Method and apparatus for wi-fi ranging protocol enhancement with reduced throughput impact

Abstract

In contrast to fine timing measurement (FTM) frames or null data packet (NDP) frames, a ranging operation can be performed between an initiator device and a responder device using data frames. The initiator device can request the responder device to perform the ranging operation. The responder device can send a data frame to the initiator device and can receive an acknowledgement (ACK) frame from the responder device. The responder device can send a second data frame to the initiator device, the second data frame including ranging measurement information for the previous exchange of messages, the ranging measurement information including a time of departure of the data frame and a time of arrival of the ACK frame. Because the data frames are encrypted, the ranging measurement information is provided in a secure manner. Furthermore, by including the ranging measurement information in the data frames, the throughput of the ranging process is improved.

Description

[0001] Priority is claimed in accordance with 35 U.SC § 119.

[0002] This application claims the rights and priorities of U.S. Provisional Application No. 63 / 060,330, filed August 3, 2020, entitled “METHODS AND APPARATUS FOR WI-FI RANGING PROTOCOL ENHANCEMENT WITH REDUCED THROUGHPUT IMPACT,” filed July 2, 2021, entitled “METHODS AND APPARATUS FOR WI-FI RANGING PROTOCOL ENHANCEMENT WITH REDUCED THROUGHPUT IMPACT,” both of which have been assigned to the assignee and whose entire contents are incorporated herein by reference. Technical Field

[0003] This disclosure generally relates to wireless communication, and more specifically, to ranging operations performed between Wi-Fi enabled devices. Background Technology

[0004] The recent proliferation of Wi-Fi access points in wireless local area networks (WLANs) has enabled navigation systems to use these access points to determine location, especially in areas with a high concentration of active Wi-Fi access points (e.g., city centers, shopping malls, office buildings). For example, client devices or stations (STAs) such as cellular phones or tablets can use the round-trip time (RTT) of signals transmitted to and from access points (APs) to calculate distances, such as the distance between the STA and the APs. Once the distances between the STA and three APs have been calculated, trilateration techniques can be used to estimate the STA's location.

[0005] Security in frames transmitted between devices during ranging operations can be improved, but at the cost of reduced throughput. Improvements are needed to increase throughput while maintaining security. Summary of the Invention

[0006] Unlike Fine Timing Measurement (FTM) frames or Null Data Packet (NDP) frames, ranging operations can be performed between initiating and responding devices using data frames. The initiating device can request the responding device to perform a ranging operation. The responding device can send a data frame to the initiating device and receive an acknowledgment (ACK) frame from the responding device. The responding device can then send a second data frame to the initiating device, which includes ranging measurement information used in the previous message exchange, including the departure time of the data frame and the arrival time of the ACK frame. Because the data frames are encrypted, ranging measurement information is provided securely. Furthermore, by including ranging measurement information in the data frames, the throughput of the ranging process is improved.

[0007] In one implementation, a method for ranging performed by a first wireless communication device includes sending a ranging request for a ranging process to a second wireless communication device; receiving a first message from the second wireless communication device, the first message including a first data frame, based at least in part on the sent ranging request; sending a first response message to the second wireless communication device in response to the first message; receiving a second message from the second wireless communication device, the second message including a second data frame, wherein ranging measurement information for the first message and the first response message is encapsulated in the second data frame; and estimating the distance between the first wireless communication device and the second wireless communication device based at least in part on the ranging measurement information.

[0008] In one implementation, a first wireless communication device configured for ranging includes a wireless transceiver; at least one memory; and at least one processor coupled to the wireless transceiver and the at least one memory, wherein the at least one processor is configured to: transmit a ranging request for a ranging process to a second wireless communication device via the wireless transceiver; receive a first message from the second wireless communication device via the wireless transceiver, at least in part based on the transmitted ranging request, the first message including a first data frame; transmit a first response message to the second wireless communication device via the wireless transceiver in response to the first message; receive a second message from the second wireless communication device via the wireless transceiver, the second message including a second data frame, wherein ranging measurement information for the first message and the first response message is encapsulated in the second data frame; and estimate the distance between the first wireless communication device and the second wireless communication device at least in part based on the ranging measurement information.

[0009] In one implementation, a first wireless communication device configured for ranging includes components for sending a ranging request to a second wireless communication device for a ranging process; components for receiving a first message from the second wireless communication device based at least in part on the sent ranging request, the first message including a first data frame; components for sending a first response message to the second wireless communication device in response to the first message; components for receiving a second message from the second wireless communication device, the second message including a second data frame, wherein ranging measurement information for the first message and the first response message is encapsulated in the second data frame; and components for estimating the distance between the first wireless communication device and the second wireless communication device based at least in part on the ranging measurement information.

[0010] In one implementation, a non-transitory storage medium includes program code stored thereon, operable to configure at least one processor in a first wireless communication device configured for ranging. The program code includes instructions to: send a ranging request to a second wireless communication device for the ranging process; receive a first message from the second wireless communication device, at least in part based on the sent ranging request, the first message including a first data frame; in response to the first message, send a first response message to the second wireless communication device; receive a second message from the second wireless communication device, the second message including a second data frame, wherein ranging measurement information for the first message and the first response message is encapsulated in the second data frame; and estimate the distance between the first and second wireless communication devices, at least in part based on the ranging measurement information.

[0011] In one implementation, a ranging method performed by a first wireless communication device includes receiving a ranging request for a ranging process from a second wireless communication device; sending a first message to the second wireless communication device, the first message including a first data frame, at least in part based on the received ranging request; receiving a first response message from the second wireless communication device in response to the first message; and sending a second message to the second wireless communication device, the second message including a second data frame, wherein ranging measurement information of the first message and the first response message is encapsulated in the second data frame, and using the second data frame, the second wireless communication device estimates the distance between the first wireless communication device and the second wireless communication device.

[0012] In one implementation, a first wireless communication device configured for ranging includes: a wireless transceiver; at least one memory; and at least one processor coupled to the wireless transceiver and the at least one memory, wherein the at least one processor is configured to: receive a ranging request for a ranging process from a second wireless communication device via the wireless transceiver; transmit a first message to the second wireless communication device via the wireless transceiver, at least in part based on the received ranging request, the first message including a first data frame; receive a first response message from the second wireless communication device via the wireless transceiver in response to the first message; and transmit a second message to the second wireless communication device via the wireless transceiver, the second message including a second data frame, wherein ranging measurement information for the first message and the first response message is encapsulated in the second data frame, and using the second data frame, the second wireless communication device estimates the distance between the first wireless communication device and the second wireless communication device.

[0013] In one implementation, a first wireless communication device configured for ranging includes: components for receiving a ranging request from a second wireless communication device for a ranging process; components for sending a first message to the second wireless communication device based at least in part on the received ranging request, the first message including a first data frame; components for receiving a first response message from the second wireless communication device in response to the first message; and components for sending a second message to the second wireless communication device, the second message including a second data frame, wherein ranging measurement information for the first message and the first response message is encapsulated in the second data frame, and using the second data frame, the second wireless communication device estimates the distance between the first wireless communication device and the second wireless communication device.

[0014] In one implementation, a non-transitory storage medium includes program code stored thereon, operable to configure at least one processor in a first wireless communication device configured for ranging. The program code includes instructions to: receive a ranging request from a second wireless communication device for a ranging process; send a first message to the second wireless communication device, at least in part based on the received ranging request, the first message including a first data frame; receive a first response message from the second wireless communication device in response to the first message; and send a second message to the second wireless communication device, the second message including a second data frame, wherein ranging measurement information from the first message and the first response message is encapsulated in the second data frame, using the second data frame, the second wireless communication device estimates the distance between the first and second wireless communication devices. Attached Figure Description

[0015] The accompanying drawings are provided to help describe various aspects of this disclosure, and are provided for illustrative purposes only and not for limiting the scope of the aspects.

[0016] Figure 1 This is a block diagram of a WLAN system in which example embodiments can be implemented.

[0017] Figure 2 This is a block diagram of a wireless device according to an example embodiment.

[0018] Figure 3 A signal diagram of an example ranging operation is shown.

[0019] Figure 4A A signal diagram of another example ranging operation using Fine Timing Measurement (FTM) frames is shown.

[0020] Figure 4B An example of an FTM frame is shown.

[0021] Figure 5 A signal diagram of another example ranging operation based on a non-trigger sequence is shown, using null data packet (NDP) probe frames and location measurement report (LMR) frames.

[0022] Figure 6 A signal diagram of another example ranging operation using NDP probe frames based on a trigger sequence is shown, without physical layer (PHY) security.

[0023] Figure 7A A signal diagram of another example ranging operation using NDP probe frames with PHY security is shown.

[0024] Figure 7B An example of an LMR frame is depicted.

[0025] Figure 8A The signal diagram for ranging operations using data frames is shown.

[0026] Figure 8B An example of a data frame that can be used in ranging operations is shown.

[0027] Figure 9 This illustrates how a wireless device uses data frames to perform ranging operations with another wireless device and uses FTM or NDP frames to determine location estimates with other wireless devices.

[0028] Figure 10 A flowchart is shown of an exemplary method for wireless communication that includes ranging operations using data frames.

[0029] Figure 11 A flowchart is shown for another exemplary method of wireless communication that includes ranging operations using data frames. Detailed Implementation

[0030] For simplicity only, the following example embodiments are described in the context of ranging operations performed between Wi-Fi-enabled devices. It should be understood that the example embodiments are equally applicable to performing ranging operations using signals from various other wireless standards or protocols, and to performing ranging operations between various devices (e.g., between STAs and wireless APs, between APs, between STAs, etc.). Therefore, although the example embodiments are described below in the context of WLAN systems, they are equally applicable to other wireless networks (e.g., cellular networks, piconet networks, femtonets, satellite networks), and systems using signals from one or more wired standards or protocols (e.g., Ethernet and / or HomePlug / PLC standards). As used herein, the terms WLAN and Wi-Fi can include communications managed by the IEEE 802.11 standard, Bluetooth, HiperLAN (a set of wireless standards primarily used in Europe equivalent to the IEEE 802.11 standard), and other technologies with relatively short radio propagation distances. Therefore, the terms “WLAN” and “Wi-Fi” are used interchangeably herein.

[0031] Furthermore, although the following description is based on an infrastructure WLAN system comprising one or more APs and multiple STAs, the exemplary embodiments are equally applicable to other WLAN systems, including, for example, multiple WLANs, Independent Basic Service Set (IBSS) systems, point-to-point systems (e.g., operating according to the Wi-Fi Direct protocol), and / or hotspots. Additionally, although described herein based on the exchange of data frames between wireless devices, the exemplary embodiments can be applied to the exchange of any data units, packets, frames, and / or signals between wireless devices. Therefore, the term "frame" can include any signal, frame, packet, or data unit, such as a Protocol Data Unit (PDU), a Media Access Control (MAC) Protocol Data Unit (MPDU), and a Physical Layer Convergence Procedure Protocol Data Unit (PPDU). The term "A-MPDU" can refer to an aggregated MPDU. As used herein, the term "time value" can refer to the time difference between the departure time (TOD) (sometimes referred to as the transmission time) of a frame from a given device and the arrival time (TOA) (sometimes referred to as the reception time) of another frame at a given device.

[0032] In the following description, numerous specific details, such as examples of particular components, circuits, and processes, are set forth to provide a thorough understanding of this disclosure. Furthermore, specific terminology is introduced in the following description and for purposes of explanation to provide a thorough understanding of the exemplary embodiments. However, it will be apparent to those skilled in the art that these specific details may not be necessary in practicing the exemplary embodiments. In other instances, well-known circuits and devices are shown in block diagram form to avoid obscuring this disclosure. As used herein, the term “coupling” means a direct connection to or a connection via one or more intermediate components or circuits. Any signal provided via the various buses described herein may be time-multiplexed with other signals and provided via one or more common buses. Furthermore, interconnections between circuit elements or software blocks may be shown as buses or single signal lines. Each of the buses may alternatively be a single signal line, and each of the single signal lines may alternatively be a bus, and a single line or bus may represent any one or more of a large number of physical or logical mechanisms for communication between components. The exemplary embodiments should not be construed as limited to the specific examples described herein, but should be included within their scope by all embodiments defined by the appended claims.

[0033] The techniques described herein may be implemented in hardware, software, firmware, or any combination thereof, unless specifically described as being implemented in a particular manner. Any feature described as a module or component may also be implemented together in an integrated logic device or separately as a discrete but interoperable logic device. If implemented in software, the techniques may be implemented at least in part by a non-transitory processor-readable storage medium comprising instructions that, when executed, perform one or more of the methods described above. The non-transitory processor-readable data storage medium may form part of a computer program product, which may include encapsulation material.

[0034] The non-transitory processor-readable storage medium may include random access memory (RAM) (such as synchronous dynamic random access memory (SDRAM)), read-only memory (ROM), non-volatile random access memory (NVRAM), electrically erasable programmable read-only memory (EEPROM), flash memory, other known storage media, and so on. Additionally or alternatively, these techniques may be implemented at least in part by a processor-readable communication medium that carries or transmits code in the form of instructions or data structures and can be accessed, read, and / or executed by a computer or other processor.

[0035] The various illustrative logic blocks, modules, circuits, and instructions described in conjunction with the embodiments disclosed herein can be executed by one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), application-specific instruction set processors (ASIPs), field-programmable gate arrays (FPGAs), or other equivalent integrated or discrete logic circuits. As used herein, the term "processor" can refer to any of the foregoing structures or any other structure suitable for implementing the techniques described herein. Additionally, in some aspects, the functionality described herein can be provided within dedicated software or hardware modules configured as described herein. Similarly, the technology can be fully implemented in one or more circuit or logic elements. A general-purpose processor can be a microprocessor, but alternatively, it can be any conventional processor, controller, microcontroller, or state machine. A processor can also be implemented as a combination of computing devices (e.g., a combination of a DSP and a microprocessor), multiple microprocessors, one or more microprocessors combined with a DSP core, or any other suitable configuration.

[0036] During positioning and navigation, two wireless devices can exchange a series of ranging messages and ranging response messages, which can be used to determine the distance or spacing between the two devices. The timestamps associated with the ranging and ranging response messages (such as signal transmission and reception timing information) can be used to calculate the round-trip time (RTT), from which the spacing between the two devices can be inferred. Using additional information such as the location of the first wireless device and the distance to an additional wireless device with a known location, the location of the second wireless device can be determined.

[0037] Wi-Fi ranging and positioning are now widely used, for example, for indoor positioning and navigation. The IEEE 802.11 REVmc standard introduced the Fine Timing Measurement (FTM) protocol, which is used to measure the round-trip time (RTT) between two Wi-Fi devices for distance estimation. However, the timestamps in the FTM protocol are sent without encryption, which poses a serious security problem when using FTM for ranging. This lack of security is one of the main issues hindering the widespread adoption of the FTM protocol.

[0038] The FTM protocol requires the transmission of dedicated ranging frames, called FTM frames, to obtain distance estimates. For positioning, ranging frames can be exchanged with multiple anchors that have known locations to collect sufficient distance measurements for positioning estimation. Exchanging dedicated ranging frames with multiple anchors impacts network throughput.

[0039] The proposed IEEE 802.11az standard, a next-generation Wi-Fi positioning standard, offers improvements in security. However, these security improvements in IEEE 802.11az require additional dedicated ranging frames, known as Location Measurement Report (LMR) frames, which do not improve throughput.

[0040] The implementations disclosed herein can improve one or both of the aforementioned security and throughput issues. For example, in one implementation, the ranging process can use regular data frames to encapsulate timestamp and token information instead of dedicated ranging (FTM or LMR) frames, which will improve throughput. Furthermore, since data frames are typically encrypted, encapsulating timestamp and token information within the data frames will enhance security. In one implementation, reserved bits in the current data frame format can be used to indicate whether timestamp and token information are embedded in the transmitted data frame.

[0041] Figure 1 This is a block diagram of a wireless system 100 that supports a ranging protocol enhanced using data frames. The wireless system 100 is shown as including four wireless stations STA1-STA4, wireless access points (APs) 110 and a second wireless AP 110-2, and a wireless local area network (WLAN) 120. The WLAN 120 can be formed by multiple Wi-Fi access points (APs) that can operate according to the IEEE 802.11 standard family (or according to other suitable wireless protocols). Therefore, although for simplicity... Figure 1 Only two APs, 110 and 110-2, are shown, but it should be understood that WLAN 120 can be formed by any number of access points (e.g., one or more APs). AP 110 is assigned a unique Media Access Control (MAC) address programmed therein by, for example, the access point manufacturer. Similarly, each of stations STA1-STA4 is also assigned a unique MAC address. In some embodiments, wireless system 100 may correspond to a Multiple-Input Multiple-Output (MIMO) wireless network and may support single-user MIMO (SU-MIMO) and multi-user (MU-MIMO) communication. Furthermore, although WLAN 120 in Figure 1 It is described as an Infrastructure Basic Services Set (BSS), but for other example embodiments, WLAN120 may be an IBSS, an ad-hoc network, or a peer-to-peer (P2P) network (e.g., operating according to the Wi-Fi Direct Protocol).

[0042] Each of stations STA1-STA4 can be any suitable Wi-Fi-enabled wireless device, including, for example, a cellular phone, a personal digital assistant (PDA), a tablet device, a laptop computer, etc. Each of stations STA1-STA4 can also be referred to as user equipment (UE), subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, handheld device, user agent, mobile client, client, or certain other suitable terms. For at least some embodiments, each of stations STA1-STA4 may include one or more transceivers, one or more processing resources (e.g., processors and / or ASICs), one or more memory resources, and a power supply (e.g., a battery). The memory resources may include storage for performing the following... Figures 4A-11 The instructions for the described operations are on a non-transitory computer-readable medium (e.g., one or more non-volatile memory elements such as EPROM, EEPROM, flash memory, hard disk drive, etc.).

[0043] AP 110 can be any suitable device that allows one or more wireless devices to connect to a network (e.g., a local area network (LAN), wide area network (WAN), metropolitan area network (MAN), and / or the Internet) via AP 110 using Wi-Fi, Bluetooth, or any other suitable wireless communication standard. For at least one embodiment, AP 110 may include one or more transceivers, one or more processing resources (e.g., a processor and / or ASIC), one or more memory resources, and a power supply. The memory resources may include storage for performing the following... Figures 4A-11 The instructions for the described operations are on a non-transitory computer-readable medium (e.g., one or more non-volatile memory elements such as EPROM, EEPROM, flash memory, hard disk drive, etc.).

[0044] For stations STA1-STA4 and / or AP 110, one or more transceivers may include Wi-Fi transceivers, Bluetooth transceivers, cellular transceivers, and / or other suitable radio frequency (RF) transceivers (not shown for simplicity) to transmit and receive wireless communication signals. Each transceiver may communicate with other wireless devices in different operating frequency bands and / or using different communication protocols. For example, a Wi-Fi transceiver may communicate in the 2.4 GHz band, the 5 GHz band according to the IEEE 802.11 specification, and / or the 60 GHz band. A cellular transceiver may communicate in various RF bands according to the 4G Long Term Evolution (LTE) protocol as described in the 3GPP (e.g., between approximately 700 MHz and approximately 3.9 GHz) and / or according to other cellular protocols (e.g., the Global System for Mobile Communications (GSM) protocol). In other embodiments, the transceiver included in each of stations STA1-STA4 can be any technically feasible transceiver, such as a ZigBee transceiver, a WiGig transceiver, and / or a HomePlug transceiver as described in the specifications from the ZigBee specification and / or a HomePlug transceiver as described in the specifications from the HomePlug Consortium.

[0045] For at least some embodiments, each of stations STA1-STA4 and AP 110 may include radio frequency (RF) ranging circuitry (e.g., formed using known software modules, hardware components, and / or suitable combinations thereof), which can be used to estimate the distance between itself and another Wi-Fi-enabled device using the ranging techniques described herein, and to determine its own location relative to one or more other wireless devices. Furthermore, each of stations STA1-STA4 and / or AP 110 may include local memory (for simplicity... Figure 1 (Not shown in the image) to store the cache and / or station data of the Wi-Fi access point.

[0046] For at least some embodiments, the ranging operations described herein can be performed without using AP 110, for example, by having multiple stations operate in ad-hoc or point-to-point mode, thereby allowing stations to measure distances to each other even outside the reception range of AP 110 or a visible WLAN (or other wireless network). Furthermore, for at least some example embodiments, the ranging operations described herein can be performed between two APs that are within wireless distance of each other.

[0047] Figure 2 It shows that it can be Figure 1A wireless device 200 is provided in one embodiment of stations STA1-STA4 and / or AP 110. Wireless device 200 may include a PHY device 210 (which includes at least a plurality of transceivers 211, a baseband processor 212, and a network interface 213), a MAC device 220 (which includes at least a plurality of contention engines 221 and frame formatting circuitry 222), a processor 230, a memory 240, and a plurality of antennas 250(1)-250(n). Transceivers 211 may be coupled directly or via antenna selection circuitry (not shown for simplicity) to antennas 250(1)-250(n). Transceivers 211 may be used to transmit signals to AP 110, other stations, and / or other suitable wireless devices (see also...). Figure 1 It can transmit and receive signals from AP 110, other stations, and / or other suitable wireless devices, and can be used to scan the surrounding environment to detect and identify nearby access points and other wireless devices (e.g., within the wireless range of wireless device 200). Although for simplicity... Figure 2 As shown, transceiver 211 may include any number of transmit links to process signals and transmit signals to other wireless devices via antennas 250(1)-250(n), and may include any number of receive links to process signals received from antennas 250(1)-250(n). Therefore, for the example embodiment, wireless device 200 may be configured for MIMO operation. MIMO operation may include SU-MIMO operation and / or MU-MIMO operation.

[0048] The baseband processor 212 can be used to process signals received from the processor 230 and / or the memory 240 and forward the processed signals to the transceiver 211 for transmission via one or more of the antennas 250(1)-250(n), and can be used to process signals received from one or more of the antennas 250(1)-250(n) via the transceiver 211 and forward the processed signals to the processor 230 and / or the memory 240.

[0049] If the wireless device 200 is an access point (AP), the network interface 213 may be a wired or wireless interface capable of connecting to other APs and networks (such as LAN, WAN, MAN, and / or the Internet).

[0050] For the purposes of this discussion, MAC device 220 in Figure 2 The PHY device 210 and MAC device 220 are shown coupled between the PHY device 210 and the processor 230. In a practical embodiment, the PHY device 210, MAC device 220, processor 230, and / or memory 240 may be connected together using one or more buses (not shown for simplicity).

[0051] Contention engine 221 can contend for access to one or more shared wireless media and can also store packets for transmission over one or more shared wireless media. In other embodiments, contention engine 221 can be decoupled from MAC device 220. In other embodiments, contention engine 221 can be implemented as one or more software modules containing instructions (e.g., stored in memory 240 or in memory provided within MAC device 220) that perform the functions of contention engine 221 when executed by processor 230.

[0052] The frame formatting circuit 222 can be used to create and / or format frames received from processor 230 and / or memory 240 (e.g., by adding a MAC header to a PDU provided by processor 230), and can be used to reformat frames received from PHY device 210 (e.g., by stripping a MAC header from frames received from PHY device 210).

[0053] The memory 240 includes a Wi-Fi database 241, which can store location data, configuration information, data rates, MAC addresses, and other suitable information about (or regarding) multiple access points, stations, and / or other wireless devices. The Wi-Fi database 241 can also store profile information for multiple wireless devices. The profile information for a given wireless device may include, for example, the wireless device's Service Set Identifier (SSID), channel information, Received Signal Strength Indicator (RSSI) value, Goodput value, Channel State Information (CSI), and information about its connection history with the wireless device 200.

[0054] Memory 240 may also include a non-transitory computer-readable medium (e.g., one or more non-volatile memory elements such as EPROM, EEPROM, flash memory, hard disk drive, etc.) that may store instruction or program code containing executable code or software instructions that, when executed by processor 230, cause processor 230 to operate as a dedicated computer programmed to perform the techniques disclosed herein. As shown, memory 240 may include one or more components or modules that may be implemented by processor 230 to perform the methods described herein. Although components or modules are shown as software executable by processor 230 in memory 240, it should be understood that these components or modules may be stored in a separate non-transitory computer-readable medium or may be dedicated hardware in or outside processor 230. It should be understood that the organization of the contents of memory 240 is merely exemplary, and the functionality of modules and / or data structures may be combined, separated, and / or constructed in different ways depending on the implementation of wireless device 200. Memory 240 or other computer-readable media may include the following software (SW) modules.

[0055] Memory 240 may include a ranging SW module 242, which, when implemented by processor 230, configures processor 230 to determine RTT values ​​and / or estimate the distance between wireless device 200 and one or more other devices, for example, as described below. Figures 4A-11 The one or more operations described.

[0056] The memory 240 may include a timestamp SW module 244, which, when implemented by the processor 230, configures the processor 230 to capture timestamps (e.g., TOA information) of signals received by the wireless device 200 and / or capture timestamps (e.g., TOD information) of signals transmitted from the wireless device 200, for example, as follows for... Figures 4A-11 The one or more operations described.

[0057] The memory 240 may include a frame forming and switching (SW) module 245, which, when implemented by the processor 230, configures the processor 230 to create, transmit, and / or receive frames or packets (including data frames or data packets), and / or embed ranging information (including TOA information, TOD information, and token information) into selected frames or packets (including data frames or data packets). In some implementations, reserved bits are read or set to indicate that ranging information is embedded in data frames or data packets, for example, as follows: Figures 4A-11 The one or more operations described.

[0058] Memory 240 may include a positioning SW module 246, which, when implemented by processor 230, configures processor 230 to determine the location of wireless device 200 based on the distance determined by ranging SW module 242, for example, as follows: Figures 4A-11 The one or more operations described.

[0059] Each software module includes instructions that, when executed by processor 230, cause wireless device 200 to perform a corresponding function. Therefore, the non-transitory computer-readable medium of memory 240 includes instructions for executing... Figures 4A-11 Instructions for all or part of the operation.

[0060] The processor 230, coupled to the PHY device 210, MAC device 220, and memory 240, may be one or more suitable processors capable of executing scripts or instructions of one or more software programs stored in the wireless device 200 (e.g., within memory 240). For example, the processor 230 may execute a ranging SW module 242 to determine an RTT value and / or estimate the distance between the wireless device 200 and one or more other devices. The processor 230 may execute a timestamping SW module 244 to capture timestamps (e.g., TOA information) of signals received by the wireless device 200 and / or capture timestamps (e.g., TOD information) of signals transmitted from the wireless device 200. The processor 230 may execute a frame forming and exchanging SW module 245 to create, transmit, and / or receive frames or packets, and / or embed ranging information (including TOA information, TOD information, and token information) into selected frames or packets (including data frames or data packets), and in some implementations, read or set reserved bits to indicate the presence of ranging information embedded in data frames or data packets. The processor 230 may execute the positioning SW module 246 to determine the location of the wireless device 200 based on the spacing determined by the ranging SW module 242 and / or other suitable information indicating the position of the wireless device 200 relative to one or more other devices.

[0061] As mentioned above, the RTT (Real-Time Tolerance) of the signals exchanged between wireless devices can be used to determine the spacing between a pair of wireless devices. For example, Figure 3 A signal diagram of an example ranging operation 300 between a first device D1 and a second device D2 is shown. The distance (d) between the first device D1 and the second device D2 can be estimated as d = c * RTT / 2, where c is the speed of light, and RTT is the sum of the actual signal propagation times of the request (REQ) frames and acknowledgment (ACK) frames exchanged between devices D1 and D2. Devices D1 and D2 can each be, for example, access points (e.g., Figure 1 AP 110), station (e.g., Figure 1(one of STA1-STA4) or another suitable wireless device (e.g., Figure 2 Wireless devices 200).

[0062] More specifically, device D2 can estimate its own RTT with device D1 using the departure time (TOD) of the REQ frame sent by device D2, the arrival time (TOA) of the ACK frame received by device D2, and the short inter-frame interval (SIFS) duration of device D1. The SIFS duration indicates the duration between device D1 receiving a REQ frame and sending an ACK frame. The SIFS duration (its value range is provided by the IEEE 802.11 standard) provides Wi-Fi-enabled devices with the time to switch their transceiver from receive mode (e.g., receiving REQ frames) to transmit mode (e.g., sending ACK frames).

[0063] Because different brands and models of communication equipment (and sometimes even the same brand and model) have different processing delays, the precise value of SIFS can vary between devices (and even between consecutive frame receptions / transmissions within the same device). Therefore, the value of SIFS is often estimated, which typically leads to errors in estimating the distance between two devices. More specifically, the IEEE 802.11 standard defines the SIFS duration as 10µs ± 900ns at 2.4GHz, 16µs ± 900ns at 5GHz, and 3µs ± 900ns at 60GHz. These "standard" SIFS durations include tolerances that can reduce the accuracy of RTT estimation. For example, even if the SIFS duration of device D1 can be estimated within + / - 25ns, it could still result in a ranging error of + / - 7.5 meters (which may be unacceptable for many positioning systems).

[0064] To reduce ranging errors caused by the uncertainty of SIFS values, the revision of the IEEE 802.11 standard requires each ranging device to capture the timestamps of incoming and outgoing frames, thereby enabling the determination of RTT values ​​without using SIFS.

[0065] For example, Figure 4A The diagram illustrates a signal diagram of an example ranging operation 400 between devices D1 and D2 performed using a Fine Timing Measurement (FTM) frame according to the IEEE 802.11 REVmc standard. Devices D1 and D2 can each be, for example, access points (e.g., Figure 1 AP 110), station (e.g., Figure 1 One of the stations STA1-STA4), or other suitable wireless devices (e.g., Figure 2 Wireless devices 200). For Figure 4AFor example, device D2 requests a ranging operation; therefore, device D2 is the initiating device (or, alternatively, the requesting device), and device D1 is the responding device. Note that the term "initiating device" can also refer to the initiating STA, and the term "responding device" can also refer to the responding STA.

[0066] Device D2 can request or initiate a ranging operation by sending an FTM Request (FTM_REQ) frame to device D1. The FTM_REQ frame may also include a request for device D1 to capture timestamps of frames received by device D1 (e.g., TOA information) and timestamps of frames sent by device D1 (e.g., TOD information). Device D1 receives the FTM_REQ frame and can acknowledge the requested ranging operation by sending an Acknowledgment (ACK) frame to device D2. The ACK frame indicates whether device D1 is able to capture the requested timestamps. Note that the exchange of FTM_REQ and ACK frames is a handshake process that not only signals the intention to perform a ranging operation but also allows devices D1 and D2 to determine whether they support capturing timestamps.

[0067] At time t a1 Device D1 sends the first FTM (FTM_1) frame to device D2, and can capture the TOD of the FTM_1 frame as time t. a1 Device D2 at time t a2 Receive FTM_1 frames and capture the TOA of the FTM_1 frame as time t. a2 Device D2 passes through time t a3 Send an ACK frame to device D1 in response, and capture the TOD of the ACK frame as time t. a3 Device D1 at time t a4 Receive ACK frames, and can at time t a4 The TOA of the captured ACK frame. At time t b1 Device D1 sends a second FTM (FTM_2) frame to device D2. The second FTM frame includes time t. a1 and t a4 The captured timestamps (e.g., TOD of the FTM_1 frame and TOA of the ACK frame). Device D2 at time t b2 Receive FTM_2 frames and capture their timestamps as time t b2 Device D2 at time t b3 Send an ACK frame to device D1. Device D1 at time t b4Receive ACK frames. This process can continue for any number of subsequent FTM and ACK frame exchanges, for example, between devices D1 and D2, where device D1 embeds the timestamp of a given FTM and ACK frame exchange into subsequent FTM frames sent to device D2.

[0068] When at time t b2 When the FTM_2 frame is received, device D2 has time t. a1 t a2 t a3 and t a4 The timestamp values ​​correspond to the TOD of the FTM_1 frame sent from device D1, the TOA of the FTM_1 frame at device D2, the TOD of the ACK frame sent from device D2, and the TOA of the ACK frame at device D1, respectively. Afterwards, device D2 can determine the RTT as (t a4 -t a3 )+(t a2 -t a1 Because RTT estimation does not involve estimating the SIFS of device D1 or device D2, it does not involve errors caused by the uncertainty of the SIFS duration. Therefore, the accuracy of the obtained estimate of the distance between devices D1 and D2 is improved (e.g., compared to...). Figure 3 (Compared to the ranging operation 300). The device can perform the ranging operation using at least three other devices with known positioning, and use known trilateration techniques to estimate its positioning.

[0069] Note that the example ranging operation 400 can continue. For example, device D2 can be at time t. b3 Send an ACK frame to device D1 (e.g., to acknowledge receipt of the FTM_2 frame). Device D1 at time t b4 Receive ACK frames, and record the TOA of the ACK frame as time t. b4 Device D1 can embed another time value in the FTM_3 frame, and then at time t c1 Send an FTM_3 frame to device D2. The time value embedded in the FTM_3 frame can indicate that it is equal to t. b4 -t b1 The difference in time value.

[0070] While RTT technology can be used to determine the location of a given device relative to another device, the given device may need to perform ranging operations with three other devices to determine its actual location. More specifically, performing ranging operations with three other devices 400 may involve three separate FTM frame exchanges (performed with the other three devices), which not only consumes valuable time but also consumes the limited bandwidth of the shared wireless medium.

[0071] Figure 4B An example of an FTM frame 450 is depicted. The FTM frame 450 may include a category field 451, a common action field 452, a dialogue token field 453, a follow-up dialogue token field 454, a TOD field 455, a TOA field 456, a TOD error field 457, a TOA error field 458, an optional LCI report field 459, an optional location city report field 460, an optional FTM parameter field 461, and an optional FTM synchronization information field 462. For at least one embodiment, the TOD field 455 and the TOA field 456 may each be 6 bytes, and the dialogue token field 453 and the follow-up dialogue token field 454 may each be 1 byte. In some aspects, the responding device may embed the TOA information of a received ACK frame into the TOA field 456 of the FTM frame 450, and may embed the TOD information of an FTM_1 frame into the TOD field 455 of the FTM frame 450.

[0072] As mentioned above, the transmitted FTM frames are unencrypted. This lack of security hinders the widespread adoption of the FTM protocol. Wi-Fi positioning standards, such as those in IEEE 802.11az, continue to evolve, which improves security.

[0073] Figure 5 This is a diagram illustrating an example of a non-triggered sequence-based ranging procedure 500 using null data packet (NDP) probing according to the current IEEE 802.11az standard. The ranging procedure 500 shows frame transmissions between the initiating device (ISTA) and the responding device (RSTA). During the measurement probing phase, the initiating device (ISTA) may issue a ranging NDP announcement frame (NDPA) 502 to the responding device (RSTA). The NDPA frame 502 signals to the responder that a ranging measurement will be performed using additional NDP frames.

[0074] Specifically, after a Short Interframe Space (SIFS) time 504 (typically the amount of time required for the wireless device to process the received frame and respond with a response frame), the initiating device ISTA sends an Initiator-to-Responder (I2R) NDP frame 506 (also known as an Uplink (UL) NDP frame) to the responding device RSTA. In response to receiving the I2R NDP frame 506 and after another SIFS time period 508, the responding device RSTA sends a Responder NDP frame 510 (also known as a Downlink (DL) NDP frame) to the initiating device ISTA.

[0075] For example, NDP frame 506 and responder NDP frame 510 can be used for RTT measurement, and can realize RTT calculation and RTT quality. Figure 5As shown, after the measurement detection phase, for example after SIFS time period 512, the process of measurement calculation and measurement reporting is performed in the measurement reporting phase. When reporting measurements, such as timing measurements involved in determining RTT, a Position Measurement Report (LMR) can be sent from the responding device RSTA to the initiating device ISTA according to the proposed IEEE 802.11az standard, as shown in LMR frame 514. LMR frame 514 can be encrypted. Furthermore, the initiating device ISTA can be configured to determine both RTT quality and RTT performance. On one hand, the ranging process 500 can include a feedback frame, as shown in LMR frame 516, sent from the initiating device (ISTA) to the responding device (RSTA) to report the measured RTT quality and RTT performance to the responding device RSTA. LMR frame 516 can be encrypted. The feedback frame can be configured as an LMR, and thus can be referred to as LMR frame 516, or it can be configured as a modified LMR to include RTT and RTT quality information, or it can be sent together with the LMR; that is, sent before the timing of LMR frame 516, sent at the same time as the timing of LMR frame 516, or sent after the timing of LMR frame 516.

[0076] It is also worth noting that, Figure 5 An example is shown in the context of a proposed non-trigger (TB) ranging sequence according to the IEEE 802.11az standard. Those skilled in the art will understand that the concepts currently disclosed can also be applied to TB ranging sequences, such as sequences in which an access point (AP) triggers measurement probes from two or more wireless devices or stations (STAs). In this case, a feedback frame similar to LMR frame 516 can be sent from the STA to the AP to report the measured RTT quality and RTT duration.

[0077] Figure 6 This is a diagram illustrating another example of a trigger-based NDP ranging procedure 600 using NDP probing without physical layer (PHY) security, according to the IEEE 802.11az standard. In this example, it is assumed that multiple (indicated as "n") initiating devices (ISTA) trigger probe and measurement reports from responding devices (RSTA). In the NDP ranging procedure 600, dedicated ranging frames are used, and the location measurement report (LMR) is encrypted. The diagram illustrates the relationship between frame transmission and frequency usage over time for various frames. The NDP ranging procedure 600 may include a polling phase 650, followed by a distance measurement probing phase 655, and then a location measurement reporting phase 660.

[0078] During polling phase 650, the responding device may send a polling trigger frame (TF) 605 to the station or radio device or request to participate in probe measurements in a specific time frame. In response to the polling TF 605, the initiating device may send a ranging polling response (PR) message 610 in a clearto send (CTS) message to itself.

[0079] The distance measurement probe phase 655 can begin after the polling phase 650 (e.g., SIFS time). The distance measurement probe phase 655 may include a probe trigger frame (TF) 615, which can allocate uplink resources to one or more initiating devices. Following the probe TF 615 can be one or more I2R NDP probes from each of the initiating devices to the responding device. I2R NDP probes 620 from the initiating devices can be spatially multiplexed, as shown in the figure. Figure 6 As illustrated, by way of example, the distance measurement probe phase 655 shows two initiating devices (ISTA 1 and ISTA 4) transmitting I2R NDP probes 620 in a triggered sequence, where ISTA 1 transmits Nss(stream) = 1 and ISTA transmits Nss(stream) = 2. Following the uplink NDP probe 620, the responding device can transmit an NDPA frame 625, received by each initiating device, to each of the initiating devices, followed by a DL responder-to-initiator (R2I) NDP probe frame 630, which can be spatially multiplexed. For example, the responding device (RSTA) can have four antennas and can transmit four R2I NDP streams to the initiating devices, for example, at Nss(stream) = 1, 2, 3, and 4, as shown.

[0080] Throughout the distance measurement detection phase 655, the station can perform time-of-flight (ToF) measurements. For example, the responding device and the initiating device can capture timestamps of the probe frames exchanged during the distance measurement detection phase 655. The initiating device can capture the time (t1) when its respective UL I2R NDP 620 is transmitted, the responding device can capture the time (t2) when the UL I2R NDP 620 arrives or is received, the responding device can capture the time (t3) when one or more DL R2I NDP 630s are transmitted, and the initiating device can capture the time (t4) when one or more DL R2I NDP 630s are received. The timestamp values ​​associated with t2 and t3 can be associated with measurements performed according to the responding device clock (such as timing information from the responding device's perspective, without applying any frequency offset correction to the time base).

[0081] The positioning measurement reporting phase 660 can follow the distance measurement detection phase 655 (e.g., SIFS time after DL R2I NDP 630). In the positioning measurement reporting phase 660, the positioning measurement report is encrypted. Measurement results (such as t1, t2, t3, and t4 as discussed herein) can be carried in separate LMR frames 635 from the responding station RSTA to each initiating station ISTA 1 to ISTA n. For example, LMR frame 635 can carry... Figure 5 Similar fields or information to the LMR frame 514 described herein. That is, LMR frame 635 can carry information such as measurement results t1, t2, t3, and t4 (e.g., measurement result information carried in the TOA field, TOD field, or both, TOD error field, TOA error field, or both). Information such as measurement results transmitted in the distance measurement probe phase 655 can come from the current availability window or a previous availability window. That is, in some implementations, the measurement results associated with the probe frame exchange can be associated with a previous probe message exchange. In some implementations, the trigger frame or NDPA of the previous positioning probe phase can indicate whether the associated measurement results are included in the same availability window or a consecutive availability window, which may include media allocation to the ISTA for probe. The responding device can use the positioning subtype ranging LMR trigger frame 640 to allocate uplink resources, and the initiating device ISTA 1-n can provide LMR frame 645 to the responding device RSTA. RTT can be determined by the equation RTT = [(t4-t1)-(t3′-t2′)], where t3′ and t2′ are the time when the responding device sends the DL NDP probe frame 630 and the time when the responding device receives the UL NDP, respectively, and are determined by the initiating device.

[0082] Figure 7A This is a diagram illustrating another example of a trigger-based NDP ranging procedure 700 with PHY security using NDP probing, according to the IEEE 802.11az standard. In this example, it is assumed that multiple (indicated as "n") initiating devices (ISTA) trigger probing and measurement reports from responding devices (RSTA). In the NDP ranging procedure 700, dedicated ranging frames are used, and the location measurement report (LMR) is encrypted. The diagram illustrates the relationship between frame transmission and frequency usage over time for various frames. The NDP ranging procedure 700 may include a polling phase 750, followed by a distance measurement probing phase 755, and then a location measurement reporting phase 760.

[0083] and Figure 6Similar to the polling phase 650 discussed earlier, during the polling phase 750 of the NDP ranging process 700, the responding device can send a polling trigger frame (TF) 705 to the station or radio device or request to participate in the detection measurement in a specific time frame. In response to the polling TF 705, the initiating device can send a ranging polling response (PR) message 710 in a permitted transmit (CTS) message to itself.

[0084] The distance measurement detection phase 755 can begin after the polling phase 750 (e.g., SIFS time). Figure 6 Unlike the distance measurement probe phase 655, which uses a single probe trigger frame 615 to trigger I2RNDP probe frames 620 from all initiating devices ITA, the distance measurement probe phase 755 triggers I2RNDP probe frames from each initiating device ITA separately. Therefore, as shown, the distance measurement probe phase 755 may include a first probe trigger frame 715A, which may allocate uplink resources to the first initiating device ITA 1. Following the first probe TF 715A may be an I2R NDP probe frame 720A from the first initiating device ITA 1 to the responding device. As shown, after the SIFS time, the responding device RSTA may send a second probe trigger frame 715B to allocate uplink resources to the second initiating device ITA 2. Following the second probe TF 715B may be an I2R NDP probe frame 720B from the second initiating device ITA 2 to the responding device. This process may be repeated for each initiating device ITA 1-n. After the final uplink NDP probe 720B, the responding device can send an NDPA frame 725 received by the initiating device to each of the initiating devices, followed by a DL responder-to-initiator (R2I) NDP probe frame 730, which can be spatially multiplexed, as shown in the figure.

[0085] and Figure 6Similar to the distance measurement detection phase 655, throughout the distance measurement detection phase 755, the station can perform time-of-flight (ToF) measurements. For example, the responding device and the initiating device can capture the timestamps of the probe frames exchanged during the distance measurement detection phase 755. The initiating device can capture the time (t1) when its respective UL I2R NDP 720A and 720B are transmitted, the responding device can capture the time (t2) when UL I2R NDP 720A and 720B arrive or are received, the responding device can capture the time (t3) when one or more DL R2I NDP probe frames 730 are transmitted, and the initiating device can capture the time (t4) when one or more DL R2I NDP probe frames 730 are received. The timestamp values ​​associated with t2 and t3 can be associated with measurements performed according to the responding device clock (such as timing information from the responding device's perspective, without applying any frequency offset correction to the time base).

[0086] The positioning measurement reporting phase 760, which can occur after the distance measurement detection phase 755 (e.g., the SIFS time after the DL R2I NDP detection frame 730), can be similar to... Figure 6 The distance measurement reporting phase 660 is discussed herein. In the positioning measurement reporting phase 760, the positioning measurement report is encrypted. Measurement results (such as t1, t2, t3, and t4 discussed herein) can be carried in separate LMR frames 735 from the responding station RSTA to each initiating station ISTA1 to n. For example, LMR frame 735 can carry... Figure 5 Similar fields or information to the LMR frame 514 described herein. That is, LMR frame 735 can carry information such as measurement results t1, t2, t3, and t4 (e.g., measurement result information carried in the TOA field, TOD field, or both, TOD error field, TOA error field, or both). Information such as measurement results transmitted in the distance measurement probe phase 755 can come from the current availability window or a previous availability window. That is, in some implementations, the measurement results associated with probe frame exchanges can be associated with previous probe message exchanges. In some implementations, the trigger frame or NDPA of the previous positioning probe phase can indicate whether the associated measurement results are included in the same availability window or a consecutive availability window, which may include media allocation to the ISTA for probe. The responding device can use the positioning subtype ranging LMR trigger frame 740 to allocate uplink resources, and the initiating device ISTA1-n can provide LMR frame 745 to the responding device RST. RTT can be determined by the equation RTT = [(t4-t1)-(t3′-t2′)], where t3′ and t2′ are the time when the responding device sends the DL NDP probe frame 730 and the time when the responding device receives the UL NDP, respectively, and are determined by the initiating device.

[0087] Figure 7B An example of an LMR frame 780 is depicted. The LMR frame 780 may include a category field 781, a common action field 782, a dialogue token field 783, a TOD field 784, a TOA field 785, a TOD error field 786, a TOA error field 787, a carrier frequency offset (CFO) parameter field 788, an optional secure long training (LTF) parameter field 789, and an optional AOA feedback field 790. The TOD field 784 and the TOA field 785 may each be 6 bytes, and the dialogue token field 783 may be 1 byte.

[0088] Therefore, as can be seen, widely used Wi-Fi ranging and positioning are not fully encrypted, which introduces security issues. While security improvements have been proposed, such as using the IEEE 802.11az standard, additional ranging frames are required to enhance security, negatively impacting throughput. Furthermore, improvements to PHY security, such as... Figure 7A As shown, using separate trigger frames and probe frames for each anchor point further exacerbates the negative impact on throughput.

[0089] Therefore, in one implementation, the ranging process can use regular data frames to encapsulate ranging measurement information, such as timestamps and token information, instead of using dedicated ranging FTM or NDP frames. The data frames are typically encrypted, thus providing enhanced security for transmitting ranging measurement information. Furthermore, by reusing data frames used for inter-station data communication in the ranging process and encapsulating ranging measurement information, the throughput of the ranging process is improved.

[0090] Figure 8A The diagram illustrates a signal diagram of a ranging operation 800 performed between devices D1 and D2 using data frames. Devices D1 and D2 can each be, for example, access points (e.g., ...). Figure 1 AP 110), station (e.g., Figure 1 One of the stations STA1-STA4), or other suitable wireless devices (e.g., Figure 2 Wireless devices 200). For Figure 8A For example, device D2 requests a ranging operation; therefore, device D2 is the initiating device (or, alternatively, the requesting device), and device D1 is the responding device. Note that the term "initiating device" can also refer to the initiating STA, and the term "responding device" can also refer to the responding STA.

[0091] Device D2 can request or initiate a ranging operation by sending a ranging request 802 (such as an Initial Fine Timing Measurement Request (iFTMR) frame) to Device D1, which provides capabilities to Device D2. The iFTMR frame may include a request for Device D1 to capture timestamps (e.g., TOA information) of frames received by Device D1 and timestamps (e.g., TOD information) of frames sent by Device D1. Unlike FTM or LMR frames, the iFTMR frame may further include a request for Device D1 to send a ranging message including timestamp and token information in a data frame. Device D1 receives the iFTMR frame and can acknowledge receipt by sending an acknowledgment (ACK) frame 804 to Device D2. Device D1 may issue an Initial Fine Timing Measurement (IFTM) frame 806 to Device D2, for example, accepting the request for ranging operation and providing capabilities to Device D1, such as the ability to capture the requested timestamps. Unlike FTM or LMR frames, the iFTM frame may instruct Device D1 to send a ranging message including timestamp and token information in a data frame. Device D2 receives iFTM frames and can acknowledge receipt by sending an acknowledgment (ACK) frame 808 to device D1. Although Figure 8A The image shows iFTMR and iFTM, but other frames are available for ranging requests and exchange capabilities, and indicate support for using data frames such as probe requests and probe responses.

[0092] As shown in the figure, in response to the ranging request, device D1 sends data frame 810 (Data_Range_1) to device D2, and can capture the TOD of the Data_Range_1 frame as time t. a1 The data frame Data_Range_1 is not an FTM or NDP frame, but a data frame used for ranging. Device D2 at time t a2 Receive Data_Range_1 frames and capture the TOA of the Data_Range_1 frame as time t. a2 Device D2 passes through time t a3 Send an ACK frame 812 to device D1 in response, and capture the TOD of the ACK frame as time t. a3 Device D1 at time t a4 Receive ACK frames, and can at time t a4 The TOA of the captured ACK frame. At time t b1 Device D1 sends a second data frame 814 (Data_Range_2) to device D2. Ranging measurement information, such as timestamps and token information (session token and subsequent session token) related to the transmission and acknowledgment (ACK) reception of the previous data frame (Data_Range_1), is included in data frame (Data_Range_2). For example, at time t... a1 and ta4 The captured timestamps (e.g., TOD of the Data_Range_1 frame and TOA of the ACK frame) and token information are encapsulated in a data frame (Data_Range_2). The definitions and formats of the timestamps and tokens can be the same as in, for example, the FTM protocol, but instead of embedding the information in the FTM frame, the information is embedded in the data frame. Data frames are typically encrypted; therefore, the ranging measurement information encapsulated in Data_Range_2 can also be encrypted. Device D2 at time t b2 Receives Data_Range_2 frames and can capture their timestamps as time t. b2 Device D2 at time t b3 Send ACK frame 816 to device D1. Device D1 at time t b4 Receive ACK frames.

[0093] When at time t b2 When the Data_Range_2 frame is received, device D2 has time t a1 t a2 t a3 and t a4 The timestamp values ​​correspond to the TOD of Data_Range_1 frame 810 sent from device D1, the TOA of Data_Range_1 frame 810 at device D2, the TOD of ACK frame 812 sent from device D2, and the TOA of ACK frame 812 at device D1, respectively. Afterwards, device D2 can determine the RTT as (t a4 -t a3 )+(t a2 -t a1 ).

[0094] The process of exchanging Data_Range frames and ACK frames can continue to be used, for example, for any number of subsequent data and ACK frame exchanges between devices D1 and D2, where device D1 embeds the timestamp of a given Data_Range_N and ACK frame exchange into a subsequent Data_Range_N+1 frame sent to device D2. The distance estimate between device D1 and device D2 can be based on the RTT of all ranging measurement exchanges.

[0095] Figure 8BAn example of a Data_Range_N frame 850 is depicted. The Data_Range_N frame 850 can be similar to a regular data frame, including a preamble 852 and a data payload 854 embedding ranging measurement information. For example, the Data_Range_N frame 850 may also include at least a dialogue token field 856, a follow-up dialogue token field 858, a TOD field 860, and a TOA field 862, which may be part of the data payload 854. For example, the TOD field 860 and the TOA field 862 may each be 6 bytes long, and the token field and the follow-up token field may be 1 byte long. In some implementations, the data payload 854 may also include additional fields, such as a carrier frequency offset (CFO) parameter field 863, which provides the clock offset between D1 and D2 and helps correct timing errors in the timestamp caused by the clock offset, as in IEEE 802.11az LMR. In addition, the Data_Range_N frame 850 may also include a bit 864 in the preamble 852, which can be used to indicate the current data frame's carrying timestamp and token information. For example, bit 864 may be a currently reserved bit that has been repurposed to include ranging measurement information in the data frame. By way of example, bit 864 can be in a conventional preamble, making the method applicable to IEEE 802.11a, IEEE 802.11n, IEEE 802.11ac, IEEE 802.11ax, and future Very High Throughput (EHT) frames. In some implementations, bit 864 may be a preamble for High Throughput (HT) (IEEE 802.11n), Very High Throughput (VHT) (IEEE 802.11ac), or High Efficiency (HE) (IEEE 802.11ax).

[0096] While RTT (Range Tolerance) technology can be used to determine the location of a given device relative to another device, the given device may need to perform a ranging operation with three other devices to determine its actual location. The device can utilize at least three other devices with known locations to perform the ranging operation and use known trilateration techniques to estimate its location. Since the ranging operation 800 uses data frames, and a wireless device (e.g., initiating device D1) can connect to and exchange data frames with one wireless device at a time, in some implementations, the ranging operation 800 is used only with one wireless device (exchanging data frames with that wireless device), while using FTM or NDP (e.g., as...). Figure 4A The ranging operation (as shown in Figure 7) can be performed in conjunction with other wireless devices. Using data frames for ranging operations in one of the wireless devices reduces overhead while maintaining security.

[0097] For example, Figure 9The positioning process 900 of wireless device 902 using ranging with multiple wireless devices 904-1, 904-2, and 904-3 is illustrated. As shown, wireless device 902 can use FTM or NDP protocols (as described herein). Figure 4A (As discussed in Figure 7) Wireless devices 904-1 and 904-2 perform ranging operations to determine their respective distances D1 and D2. Wireless device 902 can communicate with wireless device 904-3 and can perform ranging operations using data frames, for example, as... Figure 8A and Figure 8B As shown, distance D3 is determined together with wireless device 904-3. Distances D1, D2, and D3 define circles 906-1, 906-2, and 906-3 around each of wireless devices 904-1, 904-2, and 904-3, which can be used in conjunction with the known locations of wireless devices 904-1, 904-2, and 904-3 to determine the estimated location of wireless device 902 using trilateration.

[0098] Figure 10 A flowchart is shown of an exemplary method 1000 for performing ranging by a first wireless communication device, such as wireless device 200, in a manner consistent with the disclosed implementation.

[0099] At box 1002, the first wireless communication device can send a ranging request for the ranging process to the second wireless communication device, for example, such as... Figure 8A The ranging request is discussed at point 802. The ranging request may be an Initial Fine Timing Measurement Request (iFTMR) frame, a probe request, or other types of messages. Processor 230, transceiver 211, and memory 240 may include components for transmitting the ranging request for the ranging process to the second wireless communication device.

[0100] At block 1004, the first wireless communication device receives a first message from the second wireless communication device, at least in part, based on a transmitted ranging request. This first message includes a first data frame, such as... Figure 8A The data frame 810 is discussed. For example, the first data frame may be encrypted. The processor 230, transceiver 211, and memory 240 may include components for receiving a first message from the second wireless communication device, at least in part, based on a ranging request sent, the first message including the first data frame.

[0101] At box 1006, the first wireless communication device, in response to the first message, sends a first response message to the second wireless communication device, for example, as... Figure 8A The ACK frame 812 is discussed. Processor 230, transceiver 211, and memory 240 may include components for sending a first response message to a second wireless communication device in response to the first message.

[0102] At box 1008, the first wireless communication device receives a second message from the second wireless communication device. This second message includes a second data frame, in which ranging measurement information for the first message and the first response message is encapsulated. For example, ... Figure 8A The data frame discussed at 814. For example, the second data frame may be encrypted. For example, the ranging measurement information may include the time (TOD) at which the first message leaves the second wireless communication device and the time (TOA) at which the first response message arrives at the second wireless communication device. The TOD of the first message may be a first timestamp in the ranging measurement information, and the TOA of the first response message may be a second timestamp in the ranging measurement information, such as... Figure 8B As discussed in [the document]. Ranging measurement information can also include token information, such as [other information]. Figure 8B As discussed in [the document]. In some implementations, the second message may include bits set to indicate the presence of ranging measurement information, for example, such as [example]. Figure 8B As discussed in [the document]. Processor 230, transceiver 211, and memory 240 may include components for receiving a second message from a second wireless communication device, the second message including a second data frame, wherein ranging measurement information for the first message and the first response message is encapsulated in the second data frame.

[0103] At box 1010, the first wireless communication device estimates the distance between the first wireless communication device and the second wireless communication device at least in part based on ranging measurement information, for example, as... Figure 8A The distance is discussed in detail here. In some implementations, the distance can be estimated by determining at least one round-trip time (RTT), and can be based at least in part on the departure time (TOD) of the first message from the second wireless communication device and the arrival time (TOA) of the first response message at the second wireless communication device, as well as the TOA of the first message at the first wireless communication device and the TOD of the first response message from the first wireless communication device. The processor 230, transceiver 211, and memory 240 may include components for estimating the distance between the first and second wireless communication devices based at least in part on ranging measurement information.

[0104] In one implementation, the method 1000 may further include a first wireless communication device receiving a plurality of messages, including a first message and a second message, from a second wireless communication device, wherein each of the plurality of messages is a data frame, for example, such as... Figure 8A This is discussed in data frames 810 and 814. Each of these multiple messages may include ranging measurement information from the previous message and response message encapsulated in the data frame, for example, such as... Figure 8AAs discussed in [the document]. The first wireless communication device can send a plurality of response messages to the second wireless communication device, each of which is a response to a received message, for example, such as [example message]. Figure 8A The discussion is based on ACK frames 812 and 816 in the protocol. The first wireless communication device can also estimate the distance between the first and second wireless communication devices, at least in part, based on the entirety of the ranging measurement information, for example, as... Figure 8A The processor 230, transceiver 211, and memory 240 may include: means for receiving from the second wireless communication device a plurality of messages including a first message and a second message, wherein each of the plurality of messages is a data frame; and means for sending to the second wireless communication device a plurality of response messages including a first response message, each of the plurality of response messages being in response to the received message.

[0105] In one implementation, the estimated distance between the first wireless communication device and the second wireless communication device is a first distance estimate, and method 1000 may further include the first wireless communication device exchanging ranging messages with the third and fourth wireless communication devices, wherein the ranging messages include one of a Fine Timing Measurement (FTM) frame or a Null Data Packet (NDP) frame, for example, as Figure 9 As discussed in [the document]. The first wireless communication device can generate a second distance estimate between the first wireless communication device and the third wireless communication device, and a third distance estimate between the first wireless communication device and the fourth wireless communication device, for example, as [example]. Figure 9 As discussed in [the document], the first wireless communication device can estimate its location based on a first distance estimate, a second distance estimate, and a third distance estimate, for example, as [example of the first wireless communication device's location]. Figure 9 As discussed herein, processor 230, transceiver 211, and memory 240 may include components for exchanging ranging messages with a third and a fourth wireless communication device, wherein the ranging messages include either Fine Timing Measurement (FTM) frames or Null Data Packet (NDP) frames. Processor 230, transceiver 211, and memory 240 may include components for generating a second distance estimate between the first and third wireless communication devices and a third distance estimate between the first and fourth wireless communication devices. Processor 230, transceiver 211, and memory 240 may include components for estimating the location of the first wireless communication device based on the first, second, and third distance estimates.

[0106] Figure 11 A flowchart is shown of an exemplary method 1100 for performing ranging by a first wireless communication device, such as wireless device 200, in a manner consistent with the disclosed implementation.

[0107] At box 1102, the first wireless communication device can receive a ranging request for the ranging process from the second wireless communication device, for example, such as Figure 8A The ranging request is discussed at point 802. The ranging request may be an Initial Fine Timing Measurement Request (iFTMR) frame, a probe request, or other types of messages. The processor 230, transceiver 211, and memory 240 may include components for receiving ranging requests for the ranging process from the second wireless communication device.

[0108] At block 1104, the first wireless communication device sends a first message to the second wireless communication device, at least in part, based on a received ranging request. This first message includes a first data frame, such as... Figure 8A The data frame 810 is discussed. For example, the first data frame may be encrypted. The processor 230, transceiver 211, and memory 240 may include components for sending a first message to a second wireless communication device, at least in part, based on a received ranging request, the first message including the first data frame.

[0109] At box 1106, the first wireless communication device receives a first response message from the second wireless communication device in response to a first message, for example, as... Figure 8A The ACK frame 812 is discussed. Processor 230, transceiver 211, and memory 240 may include components for receiving a first response message from the second wireless communication device in response to the first message.

[0110] At box 1108, the first wireless communication device sends a second message to the second wireless communication device. The second message includes a second data frame, wherein ranging measurement information from the first message and the first response message is encapsulated in the second data frame. Using this second data frame, the second wireless communication device estimates the distance between the first and second wireless communication devices, such as... Figure 8A The data frame discussed at 814. For example, the second data frame may be encrypted. For example, the ranging measurement information may include the time (TOD) at which the first message leaves the first wireless communication device and the time (TOA) at which the first response message arrives at the first wireless communication device. The TOD of the first message may be a first timestamp in the ranging measurement information, and the TOA of the first response message may be a second timestamp in the ranging measurement information, such as... Figure 8B As discussed in [the document]. Ranging measurement information can also include token information, such as [other information]. Figure 8B As discussed in [the document]. In some implementations, the second message may include bits set to indicate the presence of ranging measurement information, for example, such as [example]. Figure 8BAs discussed in [the document]. Processor 230, transceiver 211, and memory 240 may include components for sending a second message to a second wireless communication device, the second message including a second data frame, wherein ranging measurement information of the first message and the first response message is encapsulated in the second data frame, using the second data frame, the second wireless communication device estimates the distance between the first wireless communication device and the second wireless communication device.

[0111] In one implementation, the method 1100 may further include the first wireless communication device sending a plurality of messages, including a first message and a second message, to the second wireless communication device, wherein each of the plurality of messages is a data frame, for example, such as... Figure 8A As discussed in data frames 810 and 814. Each of these multiple messages may include ranging measurement information from the previous message and response message encapsulated in the data frame, for example, such as... Figure 8A As discussed in [the document]. The first wireless communication device can receive from the second wireless communication device a plurality of response messages, each of which is in response to a sent message, such as [example message]. Figure 8A The ACK frames 812 and 816 in the diagram are discussed. The processor 230, transceiver 211, and memory 240 may include: means for transmitting to the second wireless communication device a plurality of messages including a first message and a second message, wherein each of the plurality of messages is a data frame; and means for receiving from the second wireless communication device a plurality of response messages including a first response message, each of the plurality of response messages being in response to the transmitted message.

[0112] Throughout this specification, references to "one example," "an example," "certain examples," or "exemplary implementations" mean that a particular feature, structure, or characteristic described in connection with that feature and / or example can be included in at least one feature and / or example of the claimed subject matter. Therefore, the appearance of the phrases "in one example," "an example," "in certain examples," or "in certain implementations," or other similar phrases throughout this specification, does not necessarily refer to the same feature, example, and / or limitation. Furthermore, a particular feature, structure, or characteristic may be combined in one or more examples and / or features.

[0113] Certain portions of the detailed description included herein are presented based on an algorithmic or symbolic representation of the operation of binary digital signals stored in the memory of a particular device or dedicated computing device or platform. In the context of this particular specification, the term "particular device," etc., includes a general-purpose computer once programmed to perform a particular operation according to instructions from program software. Algorithm descriptions or symbolic representations are examples of techniques used by those skilled in the art of signal processing or related fields to communicate the contents of their work to others skilled in the art. Algorithms herein, and generally considered as self-consistent sequences of operations or similar signal processing leading to desired results, are... In this context, the operation or processing involves the physical control of physical quantities. Typically, although not strictly necessary, these quantities may take the form of electrical or magnetic signals that can be stored, transmitted, combined, compared, or otherwise controlled. Sometimes, primarily for common use, such signals are referred to as bits, data, values, elements, symbols, characters, terms, numbers, digital symbols, etc., which has proven convenient. However, it should be understood that all such terms or similar will be associated with appropriate physical quantities and are merely convenient labels. Unless otherwise expressly stated, as will be apparent from the discussion herein, it should be understood that the use of terms such as “processing,” “computing,” “calculating,” and “determining” throughout this specification refers to the action or process of a specific device, such as a dedicated computer, dedicated computing device, or similar dedicated electronic computing equipment. Therefore, in the context of this specification, a dedicated computer or similar dedicated electronic computing device is capable of controlling or converting signals, which are generally represented as physical electronic or magnetic quantities within the memory, registers, or other information storage, transmission, or display devices of the dedicated computer or similar dedicated electronic computing device.

[0114] In the foregoing detailed description, numerous specific details have been set forth to provide a thorough understanding of the claimed subject matter. However, those skilled in the art will understand that the claimed subject matter can be practiced without these specific details. In other instances, methods and apparatus known to those skilled in the art have not been described in detail to avoid obscuring the claimed subject matter.

[0115] As used herein, the terms “and,” “or,” and “and / or” can have a variety of meanings, which are also expected to depend at least in part on the context in which such terms are used. Generally, “or,” when used with an associative list such as A, B, or C, is intended to mean A, B, and C (in an inclusive sense) and A, B, or C (in an exclusive sense). Furthermore, the term “one or more,” as used herein, can be used to describe any feature, structure, or property in the singular, or to describe multiple or other combinations of features, structures, or properties. However, it should be noted that these are merely illustrative examples and the claimed subject matter is not limited to these examples.

[0116] While what is currently considered an exemplary feature has been described and illustrated, those skilled in the art will understand that various other modifications and equivalents can be made without departing from the claimed subject matter. Furthermore, numerous modifications can be made to adapt specific situations to the teachings of the claimed subject matter without departing from the central concepts described herein.

[0117] In view of this description, embodiments may include different combinations of features. Examples of implementations are described in the following numbered clauses:

[0118] Clause 1: A method for ranging performed by a first wireless communication device, comprising: sending a ranging request for a ranging process to a second wireless communication device; receiving a first message from the second wireless communication device, the first message including a first data frame, based at least in part on the sent ranging request; sending a first response message to the second wireless communication device in response to the first message; receiving a second message from the second wireless communication device, the second message including a second data frame, wherein ranging measurement information for the first message and the first response message is encapsulated in the second data frame; and estimating a distance between the first wireless communication device and the second wireless communication device based at least in part on the ranging measurement information.

[0119] Clause 2: The method according to Clause 1, wherein the ranging measurement information includes the time when the first message leaves the second wireless communication device and the time when the first response message arrives at the second wireless communication device.

[0120] Clause 3: The method according to Clause 2, wherein estimating the distance includes determining at least one round-trip time (RTT), and is also based at least in part on the arrival time of the first message measured at the first wireless communication device and the time when the first response message leaves the first wireless communication device.

[0121] Clause 4: The method according to any one of Clauses 2-3, wherein the departure time of the first message is a first timestamp in the ranging measurement information, and the arrival time of the first response message is a second timestamp in the ranging measurement information.

[0122] Clause 5: The method described in Clause 4, wherein the ranging measurement information further includes token information.

[0123] Clause 6: The method according to any one of Clauses 1-5, wherein the first data frame and the second data frame are encrypted.

[0124] Clause 7: The method according to any one of Clauses 1-6, wherein the second message from the second wireless communication device further includes bits configured to indicate the presence of ranging measurement information.

[0125] Clause 8: The method according to any one of Clauses 1-7 further comprises: receiving from the second wireless communication device a plurality of messages including a first message and a second message, wherein each of the plurality of messages is a data frame; sending to the second wireless communication device a plurality of response messages including a first response message, each of the plurality of response messages responding to the received message; wherein each of the plurality of messages includes ranging measurement information encapsulated in the data frame for the preceding message and the response message; and wherein the estimation of the distance between the first wireless communication device and the second wireless communication device is also based at least in part on the entirety of the ranging measurement information.

[0126] Clause 9: The method according to any one of Clauses 1-8, wherein the estimated distance between the first wireless communication device and the second wireless communication device is a first distance estimate, the method further comprising: exchanging ranging messages with a third wireless communication device and a fourth wireless communication device, wherein the ranging messages include one of a Fine Timing Measurement (FTM) frame or a Null Data Packet (NDP) frame; generating a second distance estimate between the first wireless communication device and the third wireless communication device and a third distance estimate between the first wireless communication device and the fourth wireless communication device; and estimating the position of the first wireless communication device based on the first distance estimate, the second distance estimate, and the third distance estimate.

[0127] Clause 10: A first wireless communication device configured for ranging, comprising: a wireless transceiver; at least one memory; and at least one processor coupled to the wireless transceiver and the at least one memory, wherein the at least one processor is configured to: transmit a ranging request for a ranging process to a second wireless communication device via the wireless transceiver; receive a first message from the second wireless communication device via the wireless transceiver, at least in part based on the transmitted ranging request, the first message including a first data frame; transmit a first response message to the second wireless communication device via the wireless transceiver in response to the first message; receive a second message from the second wireless communication device via the wireless transceiver, the second message including a second data frame, wherein ranging measurement information of the first message and the first response message is encapsulated in the second data frame; and estimate a distance between the first wireless communication device and the second wireless communication device at least in part based on the ranging measurement information.

[0128] Clause 11: The first wireless communication device according to Clause 10, wherein the ranging measurement information includes the time when the first message leaves the second wireless communication device and the time when the first response message arrives at the second wireless communication device.

[0129] Clause 12: The first wireless communication device according to Clause 11, wherein the at least one processor is configured to estimate distance by being configured to determine at least one round-trip time (RTT), and also based at least in part on the arrival time of a first message measured at the first wireless communication device and the time when a first response message leaves the first wireless communication device.

[0130] Clause 13: A first wireless communication device according to any one of Clauses 11-12, wherein the departure time of the first message is a first timestamp in the ranging measurement information, and the arrival time of the first response message is a second timestamp in the ranging measurement information.

[0131] Clause 14: The first wireless communication device according to Clause 13, wherein the ranging measurement information further includes token information.

[0132] Clause 15: A first wireless communication device according to any one of Clauses 10-14, wherein the first data frame and the second data frame are encrypted.

[0133] Clause 16: The first wireless communication device according to any one of Clauses 10-15, wherein the second message from the second wireless communication device further includes bits configured to indicate the presence of ranging measurement information.

[0134] Clause 17: A first wireless communication device according to any one of Clauses 10-16, wherein the at least one processor is further configured to: receive, via the wireless transceiver, a plurality of messages including a first message and a second message from a second wireless communication device, wherein each of the plurality of messages is a data frame; transmit, via the wireless transceiver, a plurality of response messages including a first response message to the second wireless communication device, each of the plurality of response messages responding to a received message; wherein each of the plurality of messages includes ranging measurement information encapsulated in the data frame for the preceding message and the response message; and wherein the at least one processor is configured to further estimate the distance between the first wireless communication device and the second wireless communication device based at least in part on the entirety of the ranging measurement information.

[0135] Clause 18: A first wireless communication device according to any one of Clauses 10-17, wherein the estimated distance between the first wireless communication device and the second wireless communication device is a first distance estimate, wherein the at least one processor is further configured to: exchange ranging messages with a third wireless communication device and a fourth wireless communication device via the wireless transceiver, wherein the ranging messages include one of a Fine Timing Measurement (FTM) frame or a Null Data Packet (NDP) frame; generate a second distance estimate between the first wireless communication device and the third wireless communication device and a third distance estimate between the first wireless communication device and the fourth wireless communication device; and estimate the position of the first wireless communication device based on the first distance estimate, the second distance estimate, and the third distance estimate.

[0136] Clause 19: A first wireless communication device configured for ranging, comprising: means for transmitting a ranging request for a ranging process to a second wireless communication device; means for receiving a first message from the second wireless communication device based at least in part on the transmitted ranging request, the first message including a first data frame; means for transmitting a first response message to the second wireless communication device in response to the first message; means for receiving a second message from the second wireless communication device, the second message including a second data frame, wherein ranging measurement information for the first message and the first response message is encapsulated in the second data frame; and means for estimating a distance between the first wireless communication device and the second wireless communication device based at least in part on the ranging measurement information.

[0137] Clause 20: The first wireless communication device as described in Clause 19, wherein the ranging measurement information includes the time when the first message leaves the second wireless communication device and the time when the first response message arrives at the second wireless communication device.

[0138] Clause 21: The first wireless communication device according to Clause 20, wherein the component for estimating the distance determines at least one round-trip time (RTT), and is also based at least in part on the arrival time of the first message measured at the first wireless communication device and the time when the first response message leaves the first wireless communication device.

[0139] Clause 22: A first wireless communication device according to any one of Clauses 20-21, wherein the departure time of the first message is a first timestamp in the ranging measurement information, and the arrival time of the first response message is a second timestamp in the ranging measurement information.

[0140] Clause 23: The first wireless communication device according to Clause 22, wherein the ranging measurement information further includes token information.

[0141] Clause 24: A first wireless communication device pursuant to any one of Clauses 19-23, wherein the first data frame and the second data frame are encrypted.

[0142] Clause 25: The first wireless communication device according to any one of Clauses 19-24, wherein the second message from the second wireless communication device further includes bits configured to indicate the presence of the ranging measurement information.

[0143] Clause 26: The first wireless communication device according to any one of Clauses 19-25 further comprises: means for receiving from the second wireless communication device a plurality of messages including a first message and a second message, wherein each of the plurality of messages is a data frame; means for sending to the second wireless communication device a plurality of response messages including a first response message, each of the plurality of response messages responding to the received message; wherein each of the plurality of messages includes ranging measurement information encapsulated in the data frame for the preceding message and the response message; and wherein the distance between the first wireless communication device and the second wireless communication device is further based at least in part on the entirety of the ranging measurement information.

[0144] Clause 27: A first wireless communication device according to any one of Clauses 19-26, wherein the estimated distance between the first wireless communication device and the second wireless communication device is a first distance estimate, the first wireless communication device further comprising: components for exchanging ranging messages with a third wireless communication device and a fourth wireless communication device, wherein the ranging messages include one of a Fine Timing Measurement (FTM) frame or a Null Data Packet (NDP) frame; components for generating a second distance estimate between the first wireless communication device and the third wireless communication device and a third distance estimate between the first wireless communication device and the fourth wireless communication device; and components for estimating the position of the first wireless communication device based on the first distance estimate, the second distance estimate, and the third distance estimate.

[0145] Clause 28: A non-transitory storage medium comprising program code stored thereon, the program code being operable to configure at least one processor in a first wireless communication device for ranging, the program code including instructions to: send a ranging request to a second wireless communication device for a ranging procedure; receive a first message from the second wireless communication device, the first message including a first data frame, based at least in part on the sent ranging request; send a first response message to the second wireless communication device in response to the first message; receive a second message from the second wireless communication device, the second message including a second data frame, wherein ranging measurement information for the first message and the first response message is encapsulated in the second data frame; and estimate the distance between the first wireless communication device and the second wireless communication device based at least in part on the ranging measurement information.

[0146] Clause 29: The non-transitory storage medium as described in Clause 28, wherein the ranging measurement information includes the time when the first message leaves the second wireless communication device and the time when the first response message arrives at the second wireless communication device.

[0147] Clause 30: The non-transitory storage medium as described in Clause 29, wherein the instruction for estimating distance determines at least one round-trip time (RTT), and is also based at least in part on the arrival time of the first message measured at the first wireless communication device and the time when the first response message leaves the first wireless communication device.

[0148] Clause 31: A non-transitory storage medium according to any one of Clauses 29-30, wherein the departure time of the first message is a first timestamp in the ranging measurement information, and the arrival time of the first response message is a second timestamp in the ranging measurement information.

[0149] Clause 32: The non-transitory storage medium as described in Clause 31, wherein the ranging measurement information further includes token information.

[0150] Clause 33: A non-transitory storage medium pursuant to any one of Clauses 28-32, wherein the first data frame and the second data frame are encrypted.

[0151] Clause 34: A non-transitory storage medium according to any one of Clauses 28-33, wherein the second message from the second wireless communication device further includes bits configured to indicate the presence of ranging measurement information.

[0152] Clause 35: A non-transitory storage medium according to any one of Clauses 28-34, wherein the program code includes instructions to: receive from a second wireless communication device a plurality of messages including a first message and a second message, wherein each of the plurality of messages is a data frame; send to the second wireless communication device a plurality of response messages including a first response message, each of the plurality of response messages responding to the received message; wherein each of the plurality of messages includes ranging measurement information encapsulated in the data frame for the preceding message and the response message; and wherein the distance between the first wireless communication device and the second wireless communication device is also at least partially based on the entirety of the ranging measurement information.

[0153] Clause 36: A non-transitory storage medium according to any one of Clauses 28-35, wherein the estimated distance between the first wireless communication device and the second wireless communication device is a first distance estimate, wherein the program code further includes instructions to perform the following operations: exchange ranging messages with the third and fourth wireless communication devices, wherein the ranging messages include one of a Fine Timing Measurement (FTM) frame or a Null Data Packet (NDP) frame; generate a second distance estimate between the first and third wireless communication devices and a third distance estimate between the first and fourth wireless communication devices; and estimate the position of the first wireless communication device based on the first distance estimate, the second distance estimate, and the third distance estimate.

[0154] Clause 37: A method for ranging performed by a first wireless communication device, comprising: receiving a ranging request for a ranging process from a second wireless communication device; sending a first message to the second wireless communication device, the first message including a first data frame, at least in part based on the received ranging request; receiving a first response message from the second wireless communication device in response to the first message; and sending a second message to the second wireless communication device, the second message including a second data frame, wherein ranging measurement information of the first message and the first response message is encapsulated in the second data frame, and using the second data frame, the second wireless communication device estimates the distance between the first wireless communication device and the second wireless communication device.

[0155] Clause 38: The method according to Clause 37, wherein the ranging measurement information includes the time when the first message leaves the first wireless communication device and the time when the first response message arrives at the first wireless communication device.

[0156] Clause 39: The method according to Clause 38, wherein the departure time of the first message is a first timestamp in the ranging measurement information, and the arrival time of the first response message is a second timestamp in the ranging measurement information.

[0157] Clause 40: The method described in Clause 39, wherein the ranging measurement information further includes token information.

[0158] Clause 41: The method according to any one of Clauses 37-40, wherein the first data frame and the second data frame are encrypted.

[0159] Clause 42: The method according to any one of Clauses 37-41, wherein the second message from the first wireless communication device further includes bits configured to indicate the presence of ranging measurement information.

[0160] Clause 43: The method according to any one of Clauses 37-42 further comprises: sending to a second wireless communication device a plurality of messages including a first message and a second message, wherein each of the plurality of messages is a data frame; and receiving from the second wireless communication device a plurality of response messages including a first response message, each of the plurality of response messages responding to the sent message; wherein each of the plurality of messages includes ranging measurement information for the preceding message and the response message encapsulated in the data frame.

[0161] Clause 44: A first wireless communication device configured for ranging, comprising: a wireless transceiver; at least one memory; and at least one processor coupled to the wireless transceiver and the at least one memory, wherein the at least one processor is configured to: receive a ranging request for a ranging process from a second wireless communication device via the wireless transceiver; transmit a first message to the second wireless communication device via the wireless transceiver, at least in part based on the received ranging request, the first message including a first data frame; receive a first response message from the second wireless communication device via the wireless transceiver in response to the first message; and transmit a second message to the second wireless communication device via the wireless transceiver, the second message including a second data frame, wherein ranging measurement information of the first message and the first response message is encapsulated in the second data frame, and using the second data frame, the second wireless communication device estimates the distance between the first wireless communication device and the second wireless communication device.

[0162] Clause 45: The first wireless communication device according to Clause 44, wherein the ranging measurement information includes the time when the first message leaves the first wireless communication device and the time when the first response message arrives at the first wireless communication device.

[0163] Clause 46: The first wireless communication device according to Clause 45, wherein the departure time of the first message is a first timestamp in the ranging measurement information, and the arrival time of the first response message is a second timestamp in the ranging measurement information.

[0164] Clause 47: The first wireless communication device according to Clause 46, wherein the ranging measurement information further includes token information.

[0165] Clause 48: A first wireless communication device pursuant to any one of Clauses 44-47, wherein the first data frame and the second data frame are encrypted.

[0166] Clause 49: The first wireless communication device according to any one of Clauses 44-48, wherein the second message from the first wireless communication device further includes bits configured to indicate the presence of ranging measurement information.

[0167] Clause 50: A first wireless communication device according to any one of Clauses 44-49, wherein the at least one processor is further configured to: transmit, via the wireless transceiver, a plurality of messages including a first message and a second message to a second wireless communication device, wherein each of the plurality of messages is a data frame; and receive, via the wireless transceiver, a plurality of response messages including a first response message from the second wireless communication device, each of the plurality of response messages responding to the transmitted message; wherein each of the plurality of messages includes ranging measurement information for the preceding message and the response message encapsulated in the data frame.

[0168] Clause 51: A first wireless communication device configured for ranging, comprising: means for receiving a ranging request from a second wireless communication device for a ranging process; means for sending a first message to the second wireless communication device based at least in part on the received ranging request, the first message including a first data frame; means for receiving a first response message from the second wireless communication device in response to the first message; and means for sending a second message to the second wireless communication device, the second message including a second data frame, wherein ranging measurement information of the first message and the first response message is encapsulated in the second data frame, and using the second data frame, the second wireless communication device estimates the distance between the first wireless communication device and the second wireless communication device.

[0169] Clause 52: The first wireless communication device according to Clause 51, wherein the ranging measurement information includes the time when the first message leaves the first wireless communication device and the time when the first response message arrives at the first wireless communication device.

[0170] Clause 53: The first wireless communication device according to Clause 52, wherein the departure time of the first message is a first timestamp in the ranging measurement information, and the arrival time of the first response message is a second timestamp in the ranging measurement information.

[0171] Clause 54: The first wireless communication device according to Clause 53, wherein the ranging measurement information further includes token information.

[0172] Clause 55: A first wireless communication device pursuant to any one of Clauses 51-54, wherein the first data frame and the second data frame are encrypted.

[0173] Clause 56: The first wireless communication device according to any one of Clauses 51-55, wherein the second message from the first wireless communication device further includes bits configured to indicate the presence of ranging measurement information.

[0174] Clause 57: The first wireless communication device according to any one of Clauses 51-56 further includes: means for transmitting to the second wireless communication device a plurality of messages including a first message and a second message, wherein each of the plurality of messages is a data frame; and means for receiving from the second wireless communication device a plurality of response messages including a first response message, each of the plurality of response messages responding to the transmitted message; wherein each of the plurality of messages includes ranging measurement information for the preceding message and the response message encapsulated in the data frame.

[0175] Clause 58: A non-transitory storage medium comprising program code stored thereon, the program code being operable to configure at least one processor in a first wireless communication device configured for ranging, wherein the program code includes instructions to: receive a ranging request from a second wireless communication device for a ranging process; send a first message to the second wireless communication device, the first message including a first data frame, at least in part based on the received ranging request; receive a first response message from the second wireless communication device in response to the first message; and send a second message to the second wireless communication device, the second message including a second data frame, wherein ranging measurement information of the first message and the first response message is encapsulated in the second data frame, using the second data frame, the second wireless communication device estimates the distance between the first wireless communication device and the second wireless communication device.

[0176] Clause 59: The non-transitory storage medium as described in Clause 58, wherein the ranging measurement information includes the time when the first message leaves the first wireless communication device and the time when the first response message arrives at the first wireless communication device.

[0177] Clause 60: The non-transitory storage medium as described in Clause 59, wherein the departure time of the first message is a first timestamp in the ranging measurement information, and the arrival time of the first response message is a second timestamp in the ranging measurement information.

[0178] Clause 61: The non-transitory storage medium as described in Clause 60, wherein the ranging measurement information further includes token information.

[0179] Clause 62: A non-transitory storage medium pursuant to any one of Clauses 58-61, wherein the first data frame and the second data frame are encrypted.

[0180] Clause 63: A non-transitory storage medium according to any one of Clauses 58-62, wherein the second message from the first wireless communication device further includes bits configured to indicate the presence of ranging measurement information.

[0181] Clause 64: A non-transitory storage medium according to any one of Clauses 58-63, wherein the program code includes instructions to: send to a second wireless communication device a plurality of messages including a first message and a second message, wherein each of the plurality of messages is a data frame; and receive from the second wireless communication device a plurality of response messages including a first response message, each of the plurality of response messages responding to the sent message; wherein each of the plurality of messages includes ranging measurement information for the preceding message and the response message encapsulated in the data frame.

[0182] Therefore, it is hoped that the subject matter claimed is not limited to the specific examples disclosed, but that such subject matter may also include all aspects falling within the scope of the appended claims and their equivalents.

Claims

1. A method for ranging performed by a first wireless communication device, comprising: Send a ranging request for the ranging process to the second wireless communication device; A first message is received from the second wireless communication device at least in part based on a sent ranging request, the first message including a first data frame; In response to the first message, a first response message is sent to the second wireless communication device; A second message is received from the second wireless communication device. The second message includes a second data frame, wherein ranging measurement information for the first message and the first response message is encapsulated in the second data frame, and wherein the second data frame includes a carrier frequency offset (CFO) parameter field, the CFO parameter field providing a clock offset between the first wireless communication device and the second wireless communication device, and the first data frame and the second data frame are encrypted. as well as The distance between the first wireless communication device and the second wireless communication device is estimated at least in part based on the ranging measurement information and the clock offset.

2. The method according to claim 1, wherein, The ranging measurement information includes the time when the first message leaves the second wireless communication device and the time when the first response message arrives at the second wireless communication device.

3. The method according to claim 2, wherein, Estimating the distance includes determining at least one round-trip time (RTT), and is also based at least in part on the arrival time of the first message measured at the first wireless communication device and the time when the first response message leaves the first wireless communication device.

4. The method according to claim 2, wherein, The departure time of the first message is the first timestamp in the ranging measurement information, and the arrival time of the first response message is the second timestamp in the ranging measurement information.

5. The method according to claim 4, wherein, The ranging measurement information also includes token information.

6. The method according to claim 1, wherein, The second message from the second wireless communication device also includes bits configured to indicate the presence of the ranging measurement information.

7. The method according to claim 1, further comprising: Receive a plurality of messages including the first message and the second message from the second wireless communication device, wherein each of the plurality of messages is a data frame; Send a plurality of response messages, including the first response message, to the second wireless communication device, wherein each of the plurality of response messages is in response to the received message; Each of the plurality of messages includes the ranging measurement information encapsulated in the data frame for the previous message and the response message; and The estimation of the distance between the first wireless communication device and the second wireless communication device is also based, at least in part, on all of the ranging measurement information.

8. The method according to claim 1, wherein, The estimated distance between the first wireless communication device and the second wireless communication device is a first distance estimate, and the method further includes: Exchange ranging messages with a third wireless communication device and a fourth wireless communication device, wherein the ranging messages include either a fine timing measurement (FTM) frame or a null data packet (NDP) frame; Generate a second distance estimate between the first wireless communication device and the third wireless communication device, and a third distance estimate between the first wireless communication device and the fourth wireless communication device; and The location of the first wireless communication device is estimated based on the first distance estimate, the second distance estimate, and the third distance estimate.

9. A first wireless communication device configured for ranging, comprising: Wireless transceiver; At least one memory, including instructions; At least one processor is configured to execute the instructions to cause the first wireless communication device to: A ranging request for the ranging process is sent to the second wireless communication device via the wireless transceiver. A first message, including a first data frame, is received from the second wireless communication device via the wireless transceiver, at least in part based on a sent ranging request; In response to the first message, the wireless transceiver sends a first response message to the second wireless communication device. A second message is received from the second wireless communication device via the wireless transceiver. The second message includes a second data frame, wherein ranging measurement information for the first message and the first response message is encapsulated in the second data frame, and wherein the second data frame includes a carrier frequency offset (CFO) parameter field, the CFO parameter field providing the clock offset between the first wireless communication device and the second wireless communication device, and the first data frame and the second data frame are encrypted. as well as The distance between the first wireless communication device and the second wireless communication device is estimated at least in part based on the ranging measurement information and the clock offset.

10. The first wireless communication device according to claim 9, wherein, The ranging measurement information includes the time when the first message leaves the second wireless communication device and the time when the first response message arrives at the second wireless communication device.

11. The first wireless communication device according to claim 10, wherein, The at least one processor is configured to execute the instructions to cause the first wireless communication device to estimate the distance by being configured to determine at least one round-trip time (RTT), and also based at least in part on the arrival time of the first message measured at the first wireless communication device and the time when the first response message leaves the first wireless communication device.

12. The first wireless communication device according to claim 10, wherein, The departure time of the first message is the first timestamp in the ranging measurement information, and the arrival time of the first response message is the second timestamp in the ranging measurement information.

13. The first wireless communication device according to claim 9, wherein, The second message from the second wireless communication device also includes bits configured to indicate the presence of the ranging measurement information.

14. The first wireless communication device according to claim 9, wherein, The at least one processor is further configured to execute the instructions to cause the first wireless communication device to: The wireless transceiver receives a plurality of messages, including the first message and the second message, from the second wireless communication device, wherein each of the plurality of messages is a data frame; The wireless transceiver transmits a plurality of response messages, including the first response message, to the second wireless communication device, wherein each of the plurality of response messages is in response to the received message; Each of the plurality of messages includes the ranging measurement information encapsulated in the data frame for the previous message and the response message; and The at least one processor is configured to execute the instructions to cause the first wireless communication device to estimate the distance between the first wireless communication device and the second wireless communication device, at least in part, based on all of the ranging measurement information.

15. The first wireless communication device according to claim 9, wherein, The estimated distance between the first wireless communication device and the second wireless communication device is a first distance estimate, wherein the at least one processor is further configured to execute the instructions to cause the first wireless communication device to: The ranging message is exchanged with a third wireless communication device and a fourth wireless communication device via the wireless transceiver, wherein the ranging message includes either a fine timing measurement (FTM) frame or a null data packet (NDP) frame. Generate a second distance estimate between the first wireless communication device and the third wireless communication device, and a third distance estimate between the first wireless communication device and the fourth wireless communication device; and The location of the first wireless communication device is estimated based on the first distance estimate, the second distance estimate, and the third distance estimate.

16. A method for ranging performed by a first wireless communication device, comprising: Receive a ranging request for the ranging process from the second wireless communication device; A first message is sent to the second wireless communication device, at least in part, based on a received ranging request; the first message includes a first data frame. In response to the first message, a first response message is received from the second wireless communication device; as well as A second message is sent to the second wireless communication device. The second message includes a second data frame, wherein ranging measurement information of the first message and the first response message is encapsulated in the second data frame. Using the second data frame, the second wireless communication device estimates the distance between the first wireless communication device and the second wireless communication device. The second data frame includes a carrier frequency offset (CFO) parameter field, which provides the clock offset between the first wireless communication device and the second wireless communication device. The first data frame and the second data frame are encrypted.

17. The method according to claim 16, wherein, The ranging measurement information includes the time when the first message leaves the first wireless communication device and the time when the first response message arrives at the first wireless communication device.

18. The method according to claim 17, wherein, The departure time of the first message is the first timestamp in the ranging measurement information, and the arrival time of the first response message is the second timestamp in the ranging measurement information.

19. The method according to claim 18, wherein, The ranging measurement information also includes token information.

20. The method of claim 16, wherein, The second message from the first wireless communication device also includes bits configured to indicate the presence of the ranging measurement information.

21. The method of claim 16, further comprising: Sending a plurality of messages, including the first message and the second message, to the second wireless communication device, wherein each of the plurality of messages is a data frame; and Receive from the second wireless communication device a plurality of response messages including the first response message, each of the plurality of response messages being in response to the sent message; Each of the plurality of messages includes the ranging measurement information encapsulated in the data frame for the previous message and the response message.

22. A first wireless communication device configured for ranging, comprising: Wireless transceiver; At least one memory, including instructions; At least one processor is configured to execute the instructions to cause the first wireless communication device to: A ranging request for the ranging process is received from a second wireless communication device via the wireless transceiver. The first message, including a first data frame, is sent to the second wireless communication device via the wireless transceiver, at least in part based on a received ranging request. In response to the first message, the wireless transceiver receives a first response message from the second wireless communication device. as well as A second message is sent to the second wireless communication device via the wireless transceiver. The second message includes a second data frame, wherein ranging measurement information of the first message and the first response message is encapsulated in the second data frame. Using the second data frame, the second wireless communication device estimates the distance between the first wireless communication device and the second wireless communication device. The second data frame includes a carrier frequency offset (CFO) parameter field, which provides the clock offset between the first wireless communication device and the second wireless communication device. The first data frame and the second data frame are encrypted.

23. The first wireless communication device according to claim 22, wherein, The ranging measurement information includes the time when the first message leaves the first wireless communication device and the time when the first response message arrives at the first wireless communication device.

24. The first wireless communication device according to claim 23, wherein, The departure time of the first message is the first timestamp in the ranging measurement information, and the arrival time of the first response message is the second timestamp in the ranging measurement information.

25. The first wireless communication device according to claim 22, wherein, The second message from the first wireless communication device also includes bits configured to indicate the presence of the ranging measurement information.

26. The first wireless communication device according to claim 22, wherein, The at least one processor is further configured to execute the instructions to cause the first wireless communication device to: The wireless transceiver transmits a plurality of messages, including the first message and the second message, to the second wireless communication device, wherein each of the plurality of messages is a data frame; and The wireless transceiver receives a plurality of response messages, including the first response message, from the second wireless communication device, wherein each of the plurality of response messages is in response to the sent message; Each of the plurality of messages includes the ranging measurement information encapsulated in the data frame for the previous message and the response message.

27. A first wireless communication device configured for ranging, comprising components for performing the method according to any one of claims 1 to 8.

28. A first wireless communication device configured for ranging, comprising components for performing the method according to any one of claims 16 to 21.

29. A computer-readable medium having program code recorded thereon, wherein the program code is executable by one or more processors of a first wireless communication device to cause the processors to perform the method according to any one of claims 1 to 8.

30. A computer-readable medium having program code recorded thereon, wherein the program code is executable by one or more processors of a first wireless communication device to cause the processors to perform the method according to any one of claims 16 to 21.

31. A computer program product comprising computer-readable instructions that, when executed by a processor, cause the processor to perform the method according to any one of claims 1 to 8 and 16 to 21.

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