Method and apparatus for detecting object position

Abstract

The application provides a method and device for detecting the position of an object. The method comprises: a first device performing pulse measurement on a target object with the assistance of a second device, the pulse measurement being performed by measuring the target object by using two pulse signals; and the first device detecting the position of the target object according to the pulse measurement result. The technical solution provided by the application is beneficial to solving the measurement error caused by range ambiguity in the case of high PRF, improving the accuracy of the obtained object position information, and thus realizing high-precision target positioning.

Description

Technical Field

[0001] This application relates to the field of communications, and more specifically, to a method and apparatus for detecting the position of an object based on fine timing measurement (FTM). Background Technology

[0002] Radar can be used to detect targets, such as detecting one or more of the target's distance, speed, and azimuth (including elevation and azimuth) relative to the radar. A radar typically consists of a transmitting antenna and a receiving antenna. The radar transmits radar signals (transmitted waves) using its transmitting antenna and receives radar signals (reflected waves) formed by the reflection of the transmitted waves by the target object using its receiving antenna. Then, based on the changes in the reflected waves relative to the transmitted waves, radar measurement results can be obtained, such as the target's distance, speed, and azimuth relative to the radar, or other information used to calculate any one of these parameters.

[0003] Wireless local access networks (WLANs), as a type of local area communication network that offers convenient access and relatively high data transmission rates, have been widely deployed and applied. In densely deployed WLANs, an access point (AP) typically connects to multiple workstations (STAs), each of which may function as a radar for detecting targets.

[0004] Typically, an AP can identify multiple target STAs from its coverage area that can be used to detect targets under the coordination of the AP; then, it can determine the location information of the multiple target STAs and coordinate the multiple target STAs to perform radar measurements on the target; after that, the AP or a computing device connected to the AP can locate the target based on the location information of the multiple target STAs and the radar measurement results obtained when performing radar measurements on the target.

[0005] Based on the form of the transmitted signal, radar can be classified into pulse radar and continuous wave radar. In pulse radar measurements, high pulse repetition frequency (PRF) pulse signals can provide high transmission power and excellent clutter suppression. However, when using high PRF pulse radar for measurements, existing technologies can produce distance ambiguity when the target distance exceeds the maximum distance corresponding to the pulse repetition period. This results in the measured distance not being the true distance, making it impossible to obtain accurate object location information. Summary of the Invention

[0006] This application provides a method for detecting the position of an object, which helps to solve the measurement error caused by distance ambiguity in the case of high PRF, improves the accuracy of the obtained object position information, and thus achieves high-precision target positioning.

[0007] In a first aspect, a method for detecting the position of an object is provided, the method comprising:

[0008] The first device, with the assistance of the second device, performs pulse measurement on the target object. The pulse measurement is performed by using two pulse signals with different pulse repetition frequencies. Based on the pulse measurement results, the first device detects the position of the target object.

[0009] It should be understood that the pulse measurement results may include measurement values ​​obtained by measuring the object using two pulse signals.

[0010] Optionally, the first device can be an access point (AP), and the second device can be a wireless communication device with a transmitting antenna and a receiving antenna, such as a station (STA).

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the pulse repetition frequencies of the two pulse signals are coprime numbers.

[0012] By sending two pulse signals with pulse repetition frequencies that are both prime numbers, the measurement error caused by distance ambiguity under high PRF conditions is resolved, the accuracy of the obtained object position information is improved, and thus high-precision target positioning is achieved.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, the pulse measurement is performed during the precise time measurement (FTM) process of the first and second devices.

[0014] By combining the active ranging method FTM measurement between the first and second devices with the multi-PRF pulse measurement process assisted by the second device to the first device, the accurate positioning result of the passive target can be obtained.

[0015] In conjunction with the first aspect, in some implementations of the first aspect, both pulse signals are sent by the second device.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the first device performs pulse measurement on the target object with the assistance of the second device, including: the first device sending a first information frame to the second device, the first information frame being used to trigger the second device to perform pulse measurement on the target object using a target pulse signal, the target pulse signal being one or both of the two pulse signals.

[0017] Optionally, the two pulse signals can be sent sequentially after sending the first information frame once, or they can be sent separately after sending the first information frame twice.

[0018] By sending the first information frame and then sequentially sending the two pulse signals, the interaction process can be reduced, channel resources can be saved, and measurement efficiency can be improved.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, the trigger-dependent common information field of the first information frame includes indication information for instructing the second device to perform pulse measurement; or, a user information field of the first information frame includes an application identifier field and a trigger-dependent user information field, wherein the trigger-dependent user information field includes indication information for instructing the second device to perform pulse measurement.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the indication information for instructing the second device to perform pulse measurement includes one or more of the following parameters of the target pulse signal: pulse repetition frequency, duration, waveform, encoding method, and bandwidth occupied.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, the pulse repetition frequency of the target pulse signal is indicated by a bitmap.

[0022] In conjunction with the first aspect, in some implementations of the first aspect, the second device is one of a plurality of devices that assist the first device in performing pulse measurement on the target object. The first device uses a first information frame to simultaneously trigger the plurality of devices to perform pulse measurement on the target object, or the first device uses different first information frames to trigger different devices among the plurality of devices to perform pulse measurement on the target object.

[0023] By using the same first information frame to simultaneously trigger multiple devices to measure the target object, channel utilization can be improved.

[0024] In conjunction with the first aspect, in some implementations of the first aspect, both pulse signals are sent by the first device.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, the first device performs pulse measurement on the target object with the assistance of the second device, including: the first device sending a second information frame to the second device, the second information frame being used to notify the second device that the first device is ready to perform pulse measurement on the target object.

[0026] In conjunction with the first aspect, in some implementations of the first aspect, the subtype field in the frame control field of the second information frame contains the identifier of the second information frame.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, the site information field with a special AID value in the second information frame contains parameters of the target pulse signal used by the first device, wherein the target pulse signal is one or both of the two pulse signals.

[0028] In conjunction with the first aspect, in some implementations of the first aspect, the first device performs pulse measurement on the target object with the assistance of the second device, including: the first device sending a third information frame to the second device, the third information frame being used to inquire whether the second device participates in the pulse measurement of the target object.

[0029] In conjunction with the first aspect, in some implementations of the first aspect, the first device performs pulse measurement on the target object with the assistance of the second device, including: the first device sending a fourth information frame to the second device, the fourth information frame containing first indication information and / or second indication information, the first indication information being used to indicate whether the second device needs to report the pulse measurement result of the target object, and the second indication information being used to indicate whether the second device needs to report the FTM measurement result.

[0030] Optionally, the FTM measurement results may include timestamps of the uplink and downlink NDP leaving and arriving at the second device; the pulse measurement results may include measurement values ​​obtained by measuring the object with two pulse signals.

[0031] In conjunction with the first aspect, in some implementations of the first aspect, the fourth information frame includes a common information field, wherein the first indication information and the second indication information are located in the feedback control field of the common information field.

[0032] Secondly, a method for detecting the position of an object is provided, the method comprising: a second device assisting a first device in performing pulse measurement on a target object, wherein the pulse measurement is performed by using two pulse signals to measure the target object, the two pulse signals having different pulse repetition frequencies.

[0033] Optionally, the first device can be an access point (AP), and the second device can be a wireless communication device with a transmitting antenna and a receiving antenna, such as a station (STA).

[0034] In conjunction with the second aspect, in some implementations of the second aspect, the pulse repetition frequencies of the two pulse signals are coprime numbers.

[0035] By sending two pulse signals with pulse repetition frequencies that are both prime numbers, the measurement error caused by distance ambiguity under high PRF conditions is resolved, the accuracy of the obtained object position information is improved, and thus high-precision target positioning is achieved.

[0036] In conjunction with the second aspect, in some implementations of the second aspect, the pulse measurement is performed during the precise time measurement (FTM) process of the first and second devices.

[0037] By combining the active ranging method FTM measurement between the first and second devices with the multi-PRF pulse measurement process assisted by the second device to the first device, the accurate positioning result of the passive target can be obtained.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, both pulse signals are sent by the second device.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, the second device assists the first device in performing pulse measurement on the target object, including: the second device receiving a first information frame sent by the first device, the first information frame being used to trigger the second device to perform pulse measurement on the target object using a target pulse signal, the target pulse signal being one or both of the two pulse signals.

[0040] Optionally, the two pulse signals can be sent sequentially after sending the first information frame once, or they can be sent separately after sending the first information frame twice.

[0041] By sending the first information frame and then sequentially sending the two pulse signals, the interaction process can be reduced, channel resources can be saved, and measurement efficiency can be improved.

[0042] In conjunction with the second aspect, in some implementations of the second aspect, the trigger-dependent common information field of the first information frame includes indication information for instructing the second device to perform pulse measurement; or, a user information field of the first information frame includes an application identifier field and a trigger-dependent user information field, wherein the trigger-dependent user information field includes indication information for instructing the second device to perform pulse measurement.

[0043] In conjunction with the second aspect, in some implementations of the second aspect, the indication information for instructing the second device to perform pulse measurement includes one or more of the following parameters of the target pulse signal: pulse repetition frequency, duration, waveform, encoding method, and bandwidth occupied.

[0044] In conjunction with the second aspect, in some implementations of the second aspect, the pulse repetition frequency of the target pulse signal is indicated by a bitmap.

[0045] In conjunction with the second aspect, in some implementations of the second aspect, the second device is one of a plurality of devices that assist the first device in performing pulse measurement on the target object. The first device uses one information frame to simultaneously trigger the plurality of devices to perform pulse measurement on the target object, or the first device uses different information frames to trigger different devices among the plurality of devices to perform pulse measurement on the target object.

[0046] By using the same first information frame to simultaneously trigger multiple devices to measure the target object, channel utilization can be improved.

[0047] In conjunction with the second aspect, in some implementations of the second aspect, both pulse signals are sent by the first device.

[0048] In conjunction with the second aspect, in some implementations of the second aspect, the second device assists the first device in performing pulse measurement on the target object, including: the second device receiving a second information frame sent by the first device, the second information frame being used to notify the second device that the first device is ready to perform pulse measurement on the target object.

[0049] In conjunction with the second aspect, in some implementations of the second aspect, the subtype field in the frame control field of the second information frame contains the identifier of the second information frame.

[0050] In conjunction with the second aspect, in some implementations of the second aspect, the site information field with a special AID value in the second information frame contains parameters of the target pulse signal used by the first device, wherein the target pulse signal is one or both of the two pulse signals.

[0051] In conjunction with the second aspect, in some implementations of the second aspect, the second device assists the first device in performing pulse measurement on the target object, including: the second device receiving a third information frame sent by the first device, the third information frame being used to inquire whether the second device participates in the pulse measurement of the target object.

[0052] In conjunction with the second aspect, in some implementations of the second aspect, the second device assists the first device in performing pulse measurement on the target object, including: the second device receiving a fourth information frame sent by the first device, the fourth information frame containing first indication information and / or second indication information, the first indication information being used to indicate whether the second device needs to report the pulse measurement result of the target object, and the second indication information being used to indicate whether the second device needs to report the FTM measurement result.

[0053] Optionally, the FTM measurement results may include timestamps of the uplink and downlink NDP leaving and arriving at the second device; the pulse measurement results may include measurement values ​​obtained by measuring the object with two pulse signals.

[0054] In conjunction with the second aspect, in some implementations of the second aspect, the fourth information frame includes a common information field, wherein the first indication information and the second indication information are located in the feedback control field of the common information field.

[0055] Thirdly, an object position detection device is provided, the device comprising: a measurement module for performing pulse measurement on a target object with the assistance of a second device, wherein the pulse measurement is performed by measuring the target object using two pulse signals with different pulse repetition frequencies; and a processing module for detecting the position of the target object based on the pulse measurement results.

[0056] Optionally, the first device can be an access point (AP), and the second device can be a wireless communication device with a transmitting antenna and a receiving antenna, such as a station (STA).

[0057] In conjunction with the third aspect, in some implementations of the third aspect, the pulse repetition frequencies of the two pulse signals are coprime numbers.

[0058] By sending two pulse signals with pulse repetition frequencies that are both prime numbers, the measurement error caused by distance ambiguity under high PRF conditions is resolved, the accuracy of the obtained object position information is improved, and thus high-precision target positioning is achieved.

[0059] In conjunction with the third aspect, in some implementations of the third aspect, the pulse measurement is performed during the precise time measurement (FTM) process of the first and second devices.

[0060] By combining the active ranging method FTM measurement between the first and second devices with the multi-PRF pulse measurement process assisted by the second device to the first device, the accurate positioning result of the passive target can be obtained.

[0061] In conjunction with the third aspect, in some implementations of the third aspect, both pulse signals are sent by the second device.

[0062] In conjunction with the third aspect, in some implementations of the third aspect, the apparatus further includes: a first transmitting module, configured to transmit a first information frame to the second device, the first information frame being configured to trigger the second device to perform pulse measurement on the target object using a target pulse signal, wherein the target pulse signal is one or both of the two pulse signals.

[0063] Optionally, the two pulse signals can be sent sequentially after sending the first information frame once, or they can be sent separately after sending the first information frame twice.

[0064] By sending the first information frame and then sequentially sending the two pulse signals, the interaction process can be reduced, channel resources can be saved, and measurement efficiency can be improved.

[0065] In conjunction with the third aspect, in some implementations of the third aspect, the trigger-dependent common information field of the first information frame includes indication information for instructing the second device to perform pulse measurement; or, a user information field of the first information frame includes an application identifier field and a trigger-dependent user information field, wherein the trigger-dependent user information field includes indication information for instructing the second device to perform pulse measurement.

[0066] In conjunction with the third aspect, in some implementations of the third aspect, the indication information for instructing the second device to perform pulse measurement includes one or more of the following parameters of the target pulse signal: pulse repetition frequency, duration, waveform, encoding method, and bandwidth occupied.

[0067] In conjunction with the third aspect, in some implementations of the third aspect, the pulse repetition frequency of the target pulse signal is indicated by a bitmap.

[0068] In conjunction with the third aspect, in some implementations of the third aspect, the second device is one of a plurality of devices that assist the first device in performing pulse measurement on the target object. The first device uses a first information frame to simultaneously trigger the plurality of devices to perform pulse measurement on the target object, or the first device uses different first information frames to trigger different devices among the plurality of devices to perform pulse measurement on the target object.

[0069] By using the same first information frame to simultaneously trigger multiple devices to measure the target object, channel utilization can be improved.

[0070] In conjunction with the third aspect, in some implementations of the third aspect, the apparatus further includes: a second transmitting module for transmitting the two pulse signals.

[0071] In conjunction with the third aspect, in some implementations of the third aspect, the apparatus further includes: a third transmitting module, configured to transmit a second information frame to the second device, the second information frame being configured to notify the second device that the first device is ready to perform pulse measurement on the target object.

[0072] In conjunction with the third aspect, in some implementations of the third aspect, the subtype field in the frame control field of the second information frame contains the identifier of the second information frame.

[0073] In conjunction with the third aspect, in some implementations of the third aspect, the site information field with a special AID value in the second information frame contains parameters of the target pulse signal used by the first device, wherein the target pulse signal is one or both of the two pulse signals.

[0074] In conjunction with the third aspect, in some implementations of the third aspect, the apparatus further includes: a fourth transmitting module, configured to transmit a third information frame to the second device, the third information frame being used to inquire whether the second device participates in the pulse measurement of the target object.

[0075] In conjunction with the third aspect, in some implementations of the third aspect, the apparatus further includes: a fifth transmitting module, configured to transmit a fourth information frame to the second device, the fourth information frame containing first indication information and / or second indication information, the first indication information being used to indicate whether the second device needs to report pulse measurement results of the target object, and the second indication information being used to indicate whether the second device needs to report FTM measurement results.

[0076] Optionally, the FTM measurement results may include timestamps of the uplink and downlink NDP leaving and arriving at the second device; the pulse measurement results may include measurement values ​​obtained by measuring the object with two pulse signals.

[0077] In conjunction with the third aspect, in some implementations of the third aspect, the fourth information frame includes a common information field, wherein the first indication information and the second indication information are located in the feedback control field of the common information field.

[0078] Fourthly, an object position detection device is provided, the device comprising: a measurement module for assisting a first device in performing pulse measurement on a target object, wherein the pulse measurement is performed by using two pulse signals to measure the target object, the two pulse signals having different pulse repetition frequencies.

[0079] Optionally, the first device can be an access point (AP), and the second device can be a wireless communication device with a transmitting antenna and a receiving antenna, such as a station (STA).

[0080] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the pulse repetition frequencies of the two pulse signals are coprime numbers.

[0081] By sending two pulse signals with pulse repetition frequencies that are both prime numbers, the measurement error caused by distance ambiguity under high PRF conditions is resolved, the accuracy of the obtained object position information is improved, and thus high-precision target positioning is achieved.

[0082] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the pulse measurement is performed during the precise time measurement (FTM) process of the first and second devices.

[0083] By combining the active ranging method FTM measurement between the first and second devices with the multi-PRF pulse measurement process assisted by the second device to the first device, the accurate positioning result of the passive target can be obtained.

[0084] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the apparatus further includes: a first transmitting module for transmitting the two pulse signals.

[0085] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the apparatus further includes: a first receiving module, configured to receive a first information frame sent by the first device, the first information frame being used to trigger the second device to perform pulse measurement on the target object using a target pulse signal, the target pulse signal being one or both of the two pulse signals.

[0086] Optionally, the two pulse signals can be sent sequentially after sending the first information frame once, or they can be sent separately after sending the first information frame twice.

[0087] By sending the first information frame and then sequentially sending the two pulse signals, the interaction process can be reduced, channel resources can be saved, and measurement efficiency can be improved.

[0088] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the trigger-dependent common information field of the first information frame includes indication information for instructing the second device to perform pulse measurement; or, a user information field of the first information frame includes an application identifier field and a trigger-dependent user information field, wherein the trigger-dependent user information field includes indication information for instructing the second device to perform pulse measurement.

[0089] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the indication information for instructing the second device to perform pulse measurement includes one or more of the following parameters of the target pulse signal: pulse repetition frequency, duration, waveform, encoding method, and bandwidth occupied.

[0090] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the pulse repetition frequency of the target pulse signal is indicated by a bitmap.

[0091] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the second device is one of a plurality of devices that assist the first device in performing pulse measurement on the target object. The first device uses one information frame to simultaneously trigger the plurality of devices to perform pulse measurement on the target object, or the first device uses different information frames to trigger different devices among the plurality of devices to perform pulse measurement on the target object.

[0092] By using the same first information frame to simultaneously trigger multiple devices to measure the target object, channel utilization can be improved.

[0093] In conjunction with the fourth aspect, in some implementations of the fourth aspect, both pulse signals are sent by the first device.

[0094] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the second device further includes: a second receiving module, configured to receive a second information frame sent by the first device, the second information frame being used to notify the second device that the first device is ready to perform pulse measurement on the target object.

[0095] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the subtype field in the frame control field of the second information frame contains the identifier of the second information frame.

[0096] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the site information field with a special AID value in the second information frame contains parameters of the target pulse signal used by the first device, wherein the target pulse signal is one or both of the two pulse signals.

[0097] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the apparatus further includes: a third receiving module, configured to receive a third information frame sent by the first device, the third information frame being used to inquire whether the second device participates in the pulse measurement of the target object.

[0098] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the apparatus further includes: a fourth receiving module, configured to receive a fourth information frame sent by the first device, the fourth information frame containing first indication information and / or second indication information, the first indication information being used to indicate whether the second device needs to report the pulse measurement results of the target object, and the second indication information being used to indicate whether the second device needs to report the FTM measurement results.

[0099] Optionally, the FTM measurement results may include timestamps of the uplink and downlink NDP leaving and arriving at the second device; the pulse measurement results may include measurement values ​​obtained by measuring the object with two pulse signals.

[0100] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the fourth information frame includes a common information field, wherein the first indication information and the second indication information are located in the feedback control field of the common information field.

[0101] Fifthly, a computer-readable medium is provided for storing a computer program including instructions for performing the methods of the first aspect or any possible implementation thereof.

[0102] In a sixth aspect, a computer-readable medium is provided for storing a computer program including instructions for performing the methods of the second aspect or any possible implementation thereof.

[0103] In a seventh aspect, a computer program product is provided, comprising a computer program that, when run on a computer device, causes a processing unit in the computer device to perform the method as described in the first aspect.

[0104] Eighthly, a computer program product is provided, comprising a computer program that, when run on a computer device, causes a processing unit in the computer device to perform the method as described in the second aspect.

[0105] Ninthly, a communication device is provided, which has the functions of the first device in the above aspects. The functions of the first device can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more units corresponding to the above functions.

[0106] In a tenth aspect, a communication device is provided, which has the functions of the second device described in the foregoing aspects. The functions of the second device can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more units corresponding to the aforementioned functions.

[0107] Eleventhly, a communication device is provided, which may be the first device described in the preceding aspects or a chip disposed in the first device. The communication device includes a memory, a communication interface, and a processor, wherein the memory is used to store computer programs or instructions, and the processor is coupled to the memory and the communication interface. When the processor executes the computer program or instructions, it causes the communication device to perform the method described in any one of the first aspects.

[0108] In a twelfth aspect, a communication device is provided, which may be the second device described in the preceding aspects or a chip disposed in the second device. The communication device includes a memory, a communication interface, and a processor, wherein the memory is used to store computer programs or instructions, and the processor is coupled to the memory and the communication interface, and when the processor executes the computer program or instructions, it causes the communication device to perform the method described in any one of the second aspects.

[0109] In a thirteenth aspect, a chip system is provided, comprising a processor for implementing the functions of the first device described in the preceding aspects, such as receiving or processing data and / or information involved in the methods of the first aspect. In one possible design, the chip system further includes a memory for storing program instructions and / or data. The chip system may be composed of chips or may include chips and other discrete devices.

[0110] In a fourteenth aspect, a chip system is provided, comprising a processor for implementing the functions of the second device described in the preceding aspects, such as receiving or processing data and / or information involved in the methods of the second aspect. In one possible design, the chip system further includes a memory for storing program instructions and / or data. The chip system may be composed of chips or may include chips and other discrete devices. Attached Figure Description

[0111] Figure 1 This is a schematic diagram of the measurement process using FTM technology.

[0112] Figure 2 This is a schematic diagram illustrating an application scenario of an embodiment of this application.

[0113] Figure 3 This is a schematic diagram illustrating the principle of range ambiguity in radar measurements.

[0114] Figure 4 This is a schematic diagram illustrating the principle of solving the distance ambiguity problem in the embodiments of this application.

[0115] Figure 5 This is a schematic diagram of a method for detecting the position of an object according to an embodiment of this application.

[0116] Figure 6 This is a schematic diagram of another method for detecting the position of an object according to an embodiment of this application.

[0117] Figure 7 This is a flowchart illustrating the object position detection method according to an embodiment of this application.

[0118] Figure 8 This is a flowchart illustrating another method for detecting the position of an object according to an embodiment of this application.

[0119] Figure 9 This is a flowchart illustrating another method for detecting the position of an object according to an embodiment of this application.

[0120] Figure 10 This is a flowchart illustrating another method for detecting the position of an object according to an embodiment of this application.

[0121] Figure 11 This is a flowchart illustrating another method for detecting the position of an object according to an embodiment of this application.

[0122] Figure 12 This is a flowchart illustrating another method for detecting the position of an object according to an embodiment of this application.

[0123] Figure 13 This is a schematic diagram of the measurement result feedback method according to an embodiment of this application.

[0124] Figure 14 This is a schematic diagram of another measurement result feedback method according to an embodiment of this application.

[0125] Figure 15 This is a schematic diagram of the third information frame (request frame) in an embodiment of this application.

[0126] Figure 16 This is a schematic diagram of the first information frame (test frame) of an embodiment of this application.

[0127] Figure 17 This is a schematic diagram of the fourth information frame (feedback frame) in an embodiment of this application.

[0128] Figure 18 This is a schematic diagram of a second information frame (NDPA for reserving downlink resources) according to an embodiment of this application.

[0129] Figure 19 This is a schematic diagram of an apparatus according to an embodiment of this application.

[0130] Figure 20 A schematic diagram of another apparatus according to an embodiment of this application. Detailed Implementation

[0131] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0132] The embodiments of this application can be used to detect the position of objects, including but not limited to human figures, and may also include various forms of physical devices.

[0133] In this embodiment, the first device can be an access point (AP), and the second device can be a wireless communication device with transmitting and receiving antennas, such as a station (STA). An AP is a network device used to connect a STA to a wired network. The network coverage of a single AP can typically reach tens of meters, and communication between the AP and the STAs within its coverage area is usually based on the Institute of Electrical and Electronics Engineers (IEEE) 802.11 protocol. A STA can be a wireless communication device with transmitting and receiving antennas, and wireless communication devices are typically mobile. Wireless communication devices can also be called mobile devices (MD), user equipment (UE), terminals, mobile stations (MS), or mobile terminals (MT). Specifically, STAs include, but are not limited to, various forms of mobile phones (or "cellular" phones), laptops, tablets, desktop computers with wireless communication modules, and may also include various forms of IoT terminals, as well as various portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices.

[0134] Introducing radar measurement into WLANs can fully utilize existing network resources and is a very promising technology for the future. The industry typically uses Time-of-Flight (FTM) technology for radar measurement in WLANs. FTM technology involves one responder station (RSTA) and multiple initiator stations (ISTA) exchanging measurement messages. The positional relationship between the RSTA and ISTA is calculated by measuring the time of flight of these measurement messages. Both the RSTA and ISTA are active objects (i.e., objects capable of transmitting and receiving electromagnetic waves). For example, Figure 1 This is a schematic diagram of the measurement process using FTM technology. (Example) Figure 1 As shown, RSTA and ISTA measure the transmission and reception times of four data packets through four steps from S101 to S104: the transmission time t1 of the uplink empty data packet UL NDP, the reception time t2 of UL NDP, the transmission time t3 of the downlink empty data packet DL NDP, and the reception time t4 of DL NDP. This yields the round trip time (RTT) of the data packets in the air. RTT = [(t4-t1)-(t3-t2)], and the distance between ISTA and RSTA is c*RTT / 2, where c is the speed of light.

[0135] However, the FTM technology used in the industry can only measure the position between active objects, which requires both parties to have the ability to transmit electromagnetic waves. But in real-world environments, it is necessary to measure the position of many passive objects (i.e., objects that do not have the ability to transmit or receive electromagnetic waves, such as people), which is where FTM technology cannot be implemented.

[0136] To measure passive objects, existing technologies utilize stations (STAs) to assist access points (APs) in measuring passive objects. The AP acquires information such as the distance and velocity of the object relative to the STA, and combines this information with the STA's position and velocity, using FTM technology in conjunction with passive measurement to achieve the measurement of passive objects.

[0137] Figure 2 A schematic diagram illustrating application scenarios of embodiments of this application is provided. For example... Figure 2 As shown in the diagram, in the WLAN environment, there are multiple STAs (bistatic radars) with pulse measurement capabilities and one access point (AP). Before transmitting pulse signals, the transmitter and receiver need to achieve spatial, temporal, and phase synchronization. The AP coordinates the STAs to send pulse signals to the object being measured in the diagram, such as... Figure 2 As shown in (a) in the figure, or the AP itself sends a pulse signal to the object being measured in the figure, such as Figure 2 As shown in (b), the STA then feeds back the measurement results to the AP, thereby combining the FTM measurement (solid line part in the figure) and the STA-assisted AP measurement (dashed line part in the figure) to achieve the position measurement of the passive object being measured.

[0138] However, in radar measurements using high PRF pulse signals, existing technologies combining FTM and STA-assisted AP for passive object measurement suffer from range ambiguity. Range ambiguity occurs when the target distance exceeds the maximum distance corresponding to the pulse repetition period, causing the target echo to not fall within the current period. In this case, the measured target distance is not the true distance, and is referred to as apparent range or ambiguous range. Figure 3 This is a schematic diagram illustrating the principle of range ambiguity in radar measurements. For a given PRF (Range Frame Rate), the farthest distance at which a one-way echo can be received is called the maximum unambiguous range. It is usually represented by R... u The bibase expression is:

[0139]

[0140] Where c is the speed of light, T is the pulse repetition period, and f r is the pulse repetition frequency.

[0141] This application's embodiments resolve the distance ambiguity problem by utilizing multiple high PRF pulse signals within each processing cycle. Figure 4 A schematic diagram illustrating the principle of solving the distance ambiguity problem according to embodiments of this application is provided. Figure 4 As shown, two PRF pulse signals are transmitted: transmission signal 1 and transmission signal 2, with PRFs PRF1 and PRF2 respectively, where PRF1 and PRF2 are coprime. Let R... u1 and R u2 These represent the maximum unambiguous ranges of the two transmitted signals, respectively. Typically, these two ranges are less than the radar's desired maximum unambiguous range. T1 is the pulse repetition period of transmitted signal 1, and T2 is the pulse repetition period of transmitted signal 2. t1 is the time from the transmission of one pulse of transmitted signal 1 to the receipt of the echo, and t2 is the time from the transmission of one pulse of transmitted signal 2 to the receipt of the echo. During the measurement process, the true range in the bistatic case can be calculated using t1 and t2.

[0142] When t1 < t2

[0143]

[0144] When t1 > t2

[0145]

[0146] When t1 = t2

[0147] R = ct, t = t1 = t2 (4)

[0148] In the formula, R is the actual distance to the target, and t is the time from the transmission of a pulse to the receipt of the echo.

[0149] Figure 5 This is a schematic diagram of a method for detecting the position of an object according to an embodiment of this application. Figure 5 As shown, the method 500 includes steps S510 and S520, which are described in detail below.

[0150] S510, connected to the first device, performs pulse measurement on the target object with the assistance of the second device.

[0151] As an example, the pulse measurement is performed by using two pulse signals to measure the target object, the two pulse signals having different pulse repetition frequencies.

[0152] Optionally, the pulse repetition frequencies of the two pulse signals are coprime numbers.

[0153] The pulse measurement can be performed during the precise time measurement (FTM) process of the first and second devices.

[0154] By combining the active ranging method FTM measurement between the first and second devices with the multi-PRF pulse measurement process assisted by the second device to the first device, the accurate positioning result of the passive target can be obtained.

[0155] As one embodiment, the two pulse signals can be sent by the second device. When the second device sends the two pulse signals, the first device can send a first information frame to the second device to trigger the second device to perform pulse measurement on the target object using the target pulse signal. Optionally, the second device can send the two pulse signals at once after the first device sends the first information frame once, or the second device can send the two pulse signals separately after the first device sends the first information frame twice.

[0156] By sending two pulse signals sequentially after the first device sends the first information frame, the interaction process can be reduced, channel resources can be saved, and measurement efficiency can be improved.

[0157] In a more specific example, the first information frame could have the following characteristics: Figure 16 The structure shown. (As illustrated) Figure 16As shown, the first information frame may include a Medium Access Control (MAC) header field, a common info field, one or more user info fields, a padding field, and a frame check sequence (FCS) field. The common info field may include at least a trigger type field, a UL length field, a reserved field, and a trigger dependent common info field. The trigger dependent common info field may include subfields such as WiFi sensing trigger subtype, sensing indication, feedback control, and reserved. The sensing indication subfield is used to indicate some parameters of the pulse measurement, including the pulse repetition frequencies PRF1 and PRF2, length 1 and length 2, waveform, pulse coding, and bandwidth. A User info field may include at least an application identification (AID) field, a RU allocation field, a reserved field, and a trigger dependent user info field. The AID field is used to store the identifier of a ST. The trigger dependent user info field may include at least a sensor indication subfield, which indicates some parameters of the aforementioned pulse measurement.

[0158] It should be understood that when a first device communicates with a second device based on the IEEE 802.11 protocol, the trigger frame sent by the first device to the second device to trigger the second device to perform a specific service typically includes, for example: Figure 16The data includes the MAC header field, common info field, one or more user info fields, padding field, and FCS field. The second device can determine the trigger type of the information frame based on the value of the trigger type field contained in the common info field. For example, in an information frame from the second device instructing it to execute a service process related to the trigger type "WiFi sensing," the trigger type field could have a value of 9.

[0159] In this embodiment of the application, the information frame from the first device and used to trigger the second device to execute the business process related to "WiFi sensing" includes, but is not limited to, the first information frame (WiFi sensing sounding frame); for example, it may also include the second information frame (null data packet announcement, NDPA), the third information frame (WiFi sensing poll frame) and the fourth information frame (WiFi sensing report frame).

[0160] In a more specific example, the first device can instruct the second device to execute various service processes related to the trigger type "WiFi sensing" by selecting the value of the subfield "WiFi sensing triggersubtype". Specifically, three reserved values ​​can be selected from the reserved values ​​of the subfield "WiFi Sensing Trigger Subtype" of the trigger type "WiFi Sensing". These three reserved values ​​are used to instruct the second device to execute the service processes corresponding to the WiFi sensing poll frame, WiFi sensing sounding frame, and WiFi sensing report frame, respectively. For example, refer to Table 1 below:

[0161] Table 1 Values ​​of the Wi-Fi Sensing Trigger Subtype field

[0162] Wi-Fi Sensing Trigger Subtype field value Meaning 0 Poll 1 Sounding 2 Feedback

[0163] Optionally, the PRF of the two pulse signals mentioned above can be indicated by a bitmap. Table 2 shows the maximum unambiguous distance R in the bistatic case. u And the corresponding PRF value of the pulse signal, which can be used in applications based on the corresponding bit indication and R uSelecting a suitable PRF pulse signal, such as PRF1 or PRF2 indicating 101, means that the PRF of the pulse signal to be sent is 15MHz.

[0164] Table 2R u Relationship with PRF mapping and bit indication

[0165] <![CDATA[R u ]]> PRF Bit indication None None 000 / 111 3m 100MHz 001 5m 60MHz 010 10m 30MHz 011 15m 20MHz 100 20m 15MHz 101 30m 10MHz 110

[0166] Optionally, the second device can be one of a plurality of devices that assist the first device in performing pulse measurement on the target object. The first device can use one first information frame to trigger multiple second devices to perform pulse measurement on the target object simultaneously, or the first device can use different first information frames to trigger different devices among the multiple second devices to perform pulse measurement on the target object.

[0167] By using the same first information frame to trigger multiple devices to perform pulse measurements simultaneously, the channel reuse rate can be improved.

[0168] As another embodiment, the first device may also send the two pulse signals mentioned above, and the two pulse signals may be sent by the first device after sending the same downlink empty data packet DL NDP. Optionally, the two pulse signals may also be sent by the first device after sending different downlink empty data packets DL NDP.

[0169] Compared to the second device transmitting pulse signals, transmitting two types of pulse signals via the first device reduces the time resources required for the entire measurement process, achieving more efficient target localization, and allowing the second device to also obtain the position of the measured object. Furthermore, transmitting the two types of pulse signals after sending the same downlink empty data packet (DL NDP) reduces interaction time, saves channel resources, and improves measurement efficiency.

[0170] Before the first device sends the two pulse signals, the first device may send a second information frame to the second device to notify the second device that the first device is ready to perform pulse measurement on the target object.

[0171] In a more specific example, the second information frame could have, for example: Figure 18 The structure shown. (As illustrated) Figure 18As shown, the second information frame (TF Wi-Fi Sensing NDPA frame) can include a frame control field, a duration field, an RA field, a TA field, a sounding dialog token field, multiple site information (STAinfo) fields, and a frame check sequence (FCS) field. The frame control field can include a protocol version field, a type field, a subtype field, a toDS field, a from DS field, a more segmented field, and a +HTC (#66) field. The reserved bits for the subtype, such as value = 0001, define the NDPA used for sensing. A STA info field can be selected and set with a special AID value, such as AID = 2046 or other undefined values ​​within 11 bits. This AID value distinguishes the subsequent fields from the settings of other fields in the STA Info field of the HE NDPA. The sensing indication has the same meaning as that in the first information frame (Wi-Fi sensing sounding), and is used to indicate the parameters of the pulse measurement signal.

[0172] It should be understood that before the aforementioned pulse measurement, the first device may send a third information frame to the second device to inquire whether the second device will participate in the pulse measurement of the target object.

[0173] In a more specific example, the third information frame could have, for example: Figure 15 The structure. For example... Figure 15 As shown, in this frame, the Wi-Fi sensing trigger subtype field is set to Poll mode, while the sensing indication and feedback control fields are reserved. The remaining fields are the same as the Poll frame format in FTM.

[0174] As one embodiment, during pulse measurement with the assistance of the second device, the first device may send a fourth information frame (WiFi sensing report frame) to the second device, instructing the second device to report the measurement results to the first device. Optionally, the fourth information frame may include first indication information and / or second indication information, wherein the first indication information is used to indicate whether the second device needs to report the pulse measurement results of the target object, and the second indication information is used to indicate whether the second device needs to report the FTM measurement results.

[0175] In a more specific example, the fourth information frame could have the following characteristics: Figure 17 The structure shown indicates that in the fourth information frame (Wi-Fi sensing feedback), a value of 1 in each field means the STA needs to provide feedback, while a value of 0 means it does not need to provide feedback. For example... Figure 17 As shown, the fourth information frame may include a MAC header field, a common info field, one or more user info fields, a padding field, and an FCS field. The common info field may include a trigger type field, a UL length field, a reservation field, and a trigger dependent common info field. The trigger dependent common info field includes a 6-bit feedback control subfield, used to indicate the type of measurement result fed back by the second device, including the FTM measurement result, apparent distance (t1 and t2 in the principle section), the calculated true distance, and the angle of arrival (AOA) of the pulse signal received by the second device. The FTM measurement result is an 11az ranging result.

[0176] It should be understood that the FTM measurement and pulse measurement in the embodiments of this application are not forcibly bound together and can be performed separately.

[0177] S520, the first device detects the position of the target object based on the pulse measurement result.

[0178] It should be understood that the first device can detect the position of an object based on the position of the second device and the measurement results.

[0179] Figure 6 A schematic diagram of another method for detecting the position of an object, according to an embodiment of this application, is provided. For example... Figure 6 As shown, the method 600 includes step S610, which will be described in detail below.

[0180] S610, the second device assists the first device in performing pulse measurement on the target object.

[0181] As an example, the above pulse measurement is performed by using two pulse signals to measure the target object, and the two pulse signals have different pulse repetition frequencies.

[0182] Optionally, the pulse repetition frequencies of the two pulse signals are coprime numbers.

[0183] As one embodiment, both of the aforementioned pulse signals can be sent by the second device. In this case, the second device can receive the first information frame sent by the first device to trigger the second device to perform pulse measurement on the target object using the target pulse signal, wherein the target pulse signal is one or both of the two pulse signals.

[0184] Optionally, the two pulse signals mentioned above can be indicated by a bitmap, as shown in Table 1 above.

[0185] Optionally, the second device may be one of a plurality of devices that assist the first device in performing pulse measurement on the target object. The first device may use one information frame to trigger multiple devices to perform pulse measurement on the target object simultaneously, or the first device may use different information frames to trigger different devices among the multiple devices to perform pulse measurement on the target object.

[0186] Using a single information frame to trigger multiple devices to perform pulse measurements on the target object simultaneously can improve the channel reuse rate.

[0187] As another embodiment, the two pulse signals described above can also be sent by the first device. Before the first device sends the pulse signal, the second device can receive a second information frame sent by the first device, which is used to notify the second device that the first device is ready to perform pulse measurement on the target object.

[0188] Optionally, before the second device assists the first device in performing pulse measurement on the target object, the second device may also receive a third information frame sent by the first device to inquire whether the second device participates in the pulse measurement of the target object.

[0189] Before the second device assists the first device in performing pulse measurement on the target object, the second device may also receive a fourth information frame sent by the first device, which instructs the second device to upload the measurement results. Optionally, the fourth information frame may contain first indication information and / or second indication information, wherein the first indication information is used to indicate whether the second device needs to report the pulse measurement results of the target object, and the second indication information is used to indicate whether the second device needs to report the FTM measurement results.

[0190] In a more specific example, the first information frame, the second information frame, the third information frame, and the fourth information frame can have the following characteristics: Figure 16 , Figure 18 , Figure 15 and Figure 17The structure shown is identical to the structure described above and will not be repeated here.

[0191] It should be understood that the FTM measurement and pulse measurement in the embodiments of this application are not forcibly bound together and can be performed separately.

[0192] Figure 7 A flowchart illustrating the object position detection method according to an embodiment of this application is provided. Figure 7 As shown, the method includes steps S701 to S708, which are described in detail below.

[0193] It should be understood that in the embodiments of this application, the first device and the second device are described using AP and STA as examples, respectively, and the embodiments of this application can also be applied to other devices.

[0194] It should be understood that the STA in the embodiments of this application can be one or more, and the embodiments of this application do not limit this.

[0195] S701, the AP sends a third information frame (request frame) to the STA, notifying the STA to participate in the FTM-based pulse measurement.

[0196] S702: After receiving the request frame sent by the AP, the STA confirms whether to participate in the pulse measurement. If it confirms participation, it sends a CTS-to-self to the AP.

[0197] In S703, the AP polls the STA for pulse measurement via the first information frame (test frame). This step can be performed twice, namely S7031 and S7032, to instruct the STA to send pulse signal 1 and pulse signal 2 with different PRFs (coprime numbers) for measurement. Figure 7 S7051 and S7052 are shown in the diagram; alternatively, the AP can also send a first information frame (test frame) to poll the STA for pulse measurement, instructing the STA to send pulse signal 1 and pulse signal 2 with different PRFs (co-prime numbers) for measurement, such as... Figure 8 S8031, S8051, and S8052 are shown in the diagram.

[0198] After receiving the first information frame (test frame) sent by the AP, the STA replies to the AP with an uplink null data packet (UL NDP), and appends a pulse signal after the UL NDP for pulse measurement. Optionally, each STA participating in the pulse measurement replies to the UL NDP in a time-division multiplexed manner, such as... Figure 7 S7041 and S7043 are shown; alternatively, each STA can also respond to the UL NDP in a frequency division multiplexing manner, such as... Figure 9 S9041 and S9043 are shown in the figure.

[0199] Optionally, when multiple STAs transmit pulse signals via frequency division multiplexing, the two PRF pulse signals 1 and 2 transmitted by each STA can be transmitted separately after the AP transmits two test frames, such as... Figure 9 The S9031 and S9051, as well as S9032 and S9052 shown, or the two PRF pulse signals 1 and 2 transmitted by each STA, can also be transmitted by the AP after sending the first information frame (test frame), as shown below. Figure 10 S1030 and S1051 and S1052 are shown in the diagram.

[0200] S706, the AP sends an NDPA (null data packet announcement) to reserve downlink resources.

[0201] S707, the AP sends a downlink null data packet (DL NDP) to the STAs participating in the pulse measurement.

[0202] S708, STA sends the measurement results back to AP, completing the measurement process.

[0203] Optionally, since the AP can calculate the position of the measured object according to formulas (2)-(4) given in the embodiments of this application, in S708, the STA can only feed back the measurement results of the FTM. The measurement results of the FTM can include the timestamps of the uplink and downlink NDP leaving and arriving at the STA. Similarly, Figures 8 to 10 In this process, the AP can calculate the position of the measured object according to the formula (2-4) given in the embodiment of this application. Therefore, in S808, S908, and S1080, the STA can also only feed back the measurement result of the FTM.

[0204] Figure 11 A flowchart illustrating another method for detecting the position of an object, according to an embodiment of this application, is provided. Figure 11 As shown, the method includes steps S1110 to S1180, which are described in detail below.

[0205] S1110, the AP sends a third information frame (request frame) to notify the STA to participate in the FTM-based pulse measurement.

[0206] S1120, the same STA involved in pulse measurement responds to CTS-to-self.

[0207] S1130, the AP sends a test frame and schedules the STA to perform FTM measurement. The test frame used here is the same as the test frame in 11az.

[0208] S1140, the same STA participating in the pulse measurement responds to the UL NDP to start the measurement process.

[0209] S1150, the AP sends a second information frame (Wi-Fi Sensing NDPA) to reserve downlink resources.

[0210] S1160, the AP sends the DL NDP. A pulse signal is appended after this step, i.e., S1170. Optionally, this step can be performed twice, i.e., the AP sends the DL NDP twice by reserving downlink resources twice, and then sends pulse signal 1 and pulse signal 2 respectively, as shown below. Figure 11 S1151 and S1171, and S1152 and S1172 are shown in the diagram. Alternatively, this step can be performed only once, i.e., the AP reserves downlink resources only once, sends DL NDP once, and then sends pulse signal 1 and pulse signal 2 in sequence, as shown in the diagram. Figure 12 S1250, S1271, and S1272 are shown in the figure. Figure 12 The test frame S1230 sent in the test is the same as the test frame in 11az.

[0211] S1180, after the pulse measurement is completed, the STA sends back the FTM measurement results and pulse measurement results to the AP. The FTM measurement results may include the timestamps of the uplink and downlink NDP leaving and arriving at the STA, and the pulse measurement results include the AOA (Angle of Arrival) of the pulse signal received by the STA and distance information (apparent distances t1 and t2 or actual distance). The above measurement method has multiple result feedback methods. Figure 13 and 14 Two different methods for feedback of measurement results are presented. For example... Figure 13 As shown, the method includes steps S1310 to S1330.

[0212] S1310, the AP sends LRM frames to the STA in frequency division multiplexing mode.

[0213] S1320, the AP sends the fourth information frame (feedback frame) to the STA, triggering the STA to feed back measurement information to the AP.

[0214] In step S1330, the STA replies to the AP with an LMR frame and pulse measurement data using frequency division multiplexing. The LMR frame includes the FTM measurement results, and the pulse measurement data includes the pulse measurement results. Optionally, the step of the AP sending the LMR frame (S1310) can be omitted in the above process, because this step is mainly for the AP to inform each STA of its FTM results, and is not necessary in this embodiment.

[0215] Figure 14Another method for providing measurement result feedback includes steps S1410 to S1450, which is similar to... Figure 13 Similar, the difference is that, Figure 14 The middle part reports the FTM measurement results and pulse measurement results separately, that is... Figure 13 S1330 in Figure 14 The values ​​can be represented as S1430 and S1450.

[0216] Figure 19 This is a schematic diagram of an apparatus according to an embodiment of this application. Figure 19 As shown, the device 1900 includes a measuring module 1910 and a processing module 1920.

[0217] The measurement module is used to perform pulse measurement on the target object with the assistance of a second device. The pulse measurement is performed by using two pulse signals with different pulse repetition frequencies. The processing module is used to detect the position of the target object based on the pulse measurement results.

[0218] Optionally, the pulse repetition frequencies of the two pulse signals are coprime numbers.

[0219] Optionally, the pulse measurement is performed during the precise time measurement (FTM) process of the first and second devices.

[0220] Optionally, both pulse signals are sent by the second device.

[0221] Optionally, the device further includes: a first transmitting module, configured to transmit a first information frame to the second device, the first information frame being configured to trigger the second device to perform pulse measurement on the target object using a target pulse signal, wherein the target pulse signal is one or both of the two pulse signals.

[0222] Optionally, the trigger-dependent common information field of the first information frame includes indication information for instructing the second device to perform pulse measurement; or, a user information field of the first information frame includes an application identifier field and a trigger-dependent user information field, wherein the trigger-dependent user information field includes indication information for instructing the second device to perform pulse measurement.

[0223] Optionally, the indication information for instructing the second device to perform pulse measurement includes one or more of the following parameters of the target pulse signal: pulse repetition frequency, duration, waveform, encoding method, and bandwidth occupied.

[0224] Optionally, the pulse repetition frequency of the target pulse signal is indicated by a bitmap.

[0225] It should be understood that the second device is one of a plurality of devices that assist the first device in performing pulse measurement on the target object. The first device uses a first information frame to simultaneously trigger the plurality of devices to perform pulse measurement on the target object, or the first device uses different first information frames to trigger different devices among the plurality of devices to perform pulse measurement on the target object.

[0226] Optionally, the device further includes a second transmitting module for transmitting the two pulse signals.

[0227] Optionally, the device further includes: a third transmitting module, configured to transmit a second information frame to the second device, the second information frame being used to notify the second device that the first device is ready to perform pulse measurement on the target object.

[0228] Optionally, the subtype field in the frame control field of the second information frame contains an identifier of the second information frame.

[0229] Optionally, the site information field with a special AID value in the second information frame includes parameters of the target pulse signal used by the first device, wherein the target pulse signal is one or both of the two pulse signals.

[0230] Optionally, the device further includes a fourth transmitting module, configured to transmit a third information frame to the second device, the third information frame being used to inquire whether the second device participates in the pulse measurement of the target object.

[0231] Optionally, the device further includes: a fifth transmitting module, configured to transmit a fourth information frame to the second device, the fourth information frame containing first indication information and / or second indication information, the first indication information being used to indicate whether the second device needs to report the pulse measurement results of the target object, and the second indication information being used to indicate whether the second device needs to report the FTM measurement results.

[0232] Optionally, the fourth information frame includes a public information field, wherein the first indication information and the second indication information are located in the feedback control field of the public information field.

[0233] Figure 20 This is a schematic diagram of another device according to an embodiment of this application. Figure 20 As shown, the device 2000 includes a measurement module 2010.

[0234] The measurement module 2010 is used to assist the first device in performing pulse measurement on the target object. The pulse measurement is performed by using two pulse signals to measure the target object, and the two pulse signals have different pulse repetition frequencies.

[0235] Optionally, the pulse repetition frequencies of the two pulse signals are coprime numbers.

[0236] Optionally, the pulse measurement is performed during the precise time measurement (FTM) process of the first and second devices.

[0237] Optionally, the device further includes a first transmitting module for transmitting the two pulse signals.

[0238] Optionally, the device further includes: a first receiving module, configured to receive a first information frame sent by the first device, the first information frame being used to trigger the second device to perform pulse measurement on the target object using a target pulse signal, wherein the target pulse signal is one or both of the two pulse signals.

[0239] Optionally, the trigger-dependent common information field of the first information frame includes indication information for instructing the second device to perform pulse measurement; or, a user information field of the first information frame includes an application identifier field and a trigger-dependent user information field, wherein the trigger-dependent user information field includes indication information for instructing the second device to perform pulse measurement.

[0240] Optionally, the indication information for instructing the second device to perform pulse measurement includes one or more of the following parameters of the target pulse signal: pulse repetition frequency, duration, waveform, encoding method, and bandwidth occupied.

[0241] Optionally, the pulse repetition frequency of the target pulse signal is indicated by a bitmap.

[0242] Optionally, the second device is one of a plurality of devices that assist the first device in performing pulse measurement on the target object. The first device uses one information frame to simultaneously trigger the plurality of devices to perform pulse measurement on the target object, or the first device uses different information frames to trigger different devices among the plurality of devices to perform pulse measurement on the target object.

[0243] Optionally, both pulse signals are sent by the first device.

[0244] Optionally, the device further includes: a second receiving module, configured to receive a second information frame sent by the first device, the second information frame being used to notify the second device that the first device is ready to perform pulse measurement on the target object.

[0245] Optionally, the subtype field in the frame control field of the second information frame contains an identifier of the second information frame.

[0246] Optionally, the site information field with a special AID value in the second information frame includes parameters of the target pulse signal used by the first device, wherein the target pulse signal is one or both of the two pulse signals.

[0247] Optionally, the device further includes a third receiving module, configured to receive a third information frame sent by the first device, the third information frame being used to inquire whether the second device participates in the pulse measurement of the target object.

[0248] Optionally, the device further includes: a fourth receiving module, configured to receive a fourth information frame sent by the first device, the fourth information frame containing first indication information and / or second indication information, the first indication information being used to indicate whether the second device needs to report the pulse measurement results of the target object, and the second indication information being used to indicate whether the second device needs to report the FTM measurement results.

[0249] Optionally, the fourth information frame includes a public information field, wherein the first indication information and the second indication information are located in the feedback control field of the public information field.

[0250] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0251] The methods in the embodiments of this application, if implemented as software functional units and sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution or part of the technical solution of this application can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The storage medium includes at least: a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and other media capable of storing program code. The above descriptions are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the claims.

Claims

1. A method for detecting the position of an object, characterized in that, Applied to the first device, including: The first device performs pulse measurement on the target object with the assistance of the second device. The pulse measurement is performed by using two pulse signals with different pulse repetition frequencies. The pulse measurement is performed during the precise time measurement (FTM) process of the first and second devices. The FTM is used to calculate the positional relationship between the first and second devices by measuring the flight time of the measurement message. The first device detects the position of the target object based on the pulse measurement results; The first device, with the assistance of the second device, performs pulse measurement on the target object, including: The first device sends a first information frame to the second device, which triggers the second device to send the two pulse signals to the target object in sequence.

2. The method according to claim 1, characterized in that, The pulse repetition frequencies of the two pulse signals are coprime numbers.

3. The method according to claim 1 or 2, characterized in that, The first information frame contains indication information in the trigger-dependent common information field for instructing the second device to perform pulse measurement; Alternatively, a user information field in the first information frame may include an application identifier field and a trigger-dependent user information field, wherein the trigger-dependent user information field includes indication information for instructing the second device to perform pulse measurement.

4. The method according to claim 3, characterized in that, The indication information used to instruct the second device to perform pulse measurement includes one or more of the following parameters of the target pulse signal: pulse repetition frequency, duration, waveform, encoding method, and bandwidth occupied.

5. The method according to claim 4, characterized in that, The pulse repetition frequency of the target pulse signal is indicated by a bitmap.

6. The method according to claim 1 or 2, characterized in that, The second device is one of a plurality of devices that assist the first device in performing pulse measurement on the target object. The first device uses a first information frame to simultaneously trigger the plurality of devices to perform pulse measurement on the target object, or the first device uses different first information frames to trigger different devices among the plurality of devices to perform pulse measurement on the target object.

7. The method according to claim 1 or 2, characterized in that, Both pulse signals are sent by the first device; The first device, with the assistance of the second device, performs pulse measurement on the target object, including: The first device sends a second information frame to the second device, the second information frame being used to notify the second device that the first device is ready to perform pulse measurement on the target object.

8. The method according to claim 7, characterized in that, The subtype field in the frame control field of the second information frame contains the identifier of the second information frame.

9. The method according to claim 7, characterized in that, The site information field with a special AID value in the second information frame contains parameters of the target pulse signal used by the first device, wherein the target pulse signal is one or both of the two pulse signals.

10. The method according to claim 1 or 2, characterized in that, The first device, with the assistance of the second device, performs pulse measurement on the target object, including: The first device sends a third information frame to the second device, the third information frame being used to inquire whether the second device participates in the pulse measurement of the target object.

11. The method according to claim 1 or 2, characterized in that, The first device, with the assistance of the second device, performs pulse measurement on the target object, including: The first device sends a fourth information frame to the second device. The fourth information frame contains a first indication information and / or a second indication information. The first indication information is used to indicate whether the second device needs to report the pulse measurement results of the target object, and the second indication information is used to indicate whether the second device needs to report the FTM measurement results.

12. The method according to claim 11, characterized in that, The fourth information frame includes a public information field, and the first indication information and the second indication information are located in the feedback control field of the public information field.

13. A method for detecting the position of an object, characterized in that, Applied to a second device, including: The second device assists the first device in performing pulse measurement on the target object. The pulse measurement is performed by using two pulse signals with different pulse repetition frequencies. The pulse measurement is carried out during the precise time measurement (FTM) process of the first and second devices. The FTM is used to calculate the positional relationship between the first and second devices by measuring the flight time of the measurement message. The second device assists the first device in performing pulse measurement on the target object, including: The second device receives a first information frame sent by the first device, and the first information frame is used to trigger the second device to send the two pulse signals to the target object in sequence.

14. The method according to claim 13, characterized in that, The pulse repetition frequencies of the two pulse signals are coprime numbers.

15. The method according to claim 13 or 14, characterized in that, The first information frame contains indication information in the trigger-dependent common information field for instructing the second device to perform pulse measurement; Alternatively, a user information field in the first information frame may include an application identifier field and a trigger-dependent user information field, wherein the trigger-dependent user information field includes indication information for instructing the second device to perform pulse measurement.

16. The method according to claim 15, characterized in that, The indication information used to instruct the second device to perform pulse measurement includes one or more of the following parameters of the target pulse signal: pulse repetition frequency, duration, waveform, encoding method, and bandwidth occupied.

17. The method according to claim 16, characterized in that, The pulse repetition frequency of the target pulse signal is indicated by a bitmap.

18. The method according to claim 13 or 14, characterized in that, The second device is one of a plurality of devices that assist the first device in performing pulse measurement on the target object. The first device uses one information frame to simultaneously trigger the plurality of devices to perform pulse measurement on the target object, or the first device uses different information frames to trigger different devices among the plurality of devices to perform pulse measurement on the target object.

19. The method according to claim 13 or 14, characterized in that, Both pulse signals are sent by the first device; The second device assists the first device in performing pulse measurement on the target object, including: The second device receives a second information frame sent by the first device. The second information frame is used to notify the second device that the first device is ready to perform pulse measurement on the target object.

20. The method according to claim 19, characterized in that, The subtype field in the frame control field of the second information frame contains the identifier of the second information frame.

21. The method according to claim 19, characterized in that, The site information field with a special AID value in the second information frame contains parameters of the target pulse signal used by the first device, wherein the target pulse signal is one or both of the two pulse signals.

22. The method according to claim 13 or 14, characterized in that, The second device assists the first device in performing pulse measurement on the target object, including: The second device receives a third information frame sent by the first device, the third information frame being used to inquire whether the second device participates in the pulse measurement of the target object.

23. The method according to claim 13 or 14, characterized in that, The second device assists the first device in performing pulse measurement on the target object, including: The second device receives a fourth information frame sent by the first device. The fourth information frame includes a first indication information and / or a second indication information. The first indication information is used to indicate whether the second device needs to report the pulse measurement results of the target object, and the second indication information is used to indicate whether the second device needs to report the FTM measurement results.

24. The method according to claim 23, characterized in that, The fourth information frame includes a public information field, and the first indication information and the second indication information are located in the feedback control field of the public information field.

25. A device for detecting the position of an object, characterized in that, include: Measurement module; Processing module; The measurement module and the processing module are used to perform the method as described in any one of claims 1-13.

26. A device for detecting the position of an object, characterized in that, include: A measurement module for performing the method as described in any one of claims 14-24.

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