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

Abstract

The embodiments of the present application disclose an antenna delay calibration method, device, system, device, and storage medium; wherein, the method includes: controlling at least one of the reference device and the device to be calibrated to adjust the transmit power; after that, controlling the adjusted transmission power The device that transmits power transmits a wireless signal to another device; and, in the case that the received power of the wireless signal satisfies the first calibration condition, according to the distance measurement value and the actual distance between the reference device and the device to be calibrated, The antenna delay of the device to be calibrated is calibrated; wherein the distance measurement value is determined based on the time-of-flight of the wireless signal when the reference device and the device to be calibrated perform wireless signal interaction with the current transmit power.

Description

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

technical field

The embodiments of the present application relate to communication technologies, and relate to, but are not limited to, antenna delay calibration methods and apparatuses, systems, devices, and storage media.

Background technique

Ultra Wide Band (UWB) ranging technology based on Time of Flight (TOF). The measured flight time includes not only the flight time of the wireless signal, but also the transmitting antenna delay (AntennaDelay) and the receiving antenna delay. The transmitting antenna delay and the receiving antenna delay are also collectively referred to as the antenna delay. The calibration of antenna delay is closely related to the accuracy of UWB ranging.

However, for antenna delay calibration, different channels and different Pulse Repetition Frequency (PRF), the recommended calibration distance (that is, the actual distance between the reference device and the device to be calibrated during calibration) is different, usually 5 meters, or even More than ten meters, which undoubtedly increases the calibration requirements for the environment and the calibration complexity.

SUMMARY OF THE INVENTION

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

The antenna delay calibration method provided by the embodiment of the present application includes: controlling at least one of a reference device and a device to be calibrated to adjust transmit power; then, controlling the device whose transmit power has been adjusted to transmit a wireless signal to another device; and, When the received power of the wireless signal satisfies the first calibration condition, the antenna delay of the device to be calibrated is calibrated according to the distance measurement value and the actual distance between the reference device and the device to be calibrated; wherein, The distance measurement value is determined based on the time-of-flight of the wireless signal when the reference device and the device to be calibrated perform wireless signal interaction at the current transmit power.

The antenna delay calibration apparatus provided by the embodiment of the present application includes: a control module, configured to: control at least one of the reference device and the device to be calibrated to adjust the transmit power; then, control the device whose transmit power has been adjusted to another device transmitting a wireless signal; a calibration module configured to: under the condition that the received power of the wireless signal satisfies the first calibration condition, according to the distance measurement value and the actual distance between the reference device and the device to be calibrated The antenna delay of the calibration device is calibrated; wherein, the distance measurement value is determined based on the time of flight of the wireless signal when the reference device and the device to be calibrated perform wireless signal interaction at the current transmit power.

The antenna delay calibration system provided by the embodiment of the present application includes: a guide rail, a reference device, a device to be calibrated, and a control device; wherein, the guide rail is provided with a first fixing part and a second fixing part, and the first fixing part is a For fixing the reference device on one end of the guide rail, the second fixing part is used for fixing the device to be calibrated on the other end of the guide rail; the guide rail is used for receiving the data sent by the control device. A first control instruction, the first control instruction is used to instruct to move the first fixed part and/or the second fixed 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 execute the steps of any of the methods described in the embodiments of the present application.

The electronic device provided by the embodiments of the present application includes a memory and a processor, where the memory stores a computer program that can be run on the processor, and when the processor executes the program, the processor implements any of the methods described in the embodiments of the present application. step.

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

In this embodiment of the present application, when calibrating the antenna delay of the device to be calibrated, it is not directly implemented by using the wireless signal transmitted by the reference device and the initial transmit power of the device to be calibrated, but before calibrating the antenna delay of the device to be calibrated , first adjust the transmit power of at least one of the reference device and the device to be calibrated, and when the received power of the wireless signal transmitted by the adjusted transmit power satisfies the first calibration condition, use the transmit power to transmit the wireless signal The antenna delay calibration is implemented; in this way, the environmental requirements for the antenna delay calibration can be effectively reduced, and the calibration complexity can be reduced.

Description of drawings

The accompanying drawings herein are incorporated into and constitute a part of this specification, and these drawings illustrate embodiments consistent with the present application, and together with the description, serve to explain the technical solutions of the present application.

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

FIG. 1B is a schematic structural diagram of another antenna delay calibration system that may be applicable to the embodiments of the present application;

FIG. 2 is a schematic diagram of an implementation flowchart of an antenna delay calibration method provided by an embodiment of the present application;

FIG. 3A is a schematic flowchart of an implementation of another antenna delay calibration method provided by an embodiment of the present application;

3B is a schematic flowchart of an implementation of adjusting transmit power according to an embodiment of the present application;

3C is a schematic flowchart of an implementation of testing a delay value of a first antenna provided by an embodiment of the present application;

3D is a schematic flowchart of an implementation of verifying a current antenna delay value of a device to be calibrated according to an embodiment of the present application;

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

4B is a schematic diagram of the use of the guide rail according to the embodiment of the application;

FIG. 5 is a schematic diagram of an implementation flowchart of another antenna delay calibration method provided by an embodiment of the present application;

FIG. 6 is a schematic flowchart of another implementation of adjusting transmit power according to an embodiment of the present application;

FIG. 7 is a schematic flowchart of the implementation of the TWR and antenna delay calibration stage provided by the embodiment of the present application;

FIG. 8 is a schematic flowchart of implementation of another TWR and antenna delay calibration stage provided by an embodiment of the present application;

Fig. 9 is the principle schematic diagram of SS-TWR;

Figure 10 is a schematic diagram of the principle of SDS-TWR;

FIG. 11 is a schematic structural diagram of yet another antenna delay calibration system that may be applicable to the 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 provided by an embodiment of the present application.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, the 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 used to illustrate the present application, but are not intended to limit the scope of the present application.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application, and are not intended to limit the present 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" can be the same or a different subset of all possible embodiments, and Can be combined with each other without conflict.

It should be pointed out that the term "first\second\third" involved in the embodiments of the present application is used to distinguish similar or different objects, and does not represent a specific ordering of objects. It is understood that "first\second\third" "Three" may be interchanged where permitted in a specific order or sequence, so that the embodiments of the present application described herein can be implemented in sequences other than those illustrated or described herein.

The antenna delay calibration system and service scenarios described in the embodiments of the present application are for the purpose of illustrating the technical solutions of the embodiments of the present application more clearly, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those of ordinary skill in the art know that, with the evolution of communication technologies and the emergence of new service scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

The technical solutions in the embodiments of this application may be applicable to new radio interfaces (New Radio) using UWB, the 4th generation mobile communication system (4G), and the 5th generation mobile communication technology (5th-Generation wireless communication technology, 5G). , NR) technology or the antenna delay calibration of the wireless communication module of the future communication technology, can also be used for the antenna delay calibration of the wireless communication module of other various wireless communication technologies, such as: Narrowband Internet of Things (Narrow Band-Internet of Things, NB-IoT) technology, Global System of Mobile communication (GSM), Enhanced Data rate for GSM Evolution (Enhanced Data rate for GSM Evolution, EDGE) technology, Wideband Code Division Multiple Access (WCDMA) Wideband Code Division Multiple Access (WCDMA) technology, Code Division Multiple Access (CDMA2000) technology, Time Division-Synchronization Code Division Multiple Access (TD-SCDMA) technology, General Packet Radio Service (General Packet Radio Service, GPRS), Long Term Evolution (Long Term Evolution, LTE) technology, LTE Frequency Division Duplex (Frequency Division Duplex, FDD) technology, LTE Time Division Duplex (Time Division Duplex, TDD) or Universal Mobile Communications Technology (Universal Mobile Telecommunication System, UMTS), etc.

FIG. 1A shows an antenna delay calibration system to which this embodiment of the present application may be applied. As shown in FIG. 1A , the system 10 at least includes: a reference device 101 and a device to be calibrated 102 ; wherein the device to be calibrated 102 may be any device with wireless communication capable device. For example, the device to be calibrated may be a handheld device (such as a smart phone, a tablet computer, etc.), a vehicle-mounted device, a wearable device (such as a smart bracelet, a smart watch, etc.), a robot, a drone, and the like. Reference device 101 is a device for which the antenna delay has been precisely calibrated.

In some embodiments, as shown in FIG. 1A , the system 10 further includes a guide rail 103 ; the guide rail 103 is provided with a first fixing part 1031 and a second fixing part 1032 , and the first fixing part 1031 is used to fix the reference device 101 on the One end of the guide rail 103, the second fixing part 1032 is used to fix the device to be calibrated 102 on the other end of the guide rail 103; the guide rail 103 is used to receive the first control command sent by the control device, and the first control command is used to instruct the guide rail Move the first fixing part 1031 and/or the second fixing part 1032 to adjust the 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 for controlling the reference device 101 and the device to be calibrated 102 to execute some programs, so as to finally realize the antenna of the device to be calibrated 102 Delayed calibration. The control device can be any device capable of wireless communication. For example, the control device is of the same type as the device to be calibrated. In an 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 undertaken by the device to be calibrated. In other words, the control device and the device to be calibrated are the same device.

It should be noted that the calibration of the antenna delay of the device to be calibrated can be completed by the control device controlling the device to be calibrated and the reference device, or by the device to be calibrated controlling the reference device, or the device to be calibrated can also be controlled by the reference device. To be done. That is to say, in the embodiments of the present application, the execution subject of the antenna delay calibration method is not limited. The implementation steps of the antenna delay calibration method are described below by taking the execution subject as a control device as an example, 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. FIG. 2 is a schematic flowchart of the implementation of the antenna delay calibration method provided by the embodiment of the present application. 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 transmit 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 step 201 is performed, the control device may first set radio frequency parameters of the wireless communication modules of the reference device and the device to be calibrated.

Step 202, the control device controls the device whose transmit power has been adjusted to transmit a wireless signal to another device.

In some embodiments, a device whose transmit power has been adjusted needs to transmit wireless signals to another device, so as to check by itself or by the control device to check whether the adjusted transmit power is conducive to the antenna delay calibration of the device to be calibrated. For example, it is checked whether the received power of the wireless signal transmitted with the adjusted transmit power satisfies the first calibration condition, so as to determine whether the adjusted transmit power is beneficial to the antenna delay calibration of the device to be calibrated.

For example, assuming that both the reference device and the device to be calibrated have adjusted the transmit power, step 202 can be implemented as follows: the control device controls the reference device to send the first wireless signal to the device to be calibrated, and the control device controls the device to be calibrated to receive When the first wireless signal is reached, the received power of the first wireless signal is calculated; the control device controls the device to be calibrated to feed back the received power of the first wireless signal to the reference device through the transmitted second wireless signal; the control device controls the reference device to receive The received power of the first wireless signal is compared with the calibrated received power, so as to determine whether the received power satisfies the first calibration condition, and then to determine whether the current transmit power of the reference device is conducive to the calibration of the antenna delay. Certainly, it is possible to determine whether the received power of the wireless signal transmitted by the adjusted transmit power of the device to be calibrated satisfies the first calibration condition through steps similar to the above, which will not be repeated here.

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 to say, there is no limitation on whether the device to be calibrated first sends a wireless signal to the reference device, or whether the reference device sends a wireless signal to the device to be calibrated first.

Step 203, when the received power of the wireless signal meets the first calibration condition, the control device delays the antenna 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. to calibrate;

The distance measurement value is determined based on the time-of-flight of the wireless signal when the reference device and the device to be calibrated perform wireless signal interaction at the current transmit power.

In some embodiments, the control device may perform the calibration of the antenna delay of the device to be calibrated through steps 306 to 308 in the following embodiments; on this basis, in other embodiments, the control device may also perform the following steps 309 to step 313 carry out further calibration of the antenna delay of the device to be calibrated.

Before performing all the above steps, the control device can obtain a preset calibration distance according to the actual model of the device to be calibrated, and then control the guide rail according to the calibration distance to adjust the actual distance between the reference device and the device to be calibrated to the preset calibration distance ; Among them, the calibration distance refers to the actual distance between the device to be calibrated and the reference device required during calibration.

The distance measurement can be determined by the originator of the wireless signal and also by the control device. When determined by the originator of the wireless signal, after the distance measurements are determined, these distance measurements need to be sent to the control device.

It should be noted that, in the embodiments of the present application, the control device may control the reference device and the device to be calibrated in various manners. 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 transmission power adjustment according to the pre-imported control program, and use the adjusted transmission Power to transmit wireless signals and other tasks can be. In other embodiments, the control device may also send control instructions to the reference device and the device to be calibrated in real time, and control the device receiving the control instructions to complete corresponding tasks. For example, the control device sends a control command for controlling and adjusting the transmit power to the reference device, and after the reference device responds to the command, it feeds back to the control device that the adjustment of the transmit power has been completed. A command for the device to be calibrated to transmit a wireless signal.

In this embodiment of the present application, when calibrating the antenna delay of the device to be calibrated, it is not directly implemented by using the wireless signal transmitted by the reference device and the initial transmit power of the device to be calibrated, but before calibrating the antenna delay of the device to be calibrated , firstly adjust the transmit power of at least one of the reference device and the device to be calibrated, and if the receive power of the wireless signal transmitted by the adjusted transmit power satisfies the first calibration condition, the wireless signal transmitted based on the transmit power The antenna delay calibration is implemented; in this way, the environmental requirements for the antenna delay calibration can be effectively reduced, and the calibration complexity can be reduced.

This is because the inventor found in the process of research: the recommended calibration distance of UWB is shown in Table 1 below. For different channels and different PRFs, the recommended calibration distances are different. It can be seen that there are 5 meters and some ten meters. In this way, the requirements for the environment are undoubtedly increased, and the calibration complexity is also increased. The recommendation for the calibration distance shown in Table 1 comes from "UWB ranging accuracy is also affected by the test distance", the professional term is Ranging Bias. The signal strength indication (Received Signal Strength Indication, RSSI) received by 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 (that is, the converted received power) in the calibration process to achieve an appropriate value, thereby reducing the environmental requirements for antenna delay calibration, thereby reducing the calibration complexity.

Table 1

An embodiment of the present application further provides an antenna delay calibration method. FIG. 3A is a schematic flowchart of the implementation of the antenna delay calibration method provided by the embodiment of the present application. 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 enable their respective wireless communication modules.

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

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

The specific duration of the specific time may be any duration, which is not limited in this application. The specified duration can be on the order of milliseconds or seconds. For example, the specific duration is 1 second, 2 seconds, 3 seconds, or 5 seconds, etc.

Understandably, before calibrating the antenna delay of the device to be calibrated, first turn on the wireless communication modules of the reference device and the device to be calibrated, and let them repeatedly transmit wireless signals for a period of time. The circuit states all reach a stable state, which makes the final calibration result more accurate.

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

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

In some embodiments, taking the control device controlling the reference device to adjust the transmit power as an example, as shown in FIG. 3B , the following steps 3031 to 3034 may be included: Step 3031 , controlling the reference device to send the first data packet to the device to be calibrated ; Step 3032, control the device to be calibrated to write the received power of the first data packet into the second data packet; Step 3033, control the device to be calibrated to send the second data packet to the reference device to feed back the first data to the reference device The received power of the packet; Step 3034, the control reference device adjusts the transmit power of the one device to the target transmit power by comparing the calibrated receive power with the receive power of the first data packet.

It should be noted that the transmission power adjustment process 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 their respective transmit powers. As shown in FIG. 3B, in addition to the above steps 3031 to 3034, it also includes steps 3035 to 3037: step 3035, Control the reference device to write the received power of the second data packet into the third data packet; step 3036, control the reference device to send the third data packet to the device to be calibrated; step 3037, control the device to be calibrated by comparing the received power for calibration with the described The received power of the second data packet is compared to adjust the transmit power of the device to be calibrated to the target transmit power.

It should be noted that the adjustment process of the transmit power shown in FIG. 3B is only an example. In some embodiments, the device to be calibrated can also be controlled to send data packets to the reference device first.

Step 304, the control device controls the device whose transmit power has been adjusted to transmit a wireless signal to another device;

Step 305, the control device determines whether the difference between the received power of the wireless signal and the calibrated received power is within a preset range; if so, go to Step 306; otherwise, return to Step 303;

The calibration received power is usually a value that meets the calibration accuracy requirements. Engineers can pre-configure this value in the control device.

Understandably, if the difference between the received power of the wireless signal and the calibrated received power is not within the preset range, it means that the received power does not meet the first calibration condition, and the transmit power of the device that transmits the wireless signal needs to be adjusted again. , until the received power of the wireless signal transmitted by the device with the current transmit 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 meet the first calibration condition to adjust the transmit power. For example, it is assumed that the received power of the wireless signal satisfies the first calibration condition when the reference device after adjusting the transmit power transmits the wireless signal, and the received power of the wireless signal does not satisfy the first calibration condition when the device to be calibrated after adjusting the transmit power transmits the wireless signal. A calibration condition, at this time, it is only necessary to control the device to be calibrated to adjust the transmit power.

Understandably, if the difference between the received power of the wireless signal and the calibrated received power is within a preset range, it can be determined that the received power satisfies the first calibration condition, and step 306 is performed at this time. It should be noted that, in this embodiment, in the case that the transmit power of the reference device and the device to be calibrated both need to be adjusted before the antenna delay calibration, the premise of performing step 306 is that the two devices transmit the wireless The received powers of the signals all meet the first calibration condition.

Of course, the first calibration conditions corresponding to 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: Obtain N distance measurement values, and 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 wireless signal interactions with the current transmission power; wherein, N is an integer greater than 1.

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

For the calculation of the distance measurement value, it can be calculated by the control device or by the device that first transmits the wireless signal each time.

In this application, the value of N is not limited, and N can be any value, and certainly can be 1. However, in order to make the final calculated first antenna delay value more accurate, in this 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, etc.; thus, The finally obtained first antenna delay value is more accurate, thereby improving the calibration accuracy of the antenna delay, thereby improving the ranging accuracy.

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

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

Step 308: Load the first antenna delay value into the device to be calibrated for calibrating 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 distance measurement subsequently, after measuring the time of flight of the wireless signal obtained, the measured value of the time of flight can be compared with the first antenna. The difference between the delay values and the flight speed of the wireless signal calculates the one-way flight distance of the wireless signal, so as to achieve 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 requirements of ranging accuracy, especially for the UWB-based ranging technology, the antenna delay value is slightly deviated, and the This results in centimeter-level or even decimeter-level ranging errors. In view of this, in order to further improve the antenna delay accuracy of the device to be calibrated, thereby further improving 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: Control the device to be calibrated to measure the distance between the device to be calibrated and the reference device M times according to the first antenna delay value, and obtain M distance measurement values; where M is an integer greater than 0.

Here M can also be a preset arbitrary value. M can be greater than N, or less than or equal to N. For example, N is 10, M is 20, of course, it is not limited to this, and engineers can set it according to the actual engineering index requirements.

In some embodiments, the control device may implement step 309 as follows: control the reference device and the device to be calibrated to perform M times of wireless signal interaction with the current transmit power; control the device to be calibrated according to the first antenna delay value A corresponding distance measurement value is determined based on the time of flight of the wireless signal for each interaction with the M times of wireless signal interaction. As mentioned above, the ranging method is not limited, and may be SS-TWR, SDS-TWR, or the like.

Step 310: Control the device to be calibrated to determine whether the first antenna delay value satisfies the second calibration condition according to the actual distance and the M distance measurement values; if not, perform step 311; if so, then ends.

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 difference between the distance measurement value and the actual distance is less than a certain threshold, it is determined that the first antenna delay value satisfies the second calibration condition; otherwise, it does not. In other embodiments, for the case where M is greater than 1, if the number of the M distance measurement values whose differences from the actual distance are less than a specific threshold is greater than a specific number, it is determined that the first antenna delay value satisfies the second calibration condition; otherwise , is not satisfied. For example, if M is 20, that is, among the 20 distance measurement values, if the difference between 15 measurement values and the actual distance is smaller 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 value of the difference between the M distance measurement values and the actual distance is less than a certain threshold, 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 ratios of the M distance measurement values to the actual distance respectively.

Step 311: Control the device to be calibrated to adjust the first antenna delay value to the second antenna delay value when the first antenna delay value does not meet 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 according to a preset step size.

Step 312, control the device to be calibrated to determine whether the second antenna delay value satisfies the second calibration condition; if so, end; otherwise, go to step 313;

Step 313: Control the device to be calibrated to adjust the second antenna delay value until the currently adjusted antenna delay value satisfies the second calibration condition.

In order 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 X times and the reference device according to the currently adjusted antenna delay value, to obtain X distance measurement values; where X is an integer greater than 1;

Step 315: Control the device to be calibrated to determine whether the currently adjusted antenna delay value satisfies the second calibration condition according to the actual distance and the X distance measurement values; if so, end; otherwise, execute Step 316;

Step 316, report an error and output the X distance measurement values.

It is understandable that even if the finally adjusted antenna delay value satisfies the second calibration condition, it needs to be tested and verified again; after the determination result obtained through steps 314 and 315 is that the currently adjusted antenna delay value does not meet the requirements. When the second calibration condition is described, an error is reported and the test data is output, that is, the X distance measurement values are output; in this way, the engineer can be promptly reminded that the antenna delay value that satisfies the second calibration condition before does not meet the second calibration condition, that is, The previous calculations were unreliable and provided engineers with test data to analyze why.

It should be noted that, in this 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 device may also perform steps 309 to 313 Steps 314 to 316 are performed.

It should also be noted that, in some embodiments, the work of the control device may also be replaced by the device to be calibrated, and the above-mentioned control tasks performed by the control device are directly responsible for the device to be calibrated.

Antenna delays are necessarily different for different designs of UWB devices (i.e., an example of a device to be calibrated), and for each UWB device of the same design, which may vary more than the centimeter-scale UWB 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 embodiments of the present application in a practical application scenario will be described below.

An embodiment of the present application first provides an antenna delay calibration system for a UWB device. As shown in FIG. 4A , the system 40 at least includes a golden device 401 (Golden Device, also referred to as a reference device, that is, a reference device), a device to be tested 402 (Device under Test, DUT, that is, a device to be calibrated) and a personal computer (Personal Computer, PC) type control machine 403 (that is, an example of a control device).

Both the gold machine 401 and the device under test 402 are configured with a UWB communication module. 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, for example, can be the DW1000 chip and DW3000 chip of Decawave or the SR100T chip of NXP.

The device to be tested 402 is the device to be calibrated, that is, the device to be calibrated.

The golden machine 401 is a device that has precisely calibrated the antenna delay.

As shown in FIG. 4A , the gold machine 401 and the device under test 402 are connected to the PC control machine 403 through a communication data line. The PC control machine 403 can issue instructions and read data to the gold machine 401 and the device under test 402 .

As shown in FIG. 4B , the gold machine 401 and the device to be tested 402 are respectively installed on two fixtures 404 , and the two fixtures 404 are arranged on the guide rails 405 . The distance between the two clamps 404 is controlled by the PC controller 403; wherein the clamp 404 is an example of a fixed component.

The gold machine 401 , the device to be tested 402 , the guide rail 405 and the fixture 404 can all be set in the microwave anechoic chamber, which can reduce the influence of complex electromagnetic reflection and multipath links on the calibration accuracy of the antenna delay.

An embodiment of the present application provides an antenna delay calibration system flow of a UWB device. The system flow is shown in FIG. 5 , and may include the following steps 1 to 5:

Step 1, PC control machine to set parameters.

Step 2, the preheating stage. The function of the preheating stage is to make the circuit states of the gold machine 401 and the device under test 402 reach a stable state.

Step 3, the transmission power adjustment stage. The purpose of this step is to make the RSSI (or RSL: Received Sighal Level) within a preset range when the gold machine 401 and the device under test 402 perform TWR ranging.

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

Step 5, verify the antenna delay calibration value stage. 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 the step 1, in some embodiments:

1. The PC control machine 403 controls the actual distance between the gold machine 401 and the device under test 402 to be at an appropriate distance value D0.

2. The PC control machine sends the parameter configuration of the gold machine 401 and the device to be tested 402, including:

a) Radio frequency parameters of UWB communication, including: channel, PRF, data rate (Data Rate), preamble code (Preamblecode), and preamble code length (Preamble Length), etc. It should be noted that, only when the gold machine 401 and the device under test 402 are configured with the same UWB parameters mentioned above, can wireless transceiver communication be completed.

b) Calibration process and execution procedures, as well as calibration related parameters, including: calibration received power reference value, calibration target distance value D0 (ie actual distance) and calibration accuracy ±k cm (eg ±5cm).

For the step 2, in some embodiments, the gold machine 401 and the device under test 402 turn on the UWB communication module, and execute the repeated transmission of the UWB signal with the preset transmission power. End after n seconds of execution (eg 5 seconds).

For the step 3, in some embodiments, as shown in Figure 6:

1) The gold machine 401 and the device under test 402 respectively set the initial transmit power.

2) The golden machine 401 sends the data packet A to the device under test 402 .

3) After receiving the data packet A, the device under test 402 obtains the RSSI_1 calculated by the UWB communication module.

4) The device under test 402 writes the RSSI_1 into the data packet B, and sends the data packet B to the gold machine 401 .

5) After receiving the data packet B, the gold machine 401 obtains the RSSI_2 calculated by the UWB communication module. Write the RSSI_2 into data packet A.

6) The golden machine 401 obtains the RSSI_1 in the data packet B, and adjusts its own transmit power to an appropriate value according to the comparison between the RSSI_1 and the calibration received power reference value. Send the data packet A to the device under test 402 .

7) After receiving the data packet A, the device under test 402 obtains the RSSI_2 in the data packet A, and adjusts its own transmit power to an appropriate value according to the comparison between the RSSI_2 and the calibrated received power reference value.

8) Optionally, the two perform transceiver interaction again to determine whether the received RSSI is within the range of ±x dB of the calibrated received power reference value (eg ±3dB), and x is greater than 0; if the requirements are not met, repeat the steps again. 2) to 7).

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

The initial transmit powers set by the gold machine 401 and the device under test 402 are both -14dBm.

After the gold machine 401 and the device under test 402 perform transceiver communication, the gold machine 401 finds that the RSSI received by the device under test 402 is -82dBm, and the device under test 402 finds that the RSSI received by the gold machine 401 is -80dBm. Then the gold machine 401 adjusts the transmit power from -14dBm to -20dBm, and the device under test 402 adjusts the transmit power from -14dBm to -22dBm.

For the step 4, in some embodiments:

1) As shown in Figure 7, the first method is:

a) The gold machine 401 and the device under test 402 perform N times of TWR tests (for example, 10 times). The golden machine 401 or the device under test 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 control machine obtains N times of distance measurement values Dn, compares them with the calibration target distance value D0, and calculates the calibration value of the antenna delay of the device under test 402: antenna delay value 1, that is, the first antenna delay value.

Further, the more optimal method, namely the second method, as shown in Figure 8, is:

a) The gold machine 401 and the device under test 402 perform N times of TWR (for example, 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 value is determined by the type of TWR used and who is the initiator.

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

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

d) The gold machine 401 and the device under test 402 perform M times of TWR tests (for example, 20 times), and the distance measurement value Dm is obtained from the end of the device under test 402 . In some embodiments, if SS-TWR is being performed, the device under test 402 initiates a ranging request. In some embodiments, if SDS-TWR is performed, the golden machine 401 initiates a ranging request. In this case, the distance measurement value is finally calculated by the device under test 402, thereby saving the information exchange process between the two.

e) The device under test 402 compares the distance measurement value Dm with the calibration target distance value D0, and if the calibration target is not met (ie, an example of the second calibration condition), fine-tunes the antenna delay, and fine-tunes the antenna delay 1 to the antenna delay 2 ( That is, the second antenna delay value). The calibration target is that most or the average value of the distance measurement value Dm is within (D0±k cm), and k is greater than 0; if the calibration target is satisfied, complete step 4; otherwise, perform step f).

f) Repeat d) and e) until the calibration target is met to obtain the final antenna delay calibration value.

For the step 5, in some embodiments:

1) The device under test 402 loads the antenna delay calibration value, and performs X times of TWR tests (for example, 50 times) with the gold machine 401 .

2) The PC control machine 403 obtains X times of distance measurement values D _X , and compares whether the distance measurement values D _X meet the calibration target.

3) If satisfied, the calibration process ends. If not satisfied, output test data and report an error.

Regarding the TWR principle, a brief description is as follows:

Two-way ranging, also known as TWR, is divided into SS-TWR (unilateral two-way ranging) and SDS-TWR (single bilateral two-way ranging). Among them, the principle of SS-TWR is shown in Figure 9:

为

其中，T_round为无线信号从设备A到设备B的测量时长，T_reply为无线信号从设备B到设备A的测量时长。Device A and Device B are two UWB modules. Ranging is first initiated by device A, and device B sends a response (Responds) after receiving it. Device A receives this response and completes a ranging. Every time device A and device B send and receive data, , both record the current timestamp. In this way, device A can obtain the transmission time difference by subtracting the timestamps

for

Among them, T _round is the measurement duration of the wireless signal from device A to device B, and T _reply is the measurement duration of the wireless signal from device B to device A.

The principle of SDS-TWR is shown in Figure 10, which is equivalent to 2 times of SS-TWR, and the final ranging result is measured in device B. Compared with SS-TWR, SDS-TWR makes the TWR measurement accuracy less affected by the asynchronous crystal oscillator of device A and device B.

Through the antenna delay calibration solution provided by the embodiments of the present application, the device under test 402 can obtain an accurate antenna delay value, so that the device under test, that is, the UWB device, can achieve high-precision TWR ranging.

In the embodiments of the present application, the key technologies are: 1) a complete and sound antenna delay calibration system, and the design of the guide rail can flexibly adjust the appropriate calibration distance. 2) Warm up before calibration and wait for the device to stabilize. 3) Adaptively adjust the transmit power before calibration to achieve an appropriate calibrated receive power. 4) Reasonable antenna calibration procedure flow.

This embodiment of the present application further provides an antenna delay calibration system for another UWB device. As shown in FIG. 11 , the system 11 at least includes a gold machine 111 and a device to be tested 112 . Compared to the antenna delay calibration system 40 shown in FIG. 4, the PC controller is omitted. In the antenna delay calibration scheme based on the system 11, the device under test 112 needs to be responsible for the main functions of the PC control machine, such as:

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

2. The calibration process and execution procedures need to be preset in the device.

3. The calibration value of the antenna delay needs to be calculated and loaded by the device under test 112 itself.

Based on the foregoing embodiments, the embodiments of the present application provide an antenna delay calibration apparatus, which includes each module included and each unit included in each module, which can be implemented by a processor in an electronic device; of course, it can also be It is implemented by a specific logic circuit; in the process of implementation, the processor may be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA) or the like.

The electronic device can 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. As shown in FIG. 12 , the apparatus 120 includes a control module 121 and a calibration module 122, wherein:

The control module 121 is configured to: control at least one of the reference device and the device to be calibrated to adjust the transmit power; then, control the device whose transmit power has been adjusted to transmit a wireless signal to another device;

The calibration module 122 is configured to: under the condition that the received power of the wireless signal satisfies the first calibration condition, according to the distance measurement value and the actual distance between the reference device and the device to be calibrated, determine the accuracy of the device to be calibrated. The antenna delay is calibrated; wherein, the distance measurement value is determined based on the time-of-flight of the wireless signal when the reference device and the device to be calibrated perform wireless signal interaction at the current transmit power.

In some embodiments, the control module 121 is configured to: control the reference device and the device to be calibrated to adjust their respective transmit powers.

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

In some embodiments, the control module 121 is further configured to: in the case that the received power of the wireless signal does not meet the first calibration condition, control the device whose transmit power has been adjusted to adjust the transmit power again until all the transmit power is adjusted. When the received power of the wireless signal transmitted by the device whose transmit power has been adjusted satisfies the first calibration condition, the calibration module 122 is triggered to execute the corresponding function.

In some embodiments, the control module 121 is further configured to: after the device that controls the adjusted transmit power transmits a wireless signal to another device, perform the following steps, or control the device that has adjusted transmit power to perform the following steps Step: determine whether the difference between the received power of the wireless signal and the calibration received power is within a preset range; if the difference is within the preset range, determine that the received power of the wireless signal satisfies the a first calibration condition; if the difference is not within the preset range, it is determined that the received power of the wireless signal does not meet the first calibration condition.

In some embodiments, the control module 121 is further configured to: control the reference device and the to-be-calibrated device to turn on their respective before adjusting the transmit power of at least one of the control reference device and the to-be-calibrated device. A wireless communication module; the step of triggering the control of at least one of the reference device and the device to be calibrated to adjust the transmission power after each of the wireless communication modules repeatedly transmits a wireless signal for a specific time.

In some embodiments, the calibration module 122 is configured to: acquire N distance measurement values, where the N distance measurement values are based on when the reference device and the device to be calibrated perform N times of wireless signal interaction at the current transmit power determined by the time of flight of the wireless signal; wherein, N is an integer greater than 1; according to the N distance measurement values and the actual distance, determine the first antenna delay value of the device to be calibrated; The delay value is loaded into the device to be calibrated for calibrating the antenna delay of the device 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, control the device to be calibrated according to the first antenna delay value , measure the distance between M times and the reference device, and obtain M distance measurement values; wherein, M is an integer greater than 0; control the device to be calibrated according to the actual distance and the M distance measurement values, determining whether the first antenna delay value satisfies the second calibration condition; controlling the device to be calibrated to adjust the first antenna delay value to a value in the case that the first antenna delay value does not meet the second calibration condition The second antenna delay value.

In some embodiments, the control module 121 is configured to: control the reference device and the device to be calibrated to perform M times of wireless signal interaction with the current transmit power; control the device to be calibrated according to the first antenna delay value and The time of flight of the wireless signal of each interaction of the M times of wireless signal interaction determines the corresponding distance measurement value.

In some embodiments, the control module 121 is further configured to: control the device to be calibrated to determine whether the second antenna delay value satisfies the second calibration condition; if the second antenna delay value does not meet the first calibration condition In the case of two calibration conditions, the device to be calibrated is controlled to continue to adjust the second antenna delay value until the currently adjusted antenna delay value satisfies the second calibration condition.

In some embodiments, the control module 121 is further configured to: control the device to be calibrated to measure the distance from the reference device X times according to the currently adjusted antenna delay value to obtain X distance measurement values ; wherein, X is an integer greater than 1; control the device to be calibrated to determine whether the currently adjusted antenna delay value satisfies the second calibration condition according to the actual distance and the X distance measurements; If the currently adjusted antenna delay value does not meet the second calibration condition, an error is reported and the X distance measurement values are output.

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

The descriptions of the above apparatus embodiments are similar to the descriptions of the above method embodiments, and have similar beneficial effects to the method embodiments. For technical details not disclosed in the device embodiments of the present application, please refer to the descriptions of the method embodiments of the present application for understanding.

It should be noted that the division of modules by the antenna delay calibration apparatus shown in FIG. 12 in the embodiment of the present application is schematic, and is only a logical function division, and other division methods may be used in actual implementation. In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or may exist independently physically, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units. It can also be implemented in the form of a combination of software and hardware.

It should be noted that, in the embodiments of the present application, if the above-mentioned antenna delay calibration method is implemented in the form of a software function module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application may be embodied in the form of software products in essence or the parts that make contributions to related technologies. The computer software products are stored in a storage medium and include several instructions to make The electronic device executes all or part of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a removable hard disk, a read only memory (Read Only Memory, ROM), a magnetic disk or an optical disk and other mediums that can store program codes. As such, the 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 by the embodiment of the present application, the electronic device 130 may include: a memory 131 and a processor 132 , and the memory 131 stores a computer program that can be executed on the processor 132 , the processor 132 implements the steps in the methods provided in the foregoing embodiments when executing the program.

The memory 131 is configured to store instructions and applications executable by the processor 132, and can also cache data to be processed or processed by the processor 132 and various modules in the electronic device 13 (for example, image data, audio data, voice communication data and video communication data), which can be implemented by flash memory (FLASH) or random access memory (Random Access Memory, RAM).

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

The embodiments of the present application provide a computer program product including instructions, which, when running on a computer, cause the computer to execute the antenna delay calibration method provided by the above method embodiments.

It should be pointed out here that the descriptions of the above storage medium and device embodiments are similar to the descriptions of the above method embodiments, and have similar beneficial effects to the method embodiments. For technical details not disclosed in the embodiments of the storage medium, chip and terminal device of the present application, please refer to the description of the method embodiments of the present application for understanding.

It should be understood that references throughout the specification to "one embodiment" or "an embodiment" or "some embodiments" or "other embodiments" mean that a particular feature, structure or characteristic associated with the embodiments is included herein in at least one embodiment of the application. Thus, appearances of "in one embodiment" or "in an embodiment" or "in some embodiments" or "in other embodiments" in various places throughout this specification are not necessarily necessarily 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 various embodiments of the present application, the size of the sequence numbers of the above-mentioned processes does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, and should not be dealt with in the embodiments of the present application. implementation constitutes any limitation. The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments. The above descriptions of the various embodiments tend to emphasize the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, details are not repeated herein.

The term "and/or" in this article is only an association relationship to describe associated objects, indicating that there can be three kinds of relationships, such as object A and/or object B, it can mean that object A exists alone, and object A and object exist simultaneously B, there are three cases of object B alone.

It should be noted that, herein, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements, It also includes other elements not expressly listed or inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article, or device that includes the element.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The embodiments of the touch screen system described above are only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods, for example, multiple modules or components may be combined , or can be integrated into another system, or some features can be ignored, or not implemented. In addition, the coupling, or direct coupling, or communication connection between the various components shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or modules may be electrical, mechanical or other forms. of.

The modules described above as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules; they may be located in one place or distributed to multiple network units; Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional module in each embodiment of the present application may all be integrated in one processing unit, or each module may be separately used as a unit, or two or more modules may be integrated in one unit; the above integration The module can be implemented in the form of hardware, or it can be implemented in the form of hardware plus software functional units.

Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by program instructions related to hardware, the aforementioned program can be stored in a computer-readable storage medium, and when the program is executed, the execution includes: The steps of the above method embodiments; and the aforementioned storage medium includes: a removable storage device, a read only memory (Read Only Memory, ROM), a magnetic disk or an optical disk and other media that can store program codes.

Alternatively, if the above-mentioned integrated units of the present application are implemented in the form of software function modules and sold or used as independent products, they may also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application may be embodied in the form of software products in essence or the parts that make contributions to related technologies. The computer software products are stored in a storage medium and include several instructions to make The electronic device executes all or part of the methods described in the various embodiments of the present application. The aforementioned storage medium includes various media that can store program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.

The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined under the condition of no conflict to obtain new method embodiments.

The features disclosed in the several product embodiments provided in this application can be combined arbitrarily without conflict to obtain a new product embodiment.

The features disclosed in several method or device embodiments provided in this application can be combined arbitrarily without conflict to obtain new method embodiments or device embodiments.

The above is only the embodiment of the present application, but the protection scope of the present application is not limited to this. Covered within the scope of protection of this application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims (17)

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 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.

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