Wireless communication method, apparatus, and storage medium

Abstract

The application provides a wireless communication method, device and storage medium, wherein an NDPA frame message sent by an initiating station is listened to, the NDPA frame message carries measurement feedback information, the NDPA frame message is formed by the initiating station based on a report item set determined by negotiation with a responding station, a measurement instruction sent by the initiating station is received, a target object is measured based on the measurement feedback information in response to the measurement instruction, a sensing measurement result is obtained, a feedback instruction sent by the initiating station is received, the sensing measurement result is sent to the initiating station in response to the feedback instruction. Since the report item set is determined in advance by the initiating station and the responding station, the initiating station can form the NDPA message according to the determined report item set every time when multiple measurements are performed, and then the NDPA message is sent to the responding station to guide the responding station to perform the measurement, so that the process of negotiating the local sensing capability before each measurement is omitted, and therefore the communication efficiency between the initiating station and the responding station is improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of wireless technology, and particularly relate to a wireless communication method, device and storage medium. BACKGROUND

[0002] Wi-Fi Sensing technology is a new technology that can use existing Wi-Fi signals to achieve motion detection, gesture recognition and biometric measurement based on existing Wi-Fi networks and devices. In Wi-Fi Sensing technology, changes caused by the movement of objects, pets and people in the environment are detected using a channel state information (CSI) based or radar based method without the need for the detected object to wear any device.

[0003] Through the implementation of Wi-Fi sensing, more intelligent and richer applications can be provided in the fields of smart home, intrusion detection, healthcare, smart remote care, etc.

[0004] Currently, the measurement process between the initiating station and the responding station in the Wi-Fi Sensing technology needs to negotiate the local sensing capability of the responding station each time, and the initiating station determines a measurement item in the negotiated local sensing capability and then performs measurement. Since the local sensing capability needs to be negotiated each time, the measurement process information feedback is cumbersome and the efficiency is low. SUMMARY

[0005] The wireless communication method, device and storage medium provided by the embodiments of the present application can improve the communication efficiency between the initiating station and the responding station.

[0006] The technical solution of the present application is implemented as follows:

[0007] The embodiments of the present application provide a wireless communication method applied to a responding station, comprising:

[0008] listening to a null data packet announcement (NDPA) frame message sent by an initiating station, wherein the NDPA frame message carries measurement feedback information; the NDPA frame message is formed by the initiating station based on a report item set determined by negotiation with the responding station;

[0009] receiving a measurement instruction sent by the initiating station, responding to the measurement instruction, performing sensing measurement on a target object based on the measurement feedback information, and obtaining a sensing measurement result;

[0010] receiving a feedback instruction sent by the initiating station, responding to the feedback instruction, and sending the sensing measurement result to the initiating station.

[0011] In the scheme, before the NDPA frame message sent by the initiator station is listened to, the method further comprises:

[0012] Receiving negotiation request information sent by the initiator station, wherein the negotiation request information carries a requested report item set;

[0013] In response to the negotiation request information, a plurality of determined report item sets are formed;

[0014] The plurality of determined report item sets are carried in a negotiation response message and sent to the initiator station.

[0015] In the scheme, different determined report item sets in the plurality of determined report item sets include different measurement parameters.

[0016] In the scheme, the plurality of determined report item sets include a first report item set, a second report item set, and a third report item set.

[0017] The first report item set includes at least one first type of measurement parameter, the second report item set includes at least one second type of measurement parameter, and the third report item set includes at least one third type of measurement parameter.

[0018] In the scheme, in response to the measurement instruction, the target object is measured based on the measurement feedback information to obtain a perception measurement result, which includes:

[0019] In response to the measurement instruction, a corresponding target report item set is determined from the plurality of determined report item sets according to binary bit information of the measurement feedback information.

[0020] The target object is measured based on the target report item set to obtain a perception measurement result.

[0021] In the scheme, the NDPA frame message is formed by the initiator station based on bit information indicating the target report item set.

[0022] In the scheme, the NDPA frame message further carries a plurality of feedback information corresponding to a plurality of responder stations; each feedback information includes address information of the corresponding responder station.

[0023] After the NDPA frame message sent by the initiator station is listened to, before the measurement instruction is responded to, the target object is measured based on the measurement feedback information to obtain a perception measurement result, the method further comprises:

[0024] Obtaining local address information;

[0025] The local address information is compared with address information of each responding station, target address information matching the local address information is determined, and the measurement feedback information corresponding to the target address information is obtained from the NDPA frame message.

[0026] The embodiment of the application further provides a wireless communication method applied to an initiating station, comprising the following steps:

[0027] sending an NDPA frame message to a responding station; the NDPA frame message carries measurement feedback information corresponding to the responding station; the NDPA frame message is formed based on a report item set determined through negotiation with the responding station;

[0028] sending a measurement instruction to the responding station at a first predetermined time interval; the measurement instruction is used to control the responding station to perform sensing measurement on a target object based on the measurement feedback information;

[0029] sending a feedback instruction to the responding station at a second predetermined time interval; the feedback instruction is used to control the responding station to feed back sensing measurement results;

[0030] receiving the sensing measurement results fed back by the responding station in response to the feedback instruction.

[0031] In the above scheme, before the step of sending the NDPA frame message to the responding station, the method further comprises the following steps:

[0032] sending negotiation request information to the responding station, wherein the negotiation request information carries a requested report item set;

[0033] receiving a negotiation response message sent by the responding station in response to the negotiation request information; the negotiation response message carries a plurality of determined report item sets.

[0034] In the above scheme, the method further comprises the following steps:

[0035] determining a target report item set corresponding to the responding station from the plurality of determined report item sets;

[0036] combining bit information indicating the target report item set and local address information of the responding station to form the measurement feedback information corresponding to the responding station.

[0037] The embodiment of the application further provides a wireless communication device applied to a responding station, comprising the following steps:

[0038] a listening and extracting unit configured to listen to an NDPA frame message sent by an initiating station, wherein the NDPA frame message carries measurement feedback information; the NDPA frame message is formed by the initiating station based on a report item set determined through negotiation with the responding station;

[0039] a first receiving unit, configured to receive a measurement instruction sent by the initiating station, and perform sensing measurement on the target object based on the measurement feedback information in response to the measurement instruction, to obtain a sensing measurement result;

[0040] a first sending unit, configured to receive a feedback instruction sent by the initiating station, and send the sensing measurement result to the initiating station in response to the feedback instruction.

[0041] The embodiment of the present application further provides a wireless communication device, which is applied to an initiating station and comprises:

[0042] a second sending unit, configured to send an NDPA frame message to the responding station; the NDPA frame message carries measurement feedback information corresponding to the responding station; and the NDPA frame message is formed based on a report item set determined through negotiation with the responding station;

[0043] The second sending unit is further configured to send a measurement instruction to the responding station at a first predetermined time interval; the measurement instruction is used to control the responding station to perform sensing measurement on the target object based on the measurement feedback information;

[0044] The second sending unit is further configured to send a feedback instruction to the responding station at a second predetermined time interval; the feedback instruction is used to control the responding station to feed back the sensing measurement result.

[0045] a second receiving unit, configured to receive the sensing measurement result fed back by the responding station in response to the feedback instruction.

[0046] The embodiment of the present application further provides a wireless communication device, which comprises a first memory and a first processor; the first memory stores a computer program capable of running on the first processor; and the first processor implements the method on the responding station side when executing the program.

[0047] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program; and the computer program implements the method on the responding station side when executed by a first processor.

[0048] The embodiment of the present application further provides a wireless communication device, which comprises a second memory and a second processor; the second memory stores a computer program capable of running on the second processor; and the second processor implements the method on the initiating station side when executing the program.

[0049] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program; and the computer program implements the method on the initiating station side when executed by a second processor.

[0050] In this embodiment of the invention, an NDPA frame message sent by the initiating station is monitored. This NDPA frame message carries measurement feedback information. The NDPA frame message is formed by the initiating station based on a report item set determined through negotiation with the responding station. A measurement command is received from the initiating station, and in response, the initiating station performs a sensing measurement of the target object based on the measurement feedback information to obtain the sensing measurement result. A feedback command is also received from the initiating station, and in response, the sensing measurement result is sent back to the initiating station. Because the initiating station and the responding station pre-determine the report item set in this scheme, during multiple measurements, the initiating station can form an NDPA message based on the pre-determined report item set each time, and then send it to the responding station to guide the responding station in performing the measurement. This eliminates the need to negotiate local sensing capabilities before each measurement, thus improving the communication efficiency between the initiating station and the responding station. Attached Figure Description

[0051] Figure 1 This is an optional flowchart illustrating a wireless communication method provided in an embodiment of the present invention.

[0052] Figure 2 This is an optional effect diagram of the wireless communication method provided in an embodiment of the present invention;

[0053] Figure 3 This is an optional flowchart illustrating a wireless communication method provided in an embodiment of the present invention.

[0054] Figure 4 This is an optional flowchart illustrating a wireless communication method provided in an embodiment of the present invention.

[0055] Figure 5 This is an optional flowchart illustrating a wireless communication method provided in an embodiment of the present invention.

[0056] Figure 6 This is an optional flowchart illustrating a wireless communication method provided in an embodiment of the present invention.

[0057] Figure 7 This is an optional flowchart illustrating a wireless communication method provided in an embodiment of the present invention.

[0058] Figure 8 This is an optional flowchart illustrating a wireless communication method provided in an embodiment of the present invention.

[0059] Figure 9 This is an interactive schematic diagram of the wireless communication method provided in an embodiment of the present invention;

[0060] Figure 10 A schematic diagram of the structure of the wireless communication device provided in the embodiments of the present invention. Figure 1 ;

[0061] Figure 11 A hardware entity diagram of the wireless communication device provided by the embodiment of the present application Figure 1 ;

[0062] Figure 12 A structure diagram of the wireless communication device provided by the embodiment of the present application Figure 2 ;

[0063] Figure 13 A hardware entity diagram of the wireless communication device provided by the embodiment of the present application Figure 2 . DETAILED DESCRIPTION

[0064] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further described in detail below in combination with the drawings and embodiments, and the described embodiments should not be regarded as limiting the present application, and all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0065] In the following description, "some embodiments" are described, which describe a subset of all possible embodiments, but it can be understood that "some embodiments" can be the same subset or different subset of all possible embodiments, and can be combined with each other without conflict.

[0066] If the similar description of "first / second" appears in the application document, the following description is added, in the following description, the terms "first\second\third" only distinguish similar objects, and do not represent the specific order of the objects, and it can be understood that "first\second\third" can be interchanged with the specific order or sequence as allowed, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application, and are not intended to limit the present application.

[0068] Figure 1 An optional flow diagram of the wireless communication method provided by the embodiment of the present application is applied to the responding station, which will be described in combination with the steps shown in the figure. Figure 1

[0069] S101, listen to the null data packet declaration NDPA frame message sent by the initiating station, the NDPA frame message carries measurement feedback information, and the NDPA frame message is formed by the initiating station based on the reporting item set determined by negotiation with the responding station. ​

[0070] In the embodiment of the present application, the responding station listens to the NDPA frame message sent by the initiating station. The NDPA frame message carries measurement feedback information, and the NDPA frame message is formed by the initiating station based on the report item set determined by negotiation with the responding station.

[0071] In the embodiment of the present application, the determined report item set can be a set of measurement parameters of a predetermined measurement type negotiated by the responding station and the initiating station. Each report item set includes at least one measurement parameter of a corresponding measurement type. Different report item sets include different measurement parameters. For example, the determined report item set can include report item set 1 and report item set 2. The report item set 1 can include the measurement parameter: high-precision CSI matrix. The report item set 2 can include the measurement parameters: received signal strength and Doppler frequency offset.

[0072] In the embodiment of the present application, the responding station can also listen to the NDPA frame message broadcast by the initiating station.

[0073] In the embodiment of the present application, the initiating station broadcasts or sends the NDPA frame message through the Wi-Fi signal in the environment of the initiating station and the responding station.

[0074] The NDPA frame message is also called a null data packet announcement (NDPA). In IEEE 802.11-21 / 1035r0 Sensing-specific feedback using NDPA and trigger frames, it is proposed to carry the sensing feedback information type message between the AP and the sensing measurement STA in the 802.11be NDPA frame by extending the STA information field, and the types of feedback messages are also proposed, including high-precision CSI matrix, time difference of arrival (TDOA), angle of arrival (AOA), received signal strength, position, and or Doppler. Correspondingly, in the embodiment of the present application, the NDPA frame message can also carry the above measurement parameters.

[0075] The initiating station can be a sensing initiator (Sensing initiator), and the responding station can be a sensing responder (Sensing Responder).

[0076] In the embodiment of the present application, before the responding station listens to the NDPA frame message sent by the broadcasting station, the initiating station establishes a communication connection with the responding station through a Wi-Fi signal. The responding station reports its multiple local measurement parameters to the initiating station through the pre-established communication connection. The initiating station determines the reporting item set based on the multiple local measurement parameters and the responding station.

[0077] In the embodiment of the present application, the NDPA frame message can carry feedback information corresponding to each responding station and communication-related information corresponding to each responding station.

[0078] In the embodiment of the present application, the Sensing initiator (corresponding to the initiating station) sends an NDPA frame to the Sensing Responder (corresponding to the responding station), and the NDPA frame is used for the Sensing initiator to broadcast the feedback content required for each Sensing Responder to measure the sensing report in the current measurement period. The parameters included in the exemplary NDPA frame can be embodied by Table 1.

[0079]

[0080]

[0081] Table 1

[0082] In the embodiment of the present application, in combination with Table 1, the communication-related information includes a frame format, a period, a receiving device address, and a sending device address. The receiving device address is the address of the initiating node, and the sending device address is the address of the responding node. Any one of the STA1 feedback information, the STA2 feedback information, and the STAn feedback information can be the measurement feedback information corresponding to the responding station.

[0083] In the embodiment of the present application, the responding station can extract the measurement feedback information corresponding to the responding station from the NDPA frame message.

[0084] In the embodiment of the present application, the responding station can extract the measurement feedback information corresponding to the local address information of the responding station from the NDPA frame message.

[0085] In the embodiment of the present application, the NDPA frame message can include multiple feedback information corresponding to multiple responding stations. Each feedback information includes address information of the corresponding responding station. The responding station can determine the measurement feedback information from the multiple feedback information according to its local address information.

[0086] In the embodiment of the present application, the measurement feedback information represents the measurement information that the responding station needs to send to the initiating station.

[0087] For example, refer to Table 1. The NDPA frame message can include STA1 feedback information, STA2 feedback information, and STAn feedback information. The STA1 feedback information is feedback information for responding station 1, the STA1 feedback information includes address information of responding station 1, the STA2 feedback information is feedback information for responding station 2, the STA2 feedback information includes address information of responding station 2, and the STAn feedback information is feedback information for responding station n, the STAn feedback information includes address information of responding station n. If responding station 1 receives the NDPA frame message, responding station 1 can determine the STA1 feedback information corresponding to responding station 1 from the STA1 feedback information, the STA2 feedback information, and the STAn feedback information according to the local address information of responding station 1.

[0088] The STA(1-n) feedback information is used to indicate feedback information dimensions in the sensing feedback measurement report to be reported by each STA participating in the sensing measurement (that is, the responding station). For example, the parameter information included in the STA(1-n) feedback information can be embodied by Table 2.

[0089]

[0090] Table 2

[0091] The Sensing feedback Type Indication can use three bits to indicate eight feedback measurement type combinations, that is, a determined report item set. For example, the three-bit representation of the Sensing feedback Type Indication can be embodied by Table 3.

[0092]

[0093]

[0094] Table 3

[0095] For example, refer to Table 3. Any binary three-bit information can be used to indicate a corresponding determined report item set. When the Sensing feedback Type Indication binary bit is 001, the Sensing feedback Type Indication indicates that the sensing measurement type to be fed back by the STA includes high-precision CSI matrix and received signal strength. That is, the measurement parameters of the determined report item set indicated by 001 include high-precision CSI matrix and received signal strength.

[0096] In the embodiment of the present application, the Sensing feedback Type Indication can also be expressed by four bits or five bits. The Sensing feedback Type Indication can also be expressed by n bits. Wherein, n is a positive integer greater than or equal to 3.

[0097] In the embodiment of the present application, the Sensing Responder listens to the NDPA frame message, if the AID 11 field in a certain NDPA frame message is the address of the Sensing Responder, the Sensing feedback Type Indication corresponding to the AID 11 field is stored in the local, otherwise the field is empty.

[0098] S102, receiving the measurement instruction sent by the initiator station, responding to the measurement instruction, based on the measurement feedback information, the target object is measured to obtain the sensing measurement result.

[0099] In the embodiment of the present application, the responding station receives the measurement instruction sent by the initiator station. The responding station responds to the measurement instruction, based on the measurement feedback information, the target object is measured. The sensing measurement result corresponding to the target object is obtained.

[0100] In the embodiment of the present application, after the initiator station sends the NDPA frame message for the first predetermined time, the initiator station sends the measurement instruction to the responding station according to the preset program instruction. The responding station responds to the measurement instruction, and calls the sensing sensor corresponding to the measurement feedback information to measure the target object. The sensing measurement result corresponding to the target object is obtained.

[0101] In the embodiment of the present application, the responding station calls the sensing sensor corresponding to the measurement feedback information to measure the target object based on the measurement feedback information according to the preset program. The sensing measurement result is obtained.

[0102] Wherein, the target object can be any one of the object, pet and person.

[0103] Wherein, the sensing sensor can include at least one of ultrasonic ranging sensor, infrared radar and binocular camera.

[0104] In the embodiment of the present application, the responding station responds to the measurement instruction, based on the measurement feedback information, the corresponding sensing sensor is called to measure the target object. The sensing measurement result of the target object is obtained. Wherein, the sensing measurement result is stored in the storage location corresponding to the measurement feedback information. Or the sensing measurement result carries the identification information corresponding to the measurement feedback information.

[0105] S103, receiving the feedback instruction sent by the initiating station, and sending the sensing measurement result to the initiating station in response to the feedback instruction.

[0106] In the embodiment of the present application, the responding station receives the feedback instruction sent by the initiating station, and sends the sensing measurement result to the initiating station in response to the feedback instruction.

[0107] In the embodiment of the present application, after the responding station receives the feedback instruction sent by the initiating station, the responding station responds to the feedback instruction, extracts the sensing measurement result from the corresponding storage location of the measurement feedback information, and sends the sensing measurement result to the initiating station through the communication line previously established with the initiating station.

[0108] In the embodiment of the present application, when the Sensing Reponder participates in the current Sensing measurement session, and the Sensing feedback Type Indication field saved locally is not empty, the Sensing measurement report is composed according to the corresponding feedback message and the local measurement result.

[0109] For example, in combination with Figure 2 After the responding station 200 performs the sensing measurement on the target object 300, the sensing measurement result is formed. The responding station 200 stores the sensing measurement result locally. The initiating station 100 sends the feedback instruction to the responding station 200. The responding station 200 receives the feedback instruction sent by the initiating station 100, and sends the sensing measurement result to the initiating station 100 in response to the feedback instruction.

[0110] In the embodiment of the present application, the NDPA frame message sent by the initiating station is listened to, and the measurement feedback information is carried in the NDPA frame message. The NDPA frame message is formed by the initiating station based on the report item set determined by negotiation with the responding station. The measurement instruction sent by the initiating station is received, and the sensing measurement on the target object is performed based on the measurement feedback information in response to the measurement instruction, so as to obtain the sensing measurement result. The feedback instruction sent by the initiating station is received, and the sensing measurement result is sent to the initiating station in response to the feedback instruction. Since the report item set is determined in advance by the initiating station and the responding station in the present scheme, the NDPA message can be formed by the initiating station according to the determined report item set every time, and then sent to the responding station to guide the responding station to perform the measurement, so that the process of negotiating the local sensing capability before each measurement is omitted, and therefore the communication efficiency between the initiating station and the responding station is improved.

[0111] In some embodiments, referring to Figure 3 , Figure 3 An optional flowchart of a wireless communication method provided by the embodiment of the present application is shown in the figure, Figure 1The S101 shown further includes S104 to S106, which will be described in combination with each step.

[0112] S104, receiving the negotiation request information sent by the initiating station, the negotiation request information carrying a requested report item set.

[0113] In the embodiment of the application, the responding station receives the negotiation request information sent by the initiating station. The negotiation request information carries a requested report item set.

[0114] In the embodiment of the application, the negotiation request information can further include measurement type information corresponding to the requested report item set. For example, the measurement type information can include distance, posture, temperature, shape and the like.

[0115] In the embodiment of the application, in the Sensing measurement negotiation process, the Sensing responder reports the local measurement parameters supported by the Sensing responder to the Sensing initiator, and then the Sensing initiator sends back a Sensing negotiate indicator message (that is, a requested report item set) to indicate the feedback message type set expected by the Sensing initiator. The Sensing negotiate indicator message can be embodied by Table Four.

[0116]

[0117] Table Four

[0118] In the embodiment of the application, in combination with Table Four, the requested report item set is the Sensing negotiate indicator message. The requested report item set can include the requested report item set 1, the requested report item set 2, the requested report item set 3 to the requested report item set n in Table Four. The measurement parameters in the requested report item set 1 can include sub-ability 1: high-precision CSI matrix, sub-ability 2: received signal strength and sub-ability 3: Doppler frequency offset.

[0119] S105, responding to the negotiation request information, forming a plurality of determined report item sets.

[0120] In the embodiment of the application, the responding station responds to the negotiation request information to form a plurality of determined report item sets.

[0121] In the embodiment of the application, the responding station responds to the negotiation request information. The responding station can determine a plurality of report item sets that can be measured by the measurement parameters of the responding station in the requested report item set as the plurality of determined report item sets.

[0122] In the embodiment of the present application, the responding station forms the determined multiple report item sets in response to the negotiation request information.

[0123] In the embodiment of the present application, the responding station forms the determined report item set corresponding to the measurement type information based on the local multiple measurement parameters according to the measurement type information in the negotiation request information. The responding station can combine according to the functions of the local multiple measurement parameters, and then form the determined report item set corresponding to the measurement type information.

[0124] In the embodiment of the present application, the responding station forms the determined multiple report item sets in response to the negotiation request information.

[0125] In the embodiment of the present application, the responding station forms the determined multiple report item sets in response to the negotiation request information.

[0126] In the embodiment of the present application, the determined different report item sets in the determined multiple report item sets include different measurement parameters. Each determined report item set can include at least one measurement parameter.

[0127] In the embodiment of the present application, the determined multiple report item sets include a first report item set, a second report item set and a third report item set. The first report item set includes at least one first type of measurement parameter, the second report item set includes at least one second type of measurement parameter, and the third report item set includes at least one third type of measurement parameter. The first type of measurement parameter, the second type of measurement parameter and the third type of measurement parameter can correspond to the same measurement type or different measurement types. For example, the at least one first type of measurement parameter can include a high-precision CSI matrix, a received signal strength and a Doppler frequency offset. The at least one second type of measurement parameter can include a time-of-flight ranging, a received signal strength and a signal arrival angle. The at least one third type of measurement parameter can include a time-of-flight ranging and a Doppler frequency offset. The at least one first type of measurement parameter, the at least one second type of measurement parameter and the at least one third type of measurement parameter all correspond to the same measurement type, that is, the ranging type.

[0128] In the embodiment of the present application, the determined multiple report item sets can also include a first report item set to an n-th report item set. Wherein n is a positive integer greater than 1.

[0129] In this embodiment of the invention, the determined multiple report item sets may further include: a coarse-precision report item set, a medium-precision report item set, and a high-precision report item set. The coarse-precision, medium-precision, and high-precision report item sets all include at least one measurement parameter of the same measurement type. The difference lies in that the result data obtained from at least one measurement parameter in the coarse-precision report item set is inaccurate, the result data obtained from at least one measurement parameter in the medium-precision report item set is relatively accurate, and the result data obtained from at least one measurement parameter in the high-precision report item set is very accurate.

[0130] In this embodiment of the invention, the initiating station and the responding station determine multiple report item sets. When performing multiple measurements, the initiating station can generate an NDPA message based on the determined report item sets each time, and then send it to the responding station to guide the responding station to perform the measurement. This eliminates the need to negotiate local sensing capabilities before each measurement, thus improving the communication efficiency between the initiating station and the responding station.

[0131] In some embodiments, see Figure 4 , Figure 4 This is an optional flowchart illustrating a wireless communication method provided in an embodiment of the present invention. Figure 1 The shown S102 can be implemented through S107 to S108, which will be explained in conjunction with each step.

[0132] S107. Receive the measurement command sent by the initiating station, respond to the measurement command, and determine the corresponding target report item set from the determined multiple report item sets based on the binary bit information of the measurement feedback information.

[0133] In this embodiment of the invention, the responding station receives a measurement command sent by the initiating station and responds to the measurement command. Based on the binary bit information of the measurement feedback information, the responding station determines the corresponding target report item set from a set of determined report items.

[0134] In this embodiment of the invention, the NDPA frame message is formed by the initiating station based on bit information indicating the target report item set. The measurement feedback information in the NDPA frame message can be bit information indicating the target report item set. In this embodiment, the responding station can parse the binary bit information of the measurement feedback information to obtain its corresponding intermediate information. The responding station can determine the target report item set corresponding to the intermediate information of the measurement feedback information from a set of determined report item sets.

[0135] In this embodiment of the invention, the binary bit information corresponding to the measurement feedback information can also be represented by Table 5.

[0136]

[0137]

[0138] Table five

[0139] In the embodiment of the present application, the binary bit information corresponding to the plurality of feedback information can include 000, 001, 010, 011, 100, 101, 110 and 111. If the binary bit information corresponding to the measurement feedback information is 000, the responding station parses the binary bit information 000 to obtain the intermediate information as the report item set corresponding to the local measurement parameter 1.

[0140] S108, performing sensing measurement on the target object according to the target report item set to obtain a sensing measurement result.

[0141] In the embodiment of the present application, the responding station performs sensing measurement on the target object according to the target report item set to obtain a sensing measurement result.

[0142] In the embodiment of the present application, the responding station can call the sensing sensor corresponding to at least one measurement parameter in the target report item set to perform measurement on the target object according to a preset program to obtain a sensing measurement result.

[0143] The sensing measurement result can be any one of a distance result, a position result, a posture result and a temperature result.

[0144] In the embodiment of the present application, the responding station determines a target report item set from the determined plurality of report item sets based on the measurement feedback information, and then performs measurement. The process of negotiation before each measurement is omitted, and the communication efficiency is improved.

[0145] In some embodiments, referring to Figure 5 , Figure 5 An optional flowchart of a wireless communication method provided by the embodiment of the present application is shown as follows, Figure 1 S109 to S110 are shown between S101 and S102, which will be described in combination with each step.

[0146] S109, obtaining local address information.

[0147] In the embodiment of the present application, the responding station obtains the local address information of itself.

[0148] S110, comparing the local address information with the address information of each responding station to determine target address information matched with the local address information, and obtaining measurement feedback information corresponding to the target address information from the NDPA frame message.

[0149] In the embodiment of the present application, the responding station compares the local address information with the address information of each responding station, and determines the target address information matched with the local address information. The responding station determines the measurement feedback information corresponding to the target address information from the NDPA frame message. The NDPA frame message further carries a plurality of feedback information corresponding to a plurality of responding stations; each feedback information includes the address information of the corresponding responding station.

[0150] In the embodiment of the present application, the responding station determines its own measurement feedback information in the NDPA frame message according to the local address information, so that the initiating station can avoid errors when broadcasting the NDPA frame message to the corresponding responding stations, and the responding station can accurately extract its own measurement feedback information.

[0151] In some embodiments, referring to Figure 6 , Figure 6 An optional flowchart of the wireless communication method provided by the embodiment of the present application is provided, which is applied to the initiating station and will be described in combination with each step.

[0152] S201, sending an NDPA frame message to the responding station; the NDPA frame message carries the measurement feedback information corresponding to the responding station; the NDPA frame message is formed based on the reporting item set determined by negotiation with the responding station.

[0153] In the embodiment of the present application, the initiating station sends the NDPA frame message to the responding station. The NDPA frame message carries the measurement feedback information corresponding to the responding station; the NDPA frame message is formed based on the reporting item set determined by negotiation with the responding station.

[0154] In the embodiment of the present application, the initiating station can also broadcast the NDPA frame message to each responding station. The NDPA frame message carries the measurement feedback information corresponding to each responding station; the NDPA frame message is formed based on the reporting item set determined by negotiation with each responding station.

[0155] In the embodiment of the present application, the initiating station broadcasts or sends the NDPA frame message through the Wi-Fi signal in the environment of the initiating station and the responding station.

[0156] S202, sending a measurement instruction to the responding station after a first predetermined time interval.

[0157] In the embodiment of the present application, the initiating station sends the measurement instruction to the responding station after a first predetermined time interval. The measurement instruction is used to control the responding station to perform sensing measurement on the target object based on the respective measurement feedback information.

[0158] In the embodiment of the present application, after the initiator broadcasts the NDPA frame message, the initiator sends the measurement instruction to each responder according to the preset program at a first preset time interval.

[0159] The first preset time interval can be 1 second or 1 minute. In the embodiment of the present application, the first preset time interval is not limited.

[0160] S203, sending the feedback instruction to the responder at a second preset time interval.

[0161] In the embodiment of the present application, the initiator sends the feedback instruction to the responder at a second preset time interval. The feedback instruction is used to control the responder to feed back the sensing measurement result.

[0162] In the embodiment of the present application, after the initiator sends the measurement instruction to each responder, the initiator sends the feedback instruction to each responder at a second preset time interval according to the preset program.

[0163] The second preset time interval can be 1 second or 1 minute. In the embodiment of the present application, the first preset time interval is not limited. The first preset time interval can be the same as or different from the second preset time interval.

[0164] S204, receiving the sensing measurement result of each responder in response to the feedback instruction.

[0165] In the embodiment of the present application, the initiator receives the sensing measurement result of each responder in response to the feedback instruction.

[0166] In the embodiment of the present application, since the initiator and the responder in the present scheme determine the report item set in advance, the initiator can form the NDPA message according to the determined report item set each time when multiple measurements are performed, and then send the NDPA message to the responder to guide the responder to perform the measurement, thereby saving the process of negotiating the local sensing capability before each measurement, and improving the communication efficiency between the initiator and the responder.

[0167] In some embodiments, referring to Figure 7 , Figure 7 An optional flowchart of a wireless communication method provided by the embodiment of the present application is shown in Figure 6 S201 is shown before S205 to S206, which will be described in combination with each step.

[0168] S205, sending the negotiation request information to the responder, wherein the negotiation request information carries the requested report item set.

[0169] In the embodiment of the present application, the initiator sends the negotiation request information to the responder. The negotiation request information carries the requested report item set.

[0170] In the embodiment of the present application, the initiating station sends negotiation request information to each responding station. The negotiation request information of each responding station carries a respective set of requested reporting items.

[0171] The set of requested reporting items is a set of measurement parameters formed by the initiating station based on the multiple local measurement parameters reported by the responding station.

[0172] S206, receiving the negotiation response message sent by the responding station in response to the negotiation request information; the negotiation response message carries a plurality of determined sets of reporting items.

[0173] In the embodiment of the present application, the initiating station receives the negotiation response message sent by the responding station in response to the negotiation request information. The negotiation response message carries a plurality of determined sets of reporting items.

[0174] In the embodiment of the present application, the initiating station receives the multiple local measurement parameters reported by the responding station. Then, the initiating station determines the set of requested reporting items based on the multiple local measurement parameters. The initiating station sends the set of reporting items to the responding station, and the responding station determines a determined set of reporting items in the set of reporting items. The range of the responding station in determining the target capability based on the measurement feedback information is reduced, and the communication efficiency is improved.

[0175] In some embodiments, referring to Figure 8 , Figure 8 An optional flowchart of the wireless communication method provided by the embodiment of the present application further includes S207 to S208, which will be described in combination with the steps.

[0176] S207, determining a target set of reporting items of the responding station in the plurality of determined sets of reporting items.

[0177] In the embodiment of the present application, the initiating station determines the target set of reporting items corresponding to the responding station in the plurality of determined sets of reporting items.

[0178] Further, the initiating station can determine a plurality of target sets of reporting items corresponding to a plurality of responding stations.

[0179] S208, combining the bit information indicating the target set of reporting items and the local address information of the responding station to form the measurement feedback information corresponding to the responding station.

[0180] In the embodiment of the present application, the initiating station combines the bit information indicating the target set of reporting items and the local address information of the responding station to form the measurement feedback information corresponding to the responding station.

[0181] In the embodiment of the present application, the initiating station can combine the measurement feedback information of each responding station and the communication related information corresponding to each responding station to form an NDPA frame message.

[0182] In the embodiment of the present application, the initiating station forms the measurement feedback information corresponding to the responding station according to the multiple report item sets determined by the responding station in negotiation, and then forms and sends the NDPA frame message, thereby improving the communication efficiency of the initiating station and the responding station.

[0183] In some embodiments, referring to Figure 9 , Figure 9 The wireless communication method interaction schematic diagram provided by the embodiment of the present application will be described in combination with each step.

[0184] S301, the responding station listens to the null data packet announcement (NDPA) frame message sent by the initiating station, and the NDPA frame message carries the measurement feedback information; the NDPA frame message is formed by the initiating station based on the report item set determined by negotiation with the responding station.

[0185] The detailed implementation of step S301 is consistent with that of S101, which will not be repeated here.

[0186] S302, the responding station receives the measurement instruction sent by the initiating station, responds to the measurement instruction, and performs sensing measurement on the target object based on the measurement feedback information to obtain the sensing measurement result.

[0187] The detailed implementation of step S302 is consistent with that of S102, which will not be repeated here.

[0188] S303, the initiating station sends a feedback instruction to the responding station at an interval of a second predetermined time length

[0189] The detailed implementation of step S303 is consistent with that of S203, which will not be repeated here.

[0190] S304, the initiating station receives the sensing measurement result fed back by the responding station in response to the feedback instruction.

[0191] The detailed implementation of step S304 is consistent with that of S204, which will not be repeated here.

[0192] Please refer to Figure 10 The structure schematic diagram of the wireless communication device provided by the embodiment of the present application Figure 1 .

[0193] The embodiment of the present application further provides a wireless communication device 800 applied to the responding station, which comprises a listening and extracting unit 803, a first receiving unit 804 and a first sending unit 805.

[0194] The listening extraction unit 803 is configured to listen to an NDPA frame message sent by the initiating station, wherein the NDPA frame message carries measurement feedback information; and the NDPA frame message is formed by the initiating station based on a report item set determined by negotiation with the responding station.

[0195] The first receiving unit 804 is configured to receive a measurement instruction sent by the initiating station, and perform sensing measurement on a target object based on the measurement feedback information to obtain a sensing measurement result in response to the measurement instruction.

[0196] The first sending unit 805 is configured to receive a feedback instruction sent by the initiating station, and send the sensing measurement result to the initiating station in response to the feedback instruction.

[0197] In the embodiment of the present application, the first receiving unit 804 of the wireless communication device 800 is further configured to receive negotiation request information sent by the initiating station, wherein the negotiation request information carries a requested report item set; and a plurality of determined report item sets are formed in response to the negotiation request information; and the first sending unit 805 is configured to carry the plurality of determined report item sets in negotiation response information and send the negotiation response information to the initiating station.

[0198] In the embodiment of the present application, different determined report item sets in the plurality of determined report item sets include different measurement parameters.

[0199] In the embodiment of the present application, the plurality of determined report item sets include a first report item set, a second report item set and a third report item set.

[0200] The first report item set includes at least one first type of measurement parameter, the second report item set includes at least one second type of measurement parameter, and the third report item set includes at least one third type of measurement parameter.

[0201] In the embodiment of the present application, the wireless communication device 800 is configured to determine a corresponding target report item set from the plurality of determined report item sets according to binary bit information of the measurement feedback information in response to the measurement instruction; and perform sensing measurement on the target object according to the target report item set to obtain a sensing measurement result.

[0202] In the embodiment of the present application, the NDPA frame message is formed by the initiating station based on bit information indicating the target report item set.

[0203] In the embodiment of the present application, the NDPA frame message also carries a plurality of feedback information corresponding to a plurality of responding stations; each feedback information includes: address information of the corresponding responding station; the wireless communication device 800 is also used for obtaining local address information; comparing the local address information with the address information of each responding station, determining target address information matched with the local address information, and obtaining the measurement feedback information corresponding to the target address information from the NDPA frame message.

[0204] In the embodiment of the present application, the NDPA frame message sent by the initiating station is listened to by the listening and extracting unit 803, and the NDPA frame message carries measurement feedback information; the NDPA frame message is formed by the initiating station based on the report item set determined by negotiation with the responding station; the measurement instruction sent by the initiating station is received by the first receiving unit 804, and in response to the measurement instruction, the target object is measured based on the measurement feedback information to obtain a sensing measurement result; the feedback instruction sent by the initiating station is received by the first sending unit 805, and in response to the feedback instruction, the sensing measurement result is sent to the initiating station. Since the report item set is determined in advance by the initiating station and the responding station in the present scheme, the initiating station can form the NDPA message according to the determined report item set each time when multiple measurements are performed, and then send the NDPA message to the responding station to guide the responding station to perform measurement, thereby saving the process of negotiating local sensing capability before each measurement, and thus improving the communication efficiency between the initiating station and the responding station.

[0205] It should be noted that, in the embodiment of the present application, if the wireless communication method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions for causing a wireless communication device (which can be a personal computer, etc.) to execute all or part of the methods described in the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and various storage medium capable of storing program codes. Thus, the embodiments of the present application are not limited to any specific hardware and software combination.

[0206] Correspondingly, the embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program is executed by the first processor to implement the method on the responding station side.

[0207] Correspondingly, the embodiment of the present application provides a wireless communication device, comprising a first memory 802 and a first processor 801, wherein the first memory 802 stores a computer program capable of running on the first processor 801, and the first processor 801 implements the method on the responding station side when executing the program.

[0208] It should be noted that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects to the method embodiments. For technical details not disclosed in the storage medium and device embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0209] It should be noted that, Figure 11 A hardware entity schematic diagram of the wireless communication device provided by the embodiment of the present application is shown in Figure 11 The hardware entity of the wireless communication device 800 comprises a first processor 801 and a first memory 802, wherein the first processor 801 is configured to execute the instructions stored in the first memory 802.

[0210] The first processor 801 generally controls the overall operation of the wireless communication device 800.

[0211] The first memory 802 is configured to store instructions and applications executable by the first processor 801, and can also cache data (for example, image data, audio data, voice communication data and video communication data) to be processed or having been processed by the first processor 801 and each module in the wireless communication device 800, which can be realized by FLASH or RAM.

[0212] Please refer to Figure 12 The structure schematic diagram of the wireless communication device provided by the embodiment of the present application is shown in Figure 2 .

[0213] The embodiment of the present application further provides a wireless communication device 900 applied to an initiating station, comprising a second sending unit 903 and a second receiving unit 904.

[0214] The second sending unit 903 is configured to send an NDPA frame message to a responding station, wherein the NDPA frame message carries measurement feedback information corresponding to the responding station, and the NDPA frame message is formed based on a report item set determined by negotiation with the responding station.

[0215] The second sending unit 903 is further configured to send a measurement instruction to the responding station at intervals of a first predetermined time length, wherein the measurement instruction is used to control the responding station to perform sensing measurement on a target object based on the measurement feedback information.

[0216] The second sending unit 903 is further configured to send a feedback instruction to the response station at a second predetermined time interval, and the feedback instruction is used to control the response station to feed back the sensing measurement result.

[0217] The second receiving unit 904 is configured to receive the sensing measurement result fed back by the response station in response to the feedback instruction.

[0218] In the embodiment of the present application, the second sending unit 903 in the wireless communication device 900 is further configured to send negotiation request information to the response station, and the negotiation request information carries a requested report item set; and the second receiving unit 904 is configured to receive a negotiation response message sent by the response station in response to the negotiation request information, and the negotiation response message carries a determined plurality of report item sets.

[0219] In the embodiment of the present application, the wireless communication device 900 is configured to determine a target report item set corresponding to the response station from the determined plurality of report item sets; combine bit information indicating the target report item set and local address information of the response station to form the measurement feedback information corresponding to the response station.

[0220] Correspondingly, the embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a second processor to implement the method on the side of the initiating station.

[0221] Correspondingly, the embodiment of the present application provides a wireless communication device, which comprises a second memory 902 and a second processor 901, the second memory 902 stores a computer program capable of running on the second processor 901, and the second processor 901 implements the method on the side of the initiating station when executing the program.

[0222] It should be noted that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects to the method embodiments. For technical details not disclosed in the storage medium and device embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0223] It should be noted that, Figure 13 A hardware entity schematic diagram of the wireless communication device provided by the embodiment of the present application is shown in FIG. 9. Figure 13 As shown in FIG. 9, the hardware entity of the wireless communication device 900 comprises a second processor 901 and a second memory 902, wherein;

[0224] The second processor 901 generally controls the overall operation of the wireless communication device 900.

[0225] The second memory 902 is configured to store instructions and applications executable by the second processor 901, and can also cache data (e.g., image data, audio data, voice communication data, and video communication data) to be processed by the second processor 901 and various modules in the wireless communication device 900, and can be implemented by FLASH or Random Access Memory (RAM).

[0226] It should be understood that every feature, structure, or characteristic described throughout this specification is considered to be a specific feature, structure, or characteristic of at least one embodiment of the application. Therefore, it is understood that the appearance of "in one embodiment" or "in an embodiment" anywhere throughout this specification does not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that the sequence of the processes described above does not mean the order of execution, and the execution order of the processes should be determined according to their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the application. The sequence of the above embodiments of the application is only for description, and does not represent the advantages or disadvantages of the embodiments.

[0227] It should be noted that the terms "comprising", "including", or any other variant thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, the element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0228] In several embodiments provided by the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The above-described apparatus embodiments are only illustrative, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the various components shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0229] The units described as separate components above can or can not be physically separate, and the components shown as units can or can not be physical units; they can be located in one place or distributed on multiple network units; and part or all of the units can be selected to achieve the purposes of the embodiments according to actual needs.

[0230] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

[0231] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware, and the aforementioned program can be stored in a computer readable storage medium, and the program executes the steps including the above-mentioned method embodiments when executed; and the aforementioned storage medium includes mobile storage devices, read only memory (ROM), magnetic discs or optical discs and various storage medium that can store program codes.

[0232] Alternatively, the integrated units of the present application, if implemented in the form of software functional modules and sold or used as independent products, can also be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application can be embodied in the form of software products, and the computer software products are stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. The aforementioned storage medium includes mobile storage devices, ROM, magnetic discs or optical discs and various storage medium that can store program codes.

[0233] The above is only an embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of wireless communication, the method comprising: The method is applied to a responding station, and comprises the following steps: reporting a plurality of local measurement parameters to an initiating station, so that the initiating station determines a reporting item set based on the plurality of local measurement parameters and the responding station; listening to a null data packet announcement (NDPA) frame message sent by the initiating station, wherein the NDPA frame message carries measurement feedback information, the NDPA frame message uses n bits to represent a measurement feedback type combination, n is an integer greater than or equal to 3, the NDPA frame message is formed by the initiating station based on the reporting item set determined by negotiation with the responding station, and the determined plurality of reporting item sets include a coarse accuracy reporting item set, a medium accuracy reporting item set, and a high accuracy reporting item set; receiving a measurement instruction sent by the initiating station, performing sensing measurement on a target object based on the measurement feedback information in response to the measurement instruction, and obtaining a sensing measurement result; receiving a feedback instruction sent by the initiating station, and sending the sensing measurement result to the initiating station in response to the feedback instruction.

2. The wireless communication method according to claim 1, wherein, Before the step of listening to the NDPA frame message sent by the initiating station, the method further comprises the following steps: receiving negotiation request information sent by the initiating station, wherein the negotiation request information carries a requested reporting item set; forming the determined plurality of reporting item sets in response to the negotiation request information; carrying the determined plurality of reporting item sets in negotiation response information, and sending the negotiation response information to the initiating station.

3. The wireless communication method according to claim 2, wherein, Different determined reporting item sets in the determined plurality of reporting item sets include different measurement parameters.

4. The wireless communication method according to claim 2, wherein, The determined plurality of reporting item sets include a first reporting item set, a second reporting item set, and a third reporting item set. The first reporting item set includes at least one first-type measurement parameter, the second reporting item set includes at least one second-type measurement parameter, and the third reporting item set includes at least one third-type measurement parameter.

5. The wireless communication method according to any one of claims 2 to 4, characterized in that, The step of performing sensing measurement on the target object based on the measurement feedback information in response to the measurement instruction includes the following steps: in response to the measurement instruction, determining a corresponding target reporting item set from the determined plurality of reporting item sets according to binary bit information of the measurement feedback information; performing sensing measurement on the target object according to the target reporting item set, and obtaining a sensing measurement result.

6. The wireless communication method according to claim 5, wherein, The NDPA frame message is formed by the initiating station based on bit information indicating the target reporting item set.

7. The wireless communication method according to any one of claims 1 to 6, characterized by, The NDPA frame message further carries a plurality of feedback information corresponding to a plurality of responding stations, and each feedback information includes address information of a corresponding responding station. After the step of listening to the NDPA frame message sent by the initiating station and before the step of performing sensing measurement on the target object based on the measurement feedback information in response to the measurement instruction, the method further comprises the following steps: obtaining local address information; comparing the local address information with address information of each responding station, determining target address information matched with the local address information, and obtaining the measurement feedback information corresponding to the target address information from the NDPA frame message.

8. A method of wireless communication, the method comprising: The method is applied to an initiating station, and comprises the following steps: receiving a plurality of local measurement parameters reported by the responding station, determining a report item set based on the plurality of local measurement parameters and the responding station; sending an NDPA frame message to the responding station, the NDPA frame message carrying measurement feedback information corresponding to the responding station, the NDPA frame message using n bits to represent a measurement feedback type combination, n being an integer greater than or equal to 3, the NDPA frame message being formed based on the report item set determined through negotiation with the responding station, the determined plurality of report item sets including a coarse accuracy report item set, a medium accuracy report item set, and a high accuracy report item set; sending a measurement instruction to the responding station at an interval of a first predetermined time length, the measurement instruction being used to control the responding station to perform sensing measurement on a target object based on the measurement feedback information; sending a feedback instruction to the responding station at an interval of a second predetermined time length, the feedback instruction being used to control the responding station to feed back sensing measurement results; receiving the sensing measurement results fed back by the responding station in response to the feedback instruction.

9. The wireless communication method according to claim 8, wherein, Before the sending of the NDPA frame message to the responding station, the method further includes: sending negotiation request information to the responding station, the negotiation request information carrying a requested report item set; receiving a negotiation response message sent by the responding station in response to the negotiation request information, the negotiation response message carrying the determined plurality of report item sets.

10. The wireless communication method according to claim 9, wherein, The method further includes: determining a target report item set corresponding to the responding station from the determined plurality of report item sets; combining bit information indicating the target report item set and local address information of the responding station to form the measurement feedback information corresponding to the responding station.

11. A wireless communication device, comprising: Applied to a responding station, including: a first sending unit configured to report a plurality of local measurement parameters to an initiating station, for the initiating station to determine a report item set based on the plurality of local measurement parameters and the responding station; a listening and extracting unit configured to listen to an NDPA frame message sent by the initiating station, the NDPA frame message carrying measurement feedback information, the NDPA frame message using n bits to represent a measurement feedback type combination, n being an integer greater than or equal to 3, the NDPA frame message being formed by the initiating station based on the report item set determined through negotiation with the responding station, the determined plurality of report item sets including a coarse accuracy report item set, a medium accuracy report item set, and a high accuracy report item set; a first receiving unit configured to receive a measurement instruction sent by the initiating station, perform sensing measurement on a target object based on the measurement feedback information in response to the measurement instruction, and obtain sensing measurement results; a first sending unit configured to receive a feedback instruction sent by the initiating station, and send the sensing measurement results to the initiating station in response to the feedback instruction.

12. A wireless communication device, comprising: Applied to an initiating station, including: a second receiving unit configured to receive a plurality of local measurement parameters reported by a responding station, and determine a report item set based on the plurality of local measurement parameters and the responding station; The second sending unit is configured to send an NDPA frame message to the responding station, wherein the NDPA frame message carries measurement feedback information corresponding to the responding station, the NDPA frame message uses n bits to represent a measurement feedback type combination, n is an integer greater than or equal to 3, and the NDPA frame message is formed based on a report item set determined through negotiation with the responding station, wherein the determined report item set includes a coarse-precision report item set, a medium-precision report item set, and a high-precision report item set. The second sending unit is further configured to send a measurement instruction to the responding station at a first predetermined time interval, wherein the measurement instruction is used to control the responding station to perform sensing measurement on a target object based on the measurement feedback information. The second sending unit is further configured to send a feedback instruction to the responding station at a second predetermined time interval, wherein the feedback instruction is used to control the responding station to feed back sensing measurement results. The second receiving unit is configured to receive the sensing measurement results fed back by the responding station in response to the feedback instruction.

13. A wireless communication device, comprising: The computer program is executed by the first processor to implement the method in any one of claims 1 to 7.

14. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the first processor to implement the method in any one of claims 1 to 7.

15. A wireless communication device, comprising: The computer program is executed by the second processor to implement the method in any one of claims 8 to 10.

16. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the second processor to implement the method in any one of claims 8 to 10.

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