CN114325575B - Phase ranging method, system and device - Google Patents
Phase ranging method, system and deviceInfo
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- CN114325575B CN114325575B CN202111633629.6A CN202111633629A CN114325575B CN 114325575 B CN114325575 B CN 114325575B CN 202111633629 A CN202111633629 A CN 202111633629A CN 114325575 B CN114325575 B CN 114325575B
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Abstract
The application discloses a phase ranging method, a phase ranging system and a phase ranging device, and belongs to the technical field of wireless communication and positioning. The method comprises the steps of establishing Bluetooth connection between a first terminal and a second terminal, sending and receiving carrier signals in a preset frequency range at preset frequency hopping intervals, carrying out IQ sampling on the received carrier signals to obtain IQ signals of the first terminal and IQ signals of the second terminal, receiving an IQ data packet sent by the second terminal by the first terminal, calculating carrier signal phases, and finally determining the distance between the first terminal and the second terminal according to the carrier signal phases. The scheme of the application utilizes the Bluetooth frequency hopping technology to realize multi-frequency carrier transmission on the whole Bluetooth frequency band, can effectively reduce the influence caused by ground reflection and multipath, and can finally realize higher positioning precision.
Description
Technical Field
The present application relates to the field of wireless communication and positioning technologies, and in particular, to a phase ranging method, system and device.
Background
Keyless entry and start (PASSIVE ENTRY AND PASSIVE START, PEPS) systems are one of the important directions of development in the automotive field. The PEPS system based on the intelligent mobile equipment utilizes the intelligent mobile equipment as a virtual key of the vehicle, a special vehicle key is omitted, and keyless entry and starting are realized.
Currently, the first generation bluetooth PEPS system uses the signal strength Indication (RECEIVED SIGNAL STRENGTH Indication (RSSI) feature of bluetooth reception to implement vehicle key zone positioning, and the positioning principle is based on the physical relationship between the RSSI value change and the distance between the receiving end and the transmitting end. However, the RSSI characteristics are susceptible to ground reflection and multipath, and can be greatly attenuated when disturbed by a human body, resulting in reduced positioning accuracy of the key and greater positioning error.
Disclosure of Invention
In order to solve the problems in the related art, the application provides a phase ranging method, a system and a device. The technical scheme is as follows:
In a first aspect, an embodiment of the present application provides a phase ranging method, applied to a first terminal, where the method includes:
establishing Bluetooth connection with a second terminal;
transmitting and receiving carrier signals at predetermined frequency hopping intervals within a predetermined frequency range;
Carrying out homodromous Quadrature (IQ) sampling on the received carrier signal to obtain a first terminal IQ signal;
receiving an IQ data packet sent by the second terminal, wherein the IQ data packet comprises a second terminal IQ signal measured by the second terminal;
calculating a carrier signal phase according to the first terminal IQ signal and the second terminal IQ signal;
and determining the distance between the first terminal and the second terminal according to the carrier signal phase.
In a second aspect, an embodiment of the present application provides a phase ranging method, applied to a second terminal, where the method includes:
Establishing Bluetooth connection with a first terminal;
transmitting and receiving carrier signals at predetermined frequency hopping intervals within a predetermined frequency range;
IQ sampling is carried out on the received carrier signal, and a measured IQ signal of a second terminal is obtained;
and sending an IQ data packet to the first terminal, wherein the IQ data packet comprises the IQ signal of the second terminal.
In a third aspect, an embodiment of the present application provides a phase ranging system, including a first terminal and a second terminal, where the first terminal and the second terminal are configured to execute any one of the phase ranging methods described above.
In a fourth aspect, an embodiment of the present application provides a phase ranging apparatus applied to a first terminal, where the apparatus includes:
the first connection module is used for establishing Bluetooth connection with the second terminal;
a first transmission module for transmitting and receiving carrier signals at predetermined frequency hopping intervals within a predetermined frequency range;
The first sampling module is used for carrying out homodromous quadrature (IQ) sampling on the received carrier signals to obtain first terminal IQ signals;
The data receiving module is used for receiving an IQ data packet sent by the second terminal, wherein the IQ data packet comprises a second terminal IQ signal measured by the second terminal;
The phase calculation module is used for calculating carrier signal phases according to the first terminal IQ signal and the second terminal IQ signal;
And the distance determining module is used for determining the distance between the first terminal and the second terminal according to the carrier signal phase.
In a fifth aspect, an embodiment of the present application provides a phase ranging apparatus applied to a second terminal, the apparatus including:
The second connection module is used for establishing Bluetooth connection with the first terminal;
a second transmission module for transmitting and receiving carrier signals at predetermined frequency hopping intervals within a predetermined frequency range;
The second sampling module is used for carrying out IQ sampling on the received carrier signal to obtain a measured IQ signal of a second terminal;
And the data sending module is used for sending an IQ data packet to the first terminal, wherein the IQ data packet comprises the IQ signal of the second terminal.
The technical scheme of the application at least comprises the following advantages:
In the scheme of the invention, bluetooth connection is established between a first terminal and a second terminal, carrier signals are transmitted and received in a preset frequency range at preset frequency hopping intervals, IQ sampling is carried out on the received carrier signals to obtain IQ signals of the first terminal and IQ signals of the second terminal, the first terminal receives an IQ data packet transmitted by the second terminal, the IQ data packet comprises IQ signals of the second terminal, the phase of the carrier signals is calculated, and finally, the distance between the first terminal and the second terminal is determined according to the phase of the carrier signals. The scheme of the invention utilizes the Bluetooth frequency hopping technology to realize multi-frequency carrier transmission on the whole Bluetooth frequency band, can effectively reduce the influence caused by ground reflection and multipath, and can finally realize higher positioning precision.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a phase ranging method according to an embodiment of the invention;
Fig. 2 shows a schematic diagram of the reconstruction effect of a carrier signal;
FIG. 3 shows a schematic diagram of the effect of complex expansion and distance estimation;
FIG. 4 shows a schematic diagram of a ranging result under human occlusion;
FIG. 5 shows a graph of the comparison of the results of the algorithm outputs before and after optimization;
Fig. 6 is a block diagram illustrating a device structure of a phase ranging system according to an exemplary embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the application are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be noted that the positional or positional relationship indicated by the terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intermediate medium, and in communication with each other between two elements, and wirelessly connected, or wired. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features described below in the different embodiments of the present application may be combined with each other as long as they do not collide with each other.
As shown in fig. 1, an embodiment of the present application provides a phase ranging method, which is applied to a first terminal and a second terminal, where the first terminal and the second terminal form a phase ranging system, and the first terminal and the second terminal perform close-range wireless communication (such as bluetooth connection).
In the embodiment of the present application, the first terminal is taken as a vehicle-mounted device (e.g., a control end in a vehicle) and the second terminal is taken as an intelligent mobile device (e.g., an intelligent physical key, a smart mobile phone capable of controlling the vehicle, etc.), and in other possible manners, if the signal processing is performed at the intelligent mobile device end, the first terminal is the intelligent mobile device, and the second terminal is the vehicle-mounted device, which is not limited.
As shown in fig. 1, the method includes:
step 101, the first terminal establishes a bluetooth connection with the second terminal.
Step 102, the second terminal establishes a bluetooth connection with the first terminal.
Step 103, the first terminal and the second terminal transmit and receive carrier signals at a predetermined frequency hopping interval within a predetermined frequency range.
Step 104, the first terminal performs IQ sampling on the received carrier signal to obtain a first terminal IQ signal.
Step 105, the second terminal performs IQ sampling on the received carrier signal to obtain a measured IQ signal of the second terminal.
In a frequency hopping sampling process (i.e., transmitting and receiving carrier signals at predetermined frequency hopping intervals within a predetermined frequency range) of the first terminal and the second terminal, the first terminal and the second terminal mutually acquire carrier signals transmitted from each other. Correspondingly, the first terminal acquires the carrier signal sent by the second terminal and carries out IQ adoption to obtain a first terminal IQ signal, and the second terminal acquires the carrier signal sent by the first terminal and carries out IQ adoption to obtain a second terminal IQ signal.
After Bluetooth connection is established, the frequency modulation sampling frequency is n times, and n is more than or equal to 2.
Step 106, the second terminal sends an IQ data packet to the first terminal, where the IQ data packet includes the IQ signal of the second terminal measured by the second terminal.
Further, after the frequency hopping sampling is finished, the second terminal sends an IQ data packet including an IQ signal of the second terminal to the first terminal, and the first terminal performs an algorithm process of a subsequent step.
In step 107, the first terminal receives the IQ data packet sent by the second terminal.
In step 108, the first terminal calculates a carrier signal phase according to the first terminal IQ signal and the second terminal IQ signal.
In one possible implementation, this step includes the following, performed by the first terminal.
First, a first directional phase of a carrier signal is calculated from a first terminal IQ signal.
And calculating the second direction phase of the carrier signal according to the second terminal IQ signal.
And thirdly, calculating the sum of the first direction phase and the second direction phase, and recording the sum as the carrier signal phase.
Wherein the IQ signals of each terminal are expressed in vector form with an angle of 0-2 pi, and the IQ signals are distributed by using the quadrant information and the signalAnd performing phase calculation.
The first direction phase is expressed as
Wherein A refers to a first terminal, B refers to a second terminal,Referring to the first direction (i.e., the phase calculated by the IQ signal sent by the second terminal to the first terminal), f base is the starting frequency (e.g., 2401 MHz), f h is the customizable frequency hopping interval (but the bluetooth protocol specification is to be complied with),For the initial phase of the wireless carrier,The phase error caused by the phase-locked loop of the hardware equipment is represented by d, which is the distance between the first terminal and the second terminal, c is the speed of light, and i is the frequency hopping frequency.
The second direction phase is expressed as
Wherein, the Refers to the second direction (i.e., the phase calculated for the IQ signal sent by the first terminal to the second terminal).
Finally, the sum of the first direction phase and the second direction phase is calculated and recorded as the carrier signal phase
In one example, the frequency range is 2401-2480M (f base is 2401 MHz), and if 1M is f h, the frequency is hopped 80 times, then the first terminal collects 80 sets of IQ signals, the second terminal collects 80 sets of IQ signals, and after the frequency hopping sampling is finished, the second terminal sends the 80 sets of collected second terminal IQ signals to the first terminal through a bluetooth communication mode.
In step 109, the first terminal determines a distance between the first terminal and the second terminal based on the carrier signal phase.
In one possible implementation, this step includes the following, performed by the first terminal.
And firstly, reconstructing the phase of the carrier signal, wherein the phase value after reconstruction is the phase value after correction.
And performing complex spreading on the reconstructed carrier signal phase.
And thirdly, determining the corresponding relation between the ranging quality factor and the estimated distance according to the complex spreading result of the carrier signal phase.
In the related art, according to the carrier signal phaseIt is further possible to calculate:
then ideally, the frequency f is taken as the horizontal axis For the vertical axis, the distance is related to the slope of the curveProportional to the ratio. However, in practical situations, noise, multipath interference, measurement errors and the like all cause phase measurement, so that it is very difficult to obtain a true distance by extracting a true curve slope.
The present invention addresses the problems herein. Firstly, reconstructing the calculated carrier signal phase, wherein the phase value after reconstruction is the phase value after correction.
In one possible implementation, "carrier signal phase reconstruction" includes the following. The method comprises the steps of expanding carrier signal phases, carrying out filtering treatment (Kalman filtering or wiener filtering) on the expanded carrier signal phases, folding the carrier signal phases after the filtering treatment, mapping the carrier signal phases to intervals (-pi, pi) and obtaining reconstructed phase values.
As shown in fig. 2, a schematic diagram of the reconstruction effect of a carrier Signal is shown, where the acquired IQ Signal includes a first terminal IQ Signal and a second terminal IQ Signal, where I Signal refers to a co-directional one Signal, Q Signal refers to an orthogonal one Signal, frequency sequence refers to a frequency sequence abscissa, and phase refers to a phase ordinate (where the unit is rad).
Further, complex spreading is performed on the reconstructed carrier signal phase, and a corresponding relation between the ranging quality factor and the estimated distance is determined according to a complex spreading result of the carrier signal phase. The complex expansion result is used as the final input of the distance estimation, and the corresponding relation between the final output ranging quality factor and the estimated distance is specifically as follows:
Wherein, the For the ranging quality factor, N is the frequency hopping number, B is the custom parameterThe larger the calculated sampling interval, the larger the consumption of the operation resource, and the higher the precision.
Due toIt can be analyzed that d max is inversely proportional to Δf, and this embodiment selects Δf=1 MHz, so d max =150m (whenMaximum, dmax). Under the open scene (namely under the conditions of multipath interference and less co-channel interference), the peak value of the ranging quality factor is obvious, and the ranging effect is better.
As shown in fig. 3, which shows an effect diagram of complex expansion and distance estimation, in which rea1 (Z) represents a real part of complex, imag (Z) represents an imaginary part of complex, ESTIMATED DISTANCE (REAL DISTANCE =1m) refers to an estimated distance (actual distance=1m), and Distance Quality Indicator refers to a distance quality indication. As can be seen from fig. 3, at this time, an estimated distance corresponding to the maximum value of the ranging quality factor, d estimate = 4.395m, is selected.
Further, considering the influence of the environment and the equipment, the distance calibration is required, and the specific implementation of the above example is exemplified in the case that the actual distance is 1 m.
The calibrated deviation d offset is d offset = 4.395-1= 3.395m.
Then the final output distance d result is d result＝destimate-doffset.
And fourthly, acquiring an estimated distance corresponding to the peak point of the ranging quality factor meeting the preset condition.
Considering the multipath interference problem, the step provides a high-precision distance estimation algorithm with optimized threshold value, namely content IV.
Multipath effects are first analyzed. The influence of multipath influence on phase measurement is mainly divided into two types, namely, cancellation influence, namely, cancellation of the amplitude of the same-frequency signal causes lower amplitude and even cancellation of the opposite phase is zero, so that a receiving end cannot receive signals, superposition influence, namely, superposition of the amplitude of the same-frequency signal causes increase of the amplitude, if the same-phase superposition is influenced only by the amplitude, the phase cannot be influenced, and if different-phase superposition causes errors on the phase. The actual impact on the algorithm is that the measured quality factor has multiple peaks whose maximum peaks are not the corresponding actual distances, but may correspond to path distances of multipath reflections. Taking a specific algorithm curve when a human body is blocked as an example, as shown in fig. 4, a ranging scene corresponding to the measurement curve is a complex office and has a scene (Non Line of Sight (NLOS)) when the human body is blocked, the actual distance between devices is 1m, and the human body is blocked in front of the second terminal antenna. As shown in fig. 4, if the maximum peak point is selected, the result is calculated as follows:
dresult＝destimate-doffset=5.566-3.395=2.201m
From the results, it is found that the estimated distance cannot be determined by measuring the maximum peak point of the quality factor alone. Thus, the following fourth specific content is proposed.
In one possible implementation, the maximum value of the ranging quality factor is obtained and recorded as gamma, when gamma meets a first preset condition, the maximum peak point of the ranging quality factor is obtained, wherein the first preset condition is ValueA-gamma-1, when gamma meets a second preset condition, the first ranging quality factor peak point is obtained, wherein the second preset condition is ValueB-ValueA, the first ranging quality factor peak point is obtained, wherein the third preset condition is ValueC-gamma-ValueB, and the first ranging quality factor peak point is ValueC < ValueB < ValueA, wherein the second preset condition is met.
And fifthly, determining the distance between the first terminal and the second terminal according to the estimated distance corresponding to the peak point of the ranging quality factor meeting the preset condition.
In one possible implementation, a distance deviation value is obtained, the distance deviation value is calculated according to a distance known scene, the difference between the estimated distance corresponding to the peak point of the ranging quality factor meeting the preset condition and the distance deviation value is calculated, and the distance between the first terminal and the second terminal is calculated.
In one example, according to the threshold optimization procedure, the distance estimation is performed again on the ranging result shown in fig. 4, and the peak point is selected as the first peak point greater than 0.4, that is, the distance estimation result is as follows:
dresult＝destimate-doffset=4.395-3.395=1m
The final output distance result coincides with the actual distance.
The algorithm after threshold optimization can be compatible with different scenes (such as spaciousness and garage), and can improve the ranging effect in complex environments. The optimization effect has been verified through testing, and the scene is selected as a garage field, the fixed distance between the first terminal and the second terminal is 10m, and a person is blocked between the first terminal and the second terminal (the distance between the person and the second terminal is 2 m). The pair of the distance result output by the distance estimation algorithm before the optimization and the distance result output by the distance estimation calculation method after the optimization is shown in fig. 5, wherein the upper line segment represents the actual distance (1000 cm), and the lower Fang Xianduan represents the estimated distance estimate-distance result output by the algorithm, so that the accuracy and the robustness of the optimized algorithm output result are better than those of the non-optimized algorithm under the condition of human body shielding.
In summary, the scheme of the invention utilizes the Bluetooth frequency hopping technology to realize multi-frequency carrier transmission on the whole Bluetooth frequency band, thereby effectively reducing the influence caused by ground reflection and multipath and finally realizing higher positioning precision (centimeter-level precision).
Referring to fig. 6, a block diagram of a device of a phase ranging system according to an embodiment of the application is shown. The system includes a device architecture for a first terminal and a device architecture for a second terminal, each of which may be implemented as all or part of a computer device by software, hardware, or a combination of both.
The device applied to the first terminal comprises:
a first connection module 601, configured to establish a bluetooth connection with a second terminal;
a first transmission module 602 for transmitting and receiving carrier signals at predetermined frequency hopping intervals within a predetermined frequency range;
a first sampling module 603, configured to perform homodromous quadrature IQ sampling on the received carrier signal to obtain a first terminal IQ signal;
A data receiving module 604, configured to receive an IQ data packet sent by the second terminal, where the IQ data packet includes a second terminal IQ signal measured by the second terminal;
A phase calculation module 605, configured to calculate a carrier signal phase according to the first terminal IQ signal and the second terminal IQ signal;
a distance determining module 606 is configured to determine a distance between the first terminal and the second terminal according to a carrier signal phase.
Optionally, the phase calculation module 605 includes:
a first calculating unit, configured to calculate a first direction phase of the carrier signal according to the first terminal IQ signal;
a second calculating unit, configured to calculate a second direction phase of the carrier signal according to the second terminal IQ signal;
A third calculation unit for calculating the sum of the first direction phase and the second direction phase, denoted as the carrier signal phase.
Optionally, the distance determining module 606 includes;
the first determining unit is used for reconstructing the phase of the carrier signal, wherein the phase value after reconstruction is the phase value after correction;
a second determining unit, configured to perform complex spreading on the reconstructed carrier signal phase;
A third determining unit, configured to determine a correspondence between a ranging quality factor and an estimated distance according to a complex spreading result of the carrier signal phase;
A fourth determining unit, configured to obtain an estimated distance corresponding to a peak point of the ranging quality factor that meets a predetermined condition;
A fifth determining unit, configured to determine a distance between the first terminal and the second terminal according to an estimated distance corresponding to the ranging quality factor peak point that satisfies a predetermined condition;
the fourth determining unit is further configured to:
obtaining the maximum value of the ranging quality factor, and marking the maximum value as gamma;
When gamma meets a first preset condition, acquiring a maximum peak point of the ranging quality factor, wherein the first preset condition is ValueA-1;
When gamma meets a second preset condition, acquiring a first ranging quality factor peak point larger than ValueB, wherein the second preset condition is ValueB-gamma-ValueA;
When gamma meets a third preset condition, acquiring a first ranging quality factor peak point larger than ValueC, wherein the third preset condition is ValueC-gamma-ValueB;
Wherein ValueA, valueB, valueC is a predetermined threshold, valueC < ValueB < ValueA.
The first determining unit is further configured to:
for unwrapping the carrier signal phase;
performing filtering processing on the phase of the carrier signal after spreading;
folding the phase of the carrier signal after the filtering processing, mapping the phase of the carrier signal to a section (-pi, pi), and obtaining a reconstructed phase value.
Optionally, the fifth determining unit is further configured to:
Obtaining a distance deviation value, wherein the distance deviation value is obtained by calculation according to a distance known scene;
and calculating the difference between the estimated distance corresponding to the peak value of the ranging quality factor meeting the preset condition and the distance deviation value, and calculating the distance between the first terminal and the second terminal.
The device applied to the second terminal comprises:
a second connection module 611 for establishing a bluetooth connection with the first terminal;
A second transmission module 612 for transmitting and receiving carrier signals at predetermined frequency hopping intervals within a predetermined frequency range;
A second sampling module 613, configured to perform IQ sampling on the received carrier signal, so as to obtain a measured IQ signal of the second terminal;
a data sending module 614, configured to send an IQ data packet to the first terminal, where the IQ data packet includes the IQ signal of the second terminal.
Optionally, the present application further provides a computer readable storage medium having a program stored therein, the program being loaded and executed by a processor to implement the phase ranging method of the above-described method embodiment.
Optionally, the present application further provides a computer product, which includes a computer readable storage medium having a program stored therein, the program being loaded and executed by a processor to implement the phase ranging method of the above method embodiment.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. And obvious changes and modifications which are extended therefrom are still within the scope of the present application.
Claims (11)
1. A phase ranging method, the method comprising:
The method comprises the steps that Bluetooth connection is established between a first terminal and a second terminal;
transmitting and receiving carrier signals at predetermined frequency hopping intervals within a predetermined frequency range;
Carrying out homodromous quadrature (IQ) sampling on the received carrier signal to obtain a first terminal IQ signal;
receiving an IQ data packet sent by the second terminal, wherein the IQ data packet comprises a second terminal IQ signal measured by the second terminal;
calculating a carrier signal phase according to the first terminal IQ signal and the second terminal IQ signal;
Determining a distance between the first terminal and the second terminal according to a carrier signal phase;
the determining the distance between the first terminal and the second terminal according to the carrier signal phase comprises:
reconstructing the phase of the carrier signal, wherein the reconstructed phase value is a corrected phase value;
performing complex spreading on the reconstructed carrier signal phase;
Determining the corresponding relation between the ranging quality factor and the estimated distance according to the complex spreading result of the carrier signal phase;
acquiring an estimated distance corresponding to a peak point of the ranging quality factor meeting a preset condition;
and determining the distance between the first terminal and the second terminal according to the estimated distance corresponding to the peak point of the ranging quality factor meeting the preset condition.
2. The method of claim 1, wherein said calculating carrier signal phase from said first terminal IQ signal and said second terminal IQ signal comprises:
Calculating a first direction phase of the carrier signal according to the first terminal IQ signal;
calculating a second direction phase of the carrier signal according to the second terminal IQ signal;
and calculating the sum of the first direction phase and the second direction phase, and recording the sum as the carrier signal phase.
3. The method of claim 1, wherein reconstructing the carrier signal phase comprises:
expanding the carrier signal phase;
performing filtering processing on the phase of the carrier signal after spreading;
folding the phase of the carrier signal after the filtering processing, mapping the phase of the carrier signal to a section (-pi, pi), and obtaining a reconstructed phase value.
4. The method according to claim 1, wherein the obtaining the estimated distance corresponding to the peak point of the ranging quality factor satisfying the predetermined condition includes:
obtaining the maximum value of the ranging quality factor, and marking the maximum value as gamma;
when gamma meets a first preset condition, acquiring a maximum peak point of the ranging quality factor, wherein the first preset condition is ValueA-1;
when gamma meets a second preset condition, acquiring a first ranging quality factor peak point larger than ValueB, wherein the second preset condition is ValueB-gamma-ValueA;
when gamma meets a third preset condition, acquiring a first ranging quality factor peak point larger than ValueC, wherein the third preset condition is ValueC-gamma-ValueB;
Wherein ValueA, valueB, valueC is a predetermined threshold, valueC < ValueB < ValueA.
5. The method according to claim 1, wherein said determining the distance between the first terminal and the second terminal according to the estimated distance corresponding to the ranging quality factor peak point satisfying the predetermined condition comprises:
Obtaining a distance deviation value, wherein the distance deviation value is obtained by calculation according to a distance known scene;
And calculating the difference between the estimated distance corresponding to the peak point of the ranging quality factor meeting the preset condition and the distance deviation value, and calculating the distance between the first terminal and the second terminal.
6. A phase ranging system comprising a first terminal and a second terminal, performing the method of any of claims 1 to 5.
7. A phase ranging apparatus, the apparatus comprising a first terminal and a second terminal;
the first terminal comprises:
the first connection module is used for establishing Bluetooth connection with the second terminal;
a first transmission module for transmitting and receiving carrier signals at predetermined frequency hopping intervals within a predetermined frequency range;
the first sampling module is used for carrying out homodromous quadrature (IQ) sampling on the received carrier signals to obtain first terminal IQ signals;
The data receiving module is used for receiving an IQ data packet sent by the second terminal, wherein the IQ data packet comprises a second terminal IQ signal measured by the second terminal;
The phase calculation module is used for calculating carrier signal phases according to the first terminal IQ signal and the second terminal IQ signal;
The distance determining module is used for determining the distance between the first terminal and the second terminal according to the carrier signal phase, and comprises a first determining unit used for reconstructing the carrier signal phase, a second determining unit used for performing complex expansion on the reconstructed carrier signal phase, a third determining unit used for determining the corresponding relation between the ranging quality factor and the estimated distance according to the complex expansion result of the carrier signal phase, a fourth determining unit used for obtaining the estimated distance corresponding to the ranging quality factor peak point meeting the preset condition, and a fifth determining unit used for determining the distance between the first terminal and the second terminal according to the estimated distance corresponding to the ranging quality factor peak point meeting the preset condition.
8. The phase ranging apparatus as recited in claim 7 wherein the phase calculation module comprises:
A first calculating unit, configured to calculate a first direction phase of the carrier signal according to the first terminal IQ signal;
A second calculating unit, configured to calculate a second direction phase of the carrier signal according to the second terminal IQ signal;
a third calculation unit for calculating the sum of the first direction phase and the second direction phase, denoted as the carrier signal phase.
9. The phase ranging apparatus according to claim 7, wherein the fourth determining unit is further configured to:
obtaining the maximum value of the ranging quality factor, and marking the maximum value as gamma;
when gamma meets a first preset condition, acquiring a maximum peak point of the ranging quality factor, wherein the first preset condition is ValueA-1;
when gamma meets a second preset condition, acquiring a first ranging quality factor peak point larger than ValueB, wherein the second preset condition is ValueB-gamma-ValueA;
when gamma meets a third preset condition, acquiring a first ranging quality factor peak point larger than ValueC, wherein the third preset condition is ValueC-gamma-ValueB;
Wherein ValueA, valueB, valueC is a predetermined threshold, valueC < ValueB < ValueA.
10. The phase ranging apparatus as claimed in claim 7, wherein the first determining unit is further configured to:
for unwrapping the carrier signal phase;
performing filtering processing on the phase of the carrier signal after spreading;
folding the phase of the carrier signal after the filtering processing, mapping the phase of the carrier signal to a section (-pi, pi), and obtaining a reconstructed phase value.
11. The phase ranging apparatus according to claim 7, wherein the fifth determining unit is further configured to:
Obtaining a distance deviation value, wherein the distance deviation value is obtained by calculation according to a distance known scene;
And calculating the difference between the estimated distance corresponding to the peak point of the ranging quality factor meeting the preset condition and the distance deviation value, and calculating the distance between the first terminal and the second terminal.
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| US10499363B1 (en) * | 2018-09-18 | 2019-12-03 | Qualcomm Incorporated | Methods and apparatus for improved accuracy and positioning estimates |
| WO2021003757A1 (en) * | 2019-07-10 | 2021-01-14 | 博睿泰克科技（宁波）有限公司 | Indoor positioning method and system based on signal multipath propagation measurement |
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