A ranging method and apparatus

Abstract

The embodiment of the present application provides a ranging method, comprising: a first device sending a plurality of ranging signals, including a first ranging signal and a second ranging signal, the first ranging signal being sent earlier than the second ranging signal, and a sending time interval between the first ranging signal and the second ranging signal being t A1 ; receiving a ranging response signal from a second device, and determining a receiving time of the ranging response signal and a sending time interval t A2 between the second ranging signal and the first ranging signal, the ranging response signal including a time interval t B1 between the second ranging signal and the first ranging signal received by the second device, a time interval t B2 between the second ranging signal and sending of the ranging response signal received by the second device, or N, N being a value determined according to t B1 and t B2 , N being a constant greater than zero, the value being determined according to t A1 , t A2 , t B1 , t B2 or t A1 , t A2 and N, and the distance between the first device and the second device being determined. The ranging method can improve ranging precision and reduce requirements on processing speed and response time of the second device.

Description

[0001] This application claims priority to Chinese Patent Application No. 202111205179.0, filed on October 15, 2021, entitled "A Pairless Ranging Method", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communications, and more specifically, to a ranging method and apparatus. Background Technology

[0003] Ultra-wideband (UWB) technology is widely used because of its low power consumption and high time resolution, which enable high-precision ranging and positioning.

[0004] Currently, in one-to-many and many-to-many ranging scenarios, time-division multiplexing is used to allow multiple users to stagger their responses after receiving a ranging signal from the same initiator, thus avoiding conflicts. By pre-allocating different response times to different users during the ranging negotiation phase, each user, after receiving the ranging signal, waits for its allocated response time before sending back its ranging response signal. This ensures that the response signals from different users do not overlap when they reach the initiator, thereby avoiding interference between them.

[0005] However, in current ranging schemes, the initiator needs to allocate different response times to each responder after pairing, which is a rather cumbersome process. Furthermore, since the crystal oscillators in the equipment typically have errors, the actual measurement time deviates from the true time, resulting in ranging errors. Additionally, the different processing speeds of the responders also have varying impacts on the measurement error, thus affecting the ranging accuracy.

[0006] Therefore, improving ranging accuracy is an urgent problem to be solved. Summary of the Invention

[0007] This application provides a ranging method and apparatus that can improve ranging accuracy and reduce the requirements for the processing speed of the responder.

[0008] Firstly, a ranging method is provided, which can be executed by a first device, or by a chip or circuit used in the first device, without limitation herein. For ease of description, the following explanation will take execution by the first device as an example.

[0009] The method includes: a first device transmitting multiple ranging signals, the multiple ranging signals including a first ranging signal and a second ranging signal, wherein the first ranging signal is transmitted earlier than the second ranging signal, and the transmission time interval between the first ranging signal and the second ranging signal is t. A1The first device receives a ranging response signal from the second device and determines the receiving time of the ranging response signal and the transmission time interval of the second ranging signal as t. A2 The ranging response signal includes the time interval t between the second device receiving the second ranging signal and the first ranging signal. B1 The time interval t between the second device receiving the second ranging signal and sending the ranging response signal. B2 Alternatively, the ranging response signal includes N, where N is based on t B1 and t B2 A definite value, where N is a constant greater than zero; the first device is based on t A1 t A2 t B1 t B2 Determine the distance between the first device and the second device; or, based on t A1 t A2 Let N determine the distance between the first device and the second device.

[0010] According to the solution provided in this application, unpaired ranging can be achieved, which reduces the requirements for the processing speed of the responder while ensuring ranging accuracy.

[0011] Secondly, a ranging method is provided, which can be executed by a second device, or by a chip or circuit used in the second device; this application does not limit this. For ease of description, the following explanation uses execution by a second device as an example.

[0012] The method includes: a second device receiving multiple ranging signals from a first device, the multiple ranging signals including a first ranging signal and a second ranging signal, and determining a receiving time interval t between the second ranging signal and the first ranging signal. B1 The second device sends a ranging response signal to the first device, wherein the ranging response signal includes the time interval t between the second device receiving the second ranging signal and the first ranging signal. B1 The time interval t between the second device receiving the second ranging signal and sending the ranging response signal. B2 Alternatively, the ranging response signal includes N, where N is based on t B1 and t B2 A definite value, where N is a constant greater than zero.

[0013] In other words, when the ranging response signal includes t B1 and t B2 The second device passed through t B2 The second device sends a ranging response signal to the first device at time; when the ranging response signal includes N, the second device passes through Nt. B1 The timer sends a ranging response signal to the first device.

[0014] According to the solution provided in this application, unpaired ranging can be achieved, which reduces the requirements for the processing speed of the responder while ensuring ranging accuracy.

[0015] In combination with the first or second aspect, in some implementations, N is based on t. B2 / t B1 A definite value. In a specific implementation, N satisfies: N = t B2 / t B1 In another specific implementation, N is t B2 / t B1 The value under the preset precision requirements.

[0016] It should be noted that when N is not an integer, the value N can be rounded to two decimal places according to the predefined protocol. For example, when t B2 =4s,t B1 =2s, then N=t B2 / t B1 = 2s. For example, when t... B2 =4s,t B1 =3s, then N=t B2 / t B1 ≈1.33s. The above is merely an illustrative example and should not constitute any limitation on the technical solution of this application.

[0017] In conjunction with the first or second aspect, in some implementations, the ranging response signal includes the reception time interval t between the second ranging signal and the first ranging signal. B1 The time interval t between the second device receiving the second ranging signal and sending the ranging response signal. B2 The distance between the first device and the second device is:

[0018]

[0019] Where c is the speed of light.

[0020] In conjunction with the first or second aspect, in some implementations, the ranging response signal includes N, and the distance between the first device and the second device is:

[0021]

[0022] Where c is the speed of light.

[0023] It should be noted that the above illustrative example using the second device as the responder should not constitute any limitation on the technical solution of this application. For example, the first device can send ranging signals to multiple second devices; or multiple first devices can send ranging signals to one or more second devices, etc., and this application does not make any specific limitations in this regard.

[0024] Thirdly, a ranging method is provided, which can be executed by a first device, or by a chip or circuit used in the first device, without limitation thereof. For ease of description, the following explanation will take execution by the first device as an example.

[0025] The method includes: a first device transmitting multiple ranging signals, the multiple ranging signals including a first ranging signal and a second ranging signal, wherein the first ranging signal is transmitted earlier than the second ranging signal, and the transmission time interval between the first ranging signal and the second ranging signal is t. A1 The first device is in Pt A1 up to (P+1)t A1 The ranging response signal from the second device is detected within a time period, and the time interval between the reception of the ranging response signal and the transmission of the second ranging signal is determined as t. A2 The value of P is a positive integer; the first device is based on M and t. A1 t A2 The distance between the first device and the second device is determined, where M is the value of P when the first device detects the ranging response signal. That is, when the transmission and / or reception time of the ranging response signal is uncertain, the first device can determine the distance at one or more different Pt values. A1 up to (P+1)t A1 The process involves iterating through the data within a given time period until a ranging response signal is detected.

[0026] For example, the value of P is any positive integer in a preset set of integer values.

[0027] Optionally, the preset set of integer values ​​is predefined by the protocol. For example, the preset set of integer values ​​includes at least one integer, such as 1, 3, and 5. According to the solution provided in this application, unpaired ranging can be achieved, reducing the processing speed requirements of the responder while ensuring ranging accuracy.

[0028] Alternatively, without setting a detection window, the first device performs blind detection continuously, according to Mt. A1 <t A2 <(M+1)t A1 Determine M to calculate the distance between the first device and the second device.

[0029] In one possible implementation, after detecting a ranging response signal from the second device, the first device records a synchronization timestamp and subtracts it from the transmission timestamp of the second ranging signal to obtain t. A2 Then calculate t A2 / t A1 This allows us to determine the specific value of M. This is the floor operator.

[0030] In another possible implementation, a sliding window method is used to detect the ranging response signal, with the position (Pt) of each window... A1 up to (P+1)t A1 The distance is determined by the value of P. When P reaches a certain value and a ranging response signal is detected within the window, the data value of P is determined as M. M is used to determine the distance between the first device and the device that sent the ranging response signal.

[0031] In conjunction with the first or third aspect, in some implementations, the first device sends multiple ranging signals, including: the first device sends multiple ranging signals within a period T, where T is a constant greater than zero.

[0032] Fourthly, a ranging method is provided, which can be executed by a second device, or by a chip or circuit for the second device, without limitation herein. For ease of description, the following explanation will use execution by a second device as an example.

[0033] The method includes: a second device receiving multiple ranging signals from a first device, the multiple ranging signals including a first ranging signal and a second ranging signal, and determining a receiving time interval t between the second ranging signal and the first ranging signal. B1 After receiving the second ranging signal, the second device passes through Mt. B1 A ranging response signal is sent to the first device after a time interval, t B1 M is the reception time interval between the second ranging signal and the first ranging signal, and M is any positive integer in the preset set of integer values.

[0034] According to the solution provided in this application, unpaired ranging can be achieved, which reduces the requirements for the processing speed of the responder while ensuring ranging accuracy.

[0035] In conjunction with the second or fourth aspect, in some implementations, the second device receives multiple ranging signals from the first device, including: the second device receives multiple ranging signals from the first device within a period T, where T is a constant greater than zero.

[0036] In conjunction with the third or fourth aspect, in some implementations, the first ranging signal and / or the second ranging signal include a preset set of integer values.

[0037] Optionally, the preset set of integer values ​​is predefined by the protocol.

[0038] For example, the preset set of integer values ​​includes at least one integer, such as 1, 3, and 5. Then, after receiving the second ranging signal, the second device can travel 3t... B1Send a ranging response signal, i.e., M=3. Correspondingly, the first device needs to be located at multiple different points (Pt). A1 up to (P+1)t A1 The detection is performed over a period of time until a ranging response signal from the second device is detected.

[0039] In other words, the first device needs to be in t A1 Up to 2t A1 Time period, 3t A1 Up to 4t A1 Time period, and 5t A1 Up to 6t A1 The detection is performed iteratively within a time period. The different time periods can be understood as different windows, each representing a detection window. Based on the iterative detection, the first device is located in the second window, specifically at 3t. A1 Up to 4t A1 The ranging response signal was detected within the specified time period.

[0040] In conjunction with the first to fourth aspects, in some implementations, the first ranging signal and / or the second ranging signal carry information for identifying the first device.

[0041] In conjunction with aspects one through four, in some implementations, the ranging response signal carries information for identifying the first device.

[0042] The information used to identify the first device can be explicitly indicated, that is, the information is the identification information of the first device; or it can be implicitly indicated, for example, by using a sequence or the like to implicitly indicate that the information is the identification information of the first device. This application does not make any specific limitation on this.

[0043] In conjunction with aspects one through four, in some implementations, the ranging response signal also carries information for identifying the second device.

[0044] The information used to identify the second device can be explicitly indicated, that is, the information is the identification information of the second device; or it can be implicitly indicated, for example, by using a sequence or the like, to implicitly indicate that the information is the identification information of the second device. This application does not make any specific limitation on this.

[0045] In conjunction with the first to fourth aspects, in some implementations, the information used to identify the first device is carried in the physical layer frame header (PHR) or payload of at least one of the first ranging signal, the second ranging signal, and the ranging response signal.

[0046] In conjunction with aspects one through four, in some implementations, the information used to identify the first device is determined based on the media access control address (MAC) address of the first device.

[0047] For example, the information used to identify the first device can be directly determined by the first device's MAC address, which can be understood as the first device's Ethernet address or physical address. For instance, a fixed ID. That is, using the N1 bit of the first device's MAC address (64 bits) as the ID, without change.

[0048] Furthermore, the information used to identify the first device can also be determined based on the current timestamp and MAC address. For example, a random ID. The N2 bits of the current timestamp (32 bits) are XORed with the N2 bits of the MAC address (64 bits) to obtain a new N2-bit random number, which is used as the ID and changes every cycle.

[0049] In conjunction with aspects one through four, in some implementations, at least one of the synchronization field (SYNC), start-of-frame delimiter field (SFD), physical layer frame header (PHY header, PHR), and payload of the first ranging signal and the second ranging signal is different.

[0050] For example, the PHR or payload of the first ranging signal includes first indication information, which indicates that the current ranging signal is the first ranging signal; the PHR or payload of the second ranging signal includes second indication information, which indicates that the current ranging signal is the second ranging signal; and / or, the SFD of the first ranging signal indicates that the current ranging signal is the first ranging signal, the SFD of the second ranging signal indicates that the current ranging signal is the second ranging signal, and the SFD of the first ranging signal is different from the SFD of the second ranging signal; and / or, the SYNC of the first ranging signal indicates that the current ranging signal is the first ranging signal, the SYNC of the second ranging signal indicates that the current ranging signal is the second ranging signal, and the SYNC of the first ranging signal is different from the SYNC of the second ranging signal.

[0051] Based on the above possible implementation methods, it can be further indicated whether the current ranging signal is the first ranging signal or the second ranging signal. That is, the first ranging signal and the second ranging signal are different.

[0052] In conjunction with aspects one through four, in some implementations, the SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence for unpaired ranging.

[0053] In this context, unpaired ranging can be understood as a process where a device broadcasts or sends a ranging signal within a first range, and at least one device within that first range sends a ranging response signal back to the device. No prior connection needs to be established between the sender and the responder. For example, device A and device B can perform ranging applications without mutual identity verification or connection establishment pairing operations.

[0054] In conjunction with aspects one through four, in some implementations, the SYNC field of the ranging response signal includes a first dedicated synchronization sequence. The first dedicated synchronization sequence is any one of the dedicated synchronization sequences in the set of dedicated synchronization sequences. The set of dedicated synchronization sequences is predefined by the protocol and includes a first set of dedicated synchronization sequences and a second set of dedicated synchronization sequences. The dedicated synchronization sequences in the first set of dedicated synchronization sequences and the second set of dedicated synchronization sequences are different from each other. When the SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence in the first set of dedicated synchronization sequences, the SYNC field of the ranging response signal also includes a dedicated synchronization sequence in the first set of dedicated synchronization sequences. When the SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence in the second set of dedicated synchronization sequences, the SYNC field of the ranging response signal also includes a dedicated synchronization sequence in the second set of dedicated synchronization sequences.

[0055] In other words, the dedicated synchronization sequences used by the first ranging signal (or the second ranging signal) and its corresponding ranging response signal belong to the same set of dedicated synchronization sequences.

[0056] For example, one of the sequences can be specified by a protocol as a dedicated synchronization sequence for the ranging signal sent by the first device.

[0057] In this embodiment of the application, two sets of 20 dedicated synchronization sequences of length 31 are provided, each set containing 10 different dedicated synchronization sequences.

[0058] For example, the first set of dedicated synchronization sequences includes:

[0059] "-+0--+-++00+---++-++++-+0+++0-0、"

[0060] ++-+++--0+++0+0-+0++-+--00--+-+、

[0061] +-+++--+0+-+----0+++-++0+0-+00+、

[0062] 0-++-+++-+0-++++--0-+---+0+0++0、

[0063] 00++--0-+++++-+++-0++-0--+-+-0+、

[0064] 0+00+-++0+-+-+++++--0--+0--+++-、

[0065] 00++0--++-0-0-+-+0-++++++--+-++、

[0066] +++++0+0---+0+--++-+-+--++00+-0、

[0067] +++-0---0+-++-0+-+-+++--+++00+0、

[0068] 00+0+-+-0++-0+-+++0-++++-++----".

[0069] The second set of dedicated synchronization sequences includes:

[0070] "00++-+--++++++-0+-+-0-0-++--0++、"

[0071] -+00++--+-+-++--+0+---0+0+++++0、

[0072] 0+00+++--+++-+-+0-++-+0---0-+++、

[0073] ----++-++++-0+++-+0-++0-+-+0+00、

[0074] -0+++0+-++++-++---+00++-+--0+-0、

[0075] +-+--00--+-++0+-0+0+++0--+++-++、

[0076] -+++--0+--0--+++++-+-+0++-+00+0、

[0077] 00+0-+-+--0-++0-+++-+++++-0--++、

[0078] ++0+0+---+-0--++++-0+-+++-++-00、

[0079] +00+-0+0++-+++0----+-+0+--+++-+".

[0080] In this context, "+" represents 1 and "-" represents -1. The dedicated synchronization sequences within each group exhibit good cross-correlation.

[0081] Specifically, after receiving the ranging signal sent by the first device, the second device uses a dedicated synchronization sequence (e.g., "-+0--+-++00+---++-++++-+0+++0-0" in the first set of dedicated synchronization sequences) to perform correlation operations, thereby identifying the ranging signal as an unpaired ranging signal. Correspondingly, the second device randomly selects a dedicated synchronization sequence from the group containing this dedicated synchronization sequence (e.g., "++-+++--0+++0+0-+0++-+--00--+-+") and carries it in the ranging response signal, sending it to the first device.

[0082] It should be noted that the dedicated synchronization sequences selected in the first ranging signal, the second ranging signal, and the ranging response signal in the embodiments of this application may be the same or different, and this application does not make specific limitations on this.

[0083] In conjunction with the third or fourth aspect, in some implementations, the distance between the first device and the second device is:

[0084]

[0085] Where c is the speed of light.

[0086] It should be noted that the above illustrative example using the second device as the responder should not constitute any limitation on the technical solution of this application. For example, the first device can send ranging signals to multiple second devices; or multiple first devices can send ranging signals to one or more second devices, etc., and this application does not make any specific limitations in this regard.

[0087] Fifthly, a ranging device is provided, characterized in that it includes a transceiver unit for: a first device transmitting multiple ranging signals, the multiple ranging signals including a first ranging signal and a second ranging signal, wherein the first ranging signal is transmitted earlier than the second ranging signal, and the transmission time interval between the first ranging signal and the second ranging signal is t. A1 The first device receives a ranging response signal from the second device and determines the receiving time of the ranging response signal and the transmission time interval of the second ranging signal as t. A2 The ranging response signal includes the time interval t between the second device receiving the second ranging signal and the first ranging signal. B1 The time interval t between the second device receiving the second ranging signal and sending the ranging response signal. B2 Alternatively, the ranging response signal includes N, where N is based on t B1 and t B2A definite value, where N is a constant greater than zero; the first device is based on t A1 t A2 t B1 t B2 Determine the distance between the first device and the second device; or, based on t A1 t A2 Let N determine the distance between the first device and the second device.

[0088] In a sixth aspect, a ranging device is provided, characterized in that a transceiver unit is configured to: receive multiple ranging signals from a first device, the multiple ranging signals including a first ranging signal and a second ranging signal, and determine a receiving time interval t between the second ranging signal and the first ranging signal. B1 The second device sends a ranging response signal to the first device, wherein the ranging response signal includes the time interval t between the second device receiving the second ranging signal and the first ranging signal. B1 The time interval t between the second device receiving the second ranging signal and sending the ranging response signal. B2 Alternatively, the ranging response signal includes N, where N is based on t B1 and t B2 A definite value, where N is a constant greater than zero.

[0089] In other words, when the ranging response signal includes t B1 and t B2 The second device passed through t B2 The second device sends a ranging response signal to the first device at time; when the ranging response signal includes N, the second device passes through Nt. B1 The timer sends a ranging response signal to the first device.

[0090] According to the solution provided in this application, unpaired ranging can be achieved, which reduces the requirements for the processing speed of the responder while ensuring ranging accuracy.

[0091] In conjunction with the fifth or sixth aspect, in some implementations, N is based on t. B2 / t B1 A definite value. In a specific implementation, N satisfies: N = t B2 / t B1 In another specific implementation, N is t B2 / t B1 The value under the preset precision requirement. It should be noted that when N is not an integer, the value N can be retained to two decimal places according to the predefined protocol. For example, when t... B2 =4s,t B1 =2s, then N=t B2 / t B1 = 2s. For example, when t...B2 =4s,t B1 =3s, then N=t B2 / t B1 ≈1.33s. The above is merely an illustrative example and should not constitute any limitation on the technical solution of this application.

[0092] In conjunction with the fifth or sixth aspect, in some implementations, the ranging response signal includes the receiving time interval t between the second ranging signal and the first ranging signal. B1 The time interval t between the second device receiving the second ranging signal and sending the ranging response signal. B2 The distance between the first device and the second device is:

[0093]

[0094] Where c is the speed of light.

[0095] In conjunction with the fifth or sixth aspect, in some implementations, the ranging response signal includes N, and the distance between the first device and the second device is:

[0096]

[0097] Where c is the speed of light.

[0098] In a seventh aspect, a ranging device is provided, characterized in that it includes a transceiver unit for: a first device transmitting a plurality of ranging signals, the plurality of ranging signals including a first ranging signal and a second ranging signal, the first ranging signal being transmitted earlier than the second ranging signal, and the transmission time interval between the first ranging signal and the second ranging signal being t. A1 ; Processing unit, used for: the first device in Pt A1 up to (P+1)t A1 The ranging response signal from the second device is detected within a time period, and the time interval between the reception of the ranging response signal and the transmission of the second ranging signal is determined as t. A2 , t A1 The time interval between the transmission of the first and second ranging signals is P, where P is a positive integer; based on M and t A1 t A2 The distance between the first device and the second device is determined, where M is the value of P when the first device detects the ranging response signal. That is, when the transmission and / or reception time of the ranging response signal is uncertain, the first device can determine the distance at one or more different Pt values. A1 up to (P+1)t A1 The process involves iterating through the data within a given time period until a ranging response signal is detected.

[0099] For example, the value of P is any positive integer in a preset set of integer values.

[0100] Optionally, the preset set of integer values ​​is predefined by the protocol. For example, the preset set of integer values ​​includes at least one integer, such as 1, 3, and 5.

[0101] According to the solution provided in this application, unpaired ranging can be achieved, which reduces the requirements for the processing speed of the responder while ensuring ranging accuracy.

[0102] Alternatively, without setting a detection window, the first device performs blind detection continuously, according to Mt. A1 <t A2 <(M+1)t A1 Determine M to calculate the distance between the first device and the second device.

[0103] In one possible implementation, after detecting a ranging response signal from the second device, the first device records a synchronization timestamp and subtracts it from the transmission timestamp of the second ranging signal to obtain t. A2 Then calculate t A2 / t A1 This allows us to determine the specific value of M.

[0104] in, This is the floor operator.

[0105] In another possible implementation, a sliding window method is used to detect the ranging response signal, with the position (Pt) of each window... A1 up to (P+1)t A1 The distance is determined by the value of P. When P reaches a certain value and a ranging response signal is detected within that window, that data value of P is determined as M, which is used to determine the distance between the first device and the device that sent the ranging response signal.

[0106] In conjunction with the fifth or seventh aspect, in some implementations, the transceiver unit is also used for: the first device transmitting multiple ranging signals within a period T, where T is a constant greater than zero.

[0107] Eighthly, a ranging device is provided, characterized in that a transceiver unit is configured to: receive a plurality of ranging signals from a first device, the plurality of ranging signals including a first ranging signal and a second ranging signal, and determine a receiving time interval t between the second ranging signal and the first ranging signal. B1 After receiving the second ranging signal, the second device passes through Mt. B1 A ranging response signal is sent to the first device after a time interval, t B1 M is the reception time interval between the second ranging signal and the first ranging signal, and M is any positive integer in the preset set of integer values.

[0108] According to the solution provided in this application, unpaired ranging can be achieved, which reduces the requirements for the processing speed of the responder while ensuring ranging accuracy.

[0109] In conjunction with the sixth or eighth aspect, in some implementations, the transceiver unit is also used for: the second device receiving multiple ranging signals from the first device within a period T, where T is a constant greater than zero.

[0110] In conjunction with the seventh or eighth aspect, in some implementations, the first ranging signal and / or the second ranging signal include a preset set of integer values.

[0111] Optionally, the preset set of integer values ​​is predefined by the protocol.

[0112] For example, the preset set of integer values ​​includes at least one integer, such as 1, 3, and 5. Then, after receiving the second ranging signal, the second device can travel 3t... B1 Send a ranging response signal, i.e., M=3. Correspondingly, the first device needs to... (The sentence is incomplete and requires more context to translate accurately.) A1 up to (P+1)t A1 The detection is performed over a period of time until a ranging response signal from the second device is detected.

[0113] In other words, the first device needs to be in t A1 Up to 2t A1 Time period, 3t A1 Up to 4t A1 Time period, and 5t A1 Up to 6t A1 The detection is performed iteratively within a time period. The different time periods can be understood as different windows, each representing a detection window. Based on the iterative detection, the first device is located in the second window, specifically at 3t. A1 Up to 4t A1 The ranging response signal was detected within the specified time period.

[0114] In conjunction with aspects five through eight, in some implementations, the first ranging signal and / or the second ranging signal carry information for identifying the first device.

[0115] In conjunction with aspects five through eight, in some implementations, the ranging response signal carries information for identifying the first device.

[0116] The information used to identify the first device can be explicitly indicated, that is, the information is the identification information of the first device; or it can be implicitly indicated, for example, by using a sequence or the like to implicitly indicate that the information is the identification information of the first device. This application does not make any specific limitation on this.

[0117] In conjunction with aspects five through eight, in some implementations, the ranging response signal also carries information for identifying the second device.

[0118] The information used to identify the second device can be explicitly indicated, that is, the information is the identification information of the second device; or it can be implicitly indicated, for example, by using a sequence or the like, to implicitly indicate that the information is the identification information of the second device. This application does not make any specific limitation on this.

[0119] In conjunction with aspects five through eight, in some implementations, information for identifying the first device is carried in the physical layer frame header (PHR) or payload of at least one of the first ranging signal, the second ranging signal, and the ranging response signal.

[0120] In conjunction with aspects five through eight, in some implementations, the information used to identify the first device is determined based on the media access control address (MAC) address of the first device.

[0121] For example, the information used to identify the first device can be directly determined by the first device's MAC address, which can be understood as the first device's Ethernet address or physical address. For instance, a fixed ID. That is, using the N1 bit of the first device's MAC address (64 bits) as the ID, without change.

[0122] Furthermore, the information used to identify the first device can also be determined based on the current timestamp and MAC address. For example, a random ID. The N2 bits of the current timestamp (32 bits) are XORed with the N2 bits of the MAC address (64 bits) to obtain a new N2-bit random number, which is used as the ID and changes every cycle.

[0123] In conjunction with aspects five through eight, in some implementations, at least one of the synchronization field (SYNC), start-of-frame delimiter field (SFD), physical layer frame header (PHY header, PHR), and payload of the first ranging signal and the second ranging signal is different.

[0124] For example, the PHR or payload of the first ranging signal includes first indication information, which indicates that the current ranging signal is the first ranging signal; the PHR or payload of the second ranging signal includes second indication information, which indicates that the current ranging signal is the second ranging signal; and / or, the SFD of the first ranging signal indicates that the current ranging signal is the first ranging signal, the SFD of the second ranging signal indicates that the current ranging signal is the second ranging signal, and the SFD of the first ranging signal is different from the SFD of the second ranging signal; and / or, the SYNC of the first ranging signal indicates that the current ranging signal is the first ranging signal, the SYNC of the second ranging signal indicates that the current ranging signal is the second ranging signal, and the SYNC of the first ranging signal is different from the SYNC of the second ranging signal.

[0125] Based on the above possible implementation methods, it can be further indicated whether the current ranging signal is the first ranging signal or the second ranging signal. That is, the first ranging signal and the second ranging signal are different.

[0126] In conjunction with aspects five through eight, in some implementations, the SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence for unpaired ranging.

[0127] In this context, unpaired ranging can be understood as a process where a device broadcasts or sends a ranging signal within a first range, and at least one device within that first range sends a ranging response signal back to the device. No prior connection needs to be established between the sender and the responder. For example, device A and device B can perform ranging applications without mutual identity verification or connection establishment pairing operations.

[0128] In conjunction with aspects five through eight, in some implementations, the SYNC field of the ranging response signal includes a first dedicated synchronization sequence. This first dedicated synchronization sequence is any one of the dedicated synchronization sequences in a set of dedicated synchronization sequences, which is predefined by the protocol.

[0129] The dedicated synchronization sequence set includes a first set of dedicated synchronization sequences and a second set of dedicated synchronization sequences. The dedicated synchronization sequences in the first set of dedicated synchronization sequences and the second set of dedicated synchronization sequences are different from each other. When the synchronization field SYNC of the first ranging signal and the second ranging signal includes the dedicated synchronization sequence in the first set of dedicated synchronization sequences, the synchronization field SYNC of the ranging response signal also includes the dedicated synchronization sequence in the first set of dedicated synchronization sequences. When the synchronization field SYNC of the first ranging signal and the second ranging signal includes the dedicated synchronization sequence in the second set of dedicated synchronization sequences, the synchronization field SYNC of the ranging response signal also includes the dedicated synchronization sequence in the second set of dedicated synchronization sequences.

[0130] In other words, the dedicated synchronization sequences used by the first ranging signal (or the second ranging signal) and its corresponding ranging response signal belong to the same set of dedicated synchronization sequences.

[0131] For example, one of the sequences can be specified by a protocol as a dedicated synchronization sequence for the ranging signal sent by the first device.

[0132] In this embodiment of the application, two sets of 20 dedicated synchronization sequences of length 31 are provided, each set containing 10 different dedicated synchronization sequences.

[0133] For example, the first set of dedicated synchronization sequences includes:

[0134] "-+0--+-++00+---++-++++-+0+++0-0、"

[0135] ++-+++--0+++0+0-+0++-+--00--+-+、

[0136] +-+++--+0+-+----0+++-++0+0-+00+、

[0137] 0-++-+++-+0-++++--0-+---+0+0++0、

[0138] 00++--0-+++++-+++-0++-0--+-+-0+、

[0139] 0+00+-++0+-+-+++++--0--+0--+++-、

[0140] 00++0--++-0-0-+-+0-++++++--+-++、

[0141] +++++0+0---+0+--++-+-+--++00+-0、

[0142] +++-0---0+-++-0+-+-+++--+++00+0、

[0143] 00+0+-+-0++-0+-+++0-++++-++----".

[0144] The second set of dedicated synchronization sequences includes:

[0145] "00++-+--++++++-0+-+-0-0-++--0++、"

[0146] -+00++--+-+-++--+0+---0+0+++++0、

[0147] 0+00+++--+++-+-+0-++-+0---0-+++、

[0148] ----++-++++-0+++-+0-++0-+-+0+00、

[0149] -0+++0+-++++-++---+00++-+--0+-0、

[0150] +-+--00--+-++0+-0+0+++0--+++-++、

[0151] -+++--0+--0--+++++-+-+0++-+00+0、

[0152] 00+0-+-+--0-++0-+++-+++++-0--++、

[0153] ++0+0+---+-0--++++-0+-+++-++-00、

[0154] +00+-0+0++-+++0----+-+0+--+++-+".

[0155] In this context, "+" represents 1 and "-" represents -1. The dedicated synchronization sequences within each group exhibit good cross-correlation.

[0156] Specifically, after receiving the ranging signal sent by the first device, the second device uses a dedicated synchronization sequence (e.g., "-+0--+-++00+---++-++++-+0+++0-0" in the first set of dedicated synchronization sequences) to perform correlation operations, thereby identifying the ranging signal as an unpaired ranging signal. Correspondingly, the second device randomly selects a dedicated synchronization sequence from the group containing this dedicated synchronization sequence (e.g., "++-+++--0+++0+0-+0++-+--00--+-+") and carries it in the ranging response signal, sending it to the first device.

[0157] It should be noted that the dedicated synchronization sequences selected in the first ranging signal, the second ranging signal, and the ranging response signal in the embodiments of this application may be the same or different, and this application does not make specific limitations on this.

[0158] In conjunction with aspect seven or eight, in some implementations, the distance between the first device and the second device is:

[0159]

[0160] Where c is the speed of light.

[0161] A ninth aspect provides a first device, including a processor, and optionally, a memory, the processor for controlling a transceiver to transmit and receive signals, the memory for storing a computer program, and the processor for calling and running the computer program from the memory, such that the first device performs the method of the first aspect or any possible implementation thereof, or performs the method of the third aspect or any possible implementation thereof.

[0162] Optionally, the processor may be one or more, and the memory may be one or more.

[0163] Alternatively, the memory can be integrated with the processor, or the memory can be set separately from the processor.

[0164] Optionally, the first device may also include a transceiver, which may specifically be a transmitter (transmitter) and a receiver (receiver).

[0165] In a tenth aspect, a second device is provided, comprising a processor, and optionally, a memory, the processor for controlling a transceiver to transmit and receive signals, the memory for storing a computer program, and the processor for calling and running the computer program from the memory, such that the second device performs the method of the second aspect or any possible implementation thereof, or performs the method of the fourth aspect or any possible implementation thereof.

[0166] Optionally, the processor may be one or more, and the memory may be one or more.

[0167] Alternatively, the memory can be integrated with the processor, or the memory can be set separately from the processor.

[0168] Optionally, the second device may also include a transceiver, which may specifically be a transmitter and a receiver.

[0169] Eleventhly, a communication apparatus is provided, comprising: modules or units for implementing the method of the first aspect or any possible implementation of the first aspect, and / or modules or units for implementing the method of the second aspect or any possible implementation of the second aspect, and / or modules or units for implementing the method of the third aspect or any possible implementation of the third aspect, and / or modules or units for implementing the method of the fourth aspect or any possible implementation of the fourth aspect.

[0170] In a twelfth aspect, a communication system is provided, comprising: a first device for performing the method of the first aspect or any possible implementation thereof, or for performing the method of the third aspect or any possible implementation thereof; and a second device for performing the method of the second aspect or any possible implementation thereof, or for performing the method of the fourth aspect or any possible implementation thereof.

[0171] In a thirteenth aspect, a computer-readable storage medium is provided that stores a computer program or code, which, when executed on a computer, causes the computer to perform the methods of the first aspect or any possible implementation thereof, and / or the second aspect or any possible implementation thereof, and / or the third aspect or any possible implementation thereof, and / or the fourth aspect or any possible implementation thereof.

[0172] In a fourteenth aspect, a chip is provided, comprising at least one processor coupled to a memory for storing a computer program, the processor for calling and running the computer program from the memory, such that a first device having the chip system mounted performs the method of the first aspect or any possible implementation thereof, or performs the method of the third aspect or any possible implementation thereof; and such that a second device having the chip system mounted performs the method of the second aspect or any possible implementation thereof, or performs the method of the fourth aspect or any possible implementation thereof.

[0173] The chip may include an input circuit or interface for transmitting information or data, and an output circuit or interface for receiving information or data.

[0174] In a fifteenth aspect, a computer program product is provided, comprising: computer program code that, when executed by a first device, causes the first device to perform the method of the first aspect or any possible implementation thereof, or causes the first device to perform the method of the third aspect or any possible implementation thereof; and, when executed by a second device, causes the second device to perform the method of the second aspect or any possible implementation thereof, or causes the second device to perform the method of the fourth aspect or any possible implementation thereof.

[0175] According to the embodiments of this application, a ranging method and apparatus are provided, which can realize unpaired ranging and reduce the requirements for the processing speed and response time of the responder while ensuring ranging accuracy. Attached Figure Description

[0176] Figure 1 This is a schematic diagram of an example of the one-sided two-way ranging method applicable to this application.

[0177] Figure 2 This is a schematic diagram of an example of an ultra-wideband physical layer frame structure applicable to this application.

[0178] Figure 3 This is a schematic diagram of a distance measurement method applicable to this application.

[0179] Figure 4 This is a schematic diagram of a distance measurement method applicable to this application.

[0180] Figure 5 This is a schematic diagram of a broadcast signal design applicable to this application.

[0181] Figure 6 This is a schematic diagram of a ranging signal indication method applicable to this application.

[0182] Figure 7 This is a schematic diagram illustrating the principle of calculating the time of flight of a pulse signal between an initiator and a responder, applicable to this application.

[0183] Figure 8 This is another schematic diagram of the distance measurement method applicable to this application.

[0184] Figure 9 This is yet another schematic diagram illustrating the ranging method applicable to this application.

[0185] Figure 10 This is yet another schematic diagram illustrating the ranging method applicable to this application.

[0186] Figure 11 This is a schematic diagram of an example of a ranging device applicable to this application.

[0187] Figure 12 This is another schematic diagram of a ranging device applicable to this application. Detailed Implementation

[0188] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0189] The technical solutions of this application can be applied to various communication systems such as synchronization, ranging, and positioning. Examples include Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) systems, 5th Generation (5G) systems, and New Radio (NR) systems.

[0190] With the development of communication technology, mobile communication systems will not only support traditional communication, but also support communication such as device-to-device (D2D), machine-to-machine (M2M), machine-type communication (MTC), vehicle-to-everything (V2X), vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-pedestrian (V2P), vehicle-to-network (V2N), long-term evolution-vehicle (LTE-V), machine-type communication (MTC), Internet of Things (IoT), Industrial Internet, long-term evolution-machine (LTE-M), new unlicensed spectrum (NR-U), and vehicle-to-everything (V2X-U).

[0191] The first device and / or second device in the embodiments of this application may refer to user equipment, access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, or user device. The first device may also be a cellular phone, cordless phone, session initiation protocol (SIP) phone, wireless local loop (WLL) station, personal digital assistant (PDA), handheld device with wireless communication function, computing device or other processing device connected to a wireless modem, vehicle-mounted device, wearable device, the first device in a 5G network, or the first device in a future evolved public land mobile network (PLMN), etc., and the embodiments of this application are not limited thereto.

[0192] To facilitate understanding of the embodiments of this application, the following is a brief explanation of several terms involved in this application.

[0193] 1. Ultra-wideband (UWB)

[0194] Ultra-wideband (UWB) technology is a novel wireless communication technology. It achieves a bandwidth on the order of GHz by directly modulating impulse pulses with very steep rise and fall times.

[0195] Ultra-wideband (UWB) technology has advantages such as insensitivity to channel fading, stronger anti-interference performance, low transmitted signal power spectral density, high transmission rate, low interception capability, extremely wide bandwidth, low system complexity, large system capacity, positioning accuracy of several centimeters, good confidentiality, short communication distance, multipath resolution, and portability.

[0196] Ultra-wideband (UWB) was initially used for high-speed data transmission over short distances, and in recent years its sub-nanosecond ultra-narrow pulses have been used for precise indoor positioning over short distances.

[0197] 2. Crystal oscillator

[0198] A crystal oscillator, also known as a quartz crystal, is one of the most commonly used components in electronic products, primarily used in oscillator circuits. A crystal oscillator mainly consists of a wafer, conductive adhesive, electrodes, and other components.

[0199] The main parameters of a crystal oscillator include nominal frequency, load capacitance, frequency accuracy, and frequency stability. These parameters determine the quality and performance of the crystal oscillator.

[0200] A crystal oscillator is short for quartz crystal oscillator, also known as an active crystal oscillator, quartz crystal, or simply crystal. It generates the clock frequency signal necessary for the central processing unit (CPU) to execute instructions. All CPU instruction execution is based on this clock signal; the higher the clock signal frequency, the faster the CPU typically runs. A crystal oscillator is a thin slice (or wafer) cut from a quartz crystal at a specific azimuth angle.

[0201] Ultra-wideband (UWB) technology, with its low power consumption and high temporal resolution, can achieve high-precision ranging and positioning at the centimeter level and has been widely used.

[0202] Figure 1 This is a schematic diagram of a current one-sided two-way ranging method. For example... Figure 1 As shown, UWB device A at its own timestamp T A1 At any time, it sends a ranging request signal to UWB device B, and UWB device B sends a ranging request signal at its own timestamp T. B1 The ranging request signal is received at any given time. Then, UWB device B records the ranging request at its own timestamp T. B2 Constantly send ranging response signals to UWB device A, and UWB device A sends ranging response signals at its own timestamp T. A2 The ranging response signal is received continuously. Ultimately, UWB device A utilizes the round-trip time t... round and response time t reply The time of flight (TOF) of the pulse signal between two UWB devices can be calculated.

[0203] Round trip time: t round =T A2 -T A1 (1)

[0204] Response time: t reply =T B2 -T B1 (2)

[0205] Flight time between two UWB devices:

[0206] Furthermore, the distance between UWB device A and device B is determined as follows:

[0207] Where c is the speed of light, i.e., c = 3 × 10⁻⁶ -8 m / s.

[0208] It should be noted that the one-sided two-way ranging method does not require clock synchronization between different devices (e.g., UWB device A and device B); it only requires the difference in timestamps reported by each device. The timestamps are determined using the synchronization signal portion of the signal.

[0209] Figure 2 This is a schematic diagram of an example of the UWB PHY frame structure. For example... Figure 2 As shown, a high-rate pulse (HRP) UWB physical layer (PHY) frame consists of two parts: a preamble and data. The preamble includes a synchronization header (SHR), which comprises a synchronization field (SYNC) and a start-of-frame delimiter field (SFD). The data portion includes the physical layer frame header (PHY Header, PHR) and the PHY payload.

[0210] It should be noted that SYNC consists of repeated synchronization symbols, which can be repeated 16, 64, 1024, or 4096 times. Each synchronization symbol is obtained by spreading a sequence of length 31, 91, or 127, and there are relatively few sequences with good cross-correlation supported on the same channel.

[0211] In this application, a signal or field includes a sequence, which may mean that the signal or field carries the sequence itself, or carries a sequence obtained from the sequence, such as a sequence obtained by cyclic shifting, interpolation, or spreading of the sequence.

[0212] In one-to-many ranging scenarios, severe interference will occur between different users on the same channel if they use the same synchronization sequence. Using different sequences limits the number of users that can be supported. The SFD (Synchronization Preamble) part is a known sequence (currently, the protocol supports two sequences). When the receiver detects the SFD sequence, it knows that the preamble is about to end and the data part is about to arrive. The PHR (Preamble Hierarchy) of the data part is generally used to indicate the length of the data field and information such as the data rate.

[0213] Currently, in one-to-many and many-to-many ranging scenarios, time division multiplexing (TDM) is used to allow multiple responders to receive the ranging signal from the same initiator at staggered times to avoid conflicts. By pre-allocating different response times to different responders during the ranging negotiation phase, each responder, after receiving the ranging request signal, waits its allocated response time before sending back its ranging response signal to the initiator. This ensures that the response signals from different users do not overlap when they reach the initiator, thus avoiding interference between them.

[0214] However, this implementation requires pairing and connecting the initiator and responder, and then assigning a different reply time to each responder, which is a rather cumbersome process.

[0215] In addition, since the crystal oscillator of the equipment generally has errors, there is a deviation between the actual measured flight time and the real flight time, which will introduce ranging error.

[0216] For example, the following are examples Figure 1 Error analysis was performed using the Time-of-Flight (TOF) of the pulse signal between UWB device A and device B. Assume the crystal oscillator error of device A is e. A The crystal oscillator error of device B is e B Then the timestamps actually recorded by device A are respectively and The timestamps actually recorded by device B are as follows: and Therefore, the quantities actually substituted into the formula for TOF estimation (round-trip time and response time) are respectively This leads to the TOF estimate with error, namely:

[0217]

[0218] Therefore, the estimated value The deviation from the actual Time of Flow (TOF) is:

[0219]

[0220] From formula (6), it can be seen that the ranging error is related to the response time t reply The time of flight (TOF) of the pulse signal between device A and device B is related. Generally speaking, t reply The value of is much larger than that of TOF, so t can be considered to be...reply The crystal oscillator plays a dominant role in ranging error. Therefore, ranging error increases with increasing reply time. To minimize the ranging error introduced by the crystal oscillator, it is necessary to ensure that t... reply The smaller the value, the higher the processing speed of the responder is required.

[0221] In summary, current ranging methods require pairing initiators and responders to establish a connection, and assigning different response times to each responder. Furthermore, as the responder's response time increases, the ranging error introduced by the crystal oscillator also increases.

[0222] In other words, the current one-sided two-way ranging method has a relatively cumbersome process and places high demands on the processing speed of the responder.

[0223] In view of this, the embodiments of this application provide a ranging method in which the initiator realizes one-to-many unpaired ranging by periodically broadcasting two ranging signals. The responder flexibly selects the reply time based on the difference in timestamps of the two broadcast ranging signals, which can simplify the one-to-many ranging process and reduce the requirements on the responder's processing speed while ensuring ranging accuracy, i.e., it needs to be as small as possible to avoid excessive error.

[0224] To facilitate understanding of the embodiments of this application, the following points are made:

[0225] In this application, "at least two" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. In the textual description of this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0226] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0227] In the embodiments of this application, the terms "first," "second," and various numerical designations are used for ease of description and are not intended to limit the scope of the embodiments of this application. For example, they are used to distinguish different indication information.

[0228] In this application, "for indicating" can include both direct and indirect indication. When describing an indication message as indicating A, it can include whether the indication message directly indicates A or indirectly indicates A, but does not necessarily mean that the indication message carries A.

[0229] Furthermore, the specific indication method can also be any existing indication method, such as, but not limited to, the above-mentioned indication methods and their various combinations. Specific details of various indication methods can be found in existing technologies, and will not be repeated here. As described above, for example, when multiple pieces of information of the same type need to be indicated, the indication methods for different pieces of information may differ. In the specific implementation process, the required indication method can be selected according to specific needs. This application embodiment does not limit the selected indication method; therefore, the indication methods involved in this application embodiment should be understood to cover various methods that enable the party to be indicated to obtain the information to be indicated.

[0230] In the embodiments of this application, descriptions such as "when," "under what circumstances," and "if" all refer to the device making corresponding processing under certain objective circumstances, and are not limited to a specific time. They do not require the device to make a judgment action during implementation, nor do they imply any other limitations.

[0231] In the embodiments of this application, "instruction information" and "configuration information" can be explicit instructions, that is, instructions directly indicated through signaling, or obtained by combining other rules or parameters with parameters indicated by signaling, or by deduction. They can also be implicit instructions, that is, obtained based on rules or relationships, or based on other parameters, or by deduction. This application does not specifically limit them in this regard.

[0232] It should be understood that the bearing methods for the first ranging information, ranging response information, etc., involved in this application may be, but are not limited to, one or a combination of two of the following: radio resource control signaling and media access control (MAC) layer signaling. Specifically, radio resource control signaling includes radio resource control (RRC) signaling; MAC layer signaling includes MAC control element (MAC CE) signaling; and scheduling information may be carried in physical layer (PHY) signaling, which includes downlink control information (DCI) signaling, etc.

[0233] The ranging method in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0234] Figure 3This is a schematic flowchart of a ranging method 300 provided in an embodiment of this application. The specific implementation steps include:

[0235] S310, the first device sends multiple ranging signals.

[0236] Correspondingly, the second device receives multiple ranging signals from the first device.

[0237] The multiple ranging signals include a first ranging signal and a second ranging signal. The first ranging signal is sent before the second ranging signal, and the transmission time interval between the first ranging signal and the second ranging signal is t. A1 .

[0238] One possible implementation is that the first device sends multiple ranging signals within a period T.

[0239] Correspondingly, the second device receives multiple ranging signals from the first device within a period T, where T is a constant greater than zero.

[0240] S320, the second device sends a ranging response signal to the first device.

[0241] Correspondingly, the first device receives the ranging response signal from the second device and determines the receiving time of the ranging response signal and the transmission time interval of the second ranging signal as t. A2 .

[0242] The ranging response signal carries the time interval t between the second device receiving the second ranging signal and the first ranging signal. B1 The time interval t between the second device receiving the second ranging signal and sending the ranging response signal. B2 Alternatively, the ranging response signal carries N, where N is based on t. B1 and t B2 A definite value, where N is a constant greater than zero.

[0243] In other words, when the ranging response signal carries t B1 and t B2 The second device passed through t B2 The second device sends a ranging response signal to the first device at time; when the ranging response signal carries N, the second device passes through Nt. B1 The timer sends a ranging response signal to the first device.

[0244] As an example rather than a limitation, N is based on t B2 / t B1 A definite value. In a specific implementation, N satisfies: N = t B2 / t B1 In another specific implementation, N is t B2 / t B1The value under the preset precision requirements.

[0245] It should be noted that when N is not an integer, the value N can be rounded to two decimal places according to the predefined protocol. For example, when t B2 =4s,t B1 =2s, then N=t B2 / t B1 = 2s. For example, when t... B2 =4s,t B1 =3s, then N=t B2 / t B1 ≈1.33s. The above is merely an illustrative example and should not constitute any limitation on the technical solution of this application.

[0246] For example, the first ranging signal and / or the second ranging signal carry information for identifying the first device.

[0247] In one possible implementation, the ranging response signal also carries information for identifying the first device.

[0248] The information used to identify the first device can be explicitly indicated, that is, the information is the identification information of the first device; or it can be implicitly indicated, for example, the information is implicitly indicated as the identification information of the first device according to the sequence. This application does not make specific limitations on this.

[0249] Similarly, the ranging response signal also carries information used to identify the second device.

[0250] The information used to identify the second device can be explicitly indicated, that is, the information is the identification information of the second device; or it can be implicitly indicated, for example, by using a sequence or the like, to implicitly indicate that the information is the identification information of the second device. This application does not make any specific limitation on this.

[0251] One possible implementation is to identify the information of the first device carried in the physical layer frame header (PHY header, PHR) or payload of at least one of the first ranging signal, the second ranging signal, and the ranging response signal.

[0252] For example, the information used to identify the first device is determined based on the media access control address (MAC) address of the first device.

[0253] For example, the information used to identify the first device can be directly determined by the first device's MAC address, which can be understood as the first device's Ethernet address or physical address. For instance, a fixed identifier (ID). That is, using N1 bits of the first device's MAC address (64 bits) as the ID does not change.

[0254] Furthermore, the information used to identify the first device can also be determined based on the current timestamp and MAC address. For example, a random ID. The N2 bits of the current timestamp (32 bits) are XORed with the N2 bits of the MAC address (64 bits) to obtain a new N2-bit random number, which is used as the ID and changes every cycle.

[0255] One possible implementation is that at least one of the synchronization field (SYNC), start-of-frame delimiter field (SFD), physical layer frame header (PHY header, PHR), and payload of the first ranging signal and the second ranging signal is different.

[0256] For example, the PHR or payload of the first ranging signal includes first indication information, which indicates that the current ranging signal is the first ranging signal; the PHR or payload of the second ranging signal includes second indication information, which indicates that the current ranging signal is the second ranging signal; and / or, the SFD of the first ranging signal indicates that the current ranging signal is the first ranging signal, the SFD of the second ranging signal indicates that the current ranging signal is the second ranging signal, and the SFD of the first ranging signal is different from the SFD of the second ranging signal; and / or, the SYNC of the first ranging signal indicates that the current ranging signal is the first ranging signal, the SYNC of the second ranging signal indicates that the current ranging signal is the second ranging signal, and the SYNC of the first ranging signal is different from the SYNC of the second ranging signal.

[0257] Based on the above possible implementation methods, it can be further indicated whether the current ranging signal is the first ranging signal or the second ranging signal. That is, the first ranging signal and the second ranging signal are different.

[0258] One possible implementation is that the SYNC field of the first and second ranging signals includes a dedicated synchronization sequence for unpaired ranging.

[0259] In this context, unpaired ranging can be understood as a process where a device broadcasts or sends a ranging signal within a first range, and at least one device within that first range sends a ranging response signal back to the device. No prior connection needs to be established between the sender and the responder. For example, device A and device B can perform ranging applications without mutual identity verification or connection establishment pairing operations.

[0260] One possible implementation is that the SYNC field of the ranging response signal is a first dedicated synchronization sequence, which is any one of the dedicated synchronization sequences in the set of dedicated synchronization sequences, which is predefined by the protocol.

[0261] One possible implementation is that the dedicated synchronization sequence set includes a first set of dedicated synchronization sequences and a second set of dedicated synchronization sequences. The dedicated synchronization sequences in the first set of dedicated synchronization sequences and the second set of dedicated synchronization sequences are different from each other. When the synchronization field SYNC of the first ranging signal and the second ranging signal includes the dedicated synchronization sequence in the first set of dedicated synchronization sequences, the synchronization field SYNC of the ranging response signal also includes the dedicated synchronization sequence in the first set of dedicated synchronization sequences. When the synchronization field SYNC of the first ranging signal and the second ranging signal includes the dedicated synchronization sequence in the second set of dedicated synchronization sequences, the synchronization field SYNC of the ranging response signal also includes the dedicated synchronization sequence in the second set of dedicated synchronization sequences.

[0262] In other words, the dedicated synchronization sequences used by the first ranging signal (or the second ranging signal) and its corresponding ranging response signal belong to the same set of dedicated synchronization sequences.

[0263] For example, one of the sequences can be specified by a protocol as a dedicated synchronization sequence for the ranging signal sent by the first device.

[0264] In this embodiment of the application, two sets of 20 dedicated synchronization sequences of length 31 are provided, each set containing 10 different dedicated synchronization sequences.

[0265] For example, the first set of dedicated synchronization sequences includes:

[0266] "-+0--+-++00+---++-++++-+0+++0-0、"

[0267] ++-+++--0+++0+0-+0++-+--00--+-+、

[0268] +-+++--+0+-+----0+++-++0+0-+00+、

[0269] 0-++-+++-+0-++++--0-+---+0+0++0、

[0270] 00++--0-+++++-+++-0++-0--+-+-0+、

[0271] 0+00+-++0+-+-+++++--0--+0--+++-、

[0272] 00++0--++-0-0-+-+0-++++++--+-++、

[0273] +++++0+0---+0+--++-+-+--++00+-0、

[0274] +++-0---0+-++-0+-+-+++--+++00+0、

[0275] 00+0+-+-0++-0+-+++0-++++-++----".

[0276] The second set of dedicated synchronization sequences includes:

[0277] "00++-+--++++++-0+-+-0-0-++--0++、"

[0278] -+00++--+-+-++--+0+---0+0+++++0、

[0279] 0+00+++--+++-+-+0-++-+0---0-+++、

[0280] ----++-++++-0+++-+0-++0-+-+0+00、

[0281] -0+++0+-++++-++---+00++-+--0+-0、

[0282] +-+--00--+-++0+-0+0+++0--+++-++、

[0283] -+++--0+--0--+++++-+-+0++-+00+0、

[0284] 00+0-+-+--0-++0-+++-+++++-0--++、

[0285] ++0+0+---+-0--++++-0+-+++-++-00、

[0286] +00+-0+0++-+++0----+-+0+--+++-+".

[0287] In this context, "+" represents 1 and "-" represents -1. The dedicated synchronization sequences within each group exhibit good cross-correlation.

[0288] Specifically, after receiving the ranging signal sent by the first device, the second device uses a dedicated synchronization sequence (e.g., "-+0--+-++00+---++-++++-+0+++0-0" in the first set of dedicated synchronization sequences) to perform correlation operations, thereby identifying the ranging signal as an unpaired ranging signal. Correspondingly, the second device randomly selects a dedicated synchronization sequence from the group containing this dedicated synchronization sequence (e.g., "++-+++--0+++0+0-+0++-+--00--+-+") and carries it in the ranging response signal, sending it to the first device.

[0289] It should be noted that the dedicated synchronization sequences selected in the first ranging signal, the second ranging signal, and the ranging response signal in the embodiments of this application may be the same or different, and this application does not make specific limitations on this.

[0290] S330, the first device according to t A1 t A2 t B1 t B2 Determine the distance between the first device and the second device; or, based on t A1 t A2 Let N determine the distance between the first device and the second device.

[0291] One possible implementation is that the ranging response signal carries the receiving time interval t between the second ranging signal and the first ranging signal. B1 The time interval t between the second device receiving the second ranging signal and sending the ranging response signal. B2 The distance between the first device and the second device is:

[0292]

[0293] Where c is the speed of light.

[0294] Another possible implementation is that the ranging response signal includes N, where N = t B2 / t B1 The distance between the first device and the second device is:

[0295]

[0296] Where c is the speed of light.

[0297] It should be noted that the above illustrative example using the second device as the responder should not constitute any limitation on the technical solution of this application. For example, the first device can send ranging signals to multiple second devices; or multiple first devices can send ranging signals to one or more second devices, etc., and this application does not make any specific limitations in this regard.

[0298] According to the solution provided in this application, unpaired ranging can be achieved, which reduces the requirements for the processing speed of the responder while ensuring ranging accuracy.

[0299] To facilitate understanding of the embodiments of this application, the technical solutions provided in this application will be illustrated below using the initiator and the responder as examples.

[0300] Figure 4 This is a schematic diagram of an example of a ranging method 400 provided in an embodiment of this application. In this implementation, after t B2 The ranging response signal is sent in time, where the SYNC field includes a dedicated synchronization sequence randomly selected from a set of dedicated sequences. The PHR or payload carries the ID generated by the initiator and the time. B1 t B2 The specific implementation steps include:

[0301] S410, the initiator broadcasts ranging signal 1 and ranging signal 2 respectively.

[0302] Correspondingly, responder #1 receives ranging signal 1 and ranging signal 2.

[0303] It should be understood that ranging signal 1 and ranging signal 2 include SYNC, SFD, PHR, and payload. The PHR or payload in either ranging signal carries the initiator's identification information (ID). The SYNC portion can be randomly selected from a dedicated sequence set; for example, the initiator may use sequence 1 from group 1 in Table 1 as the SYNC portion of the broadcast signal.

[0304] In addition, the interval between the two ranging signals broadcast by the initiator is t. A1 For example, the initiator first transmits ranging signal 1 at its own timestamp t1, and after t... A1 Then, at its own timestamp t2, it transmits ranging signal 2, i.e., t2-t1=t A1 .

[0305] Optionally, the initiator needs to broadcast ranging signal 1 and ranging signal 2 within the same period T.

[0306] It should be noted that the embodiments of this application are applicable to one-to-many and many-to-many synchronization, positioning, and ranging scenarios. To understand the solution of this application, only responder #1 is used as an example for illustration.

[0307] It should be understood that the embodiments of this application also include other responders (e.g., responder #2, ..., responder #N), which can also receive and detect ranging signal 1 and ranging signal 2. Furthermore, the embodiments of this application use two ranging signals (e.g., ranging signal 1 and ranging signal 2) as an example to calculate the distance between the initiator and multiple responders. The above is merely an illustrative description and should not constitute any limitation on the technical solution of this application.

[0308] Figure 5 This is a schematic diagram illustrating a broadcast signal design applicable to this application. For example... Figure 5 As shown, the broadcast period is T, and the initiator sends ranging signal 1 and ranging signal 2 within one period. Ranging signal 1 is sent first, followed by ranging signal 2, and the time interval between the two ranging signals is t. A1 .

[0309] Specifically, ranging signal 1 includes the SYNC field, the SFD 1 field, the PHR physical layer header, and the payload. Ranging signal 2 includes the SYNC field, the SFD 2 field, the PHR physical layer header, and the payload.

[0310] In this context, the SYNC portion of ranging signal 1 and ranging signal 2 is a dedicated synchronization sequence used to indicate that the corresponding broadcast signal is an unpaired ranging signal. In one example, Table 1 shows two sets of dedicated synchronization sequences of length 31 applicable to embodiments of this application. As shown in Table 1, "+" represents 1, and "-" represents -1, indicating good cross-correlation between sequences within a group. That is, when ranging response signals are sent from the same initiator in multiple response directions, the sequence indices used within the same group are likely to be different, and the mutual interference between sequence indices 1-10 within the sequence group of index 1 or 2 is minimal.

[0311] In this embodiment of the application, the protocol specifies that a certain sequence can be used as the initiator's dedicated synchronization sequence (for example, the dedicated synchronization sequence corresponding to sequence index 1 in the sequence group of index 1 can be used as the SYNC of ranging signal 1). After receiving the broadcast signal from the sender, responder #1 uses the dedicated synchronization sequence to perform correlation calculations, thereby identifying the signal as an unpaired ranging signal.

[0312] Table 1

[0313]

[0314] The SFD portions of ranging signal 1 and ranging signal 2 can be distinguished by different SFD sequences; or the SFD portions can be the same, and indication information needs to be carried in the PHR or payload to indicate ranging signal 1 and ranging signal 2.

[0315] Among them, the PHR or payload portion of ranging signal 1 and ranging signal 2 carries the ID generated by the initiator, and the ID used by ranging signal 1 and ranging signal 2 is the same.

[0316] Specifically, the initiator ID carried in ranging signal 1 and ranging signal 2 can be generated in ways including but not limited to the following two:

[0317] Method 1: Fixed ID. For example, use the N1 bit of the initiator's MAC address (64 bits) as the initiator ID, and keep it unchanged.

[0318] Method 2: Random ID. XOR the N2 bits of the current timestamp (32 bits) with the N2 bits of the MAC address (64 bits) to obtain a new random number N2 bits, which will be used as the initiator ID. This random number will change every period.

[0319] Figure 6 This is a schematic diagram illustrating an example of a ranging signal (e.g., ranging signal 1 and ranging signal 2) indication method applicable to embodiments of this application. Figure 6 As shown, in Method 1, the SYNC portions of the two ranging signals use different dedicated sequences (e.g., sequences 1 and 2 in Group 1 of Table 1 correspond to SYNC1 and SYNC2, respectively) to distinguish ranging signal 1 and ranging signal 2. The SFD (e.g., SFD1), PHR, and payload portions of the two ranging signals are identical. In Method 2, the SFD portions of the two ranging signals include different SFD sequences (e.g., SFD1 and SFD2) to distinguish ranging signal 1 and ranging signal 2. The SYNC (e.g., SYNC 1), PHR, and payload portions of the two ranging signals are identical. In Method 3, the sequences of both the SYNC and SFD portions of ranging signal 1 and ranging signal 2 are different (e.g., SYNC1 and SYNC2, SFD1 and SFD2 correspond to ranging signal 1 and ranging signal 2, respectively). The PHR and payload portions of the two ranging signals are identical. In Method 4, the PHR or payload portion of the ranging signal carries indication information to indicate whether the current signal is ranging signal 1 or ranging signal 2 (for example, using a 1-bit indication bit, where "0" represents ranging signal 1 and "1" represents ranging signal 2).

[0320] It should be noted that the above indication methods for ranging signals are merely illustrative and should not constitute any limitation on the technical solution of this application. Furthermore, the above methods can be used independently or in combination, and this application does not impose any specific limitations in this regard.

[0321] S420, responder #1 detects ranging signal 1 and ranging signal 2, and determines the difference in timestamps when the two ranging signals are received as t. B1 .

[0322] For example, responder #1 receives ranging signal 1 at its own timestamp t3, and receives ranging signal 2 at its own timestamp t4 within the same period T, i.e., t4 - t3 = t B1 .

[0323] S430, Responder #1 after t B2 Then, a ranging response signal is sent to the initiator.

[0324] Correspondingly, the initiator receives the ranging response signal from responder #1.

[0325] It should be understood that the ranging response signal includes SYNC, SFD, PHR, and payload.

[0326] Specifically, the pilot for the SYNC portion of the ranging response signal can be randomly selected from a dedicated sequence set (for example, if the sender uses sequence 1 from the first set of sequences in Table 1 as the SYNC portion of the broadcast signal, then the responder can randomly select from sequences 2-10 in the first set of sequences as the SYNC portion of the response ranging signal). The PHR or payload carries the sender ID, t B1 t B2 ;

[0327] S440, the initiator determines the timestamp t5 of receiving the ranging response signal and calculates the distance between the initiator and the responder.

[0328] Specifically, the initiator obtains t based on the timestamp t5 of receiving the ranging response signal and the timestamp t2 of transmitting the ranging signal 2. A2 =t5-t2. Further demodulation yields t. B1 t B2 Then calculate the distance between the sender and the responder:

[0329]

[0330] Figure 7 This is a schematic diagram illustrating the Time-of-Flight (TOF) calculation principle of the pulse signal used in this application between the initiator and the responder. Figure 7 As shown, the initiator sends two ranging signals consecutively within one period, with a time interval of t between them. A1 Correspondingly, responder #1 receives the two ranging signals consecutively, with the difference between the two timestamps being t. B1 .

[0331] It should be understood that, under ideal conditions, t A1 =t B1 Furthermore, responder #1 after time t... B2 The time stamp for receiving the ranging response signal is t. A2 Therefore, we can obtain the following two equations:

[0332]

[0333] then,

[0334]

[0335] Therefore, the flight time of the pulse signal between the initiator and responder #1 is:

[0336]

[0337] That is, the distance between the initiator and the responder #1 is:

[0338]

[0339] Where c is the speed of light, i.e., c = 3 × 10⁻⁶ -8 m / s.

[0340] In the technical solution of this application, due to the presence of the equipment crystal oscillator, the TOF is estimated based on the actual measurement:

[0341]

[0342] in,

[0343]

[0344] at the same time,

[0345] t A1 =t B1 (13)

[0346] Therefore, the error between the measured value, which includes crystal oscillator error, and the true value is:

[0347]

[0348] As can be seen above, the ranging error is only related to TOF and no longer increases with the response time of responder #1.

[0349] In this implementation, to avoid paired ranging and simplify the one-to-many ranging process, the initiator's broadcast signal is designed with a dedicated SYNC sequence to indicate that the broadcast signal is an unpaired ranging signal. The broadcast signal also carries an ID generated by the initiator, enabling unpaired ranging. Upon detecting the broadcast signal, the responder will initiate a response, carrying the ID from the initiator's broadcast signal. The initiator can then estimate the distance upon receiving the response signal carrying this ID.

[0350] In addition, to minimize the probability of collisions between response signals from multiple responders, the responder randomly selects a pilot from the pilot set for the SYNC section while randomly selecting the reply time. The initiator broadcasts the ranging signal twice within one cycle. Under this architecture, ranging accuracy does not decrease with increasing reply time, and there is no constraint on the ranging response time, thus relaxing the requirements on the processing speed of the responders.

[0351] Figure 8 This is another schematic diagram of a ranging method 800 provided in an embodiment of this application. The difference from method 400 is that the responder #2 no longer provides feedback t. B1 t B2 Instead, it is the feedback t B1 t B2 The ratio N (N can be a decimal), i.e., N = t B2 / t B1 In this implementation, after Nt B1 The ranging response signal is sent in time, where the SYNC includes a dedicated synchronization sequence randomly selected from a set of dedicated sequences, and the PHR or payload carries the ID and N generated by the initiator. Specific implementation steps include:

[0352] S810, the initiator broadcasts ranging signal 1 and ranging signal 2 respectively.

[0353] Correspondingly, responder #2 receives ranging signal 1 and ranging signal 2.

[0354] It should be understood that ranging signal 1 and ranging signal 2 include SYNC, SFD, PHR, and payload. The PHR or payload in either ranging signal carries the initiator's identification information (ID). The SYNC portion can be randomly selected from a dedicated sequence set; for example, the sender may use sequence 1 from group 1 in Table 1 as the SYNC portion of the broadcast signal.

[0355] In addition, the interval between the two ranging signals broadcast by the initiator is t. A1 For example, the initiator first transmits ranging signal 1 at its own timestamp t1, and after t... A1 Then, at its own timestamp t2, it transmits ranging signal 2, i.e., t2-t1=t A1 .

[0356] Optionally, the initiator needs to broadcast ranging signal 1 and ranging signal 2 within the same period T.

[0357] It should be noted that the embodiments of this application are applicable to one-to-many and many-to-many synchronization, positioning, and ranging scenarios. To understand the solution of this application, only responder #2 is used as an example for illustration.

[0358] It should be understood that the embodiments of this application also include other responders (e.g., responder #1, ..., responder #N), which can also receive and detect ranging signal 1 and ranging signal 2. Furthermore, the embodiments of this application use two ranging signals (e.g., ranging signal 1 and ranging signal 2) as an example to calculate the distance between the initiator and multiple responders. The above is merely an illustrative description and should not constitute any limitation on the technical solution of this application.

[0359] The specific frame structures of ranging signal 1 and ranging signal 2 can be found in [reference needed]. Figure 5 The diagram shows the indication methods for ranging signal 1 and ranging signal 2. For details, please refer to [the diagram / reference needed]. Figure 6 A schematic diagram is shown. For the sake of simplicity, it will not be elaborated further here.

[0360] S820, responder #2 detects ranging signal 1 and ranging signal 2, and determines the difference in timestamps between the two ranging signals as t. B1 .

[0361] For example, responder #2 receives ranging signal 1 at its own timestamp t3, and receives ranging signal 2 at its own timestamp t4 within the same period T, i.e., t4 - t3 = t B1 .

[0362] S830, responder #2 via Nt B1 Then, a ranging response signal is sent to the initiator, where N is a positive number.

[0363] Correspondingly, the initiator receives the ranging response signal from responder #2.

[0364] It should be understood that the ranging response signal includes SYNC, SFD, PHR, and payload.

[0365] Specifically, the pilot for the SYNC part of the ranging response signal can be randomly selected from a dedicated sequence set (for example, if the sender uses sequence 1 in the first set of sequences in Table 1 as the SYNC part of the broadcast signal, then the responder can randomly select from sequences 2 to 10 in the first set of sequences as the SYNC part of the response ranging signal), and the PHR or payload carries the sender ID and N;

[0366] S840, the initiator determines the timestamp t5 of receiving the ranging response signal and calculates the distance between the initiator and the responder.

[0367] Specifically, the initiator obtains t based on the timestamp t5 of receiving the ranging response signal and the timestamp t2 of transmitting the ranging signal 2. A2 =t5-t2. Further demodulation yields t. B1 t B2 Then calculate the distance between the sender and the responder:

[0368]

[0369] Figure 7 This is a schematic diagram illustrating the Time-of-Flight (TOF) calculation principle of the pulse signal used in this application between the initiator and the responder. Figure 7 As shown, the initiator sends two ranging signals consecutively within one period, with a time interval of t between them. A1 Correspondingly, responder #2 receives the two ranging signals consecutively, with the difference between the two timestamps being t. B1 It should be understood that, under ideal conditions, t A1 =t B1 Furthermore, responder #2, after time t... B2 The time stamp for receiving the ranging response signal is t. A2 Therefore, we can obtain the following two equations:

[0370]

[0371] then,

[0372] (N+1)t A2 -N(t A1 +t A2 ) = 2TOF (17)

[0373] Therefore, the flight time of the pulse signal between the initiator and the responder #2 is:

[0374]

[0375] In the technical solution of this application, due to the presence of the equipment crystal oscillator, the TOF is estimated based on the actual measurement:

[0376]

[0377] in,

[0378]

[0379] At the same time, t A1 =t B1 (13).

[0380] Therefore, the error between the measured value, which includes crystal oscillator error, and the true value is:

[0381]

[0382] As can be seen above, the ranging error is only related to TOF and no longer increases with the response time of responder #2.

[0383] In this implementation, to avoid paired ranging and simplify the one-to-many ranging process, the initiator's broadcast signal is designed with a dedicated SYNC sequence to indicate that the broadcast signal is an unpaired ranging signal. The broadcast signal also carries an ID generated by the initiator, enabling unpaired ranging. Upon detecting the broadcast signal, the responder will initiate a response, carrying the ID from the initiator's broadcast signal. The initiator can then estimate the distance upon receiving the response signal carrying this ID.

[0384] In addition, to minimize the probability of collisions between response signals from multiple responders, the responder randomly selects a pilot from the pilot set for the SYNC section while randomly selecting the reply time. The initiator broadcasts the ranging signal twice within one cycle. Under this architecture, ranging accuracy does not decrease with increasing reply time, and there is no constraint on the ranging response time, thus relaxing the requirements on the processing speed of the responders.

[0385] Compared to the aforementioned ranging method 400, in this implementation, the responder no longer feeds back t. B1 t B2 Instead, it is the feedback t B1 t B2 The ratio N reduces the amount of feedback and signaling overhead.

[0386] Figure 9 This is a schematic flowchart of a ranging method 900 provided in an embodiment of this application. The specific implementation steps include:

[0387] S910, the first device sends multiple ranging signals.

[0388] Correspondingly, the second device receives multiple ranging signals from the first device.

[0389] The multiple ranging signals include a first ranging signal and a second ranging signal. The first ranging signal is sent before the second ranging signal, and the transmission time interval between the first ranging signal and the second ranging signal is t. A1 ;

[0390] One possible implementation is that the first device sends multiple ranging signals within a period T.

[0391] Correspondingly, the second device receives multiple ranging signals from the first device within a period T, where T is a constant greater than zero.

[0392] S920, after receiving the second ranging signal, the second device passes through Mt B1 After a time interval, a ranging response signal is sent to the first device.

[0393] Among them, t B1 M is the reception time interval between the second ranging signal and the first ranging signal, and M is any positive integer in the preset set of integer values.

[0394] S930, the first device in Pt A1 up to (P+1)t A1 The ranging response signal from the second device is detected within a time period, and the time interval between the reception of the ranging response signal and the transmission of the second ranging signal is determined as t. A2 , t A1 P is the transmission time interval between the first ranging signal and the second ranging signal, and the value of P is a positive integer.

[0395] In other words, when the first device is uncertain about the transmission and / or reception time of the ranging response signal, it operates at one or more different Pt. A1 up to (P+1)t A1 The process involves iterating through the data within a given time period until a ranging response signal is detected.

[0396] For example, the value of P is any positive integer in a preset set of integer values.

[0397] Optionally, the preset set of integer values ​​is predefined by the protocol. For example, the preset set of integer values ​​includes at least one integer, such as 1, 3, and 5.

[0398] Alternatively, without setting a detection window, the first device performs blind detection continuously, according to Mt. A1 <t A2 <(M+1)t A1 Determine M to calculate the distance between the first device and the second device.

[0399] In one possible implementation, after detecting a ranging response signal from the second device, the first device records a synchronization timestamp and subtracts it from the transmission timestamp of the second ranging signal to obtain t. A2 Then calculate t A2 / t A1 This allows us to determine the specific value of M.

[0400] in, This is the floor operator.

[0401] In another possible implementation, a sliding window method is used to detect the ranging response signal, with the position (Pt) of each window... A1 up to (P+1)t A1 The distance is determined by the value of P. When P reaches a certain value and a ranging response signal is detected within the window, the data value of P is determined as M. M is used to determine the distance between the first device and the device that sent the ranging response signal.

[0402] In one possible implementation, the first ranging signal and / or the second ranging signal include a preset set of integer values.

[0403] Optionally, the preset set of integer values ​​may be predefined by the protocol. This application does not impose specific limitations on this.

[0404] For example, the preset set of integer values ​​includes at least one integer, such as 1, 3, and 5. Then, after receiving the second ranging signal, the second device can travel 3t... B1 Send a ranging response signal, i.e., M=3. Correspondingly, the first device needs to be located at multiple different points (Pt). A1 up to (P+1)t A1 The detection is performed over a period of time until a ranging response signal from the second device is detected.

[0405] In other words, the first device needs to be in t A1 Up to 2t A1 Time period, 3t A1 Up to 4t A1 Time period, and 5t A1 Up to 6t A1 The detection is performed iteratively within a time period. The different time periods can be understood as different windows, each representing a detection window. Based on the iterative detection, the first device is located in the second window, specifically at 3t. A1 Up to 4t A1 The ranging response signal was detected within the specified time period.

[0406] For example, the first ranging signal and / or the second ranging signal carry information for identifying the first device.

[0407] One possible implementation is that the ranging response signal carries information for identifying the first device.

[0408] The information used to identify the first device can be explicitly indicated, that is, the information is the identification information of the first device; or it can be implicitly indicated, for example, by using a sequence or the like to implicitly indicate that the information is the identification information of the first device. This application does not make any specific limitation on this.

[0409] Similarly, the ranging response signal also carries information used to identify the second device.

[0410] The information used to identify the second device can be explicitly indicated, that is, the information is the identification information of the second device; or it can be implicitly indicated, for example, by using a sequence or the like, to implicitly indicate that the information is the identification information of the second device. This application does not make any specific limitation on this.

[0411] One possible implementation is to identify the information of the first device carried in the physical layer frame header (PHY header, PHR) or payload of at least one of the first ranging signal, the second ranging signal, and the ranging response signal.

[0412] For example, the information used to identify the first device is determined based on the media access control address (MAC) address of the first device.

[0413] For example, the information used to identify the first device can be directly determined by the first device's MAC address, which can be understood as the first device's Ethernet address or physical address. For instance, a fixed identifier (ID). That is, using N1 bits of the first device's MAC address (64 bits) as the ID does not change.

[0414] Furthermore, the information used to identify the first device can also be determined based on the current timestamp and MAC address. For example, a random ID. The N2 bits of the current timestamp (32 bits) are XORed with the N2 bits of the MAC address (64 bits) to obtain a new N2-bit random number, which is used as the ID and changes every cycle.

[0415] One possible implementation is that at least one of the synchronization field (SYNC), start-of-frame delimiter field (SFD), physical layer frame header (PHY header, PHR), and payload of the first ranging signal and the second ranging signal is different.

[0416] For example, the PHR or payload of the first ranging signal includes first indication information, which indicates that the current ranging signal is the first ranging signal; the PHR or payload of the second ranging signal includes second indication information, which indicates that the current ranging signal is the second ranging signal; and / or, the SFD of the first ranging signal indicates that the current ranging signal is the first ranging signal, the SFD of the second ranging signal indicates that the current ranging signal is the second ranging signal, and the SFD of the first ranging signal is different from the SFD of the second ranging signal; and / or, the SYNC of the first ranging signal indicates that the current ranging signal is the first ranging signal, the SYNC of the second ranging signal indicates that the current ranging signal is the second ranging signal, and the SYNC of the first ranging signal is different from the SYNC of the second ranging signal.

[0417] Based on the above possible implementation methods, it can be further indicated whether the current ranging signal is the first ranging signal or the second ranging signal. That is, the first ranging signal and the second ranging signal are different.

[0418] One possible implementation is that the SYNC field of the first and second ranging signals includes a dedicated synchronization sequence for unpaired ranging.

[0419] In this context, unpaired ranging can be understood as a process where a device broadcasts or sends a ranging signal within a first range, and at least one device within that first range sends a ranging response signal back to the device. No prior connection needs to be established between the sender and the responder. For example, device A and device B can perform ranging applications without mutual identity verification or connection establishment pairing operations.

[0420] One possible implementation is that the SYNC field of the ranging response signal includes a first dedicated synchronization sequence, which is any one of the dedicated synchronization sequences in a set of dedicated synchronization sequences, which is predefined by the protocol.

[0421] The dedicated synchronization sequence set includes a first set of dedicated synchronization sequences and a second set of dedicated synchronization sequences. The dedicated synchronization sequences in the first set of dedicated synchronization sequences and the second set of dedicated synchronization sequences are different from each other. When the synchronization field SYNC of the first ranging signal and the second ranging signal includes the dedicated synchronization sequence in the first set of dedicated synchronization sequences, the synchronization field SYNC of the ranging response signal also includes the dedicated synchronization sequence in the first set of dedicated synchronization sequences. When the synchronization field SYNC of the first ranging signal and the second ranging signal includes the dedicated synchronization sequence in the second set of dedicated synchronization sequences, the synchronization field SYNC of the ranging response signal also includes the dedicated synchronization sequence in the second set of dedicated synchronization sequences.

[0422] In other words, the dedicated synchronization sequences used by the first ranging signal (or the second ranging signal) and its corresponding ranging response signal belong to the same set of dedicated synchronization sequences.

[0423] For example, one of the sequences can be specified by a protocol as a dedicated synchronization sequence for the ranging signal sent by the first device.

[0424] In this embodiment of the application, two sets of 20 dedicated synchronization sequences of length 31 are provided, each set containing 10 different dedicated synchronization sequences.

[0425] For example, the first set of dedicated synchronization sequences includes:

[0426] "-+0--+-++00+---++-++++-+0+++0-0、"

[0427] ++-+++--0+++0+0-+0++-+--00--+-+、

[0428] +-+++--+0+-+----0+++-++0+0-+00+、

[0429] 0-++-+++-+0-++++--0-+---+0+0++0、

[0430] 00++--0-+++++-+++-0++-0--+-+-0+、

[0431] 0+00+-++0+-+-+++++--0--+0--+++-、

[0432] 00++0--++-0-0-+-+0-++++++--+-++、

[0433] +++++0+0---+0+--++-+-+--++00+-0、

[0434] +++-0---0+-++-0+-+-+++--+++00+0、

[0435] 00+0+-+-0++-0+-+++0-++++-++----".

[0436] The second set of dedicated synchronization sequences includes:

[0437] "00++-+--++++++-0+-+-0-0-++--0++、"

[0438] -+00++--+-+-++--+0+---0+0+++++0、

[0439] 0+00+++--+++-+-+0-++-+0---0-+++、

[0440] ----++-++++-0+++-+0-++0-+-+0+00、

[0441] -0+++0+-++++-++---+00++-+--0+-0、

[0442] +-+--00--+-++0+-0+0+++0--+++-++、

[0443] -+++--0+--0--+++++-+-+0++-+00+0、

[0444] 00+0-+-+--0-++0-+++-+++++-0--++、

[0445] ++0+0+---+-0--++++-0+-+++-++-00、

[0446] +00+-0+0++-+++0----+-+0+--+++-+".

[0447] In this context, "+" represents 1 and "-" represents -1. The dedicated synchronization sequences within each group exhibit good cross-correlation.

[0448] Specifically, after receiving the ranging signal sent by the first device, the second device uses a dedicated synchronization sequence (e.g., "-+0--+-++00+---++-++++-+0+++0-0" in the first set of dedicated synchronization sequences) to perform correlation operations, thereby identifying the ranging signal as an unpaired ranging signal. Correspondingly, the second device randomly selects a dedicated synchronization sequence from the group containing this dedicated synchronization sequence (e.g., "++-+++--0+++0+0-+0++-+--00--+-+") and carries it in the ranging response signal, sending it to the first device.

[0449] It should be noted that the dedicated synchronization sequences selected in the first ranging signal, the second ranging signal, and the ranging response signal in the embodiments of this application may be the same or different, and this application does not make specific limitations on this.

[0450] S940, the first device according to M, t A1 t A2 Determine the distance between the first device and the second device, where M is the value of P when the ranging response signal is detected.

[0451] In one possible implementation, the distance between the first device and the second device is:

[0452]

[0453] Where c is the speed of light.

[0454] It should be noted that the above illustrative example using the second device as the responder should not constitute any limitation on the technical solution of this application. For example, the first device can send ranging signals to multiple second devices; or multiple first devices can send ranging signals to one or more second devices, etc., and this application does not make any specific limitations in this regard.

[0455] According to the solution provided in this application, unpaired ranging can be achieved, which reduces the requirements for the processing speed of the responder while ensuring ranging accuracy.

[0456] Figure 10 This is another schematic diagram of a ranging method 1000 provided in this application embodiment. The difference from method 800 is that the responder #3 randomly selects M from a preset set of integer values, and after t... B2 =Mt B1 The time feedback ranging response signal, and no feedback t B1 t B2 Or M.

[0457] In this implementation, after Mt B1The ranging response signal is sent in time, where the SYNC includes a dedicated synchronization sequence randomly selected from a set of dedicated sequences, and the PHR or payload carries an ID generated by the initiator. Specific implementation steps include:

[0458] S1010, the initiator broadcasts ranging signal 1 and ranging signal 2 respectively.

[0459] Correspondingly, responder #3 receives ranging signal 1 and ranging signal 2.

[0460] It should be understood that ranging signal 1 and ranging signal 2 include SYNC, SFD, PHR, and payload. The PHR or payload in either ranging signal carries the initiator's identification information (ID). The SYNC portion can be randomly selected from a dedicated sequence set; for example, the sender may use sequence 1 from group 1 in Table 1 as the SYNC portion of the broadcast signal.

[0461] In addition, the interval between the two ranging signals broadcast by the initiator is t. A1 For example, the initiator first transmits ranging signal 1 at its own timestamp t1, and after t... A1 Then, at its own timestamp t2, it transmits ranging signal 2, i.e., t2-t1=t A1 .

[0462] Optionally, the initiator needs to broadcast ranging signal 1 and ranging signal 2 within the same period T.

[0463] It should be noted that the embodiments of this application are applicable to one-to-many and many-to-many synchronization, positioning, and ranging scenarios. To understand the solution of this application, only responder #3 is used as an example for illustration.

[0464] It should be understood that the embodiments of this application also include other responders (e.g., responder #1, ..., responder #N), which can also receive and detect ranging signal 1 and ranging signal 2. Furthermore, the embodiments of this application use two ranging signals (e.g., ranging signal 1 and ranging signal 2) as an example to calculate the distance between the initiator and multiple responders. The above is merely an illustrative description and should not constitute any limitation on the technical solution of this application.

[0465] The specific frame structures of ranging signal 1 and ranging signal 2 can be found in [reference needed]. Figure 5 The diagram shows the indication methods for ranging signal 1 and ranging signal 2. For details, please refer to [the diagram / reference needed]. Figure 6 A schematic diagram is shown. For the sake of simplicity, it will not be elaborated further here.

[0466] S1020, responder #3 detects ranging signal 1 and ranging signal 2, and determines the difference in timestamps between the two ranging signals as t. B1 .

[0467] For example, responder #3 receives ranging signal 1 at its own timestamp t3, and receives ranging signal 2 at its own timestamp t4 within the same period T, i.e., t4 - t3 = t B1 .

[0468] S1030, Responder #3 via Mt B1 Then, a ranging response signal is sent to the initiator, M being a positive integer.

[0469] Correspondingly, the initiator detects and receives the ranging response signal from responder #3.

[0470] For example, the initiator may use different detection windows (i.e., different Pt). A1 up to (P+1)t A1 The ranging response signal is detected within a specific time period. The detection window's starting point is later than the timestamp of the ranging signal 2 (Pt). A1 The detection window's detection endpoint is later than the timestamp of the sent ranging signal 2 by (P+1)t. A1 .

[0471] Optionally, the detection range can be determined based on the maximum detection distance, but this application does not make any specific limitation on this.

[0472] It should be understood that the ranging response signal includes SYNC, SFD, PHR, and payload.

[0473] Specifically, the pilot for the SYNC portion of the ranging response signal can be randomly selected from a dedicated sequence set (for example, if the sender uses sequence 1 in the first set of sequences in Table 1 as the SYNC portion of the broadcast signal, then the responder can randomly select from sequences 2-10 in the first set of sequences as the SYNC portion of the response ranging signal), and the PHR or payload carries the sender ID.

[0474] Optionally, the PHR portion of the ranging response signal may also carry M.

[0475] S1040, the initiator determines the timestamp t5 of receiving the ranging response signal and calculates the distance between the initiator and the responder.

[0476] Specifically, the initiator obtains t based on the timestamp t5 of receiving the ranging response signal and the timestamp t2 of transmitting the ranging signal 2. A2 =t5-t2. Further demodulation yields t. B1 t B2 Then calculate the distance between the sender and the responder:

[0477]

[0478] Optionally, the initiator may not set a detection window and blindly detect the distance signal indefinitely, obtaining Mt through judgment. A1 <t A2 <(M+1)t A1 Then use s = c·TOF = c / 2(t) A2 -Mt A1 Calculate the distance between the initiator and the responder.

[0479] Figure 7 This is a schematic diagram illustrating the Time-of-Flight (TOF) calculation principle of the pulse signal used in this application between the initiator and the responder. Figure 7 As shown, the initiator sends two ranging signals consecutively within one period, with a time interval of t between them. A1 Correspondingly, responder #3 receives the two ranging signals consecutively, with the difference between the two timestamps being t. B1 It should be understood that, under ideal conditions, t A1 =t B1 Furthermore, responder #3, after time t... B2 The time stamp for receiving the ranging response signal is t. A2 Therefore, we can obtain the following two equations:

[0480]

[0481] then,

[0482] (M+1)t A2 -M(t A1 +t A2 ) = 2TOF (23)

[0483] Therefore, the flight time of the pulse signal between the initiator and the responder #2 is:

[0484]

[0485] In the technical solution of this application, due to the presence of the equipment crystal oscillator, the TOF is estimated based on the actual measurement:

[0486]

[0487] in,

[0488]

[0489] At the same time, t A1 =t B1 (13).

[0490] Therefore, the error between the measured value, which includes crystal oscillator error, and the true value is:

[0491]

[0492] As can be seen above, the ranging error is only related to TOF and no longer increases with the response time of responder #3.

[0493] In this implementation, to avoid paired ranging and simplify the one-to-many ranging process, the initiator's broadcast signal is designed with a dedicated synchronization sequence (SYNC) to indicate that the broadcast signal is an unpaired ranging signal. The broadcast signal also carries an ID generated by the initiator, enabling unpaired ranging. Upon detecting the broadcast signal, the responder will initiate a response, carrying the ID from the initiator's broadcast signal. The initiator can then estimate the distance upon receiving the response signal carrying this ID.

[0494] In addition, to minimize the probability of collisions between response signals from multiple responders, the responder randomly selects a pilot from the pilot set for the SYNC section while randomly selecting the reply time. The initiator broadcasts the ranging signal twice within one cycle. Under this architecture, ranging accuracy does not decrease with increasing reply time, and there is no constraint on the ranging response time, thus relaxing the requirements on the processing speed of the responders.

[0495] Compared to the aforementioned ranging method 400, in this implementation, the responder no longer feeds back t. B1 t B2 Instead, it is the feedback t B1 t B2 The ratio N reduces the amount of feedback and signaling overhead.

[0496] In this implementation, the one-to-many ranging process is simplified to achieve pairless ranging, which eliminates constraints on the ranging response time and relaxes the requirements for the responder's processing speed. Furthermore, the ranging response signal in this implementation does not require feedback N.

[0497] Compared to the aforementioned ranging method 800, this implementation pre-fixes several selectable N values, and the responder randomly selects one N value and then uses t... B2 =Nt B1 The initiator sends a ranging response signal at the feedback time. The initiator can determine the value of N by detecting the ranging response signal in different detection windows N, without requiring the responder to provide feedback on N.

[0498] It should be noted that the embodiments provided above are merely illustrative and should not be construed as limiting the technical solutions of this application in any way. Furthermore, the above embodiments can be used independently or in combination.

[0499] The above, combined with Figures 3 to 10 The ranging method provided in the embodiments of this application is described in detail below. Figure 11 and Figure 12 This application provides a detailed description of the ranging device provided in its embodiments. It should be understood that the descriptions of the ranging device embodiments correspond to the descriptions of the ranging method embodiments; therefore, any parts not described in detail can be found in the preceding method embodiments.

[0500] Figure 11 This is a schematic block diagram of the communication device 10 provided in an embodiment of this application. Figure 11 As shown, the communication device 10 may include a transceiver unit 11 and a processing unit 12.

[0501] In one possible design, the communication device 10 may correspond to the first device (or initiator) in the above method embodiments.

[0502] For example, the communication device 10 may correspond to the first device (or initiator) in method 300, method 400, method 800, method 900, or method 1000 according to embodiments of this application. The communication device 10 may include tools for performing... Figure 3 , Figure 4 , Figure 8 , Figure 9 , Figure 10 The module of the method executed by the first device (or initiator) in the communication device 10. Furthermore, each unit in the communication device 10 and the aforementioned other operations and / or functions are respectively for implementing... Figure 3 , Figure 4 , Figure 8 , Figure 9 , Figure 10 The corresponding flow of the method shown.

[0503] For example, the transceiver unit 11 is used by the first device to send multiple ranging signals, including a first ranging signal and a second ranging signal, wherein the first ranging signal is sent earlier than the second ranging signal, and the transmission time interval between the first ranging signal and the second ranging signal is t. A1 ;

[0504] The transceiver unit 11 is also configured to receive a ranging response signal from the second device, and determine the receiving time of the ranging response signal and the transmission time interval of the second ranging signal as t. A2The ranging response signal includes the time interval t between the second device receiving the second ranging signal and the first ranging signal. B1 The time interval t between the second device receiving the second ranging signal and sending the ranging response signal. B2 Alternatively, the ranging response signal includes N, where N is based on t B1 and t B2 A definite value, where N is a constant greater than zero.

[0505] Processing unit 12, used by the first device according to t A1 t A2 t B1 t B2 Determine the distance between the first device and the second device; or, based on t A1 t A2 Let N determine the distance between the first device and the second device.

[0506] The transceiver unit 11 in the communication device 10 performs the receiving and sending operations performed by the first device (or initiator) in the above method embodiments, while the processing unit 12 performs operations other than the receiving and sending operations.

[0507] In another possible design, the communication device 10 may also correspond to the second device (or responder) in the above method embodiments.

[0508] Exemplarily, the communication device 10 may correspond to a second device (or responder) in method 300, method 400, method 800, method 900, or method 1000 according to embodiments of this application. The communication device 10 may include functions for performing... Figure 3 , Figure 4 , Figure 8 , Figure 9 , Figure 10 The module executing the method of the second device in the communication device 10. Furthermore, each unit in the communication device 10 and the aforementioned other operations and / or functions are respectively for implementing... Figure 3 , Figure 4 , Figure 8 , Figure 9 , Figure 10 The corresponding flow of the method shown.

[0509] For example, the transceiver unit 11 is configured to allow the second device to receive multiple ranging signals from the first device, the multiple ranging signals including a first ranging signal and a second ranging signal, and to determine the receiving time interval t between the second ranging signal and the first ranging signal. B1 ;

[0510] The transceiver unit 11 is further configured to send a ranging response signal from the second device to the first device, wherein the ranging response signal includes the time interval t between the second device receiving the second ranging signal and the first ranging signal. B1 The time interval t between the second device receiving the second ranging signal and sending the ranging response signal. B2 Alternatively, the ranging response signal includes N, where N is based on t B1 and t B2 A definite value, where N is a constant greater than zero.

[0511] The transceiver unit 11 in the communication device 10 performs the receiving and sending operations performed by the second device (or responder) in the above-described method embodiments, while the processing unit 12 performs operations other than the receiving and sending operations.

[0512] According to the aforementioned method, Figure 12 A schematic diagram of the communication device 20 provided in the embodiments of this application is shown below. Figure 12 As shown, the device 20 can be either a first device or a second device.

[0513] The device 20 may include a processor 21 (i.e., an example of a processing unit) and a memory 22. The memory 22 is used to store instructions, and the processor 21 is used to execute the instructions stored in the memory 22 to cause the device 20 to perform, as... Figures 3 to 10 The steps performed by the first or second device in the corresponding method.

[0514] Furthermore, the device 20 may also include an input port 23 (i.e., an example of a transceiver unit) and an output port 24 (i.e., another example of a transceiver unit).

[0515] Furthermore, the processor 21, memory 22, input port 23, and output port 24 can communicate with each other through internal connection channels to transmit control and / or data signals. The memory 22 stores computer programs, and the processor 21 can retrieve and run these programs from the memory 22 to control the input port 23 to receive signals and the output port 24 to send signals, thus completing the steps of the first or second device in the above method. The memory 22 can be integrated into the processor 21 or disposed separately from it.

[0516] Optionally, if the communication device 20 is a communication equipment, the input port 23 is a receiver, and the output port 24 is a transmitter. The receiver and transmitter can be the same or different physical entities. When the receiver and transmitter are the same physical entity, they can be collectively referred to as a transceiver.

[0517] Optionally, if the communication device 20 is a chip or circuit, the input port 23 is an input interface and the output port 24 is an output interface.

[0518] As one implementation method, the functions of input port 23 and output port 24 can be implemented using transceiver circuits or dedicated transceiver chips. Processor 21 can be implemented using dedicated processing chips, processing circuits, processors, or general-purpose chips.

[0519] As another implementation method, the communication device provided in this application embodiment can be implemented using a general-purpose computer. The program code that implements the functions of processor 21, input port 23, and output port 24 is stored in memory 22, and the general-purpose processor implements the functions of processor 21, input port 23, and output port 24 by executing the code in memory 22.

[0520] For the concepts, explanations, detailed descriptions, and other steps related to the technical solutions provided in the embodiments of this application involved in the device 20, please refer to the descriptions of these contents in the foregoing methods or other embodiments, which will not be repeated here.

[0521] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0522] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0523] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0524] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0525] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0526] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a second device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0527] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A distance measurement method, characterized in that, include: The first device sends multiple ranging signals, including a first ranging signal and a second ranging signal. The first ranging signal is sent earlier than the second ranging signal, and the time interval between the transmission of the first ranging signal and the second ranging signal is [missing information]. ; The first device receives a ranging response signal from the second device and determines the time interval between the reception of the ranging response signal and the transmission of the second ranging signal. The ranging response signal includes the time interval between the second device receiving the second ranging signal and the first ranging signal. The time interval between the second device receiving the second ranging signal and sending the ranging response signal. Alternatively, the ranging response signal includes , It is based on the above and A definite value, A constant that is greater than zero; The first device according to the , , , Determine the distance between the first device and the second device; or, according to the... , and Determine the distance between the first device and the second device.

2. The method according to claim 1, characterized in that, The N satisfy: .

3. The method according to claim 1 or 2, characterized in that, The ranging response signal includes the reception time interval between the second ranging signal and the first ranging signal. The time interval between the second device receiving the second ranging signal and sending the ranging response signal. The distance between the first device and the second device is: in, c It is the speed of light.

4. The method according to claim 1 or 2, characterized in that, The ranging response signal includes The distance between the first device and the second device is: in, c It is the speed of light.

5. The method according to claim 1, characterized in that, The first ranging signal and / or the second ranging signal also carry information for identifying the first device.

6. The method according to claim 1, characterized in that, The ranging response signal carries information used to identify the first device.

7. The method according to claim 5 or 6, characterized in that, The information used to identify the first device is carried in the physical layer frame header (PHR) or payload of at least one of the first ranging signal, the second ranging signal, and the ranging response signal.

8. The method according to claim 5 or 6, characterized in that, The information used to identify the first device is determined based on the media access control (MAC) address of the first device.

9. The method according to claim 1 or 2, characterized in that, The ranging response signal also carries information for identifying the second device.

10. The method according to claim 1 or 2, characterized in that, The first ranging signal differs from the second ranging signal in at least one of the following: the SYNC field, the SFD field, the PHR field, and the payload.

11. The method according to claim 1 or 2, characterized in that, The SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence, which is used for unpaired ranging.

12. The method according to claim 1 or 2, characterized in that, The SYNC field of the ranging response signal includes a first dedicated synchronization sequence, which is any one of the dedicated synchronization sequences in a set of dedicated synchronization sequences, which is predefined by the protocol. The dedicated synchronization sequence set includes a first set of dedicated synchronization sequences and a second set of dedicated synchronization sequences, wherein the dedicated synchronization sequences in the first set of dedicated synchronization sequences and the second set of dedicated synchronization sequences are different from each other. When the SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence in the first set of dedicated synchronization sequences, the SYNC field of the ranging response signal includes a dedicated synchronization sequence in the first set of dedicated synchronization sequences. When the SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence in the second set of dedicated synchronization sequences, the SYNC field of the ranging response signal includes a dedicated synchronization sequence in the second set of dedicated synchronization sequences.

13. A distance measurement method, characterized in that, include: The second device receives multiple ranging signals from the first device, including a first ranging signal and a second ranging signal, and determines the receiving time interval between the second ranging signal and the first ranging signal as . ; The second device sends a ranging response signal to the first device, wherein the ranging response signal includes the time interval between the second device receiving the second ranging signal and the first ranging signal. The time interval between the second device receiving the second ranging signal and sending the ranging response signal. Alternatively, the ranging response signal includes , It is based on the above and A definite value, A constant that is greater than zero; Wherein, the time interval between the first device sending the first ranging signal and the second ranging signal is The time interval between the first device sending the second ranging signal and receiving the ranging response signal is 1. ; The , , , Used by the first device to determine the distance between the first device and the second device; or, the , and The first device is used to determine the distance between the first device and the second device.

14. The method according to claim 13, characterized in that, The satisfy: .

15. The method according to claim 13 or 14, characterized in that, The ranging response signal includes the reception time interval between the second ranging signal and the first ranging signal. The time interval between the second device receiving the second ranging signal and sending the ranging response signal. The distance between the first device and the second device is: in, It is the speed of light.

16. The method according to claim 13 or 14, characterized in that, The ranging response signal includes The distance between the first device and the second device is: in, It is the speed of light.

17. The method according to claim 13, characterized in that, The first ranging signal and / or the second ranging signal also carry information for identifying the first device.

18. The method according to claim 13, characterized in that, The ranging response signal carries information used to identify the first device.

19. The method according to claim 17 or 18, characterized in that, The information used to identify the first device is carried in the physical layer frame header (PHR) or payload of at least one of the first ranging signal, the second ranging signal, and the ranging response signal.

20. The method according to claim 17 or 18, characterized in that, The information used to identify the first device is determined based on the media access control (MAC) address of the first device.

21. The method according to claim 13 or 14, characterized in that, The ranging response signal also carries information for identifying the second device.

22. The method according to claim 13 or 14, characterized in that, The first ranging signal differs from the second ranging signal in at least one of the following: the SYNC field, the SFD field, the PHR field, and the payload.

23. The method according to claim 13 or 14, characterized in that, The SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence, which is used for unpaired ranging.

24. The method according to claim 13 or 14, characterized in that, The SYNC field of the ranging response signal includes a first dedicated synchronization sequence, which is any one of the dedicated synchronization sequences in a set of dedicated synchronization sequences, which is predefined by the protocol. The dedicated synchronization sequence set includes a first set of dedicated synchronization sequences and a second set of dedicated synchronization sequences, wherein the dedicated synchronization sequences in the first set of dedicated synchronization sequences and the second set of dedicated synchronization sequences are different from each other. When the SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence in the first set of dedicated synchronization sequences, the SYNC field of the ranging response signal includes a dedicated synchronization sequence in the first set of dedicated synchronization sequences. When the SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence in the second set of dedicated synchronization sequences, the SYNC field of the ranging response signal includes a dedicated synchronization sequence in the second set of dedicated synchronization sequences.

25. A distance measurement method, characterized in that, include: The first device sends multiple ranging signals, including a first ranging signal and a second ranging signal. The first ranging signal is sent earlier than the second ranging signal, and the time interval between the transmission of the first ranging signal and the second ranging signal is [missing information]. ; The first device in to The ranging response signal from the second device is detected within a time period, and the time interval between the reception of the ranging response signal and the transmission of the second ranging signal is determined. , The value of is a positive integer; The first device according to , , Determine the distance between the first device and the second device. When the first device detects the ranging response signal The value.

26. The method according to claim 25, characterized in that, The first ranging signal and / or the second ranging signal include a preset set of integer values.

27. The method according to claim 25, characterized in that, The first ranging signal and / or the second ranging signal also carry information for identifying the first device.

28. The method according to claim 25, characterized in that, The ranging response signal carries information used to identify the first device.

29. The method according to claim 27 or 28, characterized in that, The information used to identify the first device is carried in the physical layer frame header (PHR) or payload of at least one of the first ranging signal, the second ranging signal, and the ranging response signal.

30. The method according to claim 27 or 28, characterized in that, The information used to identify the first device is determined based on the media access control (MAC) address of the first device.

31. The method according to any one of claims 25 to 28, characterized in that, The ranging response signal also carries information for identifying the second device.

32. The method according to any one of claims 25 to 28, characterized in that, The first ranging signal differs from the second ranging signal in at least one of the following: the SYNC field, the SFD field, the PHR field, and the payload.

33. The method according to any one of claims 25 to 28, characterized in that, The SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence, which is used for unpaired ranging.

34. The method according to any one of claims 25 to 28, characterized in that, The SYNC field of the ranging response signal includes a first dedicated synchronization sequence, which is any one of the dedicated synchronization sequences in a set of dedicated synchronization sequences, which is predefined by the protocol. The dedicated synchronization sequence set includes a first set of dedicated synchronization sequences and a second set of dedicated synchronization sequences, wherein the dedicated synchronization sequences in the first set of dedicated synchronization sequences and the second set of dedicated synchronization sequences are different from each other. When the SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence in the first set of dedicated synchronization sequences, the SYNC field of the ranging response signal includes a dedicated synchronization sequence in the first set of dedicated synchronization sequences. When the SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence in the second set of dedicated synchronization sequences, the SYNC field of the ranging response signal includes a dedicated synchronization sequence in the second set of dedicated synchronization sequences.

35. The method according to any one of claims 25 to 28, characterized in that, The distance between the first device and the second device is: in, It is the speed of light.

36. A distance measurement method, characterized in that, include: The second device receives multiple ranging signals from the first device, including a first ranging signal and a second ranging signal, and determines the receiving time interval between the second ranging signal and the first ranging signal as . ; After receiving the second ranging signal, the second device... After a time interval, a ranging response signal is sent to the first device. The receiving time interval between the second ranging signal and the first ranging signal. It is any positive integer in the preset set of integer values; Wherein, the time interval between the first device sending the first ranging signal and the second ranging signal is The time interval between the first device sending the second ranging signal and receiving the ranging response signal is 1. ; , , The first device is used to determine the distance between the first device and the second device.

37. The method according to claim 36, characterized in that, The first ranging signal and / or the second ranging signal include the preset set of integer values.

38. The method according to claim 36, characterized in that, The first ranging signal and / or the second ranging signal also carry information for identifying the first device.

39. The method according to claim 36, characterized in that, The ranging response signal carries information used to identify the first device.

40. The method according to claim 38 or 39, characterized in that, The information used to identify the first device is carried in the physical layer frame header (PHR) or payload of at least one of the first ranging signal, the second ranging signal, and the ranging response signal.

41. The method according to claim 38 or 39, characterized in that, The information used to identify the first device is determined based on the media access control (MAC) address of the first device.

42. The method according to any one of claims 36 to 39, characterized in that, The ranging response signal also carries information for identifying the second device.

43. The method according to any one of claims 36 to 39, characterized in that, The first ranging signal differs from the second ranging signal in at least one of the following: the SYNC field, the SFD field, the PHR field, and the payload.

44. The method according to any one of claims 36 to 39, characterized in that, The SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence, which is used for unpaired ranging.

45. The method according to any one of claims 36 to 39, characterized in that, The SYNC field of the ranging response signal includes a first dedicated synchronization sequence, which is any one of the dedicated synchronization sequences in a set of dedicated synchronization sequences, which is predefined by the protocol. The dedicated synchronization sequence set includes a first set of dedicated synchronization sequences and a second set of dedicated synchronization sequences, wherein the dedicated synchronization sequences in the first set of dedicated synchronization sequences and the second set of dedicated synchronization sequences are different from each other. When the SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence in the first set of dedicated synchronization sequences, the SYNC field of the ranging response signal includes a dedicated synchronization sequence in the first set of dedicated synchronization sequences. When the SYNC field of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence in the second set of dedicated synchronization sequences, the SYNC field of the ranging response signal includes a dedicated synchronization sequence in the second set of dedicated synchronization sequences.

46. ​​The method according to any one of claims 36 to 39, characterized in that, The distance between the first device and the second device is: in, It is the speed of light.

47. A ranging device, characterized in that, include: A unit for implementing the method according to any one of claims 1 to 12.

48. A ranging device, characterized in that, include: Units for implementing the method of any one of claims 13 to 24.

49. A ranging device, characterized in that, include: Units for implementing the method of any one of claims 25 to 35.

50. A ranging device, characterized in that, include: Units for implementing the method of any one of claims 36 to 46.

51. A communication device, characterized in that, include: Memory, used to store computer instructions; A processor for executing a computer program stored in the memory to cause the communication device to perform the method as described in any one of claims 1 to 46.

52. A communication system, characterized in that, include: A first apparatus for performing the method as described in any one of claims 1 to 12, 25 to 35; The second device is used to perform the method as described in any one of claims 13 to 24, 36 to 46.

53. A computer-readable storage medium, characterized in that, include: The computer-readable storage medium stores a computer program that, when executed, causes the computer to perform the method as described in any one of claims 1 to 46.

54. A chip, characterized in that, include: A processor for retrieving and running a computer program from memory, causing a ranging device on which the chip is mounted to perform the method as described in any one of claims 1 to 46.

55. A computer program product, characterized in that, When the computer program product is executed on a computer, it causes the computer to perform the method as described in any one of claims 1 to 46.

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