal on the first device is the time when the first signal receiving module receives the second signal, the communication time of the second signal on the second device includes the time when the second signal transmitting module transmits the second signal and the time when the second signal receiving module receives the second signal, and the communication time of the third signal on the first device is the time when the first signal receiving module receives the third signal, and the communication time of the third signal on the second device is the time when the second signal transmitting module transmits the third signal.

[0203] In some possible implementations, the preset relationship satisfies the following equation:

[0204] Among them, D i Let t represent the first distance. 11 t represents the time it takes for the first signal receiving module to receive the first signal. 21 t represents the time t takes for the second signal receiving module to receive the first signal. 12 t0 represents the time when the first signal receiving module receives the second signal, and t0 represents the time when the second signal transmitting module receives the second signal. 22 t′ represents the time at which the second signal receiving module receives the second signal. i t represents the time at which the first signal receiving module receives the third signal. iThe time when the second signal transmitting module sends the third signal is indicated, v represents the signal transmission speed, d1 represents the distance between the first signal transmitting module and the first signal receiving module, d2 represents the distance between the second signal transmitting module and the second signal receiving module, and i is a positive integer.

[0205] In some possible implementations, the third signal is transmitted periodically, and the time when the second signal transmitting module transmits the third signal and the time when the second signal transmitting module transmits the second signal satisfy the following relationship: t i = t0 + ΔT + (i-1)T

[0206] Among them, t i The time when the second signal transmitting module sends the third signal is t0, the time when the second signal transmitting module sends the second signal is i, the i-th time the third signal is sent in the i-th period, the T-the transmission period of the third signal is ΔT, and the interval between t0 and the time of the first periodic signal transmission is ΔT.

[0207] In some possible implementations, the transceiver unit 1110 is further configured to: receive first information, the first information being used to indicate the time when the second signal transmitting module transmits the third signal.

[0208] In some possible implementations, the first device includes a first signal transmitting module and a first signal receiving module, and the second device includes a second signal transmitting module and a second signal receiving module; wherein, the communication time of the first signal on the first device is the time when the first signal receiving module receives the first signal, the communication time of the first signal on the second device is the time when the second signal receiving module receives the first signal, the communication time of the second signal on the first device is the time when the first signal receiving module receives the second signal, the communication time of the third signal on the second device is the time when the second signal receiving module receives the second signal, and the communication time of the third signal on the first device is the time when the first signal receiving module receives the third signal, and the communication time of the third signal on the second device is the time when the second signal receiving module receives the third signal.

[0209] In some possible implementations, the preset relationship satisfies the following equation:

[0210] Among them, D i Let t represent the first distance. 11 t represents the time it takes for the first signal receiving module to receive the first signal. 21t represents the time t takes for the second signal receiving module to receive the first signal. 12 t represents the time it takes for the first signal receiving module to receive the second signal. 22 t′ represents the time at which the second signal receiving module receives the second signal. i The time t″ represents the time at which the first signal receiving module receives the third signal. i The time when the second signal receiving module receives the third signal is represented by v, the signal transmission speed is represented by v, d1 represents the distance between the first signal transmitting module and the first signal receiving module, d2 represents the distance between the second signal transmitting module and the second signal receiving module, and i is a positive integer.

[0211] In some possible implementations, the transceiver unit 1110 is further configured to: receive second information, the second information being used to indicate the time at which the second signal receiving module receives the third signal.

[0212] In some possible implementations, the transceiver unit 1110 is further configured to: receive third information, the third information being used to indicate the communication time of the first signal on the second device and the communication time of the second signal on the second device.

[0213] In some possible implementations, the determining unit 1120 is further configured to: determine a second distance between the first device and the third device; and determine a third distance between the first device and the fourth device;

[0214] The device 1100 further includes a positioning unit 1130, used to locate the first device based on the first distance, the second distance and the third distance.

[0215] In some possible implementations, the transceiver unit 1110 is further configured to: send a fourth signal and receive a fifth signal when preset conditions are met, wherein the fourth signal and the fifth signal are used for bidirectional ranging between the first device and the second device.

[0216] In some possible implementations, the third signal is periodically transmitted, and the preset conditions include one or more of the following: a first time interval is reached from the transmission time of the first signal; a second time interval is reached from the reception time of the second signal; a third time interval is reached from the time of the first periodic transmission of the signal; and the number of periodic transmissions of the signal reaches a first value.

[0217] Figure 12 is a schematic structural diagram of a distance measuring device provided in an embodiment of this application. The distance measuring device 1200 shown in Figure 12 can be used in the terminal device in the foregoing embodiments. The distance measuring device 1200 can be a terminal device, or a device in the terminal device (e.g., a processor, chip, chip system, circuit, or a functional module, etc.), or a device that can be matched with the terminal device, or a logic module or software that can implement all or part of the terminal device.

[0218] As shown in Figure 12, the distance measuring device 1200 includes a transceiver unit 1210, as detailed below:

[0219] The transceiver unit 1210 is used to receive a first signal and send a second signal, the first signal and the second signal being used for bidirectional ranging between the first device and the second device;

[0220] The transceiver unit 1210 is used to transmit a third signal;

[0221] The communication time of the first signal on the first device, the communication time of the first signal on the second device, the communication time of the second signal on the first device, the communication time of the second signal on the second device, the communication time of the third signal on the first device, the communication time of the third signal on the second device, and the first distance satisfy a preset relationship.

[0222] In some possible implementations, the first device includes a first signal transmitting module and a first signal receiving module, and the second device includes a second signal transmitting module and a second signal receiving module; wherein, the communication time of the first signal on the first device is the time when the first signal receiving module receives the first signal, the communication time of the first signal on the second device is the time when the second signal receiving module receives the first signal, the communication time of the second signal on the first device is the time when the first signal receiving module receives the second signal, the communication time of the second signal on the second device includes the time when the second signal transmitting module transmits the second signal and the time when the second signal receiving module receives the second signal, and the communication time of the third signal on the first device is the time when the first signal receiving module receives the third signal, and the communication time of the third signal on the second device is the time when the second signal transmitting module transmits the third signal.

[0223] In some possible implementations, the preset relationship satisfies the following equation:

[0224] Among them, D iLet t represent the first distance. 11 t represents the time it takes for the first signal receiving module to receive the first signal. 21 t represents the time t takes for the second signal receiving module to receive the first signal. 12 t0 represents the time when the first signal receiving module receives the second signal, and t0 represents the time when the second signal transmitting module receives the second signal. 22 t′ represents the time at which the second signal receiving module receives the second signal. i t represents the time at which the first signal receiving module receives the third signal. i The time when the second signal transmitting module sends the third signal is indicated, v represents the signal transmission speed, d1 represents the distance between the first signal transmitting module and the first signal receiving module, d2 represents the distance between the second signal transmitting module and the second signal receiving module, and i is a positive integer.

[0225] In some possible implementations, the third signal is transmitted periodically, and the time when the second signal transmitting module transmits the third signal and the time when the second signal transmitting module transmits the second signal satisfy the following relationship: t i = t0 + ΔT + (i-1)T

[0226] Among them, t i The time when the second signal transmitting module sends the third signal is t0, the time when the second signal transmitting module sends the second signal is i, the i-th time the third signal is sent in the i-th period, the T-the transmission period of the third signal is ΔT, and the interval between t0 and the time of the first periodic signal transmission is ΔT.

[0227] In some possible implementations, the transceiver unit 1210 is further configured to: send first information, the first information being used to indicate the time when the second signal sending module sends the third signal.

[0228] In some possible implementations, the first device includes a first signal transmitting module and a first signal receiving module, and the second device includes a second signal transmitting module and a second signal receiving module; wherein, the communication time of the first signal on the first device is the time when the first signal receiving module receives the first signal, the communication time of the first signal on the second device is the time when the second signal receiving module receives the first signal, the communication time of the second signal on the first device is the time when the first signal receiving module receives the second signal, the communication time of the third signal on the second device is the time when the second signal receiving module receives the second signal, and the communication time of the third signal on the first device is the time when the first signal receiving module receives the third signal, and the communication time of the third signal on the second device is the time when the second signal receiving module receives the third signal.

[0229] In some possible implementations, the preset relationship satisfies the following equation:

[0230] Among them, D i Let t represent the first distance. 11 t represents the time it takes for the first signal receiving module to receive the first signal. 21 t represents the time t takes for the second signal receiving module to receive the first signal. 12 t represents the time it takes for the first signal receiving module to receive the second signal. 22 t′ represents the time at which the second signal receiving module receives the second signal. i The time t″ represents the time at which the first signal receiving module receives the third signal. i The time when the second signal receiving module receives the third signal is represented by v, the signal transmission speed is represented by v, d1 represents the distance between the first signal transmitting module and the first signal receiving module, d2 represents the distance between the second signal transmitting module and the second signal receiving module, and i is a positive integer.

[0231] In some possible implementations, the transceiver unit 1210 is further configured to: send second information, the second information being used to indicate the time at which the second signal receiving module receives the third signal.

[0232] In some possible implementations, the transceiver unit 1210 is further configured to: receive third information, the third information being used to indicate the communication time of the first signal on the second device and the communication time of the second signal on the second device.

[0233] In some possible implementations, the transceiver unit 1210 is further configured to: receive a fourth signal and send a fifth signal when a preset condition is met, wherein the fourth signal and the fifth signal are used for bidirectional ranging between the first device and the second device.

[0234] In some possible implementations, the third signal is periodically transmitted, and the preset conditions include one or more of the following: a first time interval is reached from the transmission time of the first signal; a second time interval is reached from the reception time of the second signal; a third time interval is reached from the time of the first periodic transmission of the signal; and the number of periodic transmissions of the signal reaches a first value.

[0235] Figure 13 is a schematic structural diagram of an apparatus provided in an embodiment of this application. The dashed lines in Figure 13 indicate that the unit or module is optional. This apparatus 1300 can be used to implement the methods described in the above method embodiments. Apparatus 1300 can be a chip or a distance measuring device.

[0236] Apparatus 1300 may include one or more processors 1310. The processor 1310 may support apparatus 1300 in implementing the methods described in the preceding method embodiments. The processor 1310 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be other general-purpose processors, microprocessor units (MPUs), microcontroller units (MCUs), graphics processing units (GPUs), artificial intelligence processors (AI processors) or neural processing units (NPUs), digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0237] The device 1300 may further include one or more memories 1320. The memories 1320 store a program that can be executed by the processor 1310, causing the processor 1310 to perform the methods described in the preceding method embodiments. The memories 1320 may be independent of the processor 1310 or integrated within the processor 1310. In this embodiment, the memories 1320 may include, but are not limited to, cache, read-only memory (ROM), random access memory (RAM), synchronous dynamic random access memory (SDRAM), hard disk drive (HDD) or solid-state drive (SSD), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM), etc.

[0238] The device 1300 may also include a transceiver 1330. The processor 1330 can communicate with other devices or chips via the transceiver 1330. For example, the processor 1310 can send and receive data with other devices or chips via the transceiver 1330.

[0239] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0240] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0241] This application also provides a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the steps described in the various method embodiments above.

[0242] This application also provides a computer program product, which includes a computer program that, when run on a computer, causes the computer to perform the steps described in the various method embodiments above.

[0243] This application also provides a chip, which includes a processor and a memory. The memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory, so that a device or apparatus (such as a distance measuring device) with the chip installed performs the steps in the various method embodiments described above.

[0244] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include at least: any entity or device capable of carrying computer program code to a device / app, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, a computer-readable storage medium may not be an electrical carrier signal or a telecommunication signal.

[0245] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0246] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software 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.

[0247] In the embodiments provided in this application, it should be understood that the disclosed apparatus / devices and methods can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0248] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0249] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for measuring distance, characterized in that, The method includes: Sending a first signal and receiving a second signal, the first signal and the second signal being used for bidirectional ranging between the first device and the second device; Receive third signal; The first distance at which the third signal is transmitted between the first device and the second device is determined based on the first signal, the second signal, and the third signal. The communication time of the first signal on the first device, the communication time of the first signal on the second device, the communication time of the second signal on the first device, the communication time of the second signal on the second device, the communication time of the third signal on the first device, the communication time of the third signal on the second device, and the first distance satisfy a preset relationship.

2. The method according to claim 1, characterized in that, The first device includes a first signal transmitting module and a first signal receiving module, and the second device includes a second signal transmitting module and a second signal receiving module; wherein, the communication time of the first signal on the first device is the time when the first signal receiving module receives the first signal, the communication time of the first signal on the second device is the time when the second signal receiving module receives the first signal, the communication time of the second signal on the first device is the time when the first signal receiving module receives the second signal, the communication time of the second signal on the second device includes the time when the second signal transmitting module transmits the second signal and the time when the second signal receiving module receives the second signal, and the communication time of the third signal on the first device is the time when the first signal receiving module receives the third signal, and the communication time of the third signal on the second device is the time when the second signal transmitting module transmits the third signal.

3. The method according to claim 2, characterized in that, The preset relationship satisfies the following equation: Among them, D i Let t represent the first distance. 11 t represents the time it takes for the first signal receiving module to receive the first signal. 21 t represents the time t takes for the second signal receiving module to receive the first signal. 12 t0 represents the time when the first signal receiving module receives the second signal, and t0 represents the time when the second signal transmitting module receives the second signal. 22 t′ represents the time at which the second signal receiving module receives the second signal. i t represents the time at which the first signal receiving module receives the third signal. i The time when the second signal transmitting module sends the third signal is indicated, v represents the signal transmission speed, d1 represents the distance between the first signal transmitting module and the first signal receiving module, d2 represents the distance between the second signal transmitting module and the second signal receiving module, and i is a positive integer.

4. The method according to claim 2 or 3, characterized in that, The third signal is transmitted periodically, and the time when the second signal transmitting module transmits the third signal and the time when the second signal transmitting module transmits the second signal satisfy the following relationship: t i = t0 + ΔT + (i-1)T Among them, t i The time when the second signal transmitting module sends the third signal is t0, the time when the second signal transmitting module sends the second signal is i, the i-th time the third signal is sent in the i-th period, the T-the transmission period of the third signal is ΔT, and the interval between t0 and the time of the first periodic signal transmission is ΔT.

5. The method according to claim 2 or 3, characterized in that, The method further includes: Receive first information, which is used to indicate the time when the second signal transmitting module sends the third signal.

6. The method according to claim 1, characterized in that, The first device includes a first signal transmitting module and a first signal receiving module, and the second device includes a second signal transmitting module and a second signal receiving module; wherein, the communication time of the first signal on the first device is the time when the first signal receiving module receives the first signal, the communication time of the first signal on the second device is the time when the second signal receiving module receives the first signal, the communication time of the second signal on the first device is the time when the first signal receiving module receives the second signal, the communication time of the second signal on the second device is the time when the second signal receiving module receives the second signal, and the communication time of the third signal on the first device is the time when the first signal receiving module receives the third signal, and the communication time of the third signal on the second device is the time when the second signal receiving module receives the third signal.

7. The method according to claim 6, characterized in that, The preset relationship satisfies the following equation: Among them, D i Let t represent the first distance. 11 t represents the time it takes for the first signal receiving module to receive the first signal. 21 t represents the time t takes for the second signal receiving module to receive the first signal. 12 t represents the time it takes for the first signal receiving module to receive the second signal. 22 t′ represents the time at which the second signal receiving module receives the second signal. i The time t″ represents the time at which the first signal receiving module receives the third signal. i The time when the second signal receiving module receives the third signal is represented by v, the signal transmission speed is represented by v, d1 represents the distance between the first signal transmitting module and the first signal receiving module, d2 represents the distance between the second signal transmitting module and the second signal receiving module, and i is a positive integer.

8. The method according to claim 6 or 7, characterized in that, The method further includes: Receive second information, which is used to indicate the time when the second signal receiving module receives the third signal.

9. The method according to any one of claims 1 to 8, characterized in that, The method further includes: Receive third information, the third information being used to indicate the communication time of the first signal on the second device and the communication time of the second signal on the second device.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: Determine the second distance between the first device and the third device; Determine the third distance between the first device and the fourth device; The first device is located based on the first distance, the second distance, and the third distance.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: Under preset conditions, a fourth signal is sent and a fifth signal is received. The fourth and fifth signals are used for bidirectional ranging between the first and second devices.

12. The method according to claim 11, characterized in that, The third signal is transmitted periodically, and the preset conditions include one or more of the following: The first time interval begins from the time the first signal is sent; The second time interval begins from the time the second signal is received; The third time interval begins from the time of the first periodic signal transmission. The number of times the signal is sent periodically reaches the first value.

13. A method for measuring distance, characterized in that, The method includes: Receive a first signal and send a second signal, the first signal and the second signal being used for bidirectional ranging between the first device and the second device; Send a third signal; The communication time of the first signal on the first device, the communication time of the first signal on the second device, the communication time of the second signal on the first device, the communication time of the second signal on the second device, the communication time of the third signal on the first device, the communication time of the third signal on the second device, and the first distance satisfy a preset relationship.

14. The method according to claim 13, characterized in that, The first device includes a first signal transmitting module and a first signal receiving module, and the second device includes a second signal transmitting module and a second signal receiving module; wherein, the communication time of the first signal on the first device is the time when the first signal receiving module receives the first signal, the communication time of the first signal on the second device is the time when the second signal receiving module receives the first signal, the communication time of the second signal on the first device is the time when the first signal receiving module receives the second signal, the communication time of the second signal on the second device includes the time when the second signal transmitting module transmits the second signal and the time when the second signal receiving module receives the second signal, and the communication time of the third signal on the first device is the time when the first signal receiving module receives the third signal, and the communication time of the third signal on the second device is the time when the second signal transmitting module transmits the third signal.

15. The method according to claim 14, characterized in that, The preset relationship satisfies the following equation: Among them, D i Let t represent the first distance. 11 t represents the time it takes for the first signal receiving module to receive the first signal. 21 t represents the time t takes for the second signal receiving module to receive the first signal. 12 t0 represents the time when the first signal receiving module receives the second signal, and t0 represents the time when the second signal transmitting module receives the second signal. 22 t′ represents the time at which the second signal receiving module receives the second signal. i t represents the time at which the first signal receiving module receives the third signal. i The time when the second signal transmitting module sends the third signal is indicated, v represents the signal transmission speed, d1 represents the distance between the first signal transmitting module and the first signal receiving module, d2 represents the distance between the second signal transmitting module and the second signal receiving module, and i is a positive integer.

16. The method according to claim 14 or 15, characterized in that, The third signal is transmitted periodically, and the time when the second signal transmitting module transmits the third signal and the time when the second signal transmitting module transmits the second signal satisfy the following relationship: t i = t0 + ΔT + (i-1)T Among them, t i The time when the second signal transmitting module sends the third signal is t0, the time when the second signal transmitting module sends the second signal is i, the i-th time the third signal is sent in the i-th period, the T-the transmission period of the third signal is ΔT, and the interval between t0 and the time of the first periodic signal transmission is ΔT.

17. The method according to claim 14 or 15, characterized in that, The method further includes: Send a first message, which is used to indicate the time when the second signal sending module sends the third signal.

18. The method according to claim 13, characterized in that, The first device includes a first signal transmitting module and a first signal receiving module, and the second device includes a second signal transmitting module and a second signal receiving module; wherein, the communication time of the first signal on the first device is the time when the first signal receiving module receives the first signal, the communication time of the first signal on the second device is the time when the second signal receiving module receives the first signal, the communication time of the second signal on the first device is the time when the first signal receiving module receives the second signal, the communication time of the second signal on the second device is the time when the second signal receiving module receives the second signal, and the communication time of the third signal on the first device is the time when the first signal receiving module receives the third signal, and the communication time of the third signal on the second device is the time when the second signal receiving module receives the third signal.

19. The method according to claim 18, characterized in that, The preset relationship satisfies the following equation: Among them, D i Let t represent the first distance. 11 t represents the time it takes for the first signal receiving module to receive the first signal. 21 t represents the time t takes for the second signal receiving module to receive the first signal. 12 t represents the time it takes for the first signal receiving module to receive the second signal. 22 t′ represents the time at which the second signal receiving module receives the second signal. i The time t″ represents the time at which the first signal receiving module receives the third signal. i The time when the second signal receiving module receives the third signal is represented by v, the signal transmission speed is represented by v, d1 represents the distance between the first signal transmitting module and the first signal receiving module, d2 represents the distance between the second signal transmitting module and the second signal receiving module, and i is a positive integer.

20. The method according to claim 18 or 19, characterized in that, The method further includes: Send a second message, which indicates the time when the second signal receiving module receives the third signal.

21. The method according to any one of claims 13 to 20, characterized in that, The method further includes: Receive third information, the third information being used to indicate the communication time of the first signal on the second device and the communication time of the second signal on the second device.

22. The method according to any one of claims 13 to 21, characterized in that, The method further includes: Under preset conditions, a fourth signal is received and a fifth signal is sent. The fourth signal and the fifth signal are used for bidirectional ranging between the first device and the second device.

23. The method according to claim 22, characterized in that, The third signal is transmitted periodically, and the preset conditions include one or more of the following: The first time interval begins from the time the first signal is sent; The second time interval begins from the time the second signal is received; The third time interval begins from the time of the first periodic signal transmission. The number of times the signal is sent periodically reaches the first value.

24. A distance measuring device, characterized in that, include: A module or unit for performing the method as described in any one of claims 1 to 23.

25. A distance measuring device, characterized in that, include: A processor and a memory, the processor being coupled to the memory, the memory being used to store a computer program, which, when executed by the processor, causes the apparatus to perform the method as described in any one of claims 1 to 23.

26. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 23.

27. A computer program product, characterized in that, include: A computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 23.

28. A chip, characterized in that, include: A processor and a memory, the memory for storing a computer program, the processor for calling and running the computer program stored in the memory, causing a device or apparatus on which the chip is mounted to perform the method as described in any one of claims 1 to 23.

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