Ranging Method, Device, Terminal Device and Storage Medium

Abstract

The present disclosure provides a ranging method, belonging to the field of measurement technologies. Among them, the method includes: in response to the trigger of a ranging service, a first terminal device broadcasts a ranging discovery message; the first terminal device receives a ranging response message sent by a second terminal device based on the ranging discovery message; the first terminal device performs ranging with the second terminal device according to the ranging response message. Thus, through this ranging method, the first terminal device discovers the second terminal device by broadcasting a ranging discovery message, and discovers the second terminal device based on the ranging response message sent by the second terminal device according to the ranging discovery message, and performs ranging with the second terminal device according to the ranging response message. This enables the first terminal device to efficiently discover the second terminal device based on the ranging response message sent by the second terminal device, thereby improving the ranging efficiency and accuracy, reducing power consumption, and achieving effective ranging.

Description

Technical Field

[0001] The present disclosure relates to the field of measurement technologies, and in particular, to a ranging method, apparatus, terminal device, and storage medium. Background Art

[0002] Ranging technology is mainly used to determine distance parameters and / or relative direction parameters between two nodes (such as two UEs (User Equipment, terminal devices)). Moreover, with the continuous popularization of terminal devices, the demand for ranging of terminal devices is becoming stronger and stronger, and the application of ranging technology in various fields (such as smart home, smart factory, navigation, positioning, etc.) is becoming more and more extensive. Among them, when triggering a ranging service, it is usually necessary to first make the two UEs to perform the ranging service discover each other. For example, one of the UEs broadcasts a discovery message to discover the other UE.

[0003] In related technologies, the discovery message only includes the application ID and the time of the discovering UE. In this way, the UE that broadcasts the discovery message can discover any UE, including some UEs that do not have ranging capabilities or are not within the interested ranging application area. This will greatly reduce the ranging efficiency, reduce the ranging accuracy, consume high power, and also lead to ineffective ranging. Summary of the Invention

[0004] The ranging method, apparatus, terminal device, and storage medium proposed by the present disclosure are used to solve the problems of low efficiency, low accuracy, high power consumption, and easy occurrence of ineffective ranging in the ranging method in related technologies.

[0005] The ranging method proposed in an embodiment of one aspect of the present disclosure includes:

[0006] In response to the triggering of a ranging service, a first terminal device broadcasts a ranging discovery message;

[0007] The first terminal device receives a ranging response message sent by a second terminal device based on the ranging discovery message;

[0008] The first terminal device performs ranging with the second terminal device according to the ranging response message.

[0009] The ranging method proposed in an embodiment of another aspect of the present disclosure includes:

[0010] In response to the triggering of a ranging service, a first terminal device obtains AOI parameters;

[0011] The first terminal device determines an AOI broadcast area according to the AOI parameters;

[0012] The first terminal device broadcasts the ranging discovery message within the AOI broadcast area.

[0013] The ranging method according to an embodiment of another aspect of the present disclosure includes:

[0014] The second terminal device receives the ranging discovery message broadcast by the first terminal device;

[0015] The second terminal device sends a ranging response message to the first terminal device.

[0016] The ranging device according to an embodiment of one aspect of the present disclosure includes:

[0017] A broadcast module, configured to broadcast a ranging discovery message in response to the triggering of a ranging service;

[0018] A receiving module, configured to receive the ranging response message sent by the second terminal device based on the ranging discovery message;

[0019] A ranging module, configured to perform ranging with the second terminal device according to the ranging response message.

[0020] The ranging device according to an embodiment of another aspect of the present disclosure includes:

[0021] A response module, configured to obtain AOI parameters in response to the triggering of a ranging service;

[0022] A determination module, configured to determine an AOI broadcast area according to the AOI parameters;

[0023] A broadcast module, configured to broadcast the ranging discovery message in the AOI broadcast area.

[0024] The ranging device according to an embodiment of another aspect of the present disclosure includes:

[0025] A receiving module, configured to receive the ranging discovery message broadcast by the first terminal device;

[0026] A sending module, configured to send a ranging response message to the first terminal device.

[0027] A terminal device according to an embodiment of still another aspect of the present disclosure includes a transceiver; a memory; and a processor, which are respectively connected to the transceiver and the memory, and are configured to control the wireless signal transceiver of the transceiver by executing computer-executable instructions on the memory, and can implement the method as described above.

[0028] A computer storage medium according to an embodiment of another aspect of the present disclosure, wherein the computer storage medium stores computer-executable instructions; after the computer-executable instructions are executed by a processor, the method as described above can be implemented.

[0029] Among the ranging methods provided in the embodiments of the present disclosure, in response to the triggering of a ranging service, a first terminal device broadcasts a ranging discovery message; the first terminal device receives a ranging response message sent by a second terminal device based on the ranging discovery message; the first terminal device performs ranging with the second terminal device according to the ranging response message. It can be seen that in the embodiments of the present disclosure, the first terminal device discovers the second terminal device by broadcasting a ranging discovery message, and discovers the second terminal device based on the ranging response message sent by the second terminal device, and performs ranging with the second terminal device according to the ranging response message. Therefore, the first terminal device can efficiently discover the second terminal device based on the ranging response message sent by the second terminal device, thereby improving the ranging efficiency and accuracy, reducing power consumption, and achieving effective ranging.

[0030] Additional aspects and advantages of the present disclosure will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and / or additional aspects and advantages of the present disclosure will become apparent and be readily understood from the following description of the embodiments in conjunction with the accompanying drawings, where:

[0032] Figure 1 is a schematic flowchart of a ranging method provided by an embodiment of the present disclosure;

[0033] Figure 2 is a schematic structural diagram of observing the relative position between an observing UE and a target UE provided by an embodiment of the present disclosure;

[0034] Figure 3 is a position relationship diagram between a first terminal device and its corresponding AOI broadcast area provided by an embodiment of the present disclosure;

[0035] Figure 4 is a schematic flowchart of a ranging method provided by another embodiment of the present disclosure;

[0036] Figure 5 is a schematic flowchart of a ranging method provided by still another embodiment of the present disclosure;

[0037] Figure 6 is a schematic flowchart of a ranging method provided by yet another embodiment of the present disclosure;

[0038] Figure 7 is a schematic flowchart of a ranging method provided by yet another embodiment of the present disclosure;

[0039] Figure 8 is a schematic flowchart of a ranging method provided by yet another embodiment of the present disclosure;

[0040] Figure 9Flow diagram of the ranging method provided by another embodiment of the present disclosure;

[0041] Figure 10 Flow diagram of the ranging method provided by another embodiment of the present disclosure;

[0042] Figure 11 Flow diagram of the ranging method provided by another embodiment of the present disclosure;

[0043] Figure 12 Flow diagram of the ranging method provided by another embodiment of the present disclosure;

[0044] Figure 13 Flow diagram of the ranging method provided by another embodiment of the present disclosure;

[0045] Figure 14 Structural diagram of the ranging device provided by an embodiment of the present disclosure;

[0046] Figure 15 Structural diagram of the ranging device provided by another embodiment of the present disclosure;

[0047] Figure 16 Structural diagram of the ranging device provided by another embodiment of the present disclosure;

[0048] Figure 17 Block diagram of a terminal device provided by an embodiment of the present disclosure. Detailed implementation

[0049] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the embodiments of the present disclosure. On the contrary, they are only examples of devices and methods consistent with some aspects of the embodiments of the present disclosure as detailed in the appended claims.

[0050] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present disclosure. The singular forms "a" and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0051] It should be understood that although the terms first, second, third, etc. may be used in the embodiments of the present disclosure to describe various pieces of information, such information should not be limited to these terms. These terms are only used to distinguish pieces of information of the same type from each other. For example, without departing from the scope of the embodiments of the present disclosure, the first piece of information may also be referred to as the second piece of information, and similarly, the second piece of information may also be referred to as the first piece of information. Depending on the context, the words "if" and "when" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0052] Embodiments of the present disclosure will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where like or similar reference numerals denote like or similar elements throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0053] Among the ranging methods provided by the embodiments of the present disclosure, in response to the triggering of a ranging service, a first terminal device broadcasts a ranging discovery message; the first terminal device receives a ranging response message sent by a second terminal device based on the ranging discovery message; the first terminal device performs ranging with the second terminal device according to the ranging response message. It can be seen that in the embodiments of the present disclosure, the first terminal device discovers the second terminal device by broadcasting a ranging discovery message, and discovers the second terminal device based on the ranging response message sent by the second terminal device according to the ranging discovery message, and will perform ranging with the second terminal device according to the ranging response message. Thus, the first terminal device can efficiently discover the second terminal device based on the ranging response message sent by the second terminal device, thereby improving the ranging efficiency and accuracy, reducing the power consumption, and achieving effective ranging.

[0054] The ranging methods, apparatuses, terminal devices, and storage media provided by the present disclosure will be described in detail below with reference to the accompanying drawings.

[0055] Figure 1 As shown in the flowchart of a ranging method provided for the embodiments of the present disclosure and applied to a first terminal device, Figure 1 the ranging method may include the following steps:

[0056] Step 101, in response to the triggering of a ranging service, the first terminal device broadcasts a ranging discovery message.

[0057] It should be noted that the ranging method in the embodiments of the present disclosure can be applied to any UE (User Equipment, terminal device). A UE can be a device that provides voice and / or data connectivity to a user. The UE can communicate with one or more core networks via a RAN (Radio Access Network). The UE can be an Internet of Things (IoT) terminal, such as a sensor device, a mobile phone (or a "cellular" phone), and a computer with an IoT terminal. For example, it can be a fixed, portable, pocket-sized, handheld, computer-integrated, or vehicle-mounted device. For example, a Station (STA), a subscriber unit, a subscriber station, a mobile station, a mobile, a remote station, an access point, a remote terminal, an access terminal, a user terminal, or a user agent. Alternatively, the UE can also be a device of an unmanned aerial vehicle. Alternatively, the UE can also be a vehicle-mounted device, such as a vehicle computer with wireless communication capabilities or a wireless terminal external to the vehicle computer. Alternatively, the UE can also be a roadside device, such as a street lamp, a traffic signal, or other roadside devices with wireless communication capabilities.

[0058] Among them, in one embodiment of the present disclosure, the ranging service can be triggered by a ranging application service. In another embodiment of the present disclosure, the ranging service can be triggered by a third terminal device or other application programs other than the first terminal device and the second terminal device. In another embodiment of the present disclosure, the ranging service can be triggered by the second terminal device. In another embodiment of the present disclosure, the ranging service can be triggered by the first terminal device itself.

[0059] Among them, in one embodiment of the present disclosure, the first terminal device can be an observing UE, and the second terminal device can be a target UE. In another embodiment of the present disclosure, the first terminal device can be a target UE, and the second terminal device can be an observing UE.

[0060] Among them, the observing UE can be a UE for performing ranging operations, and the observing UE is used to perform ranging on the target UE. As an example, Figure 2 is a schematic structural diagram of the relative positions of an observing UE and a target UE provided by the embodiments of the present disclosure. As shown in Figure 2 the observing UE has a reference plane and a reference direction. Moreover, the direction from the target UE to the observing UE can be the direction from the line connecting the observing UE and the target UE to the reference direction, that is,Figure 2 Direction A as shown. Among them, the direction from the target UE to the observing UE can be represented by the azimuth direction and elevation direction of the target UE. Refer to Figure 2 It can be known that the azimuth direction of the target UE is the angle formed between the reference direction and the line projected from the line from the observing UE to the target UE onto the plane parallel to the reference direction orthogonal to the zenith. Also, the target UE has an elevation angle direction, and the elevation angle direction is the direction from the horizontal plane to the line connecting the observing UE and the target UE.

[0061] Then, the observing UE can measure Figure 2 the distance between the target UE and the observing UE as shown and the direction from the target UE to the observing UE, etc., to achieve ranging of the target UE. And the ranging service can be carried out whether there is 5G coverage or not.

[0062] Also, in an embodiment of the present disclosure, the ranging discovery message may have an AOI parameter. For example, the ranging discovery message may have a first ranging service identifier, an identifier of the first terminal device, an AoI (Area of Interest) parameter, a request identifier, and a first line-of-sight transmission capability identifier, etc.

[0063] Among them, the ranging service identifier can be pre-set, and the first ranging service identifier can be the ranging service identifier corresponding to the first terminal device.

[0064] The AOI parameter can be used to indicate the AOI broadcast area corresponding to the first terminal device (i.e., the area of interest or region of interest of the first terminal device). The AOI parameter may include one or more of a distance parameter (such as the minimum distance and / or maximum distance between the first terminal device and its corresponding AOI area), an azimuth parameter (such as the minimum azimuth direction and / or maximum azimuth direction between the first terminal device and its corresponding AOI area), and an altitude direction parameter (such as the lowest altitude direction and / or maximum altitude direction between the first terminal device and its corresponding AOI area). In an embodiment of the present disclosure, Figure 3 is a position relationship diagram of a first terminal device and its corresponding AOI broadcast area provided by an embodiment of the present disclosure. As Figure 3 shown, the first terminal device can be, for example, UE1, and its corresponding AOI broadcast area can be, for example, Figure 3 area B in.

[0065] Also, the first line-of-sight transmission capability identifier can be used to indicate that the first terminal device has the capability of line-of-sight transmission, so that subsequent line-of-sight transmission can be carried out based on the first terminal device.

[0066] Of course, in another embodiment of the present disclosure, the ranging discovery message may not have the AOI parameter. For example, the ranging discovery message may have a first ranging service identifier, an identifier of the first terminal device, a request identifier, and a first line-of-sight transmission capability identifier. In yet another embodiment of the present disclosure, the ranging discovery message may only have the AOI parameter.

[0067] Step 102, the first terminal device receives a ranging response message sent by the second terminal device based on the ranging discovery message.

[0068] In one embodiment of the present disclosure, the ranging response message may have a second ranging service identifier. Wherein, the second ranging service identifier may be the ranging service identifier corresponding to the second terminal device.

[0069] In one embodiment of the present disclosure, the ranging discovery message and the ranging response message have a first ranging service identifier.

[0070] Of course, in another embodiment of the present disclosure, the ranging response message may have a second ranging service identifier, an identifier of the second terminal device, a request identifier, and a second line-of-sight transmission capability identifier. The second line-of-sight transmission capability identifier may be used to indicate that the second terminal device has the capability of line-of-sight transmission, so that line-of-sight transmission can be performed based on the second terminal device subsequently. In yet another embodiment of the present disclosure, the ranging discovery message may further have the AOI parameter corresponding to the second terminal device. In yet another embodiment of the present disclosure, the ranging response message may further carry an identity authentication code of the second terminal device, so that the first terminal device discovers the second terminal device based on the identity authentication code of the second terminal device. In yet another embodiment of the present disclosure, the ranging response message may further carry a matching code, so that the first terminal device discovers the second terminal device based on the matching code.

[0071] Step 103, the first terminal device performs ranging with the second terminal device according to the ranging response message.

[0072] Among them, in one embodiment of the present disclosure, the method for the first terminal device to perform ranging with the second terminal device according to the ranging response message may include: when the first ranging service identifier is consistent with the second ranging service identifier, the first terminal device performs ranging with the second terminal device.

[0073] And, in one embodiment of the present disclosure, after the first terminal device discovers the second terminal device according to the ranging response message, the first terminal device and the second terminal device may perform precise ranging based on the QoS (Quality of Service) requirement. In one embodiment of the present disclosure, the QoS requirement may be sent by the ranging application server to the first terminal device.

[0074] In one embodiment of the present disclosure, both the first terminal device and the second terminal device are terminal devices with ranging capabilities.

[0075] In the ranging method provided by the embodiments of the present disclosure, in response to the triggering of a ranging service, the first terminal device broadcasts a ranging discovery message; the first terminal device receives a ranging response message sent by the second terminal device based on the ranging discovery message; the first terminal device performs ranging with the second terminal device according to the ranging response message. It can be seen that in the embodiments of the present disclosure, the first terminal device discovers the second terminal device by broadcasting a ranging discovery message, and discovers the second terminal device based on the ranging response message sent by the second terminal device, and performs ranging with the second terminal device according to the ranging response message. Thus, the first terminal device can efficiently discover the second terminal device based on the ranging response message sent by the second terminal device, thereby improving the ranging efficiency and accuracy, reducing the power consumption, and achieving effective ranging.

[0076] Figure 4 The flowchart of the ranging method provided by another embodiment of the present disclosure is applied to the first terminal device, as Figure 4 shown, the method may include:

[0077] Step 401, in response to the triggering of a ranging service, the first terminal device obtains the Area of Interest (AOI) parameter.

[0078] In one embodiment of the present disclosure, the AOI parameter may be pre-configured in the first terminal device. In one embodiment of the present disclosure, the AOI parameter is variable and can be changed according to user requirements, for example.

[0079] In one embodiment of the present disclosure, the AOI parameter may be used to indicate the AOI broadcast area corresponding to the first terminal device (i.e., the area of interest or the region of interest of the first terminal device). The AOI parameter may include one or more of a distance parameter (such as the minimum distance and / or the maximum distance between the first terminal device and its corresponding AOI area), an azimuth angle parameter (such as the minimum azimuth angle direction and / or the maximum azimuth angle direction between the first terminal device and its corresponding AOI area), and an altitude direction parameter (such as the lowest altitude direction and / or the maximum altitude direction between the first terminal device and its corresponding AOI area).

[0080] Step 402, the first terminal device determines the AOI broadcast area according to the AOI parameter.

[0081] In one embodiment of the present disclosure, the method for the first terminal device to determine the AOI broadcast area according to the AOI parameters may include: The first terminal device determines, according to the distance parameter (such as the minimum distance and / or the maximum distance), the azimuth parameter (such as the minimum azimuth direction and / or the maximum azimuth direction), and the altitude direction parameter (such as the lowest altitude direction and / or the maximum altitude direction) included in the AOI parameters, an area that meets the distance parameter, the azimuth parameter, and the altitude direction parameter included in the AOI parameters with respect to the first terminal device, and determines this area as the AOI broadcast area.

[0082] Step 403, the first terminal device broadcasts a ranging discovery message in the AOI broadcast area, and the ranging discovery message does not carry the AOI parameters.

[0083] In one embodiment of the present disclosure, the method for the first terminal device to broadcast a ranging discovery message in the AOI broadcast area may include: The first terminal device determines at least one of the broadcast beam direction and the broadcast power according to the AOI broadcast area; The first terminal device broadcasts the ranging discovery message according to at least one of the broadcast beam direction and the broadcast power.

[0084] And it should be noted that when the first terminal device broadcasts a ranging discovery message in the AOI broadcast area, the terminal devices located in the AOI broadcast area are all second terminal devices. The second terminal devices will receive the ranging discovery message broadcast by the first terminal device and will send a ranging response message to the first terminal device based on the ranging discovery message. Among them, in one embodiment of the present disclosure, the second terminal device may be one. In one embodiment of the present disclosure, the second terminal device may be multiple.

[0085] Step 404, the first terminal device receives the ranging response message sent by the second terminal device based on the ranging discovery message.

[0086] In one embodiment of the present disclosure, the ranging response message may have a second ranging service identifier. In another embodiment of the present disclosure, the ranging response message may further carry the identity authentication code of the second terminal device, so that the first terminal device discovers the second terminal device based on the identity authentication code of the second terminal device. In another embodiment of the present disclosure, the ranging response message may further carry a matching code, so that the first terminal device discovers the second terminal device based on this matching code.

[0087] In one embodiment of the present disclosure, the ranging discovery message and the ranging response message have a first ranging service identifier.

[0088] Step 405, the first terminal device performs ranging with the second terminal device according to the ranging response message.

[0089] Among them, in one embodiment of the present disclosure, the method for the first terminal device to perform ranging with the second terminal device according to the ranging response message may include: when the first ranging service identifier is the same as the second ranging service identifier, the first terminal device performs ranging with the second terminal device.

[0090] In addition, in one embodiment of the present disclosure, after the first terminal device discovers the second terminal device according to the ranging response message, the first terminal device and the second terminal device may perform precise ranging based on the QoS requirement. In one embodiment of the present disclosure, the QoS requirement may be sent by the ranging application server to the first terminal device.

[0091] In one embodiment of the present disclosure, both the first terminal device and the second terminal device are terminal devices with ranging capabilities.

[0092] In the ranging method provided by the embodiment of the present disclosure, in response to the trigger of the ranging service, the first terminal device determines the AOI broadcast area according to the AOI parameter, so as to broadcast the ranging discovery message only to the AOI broadcast area. Thus, in the embodiment of the present disclosure, the first terminal device can discover the second terminal device by directionally broadcasting the ranging discovery message based on the AOI parameter, so as to perform ranging with the second terminal device. Then the first terminal device will only discover the second terminal device located in the AOI broadcast area, which can avoid the first terminal device discovering terminal devices without ranging capabilities or uninterested terminal devices, ensuring that the first terminal device can efficiently discover the second terminal device, thereby improving the ranging efficiency and accuracy, reducing the power consumption, and realizing effective ranging.

[0093] Figure 5 It is a schematic flowchart of the ranging method provided by another embodiment of the present disclosure, which is applied to the first terminal device, as Figure 5 shown, the method may include:

[0094] Step 501, in response to the trigger of the ranging service, the first terminal device obtains the area of interest (AOI) parameter.

[0095] In one embodiment of the present disclosure, the AOI parameter may be pre-configured in the first terminal device. In one embodiment of the present disclosure, the AOI parameter is variable and can be changed according to user requirements, for example.

[0096] In an embodiment of the present disclosure, the AOI parameter can be used to indicate the AOI broadcast area corresponding to the first terminal device (i.e., the area of concern or area of interest of the first terminal device). The AOI parameter can include one or more of a distance parameter (such as the minimum distance and / or maximum distance between the first terminal device and its corresponding AOI area), an azimuth parameter (such as the minimum azimuth direction and / or maximum azimuth direction between the first terminal device and its corresponding AOI area), and an altitude direction parameter (such as the lowest altitude direction and / or maximum altitude direction between the first terminal device and its corresponding AOI area).

[0097] Step 502, the first terminal device determines the AOI broadcast area according to the AOI parameter.

[0098] In an embodiment of the present disclosure, the method for the first terminal device to determine the AOI broadcast area according to the AOI parameter may include: the first terminal device determines an area that meets the distance parameter, azimuth parameter, and altitude direction parameter included in the AOI parameter between the first terminal device, and determines this area as the AOI broadcast area according to the distance parameter (such as the minimum distance and / or maximum distance), azimuth parameter (such as the minimum azimuth direction and / or maximum azimuth direction), and altitude direction parameter (such as the lowest altitude direction and / or maximum altitude direction) included in the AOI parameter.

[0099] Step 503, the first terminal device broadcasts a ranging discovery message in the AOI broadcast area, and the AOI parameter is carried in the ranging discovery message.

[0100] In an embodiment of the present disclosure, the method for the first terminal device to broadcast a ranging discovery message in the AOI broadcast area may include: the first terminal device determines at least one of a broadcast beam direction and a broadcast power according to the AOI broadcast area; the first terminal device broadcasts a ranging discovery message according to at least one of the broadcast beam direction and the broadcast power.

[0101] In addition, it should be noted that when the first terminal device broadcasts a ranging discovery message in the AOI broadcast area, the terminal devices located in the AOI broadcast area are all second terminal devices. The second terminal device will receive the ranging discovery message broadcast by the first terminal device and will send a ranging response message to the first terminal device based on the ranging discovery message. Among them, in an embodiment of the present disclosure, the second terminal device may be one. In an embodiment of the present disclosure, the second terminal device may be multiple.

[0102] Step 504, the first terminal device receives the ranging response message sent by the second terminal device based on the ranging discovery message.

[0103] In one embodiment of the present disclosure, the ranging response message may include a second ranging service identifier. In another embodiment of the present disclosure, the ranging response message may further carry an authentication code of the second terminal device, so that the first terminal device discovers the second terminal device based on the authentication code of the second terminal device. In yet another embodiment of the present disclosure, the ranging response message may further carry a matching code, so that the first terminal device discovers the second terminal device based on the matching code.

[0104] In one embodiment of the present disclosure, the ranging discovery message and the ranging response message include a first ranging service identifier.

[0105] Step 505, the first terminal device performs ranging with the second terminal device according to the ranging response message.

[0106] Among them, in one embodiment of the present disclosure, the method for the first terminal device to perform ranging with the second terminal device according to the ranging response message may include: when the first ranging service identifier is consistent with the second ranging service identifier, the first terminal device performs ranging with the second terminal device.

[0107] In addition, in one embodiment of the present disclosure, after the first terminal device discovers the second terminal device according to the ranging response message, the first terminal device and the second terminal device may perform precise ranging based on the QoS requirement. In one embodiment of the present disclosure, the QoS requirement may be sent by the ranging application server to the first terminal device.

[0108] In one embodiment of the present disclosure, both the first terminal device and the second terminal device are terminal devices with ranging capabilities.

[0109] In the ranging method provided by the embodiments of the present disclosure, in response to the trigger of the ranging service, the first terminal device determines an AOI broadcast area according to the AOI parameter, and broadcasts the ranging discovery message only to the AOI broadcast area. Thus, in the embodiments of the present disclosure, the first terminal device can discover the second terminal device by directionally broadcasting the ranging discovery message based on the AOI parameter, so as to perform ranging with the second terminal device. Then the first terminal device will only discover the second terminal device located in the AOI broadcast area, which can prevent the first terminal device from discovering terminal devices without ranging capabilities or uninterested terminal devices, ensuring that the first terminal device can efficiently discover the second terminal device, thereby improving the ranging efficiency and accuracy, reducing the power consumption, and achieving effective ranging.

[0110] Figure 6 It is a schematic flowchart of the ranging method provided by another embodiment of the present disclosure, applied to the first terminal device, as Figure 6 shown, the method may include:

[0111] Step 601, in response to the trigger of the ranging service, the first terminal device obtains the AOI parameter.

[0112] In one embodiment of the present disclosure, the AOI parameter may be pre-configured in the first terminal device. In one embodiment of the present disclosure, the AOI parameter is variable and can be changed according to user requirements, for example.

[0113] In one embodiment of the present disclosure, the AOI parameter may be used to indicate the AOI broadcast area corresponding to the first terminal device (i.e., the area of concern or area of interest of the first terminal device). The AOI parameter may include one or more of a distance parameter (such as the minimum distance and / or maximum distance between the first terminal device and its corresponding AOI area), an azimuth parameter (such as the minimum azimuth direction and / or maximum azimuth direction between the first terminal device and its corresponding AOI area), and an altitude direction parameter (such as the lowest altitude direction and / or maximum altitude direction between the first terminal device and its corresponding AOI area).

[0114] Step 602, the first terminal device broadcasts a ranging discovery message, and the AOI parameter is carried in the ranging discovery message.

[0115] In one embodiment of the present disclosure, the method for the first terminal device to broadcast the ranging discovery message in the AOI broadcast area may include: the first terminal device determines at least one of the broadcast beam direction and the broadcast power according to the AOI broadcast area; the first terminal device broadcasts the ranging discovery message according to at least one of the broadcast beam direction and the broadcast power.

[0116] Among them, in one embodiment of the present disclosure, after the first terminal device broadcasts the ranging discovery message, the second terminal device that obtains the ranging discovery message may determine whether the second terminal device meets the AOI parameter according to the AOI parameter carried in the ranging discovery message (for example, the second terminal device may determine whether it is in the AOI broadcast area indicated by the AOI parameter). If the second terminal device determines that the second terminal device meets the AOI parameter according to the AOI parameter (for example, the second terminal device determines that it is in the AOI broadcast area indicated by the AOI parameter), the second terminal device may send a ranging response message to the first terminal device. If not (for example, the second terminal device determines that it is not in the AOI broadcast area indicated by the AOI parameter), the second terminal device may not send a ranging response message.

[0117] Step 603, the first terminal device receives the ranging response message sent by the second terminal device based on the ranging discovery message.

[0118] In one embodiment of the present disclosure, the ranging response message may have a second ranging service identifier. In another embodiment of the present disclosure, the ranging response message may further carry an authentication code of the second terminal device, so that the first terminal device discovers the second terminal device based on the authentication code of the second terminal device. In another embodiment of the present disclosure, the ranging response message may further carry a matching code, so that the first terminal device discovers the second terminal device based on the matching code.

[0119] In one embodiment of the present disclosure, the ranging discovery message and the ranging response message have a first ranging service identifier.

[0120] Step 604, the first terminal device performs ranging with the second terminal device according to the ranging response message.

[0121] Among them, in one embodiment of the present disclosure, the method for the first terminal device to perform ranging with the second terminal device according to the ranging response message may include: when the first ranging service identifier is consistent with the second ranging service identifier, the first terminal device performs ranging with the second terminal device.

[0122] And it should be noted that the first terminal device specifically performs ranging with the second terminal device that sends the ranging response message. Among them, in one embodiment of the present disclosure, there may be one second terminal device that sends the ranging response message. In one embodiment of the present disclosure, there may be multiple second terminal devices that send the ranging response message.

[0123] And, in one embodiment of the present disclosure, after the first terminal device discovers the second terminal device that sends the ranging response message according to the ranging response message, the first terminal device and the second terminal device may perform precise ranging based on the QoS requirements. In one embodiment of the present disclosure, the QoS requirements may be sent by the ranging application server to the first terminal device.

[0124] In one embodiment of the present disclosure, both the first terminal device and the second terminal device are terminal devices with ranging capabilities.

[0125] Among the ranging methods provided in the embodiments of the present disclosure, in response to the triggering of a ranging service, a first terminal device broadcasts a ranging discovery message carrying AOI parameters to discover a second terminal device based on a ranging response message sent by the second terminal device according to the ranging discovery message. Among them, when the second terminal device determines that it meets the AOI parameters, it will send a ranging response message to the first terminal device. Thus, in the embodiments of the present disclosure, after the first terminal device broadcasts a ranging discovery message carrying AOI parameters, it will not receive ranging response messages sent by all terminal devices, but only receive ranging response messages sent by the second terminal device that meets the AOI parameters to discover the second terminal device. This can avoid the first terminal device discovering terminal devices that do not have ranging capabilities or are not interested, ensuring that the first terminal device can efficiently discover the second terminal device, thereby improving the ranging efficiency and accuracy, reducing power consumption, and achieving effective ranging.

[0126] Figure 7 The flowchart of the ranging method provided by another embodiment of the present disclosure is applied to a first terminal device, as Figure 7 shown. The method may include:

[0127] Step 701, in response to the triggering of a ranging service, the first terminal device obtains AOI parameters.

[0128] In an embodiment of the present disclosure, the AOI parameters may be pre-configured in the first terminal device. In an embodiment of the present disclosure, the AOI parameters are variable and may be changed according to user requirements, for example.

[0129] In an embodiment of the present disclosure, the AOI parameters may be used to indicate the AOI broadcast area corresponding to the first terminal device (i.e., the area of concern or area of interest of the first terminal device). The AOI parameters may include one or more of a distance parameter (such as the minimum distance and / or maximum distance between the first terminal device and its corresponding AOI area), an azimuth parameter (such as the minimum azimuth direction and / or maximum azimuth direction between the first terminal device and its corresponding AOI area), and an altitude direction parameter (such as the lowest altitude direction and / or maximum altitude direction between the first terminal device and its corresponding AOI area).

[0130] Step 702, the first terminal device determines the AOI broadcast area according to the AOI parameters.

[0131] In one embodiment of the present disclosure, the method for the first terminal device to determine the AOI broadcast area according to the AOI parameters may include: The first terminal device determines, according to the distance parameter (such as the minimum distance and / or the maximum distance), the azimuth parameter (such as the minimum azimuth direction and / or the maximum azimuth direction), and the altitude direction parameter (such as the lowest altitude direction and / or the maximum altitude direction) included in the AOI parameters, an area that meets the distance parameter, the azimuth parameter, and the altitude direction parameter included in the AOI parameters between the first terminal device and itself, and determines this area as the AOI broadcast area.

[0132] Step 703, the first terminal device broadcasts a ranging discovery message in the AOI broadcast area.

[0133] In one embodiment of the present disclosure, the method for the first terminal device to broadcast a ranging discovery message in the AOI broadcast area may include: The first terminal device determines at least one of the broadcast beam direction and the broadcast power according to the AOI broadcast area; The first terminal device broadcasts a ranging discovery message according to at least one of the broadcast beam direction and the broadcast power.

[0134] Moreover, it should be noted that when the first terminal device broadcasts a ranging discovery message in the AOI broadcast area, the terminal devices located in the AOI broadcast area are all second terminal devices. The second terminal device will receive the ranging discovery message broadcast by the first terminal device and will send a ranging response message to the first terminal device based on the ranging discovery message. Among them, in one embodiment of the present disclosure, the second terminal device may be one. In one embodiment of the present disclosure, the second terminal device may be multiple.

[0135] In one embodiment of the present disclosure, the AOI parameters may be carried in the ranging discovery message. In another embodiment of the present disclosure, the AOI parameters may not be carried in the ranging discovery message.

[0136] In the ranging method provided by the embodiments of the present disclosure, in response to the triggering of the ranging service, the first terminal device will determine the AOI broadcast area according to the AOI parameters to broadcast the ranging discovery message only to the AOI broadcast area. Thus, in the embodiments of the present disclosure, the first terminal device can discover the second terminal device by broadcasting the ranging discovery message directionally based on the AOI parameters to perform ranging with the second terminal device. Then the first terminal device will only discover the second terminal devices located in the AOI broadcast area, which can avoid the first terminal device discovering terminal devices that do not have ranging capabilities or are not interested, ensuring that the first terminal device can efficiently discover the second terminal device, thereby improving the ranging efficiency and accuracy, reducing power consumption, and achieving effective ranging.

[0137] Figure 8Schematic flowchart of the ranging method provided by another embodiment of the present disclosure, applied to a first terminal device, such as Figure 8 shown, the method may include:

[0138] Step 801, in response to the triggering of the ranging service, the first terminal device obtains AOI parameters.

[0139] In an embodiment of the present disclosure, the AOI parameters may be pre-configured in the first terminal device. In an embodiment of the present disclosure, the AOI parameters are variable and may be changed according to user requirements, for example.

[0140] In an embodiment of the present disclosure, the AOI parameters may be used to indicate the AOI broadcast area corresponding to the first terminal device (i.e., the area of interest or region of interest of the first terminal device). The AOI parameters may include one or more of a distance parameter (such as the minimum distance and / or maximum distance between the first terminal device and its corresponding AOI area), an azimuth parameter (such as the minimum azimuth direction and / or maximum azimuth direction between the first terminal device and its corresponding AOI area), and an altitude direction parameter (such as the lowest altitude direction and / or maximum altitude direction between the first terminal device and its corresponding AOI area).

[0141] Step 802, the first terminal device determines the AOI broadcast area according to the AOI parameters.

[0142] In an embodiment of the present disclosure, the method for the first terminal device to determine the AOI broadcast area according to the AOI parameters may include: the first terminal device determines an area that meets the distance parameter, azimuth parameter, and altitude direction parameter included in the AOI parameters between the first terminal device and the area, and determines the area as the AOI broadcast area according to the distance parameter, azimuth parameter, and altitude direction parameter included in the AOI parameters.

[0143] Step 803, the first terminal device broadcasts a ranging discovery message in the AOI broadcast area, and the ranging discovery message carries the AOI parameters.

[0144] In an embodiment of the present disclosure, the method for the first terminal device to broadcast a ranging discovery message in the AOI broadcast area may include: the first terminal device determines at least one of a broadcast beam direction and a broadcast power according to the AOI broadcast area; the first terminal device broadcasts a ranging discovery message according to at least one of the broadcast beam direction and the broadcast power.

[0145] Also, it should be noted that when the first terminal device broadcasts a ranging discovery message in the AOI broadcast area, the terminal devices located in the AOI broadcast area are all second terminal devices. The second terminal device will receive the ranging discovery message broadcast by the first terminal device and send a ranging response message to the first terminal device based on the ranging discovery message. Among them, in one embodiment of the present disclosure, the second terminal device can be one. In one embodiment of the present disclosure, the second terminal device can be multiple.

[0146] In the ranging method provided by the embodiments of the present disclosure, in response to the trigger of the ranging service, the first terminal device determines the AOI broadcast area according to the AOI parameters, so as to broadcast the ranging discovery message only to the AOI broadcast area. Thus, in the embodiments of the present disclosure, the first terminal device can discover the second terminal device by directionally broadcasting the ranging discovery message based on the AOI parameters, so as to perform ranging with the second terminal device. Then the first terminal device will only discover the second terminal devices located in the AOI broadcast area, which can avoid the first terminal device discovering terminal devices that do not have ranging capabilities or are not interested, ensuring that the first terminal device can efficiently discover the second terminal device, thereby improving the ranging efficiency and accuracy, reducing power consumption, and achieving effective ranging.

[0147] Figure 9 It is a schematic flowchart of the ranging method provided by another embodiment of the present disclosure, which is applied to the first terminal device, as Figure 9 shown. The method may include:

[0148] Step 901, in response to the trigger of the ranging service, the first terminal device obtains the AOI parameters.

[0149] In one embodiment of the present disclosure, the AOI parameters may be pre-configured in the first terminal device. In one embodiment of the present disclosure, the AOI parameters are variable and can be changed according to user requirements, for example.

[0150] In one embodiment of the present disclosure, the AOI parameters may be used to indicate the AOI broadcast area corresponding to the first terminal device (i.e., the area of concern or area of interest of the first terminal device). The AOI parameters may include one or more of a distance parameter (such as the minimum distance and / or maximum distance between the first terminal device and its corresponding AOI area), an azimuth parameter (such as the minimum azimuth direction and / or maximum azimuth direction between the first terminal device and its corresponding AOI area), and an altitude direction parameter (such as the lowest altitude direction and / or maximum altitude direction between the first terminal device and its corresponding AOI area).

[0151] Step 902, the first terminal device determines the AOI broadcast area according to the AOI parameters.

[0152] In one embodiment of the present disclosure, the method for the first terminal device to determine the AOI broadcast area according to the AOI parameters may include: The first terminal device determines, according to the distance parameter (such as the minimum distance and / or the maximum distance), the azimuth parameter (such as the minimum azimuth direction and / or the maximum azimuth direction), and the altitude direction parameter (such as the lowest altitude direction and / or the maximum altitude direction) included in the AOI parameters, an area that meets the distance parameter, the azimuth parameter, and the altitude direction parameter included in the AOI parameters between the first terminal device and itself, and determines this area as the AOI broadcast area.

[0153] Step 903, the first terminal device broadcasts a ranging discovery message in the AOI broadcast area, and the AOI parameters are not carried in the broadcast ranging discovery message.

[0154] In one embodiment of the present disclosure, the method for the first terminal device to broadcast a ranging discovery message in the AOI broadcast area may include: The first terminal device determines at least one of the broadcast beam direction and the broadcast power according to the AOI broadcast area; The first terminal device broadcasts a ranging discovery message according to at least one of the broadcast beam direction and the broadcast power.

[0155] And it should be noted that when the first terminal device broadcasts a ranging discovery message in the AOI broadcast area, the terminal devices located in the AOI broadcast area are all second terminal devices. The second terminal device will receive the ranging discovery message broadcast by the first terminal device and will send a ranging response message to the first terminal device based on the ranging discovery message. Among them, in one embodiment of the present disclosure, the second terminal device may be one. In one embodiment of the present disclosure, the second terminal device may be multiple.

[0156] In the ranging method provided by the embodiments of the present disclosure, in response to the trigger of the ranging service, the first terminal device will determine the AOI broadcast area according to the AOI parameters to broadcast the ranging discovery message only to this AOI broadcast area. Thus, in the embodiments of the present disclosure, the first terminal device can discover the second terminal device by directionally broadcasting the ranging discovery message based on the AOI parameters to perform ranging with the second terminal device. Then the first terminal device will only discover the second terminal devices located in the AOI broadcast area, which can avoid the first terminal device from discovering terminal devices that do not have ranging capabilities or are not interested, ensuring that the first terminal device can efficiently discover the second terminal device, thereby improving the ranging efficiency and accuracy, reducing power consumption, and achieving effective ranging.

[0157] Figure 10 It is a schematic flowchart of the ranging method provided by another embodiment of the present disclosure, applied to the second terminal device, as Figure 10 shown, the method may include:

[0158] Step 1001, the second terminal device receives the ranging discovery message broadcast by the first terminal device.

[0159] In an embodiment of the present disclosure, the ranging discovery message may have an AOI parameter. For example, the ranging discovery message may have a first ranging service identifier, an identifier of the first terminal device, an AoI (Area of Interest) parameter, a request identifier, and a first line-of-sight transmission capability identifier, etc. Of course, in another embodiment of the present disclosure, the ranging discovery message may not have an AOI parameter. For example, the ranging discovery message may have a first ranging service identifier, an identifier of the first terminal device, a request identifier, and a first line-of-sight transmission capability identifier. In yet another embodiment of the present disclosure, the ranging discovery message may only have an AOI parameter.

[0160] Among them, in an embodiment of the present disclosure, the AOI parameter may be used to indicate the AOI broadcast area corresponding to the first terminal device (that is, the area of interest or region of interest of the first terminal device). The AOI parameter may include one or more of a distance parameter (such as the minimum distance and / or maximum distance between the first terminal device and its corresponding AOI area), an azimuth parameter (such as the minimum azimuth direction and / or maximum azimuth direction between the first terminal device and its corresponding AOI area), and an altitude direction parameter (such as the lowest altitude direction and / or maximum altitude direction between the first terminal device and its corresponding AOI area).

[0161] Step 1002, the second terminal device sends a ranging response message to the first terminal device, so that the first terminal device performs ranging with the second terminal device based on the ranging response message.

[0162] In an embodiment of the present disclosure, the ranging response message may have a second ranging service identifier. In yet another embodiment of the present disclosure, the ranging response message may also carry an identity authentication code of the second terminal device, so that the first terminal device discovers the second terminal device based on the identity authentication code of the second terminal device. In yet another embodiment of the present disclosure, the ranging response message may also carry a matching code, so that the first terminal device discovers the second terminal device based on the matching code.

[0163] In an embodiment of the present disclosure, the ranging discovery message and the ranging response message have a first ranging service identifier.

[0164] In an embodiment of the present disclosure, the method for the second terminal device to send a ranging response message to the first terminal device may include: The second terminal device may determine whether the second terminal device meets the AOI parameter according to the AOI parameter carried in the ranging discovery message (for example, the second terminal device may determine whether it is in the AOI broadcast area indicated by the AOI parameter). If the second terminal device determines according to the AOI parameter that the second terminal device meets the AOI parameter (for example, the second terminal device determines that it is in the AOI broadcast area indicated by the AOI parameter), the second terminal device may send a ranging response message to the first terminal device. If it does not meet (for example, the second terminal device determines that it is not in the AOI broadcast area indicated by the AOI parameter), the second terminal device may not send a ranging response message.

[0165] In the ranging method provided by the embodiment of the present disclosure, after receiving the ranging discovery message broadcast by the first terminal device, the second terminal device will send a ranging response message to the first terminal device, so that the first terminal device can perform ranging with the second terminal device based on the ranging response message. It can be seen that in the embodiment of the present disclosure, the first terminal device broadcasts a ranging discovery message to discover the second terminal device according to the ranging response message sent by the second terminal device based on the ranging discovery message, and will perform ranging with the second terminal device according to the ranging response message. Thus, the first terminal device can efficiently discover the second terminal device based on the ranging response message sent by the second terminal device, thereby improving the ranging efficiency and accuracy, reducing the power consumption, and realizing effective ranging.

[0166] Figure 11 It is a schematic flowchart of the ranging method provided by another embodiment of the present disclosure, applied to the second terminal device, as Figure 11 shown, the method may include:

[0167] Step 1101, the second terminal device receives the ranging discovery message broadcast by the first terminal device, the ranging discovery message carries an AOI parameter, and the ranging discovery message is not broadcast in the AOI broadcast area.

[0168] In an embodiment of the present disclosure, the AOI parameter may be used to indicate the AOI broadcast area corresponding to the first terminal device (that is, the area of interest or region of interest of the first terminal device), and the AOI parameter may include one or more of a distance parameter (for example, the minimum distance and / or maximum distance between the first terminal device and its corresponding AOI area), an azimuth parameter (for example, the minimum azimuth direction and / or maximum azimuth direction between the first terminal device and its corresponding AOI area), and an altitude direction parameter (for example, the lowest altitude direction and / or maximum altitude direction between the first terminal device and its corresponding AOI area).

[0169] In an embodiment of the present disclosure, the ranging discovery message not being broadcast in the AOI broadcast area may indicate that the ranging discovery message is directly broadcast by the first terminal device.

[0170] Step 1102, the second terminal device sends a ranging response message to the first terminal device, so that the first terminal device performs ranging with the second terminal device based on the ranging response message.

[0171] In an embodiment of the present disclosure, the ranging response message may have a second ranging service identifier. In another embodiment of the present disclosure, the ranging response message may further carry an identity authentication code of the second terminal device, so that the first terminal device discovers the second terminal device based on the identity authentication code of the second terminal device. In another embodiment of the present disclosure, the ranging response message may further carry a matching code, so that the first terminal device discovers the second terminal device based on the matching code.

[0172] In an embodiment of the present disclosure, the ranging discovery message and the ranging response message have a first ranging service identifier.

[0173] In an embodiment of the present disclosure, the method for the second terminal device to send a ranging response message to the first terminal device may include: the second terminal device may determine whether the second terminal device meets the AOI parameters according to the AOI parameters carried in the ranging discovery message (for example, the second terminal device may determine whether it is in the AOI broadcast area indicated by the AOI parameters). If the second terminal device determines according to the AOI parameters that the second terminal device meets the AOI parameters (for example, the second terminal device determines that it is in the AOI broadcast area indicated by the AOI parameters), the second terminal device may send a ranging response message to the first terminal device; if not (for example, the second terminal device determines that it is not in the AOI broadcast area indicated by the AOI parameters), the second terminal device may not send a ranging response message.

[0174] In the ranging method provided by the embodiments of the present disclosure, after receiving a ranging response message including AOI parameters, the second terminal device will determine whether it meets the AOI parameters, and if it meets the AOI, it will send a ranging response message to the first terminal device. Thus, in the embodiments of the present disclosure, after the first terminal device broadcasts a ranging discovery message carrying AOI parameters, it will not receive ranging response messages sent by all terminal devices, but only receive ranging response messages sent by the second terminal devices that meet the AOI parameters, so as to discover the second terminal devices. This can avoid the first terminal device discovering terminal devices that do not have ranging capabilities or are not interested, ensuring that the first terminal device can efficiently discover the second terminal devices, thereby improving the ranging efficiency and accuracy, reducing power consumption, and achieving effective ranging.

[0175] Figure 12 A flowchart of a ranging method provided by another embodiment of the present disclosure, which is applied to a second terminal device, such as Figure 12 shown, the method may include:

[0176] Step 1201, the second terminal device receives a ranging discovery message broadcast by the first terminal device. The ranging discovery message carries AOI parameters, and the ranging discovery message is broadcast within the AOI broadcast area.

[0177] In an embodiment of the present disclosure, the AOI parameters may be used to indicate the AOI broadcast area corresponding to the first terminal device (i.e., the area of interest or region of interest of the first terminal device). The AOI parameters may include one or more of a distance parameter (e.g., the minimum distance and / or maximum distance between the first terminal device and its corresponding AOI area), an azimuth parameter (e.g., the minimum azimuth direction and / or maximum azimuth direction between the first terminal device and its corresponding AOI area), and an altitude direction parameter (e.g., the lowest altitude direction and / or maximum altitude direction between the first terminal device and its corresponding AOI area).

[0178] Step 1202, the second terminal device sends a ranging response message to the first terminal device, so that the first terminal device performs ranging with the second terminal device based on the ranging response message.

[0179] In an embodiment of the present disclosure, the ranging response message may have a second ranging service identifier. In another embodiment of the present disclosure, the ranging response message may also carry an identity authentication code of the second terminal device, so that the first terminal device discovers the second terminal device based on the identity authentication code of the second terminal device. In another embodiment of the present disclosure, the ranging response message may also carry a matching code, so that the first terminal device discovers the second terminal device based on the matching code.

[0180] In an embodiment of the present disclosure, the ranging discovery message and the ranging response message have a first ranging service identifier.

[0181] In an embodiment of the present disclosure, the method for the second terminal device to send a ranging response message to the first terminal device may include: The second terminal device may determine whether the second terminal device meets the AOI parameter according to the AOI parameter carried in the ranging discovery message (for example, the second terminal device may determine whether it is in the AOI broadcast area indicated by the AOI parameter). If the second terminal device determines according to the AOI parameter that the second terminal device meets the AOI parameter (for example, the second terminal device determines that it is in the AOI broadcast area indicated by the AOI parameter), the second terminal device may send a ranging response message to the first terminal device; if not (for example, the second terminal device determines that it is not in the AOI broadcast area indicated by the AOI parameter), the second terminal device may not send a ranging response message.

[0182] In the ranging method provided by the embodiment of the present disclosure, the first terminal device will make the ranging discovery message broadcast only in the AOI broadcast area according to the AOI parameter. Thus, in the embodiment of the present disclosure, the first terminal device may discover the second terminal device by directionally broadcasting the ranging discovery message based on the AOI parameter to perform ranging with the second terminal device. Then the first terminal device will only discover the second terminal device located in the AOI broadcast area, which can avoid the first terminal device discovering terminal devices that do not have ranging capabilities or are not interested, ensuring that the first terminal device can efficiently discover the second terminal device, thereby improving the ranging efficiency and accuracy, reducing power consumption, and achieving effective ranging.

[0183] Figure 13 It is a schematic flowchart of the ranging method provided by another embodiment of the present disclosure, applied to the second terminal device, as Figure 13 shown, the method may include:

[0184] Step 1301, the second terminal device receives the ranging discovery message broadcast by the first terminal device, the ranging discovery message does not carry the AOI parameter, and the ranging discovery message is broadcast in the AOI broadcast area.

[0185] In an embodiment of the present disclosure, the AOI parameter may be used to indicate the AOI broadcast area corresponding to the first terminal device (that is, the area of concern or area of interest of the first terminal device), and the AOI parameter may include one or more of a distance parameter (for example, the minimum distance and / or maximum distance between the first terminal device and its corresponding AOI area), an azimuth parameter (for example, the minimum azimuth direction and / or maximum azimuth direction between the first terminal device and its corresponding AOI area), and an altitude direction parameter (for example, the lowest altitude direction and / or maximum altitude direction between the first terminal device and its corresponding AOI area).

[0186] Step 1302, the second terminal device sends a ranging response message to the first terminal device, so that the first terminal device performs ranging with the second terminal device based on the ranging response message.

[0187] In one embodiment of the present disclosure, the ranging discovery message may have a first ranging service identifier, and the ranging response message may have a second ranging service identifier. In another embodiment of the present disclosure, the ranging response message may further carry an identity authentication code of the second terminal device, so that the first terminal device discovers the second terminal device based on the identity authentication code of the second terminal device. In another embodiment of the present disclosure, the ranging response message may further carry a matching code, so that the first terminal device discovers the second terminal device based on the matching code.

[0188] In one embodiment of the present disclosure, the ranging discovery message and the ranging response message have a first ranging service identifier.

[0189] In one embodiment of the present disclosure, the method for the second terminal device to send a ranging response message to the first terminal device may include: the second terminal device may determine whether the second terminal device meets the AOI parameter according to the AOI parameter carried in the ranging discovery message (for example, the second terminal device may determine whether it is in the AOI broadcast area indicated by the AOI parameter). If the second terminal device determines that the second terminal device meets the AOI parameter according to the AOI parameter (for example, the second terminal device determines that it is in the AOI broadcast area indicated by the AOI parameter), the second terminal device may send a ranging response message to the first terminal device. If not (for example, the second terminal device determines that it is not in the AOI broadcast area indicated by the AOI parameter), the second terminal device may not send a ranging response message.

[0190] In the ranging method provided by the embodiments of the present disclosure, the first terminal device makes the ranging discovery message broadcast only in the AOI broadcast area according to the AOI parameter. Thus, in the embodiments of the present disclosure, the first terminal device can discover the second terminal device by directionally broadcasting the ranging discovery message based on the AOI parameter to perform ranging with the second terminal device. Then the first terminal device will only discover the second terminal device located in the AOI broadcast area, which can avoid the first terminal device discovering terminal devices that do not have ranging capabilities or are not interested, ensuring that the first terminal device can efficiently discover the second terminal device, thus improving the ranging efficiency and accuracy, reducing power consumption, and achieving effective ranging.

[0191] Figure 14 The structural schematic diagram of the ranging device 1400 provided by an embodiment of the present disclosure is applied to the first terminal device, as Figure 14 shown, the device 1400 may include:

[0192] A broadcast module 1401, configured to broadcast a ranging discovery message in response to a trigger of a ranging service;

[0193] A receiving module 1402, configured to receive a ranging response message sent by a second terminal device based on the ranging discovery message;

[0194] A ranging module 1403, configured to perform ranging with the second terminal device according to the ranging response message.

[0195] Among the ranging devices applied to a first terminal device provided in the embodiments of the present disclosure, in response to a trigger of a ranging service, the first terminal device uses the ranging device to broadcast a ranging discovery message, and receives a ranging response message sent by the second terminal device based on the ranging discovery message, and then performs ranging with the second terminal device according to the ranging response message. It can be seen from this that in the embodiments of the present disclosure, the first terminal device discovers the second terminal device by broadcasting a ranging discovery message, and discovers the second terminal device according to the ranging response message sent by the second terminal device based on the ranging discovery message, and will perform ranging with the second terminal device according to the ranging response message. Thus, the first terminal device can efficiently discover the second terminal device based on the ranging response message sent by the second terminal device, thereby improving the ranging efficiency and accuracy, reducing the power consumption, and realizing effective ranging.

[0196] The method according to claim 1, wherein the ranging discovery message has a first ranging service identifier, the ranging response message has a second ranging service identifier, and the first terminal device performs ranging with the second terminal device according to the ranging response message, including:

[0197] When the first ranging service identifier is consistent with the second ranging service identifier, the first terminal device performs ranging with the second terminal device.

[0198] In an embodiment of the present disclosure, the broadcast module 1401 may further be configured to: obtain Area of Interest (AOI) parameters; determine an AOI broadcast area according to the AOI parameters; and broadcast a ranging discovery message in the AOI broadcast area.

[0199] Further, in another embodiment of the present disclosure, the broadcast module 1401 may further be configured to: determine at least one of a broadcast beam direction and a broadcast power according to the AOI broadcast area; and broadcast a ranging discovery message according to at least one of the broadcast beam direction and the broadcast power.

[0200] Further, in another embodiment of the present disclosure, the ranging discovery message carries AOI parameters.

[0201] Further, in another embodiment of the present disclosure, the broadcast module 1401 may further be configured to: obtain AOI parameters; and broadcast a ranging discovery message, where the ranging discovery message includes the AOI parameters.

[0202] Further, in another embodiment of the present disclosure, the ranging response message includes the identifier of the second terminal device.

[0203] Further, in another embodiment of the present disclosure, the AOI parameter includes one or more of a distance parameter, an azimuth parameter, and an elevation direction parameter.

[0204] Further, in another embodiment of the present disclosure, the ranging discovery message and the ranging response message further include a line-of-sight transmission capability identifier.

[0205] Figure 15 The structural schematic diagram of the ranging device 1500 provided by still another embodiment of the present disclosure is applied to the first terminal device, as Figure 15 shown, the device 1500 may include:

[0206] A response module 1501, configured to obtain AOI parameters in response to the triggering of a ranging service;

[0207] A determination module 1502, configured to determine an AOI broadcast area based on the AOI parameters;

[0208] A broadcast module 1503, configured to broadcast a ranging discovery message in the AOI broadcast area.

[0209] In the ranging device applied to the second terminal device provided by the embodiment of the present disclosure, in response to the triggering of a ranging service, the first terminal device will use the ranging device to determine an AOI broadcast area according to the AOI parameters, so as to broadcast a ranging discovery message only to the AOI broadcast area. Thus, in the embodiment of the present disclosure, the first terminal device can discover the second terminal device by directionally broadcasting a ranging discovery message based on the AOI parameters, so as to perform ranging with the second terminal device. Then the first terminal device will only discover the second terminal device located in the AOI broadcast area, which can avoid the first terminal device from discovering terminal devices that do not have ranging capabilities or are not interested, ensuring that the first terminal device can efficiently discover the second terminal device, thereby improving the ranging efficiency and accuracy, reducing power consumption, and realizing effective ranging.

[0210] In an embodiment of the present disclosure, the broadcast module 1503 is further configured to: determine at least one of a broadcast beam direction and a broadcast power according to the AOI broadcast area; broadcast the ranging discovery message according to at least one of the broadcast beam direction and the broadcast power.

[0211] Further, in another embodiment of the present disclosure, the AOI parameter is carried in the ranging discovery message.

[0212] Further, in another embodiment of the present disclosure, the AOI parameter includes one or more of a distance parameter, an azimuth parameter, and an elevation direction parameter.

[0213] Figure 16 The following is a schematic structural diagram of a ranging device 1600 provided by another embodiment of the present disclosure, which is applied to a second terminal device, such as Figure 16 As shown, the device 1600 may include:

[0214] A receiving module 1601, configured to receive a ranging discovery message broadcast by a first terminal device;

[0215] A sending module 1602, configured to send a ranging response message to the first terminal device.

[0216] Among the ranging devices applied to the second terminal device provided in the embodiments of the present disclosure, after the second terminal device receives the ranging discovery message broadcast by the first terminal device through the ranging device, it will send a ranging response message to the first terminal device, so that the first terminal device performs ranging with the second terminal device based on the ranging response message. It can be seen from this that in the embodiments of the present disclosure, the first terminal device broadcasts a ranging discovery message to discover the second terminal device according to the ranging response message sent by the second terminal device based on the ranging discovery message, and will perform ranging with the second terminal device according to the ranging response message. Thus, the first terminal device can efficiently discover the second terminal device based on the ranging response message sent by the second terminal device, thereby improving the ranging efficiency and accuracy, reducing the power consumption, and realizing effective ranging.

[0217] In one embodiment of the present disclosure, the ranging discovery message and the ranging response message have a first ranging service identifier.

[0218] Further, in another embodiment of the present disclosure, the ranging discovery message is broadcast in an AOI broadcast area.

[0219] Further, in another embodiment of the present disclosure, the ranging discovery message further includes AOI parameters, and the sending module 1602 is further configured to: determine whether the second terminal device meets the AOI parameters according to the AOI parameters; if it meets, send a ranging response message to the first terminal device; if it does not meet, do not send a ranging response message.

[0220] Further, in another embodiment of the present disclosure, the AOI parameters include one or more of a distance parameter, an azimuth parameter, and an altitude direction parameter.

[0221] Further, in another embodiment of the present disclosure, the ranging discovery message and the ranging response message further include a line-of-sight transmission capability identifier.

[0222] To implement the above embodiments, the present disclosure also proposes a computer storage medium.

[0223] The computer storage medium provided by the embodiments of the present disclosure stores an executable program; after the executable program is executed by a processor, it can implement the ranging method provided by any of the foregoing technical solutions. For example, such as Figure 1 , Figures 4 to 13 at least one of them.

[0224] To implement the above embodiments, the present disclosure also proposes a computer program product, including a computer program, and the computer program implements the ranging method as described above when executed by a processor.

[0225] In addition, to implement the above embodiments, the present disclosure also proposes a computer program, which, when executed by a processor, implements the Figure 1 , Figures 4 to 13 ranging method described in the present disclosure.

[0226] Figure 17 is a block diagram of a terminal device UE1700 provided by an embodiment of the present disclosure. For example, UE1700 may be a mobile phone, a computer, a digital broadcast terminal device, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0227] Referring to Figure 17 , UE1700 may include at least one of the following components: a processing component 1702, a memory 1704, a power supply component 1706, a multimedia component 1708, an audio component 1710, an input / output (I / O) interface 1712, a sensor component 1714, and a communication component 1717.

[0228] The processing component 1702 generally controls the overall operation of UE1700, such as operations associated with display, telephone call, data communication, camera operation, and recording operation. The processing component 1702 may include at least one processor 1720 to execute instructions to complete all or part of the steps of the above method. In addition, the processing component 1702 may include at least one module to facilitate the interaction between the processing component 1702 and other components. For example, the processing component 1702 may include a multimedia module to facilitate the interaction between the multimedia component 1708 and the processing component 1702.

[0229] The memory 1704 is configured to store various types of data to support the operation of the UE 1700. Examples of such data include instructions for any application or method operating on the UE 1700, contact data, phone book data, messages, pictures, videos, etc. The memory 1704 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0230] The power supply component 1706 provides power to various components of the UE 1700. The power supply component 1706 may include a power management system, at least one power supply, and other components associated with generating, managing, and distributing power for the UE 1700.

[0231] The multimedia component 1708 includes a screen that provides an output interface between the UE 1700 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes at least one touch sensor to sense touches, swipes, and gestures on the touch panel. The touch sensor can not only sense the boundaries of touch or swipe actions, but also detect the wake-up time and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 1708 includes a front camera and / or a rear camera. When the UE 1700 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera can be a fixed optical lens system or have a focal length and optical zoom capabilities.

[0232] The audio component 1710 is configured to output and / or input audio signals. For example, the audio component 1710 includes a microphone (MIC) that is configured to receive external audio signals when the UE 1700 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals can be further stored in the memory 1704 or transmitted via the communication component 1717. In some embodiments, the audio component 1710 further includes a speaker for outputting audio signals.

[0233] The I / O interface 1712 provides an interface between the processing component 1702 and a peripheral interface module, which can be a keyboard, a click wheel, buttons, etc. These buttons can include, but are not limited to: a home button, a volume button, a power-on button, and a lock button.

[0234] The sensor assembly 1714 includes at least one sensor for providing a status assessment of various aspects for the UE 1700. For example, the sensor assembly 1714 can detect the on / off state of the device 1700, the relative positioning of components, such as the display and keypad of the UE 1700. The sensor assembly 1714 can also detect a change in the position of the UE 1700 or a component of the UE 1700, the presence or absence of user contact with the UE 1700, the orientation or acceleration / deceleration of the UE 1700, and the temperature change of the UE 1700. The sensor assembly 1714 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 1714 can also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 1714 can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0235] The communication component 1716 is configured to facilitate communication, in a wired or wireless manner, between the UE 1700 and other devices. The UE 1700 can access a wireless network based on communication standards, such as WiFi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1716 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1716 further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0236] In an exemplary embodiment, the UE 1700 can be implemented by at least one application specific integrated circuit (ASIC), digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor, or other electronic components for performing the above-described method.

[0237] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions, such as the memory 1704 including instructions, is also provided. The above instructions can be executed by the processor 1720 of the UE 1700 to complete the above-described method. For example, the non-transitory computer-readable storage medium can be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0238] Other embodiments of the present invention will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the invention following the general principles of the invention and including known common general knowledge or conventional technical means in the technical field not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the disclosure are pointed out by the following claims.

[0239] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the figures, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A ranging method, characterized in that, Including: In response to the triggering of the ranging service, the first terminal device broadcasts a ranging discovery message based on the Area of Interest (AOI) parameter. The first terminal device receives a ranging response message sent by the second terminal device based on the ranging discovery message. The first terminal device performs ranging with the second terminal device according to the ranging response message. Wherein, the AOI parameter is used to indicate the AOI broadcast area of the first terminal device, the AOI broadcast area includes the area of interest or region of interest of the first terminal device, and the second terminal device is located in the AOI broadcast area. Wherein, the ranging discovery message includes the AOI parameter, and the AOI parameter is used for the second terminal device to determine whether to send the ranging response message.

2. The method according to claim 1, wherein Wherein, The ranging discovery message has a first ranging service identifier, and the ranging response message has a second ranging service identifier. The first terminal device performing ranging with the second terminal device according to the ranging response message includes: When the first ranging service identifier is consistent with the second ranging service identifier, the first terminal device performs ranging with the second terminal device.

3. The method according to claim 1 or 2, characterized in that, The first terminal device broadcasting the ranging discovery message includes: The first terminal device obtains the Area of Interest (AOI) parameter. The first terminal device determines the AOI broadcast area according to the AOI parameter. The first terminal device broadcasts the ranging discovery message in the AOI broadcast area.

4. The method according to claim 3, wherein The first terminal device broadcasting the ranging discovery message in the AOI broadcast area includes: The first terminal device determines at least one of the broadcast beam direction and the broadcast power according to the AOI broadcast area. The first terminal device broadcasts the ranging discovery message according to at least one of the broadcast beam direction and the broadcast power.

5. The method according to claim 1 or 2, characterized in that The first terminal device broadcasting the ranging discovery message includes: The first terminal device obtains the AOI parameter. The first terminal device broadcasts the ranging discovery message.

6. The method according to claim 1 or 2, characterized in that, The ranging response message includes the identifier of the second terminal device.

7. The method according to claim 1, wherein The AOI parameter includes one or more of a distance parameter, an azimuth parameter, and an altitude direction parameter.

8. The method according to claim 1 or 2, characterized in that The ranging discovery message and the ranging response message further include a line-of-sight transmission capability identifier.

9. A ranging method, characterized in that, Including: In response to the triggering of the ranging service, the first terminal device obtains the AOI parameter. The first terminal device determines the AOI broadcast area according to the AOI parameter. The first terminal device broadcasts the ranging discovery message in the AOI broadcast area. Wherein, the AOI broadcast area includes the area of interest or region of interest of the first terminal device. Wherein, the ranging discovery message includes the AOI parameter, and the AOI parameter is used for the second terminal device to determine whether to send a ranging response message.

10. The method according to claim 9, characterized in that, The first terminal device broadcasting the ranging discovery message in the AOI broadcast area includes: The first terminal device determines at least one of the broadcast beam direction and the broadcast power according to the AOI broadcast area. The first terminal device broadcasts the ranging discovery message according to at least one of the broadcast beam direction and the broadcast power.

11. The method according to claim 9, characterized in that, characterized in that, The AOI parameter includes one or more of a distance parameter, an azimuth parameter, and an elevation direction parameter.

12. A ranging method, characterized in that, Including: The second terminal device receives the ranging discovery message broadcast by the first terminal device; The second terminal device sends a ranging response message to the first terminal device; Wherein, the ranging discovery message is broadcast based on the area of interest (AOI) parameter, and the AOI parameter is used to indicate the AOI broadcast area of the first terminal device, and the AOI broadcast area includes the area of interest or region of interest of the first terminal device, and the second terminal device is located in the AOI broadcast area; Wherein, the ranging discovery message includes the AOI parameter, and the AOI parameter is used for the second terminal device to determine whether to send the ranging response message.

13. The method according to claim 12, wherein Wherein, The ranging discovery message and the ranging response message have a first ranging service identifier.

14. The method according to claim 12, wherein The ranging discovery message is broadcast in the AOI broadcast area.

15. The method according to claim 12, wherein The second terminal device sending a ranging response message to the first terminal device includes: The second terminal device determines whether the second terminal device meets the AOI parameter according to the AOI parameter; If it meets the requirements, the second terminal device sends the ranging response message to the first terminal device; If it does not meet the requirements, the second terminal device does not send the ranging response message.

16. The method according to claim 15, wherein The AOI parameter includes one or more of a distance parameter, an azimuth parameter, and an elevation direction parameter.

17. The method according to claim 12, wherein The ranging discovery message and the ranging response message further include a line-of-sight transmission capability identifier.

18. A ranging device, characterized in that, The ranging device is applied to the first terminal device and includes: A broadcast module, configured to broadcast a ranging discovery message based on the area of interest (AOI) parameter in response to the triggering of a ranging service; A receiving module, configured to receive a ranging response message sent by the second terminal device based on the ranging discovery message; A ranging module, configured to perform ranging with the second terminal device according to the ranging response message; Wherein, the AOI parameter is used to indicate the AOI broadcast area of the first terminal device, and the AOI broadcast area includes the area of interest or region of interest of the first terminal device, and the second terminal device is located in the AOI broadcast area; Wherein, the ranging discovery message includes the AOI parameter, and the AOI parameter is used for the second terminal device to determine whether to send the ranging response message.

19. A ranging device, characterized in that, The ranging device is applied to the first terminal device and includes: A response module, configured to obtain the AOI parameter in response to the triggering of a ranging service; A determination module, configured to determine the AOI broadcast area according to the AOI parameter; A broadcast module, configured to broadcast the ranging discovery message in the AOI broadcast area; Wherein, the AOI broadcast area includes the area of interest or region of interest of the first terminal device; Wherein, the ranging discovery message includes the AOI parameter, and the AOI parameter is used for the second terminal device to determine whether to send a ranging response message.

20. A ranging device, characterized in that, The ranging device is applied to the second terminal device and includes: A receiving module, configured to receive a ranging discovery message broadcast by a first terminal device; A sending module, configured to send a ranging response message to the first terminal device; Wherein, the ranging discovery message is broadcast based on an Area of Interest (AOI) parameter, and the AOI parameter is used to indicate an AOI broadcast area of the first terminal device, and the AOI broadcast area includes an area of interest or a region of interest of the first terminal device, and the second terminal device is located in the AOI broadcast area; Wherein, the ranging discovery message includes the AOI parameter, and the AOI parameter is used for the second terminal device to determine whether to send the ranging response message.

21. A terminal device, characterized in that, Comprising: A transceiver; A memory; A processor, connected to the transceiver and the memory respectively, configured to control wireless signal transceiver of the transceiver by executing computer-executable instructions on the memory, and capable of implementing the method according to any one of claims 1 to 8 or 9 to 11 or 12 to 17.

22. A computer storage medium, wherein, The computer storage medium stores computer-executable instructions; after being executed by the processor, the computer-executable instructions can implement the method according to any one of claims 1 to 8 or 9 to 11 or 12 to 17.

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