WO2020007064A1 - Distance measurement method and system, electronic device and readable storage medium - Google Patents
Distance measurement method and system, electronic device and readable storage medium Download PDFInfo
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- WO2020007064A1 WO2020007064A1 PCT/CN2019/078085 CN2019078085W WO2020007064A1 WO 2020007064 A1 WO2020007064 A1 WO 2020007064A1 CN 2019078085 W CN2019078085 W CN 2019078085W WO 2020007064 A1 WO2020007064 A1 WO 2020007064A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- distance measurement is the basis for determining the position information and positioning navigation of the device under test.
- distances from multiple reference stations (stars) to the device under test can be measured using time-synchronized or non-time-synchronized distance measurement technology, and then the position information of the device under test can be obtained by geometric calculation .
- the accuracy of the position information is limited by the ranging accuracy and the geometric distribution of the reference stations (stars). Therefore, the universality and accuracy of the distance measurement technology is very important for radio positioning and navigation.
- ranging can be performed using ranging code measurement techniques, such as GPS (Global Positioning System, Global Positioning System), Beidou, etc.
- This technique uses each reference station (star) to send a pseudo-random code (measurement Distance code), the device under test receives pseudo-random codes (range code) transmitted from multiple stations (stars).
- the transmission time between each reference station (star) needs to be strictly synchronized.
- the receiving time of the pseudo-random code (ranging code) received by the device under test is different due to the distance from each reference station (star), and it can be measured to reach each reference station. (Star) distance difference.
- the device under test sends a ranging request pulse to the reference station (star). After the reference station (star) receives the request pulse, it sends a response pulse after a fixed delay, and the device under test measures The time from when the ranging request pulse is sent to when the answer pulse is received, after correcting the aforementioned fixed delay, can be converted into the round-trip distance of the signal, and then the distance from the reference station (star) to the device under test is obtained. In this method, distance measurement is performed by pulse measurement, which is limited by the timing accuracy of both parties, and the accuracy of distance measurement is low.
- the current ranging method requires time synchronization when the measurement accuracy is high; when the time synchronization is not required, the measurement accuracy is low, that is, it cannot satisfy both the need for time synchronization and high measurement accuracy.
- the purpose of the embodiments of the present application is to provide a ranging method, a system, an electronic device, and a readable storage medium, which can improve the measurement accuracy without requiring time synchronization.
- the specific technical solutions are as follows:
- Send a first ranging carrier to a reference device so that after the reference device receives the first ranging carrier, perform phase measurement on the first ranging carrier to obtain a carrier phase, and send the carrier phase to the device under test
- the phase difference, and the wavelength of the first ranging carrier through the formula: Calculating a distance d between the device under test and the reference device;
- d est is a rough distance
- ⁇ is the wavelength of the first ranging carrier
- floor is the round-down operation.
- a rough distance between the device under test and the reference device is determined by a coarse ranging device, and the positioning accuracy of the coarse ranging device is less than a half wavelength of the first ranging carrier.
- the method before the sending a first ranging carrier to a reference device, the method further includes:
- An embodiment of the present application provides a ranging system, where the ranging system includes: a device under test and a reference device;
- the device under test is configured to send a first ranging carrier to a reference device
- the reference device is configured to, after receiving the first ranging carrier, perform phase measurement on the first ranging carrier to obtain a carrier phase, and send to the device under test the same phase as the carrier.
- a second ranging carrier, the wavelength of the first ranging carrier and the wavelength of the second ranging carrier are equal;
- d est is a rough distance
- ⁇ is the wavelength of the first ranging carrier
- floor is the round-down operation.
- the coarse ranging device is a Tacon system.
- the device under test is further configured to obtain a first ranging carrier after the generated signal is sequentially subjected to spread spectrum, modulation, and digital-to-analog conversion.
- the memory is used to store a computer program
- An embodiment of the present application provides a computer-readable storage medium.
- a computer program is stored in the computer-readable storage medium.
- the computer program is executed by a processor, the steps of any of the ranging methods described above are implemented.
- the ranging method, system, electronic device, and readable storage medium provided in the embodiments of the present application.
- the device under test sends a first ranging carrier to the reference device, so that the reference device performs the first measurement after receiving the first ranging carrier.
- Carry out phase measurement from the carrier to obtain the carrier phase and send a second ranging carrier with the same carrier phase to the device under test.
- the wavelength of the first ranging carrier is the same as the wavelength of the second ranging carrier.
- a phase difference between the second ranging carrier and the first ranging carrier is determined. Calculate the distance between the device under test and the reference device based on the pre-calculated rough distance, phase difference between the device under test and the reference device, and the wavelength of the first ranging carrier.
- FIG. 2 is a structural diagram of a ranging system according to an embodiment of the present application.
- FIG. 3 is a structural diagram of an electronic device according to an embodiment of the present application.
- the reference device refers to a device whose position coordinates are known, and the position coordinates of the device under test are unknown.
- the device under test can be located by measuring the distance between multiple reference devices and the device under test. It can be seen that the accuracy of the distance between the reference device and the device under test will directly affect the positioning accuracy of the device under test.
- the embodiments of the present application provide a ranging method, a system, an electronic device, and a readable storage medium. While synchronizing, improve measurement accuracy.
- FIG. 1 is a flowchart of a ranging method according to an embodiment of the present application, which is applied to a device under test and includes the following steps:
- S101 Send a first ranging carrier to a reference device, so that after the reference device receives the first ranging carrier, perform phase measurement on the first ranging carrier to obtain a carrier phase, and send the same phase to the carrier to the device under test.
- the second ranging carrier, the wavelength of the first ranging carrier and the wavelength of the second ranging carrier are equal.
- the reference device After the reference device receives the first ranging carrier, it can perform phase measurement on the first ranging carrier through an internal phase measuring device to obtain the carrier phase. Then, using the phase regeneration method, that is, a second ranging carrier with the same phase as the carrier is generated, and the wavelength of the second ranging carrier is equal to the wavelength of the first ranging carrier, and the second ranging carrier is sent to the device under test .
- the method for generating the second ranging carrier is: spreading the generated signal into a 1KHz spread spectrum signal, and then modulating the BPSK to a 250KHz carrier, and obtaining a second ranging carrier through digital-to-analog conversion, so that the The phases of the two ranging carriers are synchronized with the received first ranging carrier.
- the device under test may determine the phase of the received second ranging carrier and the first measurement sent in S101 through an internal phase comparison device. Phase difference from the phase of the carrier.
- d est is a rough distance
- ⁇ is the wavelength of the first ranging carrier
- floor is the round-down operation.
- the method for measuring the rough distance between the device under test and the reference device may also be bidirectional.
- the device under test sends a signal to the reference device. After the signal is received by the reference device, the signal can be sent to the device.
- the test device sends a signal, and the device under test determines the rough distance based on the time difference and time delay between the received signal and the transmitted signal.
- the device under test sends a signal to the reference device and S101 sends the first ranging carrier to the reference device at the same time, and of course, it can also be performed separately.
- the reference device will receive the mixed signal. Therefore, the reference device needs to strip the first ranging carrier from the mixed signal. For example, the reference device needs to strip the 250KHz carrier from the mixed signal.
- the rough distance between the device under test and the reference device is determined by the rough ranging device, and the positioning accuracy of the rough ranging device is less than a half wavelength of the first ranging carrier, otherwise, there will be a whole cycle Ambiguity, whole-cycle ambiguity is the whole-cycle unknown corresponding to the first observed value of the phase difference between the carrier phase and the reference phase during the carrier phase measurement of the global positioning system technology.
- the device under test and the reference device include a rough ranging device.
- the rough ranging device may be a Tacon system.
- the Tacon system includes a Tacon transceiver, a radio frequency antenna, and the like.
- the frequency of the first ranging carrier is 250KHz, it can be concluded that the half wavelength of the first ranging carrier is 600 meters, which is greater than the ranging accuracy of the Tacon system (200-500 meters), so there is no ambiguity in the whole cycle. Then, according to the above formula, accurate ranging results can be obtained.
- the measurement in the embodiment of the present application by using the carrier phase can make the carrier phase have higher measurement accuracy, thereby improving the ranging accuracy, and sending the measurement between the device under test and the reference device. There is no need for time synchronization when it is away from the carrier, and it has good universality.
- FIG. 2 is a structural diagram of a ranging system according to an embodiment of the present application, including: a device under test 201 and a reference device 202;
- the device under test 201 is configured to send a first ranging carrier to the reference device 202;
- the reference device 202 is configured to perform phase measurement on the first ranging carrier after receiving the first ranging carrier, obtain a carrier phase, and send a second ranging carrier having the same phase as the carrier to the device under test.
- the wavelength of the ranging carrier is equal to the wavelength of the second ranging carrier;
- the device under test 201 is further configured to determine a phase difference between the second ranging carrier and the first ranging carrier after receiving the second ranging carrier.
- Distance, phase difference, and wavelength of the first ranging carrier by the formula: Calculate the distance d between the device under test and the reference device;
- the device under test sends a first ranging carrier to the reference device, so that after the reference device receives the first ranging carrier, it performs phase measurement on the first ranging carrier to obtain the carrier phase. And send a second ranging carrier with the same phase as the carrier to the device under test, the wavelength of the first ranging carrier and the wavelength of the second ranging carrier being equal. After receiving the second ranging carrier, a phase difference between the second ranging carrier and the first ranging carrier is determined. Calculate the distance between the device under test and the reference device based on the pre-calculated rough distance, phase difference between the device under test and the reference device, and the wavelength of the first ranging carrier.
- the rough distance between the device under test and the reference device is determined by the rough ranging device, and the positioning accuracy of the rough ranging device is less than a half wavelength of the first ranging carrier.
- the device under test is further configured to obtain the first ranging carrier after the generated signal is sequentially subjected to spread spectrum, modulation, and digital-to-analog conversion.
- the processor 301 is configured to implement the steps of any of the foregoing ranging methods when executing a program stored in the memory 303.
- the communication bus 304 mentioned in the above electronic device may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus.
- the communication bus 304 can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only a thick line is used in FIG. 3, but it does not mean that there is only one bus or one type of bus.
- the above-mentioned processor 301 may be a general-purpose processor, including: a CPU (Central Processing Unit), a NP (Network Processor), etc .; or a DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.
- a CPU Central Processing Unit
- NP Network Processor
- DSP Digital Signal Processing
- ASIC Application Specific Integrated Circuit
- FPGA Field-Programmable Gate Array
- the device under test when the processor executes a program stored in the memory, the device under test sends a first ranging carrier to the reference device, so that the reference device detects the first ranging carrier after receiving the first ranging carrier. Carry out phase measurement from the carrier to obtain the carrier phase, and send a second ranging carrier with the same carrier phase to the device under test.
- the wavelength of the first ranging carrier is the same as the wavelength of the second ranging carrier.
- a phase difference between the second ranging carrier and the first ranging carrier is determined. Calculate the distance between the device under test and the reference device based on the pre-calculated rough distance, phase difference between the device under test and the reference device, and the wavelength of the first ranging carrier.
- the measurement in the embodiment of the present application by using the carrier phase can make the carrier phase have higher measurement accuracy, thereby improving the ranging accuracy, and sending the measurement between the device under test and the reference device. There is no need for time synchronization when it is away from the carrier, and it has good universality.
- the device under test sends a first ranging carrier to the reference device, so that the reference device performs the first measurement after receiving the first ranging carrier.
- Carry out phase measurement from the carrier to obtain the carrier phase and send a second ranging carrier with the same carrier phase to the device under test.
- the wavelength of the first ranging carrier is the same as the wavelength of the second ranging carrier.
- a phase difference between the second ranging carrier and the first ranging carrier is determined. Calculate the distance between the device under test and the reference device based on the pre-calculated rough distance, phase difference between the device under test and the reference device, and the wavelength of the first ranging carrier.
- the measurement in the embodiment of the present application by using the carrier phase can make the carrier phase have higher measurement accuracy, thereby improving the ranging accuracy, and sending the measurement between the device under test and the reference device. There is no need for time synchronization when it is away from the carrier, and it has good universality.
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Abstract
Provided are a distance measurement method and system, an electronic device and a readable storage medium, wherein same are applied to the technical field of wireless distance measurement. The method comprises: a measured device sending a first distance measurement carrier to a reference device, such that the reference device performs phase measurement on the first distance measurement carrier after receiving the first distance measurement carrier so as to obtain a carrier phase, and sending to the measured device a second distance measurement carrier with the same carrier phase, wherein the wavelength of the first distance measurement carrier is equal to the wavelength of the second distance measurement carrier (S101); after receiving the second distance measurement carrier, the measured device determining the phase difference between the second distance measurement carrier and the first distance measurement carrier (S102); and calculating the distance between the measured device and the reference device according to the pre-calculated rough distance between the measured device and the reference device, the phase difference and the wavelength of the first distance measurement carrier (S103). According to the solution, performing measurement by means of carrier phases of distance measurement carriers can improve distance measurement accuracy, does not require time synchronization, and realizes good universality.
Description
本申请要求于2018年7月6日提交中国专利局、申请号为201810736364.4发明名称为“一种测距方法、***、电子设备及可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on July 6, 2018, with the application number 201810736364.4, and the invention name is "a ranging method, system, electronic device, and readable storage medium", and its entire contents Incorporated by reference in this application.
本申请涉及无线测距技术领域，特别是涉及一种测距方法、***、电子设备及可读存储介质。The present application relates to the technical field of wireless ranging, and in particular, to a ranging method, system, electronic device, and readable storage medium.
在无线定位技术中，距离测量是确定被测设备位置信息与定位导航的基础。使用无线电的定位***，可以通过基于时间同步的或者非时间同步的距离测量技术，测定多个参考站(星)到被测设备的距离，进而可以通过几何解算方式获得被测设备的位置信息。而位置信息的精确性受限于测距精度和参考站(星)的几何分布，因此，距离测量技术的泛用性、精确性对无线电定位导航至关重要。In wireless positioning technology, distance measurement is the basis for determining the position information and positioning navigation of the device under test. Using a radio positioning system, distances from multiple reference stations (stars) to the device under test can be measured using time-synchronized or non-time-synchronized distance measurement technology, and then the position information of the device under test can be obtained by geometric calculation . The accuracy of the position information is limited by the ranging accuracy and the geometric distribution of the reference stations (stars). Therefore, the universality and accuracy of the distance measurement technology is very important for radio positioning and navigation.
现有的测距方法中，可以通过测距码测量技术进行测距，例如，GPS(Global Positioning System，全球定位***)、北斗等，该技术使用各参考站(星)发送伪随机码(测距码)，被测设备接收多个站(星)发射的伪随机码(测距码)。各参考站(星)之间发射时间需要严格同步，被测设备接收的伪随机码(测距码)接收时刻由于距离各参考站(星)距离不同而不同，进而可以测得到达各个参考站(星)之间的距离差异。但是，由于各个参考站(星)之间时间必须严格同步，而且无法测得参考站(星)与被测设备之间的绝对距离，因此，该方法在实践中不具备泛用性。通过往返时间的测距方法中，由被测设备向参考站(星)发送测距请求脉冲，参考站(星)接收到请求脉冲后，再经过固定延时后发送回答脉冲，被测设备测量自发送测距请求脉冲起至接收到回答脉冲的时间，修正前述固定延时后，可换算为信号的往返距离，进而获得参考站(星)到被测设备的距离。该方法通过脉冲测量方式进行距离测量，受限于双方定时精度，距离测量的精度较低。In existing ranging methods, ranging can be performed using ranging code measurement techniques, such as GPS (Global Positioning System, Global Positioning System), Beidou, etc. This technique uses each reference station (star) to send a pseudo-random code (measurement Distance code), the device under test receives pseudo-random codes (range code) transmitted from multiple stations (stars). The transmission time between each reference station (star) needs to be strictly synchronized. The receiving time of the pseudo-random code (ranging code) received by the device under test is different due to the distance from each reference station (star), and it can be measured to reach each reference station. (Star) distance difference. However, since the time between each reference station (star) must be strictly synchronized, and the absolute distance between the reference station (star) and the device under test cannot be measured, this method is not universal in practice. In the ranging method based on round-trip time, the device under test sends a ranging request pulse to the reference station (star). After the reference station (star) receives the request pulse, it sends a response pulse after a fixed delay, and the device under test measures The time from when the ranging request pulse is sent to when the answer pulse is received, after correcting the aforementioned fixed delay, can be converted into the round-trip distance of the signal, and then the distance from the reference station (star) to the device under test is obtained. In this method, distance measurement is performed by pulse measurement, which is limited by the timing accuracy of both parties, and the accuracy of distance measurement is low.
可见，现有的测距方法在测量精度较高时，需要时间同步；在不需要时 间同步时，测量精度较低，也就是，不能同时满足不需要时间同步和具有较高的测量精度。It can be seen that the current ranging method requires time synchronization when the measurement accuracy is high; when the time synchronization is not required, the measurement accuracy is low, that is, it cannot satisfy both the need for time synchronization and high measurement accuracy.
发明内容Summary of the invention
本申请实施例的目的在于提供一种测距方法、***、电子设备及可读存储介质，在不需要时间同步的同时，提高测量精度。具体技术方案如下：The purpose of the embodiments of the present application is to provide a ranging method, a system, an electronic device, and a readable storage medium, which can improve the measurement accuracy without requiring time synchronization. The specific technical solutions are as follows:
本申请提供了一种测距方法，应用于被测设备，所述方法包括：This application provides a ranging method, which is applied to a device under test, and the method includes:
向参***发送第一测距载波，使所述参***在接收到所述第一测距载波后，对所述第一测距载波进行相位测量，得到载波相位，并向所述被测设备发送与所述载波相位相同的第二测距载波，所述第一测距载波的波长和所述第二测距载波的波长相等；Send a first ranging carrier to a reference device, so that after the reference device receives the first ranging carrier, perform phase measurement on the first ranging carrier to obtain a carrier phase, and send the carrier phase to the device under test Sending a second ranging carrier having the same phase as the carrier, the wavelength of the first ranging carrier and the wavelength of the second ranging carrier being equal;
在接收到所述第二测距载波后，确定所述第二测距载波与所述第一测距载波之间的相位差；After receiving the second ranging carrier, determining a phase difference between the second ranging carrier and the first ranging carrier;
根据预先计算的所述被测设备和所述参***之间的粗略距离、所述相位差和所述第一测距载波的波长，通过公式：
计算所述被测设备和所述参***之间的距离d；
According to the pre-calculated rough distance between the device under test and the reference device, the phase difference, and the wavelength of the first ranging carrier, through the formula: Calculating a distance d between the device under test and the reference device;
其中，d
est为粗略距离，
为相位差，λ为所述第一测距载波的波长，floor为向下取整运算。
Where d est is a rough distance, Is the phase difference, λ is the wavelength of the first ranging carrier, and floor is the round-down operation.
可选的，所述被测设备和所述参***之间的粗略距离通过粗测距设备确定，所述粗测距设备的定位精度小于所述第一测距载波的半波长。Optionally, a rough distance between the device under test and the reference device is determined by a coarse ranging device, and the positioning accuracy of the coarse ranging device is less than a half wavelength of the first ranging carrier.
可选的，所述粗测距设备为塔康***。Optionally, the coarse ranging device is a Tacon system.
可选的，在所述向参***发送第一测距载波之前，所述方法还包括：Optionally, before the sending a first ranging carrier to a reference device, the method further includes:
将生成的信号依次经过扩频、调制、数模转换之后，得到第一测距载波。After the generated signal is sequentially subjected to spread spectrum, modulation, and digital-to-analog conversion, a first ranging carrier is obtained.
本申请实施例提供了一种测距***，所述测距***包括：被测设备和参***；An embodiment of the present application provides a ranging system, where the ranging system includes: a device under test and a reference device;
所述被测设备，用于向参***发送第一测距载波；The device under test is configured to send a first ranging carrier to a reference device;
所述参***，用于在接收到所述第一测距载波后，对所述第一测距载波进行相位测量，得到载波相位，并向所述被测设备发送与所述载波相位相同的第二测距载波，所述第一测距载波的波长和所述第二测距载波的波长相等；The reference device is configured to, after receiving the first ranging carrier, perform phase measurement on the first ranging carrier to obtain a carrier phase, and send to the device under test the same phase as the carrier. A second ranging carrier, the wavelength of the first ranging carrier and the wavelength of the second ranging carrier are equal;
所述被测设备，还用于在接收到所述第二测距载波后，确定所述第二测距载波与所述第一测距载波之间的相位差，根据预先获取的所述被测设备和所述参***之间的粗略距离、所述相位差和所述第一测距载波的波长，通过公式：
计算所述被测设备和所述参***之间的距离d；
The device under test is further configured to, after receiving the second ranging carrier, determine a phase difference between the second ranging carrier and the first ranging carrier, and according to the previously obtained target being measured, The rough distance between the measurement device and the reference device, the phase difference, and the wavelength of the first ranging carrier wave, through the formula: Calculating a distance d between the device under test and the reference device;
其中，d
est为粗略距离，
为相位差，λ为所述第一测距载波的波长，floor为向下取整运算。
Where d est is a rough distance, Is the phase difference, λ is the wavelength of the first ranging carrier, and floor is the round-down operation.
可选的，所述被测设备和所述参***之间的粗略距离通过粗测距设备确定，所述粗测距设备的定位精度小于所述第一测距载波的半波长。Optionally, a rough distance between the device under test and the reference device is determined by a coarse ranging device, and the positioning accuracy of the coarse ranging device is less than a half wavelength of the first ranging carrier.
可选的，所述粗测距设备为塔康***。Optionally, the coarse ranging device is a Tacon system.
可选的，所述被测设备，还用于将生成的信号依次经过扩频、调制、数模转换之后，得到第一测距载波。Optionally, the device under test is further configured to obtain a first ranging carrier after the generated signal is sequentially subjected to spread spectrum, modulation, and digital-to-analog conversion.
本申请实施例提供了一种电子设备，包括：处理器、通信接口、存储器和通信总线，其中，所述处理器、所述通信接口、所述存储器通过所述通信总线完成相互间的通信；An embodiment of the present application provides an electronic device including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete communication with each other through the communication bus;
所述存储器，用于存放计算机程序；The memory is used to store a computer program;
所述处理器，用于执行所述存储器上所存放的程序时，实现上述任一所述的测距方法的步骤。The processor is configured to implement the steps of any of the ranging methods described above when executing a program stored in the memory.
本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介 质内存储有计算机程序，所述计算机程序被处理器执行时，实现上述任一所述的测距方法的步骤。An embodiment of the present application provides a computer-readable storage medium. A computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the steps of any of the ranging methods described above are implemented.
本申请实施例提供的测距方法、***、电子设备及可读存储介质，被测设备向参***发送第一测距载波，使参***在接收到第一测距载波后，对第一测距载波进行相位测量，得到载波相位，并向被测设备发送与该载波相位相同的第二测距载波，第一测距载波的波长和第二测距载波的波长相等。在接收到第二测距载波后，确定第二测距载波与第一测距载波之间的相位差。根据预先计算的被测设备和参***之间的粗略距离、相位差和第一测距载波的波长，计算被测设备和参***之间的距离。由于载波相对于码具有更高的频率，本申请实施例通过载波相位进行测量，可以使得载波相位具有更高的测量精度，从而可以提高测距精度，且被测设备和参***之间发送测距载波时不需要时间同步，具有较好的泛用性。The ranging method, system, electronic device, and readable storage medium provided in the embodiments of the present application. The device under test sends a first ranging carrier to the reference device, so that the reference device performs the first measurement after receiving the first ranging carrier. Carry out phase measurement from the carrier to obtain the carrier phase, and send a second ranging carrier with the same carrier phase to the device under test. The wavelength of the first ranging carrier is the same as the wavelength of the second ranging carrier. After receiving the second ranging carrier, a phase difference between the second ranging carrier and the first ranging carrier is determined. Calculate the distance between the device under test and the reference device based on the pre-calculated rough distance, phase difference between the device under test and the reference device, and the wavelength of the first ranging carrier. Since the carrier has a higher frequency relative to the code, the measurement in the embodiment of the present application by using the carrier phase can make the carrier phase have higher measurement accuracy, thereby improving the ranging accuracy, and sending the measurement between the device under test and the reference device. There is no need for time synchronization when it is away from the carrier, and it has good universality.
为了更清楚地说明本申请实施例和现有技术的技术方案，下面对实施例和现有技术中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present application and the technical solutions of the prior art, the following briefly introduces the embodiments and the drawings needed in the prior art. Obviously, the drawings in the following description are only the present invention. Some embodiments of the application, for those of ordinary skill in the art, can obtain other drawings according to these drawings without paying creative labor.
图1为本申请实施例的测距方法的流程图；FIG. 1 is a flowchart of a ranging method according to an embodiment of the present application;
图2为本申请实施例的测距***的结构图；2 is a structural diagram of a ranging system according to an embodiment of the present application;
图3为本申请实施例的电子设备的结构图。FIG. 3 is a structural diagram of an electronic device according to an embodiment of the present application.
为使本申请的目的、技术方案、及优点更加清楚明白，以下参照附图并举实施例，对本申请进一步详细说明。显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the purpose, technical solution, and advantages of the present application clearer, the following further describes the present application in detail with reference to the accompanying drawings and examples. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in this application, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.
本申请实施例中，参***指位置坐标已知的设备，被测设备的位置坐标是未知的，可以通过测量多个参***与被测设备之间的距离，对被测设 备进行定位。可见，参***与被测设备之间距离的精确性将直接影响被测设备的定位精度。为了解决现有的测距方法中不能同时满足不需要时间同步和测量精度高的问题，本申请实施例提供了一种测距方法、***、电子设备及可读存储介质，可以在不需要时间同步的同时，提高测量精度。In the embodiments of the present application, the reference device refers to a device whose position coordinates are known, and the position coordinates of the device under test are unknown. The device under test can be located by measuring the distance between multiple reference devices and the device under test. It can be seen that the accuracy of the distance between the reference device and the device under test will directly affect the positioning accuracy of the device under test. In order to solve the problems that the existing ranging methods cannot simultaneously satisfy the need for time synchronization and high measurement accuracy, the embodiments of the present application provide a ranging method, a system, an electronic device, and a readable storage medium. While synchronizing, improve measurement accuracy.
下面首先对本申请实施例所提供的测距方法进行详细介绍。The following first introduces the ranging method provided in the embodiments of the present application in detail.
参见图1，图1为本申请实施例的测距方法的流程图，应用于被测设备，包括以下步骤：Referring to FIG. 1, FIG. 1 is a flowchart of a ranging method according to an embodiment of the present application, which is applied to a device under test and includes the following steps:
S101，向参***发送第一测距载波，使参***在接收到第一测距载波后，对第一测距载波进行相位测量，得到载波相位，并向被测设备发送与该载波相位相同的第二测距载波，第一测距载波的波长和第二测距载波的波长相等。S101. Send a first ranging carrier to a reference device, so that after the reference device receives the first ranging carrier, perform phase measurement on the first ranging carrier to obtain a carrier phase, and send the same phase to the carrier to the device under test. The second ranging carrier, the wavelength of the first ranging carrier and the wavelength of the second ranging carrier are equal.
本申请实施例的测距方法是是双向的，也就是参***和被测设备之间根据应答的测距载波测量相位。具体的，被测设备在向参***发送第一测距载波时，该第一测距载波的相位可以与被测设备的时钟边沿同步，也就是说，第一测距载波的0相位时刻与被测设备的时钟的上升沿或下降沿对齐。本申请的一种实现方式中，被测设备可以将生成的信号依次经过扩频、调制、数模转换之后，得到第一测距载波。例如，根据设定的测试场景，可以将生成的信号扩频成1KHz的扩频信号，再由BPSK(Binary Phase Shift Keying，二进制相移键控)调制到250KHz载波上，并通过数模转换之后得到第一测距载波，然后通过射频天线将第一测距载波发送至参***。The ranging method in the embodiment of the present application is bidirectional, that is, the phase is measured between the reference device and the device under test according to the ranging carrier of the response. Specifically, when the device under test sends the first ranging carrier to the reference device, the phase of the first ranging carrier may be synchronized with the clock edge of the device under test, that is, the zero-phase time of the first ranging carrier and The rising edge or falling edge of the clock of the device under test is aligned. In an implementation manner of the present application, the device under test may obtain the first ranging carrier after the generated signal is sequentially subjected to spread spectrum, modulation, and digital-to-analog conversion. For example, according to the set test scenario, the generated signal can be spread into a 1KHz spread spectrum signal, and then modulated by BPSK (Binary Phase Shift Keying, binary phase shift keying) to a 250KHz carrier, and after digital-to-analog conversion Obtain a first ranging carrier, and then send the first ranging carrier to a reference device through a radio frequency antenna.
参***接收到第一测距载波后，可以通过内部的相位测量装置对第一测距载波进行相位测量，得到载波相位。之后，利用相位再生的方法，即生成与该载波相位相同的第二测距载波，并且第二测距载波的波长与第一测距载波的波长相等，向被测设备发送第二测距载波。其中，生成第二测距载波的方法为：将生成的信号扩频成1KHz的扩频信号，再由BPSK调制到250KHz载波上，并通过数模转换之后得到第二测距载波，使该第二测距载波的相位与接收的第一测距载波同步。After the reference device receives the first ranging carrier, it can perform phase measurement on the first ranging carrier through an internal phase measuring device to obtain the carrier phase. Then, using the phase regeneration method, that is, a second ranging carrier with the same phase as the carrier is generated, and the wavelength of the second ranging carrier is equal to the wavelength of the first ranging carrier, and the second ranging carrier is sent to the device under test . The method for generating the second ranging carrier is: spreading the generated signal into a 1KHz spread spectrum signal, and then modulating the BPSK to a 250KHz carrier, and obtaining a second ranging carrier through digital-to-analog conversion, so that the The phases of the two ranging carriers are synchronized with the received first ranging carrier.
S102，在接收到第二测距载波后，确定第二测距载波与第一测距载波之 间的相位差。S102. After receiving the second ranging carrier, determine a phase difference between the second ranging carrier and the first ranging carrier.
本申请实施例中，被测设备在接收到参***发送的第二测距载波后，可以通过内部的相位比较装置，确定接收到的第二测距载波的相位和S101中发送的第一测距载波的相位之间的相位差。In the embodiment of the present application, after receiving the second ranging carrier sent by the reference device, the device under test may determine the phase of the received second ranging carrier and the first measurement sent in S101 through an internal phase comparison device. Phase difference from the phase of the carrier.
S103，根据预先计算的被测设备和参***之间的粗略距离、相位差和第一测距载波的波长，通过公式：
计算被测设备和参***之间的距离d；
S103. According to the pre-calculated rough distance, phase difference between the device under test and the reference device, and the wavelength of the first ranging carrier, use the formula: Calculate the distance d between the device under test and the reference device;
其中，d
est为粗略距离，
为相位差，λ为第一测距载波的波长，floor为向下取整运算。
Where d est is a rough distance, Is the phase difference, λ is the wavelength of the first ranging carrier, and floor is the round-down operation.
本步骤中，被测设备和参***之间的粗略距离的测试方法也可以是双向的，例如，首先被测设备向参***发送信号，参***接收到该信号后可以经过一定时延向被测设备发送信号，被测设备根据接收信号和发送信号的时间差以及时延，确定粗略距离。当然，测试粗略距离时被测设备向参***发送信号和S101中向参***发送第一测距载波两者之间可以同时进行，当然也可以分开进行。在同时进行时，参***接收到的将是混合信号，因此，参***需要从混合信号中剥离出第一测距载波，例如，参***需要从混合信号中剥离出250KHz载波。In this step, the method for measuring the rough distance between the device under test and the reference device may also be bidirectional. For example, the device under test sends a signal to the reference device. After the signal is received by the reference device, the signal can be sent to the device. The test device sends a signal, and the device under test determines the rough distance based on the time difference and time delay between the received signal and the transmitted signal. Of course, when testing the rough distance, the device under test sends a signal to the reference device and S101 sends the first ranging carrier to the reference device at the same time, and of course, it can also be performed separately. At the same time, the reference device will receive the mixed signal. Therefore, the reference device needs to strip the first ranging carrier from the mixed signal. For example, the reference device needs to strip the 250KHz carrier from the mixed signal.
本申请的一种实现方式中，被测设备和参***之间的粗略距离通过粗测距设备确定，粗测距设备的定位精度小于第一测距载波的半波长，否则，将存在整周模糊度，整周模糊度是在全球定位***技术的载波相位测量时，载波相位与基准相位之间相位差的首观测值所对应的整周未知数。其中，被测设备和参***均包含粗测距设备，粗测距设备可以为塔康***，塔康***包括：塔康收发机、射频天线等。由于第一测距载波的频率为250KHz，可以得出第一测距载波的半波长为600米，大于塔康***的测距精度(200-500米)，因此不存在整周模糊度。那么，根据上述公式，即可得到精确的测距结 果。In an implementation manner of the present application, the rough distance between the device under test and the reference device is determined by the rough ranging device, and the positioning accuracy of the rough ranging device is less than a half wavelength of the first ranging carrier, otherwise, there will be a whole cycle Ambiguity, whole-cycle ambiguity is the whole-cycle unknown corresponding to the first observed value of the phase difference between the carrier phase and the reference phase during the carrier phase measurement of the global positioning system technology. Among them, the device under test and the reference device include a rough ranging device. The rough ranging device may be a Tacon system. The Tacon system includes a Tacon transceiver, a radio frequency antenna, and the like. Because the frequency of the first ranging carrier is 250KHz, it can be concluded that the half wavelength of the first ranging carrier is 600 meters, which is greater than the ranging accuracy of the Tacon system (200-500 meters), so there is no ambiguity in the whole cycle. Then, according to the above formula, accurate ranging results can be obtained.
本申请实施例提供的测距方法，被测设备向参***发送第一测距载波，使参***在接收到第一测距载波后，对第一测距载波进行相位测量，得到载波相位，并向被测设备发送与该载波相位相同的第二测距载波，第一测距载波的波长和第二测距载波的波长相等。在接收到第二测距载波后，确定第二测距载波与第一测距载波之间的相位差。根据预先计算的被测设备和参***之间的粗略距离、相位差和第一测距载波的波长，计算被测设备和参***之间的距离。由于载波相对于码具有更高的频率，本申请实施例通过载波相位进行测量，可以使得载波相位具有更高的测量精度，从而可以提高测距精度，且被测设备和参***之间发送测距载波时不需要时间同步，具有较好的泛用性。In the ranging method provided in the embodiment of the present application, the device under test sends a first ranging carrier to a reference device, so that after the reference device receives the first ranging carrier, it performs phase measurement on the first ranging carrier to obtain a carrier phase. A second ranging carrier having the same phase as the carrier is sent to the device under test, and the wavelength of the first ranging carrier is equal to the wavelength of the second ranging carrier. After receiving the second ranging carrier, a phase difference between the second ranging carrier and the first ranging carrier is determined. Calculate the distance between the device under test and the reference device based on the pre-calculated rough distance, phase difference between the device under test and the reference device, and the wavelength of the first ranging carrier. Since the carrier has a higher frequency relative to the code, the measurement in the embodiment of the present application by using the carrier phase can make the carrier phase have higher measurement accuracy, thereby improving the ranging accuracy, and sending the measurement between the device under test and the reference device. There is no need for time synchronization when it is away from the carrier, and it has good universality.
相应于上述方法实施例，本申请实施例提供了一种测距***，参见图2，图2为本申请实施例的测距***的结构图，包括：被测设备201和参***202；Corresponding to the foregoing method embodiments, an embodiment of the present application provides a ranging system. Referring to FIG. 2, FIG. 2 is a structural diagram of a ranging system according to an embodiment of the present application, including: a device under test 201 and a reference device 202;
被测设备201，用于向参***202发送第一测距载波；The device under test 201 is configured to send a first ranging carrier to the reference device 202;
参***202，用于在接收到第一测距载波后，对第一测距载波进行相位测量，得到载波相位，并向被测设备发送与该载波相位相同的第二测距载波，第一测距载波的波长和第二测距载波的波长相等；The reference device 202 is configured to perform phase measurement on the first ranging carrier after receiving the first ranging carrier, obtain a carrier phase, and send a second ranging carrier having the same phase as the carrier to the device under test. The wavelength of the ranging carrier is equal to the wavelength of the second ranging carrier;
被测设备201，还用于在接收到第二测距载波后，确定第二测距载波与第一测距载波之间的相位差，根据预先获取的被测设备和参***之间的粗略距离、相位差和第一测距载波的波长，通过公式：
计算被测设备和参***之间的距离d；
The device under test 201 is further configured to determine a phase difference between the second ranging carrier and the first ranging carrier after receiving the second ranging carrier. Distance, phase difference, and wavelength of the first ranging carrier, by the formula: Calculate the distance d between the device under test and the reference device;
其中，d
est为粗略距离，
为相位差，λ为第一测距载波的波长，floor为向下取整运算。
Where d est is a rough distance, Is the phase difference, λ is the wavelength of the first ranging carrier, and floor is the round-down operation.
本申请实施例提供的测距***中，被测设备向参***发送第一测距载 波，使参***在接收到第一测距载波后，对第一测距载波进行相位测量，得到载波相位，并向被测设备发送与该载波相位相同的第二测距载波，第一测距载波的波长和第二测距载波的波长相等。在接收到第二测距载波后，确定第二测距载波与第一测距载波之间的相位差。根据预先计算的被测设备和参***之间的粗略距离、相位差和第一测距载波的波长，计算被测设备和参***之间的距离。由于载波相对于码具有更高的频率，本申请实施例通过载波相位进行测量，可以使得载波相位具有更高的测量精度，从而可以提高测距精度，且被测设备和参***之间发送测距载波时不需要时间同步，具有较好的泛用性。In the ranging system provided by the embodiment of the present application, the device under test sends a first ranging carrier to the reference device, so that after the reference device receives the first ranging carrier, it performs phase measurement on the first ranging carrier to obtain the carrier phase. And send a second ranging carrier with the same phase as the carrier to the device under test, the wavelength of the first ranging carrier and the wavelength of the second ranging carrier being equal. After receiving the second ranging carrier, a phase difference between the second ranging carrier and the first ranging carrier is determined. Calculate the distance between the device under test and the reference device based on the pre-calculated rough distance, phase difference between the device under test and the reference device, and the wavelength of the first ranging carrier. Since the carrier has a higher frequency relative to the code, the measurement in the embodiment of the present application by using the carrier phase can make the carrier phase have higher measurement accuracy, thereby improving the ranging accuracy, and sending the measurement between the device under test and the reference device. There is no need for time synchronization when it is away from the carrier, and it has good universality.
本申请的一种实现方式中，被测设备和参***之间的粗略距离通过粗测距设备确定，粗测距设备的定位精度小于第一测距载波的半波长。In an implementation manner of the present application, the rough distance between the device under test and the reference device is determined by the rough ranging device, and the positioning accuracy of the rough ranging device is less than a half wavelength of the first ranging carrier.
本申请的一种实现方式中，粗测距设备为塔康***。In an implementation manner of the present application, the rough ranging device is a Tacon system.
本申请的一种实现方式中，被测设备，还用于将生成的信号依次经过扩频、调制、数模转换之后，得到第一测距载波。In an implementation manner of the present application, the device under test is further configured to obtain the first ranging carrier after the generated signal is sequentially subjected to spread spectrum, modulation, and digital-to-analog conversion.
本申请实施例还提供了一种电子设备，参见图3，图3为本申请实施例的电子设备的结构图，包括：处理器301、通信接口302、存储器303和通信总线304，其中，处理器301、通信接口302、存储器303通过通信总线304完成相互间的通信；An embodiment of the present application further provides an electronic device. Referring to FIG. 3, FIG. 3 is a structural diagram of an electronic device according to an embodiment of the present application, including: a processor 301, a communication interface 302, a memory 303, and a communication bus 304. The device 301, the communication interface 302, and the memory 303 complete communication with each other through the communication bus 304.
存储器303，用于存放计算机程序；A memory 303, configured to store a computer program;
处理器301，用于执行存储器303上所存放的程序时，实现上述任一测距方法的步骤。The processor 301 is configured to implement the steps of any of the foregoing ranging methods when executing a program stored in the memory 303.
需要说明的是，上述电子设备提到的通信总线304可以是PCI(Peripheral Component Interconnect，外设部件互连标准)总线或EISA(Extended Industry Standard Architecture，扩展工业标准结构)总线等。该通信总线304可以分为地址总线、数据总线、控制总线等。为便于表示，图3中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。It should be noted that the communication bus 304 mentioned in the above electronic device may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The communication bus 304 can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only a thick line is used in FIG. 3, but it does not mean that there is only one bus or one type of bus.
通信接口302用于上述电子设备与其他设备之间的通信。The communication interface 302 is used for communication between the electronic device and other devices.
存储器303可以包括RAM(Random Access Memory，随机存取存储器)，也可以包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。可选的，存储器还可以是至少一个位于远离前述处理器的存储装置。The memory 303 may include RAM (Random Access Memory, Random Access Memory), and may also include non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the foregoing processor.
上述的处理器301可以是通用处理器，包括：CPU(Central Processing Unit，中央处理器)、NP(Network Processor，网络处理器)等；还可以是DSP(Digital Signal Processing，数字信号处理器)、ASIC(Application Specific Integrated Circuit，专用集成电路)、FPGA(Field-Programmable Gate Array，现场可编程门阵列)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。The above-mentioned processor 301 may be a general-purpose processor, including: a CPU (Central Processing Unit), a NP (Network Processor), etc .; or a DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.
本申请实施例的电子设备中，处理器执行存储器上所存放的程序时，被测设备向参***发送第一测距载波，使参***在接收到第一测距载波后，对第一测距载波进行相位测量，得到载波相位，并向被测设备发送与该载波相位相同的第二测距载波，第一测距载波的波长和第二测距载波的波长相等。在接收到第二测距载波后，确定第二测距载波与第一测距载波之间的相位差。根据预先计算的被测设备和参***之间的粗略距离、相位差和第一测距载波的波长，计算被测设备和参***之间的距离。由于载波相对于码具有更高的频率，本申请实施例通过载波相位进行测量，可以使得载波相位具有更高的测量精度，从而可以提高测距精度，且被测设备和参***之间发送测距载波时不需要时间同步，具有较好的泛用性。In the electronic device according to the embodiment of the present application, when the processor executes a program stored in the memory, the device under test sends a first ranging carrier to the reference device, so that the reference device detects the first ranging carrier after receiving the first ranging carrier. Carry out phase measurement from the carrier to obtain the carrier phase, and send a second ranging carrier with the same carrier phase to the device under test. The wavelength of the first ranging carrier is the same as the wavelength of the second ranging carrier. After receiving the second ranging carrier, a phase difference between the second ranging carrier and the first ranging carrier is determined. Calculate the distance between the device under test and the reference device based on the pre-calculated rough distance, phase difference between the device under test and the reference device, and the wavelength of the first ranging carrier. Since the carrier has a higher frequency relative to the code, the measurement in the embodiment of the present application by using the carrier phase can make the carrier phase have higher measurement accuracy, thereby improving the ranging accuracy, and sending the measurement between the device under test and the reference device. There is no need for time synchronization when it is away from the carrier, and it has good universality.
本申请实施例还提供了一种计算机可读存储介质，计算机可读存储介质内存储有计算机程序，计算机程序被处理器执行时，实现上述任一测距方法的步骤。An embodiment of the present application further provides a computer-readable storage medium. A computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the steps of any of the foregoing ranging methods are implemented.
本申请实施例的计算机可读存储介质中存储的指令在计算机上运行时，被测设备向参***发送第一测距载波，使参***在接收到第一测距载波后，对第一测距载波进行相位测量，得到载波相位，并向被测设备发送与该载波相位相同的第二测距载波，第一测距载波的波长和第二测距载波的波长相等。在接收到第二测距载波后，确定第二测距载波与第一测距载波之间的相位差。根据预先计算的被测设备和参***之间的粗略距离、相位差和第一测距载波的波长，计算被测设备和参***之间的距离。由于载波相对于 码具有更高的频率，本申请实施例通过载波相位进行测量，可以使得载波相位具有更高的测量精度，从而可以提高测距精度，且被测设备和参***之间发送测距载波时不需要时间同步，具有较好的泛用性。When the instructions stored in the computer-readable storage medium of the embodiment of the present application are run on a computer, the device under test sends a first ranging carrier to the reference device, so that the reference device performs the first measurement after receiving the first ranging carrier. Carry out phase measurement from the carrier to obtain the carrier phase, and send a second ranging carrier with the same carrier phase to the device under test. The wavelength of the first ranging carrier is the same as the wavelength of the second ranging carrier. After receiving the second ranging carrier, a phase difference between the second ranging carrier and the first ranging carrier is determined. Calculate the distance between the device under test and the reference device based on the pre-calculated rough distance, phase difference between the device under test and the reference device, and the wavelength of the first ranging carrier. Since the carrier has a higher frequency relative to the code, the measurement in the embodiment of the present application by using the carrier phase can make the carrier phase have higher measurement accuracy, thereby improving the ranging accuracy, and sending the measurement between the device under test and the reference device. There is no need for time synchronization when it is away from the carrier, and it has good universality.
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请保护的范围之内。The above are only preferred embodiments of this application, and are not intended to limit this application. Any modification, equivalent replacement, or improvement made within the spirit and principle of this application shall be included in this application Within the scope of protection.
Claims (10)
- 一种测距方法，其特征在于，应用于被测设备，所述方法包括：A ranging method, which is characterized in that it is applied to a device under test, and the method includes:向参***发送第一测距载波，使所述参***在接收到所述第一测距载波后，对所述第一测距载波进行相位测量，得到载波相位，并向所述被测设备发送与所述载波相位相同的第二测距载波，所述第一测距载波的波长和所述第二测距载波的波长相等；Send a first ranging carrier to a reference device, so that after the reference device receives the first ranging carrier, perform phase measurement on the first ranging carrier to obtain a carrier phase, and send the carrier phase to the device under test Sending a second ranging carrier having the same phase as the carrier, the wavelength of the first ranging carrier and the wavelength of the second ranging carrier being equal;在接收到所述第二测距载波后，确定所述第二测距载波与所述第一测距载波之间的相位差；After receiving the second ranging carrier, determining a phase difference between the second ranging carrier and the first ranging carrier;根据预先计算的所述被测设备和所述参***之间的粗略距离、所述相位差和所述第一测距载波的波长，通过公式：计算所述被测设备和所述参***之间的距离d；其中，d est为粗略距离，
为相位差，λ为所述第一测距载波的波长，floor为向下取整运算。 According to the pre-calculated rough distance between the device under test and the reference device, the phase difference, and the wavelength of the first ranging carrier, through the formula:
Calculate a distance d between the device under test and the reference device; where dest is a rough distance,Is the phase difference, λ is the wavelength of the first ranging carrier, and floor is the round-down operation. - 根据权利要求1所述的测距方法，其特征在于，所述被测设备和所述参***之间的粗略距离通过粗测距设备确定，所述粗测距设备的定位精度小于所述第一测距载波的半波长。The ranging method according to claim 1, wherein a rough distance between the device under test and the reference device is determined by a rough ranging device, and a positioning accuracy of the rough ranging device is smaller than that of the first ranging device. The half-wavelength of a ranging carrier.
- 根据权利要求2所述的测距方法，其特征在于，所述粗测距设备为塔康***。The ranging method according to claim 2, wherein the coarse ranging device is a Tacon system.
- 根据权利要求1所述的测距方法，其特征在于，在所述向参***发送第一测距载波之前，所述方法还包括：The ranging method according to claim 1, wherein before the sending a first ranging carrier to a reference device, the method further comprises:将生成的信号依次经过扩频、调制、数模转换之后，得到第一测距载波。After the generated signal is sequentially subjected to spread spectrum, modulation, and digital-to-analog conversion, a first ranging carrier is obtained.
- 一种测距***，其特征在于，所述测距***包括：被测设备和参***；A ranging system, characterized in that the ranging system includes: a device under test and a reference device;所述被测设备，用于向参***发送第一测距载波；The device under test is configured to send a first ranging carrier to a reference device;所述参***，用于在接收到所述第一测距载波后，对所述第一测距载波进行相位测量，得到载波相位，并向所述被测设备发送与所述载波相位相 同的第二测距载波，所述第一测距载波的波长和所述第二测距载波的波长相等；The reference device is configured to, after receiving the first ranging carrier, perform phase measurement on the first ranging carrier to obtain a carrier phase, and send to the device under test the same phase as the carrier. A second ranging carrier, the wavelength of the first ranging carrier and the wavelength of the second ranging carrier are equal;所述被测设备，还用于在接收到所述第二测距载波后，确定所述第二测距载波与所述第一测距载波之间的相位差，根据预先获取的所述被测设备和所述参***之间的粗略距离、所述相位差和所述第一测距载波的波长，通过公式：计算所述被测设备和所述参***之间的距离d； The device under test is further configured to, after receiving the second ranging carrier, determine a phase difference between the second ranging carrier and the first ranging carrier, and according to the previously obtained The rough distance between the measurement device and the reference device, the phase difference, and the wavelength of the first ranging carrier wave, through the formula:
Calculating a distance d between the device under test and the reference device;其中，d est为粗略距离，为相位差，λ为所述第一测距载波的波长，floor为向下取整运算。 Where d est is a rough distance,
Is the phase difference, λ is the wavelength of the first ranging carrier, and floor is the round-down operation. - 根据权利要求5所述的测距***，其特征在于，所述被测设备和所述参***之间的粗略距离通过粗测距设备确定，所述粗测距设备的定位精度小于所述第一测距载波的半波长。The ranging system according to claim 5, wherein a rough distance between the device under test and the reference device is determined by a rough ranging device, and a positioning accuracy of the rough ranging device is smaller than that of the first ranging device. The half-wavelength of a ranging carrier.
- 根据权利要求6所述的测距***，其特征在于，所述粗测距设备为塔康***。The ranging system according to claim 6, wherein the coarse ranging device is a Tacon system.
- 根据权利要求5所述的测距***，其特征在于，所述被测设备，还用于将生成的信号依次经过扩频、调制、数模转换之后，得到第一测距载波。The ranging system according to claim 5, wherein the device under test is further configured to obtain a first ranging carrier after the generated signals are sequentially subjected to spread spectrum, modulation, and digital-to-analog conversion.
- 一种电子设备，其特征在于，包括：处理器、通信接口、存储器和通信总线，其中，所述处理器、所述通信接口、所述存储器通过所述通信总线完成相互间的通信；An electronic device, comprising: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete communication with each other through the communication bus;所述存储器，用于存放计算机程序；The memory is used to store a computer program;所述处理器，用于执行所述存储器上所存放的程序时，实现权利要求1-4任一所述的测距方法的步骤。The processor is configured to implement the steps of the ranging method according to any one of claims 1-4 when executing a program stored in the memory.
- 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质内存储有计算机程序，所述计算机程序被处理器执行时，实现权利要求1-4任一所述的测距方法的步骤。A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the distance measurement method according to any one of claims 1-4 is implemented step.
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