CN114513265A

CN114513265A - Antenna delay calibration method, device, system, equipment and storage medium

Info

Publication number: CN114513265A
Application number: CN202011278995.XA
Authority: CN
Inventors: 郭富祥
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2020-11-16
Filing date: 2020-11-16
Publication date: 2022-05-17

Abstract

The embodiment of the application discloses an antenna delay calibration method, an antenna delay calibration device, an antenna delay calibration system, antenna delay calibration equipment and a storage medium; wherein the method comprises the following steps: controlling at least one of the reference device and the device to be calibrated to adjust the transmission power; then, controlling the device with the adjusted transmission power to transmit a wireless signal to another device; and under the condition that the receiving power of the wireless signal meets a first calibration condition, calibrating the antenna delay of the equipment to be calibrated according to the distance measurement value and the actual distance between the reference equipment and the equipment to be calibrated; wherein the distance measurement is determined based on a time of flight of a wireless signal when the reference device wirelessly interacts with the device to be calibrated at a current transmit power.

Description

Antenna delay calibration method, device, system, equipment and storage medium

Technical Field

The embodiments of the present application relate to communications technologies, and relate to, but are not limited to, an antenna delay calibration method, an apparatus, a system, a device, and a storage medium.

Background

Ultra Wide Band (UWB) ranging technology based on Time of Flight (TOF). The measured time of flight includes, in addition to the time of flight of the wireless signal, the Antenna Delay for transmission (Antenna Delay) and the Antenna Delay for reception, which are also collectively referred to as Antenna delays. The calibration of the antenna delay is closely related to the level of UWB ranging accuracy.

However, for calibration of antenna delays, different channels and different Pulse Repetition Frequencies (PRFs), the proposed calibration distances (i.e. the actual distance of the reference device from the device to be calibrated at calibration) are different, typically 5 meters or even tens of meters, which increases the calibration requirements for the environment and the calibration complexity without doubt.

Disclosure of Invention

In view of this, the antenna delay calibration method, device, system, device, and storage medium provided in the embodiments of the present application can reduce the requirement of the antenna delay calibration on the environment and reduce the calibration complexity. The antenna delay calibration method, device, system, device and storage medium provided by the embodiment of the application are realized as follows:

the antenna delay calibration method provided by the embodiment of the application comprises the following steps: controlling at least one of the reference device and the device to be calibrated to adjust the transmission power; then, controlling the device with the adjusted transmission power to transmit a wireless signal to another device; and under the condition that the receiving power of the wireless signal meets a first calibration condition, calibrating the antenna delay of the equipment to be calibrated according to the distance measurement value and the actual distance between the reference equipment and the equipment to be calibrated; wherein the distance measurement is determined based on a time of flight of a wireless signal when the reference device wirelessly interacts with the device to be calibrated at a current transmit power.

The antenna delay calibration device provided by the embodiment of the application comprises: a control module to: controlling at least one of the reference device and the device to be calibrated to adjust the transmission power; then, controlling the device with the adjusted transmission power to transmit a wireless signal to another device; a calibration module to: under the condition that the receiving power of the wireless signal meets a first calibration condition, calibrating the antenna delay of the equipment to be calibrated according to a distance measurement value and the actual distance between the reference equipment and the equipment to be calibrated; wherein the distance measurement is determined based on a time of flight of a wireless signal when the reference device wirelessly interacts with the device to be calibrated at a current transmit power.

The antenna delay calibration system provided by the embodiment of the application comprises: the device comprises a guide rail, reference equipment, equipment to be calibrated and control equipment; the device to be calibrated comprises a guide rail, a first fixing part and a second fixing part, wherein the guide rail is provided with the first fixing part and the second fixing part, the first fixing part is used for fixing the reference device at one end of the guide rail, and the second fixing part is used for fixing the device to be calibrated at the other end of the guide rail; the guide rail is used for receiving a first control instruction sent by the control device, and the first control instruction is used for instructing to move the first fixing part and/or the second fixing part so as to adjust the actual distance between the reference device and the device to be calibrated to a specified distance; the control device is configured to perform the steps of any of the methods according to the embodiments of the present application.

The electronic device provided by the embodiment of the present application includes a memory and a processor, where the memory stores a computer program that can be executed on the processor, and the processor implements the steps of any of the methods in the embodiments of the present application when executing the program.

The computer-readable storage medium provided in the embodiments of the present application stores thereon a computer program, which, when being executed by a processor, implements the steps of any of the methods described in the embodiments of the present application.

In the embodiment of the application, when the antenna delay of the device to be calibrated is calibrated, the calibration is not directly realized by using the wireless signal transmitted by the initial transmission power of the reference device and the device to be calibrated, but before the antenna delay of the device to be calibrated is calibrated, the transmission power of at least one of the reference device and the device to be calibrated is adjusted, and when the receiving power of the wireless signal transmitted by the adjusted transmission power meets a first calibration condition, the calibration of the antenna delay is realized by using the wireless signal transmitted by the transmission power; therefore, the requirements of antenna delay calibration on the environment can be effectively reduced, and the calibration complexity is reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

Fig. 1A is a schematic structural diagram of an antenna delay calibration system that may be applied to the present application;

fig. 1B is a schematic diagram of another antenna delay calibration system that may be suitable for use in embodiments of the present application;

fig. 2 is a schematic flow chart illustrating an implementation of an antenna delay calibration method according to an embodiment of the present application;

fig. 3A is a schematic flow chart illustrating an implementation of another antenna delay calibration method according to an embodiment of the present application;

fig. 3B is a schematic diagram of a flow chart for implementing adjustment of transmission power according to an embodiment of the present application;

fig. 3C is a schematic flow chart illustrating an implementation of testing a delay value of a first antenna according to an embodiment of the present application;

fig. 3D is a schematic diagram of an implementation flow for verifying a current antenna delay value of a device to be calibrated according to an embodiment of the present application;

fig. 4A is a schematic structural diagram of another antenna delay calibration system that may be applied to the embodiments of the present application;

FIG. 4B is a schematic view of the use of the guide rail according to an embodiment of the present application;

fig. 5 is a schematic implementation flowchart of another antenna delay calibration method according to an embodiment of the present application;

fig. 6 is a schematic diagram of another implementation flow for adjusting the transmission power according to an embodiment of the present application;

fig. 7 is a schematic diagram illustrating an implementation flow of the TWR and antenna delay calibration phase according to an embodiment of the present application;

fig. 8 is a schematic diagram illustrating an implementation flow of another TWR and antenna delay calibration phase according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a SS-TWR;

FIG. 10 is a schematic diagram of SDS-TWR;

fig. 11 is a schematic diagram of a further antenna delay calibration system that may be suitable for use in embodiments of the present application;

fig. 12 is a schematic structural diagram of an antenna delay calibration apparatus according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, specific technical solutions of the present application will be described in further detail below with reference to the accompanying drawings in the embodiments of the present application. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.

It should be noted that the terms "first \ second \ third" are used herein to distinguish similar or different objects and do not denote a particular order or importance to the objects, and it should be understood that "first \ second \ third" may be interchanged with a particular order or sequence where permissible to enable embodiments of the present application described herein to be practiced otherwise than as shown or described herein.

The antenna delay calibration system and the service scenario described in the embodiments of the present application are for more clearly illustrating the technical solutions in the embodiments of the present application, and do not constitute limitations on the technical solutions provided in the embodiments of the present application. As can be known to those skilled in the art, with the evolution of communication technology and the emergence of new service scenarios, the technical solution provided in the embodiments of the present application is also applicable to similar technical problems.

The technical solution of the embodiment of the present application may be applied to antenna delay calibration of a wireless communication module using UWB, the 4th Generation mobile communication system (4G), the fifth Generation mobile communication technology (5th-Generation wireless communication technology, 5G) New Radio (NR) technology or future communication technology, and may also be used for antenna delay calibration of wireless communication modules of other various wireless communication technologies, for example: narrowband Band-Internet of Things (NB-IoT) technology, Global System for Mobile communications (GSM), Enhanced Data rates for GSM Evolution (EDGE) technology, Wideband Code Division Multiple Access (WCDMA) technology, Code Division Multiple Access (Code Division Multiple Access, CDMA2000) technology, Time Division-synchronous Code Division Multiple Access (Time Division-synchronous Code Division Multiple Access, TD-SCDMA) technology, General Packet Radio Service (General Packet Radio Service, GPRS), Long Term Evolution (Long Term Evolution, LTE) technology, Frequency Division Duplex (FDD) technology, Time Division Duplex (TDD-Universal Duplex, UMTS) technology, and so on.

Fig. 1A illustrates an antenna delay calibration system to which embodiments of the present application may be applied, and as shown in fig. 1A, the system 10 includes at least: a reference device 101 and a device to be calibrated 102; the device to be calibrated 102 may be any device with wireless communication capability. For example, the device to be calibrated may be a handheld device (e.g., a smartphone, a tablet, etc.), an in-vehicle device, a wearable device (e.g., a smart bracelet, a smart watch, etc.), a robot, an unmanned aerial vehicle, or the like. The reference device 101 is an apparatus that has been accurately calibrated for antenna delay.

In some embodiments, as shown in fig. 1A, the system 10 further includes a guide rail 103; a first fixing part 1031 and a second fixing part 1032 are arranged on the guide rail 103, the first fixing part 1031 is used for fixing the reference device 101 at one end of the guide rail 103, and the second fixing part 1032 is used for fixing the device to be calibrated 102 at the other end of the guide rail 103; a guiding rail 103, configured to receive a first control instruction sent by the control device, where the first control instruction is used to instruct the guiding rail to move the first fixing component 1031 and/or the second fixing component 1032 so as to adjust an actual distance between the reference device 101 and the device to be calibrated 102 to a specified distance.

In some embodiments, as shown in fig. 1A, the system 10 further includes a control device 104, and the control device 104 is configured to control the reference device 101 and the device to be calibrated 102 to execute some procedures, so as to finally achieve calibration of the antenna delay of the device to be calibrated 102. The control device may be any device having wireless communication capabilities. For example, the control device is of the same type as the device to be calibrated. In one example, the device to be calibrated is a computer device or the like.

In other embodiments, as shown in FIG. 1B, the system 10 may not include the control device 104, and the control task may be taken care of by the device to be calibrated. In other words, the control device is the same device as the device to be calibrated.

It should be noted that, the calibration of the antenna delay of the device to be calibrated may be completed by the control device controlling the device to be calibrated and the reference device, or may be completed by the device to be calibrated controlling the reference device, or may be completed by the reference device controlling the device to be calibrated. That is, in the embodiment of the present application, the main body of the antenna delay calibration method is not limited. The following describes implementation steps of the antenna delay calibration method by taking an execution subject as a control device, but this does not limit the execution subject of the antenna delay calibration method.

An embodiment of the present application provides an antenna delay calibration method, and fig. 2 is a schematic flow chart illustrating an implementation of the antenna delay calibration method provided in the embodiment of the present application, and as shown in fig. 2, the method may include the following steps 201 to 203:

step 201, the control device controls at least one of the reference device and the device to be calibrated to adjust the transmission power.

In some embodiments, the control device may control both the reference device and the device to be calibrated to adjust the transmit power; in other embodiments, the control device may also instruct only one of the reference device and the device to be calibrated to adjust the transmit power.

In some embodiments, before performing step 201, the control device may set the radio frequency parameters of the wireless communication modules of the reference device and the device to be calibrated.

In step 202, the control device controls the device with the adjusted transmission power to transmit a wireless signal to another device.

In some embodiments, the devices with adjusted transmission power all need to transmit wireless signals to another device in order to check by themselves or by the control device whether the adjusted transmission power is beneficial to the antenna delay calibration of the device to be calibrated. For example, it is checked whether the reception power of the wireless signal transmitted with the adjusted transmission power satisfies a first calibration condition, thereby determining whether the adjusted transmission power is advantageous for antenna delay calibration of the device to be calibrated.

For example, assuming that the reference device and the device to be calibrated are both adjusted in transmission power, step 202 may be implemented as follows: the control equipment controls the reference equipment to send a first wireless signal to the equipment to be calibrated, and the control equipment controls the equipment to be calibrated to calculate the receiving power of the first wireless signal when receiving the first wireless signal; the control equipment controls the equipment to be calibrated to feed back the receiving power of the first wireless signal to the reference equipment through the transmitted second wireless signal; the control device controls the reference device to compare the received power of the received first wireless signal with the calibrated received power, so as to determine whether the received power satisfies a first calibration condition, and further determine whether the current transmission power of the reference device is favorable for the calibration of the antenna delay. Of course, it may be determined whether the received power of the wireless signal transmitted by the transmission power adjusted by the device to be calibrated meets the first calibration condition through the similar steps described above, which is not described herein again.

In some embodiments, the control device may also control the device to be calibrated to first send a wireless signal to the reference device. That is, it is not limited to whether the device to be calibrated first transmits a wireless signal to the reference device, or the reference device first transmits a wireless signal to the device to be calibrated.

Step 203, the control device calibrates the antenna delay of the device to be calibrated according to the distance measurement value and the actual distance between the reference device and the device to be calibrated when the receiving power of the wireless signal meets a first calibration condition;

wherein the distance measurement is determined based on a time of flight of a wireless signal when the reference device wirelessly interacts with the device to be calibrated at a current transmit power.

In some embodiments, the control device may implement calibration of the antenna delay of the device to be calibrated through steps 306 to 308 of the following embodiments; on this basis, in further embodiments, the control device may also implement further calibration of the antenna delay of the device to be calibrated through steps 309 to 313 implemented as follows.

Before all the steps are executed, the control equipment can acquire a preset calibration distance according to the actual model of the equipment to be calibrated, and then control the guide rail to adjust the actual distance between the reference equipment and the equipment to be calibrated to the preset calibration distance according to the calibration distance; the calibration distance refers to an actual distance between the device to be calibrated and the reference device required in calibration.

The distance measurement may be determined by the originator of the wireless signal and may also be determined by the control device. After the distance measurements have been determined, as determined by the originator of the wireless signal, these distance measurements need to be sent to the control device.

It should be noted that, in the embodiment of the present application, the way in which the control device controls the reference device and the device to be calibrated may be various. In some embodiments, the control device may import some control programs into the reference device and the device to be calibrated in advance, so that the reference device and the device to be calibrated perform tasks such as adjusting the transmission power and transmitting a wireless signal with the adjusted transmission power according to the control programs imported in advance. In other embodiments, the control device may also send a control instruction to the reference device and the device to be calibrated in real time, and control the device receiving the control instruction to complete a corresponding task. For example, the control device sends a control instruction for controlling and adjusting the transmission power to the reference device, the reference device feeds back the adjustment of the transmission power to the control device after responding to the instruction, and at this time, the control device sends an instruction for instructing to transmit a wireless signal to the device to be calibrated to the reference device.

In the embodiment of the application, when the antenna delay of the device to be calibrated is calibrated, the calibration is not directly realized by using the wireless signal transmitted by the initial transmission power of the reference device and the device to be calibrated, but before the antenna delay of the device to be calibrated is calibrated, the transmission power of at least one of the reference device and the device to be calibrated is adjusted, and when the receiving power of the wireless signal transmitted by the adjusted transmission power meets a first calibration condition, the calibration of the antenna delay is realized based on the wireless signal transmitted by the transmission power; therefore, the requirements of antenna delay calibration on the environment can be effectively reduced, and the calibration complexity is reduced.

This is because, during the course of the study, the inventors found that: the proposed calibration distance for UWB is shown in table 1 below, and for different channels (channels), different PRFs, the proposed calibration distance is different, as can be seen for 5 meters, also for tens of meters. This undoubtedly increases the environmental requirements and also the calibration complexity. The suggestion of such a calibrated range as shown in table 1 comes from the fact that "UWB Ranging accuracy is also affected by the measured range," which is termed Ranging Bias. The Received Signal Strength Indication (RSSI) of the UWB communication module is the main source of Ranging Bias. Therefore, the effect of different calibration distances can be simulated by adjusting the RSSI (i.e. the converted received power) in the calibration process to a suitable value, so as to reduce the requirement of the antenna delay calibration on the environment and further reduce the calibration complexity.

TABLE 1

Fig. 3A is a schematic flow chart illustrating an implementation of the antenna delay calibration method according to an embodiment of the present application, and as shown in fig. 3A, the method may include the following steps 301 to 308:

step 301, the control device controls the reference device and the device to be calibrated to start respective wireless communication modules.

The type of the wireless communication module is not limited, and the wireless communication module may be a UWB, 4G, 5G, NB-IoT, GSM, WCDMA, CDMA2000, TD-SCDMA, GPRS, LTE, FDD, TDD, UMTS, or bluetooth communication module.

Step 302, the control device controls each wireless communication module to repeatedly transmit the wireless signal for a specific time so that the circuit state of the wireless communication module reaches a stable state, and then step 303 is performed.

The specific time duration for a specific time may be any time duration, which is not limited in this application. The specific time duration may be in milliseconds or seconds. For example, the specific time period is 1 second, 2 seconds, 3 seconds, 5 seconds, or the like.

It can be understood that, before calibrating the antenna delay of the device to be calibrated, the wireless communication modules of the reference device and the device to be calibrated are started first, and the wireless communication modules are allowed to repeatedly transmit wireless signals for a period of time, so that the circuit states of the wireless communication modules of the two devices reach a stable state, and the final calibration result is more accurate.

Step 303, the control device controls the reference device and the device to be calibrated to adjust their respective transmission powers.

It can be understood that, in the embodiment of the present application, the reference device and the device to be calibrated both need to adjust the transmission power. In this way, compared with the method of adjusting the transmission power of only one device, the requirements of antenna delay calibration on the environment and the calibration complexity of the antenna delay can be further reduced.

In some embodiments, taking the example that the control device controls the reference device to adjust the transmission power, as shown in fig. 3B, the following steps 3031 to 3034 may be included: step 3031, controlling the reference device to send a first data packet to the device to be calibrated; step 3032, controlling the equipment to be calibrated to write the receiving power of the first data packet into a second data packet; step 3033, controlling the device to be calibrated to send the second data packet to the reference device, so as to feed back the receiving power of the first data packet to the reference device; step 3034, controlling the reference device to adjust the transmission power of the device to the target transmission power by comparing the calibrated reception power with the reception power of the first data packet.

It should be noted that the transmit power adjustment procedure shown in fig. 3B is also applicable to the device to be calibrated. For example, the control device controls the reference device and the device to be calibrated to adjust the respective transmission powers, as shown in fig. 3B, in addition to the steps 3031 to 3034, the method further includes steps 3035 to 3037: step 3035, controlling the reference device to write the receiving power of the second data packet into the third data packet; step 3036, controlling the reference device to send the third data packet to the device to be calibrated; step 3037, controlling the device to be calibrated to adjust the transmission power of the device to be calibrated to the target transmission power by comparing the calibration reception power with the reception power of the second data packet.

It should be noted that the adjustment procedure of the transmission power shown in fig. 3B is only an example. In some embodiments, the device to be calibrated may also be controlled to send a data packet to the reference device first.

Step 304, the control device controls the device with the adjusted transmission power to transmit a wireless signal to another device;

step 305, the control device determines whether a difference value between the received power of the wireless signal and the calibration received power is within a preset range; if yes, go to step 306; otherwise, returning to execute step 303;

the calibration received power is typically a value that meets the calibration accuracy requirements. The engineer may configure the value in the control device in advance.

It is understood that if the difference between the received power of the wireless signal and the calibrated received power is not within the preset range, which indicates that the received power does not satisfy the first calibration condition, the transmitting power of the device transmitting the wireless signal needs to be adjusted again until the received power of the wireless signal transmitted by the device at the current transmitting power satisfies the first calibration condition.

It should be noted that, when returning to step 303, the control device only needs to control the device whose received power of the wireless signal does not satisfy the first calibration condition to adjust the transmission power. For example, if the receiving power of the wireless signal when the reference device after adjusting the transmitting power transmits the wireless signal satisfies the first calibration condition, and the receiving power of the wireless signal when the device to be calibrated after adjusting the transmitting power transmits the wireless signal does not satisfy the first calibration condition, it is only necessary to control the device to be calibrated to adjust the transmitting power.

It is understood that if the difference between the received power of the wireless signal and the calibrated received power is within the preset range, it can be determined that the received power satisfies the first calibration condition, and step 306 is executed. It should be noted that, in this embodiment, that is, in the case that the transmission powers of the reference device and the device to be calibrated are both required to be adjusted before calibrating the antenna delay, the step 306 is executed on the premise that the received powers of the wireless signals transmitted by the two devices at the current transmission power both satisfy the first calibration condition.

Of course, the first calibration conditions for the two devices may be the same or different. The corresponding preset ranges may be the same or different. This is not limited in the embodiments of the present application.

Step 306, obtaining N distance measurement values, where the N distance measurement values are determined according to the flight time of the wireless signal when the reference device and the device to be calibrated perform N times of wireless signal interaction at the current transmission power; wherein N is an integer greater than 1.

That is, the distance measurements may be based on time-of-flight ranging. The distance measurement mode can be various, and the distance measurement mode can be any algorithm based on flight time. For example, the method may be a single-sided Two-Way Ranging (SS-TWR) method in Two-Way Ranging (TWR), or may be a single-sided Two-Way Ranging (SDS-TWR) method in Two-Way Ranging (TWR).

The calculation of the distance measurement can be carried out by the control device or by the device which first transmits the radio signal each time.

In the present application, the value of N is not limited, and N may have any value, and may be 1. However, in order to make the finally calculated first antenna delay value more accurate, in the embodiment of the present application, the distance between the device to be calibrated and the reference device may be measured multiple times, for example, 10 times or 20 times; therefore, the finally obtained first antenna delay value is more accurate, the calibration precision of the antenna delay is improved, and the ranging precision is further improved.

Step 307, determining a first antenna delay value of the device to be calibrated according to the N distance measurement values and the actual distance.

The manner in which the first antenna delay value is determined may be varied. In some embodiments, a difference between each distance measurement and the actual distance may be determined; then, a first antenna delay value is determined based on the mean of the differences. In other embodiments, a ratio between each distance measurement and the actual distance may also be determined; then, based on the mean of the ratios, a first antenna delay value is determined.

Step 308, loading the first antenna delay value into the device to be calibrated, so as to calibrate the antenna delay of the device to be calibrated.

It can be understood that, after the first antenna delay value is loaded into the device to be calibrated, when the device to be calibrated performs ranging subsequently, after the measured flight time of the wireless signal, the one-way flight distance of the wireless signal can be calculated according to the difference between the measured value of the flight time and the first antenna delay value and the flight speed of the wireless signal, thereby implementing high-precision ranging.

In fact, even if the first antenna delay value is obtained through the above steps 306 to 308, the value may still not meet the requirement of the ranging accuracy, and especially in the UWB-based ranging technology, the antenna delay value is slightly deviated, which may result in a ranging error in centimeter or even decimeter. In view of this, in order to further improve the antenna delay accuracy of the device to be calibrated, and thus further improve the ranging accuracy of the device to be calibrated, in some embodiments, as shown in fig. 3C, the method further includes steps 309 to 313:

step 309, controlling the device to be calibrated to measure the distance between the reference device and the device to be calibrated for M times according to the first antenna delay value, so as to obtain M distance measurement values; wherein M is an integer greater than 0.

Here M may also be any value preset. M may be greater than N or less than or equal to N. For example, N is 10, M is 20, but the present invention is not limited thereto, and the engineer may set the values according to actual engineering index requirements.

In some embodiments, the control device may implement step 309 by: controlling the reference equipment and the equipment to be calibrated to perform wireless signal interaction for M times at the current transmission power; and controlling the equipment to be calibrated to determine a corresponding distance measurement value according to the first antenna delay value and the flight time of the wireless signal of each interaction of the M times of wireless signal interaction. As mentioned above, the ranging method is not limited, and may be SS-TWR or SDS-TWR, etc.

Step 310, controlling the device to be calibrated to determine whether the first antenna delay value meets a second calibration condition according to the actual distance and the M distance measurement values; if not, go to step 311; if so, ending.

For M equal to 1 and greater than 1, the corresponding second calibration conditions are different. In some embodiments, for the case where M is equal to 1, if the distance measurement differs from the actual distance by less than a certain threshold, then it is determined that the first antenna delay value satisfies the second calibration condition; otherwise, it is not satisfied. In other embodiments, for the case where M is greater than 1, determining that the first antenna delay value satisfies the second calibration condition if the number of the M distance measurements that differ from the actual distance by less than a certain threshold is greater than a certain number; otherwise, it is not satisfied. For example, M is 20, i.e., among the 20 distance measurements, 15 measurements differ from the actual distance by less than a certain threshold, it is determined that the first antenna delay value satisfies the second calibration condition; otherwise, it is not satisfied.

In still other embodiments, for the case where M is greater than 1, if the mean of the differences of the M distance measurements from the actual distances is less than a certain threshold, then it is determined that the first antenna delay value satisfies the second calibration condition; otherwise, it is not satisfied.

Of course, it can also be determined whether the first antenna delay value satisfies the second calibration condition based on the ratio of the M distance measurements to the actual distances, respectively.

Step 311, controlling the device to be calibrated to adjust the first antenna delay value to a second antenna delay value when the first antenna delay value does not satisfy the second calibration condition.

In some embodiments, the device to be calibrated may be controlled to adjust the first antenna delay value to the second antenna delay value by a preset step size.

Step 312, controlling the device to be calibrated to determine whether the second antenna delay value satisfies the second calibration condition; if yes, ending; otherwise, go to step 313;

step 313, controlling the device to be calibrated to adjust the second antenna delay value until the currently adjusted antenna delay value meets the second calibration condition.

To further improve the reliability and stability of the antenna delay calibration result, in some embodiments, as shown in fig. 3D, the method further includes the following steps 314 to 316:

step 314, controlling the device to be calibrated to measure the distance between the reference device and the device to be calibrated for X times according to the currently adjusted antenna delay value, so as to obtain X distance measurement values; wherein X is an integer greater than 1;

step 315, controlling the device to be calibrated to determine whether the currently adjusted antenna delay value meets the second calibration condition according to the actual distance and the X distance measurement values; if yes, ending; otherwise, go to step 316;

step 316, reporting the error and outputting the X distance measurements.

It can be understood that even if the finally adjusted antenna delay value satisfies the second calibration condition, it needs to be tested and verified again; when the determination result obtained in step 314 and step 315 is that the current adjusted antenna delay value does not satisfy the second calibration condition, an error is reported and test data is output, that is, the X distance measurement values are output; therefore, the antenna delay value meeting the second calibration condition before can be timely prompted to the engineer, the second calibration condition is not met, namely the previous calculation result is unreliable, and test data are provided for the engineer to analyze the reason.

It should be noted that, in the embodiment of the present application, the control device may perform steps 314 to 316 after performing steps 306 to 308; in some embodiments, the control apparatus may further perform steps 314 to 316 after performing steps 309 to 313.

It should also be noted that in some embodiments, the device to be calibrated may replace the operation of the control device, and the control task performed by the control device is directly handled by the device to be calibrated.

For UWB devices of different design (i.e., an example of a device to be calibrated), the antenna delays must be different, and for each UWB device of the same design, the antenna delays will also differ, which may be greater than the UWB centimeter-level positioning accuracy. Therefore, antenna delay calibration of UWB devices is very important for high-precision UWB ranging.

Based on this, an exemplary application of the embodiment of the present application in a practical application scenario will be described below.

In the present embodiment, an antenna delay calibration system for a UWB Device is provided, as shown in fig. 4A, the system 40 at least includes a Golden Device 401 (also referred to as a reference Device, i.e., a reference Device), a Device under Test 402(Device under Test, i.e., a Device to be calibrated), and a Personal Computer (Personal Computer, PC) type controller 403 (an example of a control Device).

Both the golden machine 401 and the device under test 402 are configured with UWB communication modules. The UWB communication module is a radio frequency Transceiver (Transceiver) supporting the UWB protocol of ieee802.15.4, and the communication module supports TWR (two-way Ranging) Ranging. The UWB communication module may be, for example, a DW1000 chip and a DW3000 chip of Decawave or an SR100T chip of NXP.

The device under test 402 is the device under test, i.e., the equipment under test.

Golden machine 401 is a device that has been accurately calibrated for antenna delay.

As shown in fig. 4A, the golden machine 401 and the device under test 402 are connected to the PC controller 403 via a communication data line. The PC controller 403 may issue commands to the golden machine 401 and the device under test 402 and read data.

As shown in fig. 4B, the golden machine 401 and the device under test 402 are mounted on two jigs 404, respectively, and the two jigs 404 are disposed on a guide rail 405. The distance between the two clamps 404 is controlled by the PC controller 403; the clamp 404 is an example of a fixing member.

The golden machine 401, the device under test 402, the guide rail 405 and the clamp 404 can be arranged in a microwave darkroom, so that the influence of complicated electromagnetic reflection and multipath links on the calibration accuracy of the antenna delay can be reduced.

An embodiment of the present application provides a system flow for calibrating antenna delay of a UWB device, where the system flow is shown in fig. 5, and may include the following steps 1 to 5:

and step 1, setting parameters by a PC controller.

And 2, a preheating stage. The function of the preheating stage is to stabilize the circuit state of the golden machine 401 and the device under test 402.

And 3, adjusting the transmitting power. The purpose of this step is to make the RSSI (or called the received signal strength RSL: measured signal Level) within a preset range when the golden machine 401 and the device under test 402 perform TWR ranging.

Step 4, TWR and Antenna Delay (Antenna Delay) calibration phase. After this stage is completed, the antenna delay of the dut 402 will be calculated.

And 5, verifying the antenna delay calibration value. The purpose of this step is to verify whether the antenna delay of the device under test 402 calibrated in step 4 meets the ranging accuracy requirement.

For step 1, in some embodiments:

1, the PC controller 403 controls the actual distance between the golden machine 401 and the device under test 402 to be at an appropriate distance value D0.

2, the PC controller issues parameter configuration for the golden machine 401 and the device to be tested 402, including:

a) radio frequency parameters for UWB communications, including: channel, PRF, Data Rate (Data Rate), Preamble (Preamble code), and Preamble Length (Preamble Length), etc. It should be noted that the golden machine 401 and the device under test 402 may be configured with the same UWB parameters to complete wireless transceiving communication.

b) The calibration process and the execution program, and the calibration related parameters comprise: the received power reference value is calibrated, the target distance value D0 (i.e., actual distance) is calibrated, and the calibration accuracy is ± k cm (e.g., ± 5 cm).

For step 2, in some embodiments: the golden machine 401 and the device under test 402 start the UWB communication module, execute to repeatedly transmit UWB signals with a preset transmission power. And ends after n seconds of execution (e.g., 5 seconds).

For step 3, in some embodiments, as shown in fig. 6:

1) the golden machine 401 and the device under test 402 set initial transmission power respectively.

2) Golden machine 401 sends packet a to device under test 402.

3) After receiving the data packet a, the device under test 402 acquires RSSI _1 calculated by the UWB communication module.

4) And the device to be tested 402 writes the RSSI _1 into a data packet B and sends the data packet B to the golden machine 401.

5) After receiving the data packet B, the smartphone 401 acquires RSSI _2 calculated by the UWB communication module. And writing the RSSI _2 into a data packet A.

6) The modem 401 obtains the RSSI _1 in the data packet B, and adjusts its own transmission power to an appropriate value according to the comparison between the RSSI _1 and the reference value of the calibration received power. Data packet a is sent to device under test 402.

7) After receiving the data packet a, the device under test 402 acquires the RSSI _2 in the data packet a, and adjusts its own transmission power to an appropriate value according to the comparison between the RSSI _2 and the reference value of the calibration received power.

8) Optionally, the two receive and transmit interactions are performed again, and whether the received RSSI is within a range of ± x dB (for example, ± 3dB) of the calibration received power reference value is judged, wherein x is greater than 0; if the requirements are not met, repeating steps 2) to 7) again.

For the embodiment of step 3, for example, assume that channel is 5, PRF is 16, the calibration distance is 3 meters (i.e., the actual distance between the golden machine 401 and the device under test 402), and the reference value of the calibration received power is-88 dBm.

The initial transmitting power set by the golden machine 401 and the device to be tested 402 is-14 dBm.

After the cash dispenser 401 and the device to be tested 402 perform transceiving communication, the cash dispenser 401 finds that the RSSI received by the device to be tested 402 is-82 dBm, and the RSSI received by the cash dispenser 401 sent by the device to be tested 402 is-80 dBm. The golden machine 401 adjusts the transmitting power from-14 dBm to-20 dBm, and the device under test 402 adjusts the transmitting power from-14 dBm to-22 dBm.

For said step 4, in some embodiments:

1) as shown in fig. 7, the first method is:

a) the golden machine 401 and the device under test 402 perform N TWR tests (e.g., 10 times). The golden machine 401 or the device under test 402 obtains the distance measurement value Dn N times. In some embodiments, which party obtains the distance measurement is determined by the type of TWR employed and who is the initiator.

b) The PC controller obtains N times of distance measurement values Dn, compares the distance measurement values Dn with the calibration target distance value D0, and calculates a calibration value of the antenna delay of the device to be measured 402: the antenna delay value 1, i.e. the first antenna delay value.

Further, a more preferred method, i.e. the second method, as shown in fig. 8:

a) the golden machine 401 and the device under test 402 perform TWR N times (e.g., 10 times). The golden machine 401 or the device to be tested 402 obtains N times of distance measurement values Dn; in some embodiments, which party obtains the distance measurement is determined by the type of TWR employed and who is the initiator.

b) The PC controller 403 obtains N times of distance measurement values Dn, compares the distance measurement values Dn with the calibration target distance value D0, and calculates a calibration value of the antenna delay of the device under test 402: the antenna delay value 1, i.e. the first antenna delay value.

c) The PC controller 403 loads the antenna delay value 1 into the device under test 402.

d) The golden machine 401 and the device under test 402 perform M TWR tests (for example, 20 times), and the distance measurement value Dm is obtained from the device under test 402. In some embodiments, if SS-TWR is in progress, a ranging request is initiated by the device under test 402. In some embodiments, if SDS-TWR is in progress, a ranging request is initiated by golden machine 401. In this way, the distance measurement is finally calculated by the dut 402, thereby saving the information exchange flow between the two.

e) The device under test 402 compares the distance measurement Dm to the calibration target distance value D0 and if the calibration target (i.e., an example of a second calibration condition) is not met, then fine-tunes the antenna delay, fine-tuning the antenna delay 1 to the antenna delay 2 (i.e., a second antenna delay value). The calibration target is that the distance measurement Dm is mostly or on average within (D0 + -k cm), k is greater than 0; if the calibration target is met, completing step 4; otherwise, step f) is executed.

f) And repeating d) and e) until the calibration target is met, and obtaining the final antenna delay calibration value.

For said step 5, in some embodiments:

1) the dut 402 loads the antenna delay calibration value and performs X TWR tests (e.g., 50) with the golden machine 401.

2) The PC controller 403 obtains X times of distance measurement values D_XComparing the distance measurements D_XWhether the calibration target is met.

3) If so, the calibration flow ends. If not, outputting the test data and reporting an error.

Regarding the TWR principle, the following is briefly explained:

two-way ranging is also called TWR, and is classified into SS-TWR (single-sided two-way ranging) and SDS-TWR (single-sided two-way ranging). The principle of SS-TWR is shown in FIG. 9:

device a and device B are two UWB modules. The ranging is initiated by the device a, the device B sends back a response (responses) after receiving the response, the device a completes ranging once after receiving the response, and the current time stamp is recorded each time the device a and the device B send and receive data. Thus, device a can obtain the transmission time difference by subtracting the timestamps

Is composed of

Wherein, T_roundMeasuring the duration, T, of a radio signal from device A to device B_replyThe duration of the measurement from device B to device a for the wireless signal.

The principle of SDS-TWR is shown in fig. 10, which corresponds to 2 SS-TWRs, and the final ranging result is measured in device B. SDS-TWR makes the TWR measurement accuracy less affected by device A and device B crystal asynchronization than SS-TWR.

Through the antenna delay calibration scheme provided by the embodiment of the application, the device to be tested 402 can obtain an accurate antenna delay value, so that the device to be tested, namely, the UWB device can realize high-precision TWR ranging.

In the embodiment of the application, the key technology is as follows: 1) the design of the guide rail can flexibly adjust the proper calibration distance. 2) Preheating before calibration and waiting for the equipment to be stable. 3) The transmitting power is adaptively adjusted before calibration so as to achieve proper calibration receiving power. 4) And 4, reasonable antenna calibration step flow.

The embodiment of the present application further provides another antenna delay calibration system for a UWB device, as shown in fig. 11, the system 11 at least includes a golden machine 111 and a device under test 112. In contrast to the antenna delay calibration system 40 shown in fig. 4, the PC controller is omitted. In the antenna delay calibration scheme based on system 11, the dut 112 needs to be responsible for the main functions of the PC controller, such as:

1, the parameter configuration of the golden machine 111 and the device under test 112 needs to be preset in the device.

2, the calibration flow and the execution program need to be preset in the device.

3, the calibration values for the antenna delays need to be calculated and loaded by the device under test 112 itself.

Based on the foregoing embodiments, the present application provides an antenna delay calibration apparatus, which includes modules and units included in the modules, and can be implemented by a processor in an electronic device; of course, the implementation can also be realized through a specific logic circuit; in implementation, the processor may be a Central Processing Unit (CPU), a Microprocessor (MPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or the like.

The electronic device may be a control device, a device to be calibrated, or a reference device.

Fig. 12 is a schematic structural diagram of an antenna delay calibration apparatus according to an embodiment of the present application, and as shown in fig. 12, the apparatus 120 includes a control module 121 and a calibration module 122, where:

a control module 121 for: controlling at least one of the reference device and the device to be calibrated to adjust the transmission power; then, controlling the device with the adjusted transmission power to transmit a wireless signal to another device;

a calibration module 122 to: under the condition that the receiving power of the wireless signal meets a first calibration condition, calibrating the antenna delay of the equipment to be calibrated according to a distance measurement value and the actual distance between the reference equipment and the equipment to be calibrated; wherein the distance measurement is determined based on a time of flight of a wireless signal when the reference device wirelessly interacts with the device to be calibrated at a current transmit power.

In some embodiments, the control module 121 is configured to: and controlling the reference equipment and the equipment to be calibrated to adjust the respective transmitting power.

In some embodiments, the control module 121 is configured to: controlling the one device to send a first data packet to the other device; controlling the other device to feed back the received power of the first data packet to the one device; controlling the device to adjust the transmit power of the device to a target transmit power by comparing a calibrated receive power with the receive power of the first data packet.

In some embodiments, the control module 121 is further configured to: under the condition that the received power of the wireless signal does not satisfy the first calibration condition, the device with the adjusted transmission power is controlled again to adjust the transmission power until the received power of the wireless signal transmitted by the device with the adjusted transmission power satisfies the first calibration condition, and the calibration module 122 is triggered to execute a corresponding function.

In some embodiments, the control module 121 is further configured to: after the apparatus for controlling the adjusted transmission power transmits a wireless signal to another apparatus, performing the following steps, or the apparatus for controlling the adjusted transmission power performs the following steps: determining whether a difference between the received power of the wireless signal and a calibration received power is within a preset range; if the difference value is within the preset range, determining that the receiving power of the wireless signal meets the first calibration condition; and if the difference value is not in the preset range, determining that the receiving power of the wireless signal does not meet the first calibration condition.

In some embodiments, the control module 121 is further configured to: before at least one of the reference device and the device to be calibrated is controlled to adjust the transmission power, controlling the reference device and the device to be calibrated to start respective wireless communication modules; and controlling each wireless communication module to repeatedly transmit a wireless signal for a specific time, and triggering at least one of the control reference device and the device to be calibrated to adjust the transmission power.

In some embodiments, a calibration module 122 to: obtaining N distance measurement values, wherein the N distance measurement values are determined according to the flight time of wireless signals when the reference device and the device to be calibrated perform N times of wireless signal interaction at the current transmission power; wherein N is an integer greater than 1; determining a first antenna delay value of the device to be calibrated according to the N distance measurement values and the actual distance; and loading the first antenna delay value into the equipment to be calibrated so as to be used for calibrating the antenna delay of the equipment to be calibrated.

In some embodiments, the control module 121 is further configured to: after the calibration module 122 loads the first antenna delay value into the device to be calibrated, controlling the device to be calibrated to measure the distance between the reference device and the device to be calibrated for M times according to the first antenna delay value, so as to obtain M distance measurement values; wherein M is an integer greater than 0; controlling the equipment to be calibrated to determine whether the first antenna delay value meets a second calibration condition according to the actual distance and the M distance measurement values; and controlling the equipment to be calibrated to adjust the first antenna delay value to a second antenna delay value under the condition that the first antenna delay value does not meet the second calibration condition.

In some embodiments, the control module 121 is configured to: controlling the reference equipment and the equipment to be calibrated to perform wireless signal interaction for M times at the current transmission power; and controlling the equipment to be calibrated to determine a corresponding distance measurement value according to the first antenna delay value and the flight time of the wireless signal of each interaction of the M times of wireless signal interaction.

In some embodiments, the control module 121 is further configured to: controlling the device to be calibrated to determine whether the second antenna delay value satisfies the second calibration condition; and under the condition that the second antenna delay value does not meet the second calibration condition, controlling the equipment to be calibrated to continuously adjust the second antenna delay value until the currently adjusted antenna delay value meets the second calibration condition.

In some embodiments, the control module 121 is further configured to: controlling the equipment to be calibrated to measure the distance between the equipment to be calibrated and the reference equipment for X times according to the currently adjusted antenna delay value to obtain X distance measurement values; wherein X is an integer greater than 1; controlling the equipment to be calibrated to determine whether the currently adjusted antenna delay value meets the second calibration condition according to the actual distance and the X distance measurement values; and reporting an error and outputting the X distance measurement values under the condition that the currently adjusted antenna delay value does not meet the second calibration condition.

In some embodiments, the wireless signal is a UWB signal.

The above description of the apparatus embodiments, similar to the above description of the method embodiments, has similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the apparatus of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.

It should be noted that, in the embodiment of the present application, the division of the antenna delay calibration apparatus shown in fig. 12 into modules is schematic, and is only one logic function division, and there may be another division manner in actual implementation. In addition, functional units in the embodiments of the present application may be integrated into one processing unit, may exist alone physically, or may be integrated into one unit by two or more units. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. Or may be implemented in a combination of software and hardware.

It should be noted that, in the embodiment of the present application, if the antenna delay calibration method is implemented in the form of a software functional module and is sold or used as a standalone product, it may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing an electronic device to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.

Correspondingly, as shown in fig. 13, in the electronic device 130 provided in the embodiment of the present application, the electronic device 130 may include: comprising a memory 131 and a processor 132, said memory 131 storing a computer program operable on the processor 132, said processor 132 when executing said program implementing the steps in the methods provided in the embodiments described above.

The Memory 131 is configured to store instructions and applications executable by the processor 132, and may also buffer data (e.g., image data, audio data, voice communication data, and video communication data) to be processed or already processed by the processor 132 and modules in the electronic device 13, and may be implemented by a FLASH Memory (FLASH) or a Random Access Memory (RAM).

Embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps in the antenna delay calibration method provided in the above embodiments.

Embodiments of the present application provide a computer program product containing instructions, which when run on a computer, cause the computer to perform the antenna delay calibration method provided by the above method embodiments.

Here, it should be noted that: the above description of the storage medium and device embodiments is similar to the description of the method embodiments above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the embodiments of the storage medium, the chip and the terminal device of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" or "some embodiments" or "other embodiments" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" or "in some embodiments" or "in other embodiments" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments. The foregoing description of the various embodiments is intended to highlight various differences between the embodiments, and the same or similar parts may be referred to each other, and for brevity, will not be described again herein.

The term "and/or" herein is merely an association relationship describing an associated object, and means that three relationships may exist, for example, object a and/or object B, may mean: the object A exists alone, the object A and the object B exist simultaneously, and the object B exists alone.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiment of the touch screen system is merely illustrative, for example, the division of the modules is only a logical functional division, and in actual implementation, there may be other division ways, such as: multiple modules or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or modules may be electrical, mechanical or other.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules; can be located in one place or distributed on a plurality of network units; some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, all functional modules in the embodiments of the present application may be integrated into one processing unit, or each module may be separately regarded as one unit, or two or more modules may be integrated into one unit; the integrated module can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

Those of ordinary skill in the art will understand that: all or part of the steps of implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer-readable storage medium, and when executed, executes the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk.

Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing an electronic device to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.

The methods disclosed in the several method embodiments provided in the present application may be combined arbitrarily without conflict to obtain new method embodiments.

Features disclosed in several of the product embodiments provided in the present application may be combined in any combination to yield new product embodiments without conflict.

The features disclosed in the several method or apparatus embodiments provided in the present application may be combined arbitrarily, without conflict, to arrive at new method embodiments or apparatus embodiments.

The above description is only for the embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for antenna delay calibration, the method comprising:

controlling at least one of the reference equipment and the equipment to be calibrated to adjust the transmission power; after that time, the user can use the device,

controlling the device with the adjusted transmission power to transmit a wireless signal to another device; and the number of the first and second groups,

under the condition that the receiving power of the wireless signal meets a first calibration condition, calibrating the antenna delay of the equipment to be calibrated according to a distance measurement value and the actual distance between the reference equipment and the equipment to be calibrated; wherein the distance measurement is determined based on a time of flight of a wireless signal when the reference device wirelessly interacts with the device to be calibrated at a current transmit power.

2. The method of claim 1, wherein the controlling at least one of the reference device and the device to be calibrated to adjust the transmit power comprises:

and controlling the reference equipment and the equipment to be calibrated to adjust the respective transmitting power.

3. The method according to claim 1 or 2, wherein controlling one of the reference device and the device to be calibrated to adjust the transmission power comprises:

controlling the one device to send a first data packet to the other device;

controlling the other device to feed back the received power of the first data packet to the one device;

controlling the device to adjust the transmit power of the device to a target transmit power by comparing a calibrated receive power with the receive power of the first data packet.

4. The method according to any one of claims 1 to 3, further comprising:

and under the condition that the receiving power of the wireless signal does not meet the first calibration condition, controlling the equipment with the adjusted transmitting power to adjust the transmitting power again until the receiving power of the wireless signal transmitted by the equipment with the adjusted transmitting power meets the first calibration condition, and triggering the step of calibrating the antenna delay of the equipment to be calibrated.

5. The method of claim 4, wherein after the controlling the device with the adjusted transmission power transmits a wireless signal to another device, the method further comprises:

performing the following steps, or controlling the apparatus for adjusted transmission power to perform the following steps:

determining whether a difference between the received power of the wireless signal and a calibration received power is within a preset range;

if the difference value is within the preset range, determining that the receiving power of the wireless signal meets the first calibration condition;

and if the difference value is not in the preset range, determining that the receiving power of the wireless signal does not meet the first calibration condition.

6. The method of claim 1, wherein prior to the adjusting of the transmit power by at least one of the control reference device and the device to be calibrated, the method further comprises:

controlling the reference equipment and the equipment to be calibrated to start respective wireless communication modules;

and controlling each wireless communication module to repeatedly transmit a wireless signal for a specific time, and triggering at least one of the control reference device and the device to be calibrated to adjust the transmission power.

7. The method of claim 1, wherein the calibrating the antenna delay of the device to be calibrated based on the distance measurement and the actual distance between the reference device and the device to be calibrated comprises:

obtaining N distance measurement values, wherein the N distance measurement values are determined according to the flight time of wireless signals when the reference device and the device to be calibrated perform N times of wireless signal interaction at the current transmission power; wherein N is an integer greater than 1;

determining a first antenna delay value of the device to be calibrated according to the N distance measurement values and the actual distance;

and loading the first antenna delay value into the equipment to be calibrated so as to be used for calibrating the antenna delay of the equipment to be calibrated.

8. The method of claim 7, wherein after loading the first antenna delay value into the device to be calibrated, the method further comprises:

controlling the equipment to be calibrated to measure the distance between the equipment to be calibrated and the reference equipment for M times according to the first antenna delay value to obtain M distance measurement values; wherein M is an integer greater than 0;

controlling the equipment to be calibrated to determine whether the first antenna delay value meets a second calibration condition according to the actual distance and the M distance measurement values;

and controlling the equipment to be calibrated to adjust the first antenna delay value to a second antenna delay value under the condition that the first antenna delay value does not meet the second calibration condition.

9. The method of claim 8, wherein the controlling the device to be calibrated to measure the distance to the reference device M times according to the first antenna delay value to obtain M distance measurement values comprises:

controlling the reference equipment and the equipment to be calibrated to perform M times of wireless signal interaction at the current transmission power;

and controlling the equipment to be calibrated to determine a corresponding distance measurement value according to the first antenna delay value and the flight time of the wireless signal of each interaction of the M times of wireless signal interaction.

10. The method of claim 8, further comprising:

controlling the device to be calibrated to determine whether the second antenna delay value satisfies the second calibration condition;

and under the condition that the second antenna delay value does not meet the second calibration condition, controlling the equipment to be calibrated to continuously adjust the second antenna delay value until the currently adjusted antenna delay value meets the second calibration condition.

11. The method according to any one of claims 7 to 10, further comprising:

controlling the equipment to be calibrated to measure the distance between the equipment to be calibrated and the reference equipment for X times according to the currently adjusted antenna delay value to obtain X distance measurement values; wherein X is an integer greater than 1;

controlling the equipment to be calibrated to determine whether the currently adjusted antenna delay value meets the second calibration condition according to the actual distance and the X distance measurement values;

and reporting an error and outputting the X distance measurement values under the condition that the currently adjusted antenna delay value does not meet the second calibration condition.

12. The method of any one of claims 1 to 11, wherein the wireless signal is a UWB signal.

13. An antenna delay calibration apparatus, comprising:

a control module to: controlling at least one of the reference device and the device to be calibrated to adjust the transmission power; then, controlling the device with the adjusted transmission power to transmit a wireless signal to another device;

a calibration module to: under the condition that the receiving power of the wireless signal meets a first calibration condition, calibrating the antenna delay of the equipment to be calibrated according to a distance measurement value and the actual distance between the reference equipment and the equipment to be calibrated; wherein the distance measurement is determined based on a time of flight of a wireless signal when the reference device wirelessly interacts with the device to be calibrated at a current transmit power.

14. An antenna delay calibration system, characterized in that the system comprises a guide rail, a reference device, a device to be calibrated and a control device; wherein the content of the first and second substances,

the guide rail is provided with a first fixing part and a second fixing part, the first fixing part is used for fixing the reference equipment at one end of the guide rail, and the second fixing part is used for fixing the equipment to be calibrated at the other end of the guide rail;

the guide rail is used for receiving a first control instruction sent by the control device, and the first control instruction is used for instructing to move the first fixing part and/or the second fixing part so as to adjust the actual distance between the reference device and the device to be calibrated to a specified distance;

the control device for performing the steps of the method of any one of claims 1 to 12.

15. The system of claim 14, wherein the control device and the device to be calibrated are the same device; or the control equipment and the equipment to be calibrated are different equipment.

16. An electronic device comprising a memory and a processor, the memory storing a computer program operable on the processor, wherein the processor implements the method of any one of claims 1 to 12 when executing the program.

17. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 12.