Sending time determination method and device, and indoor goniometric method and device

An indoor goniometric method, comprising:

• exchanging, by a goniometric device, synchronization signal with a first device to be measured, causing the first device to determine a transmission duration and a synchronization error of signal transmission between the first device and the goniometric device;
• indicating, by the goniometric device, to the first device a receiving time slot of ultrasonic goniometric signal, wherein the transmission duration, the synchronization error and the receiving time slot are configured for the first device to determine a sending time of the ultrasonic goniometric signal, and receiving time slots indicated for different devices to be measured are different;
• and
• receiving, by the goniometric device, the ultrasonic goniometric signal sent by the first device in the receiving time slot, and performing indoor goniometric measurement for the first device,
• wherein exchanging the synchronization signal with the first device, causing the first device to determine the transmission duration and the synchronization error of the signal transmission between the first device and the goniometric device comprises:
• sending first synchronization signal to the first device;
• and
• receiving second synchronization signal sent by the first device;
• wherein first sending time and first receiving time of the first synchronization signal, and second sending time and second receiving time of the second synchronization signal are configured for the first device to determine the transmission duration and the synchronization error of the signal transmission between the first device and the goniometric device.

A terminal, comprising:

• a processor;
• and
• a memory for storing executable instructions of the processor;
• wherein the processor, through running the executable instructions, is configured to:
• determine a transmission duration and a synchronization error of signal transmission between the terminal to be measured and a goniometric device;
• determine a receiving time slot for the goniometric device to receive ultrasonic goniometric signal sent by the terminal, wherein the goniometric device is configured to receive ultrasonic goniometric signals sent by a plurality of terminals to be measured, and the goniometer device receives the ultrasonic goniometric signals sent by different terminals to be measured in different receiving time slots;
• and
• determine a sending time of the ultrasonic goniometric signal according to the receiving time slot, the transmission duration and the synchronization error,
• wherein the processor is further configured to:
• determine a first receiving time for receiving first synchronization signal sent by the goniometric device;
• determine a second sending time for sending second synchronization signal;
• determine a first sending time in response to the goniometric device sending the first synchronization signal and determine a second receiving time in response to the goniometric device receiving the second synchronization signal;
• and
• determine the transmission duration according to the first sending time, the first receiving time, the second sending time and the second receiving time.