Ranging signal transmission method and device in UWB and readable storage medium

Abstract

The application relates to the field of wireless communication, is applied to a wireless local area network supporting the 802.15.4z standard, and particularly relates to a ranging signal transmission method and device in UWB and a readable storage medium. The method comprises the following steps: a first device utilizes a channel impulse response of a channel between the first device and a second device or a received signal transmitted by the second device, constructs a ranging signal waveform through time reversal, and realizes matching between the ranging signal and the channel; the second device completes ToF measurement through correlation operation based on a received signal, judges whether the ranging process is disturbed through sampling, decision, and correlation operation, and realizes integrity protection of the ranging signal. According to the embodiment of the application, the receiving end has the ability to detect whether the ranging process is disturbed, the integrity of the ranging signal is guaranteed, and the ranging performance of the system is not lost.

Description

Technical Field

[0001] This application relates to the field of wireless communication technology, and in particular to a ranging signal transmission method, apparatus and readable storage medium in ultra-wideband (UWB). Background Technology

[0002] With the rapid development of mobile communication and internet technologies, the demand for location services is increasing daily. Ranging and positioning technologies are crucial in the field of communication sensing and have received significant attention from international standardization organizations such as the Institute of Electrical and Electronics Engineers (IEEE). For example, the IEEE 802.15.4z standard (also known as pulse radio (IR) ultra-wideband, or IR-UWB) aims to standardize the ranging communication process, determining the location of devices through secure ranging and the exchange of ranging results. Specifically, the communicating parties determine the distance between two devices by sending ranging sequences, thereby performing high-precision location estimation. This technology has numerous needs and applications in areas such as personnel positioning in factories, cargo positioning in logistics warehouses, and intelligent sensing of car door locks. However, along with the rapid growth in demand for positioning and ranging, security issues have also arisen.

[0003] To address security concerns in ranging and positioning processes, the IEEE 802.15.4z standard proposes encrypting the ranging sequence, which is effective against early detect / late commit (ED / LC) attacks. However, encryption cannot guarantee security against other types of distance-reduction attacks, such as Cicada, Cicada++, and GhostPeak. Distance-reduction attacks use interference signals to cause the receiving device to estimate the signal arrival time earlier than the actual time, leading both parties to the ranging operation to mistakenly believe they are very close when the actual distance is far. In other words, the existing IEEE 802.15.4z standard only provides confidentiality protection for the ranging signal, but not integrity protection (integrity can be understood as preventing tampering with the ranging signal). Therefore, how to protect the integrity of the ranging signal remains unresolved. Summary of the Invention

[0004] This application provides a ranging signal transmission method, apparatus, and readable storage medium in UWB, which enables the receiving end to detect whether the ranging process is interfered with, ensures the integrity of the ranging signal, and does not lose the ranging performance of the system.

[0005] The present application is described below from different aspects. It should be understood that the different implementation methods and beneficial effects described below can be referenced from each other.

[0006] In this application, the first device and the second device may be the same device performing different roles at different times. That is, the first device may be a transmitter at one time, performing transmitter operations; but at another time it may be a receiver, performing receiver operations. The second device is similar to the first device; that is, the second device may be a transmitter at one time, performing transmitter operations; but at another time it may be a receiver, performing receiver operations. The following description uses the example of the first device performing transmitter operations and the second device performing receiver operations.

[0007] In a first aspect, this application provides a ranging signal transmission method in ultra-wideband, the method comprising: a first device receiving a first signal from a second device and preprocessing the first signal to obtain a second signal, the preprocessing being channel estimation or power normalization; the first device generating at least a first ranging signal based on the second signal, wherein the first ranging signal conforms to the signal obtained by convolving the second signal with the original ranging signal after time reversal, or time reversal and conjugation processing, or the first ranging signal conforms to the signal obtained by time reversal, or time reversal and conjugation processing; the first device transmitting at least a portion of the first ranging signal, the at least a portion of the first ranging signal supporting integrity protection and ranging functions.

[0008] In this scheme, the first device uses the signal from the second device to preprocess it, and then constructs a new physical layer ranging signal through time reversal and conjugation. This signal has integrity protection function, which enables the receiver to detect whether the ranging process is interfered with, ensuring the integrity of the ranging signal, and without losing the ranging performance of the system.

[0009] In conjunction with the first aspect, in one possible implementation, the first signal includes pilot information, such as a preamble; the preprocessing is channel estimation; and the second signal is the first channel impulse response from the second device to the first device. That is, the first device preprocesses the first signal to obtain the second signal, including: the first device uses the pilot information contained in the first signal to perform channel estimation to obtain the first channel impulse response from the second device to the first device. The first device generates a first ranging signal based on the second signal, including: the first device performs a first processing on the first channel impulse response (i.e., the second signal) to obtain a second channel impulse response, the first processing including time reversal, or time reversal and conjugate processing; the first device performs convolution processing on the second channel impulse response and the original ranging signal to obtain the first ranging signal.

[0010] Optionally, the first device performs convolution processing on the second channel impulse response and the original ranging signal to obtain the first ranging signal, including: normalizing the second channel impulse response and then performing convolution processing on the original ranging signal to obtain the first ranging signal.

[0011] In this scheme, the first device utilizes the channel impulse response between itself and the second device to construct a ranging signal waveform through time reversal, thereby achieving matching between the ranging signal and the channel. This enables the receiver to detect whether the ranging process is interfered with, ensuring the integrity of the ranging signal without compromising the ranging performance of the system.

[0012] In conjunction with the first aspect, in one possible implementation, the first signal is obtained by transmitting the original ranging signal through a wireless channel, and the preprocessing is power normalization. That is, the first device preprocesses the first signal to obtain the second signal, including: the first device performs power normalization on the first signal to obtain the second signal. The first device generates the first ranging signal based on the second signal, including: the first device performs time reversal on the second signal, or performs time reversal and conjugation processing on the second signal to obtain the first ranging signal.

[0013] In this scheme, the first device performs power normalization on the received first signal, then directly performs inversion and conjugation to obtain a signal with integrity protection and ranging function (i.e., the aforementioned first ranging signal) and transmits it. This allows the receiving end to detect whether the ranging process is subject to interference, providing integrity protection for the ranging signal, and also without sacrificing the system's ranging performance. Furthermore, this scheme does not require channel estimation, and the ranging performance is unaffected by channel estimation errors.

[0014] In conjunction with the first aspect, in one possible implementation, the length of at least a portion of the first ranging signal is equal to the length of the original ranging signal. Alternatively, the length of at least a portion of the first ranging signal is greater than the length of the original ranging signal.

[0015] In conjunction with the first aspect, in one possible implementation, at least a portion of the aforementioned first ranging signal is carried in the ranging wireless frame.

[0016] In conjunction with the first aspect, in one possible implementation, before the first device transmits at least part of the first ranging signal, the method further includes: the first device receiving ranging configuration information, or the first device transmitting ranging configuration information; wherein the ranging configuration information is used to configure one or more of the following information: whether the ranging signal transmitted during the ranging process supports integrity protection function, the format of the ranging wireless frame carrying the ranging signal, the length of the ranging signal during the ranging process, and the pulse repetition frequency mode.

[0017] Optionally, the above ranging configuration information is carried in the ranging channel and preamble selection information unit, or the ranging response time negotiation information unit.

[0018] This solution provides a method for negotiating configuration information for newly added signals or wireless frames that simultaneously support ranging and integrity protection functions, laying the foundation for the subsequent ranging process.

[0019] Secondly, this application provides a ranging signal transmission method in ultra-wideband (UWB). The method includes: a second device transmitting a signal to generate a first ranging signal; the second device receiving a ranging signal obtained by transmitting at least a portion of the first ranging signal via a wireless channel, the at least a portion of the first ranging signal supporting integrity protection and ranging functions; the second device inputting the original ranging signal and the ranging signal into a correlator for correlation calculation to obtain a first moment at which the maximum value of the correlator output is located, the original ranging signal being generated based on a first sequence; the second device performing an integrity check on the ranging signal to obtain a check result; if the check result indicates that the ranging signal passes the integrity check, the second device determines the first moment as the arrival time of the ranging signal. Wherein, when the correlation result obtained by performing a correlation calculation on the second sequence and the check sequence is greater than or equal to a preset threshold, the check result indicates that the ranging signal passes the integrity check. When the correlation result obtained by performing a correlation calculation on the second sequence and the check sequence is less than the preset threshold, the check result indicates that the ranging signal fails the integrity check. The second sequence is the first sequence, or the second sequence is the first sequence after time reversal. The verification sequence is obtained by taking the real part of the signal used for ranging and then sampling it at equal intervals. The starting time of the equal-interval sampling is the first time. The length of the verification sequence is equal to the length of the first sequence.

[0020] In this scheme, the second device sends a signal to the first device to generate a first ranging signal; the second device performs integrity verification on the received signal to determine whether the ranging process is interfered with, thereby achieving integrity protection of the ranging signal.

[0021] In conjunction with the second aspect, in one possible implementation, the aforementioned signal contains pilot information, and the aforementioned second sequence is the same as the first sequence.

[0022] In conjunction with the second aspect, in one possible implementation, the aforementioned signal is the original ranging signal, and the aforementioned second sequence is the sequence of the first sequence after time reversal processing.

[0023] In conjunction with the second aspect, in one possible implementation, the aforementioned verification sequence is obtained by taking the real part of the signal used for ranging and then sampling it at equal intervals, including: the verification sequence is generated based on the polarity of the sample sequence, which is obtained by taking the real part of the signal used for ranging and then sampling it at equal intervals.

[0024] In conjunction with the second aspect, in one possible implementation, the length of at least a portion of the first ranging signal is equal to the length of the original ranging signal.

[0025] In conjunction with the second aspect, in one possible implementation, at least a portion of the first ranging signal is carried in the ranging wireless frame.

[0026] In conjunction with the second aspect, in one possible implementation, before the second device receives the signal for ranging, the method further includes: the second device sending ranging configuration information, or the second device receiving ranging configuration information; wherein the ranging configuration information is used to configure one or more of the following information: whether the ranging signal sent during the ranging process supports integrity protection function, the format of the ranging wireless frame carrying the ranging signal, the length of the ranging signal sent during the ranging process, and the pulse repetition frequency mode.

[0027] Thirdly, this application provides a communication device, which may be a first device or a chip in the first device, such as a Wi-Fi chip. The communication device includes: a transceiver module for receiving a first signal; a processing module for preprocessing the first signal to obtain a second signal, the preprocessing including channel estimation or power normalization; the processing module is further configured to generate at least a first ranging signal based on the second signal, wherein the first ranging signal conforms to the signal obtained by convolving the second signal with the original ranging signal after time reversal or time reversal and conjugation processing, or the first ranging signal conforms to the signal obtained after time reversal or time reversal and conjugation processing of the second signal; the transceiver module is further configured to transmit at least a portion of the first ranging signal, the at least a portion of the first ranging signal supporting integrity protection and ranging functions.

[0028] In conjunction with the third aspect, in one possible implementation, the first signal includes pilot information, the preprocessing includes channel estimation, and the second signal is a first channel impulse response from the second device to the first device. The processing module is specifically configured to: perform a first processing on the first channel impulse response to obtain a second channel impulse response, the first processing including time reversal, or time reversal and conjugate processing; and perform convolution processing based on the second channel impulse response and the original ranging signal.

[0029] Optionally, the processing module is specifically used to: normalize the second channel impulse response and then convolve it with the original ranging signal.

[0030] In conjunction with the third aspect, in one possible implementation, the aforementioned first signal is obtained by transmitting the original ranging signal through a wireless channel, and the preprocessing includes power normalization. Specifically, the processing module is used to: obtain the first ranging signal by performing time reversal, or time reversal and conjugation processing, on the second signal.

[0031] In conjunction with the third aspect, in one possible implementation, the length of at least a portion of the first ranging signal is equal to the length of the original ranging signal.

[0032] In conjunction with the third aspect, in one possible implementation, at least a portion of the first ranging signal is carried in the ranging wireless frame.

[0033] In conjunction with the third aspect, in one possible implementation, the aforementioned transceiver module is used to receive ranging configuration information or to send ranging configuration information; wherein the ranging configuration information is used to configure one or more of the following: whether the ranging signal sent during the ranging process supports integrity protection function, the format of the ranging wireless frame carrying the ranging signal, the length of the ranging signal during the ranging process, and the pulse repetition frequency mode.

[0034] Fourthly, this application provides a communication device, which may be a second device or a chip in a second device, such as a Wi-Fi chip. The communication device includes: a transceiver module for transmitting a signal used to generate a first ranging signal; the transceiver module is also used to receive a ranging signal, which is obtained by transmitting at least a portion of the first ranging signal through a wireless channel, and the at least a portion of the first ranging signal supports integrity protection and ranging functions; a correlation calculation module for inputting the original ranging signal and the ranging signal into a correlator for correlation calculation to obtain a first moment in which the maximum value of the correlator output is located, wherein the original ranging signal is generated based on a first sequence; and an integrity verification module for performing integrity verification on the ranging signal to obtain a verification result; wherein, when the correlation calculation result obtained by performing correlation calculation on the second sequence and the verification sequence is greater than or equal to... When the preset threshold is met, the verification result is that the signal used for ranging passes the integrity check; when the correlation result obtained by performing correlation operations on the second sequence and the verification sequence is less than the preset threshold, the verification result is that the signal used for ranging fails the integrity check; the second sequence is the first sequence, or the second sequence is the first sequence after time reversal processing; the verification sequence is obtained by taking the real part of the signal used for ranging and then sampling at equal intervals, the starting time of the equal interval sampling is the first time, and the length of the verification sequence is equal to the length of the first sequence; the determination module is used to determine the first time as the arrival time of the signal used for ranging when the verification result is that the signal used for ranging passes the integrity check.

[0035] In conjunction with the fourth aspect, in one possible implementation, the aforementioned signal contains pilot information, and the second sequence is identical to the first sequence.

[0036] In conjunction with the fourth aspect, in one possible implementation, the aforementioned signal is the original ranging signal, and the second sequence is the sequence of the first sequence after time reversal processing.

[0037] In conjunction with the fourth aspect, in one possible implementation, the aforementioned verification sequence is obtained by taking the real part of the signal used for ranging and then sampling it at equal intervals, including: the verification sequence is generated based on the polarity of the sample sequence, which is obtained by taking the real part of the signal used for ranging and then sampling it at equal intervals.

[0038] In conjunction with the fourth aspect, in one possible implementation, the length of at least a portion of the first ranging signal is equal to the length of the original ranging signal.

[0039] In conjunction with the fourth aspect, in one possible implementation, at least a portion of the first ranging signal is carried in the ranging wireless frame.

[0040] In conjunction with the fourth aspect, in one possible implementation, the aforementioned transceiver module is further configured to send ranging configuration information or receive ranging configuration information; wherein the ranging configuration information is configured to configure one or more of the following: whether the ranging signal sent during the ranging process supports integrity protection function, the format of the ranging wireless frame carrying the ranging signal, the length of the ranging signal sent during the ranging process, and the pulse repetition frequency mode.

[0041] Fifthly, this application provides a method for transmitting ranging configuration information, the method comprising: a communication device sending ranging configuration information, or a communication device receiving ranging configuration information. The ranging configuration information includes a type of ranging wireless frame, wherein the type of ranging wireless frame is a wireless frame type that supports ranging functionality, or a wireless frame type that simultaneously supports ranging functionality and integrity protection functionality.

[0042] This solution provides a method for negotiating configuration information for newly added signals or wireless frames that simultaneously support ranging and integrity protection functions, laying the foundation for the subsequent ranging process.

[0043] Sixthly, this application provides a communication device, comprising: a transceiver module, configured to transmit ranging configuration information, or to receive ranging configuration information. The ranging configuration information includes a type of ranging wireless frame, which is a wireless frame type supporting ranging functionality, or a wireless frame type simultaneously supporting ranging functionality and integrity protection functionality.

[0044] In conjunction with the fifth or sixth aspect, in one possible implementation, the above ranging configuration information may also include one or more of the following: the format of the ranging wireless frame, the length of the signal supporting ranging and / or integrity protection functions, and the pulse repetition frequency mode.

[0045] In conjunction with the fifth or sixth aspect, in one possible implementation, the above-mentioned ranging configuration information is carried in the ranging channel and preamble selection information unit, or the ranging response time negotiation information unit.

[0046] In a seventh aspect, this application provides a communication apparatus, specifically a first device, including a processor and a transceiver. The transceiver is configured to receive a first signal; the processor is configured to preprocess the first signal to obtain a second signal, the preprocessing including channel estimation or power normalization; the processor is further configured to generate a first ranging signal based at least on the second signal, wherein the first ranging signal conforms to the signal obtained by convolving the second signal with the original ranging signal after time reversal, or time reversal and conjugation processing, or the first ranging signal conforms to the signal obtained after time reversal, or time reversal and conjugation processing; the transceiver is further configured to transmit at least a portion of the first ranging signal, the at least a portion of the first ranging signal supporting integrity protection and ranging functions.

[0047] Optionally, the communication device further includes a memory for storing a computer program, which includes program instructions.

[0048] Eighthly, embodiments of this application provide a communication device, specifically a second device, including a processor and a transceiver. The transceiver is configured to transmit a signal used to generate a first ranging signal; the transceiver is also configured to receive a ranging signal obtained after at least a portion of the first ranging signal has been transmitted via a wireless channel, the at least a portion of the first ranging signal supporting integrity protection and ranging functions; the processor is configured to input the original ranging signal and the ranging signal into a correlator for correlation calculation to obtain a first moment in which the maximum value of the correlator output is located, the original ranging signal being generated based on a first sequence; the processor is also configured to perform integrity verification on the ranging signal to obtain a verification result; the processor is further configured to determine the first moment as the arrival time of the ranging signal when the verification result indicates that the ranging signal has passed the integrity verification. Specifically, when the correlation result obtained by performing correlation operations on the second sequence and the verification sequence is greater than or equal to a preset threshold, the verification result indicates that the signal used for ranging has passed the integrity check; when the correlation result obtained by performing correlation operations on the second sequence and the verification sequence is less than the preset threshold, the verification result indicates that the signal used for ranging has failed the integrity check; the second sequence is the first sequence, or the second sequence is the first sequence after time reversal processing; the verification sequence is obtained by taking the real part of the signal used for ranging and then sampling it at equal intervals, the starting time of the equal interval sampling is the first time, and the length of the verification sequence is equal to the length of the first sequence.

[0049] Optionally, the communication device further includes a memory for storing a computer program, which includes program instructions.

[0050] Ninthly, embodiments of this application provide a communication device implemented in the form of a chip, including a processor and an interface circuit; the interface circuit is used to receive code instructions and transmit them to the processor; the processor is used to execute the code instructions to perform the ranging signal transmission method in UWB as described in the first aspect, or the second aspect, or any possible implementation of either aspect. Optionally, the communication device further includes a memory, which is circuitally connected to the processor. Optionally, the processor and the memory can be physically independent units, or the memory can be integrated with the processor.

[0051] In a tenth aspect, embodiments of this application provide a communication device implemented in the form of a chip, including a processor and an interface circuit; the interface circuit is used to receive code instructions and transmit them to the processor; the processor is used to execute the code instructions to perform the ranging configuration information transmission method described in the fifth aspect or any possible implementation of the fifth aspect. Optionally, the communication device further includes a memory, which is circuitally connected to the processor. Optionally, the processor and the memory can be physically independent units, or the memory can be integrated with the processor.

[0052] Eleventhly, embodiments of this application provide a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed on a computer, cause the computer to perform the ranging signal transmission method in UWB as described in the first aspect or the second aspect above.

[0053] In a twelfth aspect, embodiments of this application provide a computer program product that, when run on a computer, causes the computer to execute the ranging configuration information transmission method described in the first aspect or the second aspect above.

[0054] In a thirteenth aspect, embodiments of this application provide a communication system, which includes a first device described in the first, third, fifth, or sixth aspects above, and a second device described in the second or fourth aspects above.

[0055] By implementing the embodiments of this application, the receiving end can be equipped with the ability to detect whether the ranging process is interfered with, ensuring the integrity of the ranging signal, and without losing the ranging performance of the system. Attached Figure Description

[0056] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0057] Figure 1This is a schematic diagram of the ranging principle provided in the embodiments of this application;

[0058] Figure 2 This is an architecture diagram of the ranging and positioning system provided in the embodiments of this application;

[0059] Figure 3 This is a schematic flowchart of the first method for transmitting ranging signals in UWB provided in the embodiments of this application;

[0060] Figure 4 This is a second schematic flowchart of the ranging signal transmission method in UWB provided in the embodiments of this application;

[0061] Figure 5a This application provides a schematic diagram comparing the attack success rates with and without integrity protection in its embodiments;

[0062] Figure 5b This application provides a schematic diagram comparing the ranging error rates with and without integrity protection in its embodiments;

[0063] Figure 5c This application provides ranging event detection rates with and without integrity protection in its embodiments;

[0064] Figure 6 This is a third schematic flowchart of the ranging signal transmission method in UWB according to an embodiment of this application;

[0065] Figure 7 This is a schematic flowchart of the fourth ranging signal transmission method in UWB according to the embodiments of this application;

[0066] Figure 8 This is a schematic diagram of the frame format of the ranging wireless frame provided in the embodiments of this application;

[0067] Figure 9 This is a schematic diagram of the STS+ frame format in the ranging wireless frame provided in the embodiments of this application;

[0068] Figure 10 This is a schematic flowchart of the ranging configuration information transmission method provided in the embodiments of this application;

[0069] Figure 11 This is a schematic diagram of the structure of the communication device 1 provided in the embodiments of this application;

[0070] Figure 12 This is a schematic diagram of the structure of the communication device 2 provided in the embodiments of this application;

[0071] Figure 13 This is a schematic diagram of the structure of the communication device 1000 provided in the embodiments of this application. Detailed Implementation

[0072] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0073] In the description of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c; a and b; a and c; b and c; or a and b and c. Where a, b, and c can be single or multiple.

[0074] In the description of this application, the terms "first," "second," etc., are used only to distinguish different objects and do not limit the quantity or order of execution, nor do they imply that they are necessarily different. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0075] In this application, the words "exemplary" or "for example" are used to indicate that something is an example, illustration, or illustration. Any embodiment or design described as "exemplary," "for example," or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of the words "exemplary," "for example," or "for example" is intended to present the relevant concepts in a specific manner.

[0076] It should be understood that in this application, "when," "if," and "if" all refer to the device making a corresponding action under certain objective circumstances, and are not time-limited, nor do they require the device to make a judgment when it is implemented, nor do they imply any other limitations.

[0077] In this application, the use of singular designations for elements is intended to represent "one or more" rather than "one and only one," unless otherwise specified.

[0078] It is understood that in the various embodiments of this application, "B corresponding to A" means that there is a correspondence between A and B, and B can be determined based on A. However, it should also be understood that determining (or generating) B based on (or on) A does not mean that B is determined (or generated) solely based on (or on) A; B can also be determined (or generated) based on (or on) A and / or other information.

[0079] The following is a brief introduction to some relevant content, terms, or nouns involved in this application.

[0080] I. Basic Principles of Distance Measurement

[0081] The basic principle of ranging is that the two communicating parties calculate the distance between them by measuring the round-trip time of the message. Specifically, the ranging sequence sent by the transmitting end is pulse-shaped and modulated before reaching the receiving end. The receiving end performs a correlation operation between the received ranging sequence and its locally stored sequence, and obtains the arrival times (t2 and t4) based on the positions of the correlation peaks. See also... Figure 1 , Figure 1 This is a schematic diagram of the ranging principle provided in an embodiment of this application. For example... Figure 1 As shown, the first device sends ranging signal 1 at time t1, which arrives at the second device at time t2. After processing the received ranging signal, the second device sends ranging signal 2 to the first device at time t3, which arrives at the first device at time t4. The ranging signal is obtained by pulse shaping and modulation of the ranging sequence, such as pulse position modulation (PPM) or pulse amplitude modulation (PAM). The distance d between the first and second devices can be calculated using formulas (1-1) and (1-2) below:

[0082]

[0083] t RTT =(t4-t1)-(t3-t2)................................(1-2)

[0084] Where c represents the speed of light, t RTT Indicates the round-trip time of the ranging signal (or message).

[0085] II. Distance-reduction attack

[0086] A distance-reduction attack targets the aforementioned ranging process (i.e., the aforementioned...). Figure 1This is a common attack method in the ranging process shown, and it can have various implementations, such as Cicada attacks, Cicada++ attacks, GhostPeak attacks, etc. Specific attack methods can be found in the descriptions of existing technologies, and will not be detailed in this application. In the above-mentioned attack methods (such as Cicada attacks, Cicada++ attacks, GhostPeak attacks, etc.), the attacker's goal is to generate interference signals so that the device receiving the ranging signal estimates the signal arrival time earlier than the actual time. This causes both parties in the ranging process to mistakenly believe that the distance is very short when the actual distance is very far. This can lead to property loss in applications such as intelligent sensing of car door locks and location-based contactless payments.

[0087] III. Safe Distance Measurement Scheme in IEEE 802.15.4z Standard

[0088] Early detect / late commit (ED / LC) attacks also target the ranging process described above (as mentioned above). Figure 1 This is a common attack method in the ranging process shown. In an ED / LC attack, the attacker takes advantage of the predictability of the ranging signal structure, infers the entire ranging signal in advance based on the received ranging signal segment, and sends it to the receiver, causing the receiver to make an incorrect estimate of the signal arrival time.

[0089] The IEEE 802.15.4z standard proposes a scheme for encrypting ranging sequences. It primarily uses a 128-bit key to encrypt the 128-bit ranging sequence using the Advanced Encryption Standard (AES), resulting in a 128-bit random sequence. This random sequence is then pulse-shaped and modulated before transmission. The specific encryption process can be found in the relevant descriptions of the 802.15.4z standard, and will not be elaborated upon here.

[0090] Because the ranging sequence is encrypted, attackers cannot deduce the entire ranging signal from received segments. Therefore, encrypting the ranging sequence can resist ED / LC attacks. However, encrypting the ranging sequence cannot resist distance reduction attacks such as Cicada, Cicada++, and GhostPeak. In these attack forms, attackers do not need to decode and deduce the legitimate ranging signal; they only need to send random interference signals to complete the attack. Therefore, encrypting the ranging sequence is ineffective against these types of attacks.

[0091] IV. Maximum peak to early peak ratio (MPEP)

[0092] To counter the aforementioned range reduction attacks, setting an appropriate MPEP threshold at the receiver can reduce the probability of the receiver misidentifying illegal peaks (i.e., extra spikes appearing before the maximum peak output by the correlator due to interference signals) as the first path, thereby mitigating range reduction attacks (or interference from the interfering signal). While this method can combat range reduction attacks to some extent, its performance depends heavily on the selection of the MPEP threshold. The MPEP threshold is typically selected as an empirical value through experiments or measurements. Due to the complexity of the wireless propagation environment and the randomness of interference signals, even empirical values ​​obtained through repeated experiments may not effectively reduce the probability of misidentifying illegal peaks as the first path.

[0093] Furthermore, this method sacrifices ranging performance for improved security. In other words, choosing a smaller MPEP threshold may have a better countermeasure against distance reduction attacks, but it often causes the receiver to miss the first path, thus reducing ranging accuracy.

[0094] V. Message Time of Arrival Codes (MTAC)

[0095] To counter the aforementioned distance reduction attacks, the ranging process can be detected using Message Time Arrival Codes (MTAC). Figure 1 For example, the first device can generate an MTAC signal based on the ranging sequence and the key agreed upon by both parties (i.e., the first and second devices), and send this MTAC signal to the second device. This MTAC signal can be used for ranging and verification. Upon receiving the MTAC signal, the second device demodulates and decodes it to recover the ranging sequence, which is used for ranging. It then reconstructs the MTAC signal using the recovered ranging sequence and the key agreed upon by both parties. The second device can compare the reconstructed MTAC signal with the received MTAC signal (e.g., subtracting the two signals and calculating the power of the difference signal). If the difference exceeds a certain threshold, the verification fails, indicating that the ranging signal has been attacked.

[0096] However, in complex multipath propagation environments, even without range reduction attacks, the received MTAC signal can be distorted, and channel estimation may be inaccurate (e.g., under low signal-to-noise ratio conditions), potentially leading to a high decoding error rate. Therefore, in such cases, the reconstructed MTAC signal may differ significantly from the received MTAC signal, resulting in verification failure. Thus, MTAC alone cannot accurately determine whether the ranging process has been attacked. Furthermore, the aforementioned method for detecting range reduction attacks using MTAC relies on the receiver's detection decision (e.g., demodulation and decoding of the MTAC signal). In multipath channels, channel equalization is required before signal detection and decision, and the high complexity of channel equalization significantly increases system implementation costs.

[0097] In summary, encrypting the ranging sequence (point 3 above) can protect the confidentiality of the ranging signal; however, it cannot resist range reduction attacks. Setting an appropriate MPEP threshold at the receiver (point 4 above) can protect the integrity of the ranging signal, but there is no universal threshold selection method and it is difficult to balance security and ranging performance. MTAC detection (point 5 above) cannot accurately determine whether the ranging process has been attacked and cannot guarantee the integrity of the MTAC signal.

[0098] Confidentiality refers to the characteristic that information cannot be used or known by unauthorized individuals, entities, or processes. Integrity refers to the characteristic that information remains intact, undamaged, unlost, and unalterable during transmission, exchange, storage, and processing.

[0099] In this application, confidentiality can be understood as: apart from the two parties involved in the ranging, other devices cannot know the characteristics of the ranging sequence carried in the ranging signal; integrity can be understood as: apart from the two parties involved in the ranging, other devices cannot tamper with the characteristics of the ranging sequence carried in the ranging signal. Confidentiality protection can be understood as: preventing other devices, apart from the two parties involved in the ranging, from knowing the ranging sequence carried in the ranging signal. Integrity protection can be understood as: determining whether the ranging sequence in the ranging signal has been tampered with by other devices, or determining the reliability of the ranging sequence.

[0100] This application provides a ranging signal transmission method in UWB. By modifying the waveform of the ranging signal, the receiving end can detect whether the ranging process is interfered with, ensuring the integrity of the ranging signal without losing the ranging performance of the system.

[0101] The technical solution provided in this application can be applied to ranging and positioning scenarios using wireless communication sensing. In ranging and positioning scenarios, the two communicating parties can establish a wireless communication connection through authentication and negotiation according to relevant protocols. After establishing the wireless communication connection, the sending end sends a wireless ranging frame to the receiving end. After receiving the wireless ranging frame, the receiving end calculates the arrival time and replies to the sending end with another ranging wireless frame. By calculating the round-trip time of the message (as described in the aforementioned formula (1-2)), the distance between the two parties (i.e., the sending end and the receiving end) is calculated (as described in the aforementioned formula (1-1)), thus completing the ranging process.

[0102] See Figure 2 , Figure 2 This is an architecture diagram of the ranging and positioning system provided in an embodiment of this application. For example... Figure 2 As shown, the ranging and positioning system includes at least two devices, such as a first device and a second device. In practical applications, the first device and the second device may be the same device performing different roles at different times. That is, the first device may be a transmitter at one time, performing transmitter operations; but at another time it may be a receiver, performing receiver operations. The second device is similar to the first device; that is, the second device may be a transmitter at one time, performing transmitter operations; but at another time it may be a receiver, performing receiver operations. Figure 2 This example uses the first device as the sender and the second device as the receiver.

[0103] The first device includes: a signal preprocessing module, a time inversion and conjugation module, and a signal generation module. The signal preprocessing module estimates the channel impulse response (CIR) between the second device and the first device, or performs power normalization on the received signal waveform. If the second device transmits a channel measurement signal, the signal preprocessing module estimates the CIR; if the second device transmits a raw ranging signal, the signal preprocessing module performs power normalization. The time inversion and conjugation module performs time inversion and conjugation operations on the preprocessed waveform. The signal generation module generates the raw ranging signal, such as the scrambled timestamp sequence (STS) in the IEEE 802.15.4z standard. This signal generation module also generates a ranging signal with integrity protection and ranging functions. If the second device transmits a channel measurement signal, the ranging signal is obtained by convolving the raw ranging signal with the inverted and conjugated CIR. If the second device transmits a raw ranging signal, the ranging signal is the output signal of the time inversion and conjugation module. The ranging signal, which has integrity protection and ranging functions, is transmitted to the second device via the antenna.

[0104] The second device includes: a signal transmission module, a Time of Arrival (TOA) estimation module, and an integrity verification module. The signal transmission module transmits channel measurement signals or raw ranging signals from the antenna port to the first device. The TOA estimation module estimates the TOA using the ranging signal transmitted by the first device to obtain a timestamp, which is used for ranging or positioning. The integrity verification module samples the received signal and performs correlation calculations with the local ranging signal to determine whether the received signal has been tampered with.

[0105] The above Figure 2 The dashed portion of the original ranging signal indicates that the first and second devices obtained the same original ranging signal by performing the same operation (e.g., STS in the IEEE 802.15.4z standard).

[0106] It should be understood that the above Figure 2 The first and second devices shown are both multi-antenna devices, but in actual applications, the first device can be configured with multiple antennas or a single antenna; similarly, the second device can be configured with a single antenna or multiple antennas; the embodiments of this application do not impose any restrictions.

[0107] The technical solution provided in this application will be described in detail below with reference to more accompanying drawings.

[0108] In this application, unless otherwise specified, the same or similar parts between various embodiments or implementations can be referred to each other. In the various embodiments of this application, and in the various implementation methods / methods / implementations within each embodiment, unless otherwise specified or logically conflicting, the terminology and / or descriptions between different embodiments and between the various implementation methods / methods / implementations within each embodiment are consistent and can be mutually referenced. The technical features in different embodiments and the various implementation methods / methods / implementations within each embodiment can be combined according to their inherent logical relationships to form new embodiments, implementation methods, methods, or implementation approaches. The embodiments described below do not constitute a limitation on the scope of protection of this application.

[0109] To facilitate the description of the technical solutions provided in this application, the following embodiments will use the example of a first device as the transmitting end (referring to the party transmitting the ranging signal) and a second device as the receiving end (referring to the party receiving the ranging signal). However, in practical applications, the first device and the second device may be the same device playing different roles at different times. That is, the first device may be the transmitting end at one time, performing the operations of the transmitting end; but at another time it may be the receiving end, performing the operations of the receiving end. The second device is similar to the first device.

[0110] Both the first and second devices in this application support the 802.15.4z standard, and can also support next-generation standards of the 802.15.4z standard. Of course, the first and second devices can also support narrowband communication standards, such as Wi-Fi standards (i.e., the 802.11 series standards), Bluetooth standards, or Zigbee, etc.

[0111] Example 1

[0112] See Figure 3 , Figure 3 This is a schematic flowchart of the first embodiment of the ranging signal transmission method in UWB provided in this application. Figure 3 As shown, the ranging signal transmission method in this UWB includes, but is not limited to, the following steps:

[0113] S1, the second device sends a third signal, which is used to generate the first ranging signal.

[0114] Optionally, the aforementioned third signal can be the original ranging signal, the generation method of which can be referred to the description of the embodiments below, and will not be elaborated here. Alternatively, the aforementioned third signal can be a channel measurement signal, which contains pilot information, such as a preamble. This pilot information can be used for channel estimation.

[0115] S2, the first device receives the first signal.

[0116] Optionally, because signals are reflected, diffracted, and scattered by various obstacles during transmission in a wireless channel, the signal transmitted by the transmitter will change by the time it reaches the receiver. Therefore, although the second device transmits a third signal, it receives the first signal after transmission through the wireless channel. The waveforms of the first and third signals may change, but the information they carry is the same.

[0117] S3, the first device preprocesses the first signal to obtain the second signal, the preprocessing including channel estimation or power normalization.

[0118] Optionally, the first device performs channel estimation, estimating the channel impulse response (CIR) from the second device to the first device; for specific implementation details, please refer to the corresponding description in Embodiment 2 below, which will not be elaborated here. Alternatively, the first device performs power normalization on the received first signal; for specific implementation details, please refer to the corresponding description in Embodiment 3 below, which will not be elaborated here.

[0119] S4, the first device generates at least a first ranging signal based on the second signal, wherein the first ranging signal conforms to the signal obtained by convolving the second signal with the original ranging signal after time reversal or time reversal and conjugation processing, or the first ranging signal conforms to the signal obtained after time reversal or time reversal and conjugation processing of the second signal.

[0120] Optionally, the first device performs inversion and conjugate operations on the preprocessed signal (i.e., the second signal) to generate a first ranging signal. The specific method for generating the first ranging signal can be found in the descriptions of Embodiments 2 or 3 below, and will not be elaborated here.

[0121] S5, the first device sends at least a portion of the first ranging signal, the at least portion of the first ranging signal supporting integrity protection function and ranging function.

[0122] Optionally, the first device can directly transmit the first ranging signal, or it can truncate the first ranging signal before transmitting it. The truncated length is the same as the length of the original ranging signal; for example, the tail of the first ranging signal is retained, and this tail is the same length as the original ranging signal. This at least part of the first ranging signal can be carried in a ranging wireless frame for transmission.

[0123] S6, the second device receives a signal for ranging, which is obtained after at least a portion of the first ranging signal has been transmitted through a wireless channel.

[0124] S7, the second device inputs the original ranging signal and the signal used for ranging into a correlator for correlation calculation to obtain the first moment when the maximum value of the correlator output is located.

[0125] Optionally, the second device uses a peak ranging algorithm for ToA estimation, which involves inputting the original ranging signal and the signal used for ranging into a correlator for correlation calculation to obtain the time when the correlator outputs the maximum value (i.e., the first time).

[0126] S8, the second device performs an integrity check on the signal used for ranging and obtains the check result.

[0127] S9, if the verification result is that the signal used for ranging passes the integrity verification, then the second device determines the first moment as the arrival time of the signal used for ranging.

[0128] Optionally, the second device samples the signal used for ranging and determines a verification sequence; it performs a correlation operation on the verification sequence and the first sequence to obtain the correlation result; by comparing the correlation result with a preset threshold, it determines whether the signal used for ranging passes the integrity check. In one example, if the correlation result is greater than the preset threshold, it indicates that the ranging process has not been interfered with and the ranging result is reliable; otherwise, if the correlation result is less than the preset threshold, it indicates that the ranging process has been interfered with and the ranging result is unreliable. Specific integrity verification methods are described in Embodiment 2 or Embodiment 3 below, and will not be elaborated here.

[0129] This application embodiment utilizes a signal from a second device, preprocesses it, and then constructs a new physical layer ranging signal through time reversal and conjugation. This signal has an integrity protection function, enabling the receiving end to detect whether the ranging process is interfered with, ensuring the integrity of the ranging signal, and without losing the ranging performance of the system.

[0130] Example 2

[0131] See Figure 4 , Figure 4 This is a second schematic flowchart of the ranging signal transmission method in UWB provided in this application embodiment. It mainly introduces the generation and integrity protection of ranging signals based on channel impulse response (CIR) inversion. Figure 4 As shown, the ranging signal transmission method in this UWB includes, but is not limited to, the following steps:

[0132] S101, the second device sends a channel measurement signal, which includes pilot information. Correspondingly, the first device receives the channel measurement signal.

[0133] Optionally, the second device may carry pilot information (any signal that includes preamble) in any signal sent to the first device. In this embodiment, the signal carrying pilot information is referred to as a channel measurement signal. The second device sends a channel measurement signal (i.e., a third signal containing pilot information) to the first device, and correspondingly, the first device receives the channel measurement signal (i.e., a first signal containing pilot information). That is, the channel measurement signal includes pilot information, such as a preamble. For example, the first device sends a request signal to the second device, which can be used to request the ranging process (or to request the start of the ranging process); after receiving the request signal, the second device sends an acknowledgment signal (i.e., a channel measurement signal) back to the first device, and the acknowledgment signal contains pilot information (such as a preamble).

[0134] S102, the first device uses the channel measurement signal to perform channel estimation and obtain the first channel impulse response from the second device to the first device.

[0135] S103, the first device performs a first processing on the first channel impulse response to obtain a second channel impulse response. The first processing includes time reversal processing, or time reversal processing and conjugate processing.

[0136] S104, the first device generates a first ranging signal based on the second channel impulse response and the original ranging signal. The first ranging signal is obtained by convolving the second channel impulse response with the original ranging signal.

[0137] S105, the first device sends at least a portion of the first ranging signal, the at least portion of the first ranging signal supporting integrity protection function and ranging function.

[0138] Optionally, after receiving the channel measurement signal from the second device, the first device can use the pilot information in the channel measurement signal to perform channel estimation and obtain the first channel impulse response from the second device to the first device. For ease of description, the first channel impulse response is denoted as h. 21 (t). The first device can obtain the second channel impulse response by time-reversing the first channel impulse response; or, the first device can obtain the second channel impulse response by time-reversing and conjugate the first channel impulse response. It should be understood that if the first channel impulse response is a real number, since the conjugate of a real number is itself, it is not necessary to perform the conjugate operation on the first channel impulse response; of course, it is also possible to perform the conjugate operation on the first channel impulse response regardless of whether it is a real number or a complex number. For ease of description, the second channel impulse response is denoted as h'. 21 (-t); h' 21 (t) represents h 21 (t) Take the conjugate. The first device can generate the original ranging signal based on the first sequence. The first sequence can be a sequence that both the first and second devices can know, such as a sequence determined through negotiation between the first and second devices, a preset or predefined sequence, a publicly available sequence, a standard-defined sequence, etc. For example, the first sequence can be a scrambled timestamp sequence (STS). The original ranging signal can be generated as shown in the following formula (2-1):

[0139] p(t)=∑ kX[k]g(t-kT)................................(2-1)

[0140] Where p(t) represents the original ranging signal, X[k] represents the first sequence, g(t) represents the rectangular window function, and T represents the interval between adjacent symbols in the first sequence.

[0141] After generating the original ranging signal, the first device can convolve the second channel impulse response with the original ranging signal to generate the first ranging signal. Alternatively, the first device can normalize the second channel impulse response and then convolve it with the original ranging signal to generate the first ranging signal. The first ranging signal has or supports integrity protection and ranging functions, or in other words, the first ranging signal supports integrity verification and ranging. For example, the mathematical expression of the first ranging signal is the following formula (2-2):

[0142]

[0143] Where s(t) represents the first ranging signal, T s h' 21 (-t) is the duration of the waveform. It should be understood that because convolution is performed in formula (2-2), the duration of the first ranging signal is longer than the duration of the original ranging signal. In other words, the length of the first ranging signal is greater than the length of the original ranging signal.

[0144] Therefore, the first device has two processing methods for the first ranging signal. In one implementation, the first device can truncate the first ranging signal to obtain a partial first ranging signal and then send it. For example, the truncation method is to retain the tail of the first ranging signal, and the tail is the same length as the original ranging signal p(t). In another implementation, the first device can also send the first ranging signal directly without truncating it. The at least partial first ranging signal supports integrity protection and ranging functions.

[0145] S106, the second device receives a signal for ranging, which is obtained after at least a portion of the first ranging signal has been transmitted through a wireless channel.

[0146] Optionally, because signals are reflected, diffracted, and scattered by various obstacles during transmission in a wireless channel, the signals transmitted by the transmitter will change when they reach the receiver. Therefore, at least a portion of the first ranging signal transmitted by the first device undergoes some changes after transmission through the wireless channel. In this embodiment, the signal transmitted to the second device via the wireless channel is referred to as the ranging signal. The second device receives the ranging signal. For ease of description, in this embodiment, the ranging signal received by the second device is denoted as y(t).

[0147] S107, the second device inputs the original ranging signal and the signal used for ranging into a correlator for correlation calculation to obtain the first moment when the maximum value of the correlator output is located.

[0148] Optionally, after receiving the ranging signal, the second device can input the original ranging signal p(t) and the ranging signal y(t) into a correlator for correlation operation to obtain the first time (denoted as t2) at which the maximum value of the correlator output is located. The original ranging signal can be generated as shown in the aforementioned formula (2-1). In other words, the second device generates the original ranging signal p(t) using a locally stored first sequence (such as STS), performs a correlation operation between the original ranging signal p(t) and the received signal y(t), and records the time at which the correlation peak occurs; this time is the first time t2.

[0149] S108, the second device performs an integrity check on the signal used for ranging and obtains the check result.

[0150] Optionally, to verify whether the ranging process is interfered with by interference signals (i.e., whether the signal received by the second device for ranging is interfered with by interference signals), the second device can take the real part of the received ranging signal y(t) and then perform equal-interval sampling to obtain a sample sequence. The sampling start time is the first time (t2), and the sampling interval is T (i.e., the interval between adjacent symbols in the first sequence). The length of the sample sequence is equal to the total length of the first sequence. For example, if the length of the STS is 128 bits, then the length of the sample sequence (or the total number of samples) is also 128 bits. In one implementation, the second device can directly use this sample sequence as a check sequence (denoted as Y[k]). In another implementation, after obtaining the sample sequence, the second device generates a check sequence (denoted as Y[k]) based on the polarity of each sample. If the polarity of a sample in the sample sequence is positive, the corresponding element in the check sequence is 1; otherwise, if the polarity of a sample in the sample sequence is negative, the corresponding element in the check sequence is -1. The second device can perform a correlation operation between the verification sequence (Y[k]) and the locally stored first sequence X[k] to obtain the correlation result (denoted as z). The correlation result z is expressed as:

[0151]

[0152] Where N represents the length of the verification sequence Y[k].

[0153] The second device can compare the relevant calculation result z with a preset threshold to obtain a verification result. When the relevant calculation result z is greater than or equal to the preset threshold, the verification result indicates that the signal used for ranging has passed the integrity check, meaning the ranging process has not been interfered with by interference signals. When the relevant calculation result z is less than the preset threshold, the verification result indicates that the signal used for ranging has failed the integrity check, meaning the ranging process has been interfered with by interference signals. It should be understood that when the relevant calculation result z is equal to the preset threshold, whether the verification result passes or fails can be determined according to the actual situation, and this application embodiment does not impose any limitations. For example, the absolute value of the preset threshold is equal to the length of the first sequence. If the first sequence is 128 bits, the preset threshold can be ±128.

[0154] S109, if the verification result is that the signal used for ranging passes the integrity verification, then the second device determines the first moment as the arrival time of the signal used for ranging.

[0155] Optionally, if the above verification result indicates that the signal used for ranging passes the integrity check, it means that the ranging process is not interfered with by interference signals; then the second device can use the first time (t2) as the arrival time of the signal used for ranging. If the above verification result indicates that the signal used for ranging fails the integrity check, it means that the ranging process is interfered with by interference signals; then the second device can instruct the first device to retransmit a new ranging signal, or retransmit the ranging signal at intervals, or do nothing, etc.

[0156] In this embodiment, the first device utilizes the CIR (i.e., the aforementioned first channel impulse response) of the channel between itself and the second device to construct a ranging signal waveform through time reversal, thereby achieving matching between the ranging signal and the channel. The second device, based on the received signal, performs time-of-flight (ToF) measurement through correlation operations and determines whether the ranging process is interfered with through sampling, decision-making, and correlation operations, thus achieving integrity protection of the ranging signal. This embodiment, through time reversal, enables the receiver to detect whether the ranging process is interfered with, providing integrity protection for the ranging signal; furthermore, the receiver only needs to perform simple correlation operations, resulting in low complexity. Additionally, ranging and integrity protection are both based on the same sequence (i.e., the first sequence), minimizing the additional overhead introduced by the integrity protection mechanism. The receiver's ranging no longer relies on a backtracking search algorithm, improving ranging accuracy in non-line-of-sight (NLOS) environments and solving the problem of not being able to distinguish correlation peaks caused by multipath interference.

[0157] The following analysis addresses the two scenarios of interference and non-interference during the ranging process, explaining why the technical solution provided in Embodiment 1 of this application enables the receiving end to detect whether the ranging process is affected by interference, which is also why the technical solution provided in Embodiment 1 of this application can achieve ranging signal integrity protection.

[0158] 1. Under interference-free conditions, the mathematical expression for the distance measurement signal y(t) received by the second device is shown in the following formula (2-4):

[0159]

[0160] Among them, h 12 Let (t) represent the channel impulse response (CIR) from the first device to the second device, and n2(t) represent the receiver noise of the second device. Assume the channel is reciprocal, i.e., h 12 (t)=h 21 (t); that is, the channel impulse response from the first device to the second device is equal to the channel impulse response from the second device to the first device. Substituting equation (2-2) into equation (2-4) above, we get equation (2-5):

[0161]

[0162] For ease of description, the following expression is introduced:

[0163]

[0164] Among them, h e(t) represents the channel impulse response (CIR) of the equivalent channel experienced by the original ranging signal p(t). For UWB systems, due to their broadband characteristics, h e (t) exhibits a significant time-focusing effect, namely: when t = 0, h e (t) is a sharp peak; when t≠0, h e The value of (t) is close to 0. Thus, it can be approximately considered that the ranging signal generated in the embodiments of this application (i.e., the first ranging signal mentioned above) enables the equivalent channel experienced by the original ranging signal p(t) to be approximately an additive white Gaussian noise (AWGN) channel.

[0165] It should be understood that additive white Gaussian noise is a noise signal with a constant power spectrum function (i.e., white noise) and an amplitude that follows a Gaussian distribution.

[0166] It should also be understood that even if the channel does not satisfy reciprocity, because the time interval between steps S101 and S106 in this embodiment is very short, the difference between the channel from the second device to the first device and the channel from the first device to the second device is small, therefore h e (t) still has a time-focusing effect. That is to say, the equivalent channel experienced by the original ranging signal p(t) can also be approximated as an additive white Gaussian noise channel.

[0167] 2. In the presence of interference, the interference behavior may be carried out in two stages: (1) using the interference signal to interfere with the channel measurement signal sent in step S101 above, i.e., interfering with the channel estimation process; (2) using the interference signal to interfere with at least part of the first ranging signal sent in step S105 above, i.e., interfering with the ranging process.

[0168] If the channel estimation process is interfered with, it will cause the channel estimation result of the first device to be incorrect, that is, it will be impossible to obtain an accurate h. 21 The estimate of (t). Thus, h in the above formula (2-6) is... e p(t) will no longer have a time-focusing effect, thus causing inter-symbol interference (ISI) at the receiving end. When the received signal (i.e., the signal y(t) used for ranging) is sampled using the method of this embodiment, the presence of ISI will result in a very low correlation value between the sampled sequence and the locally stored first sequence (the value of z is small), thus causing the integrity check to fail.

[0169] If the ranging process is interfered with, the mathematical expression for the ranging signal y(t) received by the second device under interference is shown in the following formula (2-7):

[0170]

[0171] Among them, s a (t) represents the interference signal, h a2 (t) represents the channel impulse response between the transmitter of the interference signal and the second device. According to the integrity check provided in the embodiments of this application, each element in the final check sequence Y[k] will contain not only the sampled value of the original ranging signal, but also the interference signal. The sampled value will cause the correlation result z of Y[k] and X[k] to be lower than the preset threshold, thus causing the integrity check to fail.

[0172] The above analysis explains why the technical solution provided in the embodiments of this application can achieve the protection of ranging signal integrity. The following uses exemplary simulation data to illustrate the technical effects that the embodiments of this application can achieve.

[0173] For example, the simulation parameters are as follows: 128-bit STS packet (with configuration three), 8th-order Butterworth pulse, SYNC Preamble Code 1 (length 31), sampling frequency 500MHz, peak pulse repetition frequency (PRF) 499.2MHz (also supports 124.8MHz PRF), 6-bit DAC (also supports 2, 4, and 12), 802.15.4a ultra-wideband channel model (walking line-of-sight mode), 100-channel implementation, no frequency offset and perfect timing.

[0174] See Figure 5a , Figure 5a This is a schematic diagram comparing the attack success rates with and without integrity protection, as provided in the embodiments of this application. Figure 5a As shown, the vertical axis represents the attack success rate, in percentage (%), and the horizontal axis represents the signal-to-noise ratio (SNR), in decibels (dB). Figure 5a It is known that without integrity protection, the attack success rate is approximately 50%. However, with integrity protection (i.e., using the method provided in the embodiments of this application), the attack success rate is very low, not exceeding 10%.

[0175] See Figure 5b , Figure 5bThis embodiment of the application provides a comparative diagram of ranging error rates with and without integrity protection. Specifically, if the difference between the measured ToA and the actual ToA is greater than 6 ns (i.e., a distance error of 1.8 m), a ranging error is identified. Figure 5b As shown, the vertical axis represents the ranging error rate, in percentage (%), and the horizontal axis represents the signal-to-noise ratio (SNR), in decibels (dB). From Figure 5b It is evident that, under interference conditions, the ranging error rate is significantly reduced when using the method provided in the embodiments of this application (i.e., ranging signal with integrity protection).

[0176] See Figure 5c , Figure 5c This application embodiment provides ranging event detection rates with and without integrity protection. Specifically, a ranging event is detected if the correlator outputs a peak value higher than a threshold and the integrity check passes. Figure 5c As shown, the vertical axis represents the ranging error rate, in percentage (%), and the horizontal axis represents the signal-to-noise ratio (SNR), in decibels (dB). From Figure 5c It is understood that with integrity protection (i.e., using the method provided in the embodiments of this application), the ranging event detection rate is not significantly reduced compared to the case without integrity protection. The slight decrease in the ranging event detection rate is caused by channel estimation error.

[0177] Example 3

[0178] See Figure 6 , Figure 6 This is a third schematic flowchart of the ranging signal transmission method in UWB according to an embodiment of this application. It mainly introduces the generation and integrity protection of the received waveform-reversed ranging signal. Figure 6 As shown, the ranging signal transmission method in this UWB includes, but is not limited to, the following steps:

[0179] S201, the second device sends a raw ranging signal, which is generated based on the first sequence.

[0180] Optionally, the second device generates the original ranging signal p(t) in the manner shown in formula (2-1) above, and will not be repeated here. The first sequence can be a sequence negotiated and determined by the first and second devices, a preset or predefined sequence, a publicly available sequence, a standard-defined sequence, etc. For example, the first sequence can be an STS.

[0181] Optionally, the first device may send a request signal to the second device, which may be used to request the ranging process to proceed (or to request the start of the ranging process); after receiving the request signal, the second device shall send a confirmation signal back to the first device, which contains the original ranging waveform.

[0182] S202, the first device receives a first signal, which is obtained by transmitting the original ranging signal through a wireless channel.

[0183] Optionally, because signals are reflected, diffracted, and scattered by various obstacles during transmission in a wireless channel, the signal transmitted by the transmitter will change upon arrival at the receiver. Therefore, although the second device transmits the original ranging signal, the second device receives the first signal, which is obtained after the original ranging signal has been transmitted through the wireless channel. For ease of description, the first signal received by the first device in this embodiment is denoted as y1(t). The mathematical expression for y1(t) is as follows:

[0184]

[0185] Among them, h 21 (t) represents the channel impulse response from the second device to the first device, and n1(t) represents the receiver noise of the first device.

[0186] S203, the first device performs time reversal on the first signal, or performs time reversal and conjugate processing, to obtain the first ranging signal.

[0187] S204, the first device sends at least a portion of the first ranging signal, the at least portion of the first ranging signal supporting integrity protection function and ranging function.

[0188] Optionally, after receiving the first signal, the first device can perform time reversal on the first signal y1(t) to obtain the first ranging signal. Alternatively, the first device can perform power normalization, time reversal, and conjugate extraction on the first signal y1(t) to obtain the first ranging signal. The first ranging signal has or supports integrity protection and ranging functions; in other words, the first ranging signal supports integrity verification and ranging. For ease of description, the first ranging signal is denoted as s(t).

[0189] For example, the first ranging signal is shown in the following formula (2-9):

[0190]

[0191] Here, α represents the power normalization factor, used to normalize the power of the first signal y1(t). y'1(t) represents the conjugate of y1(t). The first device can use the first ranging signal s(t) as a signal with integrity protection and ranging functions, and send it to the second device.

[0192] As shown in formula (2-9) above, the duration of the first ranging signal is longer than that of the original ranging signal. In other words, the length of the first ranging signal is greater than the length of the original ranging signal. Therefore, the first device has two processing methods for this first ranging signal. In one implementation, the first device can truncate the first ranging signal to obtain a partial first ranging signal and send it. For example, the truncation method is to retain the tail of the first ranging signal, and this tail is the same length as the original ranging signal p(t). In another implementation, the first device can also send the first ranging signal directly without truncating it. This at least partial first ranging signal supports integrity protection and ranging functions.

[0193] S205, the second device receives the ranging signal, which is obtained by transmitting at least a portion of the first ranging signal through a wireless channel.

[0194] S206, the second device inputs the original ranging signal and the signal used for ranging into a correlator for correlation calculation to obtain the first moment when the maximum value of the correlator output is located.

[0195] Optionally, the implementation of steps S205-S206 in this embodiment can refer to the implementation of steps S106-S107 in the aforementioned embodiment 2, which will not be repeated here.

[0196] S207, the second device performs an integrity check on the signal used for ranging and obtains the check result.

[0197] Optionally, to verify whether the ranging process is interfered with by interference signals (i.e., whether the signal received by the second device for ranging is interfered with by interference signals), the second device can take the real part of the signal used for ranging (denoted as y(t)) and then perform equal-interval sampling to obtain a sample sequence. The sampling start time is the first time (denoted as t2), and the sampling interval is T (i.e., the interval between adjacent symbols in the first sequence). The length of the sample sequence is equal to the total length of the first sequence. For example, if the length of the STS is 128 bits, then the length of the sample sequence (or the total number of samples) is also 128 bits. In one implementation, the second device can directly use this sample sequence as a check sequence (denoted as Y[k]). In another implementation, after obtaining the sample sequence, the second device generates a check sequence (denoted as Y[k]) based on the polarity of each sample. If the polarity of a sample in the sample sequence is positive, the corresponding element in the check sequence is 1; otherwise, if the polarity of a sample in the sample sequence is negative, the corresponding element in the check sequence is -1. The second device can perform a correlation operation between the locally stored first sequence X[k] (after time reversal) to obtain X[-k] and the check sequence (Y[k]), and obtain the correlation result (denoted as z). The correlation result z is expressed as:

[0198]

[0199] Where N represents the length of the verification sequence Y[k].

[0200] The second device can compare the relevant calculation result z with a preset threshold to obtain a verification result. When the relevant calculation result z is greater than or equal to the preset threshold, the verification result indicates that the signal used for ranging has passed the integrity check, meaning the ranging process was not interfered with by interference signals. When the relevant calculation result z is less than the preset threshold, the verification result indicates that the signal used for ranging has failed the integrity check, meaning the ranging process was interfered with by interference signals. It should be understood that when the relevant calculation result z is equal to the preset threshold, whether the verification result passes or fails can be determined based on the actual situation, and this application embodiment does not impose any limitations.

[0201] S208, if the verification result is that the signal used for ranging passes the integrity verification, then the second device determines the first moment as the arrival time of the signal used for ranging.

[0202] Optionally, if the above verification result indicates that the signal used for ranging passes the integrity check, it means that the ranging process is not interfered with by interference signals; then the second device can use the first time (t2) as the arrival time of the signal used for ranging. If the above verification result indicates that the signal used for ranging fails the integrity check, it means that the ranging process is interfered with by interference signals; then the second device can instruct the first device to retransmit a new ranging signal, or retransmit the ranging signal at intervals, or do nothing, etc.

[0203] In this embodiment, the first device normalizes the power of the received first signal and then directly performs inversion and conjugation to obtain a signal with integrity protection and ranging function (i.e., the aforementioned first ranging signal) and transmits it. The second device, based on the received signal, performs time-of-flight (ToF) measurement through correlation operations and determines whether the ranging process is interfered with through sampling, decision-making, and correlation operations, thereby achieving integrity protection of the ranging signal. This not only enables the receiving end to detect whether the ranging process is interfered with, providing integrity protection for the ranging signal, but also does not compromise the system's ranging performance. Furthermore, this embodiment does not require channel estimation, and the ranging performance is unaffected by channel estimation errors.

[0204] The following analysis addresses the two scenarios of interference and non-interference during the ranging process, explaining why the technical solution provided in Embodiment 2 of this application enables the receiving end to detect whether the ranging process is interfered with, which is also why the technical solution provided in Embodiment 2 of this application can achieve ranging signal integrity protection.

[0205] 1. Under interference-free conditions, the mathematical expression for the ranging signal y(t) received by the second device is shown in formula (2-4) above. Assume the channel satisfies reciprocity, i.e., h... 12 (t)=h 21 (t); that is, the channel impulse response from the first device to the second device is equal to the channel impulse response from the second device to the first device. Substituting equation (2-9) into equation (2-4) above, we get equation (2-11):

[0206]

[0207] Where, n e (t) represents the receiver equivalent noise of the second device. e (t) is expressed as:

[0208]

[0209] For ease of description, the following expression is introduced:

[0210]

[0211] Among them, h e (t) represents the channel impulse response (CIR) of the equivalent channel experienced by the original ranging signal p(t) after time reversal and conjugation p'(-t). For UWB systems, due to their broadband characteristics, h e (t) exhibits a significant time-focusing effect, namely: when t = 0, h e (t) is a sharp peak; when t≠0, h e The value of (t) is close to 0. Thus, it can be approximately considered that the ranging signal generated in the embodiments of this application (i.e., the first ranging signal mentioned above) enables the equivalent channel experienced by p'(-t) to be approximately an additive white Gaussian noise (AWGN) channel.

[0212] It should be understood that even if the channel does not satisfy reciprocity, because the time interval between steps S201 and S204 in this embodiment is very short, the difference between the channel from the second device to the first device and the channel from the first device to the second device is small, therefore h e (t) still has a time-focusing effect. That is to say, the equivalent channel experienced by p'(-t) can also be approximated as an additive white Gaussian noise channel.

[0213] 2. In the presence of interference, the interference behavior may be carried out in two stages: (1) using interference signals to interfere with the original ranging signal sent in step S201 above; (2) using interference signals to interfere with at least part of the first ranging signal sent in step S204 above, i.e., interfering with the ranging process.

[0214] If the original ranging signal is interfered with, the first signal y1(t) received by the first device will contain interference signals. After y1(t) is processed by the first device (i.e., power normalization, time reversal, and conjugate extraction), the interference signals will appear in the ranging signal y(t) received by the second device. Therefore, according to the integrity check provided in this embodiment, each element in the final check sequence Y[k] will contain not only the sampled value of p'(-t) but also the sampled value of the interference signal. This will cause the correlation result z between Y[k] and X[-k] to be lower than a preset threshold, thus causing the integrity check to fail.

[0215] If the ranging process is interfered with, the mathematical expression for the ranging signal y(t) received by the second device under interference is as shown in the aforementioned formula (2-7). According to the integrity verification provided in the embodiments of this application, each element in the final verification sequence Y[k] will contain not only the sampled value of p'(-t) but also the interference signal. The sampled value will cause the correlation result z of Y[k] and X[-k] to be lower than the preset threshold, thus causing the integrity check to fail.

[0216] Example 4

[0217] Embodiment 4 of this application can be implemented together with any one of the aforementioned embodiments 1 to 3, or it can be implemented alone. The embodiments of this application are not limited.

[0218] See Figure 7 , Figure 7 This is a fourth schematic flowchart of a ranging signal transmission method in UWB according to an embodiment of this application. It mainly introduces a wireless frame with integrity protection and ranging functions. For example... Figure 7 As shown, the ranging signal transmission method in this UWB includes, but is not limited to, the following steps:

[0219] S301, the first device generates a ranging wireless frame, which carries signals supporting integrity protection and ranging functions.

[0220] S302, the first device sends the ranging wireless frame.

[0221] Optionally, for ease of description, the signal carrying the integrity protection function and ranging function in the above ranging wireless frame is denoted as STS+. This STS+ can be at least a portion of the first ranging signal; the specific generation method can be referred to the corresponding description in Embodiment 2 above, or the corresponding description in Embodiment 3 above; it will not be repeated here. The frame format of this ranging wireless frame can reuse the physical layer frame format in 802.15.4z.

[0222] See Figure 8 , Figure 8 This is a schematic diagram of the frame format of the ranging wireless frame provided in an embodiment of this application. Wherein, Figure 8 Images 8a, 8b, and 8c illustrate the formats of three ranging wireless frames. For example... Figure 8 As shown, the ranging wireless frame includes one or more of the following: a synchronization (SYNC) field, a start-of-frame delimiter (SFD), an STS+ (i.e., a signal that supports integrity protection and ranging functions), a physical layer header (PHR) field, and a physical layer payload.

[0223] STS+ (a signal that supports integrity protection and ranging functions) has two formats: Format 1 and Format 2. See also... Figure 9 , Figure 9This is a schematic diagram of the STS+ frame format in a ranging wireless frame provided in this application embodiment. As can be seen from the aforementioned Embodiments 1 and 2, an STS+ segment is obtained by convolving an STS segment with other signals, therefore the STS+ segment will be longer than the STS segment. To address this, this application embodiment provides two processing methods: truncating the STS+ segment to make it the same length as the STS segment (Format 1); and not truncating the STS+ segment (Format 2). For Format 1, the truncation method is to delete the header of the STS+ signal obtained after convolution, retaining its tail portion equal in length to the STS segment. Figure 9 As shown, the STS+segment in format 2 is longer than that in format 1. The length of the STS+segment in format 2 is L1+L2-1, while the length of the STS+segment in format 1 is L1. L1 is the length of the STS, and L2 is the length of the channel impulse response. However, regardless of the format used, the receiver employs the same processing. Figure 9 Therefore Figure 8 Taking the frame format shown in 8a as an example, the two STS+ formats provided in this application embodiment can be applied to any... Figure 8 Any frame format in it.

[0224] Optionally, in order to maintain the integrity protection function without affecting the ranging performance, the pulse repetition frequency (PRF) of STS+ (i.e., the signal that supports both integrity protection and ranging functions) may be higher than that of STS (i.e., the signal that only supports ranging functions). Therefore, for signals that support both integrity protection and ranging functions, new PRF modes can be added, including but not limited to 249.6MHz and 499.2MHz.

[0225] S303, the second device receives ranging wireless frames.

[0226] S304, the second device parses the ranging wireless frame.

[0227] Optionally, after receiving the ranging wireless frame, the second device parses the ranging wireless frame to obtain the signal carrying the ranging wireless frame that supports integrity protection and ranging functions.

[0228] This application provides a wireless frame with integrity protection and ranging functions, which is beneficial for achieving integrity protection of ranging signals.

[0229] Example 5

[0230] Embodiment 5 of this application can be implemented together with any one or more of the aforementioned embodiments 1 to 4, or it can be implemented alone. The embodiments of this application are not limited.

[0231] See Figure 10 , Figure 10 This is a schematic flowchart of the ranging configuration information transmission method provided in an embodiment of this application. Figure 10 As shown, the ranging configuration information transmission method includes, but is not limited to, the following steps:

[0232] S401, the communication device sends ranging configuration information, which includes the type of ranging wireless frame. The type of ranging wireless frame is a wireless frame type that supports ranging function, or a wireless frame type that supports both ranging function and integrity protection function.

[0233] Accordingly, other communication devices receive the ranging configuration information.

[0234] Optionally, before the ranging process, the two parties can negotiate some configuration information for the ranging process. In one implementation, the communication device sends ranging configuration information to the second device. This ranging configuration information may include the type of ranging wireless frame. The ranging wireless frame type is either a wireless frame type that supports ranging functionality, or a wireless frame type that simultaneously supports ranging functionality and integrity protection functionality. That is, whether the ranging wireless frame is a regular ranging wireless frame or a ranging wireless frame that simultaneously has ranging functionality and integrity protection functionality. In other words, the ranging configuration information includes whether the ranging signal transmitted during the ranging process supports integrity protection functionality.

[0235] Optionally, the ranging configuration information mentioned above may also include the STS configuration format, or the format of the ranging wireless frame. For conventional ranging wireless frames (i.e., wireless frames that only support ranging functionality), there are three STS configuration formats: STS Configuration 1 to STS Configuration 3 (the specific formats can be found in the description of the 802.15.4z standard, and will not be elaborated here). For ranging wireless frames that simultaneously have ranging and integrity protection functions, the format is as described above. Figure 8 As shown.

[0236] Optionally, the ranging configuration information mentioned above may also include STS+ format (i.e., truncated or non-truncated format), which is the length of the ranging signal during the ranging process. For the non-truncated format, the length of the ranging signal is greater than the length of the original ranging signal (the signal generated using the above formula (2-1)); for the truncated format, the length of the ranging signal is equal to the length of the original ranging signal.

[0237] Optionally, because the PRF of a signal that simultaneously supports integrity protection and ranging may be higher than that of a signal that only supports ranging, it is also necessary to configure the PRF mode. Therefore, the ranging configuration information mentioned above may also include the PRF mode (including but not limited to 124.8MHz, 249.6MHz, and 499.2MHz).

[0238] Optionally, the ranging configuration information can be carried in the Ranging Channel and Preamble Code Selection Information Element (RCPCS IE), for example, by extending existing fields of the RCPCS IE to carry the ranging configuration information. Alternatively, a new information element can be defined to carry the ranging configuration information; for example, it can be called the Ranging Frame Configuration Selection Information Element (RFCS IE), and the ranging configuration information can be carried in the newly defined RFCS IE.

[0239] Optionally, the ranging configuration information can be carried in the Ranging Reply Time Negotiation Information Element (RRTN IE), for example, by extending existing fields of the RRTN IE to carry the ranging configuration information. Alternatively, a new information element can be defined, for example, called the Ranging Frame Configuration Selection Information Element (RFCS IE), and the ranging configuration information can be carried in the newly defined RFCS IE.

[0240] Optionally, after receiving the ranging configuration information, other communication devices may report it to the upper layer and send an acknowledgment (ACK) signal frame back to the communication device. In the subsequent ranging process, both parties will complete the ranging according to the aforementioned agreed ranging frames.

[0241] This application provides a method for negotiating configuration information for newly added signals or wireless frames that simultaneously support ranging and integrity protection functions, laying the foundation for the subsequent ranging process.

[0242] The foregoing details the methods provided in the embodiments of this application. In order to facilitate the implementation of the above-described solutions in the embodiments of this application, the embodiments of this application also provide corresponding devices or equipment.

[0243] This application embodiment can divide the first device and the second device into functional modules according to the above method example. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. The following will combine... Figure 11 and Figure 13 The communication device according to embodiments of this application is described in detail. The communication device is either a first device or a second device; further, the communication device may be a device within a first device; or, the communication device may be a device within a second device.

[0244] In the case of using integrated units, see Figure 11 , Figure 11 This is a schematic diagram of the structure of the communication device 1 provided in an embodiment of this application. Figure 11 As shown, the communication device 1 includes a transceiver module 11 and a processing module 12.

[0245] In one design, a transceiver module 11 is used to receive a first signal; a processing module 12 is used to preprocess the first signal to obtain a second signal, the preprocessing including channel estimation or power normalization; the processing module 12 is further used to generate a first ranging signal based at least on the second signal, wherein the first ranging signal conforms to the signal obtained by convolving the second signal with the original ranging signal after time reversal, or time reversal and conjugation processing, or the first ranging signal conforms to the signal obtained after time reversal, or time reversal and conjugation processing; the transceiver module 11 is further used to transmit at least a portion of the first ranging signal, the at least a portion of the first ranging signal supporting integrity protection function and ranging function.

[0246] It should be understood that the above-mentioned communication device 1 can be executed in any of the above-mentioned embodiments one to three, and the above-mentioned operations or functions of each unit in the communication device 1 are respectively to realize the corresponding operations of the first device in any of the above-mentioned embodiments one to three. For the sake of brevity, they will not be described in detail here.

[0247] In another design, the processing module 12 is used to generate a ranging wireless frame, which carries a signal supporting integrity protection and ranging functions; the transceiver module 11 is used to transmit the ranging wireless frame.

[0248] It should be understood that the above-mentioned communication device 1 can perform the aforementioned embodiment four, and the above-mentioned operations or functions of each unit in the communication device 1 are respectively to realize the corresponding operations of the first device in the aforementioned embodiment four. For the sake of brevity, they will not be described in detail here.

[0249] In another design, the transceiver module 11 is used to send ranging configuration information or receive ranging configuration information; wherein, the ranging configuration information includes the type of ranging wireless frame, which is a wireless frame type that supports ranging function, or a wireless frame type that simultaneously supports ranging function and integrity protection function. Optionally, the processing module 12 is used to generate ranging configuration information.

[0250] It should be understood that the above-mentioned communication device 1 can perform the aforementioned embodiment 5, and the above-mentioned operations or functions of each unit in the communication device 1 are respectively to realize the corresponding operations of the first device in the aforementioned embodiment 5. For the sake of brevity, they will not be described in detail here.

[0251] See Figure 12 , Figure 12 This is a schematic diagram of the structure of the communication device 2 provided in an embodiment of this application. Figure 12 As shown, the communication device 2 includes a transceiver module 21, a related calculation module 22, an integrity verification module 23, and a determination module 24.

[0252] In one design, a transceiver module 21 is used to transmit a signal for generating a first ranging signal; the transceiver module 21 is also used for ranging signals, which are obtained by transmitting at least a portion of the first ranging signal through a wireless channel, and the at least a portion of the first ranging signal supports integrity protection and ranging functions; a correlation operation module 22 is used to input the original ranging signal and the ranging signal into a correlator for correlation operation to obtain the first moment at which the maximum value of the correlator output is located, the original ranging signal being generated based on a first sequence; an integrity verification module 23 is used to perform integrity verification on the ranging signal to obtain a verification result; wherein, when the correlation operation result obtained by performing correlation operation on the second sequence and the verification sequence is greater than or equal to the value of the first ranging signal, the integrity verification result is obtained. When the result is equal to a preset threshold, the verification result indicates that the signal used for ranging has passed the integrity check; when the correlation result obtained by performing correlation operations on the second sequence and the verification sequence is less than the preset threshold, the verification result indicates that the signal used for ranging has failed the integrity check; the second sequence is the first sequence, or the second sequence is the sequence after time reversal of the first sequence; the verification sequence is obtained by taking the real part of the signal used for ranging and then sampling at equal intervals, the starting time of the equal interval sampling is the first time, and the length of the verification sequence is equal to the length of the first sequence; the determination module 24 is used to determine the first time as the arrival time of the signal used for ranging when the verification result indicates that the signal used for ranging has passed the integrity check.

[0253] Among them, the aforementioned related calculation module 22, the aforementioned integrity verification module 23, and the aforementioned determination module 24 can be integrated into a single module, such as a processing module.

[0254] It should be understood that the above-mentioned communication device 2 can be executed in any of the above-mentioned embodiments one to three, and the above-mentioned operations or functions of each unit in the communication device 2 are respectively to realize the corresponding operations of the second device in any of the above-mentioned embodiments one to three. For the sake of brevity, they will not be described in detail here.

[0255] The first and second devices according to embodiments of this application have been described above. The possible product forms of the first and second devices are described below. It should be understood that any device possessing the above-described... Figure 11 Any product of any form that possesses the functions of the first device, and any product that has the above-mentioned features. Figure 12 Any form of product that incorporates the functionality of the second device falls within the protection scope of the embodiments of this application. It should also be understood that the following description is merely illustrative and does not limit the product forms of the first and second devices in the embodiments of this application to these examples.

[0256] As a possible product form, the first device and the second device described in the embodiments of this application can be implemented by a general bus architecture.

[0257] For clarity, see [link to documentation]. Figure 13 , Figure 13 This is a schematic diagram of the structure of the communication device 1000 provided in an embodiment of this application. The communication device 1000 can be a first device or a second device, or a chip therein. Figure 13 Only the main components of the communication device 1000 are shown. In addition to the processor 1001 and transceiver 1002, the communication device may further include a memory 1003 and input / output devices (not shown).

[0258] The processor 1001 is mainly used to process communication protocols and communication data, control the entire communication device, execute software programs, and process the data of the software programs. The memory 1003 is mainly used to store software programs and data. The transceiver 1002 may include control circuitry and an antenna. The control circuitry is mainly used for converting baseband signals to radio frequency signals and processing radio frequency signals. The antenna is mainly used for transmitting and receiving radio frequency signals in the form of electromagnetic waves. Input / output devices, such as touchscreens, displays, and keyboards, are mainly used to receive user input data and output data to the user.

[0259] When the communication device is powered on, the processor 1001 can read the software program in the memory 1003, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be transmitted wirelessly, the processor 1001 performs baseband processing on the data to be transmitted and outputs the baseband signal to the radio frequency (RF) circuit. The RF circuit processes the baseband signal and transmits the RF signal outward in the form of electromagnetic waves through the antenna. When data is sent to the communication device, the RF circuit receives the RF signal through the antenna, converts the RF signal into a baseband signal, and outputs the baseband signal to the processor 1001. The processor 1001 converts the baseband signal into data and processes the data.

[0260] In another implementation, the radio frequency circuitry and antenna can be set up independently of the processor performing baseband processing. For example, in a distributed scenario, the radio frequency circuitry and antenna can be arranged remotely, independent of the communication device.

[0261] The processor 1001, transceiver 1002, and memory 1003 can be connected via a communication bus.

[0262] In one design, the communication device 1000 can be used to perform the functions of the first device in the aforementioned embodiment: the processor 1001 can be used to execute... Figure 3 Steps S3-S4, and / or other processes used to perform the techniques described herein; transceiver 1002 can be used to perform Figure 3Steps S2 and S5 in the document, and / or other processes used in the techniques described herein.

[0263] In another design, the communication device 1000 can be used to perform the functions of the second device in the aforementioned embodiment one: the processor 1001 can be used to perform... Figure 3 Steps S7-S9, and / or other processes used to perform the techniques described herein; transceiver 1002 can be used to perform Figure 3 Steps S1 and S6 in the document, and / or other processes used in the techniques described herein.

[0264] In one design, the communication device 1000 can be used to perform the functions of the first device in the aforementioned embodiment two: the processor 1001 can be used to perform... Figure 4 Steps S102-S104, and / or other processes used to perform the techniques described herein; transceiver 1002 can be used to perform Figure 4 Step S105 in the document, and / or other processes used in the techniques described herein.

[0265] In another design, the communication device 1000 can be used to perform the functions of the second device in the aforementioned embodiment two: the processor 1001 can be used to perform... Figure 4 Steps S107-S109, and / or other processes for performing the techniques described herein; transceiver 1002 can be used to perform Figure 4 Steps S101 and S106 in the document, and / or other processes used in the techniques described herein.

[0266] In one design, the communication device 1000 can be used to perform the functions of the first device in the aforementioned embodiment three: the processor 1001 can be used to execute... Figure 6 Step S203, and / or other processes for performing the techniques described herein; transceiver 1002 can be used to perform Figure 6 Steps S202 and S204 in the document, and / or other processes used in the techniques described herein.

[0267] In another design, the communication device 1000 can be used to perform the functions of the second device in the aforementioned embodiment three: the processor 1001 can be used to perform... Figure 6 Steps S206-S208, and / or other processes for performing the techniques described herein; transceiver 1002 can be used to perform Figure 6 Steps S201 and S205 in the document, and / or other processes used in the techniques described herein.

[0268] In one design, the communication device 1000 can be used to perform the functions of the first device in the aforementioned embodiment four: the processor 1001 can be used to perform... Figure 7 Step S301, and / or other processes for performing the techniques described herein; transceiver 1002 can be used to perform Figure 7 Step S302 in the document, and / or other processes used in the techniques described herein.

[0269] In another design, the communication device 1000 can be used to perform the functions of the second device in the aforementioned embodiment four: the processor 1001 can be used to perform... Figure 7 In step S304, and / or other processes for performing the techniques described herein; transceiver 1002 can be used to perform Figure 7 Step S303 in the document, and / or other processes used in the techniques described herein.

[0270] In one design, the communication device 1000 can be used to perform the functions of the first device in the aforementioned embodiment five: the processor 1001 can be used to generate Figure 10 The transceiver 1002 can be used to perform ranging configuration information and / or other processes for executing the techniques described herein; Figure 10 Step S401 in the document, and / or other processes used in the techniques described herein.

[0271] In any of the above designs, the processor 1001 may include a transceiver for implementing receiving and transmitting functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing receiving and transmitting functions may be separate or integrated. The aforementioned transceiver circuit, interface, or interface circuit may be used for reading and writing code / data, or it may be used for transmitting or relaying signals.

[0272] In any of the above designs, the processor 1001 may store instructions, which may be computer programs. These computer programs, running on the processor 1001, cause the communication device 1000 to execute the methods described in any of the above method embodiments. The computer program may be embedded in the processor 1001; in this case, the processor 1001 may be implemented in hardware.

[0273] In one implementation, the communication device 1000 may include circuitry that performs the functions of transmitting, receiving, or communicating as described in the foregoing method embodiments. The processor and transceiver described in this application embodiment can be implemented on integrated circuits (ICs), analog ICs, radio frequency integrated circuits (RFICs), mixed-signal ICs, application-specific integrated circuits (ASICs), printed circuit boards (PCBs), electronic devices, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductors (CMOS), n-type metal-oxide-semiconductor (NMOS), p-type metal oxide semiconductors (PMOS), bipolar junction transistors (BJTs), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

[0274] The scope of the communication device described in the embodiments of this application is not limited thereto, and the structure of the communication device may vary. Figure 13 The communication device may be a standalone device or part of a larger device. For example, the communication device may be:

[0275] (1) Independent integrated circuit IC, or chip, or chip system or subsystem;

[0276] (2) A collection of one or more ICs, optionally including storage components for storing data and computer programs;

[0277] (3) ASIC, such as modem;

[0278] (4) Modules that can be embedded in other devices;

[0279] (5) Receivers, terminals, smart terminals, cellular phones, wireless devices, handheld devices, mobile units, vehicle-mounted devices, network devices, cloud devices, artificial intelligence devices, etc.

[0280] (6) Others, etc.

[0281] As one possible product form, the first device and the second device described in the embodiments of this application can be implemented by a general-purpose processor.

[0282] The general-purpose processor that implements the first device includes processing circuitry and input / output interfaces that are internally connected and communicate with the processing circuitry.

[0283] In one design, the general-purpose processor can be used to perform the functions of the first device in the aforementioned embodiment. Specifically, the processing circuitry can be used to perform... Figure 3 Steps S3-S4, and / or other processes used to perform the techniques described herein; input / output interfaces can be used to perform Figure 3 Steps S2 and S5 in the document, and / or other processes used in the techniques described herein.

[0284] In one design, the general-purpose processor can be used to perform the functions of the first device in the aforementioned embodiment two. Specifically, the processing circuitry can be used to perform... Figure 4 Steps S102-S104, and / or other processes for performing the techniques described herein; the input / output interface can be used to perform Figure 4 Step S105 in the document, and / or other processes used in the techniques described herein.

[0285] In one design, the general-purpose processor can be used to perform the functions of the first device in the aforementioned embodiment three. Specifically, the processing circuitry can be used to perform... Figure 6 Step S203, and / or other processes for performing the techniques described herein; the input / output interface can be used to perform Figure 6 Steps S202 and S204 in the document, and / or other processes used in the techniques described herein.

[0286] In one design, the general-purpose processor can be used to perform the functions of the first device in the aforementioned embodiment four. Specifically, the processing circuitry can be used to perform... Figure 7 Step S301, and / or other processes for performing the techniques described herein; the input / output interface can be used to perform Figure 7 Step S302 in the document, and / or other processes used in the techniques described herein.

[0287] In one design, the general-purpose processor can be used to perform the functions of the first device in the aforementioned embodiment five. Specifically, the processing circuitry can be used to generate... Figure 10 The ranging configuration information, and / or other processes used to perform the techniques described herein; the input / output interface can be used to perform... Figure 10 Step S401 in the document, and / or other processes used in the techniques described herein.

[0288] The general-purpose processor that implements the second device includes processing circuitry and input / output interfaces that are internally connected and communicate with the processing circuitry.

[0289] In one design, the general-purpose processor can be used to perform the functions of the second device in the aforementioned embodiment one. Specifically, the processing circuitry can be used to perform... Figure 3 Steps S7-S9, and / or other processes used to perform the techniques described herein; input / output interfaces can be used to perform Figure 3 Steps S1 and S6 in the document, and / or other processes used in the techniques described herein.

[0290] In one design, the general-purpose processor can be used to perform the functions of the second device in the aforementioned embodiment two. Specifically, the processing circuitry can be used to perform... Figure 4 Steps S107-S109, and / or other processes for performing the techniques described herein; input / output interfaces can be used to perform Figure 4 Steps S101 and S106 in the document, and / or other processes used in the techniques described herein.

[0291] In one design, the general-purpose processor can be used to perform the functions of the second device in the aforementioned embodiment three. Specifically, the processing circuitry can be used to perform... Figure 6 Steps S206-S208, and / or other processes for performing the techniques described herein; input / output interfaces can be used to perform Figure 6 Steps S201 and S205 in the document, and / or other processes used in the techniques described herein.

[0292] In one design, the general-purpose processor can be used to perform the functions of the second device in the aforementioned embodiment four. Specifically, the processing circuitry can be used to perform... Figure 7 Step S304, and / or other processes for performing the techniques described herein; the input / output interface can be used to perform Figure 7 Step S303 in the document, and / or other processes used in the techniques described herein.

[0293] It should be understood that the communication devices of the various product forms described above have any of the functions of the first or second device in any of the above embodiments, which will not be repeated here.

[0294] This application also provides a computer-readable storage medium storing computer program code. When the processor executes the computer program code, the electronic device performs the method in any of the foregoing embodiments.

[0295] This application also provides a computer program product that, when run on a computer, causes the computer to perform the methods in any of the foregoing embodiments.

[0296] This application also provides a communication device, which can exist in the form of a chip. The communication device includes a processor and an interface circuit. The processor is used to communicate with other devices through a receiving circuit, so that the communication device can execute the method in any of the foregoing embodiments.

[0297] This application also provides a wireless communication system, including a first device and a second device, which can perform the methods in any of the foregoing embodiments.

[0298] The steps of the methods or algorithms described in this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory (RAM), flash memory, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Alternatively, the ASIC can reside in a core network interface device. Of course, the processor and storage medium can also exist as discrete components in the core network interface device.

[0299] Those skilled in the art will recognize that, in one or more of the examples above, the functions described in this application can be implemented using hardware, software, firmware, or any combination thereof. When implemented in software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer-readable storage media and communication media, wherein communication media include any medium that facilitates the transmission of a computer program from one place to another. Storage media can be any available medium accessible to a general-purpose or special-purpose computer.

[0300] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above description is only a specific embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solution of this application should be included within the scope of protection of this application.

[0301] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A ranging signal transmission method in ultra-wideband, characterized in that, include: The first communication device receives a first signal, which is obtained by transmitting a signal sent by the second communication device through a wireless channel. The first communication device preprocesses the first signal to obtain the second signal, wherein the preprocessing includes channel estimation or power normalization; The first communication device generates a first ranging signal based on the second signal at least once, wherein the first ranging signal conforms to the signal obtained by convolving the second signal with the original ranging signal after time reversal or time reversal and conjugation processing, or the first ranging signal conforms to the signal obtained after time reversal or time reversal and conjugation processing of the second signal; the original ranging signal is generated based on a first sequence. The first communication device sends at least a portion of the first ranging signal, causing the second communication device to perform an integrity check on the at least a portion of the first ranging signal, and when the integrity check on the at least a portion of the first ranging signal is successful, determines a first moment as the arrival time of the at least a portion of the first ranging signal; the at least a portion of the first ranging signal supports integrity protection and ranging functions, and the first moment is the moment when the second communication device inputs the original ranging signal and the at least a portion of the first ranging signal into a correlator to perform correlation operations to obtain the maximum value output by the correlator.

2. The method according to claim 1, characterized in that, The first signal contains pilot information, the preprocessing includes channel estimation, and the second signal is the first channel impulse response from the second communication device to the first communication device. Generating the first ranging signal includes: After performing a first processing on the first channel impulse response, the first communication device obtains a second channel impulse response. The first processing includes time reversal, or time reversal and conjugate processing. The first communication device performs convolution processing based on the second channel impulse response and the original ranging signal.

3. The method according to claim 2, characterized in that, The convolution processing based on the second channel impulse response and the original ranging signal includes: After normalizing the second channel impulse response, it is convolved with the original ranging signal.

4. The method according to claim 1, characterized in that, The first signal is obtained by transmitting the original ranging signal through a wireless channel, and the preprocessing includes power normalization; The generation of the first ranging signal includes: The first communication device performs time reversal on the second signal, or performs time reversal and conjugate processing, to obtain the first ranging signal.

5. The method according to any one of claims 1-4, characterized in that, The length of at least a portion of the first ranging signal is equal to the length of the original ranging signal.

6. The method according to any one of claims 1-5, characterized in that, At least a portion of the first ranging signal is carried in the ranging wireless frame.

7. The method according to any one of claims 1-6, characterized in that, Before the first communication device transmits at least a portion of the first ranging signal, the method further includes: The first communication device receives ranging configuration information, or the first communication device sends ranging configuration information; The ranging configuration information is used to configure one or more of the following: whether the ranging signal sent during the ranging process supports integrity protection, the format of the ranging wireless frame carrying the ranging signal, the length of the ranging signal during the ranging process, and the pulse repetition frequency mode.

8. A ranging signal transmission method in ultra-wideband, characterized in that, include: The second communication device sends a signal, which is used to generate a first ranging signal; The second communication device receives a signal for ranging, wherein the signal for ranging is obtained by transmitting at least a portion of the first ranging signal through a wireless channel, and the at least a portion of the first ranging signal supports integrity protection function and ranging function. The second communication device inputs the original ranging signal and the signal used for ranging into a correlator for correlation calculation to obtain the first moment when the maximum value of the correlator output is located. The original ranging signal is generated based on the first sequence. The second communication device performs an integrity check on the signal used for ranging and obtains the check result; Wherein, when the correlation operation result obtained by performing correlation operation on the second sequence and the verification sequence is greater than or equal to a preset threshold, the verification result is that the signal used for ranging passes the integrity check; when the correlation operation result obtained by performing correlation operation on the second sequence and the verification sequence is less than the preset threshold, the verification result is that the signal used for ranging fails the integrity check; the second sequence is the first sequence, or the second sequence is the first sequence after time reversal processing; the verification sequence is obtained by taking the real part of the signal used for ranging and then sampling at equal intervals, the starting time of the equal interval sampling is the first time, and the length of the verification sequence is equal to the length of the first sequence; If the verification result indicates that the signal used for ranging passes the integrity verification, then the second communication device determines the first time as the arrival time of the signal used for ranging.

9. The method according to claim 8, characterized in that, The signal contains pilot information, and the second sequence is the same as the first sequence.

10. The method according to claim 8, characterized in that, The signal is the original ranging signal, and the second sequence is the sequence obtained by time reversal of the first sequence.

11. The method according to any one of claims 8-10, characterized in that, The verification sequence is obtained by taking the real part of the signal used for ranging and then sampling it at equal intervals, including: The verification sequence is generated based on the polarity of the sample sequence, which is obtained by taking the real part of the signal used for ranging and then sampling it at equal intervals.

12. The method according to any one of claims 8-11, characterized in that, At least a portion of the first ranging signal is carried in the ranging wireless frame.

13. The method according to any one of claims 8-12, characterized in that, Before the second communication device receives the signal for ranging, the method further includes: The second communication device sends ranging configuration information, or the second communication device receives ranging configuration information; The ranging configuration information is used to configure one or more of the following: whether the ranging signal sent during the ranging process supports integrity protection, the format of the ranging wireless frame carrying the ranging signal, the length of the ranging signal sent during the ranging process, and the pulse repetition frequency mode.

14. A communication device, characterized in that, It includes a processor and a transceiver, wherein the transceiver is used to transmit and receive signals, and the processor is used to execute program instructions to cause the communication device to perform the method as described in any one of claims 1-13.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a computer, cause the computer to perform the method as described in any one of claims 1-13.

16. A computer program product, characterized in that, When the computer program product is run on a computer, it causes the computer to perform the method as described in any one of claims 1-13.

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