Ranging method and related device

Abstract

A ranging method and a related device relate to the technical field of communication. The distance measurement method comprises: a first device sending a first measurement frame to a second device at a first frequency point (S301), and receiving a second measurement frame sent by the second device at the first frequency point (S302); the first device sends a third measurement frame to the second device at the second frequency point (S303), and receives a fourth measurement frame sent by the second device at the second frequency point (S304); wherein the second frequency point is different from the first frequency point; the first device acquires a first measurement result according to the second measurement frame (S305); the first device acquires a third measurement result according to the fourth measurement frame (S306); the first device sends the first measurement result and the third measurement result to the third device (S307). According to the method, the combined measurement result of the first frequency point and the combined measurement result of the second frequency point are not influenced by a random initial phase caused by frequency point switching of equipment, coherent combination can be realized, the bandwidth larger than the measurement frame bandwidth of a single frequency point can be used for calculating the distance measurement result, and the distance measurement precision is improved.

Description

A distance measurement method and related device Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a ranging method and related devices. Background Art

[0002] Using communication equipment to transmit ranging signals to achieve ranging is an important means of solving ranging and positioning problems. Ranging accuracy is closely related to the bandwidth covered by the ranging signals that can be coherently combined. The wider the bandwidth covered by the ranging signals, the higher the ranging accuracy.

[0003] At present, a type of communication equipment adopts frequency hopping to communicate in consideration of factors such as cost, power consumption, and anti-interference. That is, each transmission occupies a narrow bandwidth, and the frequency hops within a larger bandwidth range for multiple transmissions.

[0004] Using the aforementioned ranging method, achieving high accuracy is difficult. Frequency hopping causes the device clock to generate random initial phases, and ranging signals transmitted at different frequencies cannot be directly coherently combined, making high ranging accuracy difficult to achieve. Furthermore, due to factors such as cost and power consumption, the clock accuracy of communication devices is generally low. Non-idealities in the timing and frequency of the device clock can also reduce ranging accuracy. Suppressing the impact of device clock non-idealities such as timing offset, frequency offset, and frequency drift over time on ranging results is also a key research issue.

[0005] In short, how to use communication equipment to achieve ranging and improve ranging accuracy has become an urgent problem to be solved.

[0006] Summary of the Invention

[0007] The embodiments of the present application provide a distance measurement method and related devices, which can reduce the error of distance measurement and improve the accuracy of distance measurement.

[0008] In a first aspect, an embodiment of the present application provides a ranging method, the method comprising:

[0009] The first device sends a first measurement frame to the second device at a first frequency point, and receives a second measurement frame sent by the second device at the first frequency point;

[0010] The first device sends a third measurement frame to the second device at a second frequency, and receives a fourth measurement frame sent by the second device at the second frequency; wherein the second frequency is different from the first frequency;

[0011] Acquiring, by the first device, a first measurement result according to the second measurement frame;

[0012] Acquiring, by the first device, a third measurement result according to the fourth measurement frame;

[0013] The first device sends the first measurement result and the third measurement result to a third device, where the first measurement result and the third measurement result are used for ranging.

[0014] In an embodiment of the present application, a ranging method is provided in which a first device and a second device exchange measurement frames at at least two frequencies. For example, the first device sends a first measurement frame to the second device at a first frequency and receives a second measurement frame from the second device, and sends a third measurement frame to the second device at a second frequency and receives a fourth measurement frame from the second device. The second frequency is different from the first frequency, and the first and third measurement frames are used by the second device to obtain a second measurement result and a fourth measurement result, respectively. The first device obtains a first measurement result based on the received second measurement frame and obtains a third measurement result based on the received fourth measurement frame, and sends the first and third measurement results to a third device. A computing device that calculates ranging results calculates ranging results based on the first, second, third, and fourth measurement results. The third device can be the second device or a device other than the second device, and this application does not limit this. The third device can be a computing device configured to calculate ranging results, or a forwarding device configured to forward the first and third measurement results to the computing device, and this application does not limit this. When the first device and the second device switch from the first frequency point to the second frequency point, a random initial phase is generated, which results in the first measurement result and the third measurement result cannot be directly coherently combined, and the second measurement result and the fourth measurement result cannot be directly coherently combined. The first measurement result and the second measurement result are combined to obtain a joint measurement result of the first frequency point, and the joint measurement result of the first frequency point is not affected by the initial phase of the first device and the second device at the first frequency point; the third measurement result and the fourth measurement result are combined to obtain a joint measurement result of the second frequency point, and the joint measurement result of the second frequency point is also not affected by the initial phase of the first device and the second device at the second frequency point. Therefore, the joint measurement result of the first frequency point and the joint measurement result of the second frequency point are not affected by the random initial phase caused by the device switching frequency point, and can be coherently combined. When calculating the ranging result, a bandwidth larger than the measurement frame bandwidth of a single frequency point can be used to calculate the ranging result, thereby obtaining a more accurate ranging result and improving the ranging accuracy.

[0015] In a possible implementation, the first frequency point and the second frequency point are adjacent frequency points in a usage time sequence, the first frequency point belongs to a first frequency point set, the second frequency point belongs to a second frequency point set, and the first frequency point set consists of the first frequency point and the second frequency point set.

[0016] In an embodiment of the present application, a possible specific implementation method for obtaining a first frequency point and a second frequency point is provided, specifically, the first frequency point and the second frequency point are two frequency points adjacent in the order of use time, that is, the first device and the second device first exchange measurement frames on the first frequency point, and then exchange measurement frames on the second frequency point, and in the time between the two measurement frame exchanges, no measurement frame exchanges are conducted on other frequency points other than the first frequency point and the second frequency point. It should be understood that the use here refers to the exchange of measurement frames between the first device and the second device, and the first frequency point and the second frequency point are adjacent in the order of use time. It does not exclude the situation that the first device and the second device exchange non-measurement frames on other frequency points in the time between the above two measurement frame exchanges, such as the exchange of frames used to transmit service data, measurement results, signaling, etc. but not used for ranging measurement; it also does not exclude the situation that in the time between the above two measurement frame exchanges, other devices other than the first device and the second device exchange frames of any type at any frequency point. A first frequency point is obtained from a first frequency point set, and a second frequency point is obtained from a second frequency point set. The difference between the first frequency point set and the second frequency point set is that the first frequency point is included in the first frequency point, while the second frequency point set does not include the first frequency point. It can be understood that the second frequency point set is a frequency point set obtained by removing the first frequency point from the first frequency point set. Through the embodiment of the present application, based on the fact that the first frequency point and the second frequency point are two frequency points adjacent in time sequence, it is possible to avoid repeatedly using the same frequency point during the measurement period, thereby shortening the measurement time of the ranging. If there is relative motion between the first device and the second device, shortening the ranging measurement time can reduce the change in the relative position between the first device and the second device during the measurement period, thereby obtaining a more accurate ranging result and improving the ranging accuracy. In addition, for the first device and the second device, due to the non-ideal nature of the clock, the device clock frequency will drift over time. The longer the measurement time, the more serious the drift. Shortening the ranging measurement time can reduce the range of device clock frequency drift during the measurement period, suppress the impact of clock drift on the ranging result, and improve the ranging accuracy.

[0017] In one possible implementation, the method further includes:

[0018] The first device determines the first frequency point in the first frequency point set in a pseudo-random manner according to a first random seed;

[0019] The first device determines the second frequency point in the second frequency point set in a pseudo-random manner according to a second random seed.

[0020] In an embodiment of the present application, a possible specific implementation method for determining a first frequency point and a second frequency point is provided. Specifically, the frequency point to be used is determined in a pseudo-random manner in a corresponding frequency point set based on a random seed. The first random seed used to determine the first frequency point and the second random seed used to determine the second frequency point can be the same random seed or different random seeds. Through the embodiment of the present application, the frequency point is determined in a pseudo-random manner based on the random seed, so that the determined frequency point has randomness, reduces the probability of mutual interference caused by using the same time-frequency resources when sharing the spectrum with other devices, and improves ranging performance.

[0021] In one possible implementation, the method further includes:

[0022] The first device generates and sends the first random seed and / or the second random seed;

[0023] or,

[0024] The first device receives the first random seed and / or the second random seed.

[0025] In the embodiments of the present application, several possible specific implementation methods for obtaining the first random seed and / or the second random seed are provided, specifically: 1. The first device generates and sends the first random seed and / or the second random seed to the second device; 2. The first device generates and sends the first random seed and / or the second random seed to other devices, and the other devices then forward the first random seed and / or the second random seed to the second device; 3. The first device receives the first random seed and / or the second random seed from the second device; 4. The first device receives the first random seed and / or the second random seed from the other device, before which the first random seed and / or the second random seed of the other device is generated by the second device and sent to the other device; 5. The other device generates the first random seed and / or the second random seed and sends it to the first device and the second device. Using any of the above methods, the first device and the second device use the same first random seed when selecting the first frequency point, and use the same second random seed when selecting the second frequency point. Therefore, the first device and the second device will select the same first frequency point and the same second frequency point, avoiding frequency point selection errors.

[0026] In one possible embodiment, the first measurement result includes the phase information or the in-phase component and quadrature component IQ information of the single-frequency sinusoidal wave signal contained in the second measurement frame at the first moment, or the phase information or IQ information of the single-frequency sinusoidal wave signal contained in the second measurement frame at the first moment extended according to the single-frequency sinusoidal wave model.

[0027] In an embodiment of the present application, a possible specific implementation method for obtaining a first measurement result is provided. Specifically, a first device measures a second measurement frame to obtain a first measurement result, wherein the first measurement result includes phase information or in-phase and quadrature component IQ information of a single-frequency sinusoidal wave contained in the second measurement frame at a first moment, or the first measurement result includes phase information or in-phase and quadrature component IQ information of a signal extended according to a single-frequency sinusoidal wave model contained in the second measurement frame at a first moment. Ranging based on phase information or IQ information containing phase information can achieve higher ranging accuracy than traditional amplitude-based ranging methods.

[0028] In one possible implementation, the method further includes:

[0029] The first device determines a first timing offset value, where the first timing offset value represents a timing offset of the first device relative to the second measurement frame;

[0030] The first device determines the first moment according to the first timing offset value.

[0031] In an embodiment of the present application, a possible specific implementation method for determining a first moment is provided. Specifically, a first device determines a first timing deviation value, and determines the first moment based on the first timing deviation value, wherein the first timing deviation value represents the timing deviation of the first device relative to a second measurement frame. By correcting the moment corresponding to the phase information or IQ information based on the measured timing deviation, the influence of the timing and frequency differences between the clocks of the first and second devices on the ranging results can be suppressed, thereby improving ranging accuracy.

[0032] In a possible implementation manner, the first moment satisfies: T1=t0+t1 / 2; wherein t0 represents a reference moment, t1 represents the first timing deviation value, and T1 represents the first moment.

[0033] In an embodiment of the present application, a possible specific implementation method for determining the first moment is provided, specifically, the first moment must satisfy t0+t1 / 2, wherein t0 represents the reference moment and t1 represents the first timing deviation value. Correspondingly, the second device also uses a similar method to determine the second moment. The difference between the real time corresponding to the first moment of the first device clock and the real time corresponding to the second moment of the second device clock is mainly related to the measurement error of the first timing deviation value and the second timing deviation value, and has nothing to do with the timing deviation between the first device clock and the second device clock. The joint measurement result of the first frequency point obtained by combining the first measurement result and the second measurement result is not affected by the timing deviation between the first device clock and the second device clock, thereby suppressing the influence of the timing deviation between the first device clock and the second device clock on the ranging result, thereby improving the ranging accuracy.

[0034] In a possible implementation, determining the first timing offset value includes:

[0035] The first device determines the first timing offset value by measuring the signal in the second measurement frame.

[0036] In an embodiment of the present application, a possible specific implementation method for determining a first timing deviation value is provided. Specifically, the first device determines the first timing deviation value by measuring a signal in a second measurement frame. Alternatively, the first device may also determine the first timing deviation value by measuring other signals sent by the second device, where the other signals may include signals in other measurement frames or signals in other non-measurement frames. The first timing deviation value determined by the embodiment of the present application can correct the timing deviation, reduce the difference in timing and frequency between the clocks of the first device and the second device, reduce the impact on the measurement results of the measurement frame, thereby reducing the error in the ranging result and improving the ranging accuracy.

[0037] In one possible implementation, the method further includes:

[0038] The first device receives a first message, and / or sends the first message, where the first message is used to indicate the reference time;

[0039] or,

[0040] The reference time is a preconfigured or predefined time.

[0041] In an embodiment of the present application, several possible specific implementation methods for determining a reference time are provided. Specifically, a first device receives a first message and / or sends a first message, and determines the reference time based on information indicated by the first message, or the reference time is a time pre-configured for the first device (and the second device) or pre-defined by a protocol. Through the embodiment of the present application, the first device and the second device use the same agreed reference time to determine the measurement time, which can suppress the impact of the timing and frequency differences between the clocks of the first device and the second device on the measurement results of the measurement frame, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0042] In one possible implementation, the method further includes:

[0043] The first device receives a second message, and / or sends the second message, where the second message is used to indicate a reference value; or the reference value is a preconfigured or predefined value;

[0044] The reference time is determined according to the reference value and a first frequency deviation value, wherein the first frequency deviation value represents a frequency deviation of the first device relative to the second measurement frame.

[0045] In an embodiment of the present application, several possible specific implementation methods for determining a reference moment are provided, specifically, a first device receives a second message and / or sends a second message, and determines a reference moment based on a first frequency deviation value and a reference value indicated by the second message, wherein the first frequency deviation value represents the frequency deviation of the first device relative to the second measurement frame. Through an embodiment of the present application, the first device and the second device use the same agreed reference value, and the first device determines a reference moment based on the frequency deviation and the reference value to correct the influence of the timing deviation caused by the frequency deviation on the reference moment over time, and then determines the measurement moment by the reference moment, which can suppress the influence of the timing and frequency differences between the clocks of the first device and the second device on the measurement results of the measurement frame, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0046] In a possible implementation manner, the reference moments corresponding to different frequency points are the same or different, and / or the reference values ​​corresponding to different frequency points are the same or different.

[0047] In a possible implementation, when the first device and / or the second device uses multiple antennas, the reference times used by different antenna combinations at the same frequency are the same or different, and / or the reference values ​​used by different antenna combinations at the same frequency are the same or different.

[0048] Among them, different antenna combinations include but are not limited to: antenna combination one (transmitting antenna 1 of the first device and receiving antenna 2 of the second device), and / or, antenna combination two (receiving antenna 1 of the first device and transmitting antenna 2 of the second device), etc., and the embodiments of the present application are not limited to this.

[0049] In a possible implementation manner, the first measurement frame does not include measurement result data or service data.

[0050] Through the embodiments of the present application, the first measurement frame can be shortened or the time length of the signal used for measurement in the first measurement frame can be increased, such as the length of the single-frequency sine wave signal. Among them, shortening the measurement frame length can further shorten the interval between the transmission of the single-frequency sine wave signal between the first device and the second device and the total measurement time of the ranging. Considering the non-ideality of the clock, the ranging result error caused by the clock frequency offset between the first device and the second device is related to the interval between the transmission of the single-frequency sine wave signal between the first device and the second device. Under the same frequency offset, the larger the interval, the greater the error. Shortening the interval between the transmission of the single-frequency sine wave signal between the first device and the second device can suppress the impact of the clock frequency offset between the first device and the second device on the ranging result. If there is relative motion between the first device and the second device, shortening the total measurement time of the ranging can reduce the change in the relative position between the first device and the second device during the measurement, thereby obtaining a more accurate ranging result and improving the ranging accuracy. Furthermore, for the first and second devices, due to clock non-idealities, the device clock frequency drifts over time. The longer the measurement time, the more severe the drift. Shortening the total ranging measurement time can reduce the range of device clock frequency drift during the measurement, suppressing the impact of clock drift on the ranging results, and improving ranging accuracy. Increasing the duration of the measurement signal in the first measurement frame can improve the accuracy of the second measurement result obtained by the second device using the first measurement frame, thereby improving ranging accuracy.

[0051] In a possible implementation, the single-frequency sinusoidal wave signal included in the first measurement frame includes at least two symbols, each of the at least two symbols is modulated by a first constellation diagram according to a first sequence, the first sequence is a sequence consisting of N bits, and the value of N corresponds to the modulation mode of the first constellation diagram.

[0052] In an embodiment of the present application, a possible specific implementation method for obtaining a first measurement frame is provided. Specifically, the single-frequency sinusoidal signal included in the first measurement frame includes at least two symbols, each of which is modulated according to a first sequence using a first constellation diagram. The first sequence is a sequence consisting of N bits, and the value of N corresponds to the modulation mode of the first constellation diagram. For example, the N value corresponding to the modulation mode of binary phase shift keying (BPSK) is 1, the N value corresponding to the modulation mode of quadrature phase shift keying (QPSK) is 2, and the N value corresponding to the modulation mode of eight-phase phase shift keying (8PSK) is 3. In the embodiment of the present application, the single-frequency sinusoidal signal in the first measurement frame uses the same modulation mode as other signals, avoiding the additional implementation complexity and additional time overhead caused by switching the modulation mode, thereby shortening the first measurement frame or increasing the time length of the signal used for measurement in the first measurement frame, such as the length of the single-frequency sinusoidal signal. Shortening the measurement frame length can further shorten the interval between the transmission of the single-frequency sinusoidal signal and the total measurement time of the ranging between the first device and the second device. Considering clock non-ideality, the ranging error caused by the clock frequency offset between the first and second devices is related to the interval between the transmission of single-frequency sinusoidal signals. Given the same frequency offset, the larger the interval, the greater the error. Shortening the interval between the transmission of single-frequency sinusoidal signals can mitigate the impact of the clock frequency offset on the ranging result. If there is relative motion between the first and second devices, shortening the total ranging measurement time can reduce the change in relative position between the first and second devices during the measurement, thereby obtaining more accurate ranging results and improving ranging accuracy. Furthermore, due to clock non-ideality, the clock frequencies of the first and second devices drift over time. Longer measurement times increase the severity of the drift. Shortening the total ranging measurement time can reduce the extent of device clock frequency drift during the measurement, mitigate the impact of clock drift on ranging results, and improve ranging accuracy. Increasing the duration of the measurement signal in the first measurement frame can improve the accuracy of the second measurement result obtained by the second device using the first measurement frame, thereby improving ranging accuracy.

[0053] In a possible implementation, the first symbol is obtained by modulating the first sequence through the first constellation diagram;

[0054] The first symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the first measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the first measurement frame.

[0055] In an embodiment of the present application, a possible specific implementation method for obtaining a first measurement frame is provided, specifically, the first symbol contained in the first measurement frame, like the at least two symbols contained in the single-frequency sinusoidal wave signal in the first measurement frame, is also obtained by modulation according to the first sequence and through the first constellation diagram. The first symbol includes a symbol that is located before the single-frequency sinusoidal wave signal and adjacent to the single-frequency sinusoidal wave signal in the first measurement frame, and / or the first symbol that is located after the single-frequency sinusoidal wave signal in the first measurement frame. Through the embodiment of the present application, the single-frequency sinusoidal wave signal and the symbols adjacent to it on both sides of the boundary are mapped in the same sequence and use the same constellation diagram, which can avoid the measurement frame from suddenly changing at the boundary, thereby suppressing the signal distortion caused by the boundary, improving the accuracy of the measurement result of the measurement frame, and thus improving the ranging accuracy.

[0056] In a possible implementation manner, the single-frequency sinusoidal wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained by Gaussian frequency shift keying (GFSK) modulation according to the first bit;

[0057] The second symbol is obtained according to the first bit and through the GFSK modulation;

[0058] The second symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the first measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the first measurement frame.

[0059] In an embodiment of the present application, a possible specific implementation method for obtaining a first measurement frame is provided. Specifically, the single-frequency sinusoidal signal included in the first measurement frame includes at least two symbols, each of which is modulated based on a first bit using Gaussian frequency shift keying (GFSK). The second symbol included in the first measurement frame, like the at least two symbols included in the single-frequency sinusoidal signal in the first measurement frame, is also modulated based on the first bit using Gaussian frequency shift keying (GFSK). The second symbol includes a symbol located before and adjacent to the single-frequency sinusoidal signal in the first measurement frame, and / or the first symbol located after the single-frequency sinusoidal signal in the first measurement frame. Through this embodiment of the present application, the single-frequency sinusoidal signal and the symbols adjacent to it on both sides of its boundary are mapped to the same bits and use the same modulation method. This can prevent sudden changes in the measurement frame at the boundary, thereby suppressing signal distortion caused by the boundary, improving the precision of the measurement frame measurement results, and thus improving ranging accuracy.

[0060] In one possible implementation, the method further includes:

[0061] The first device receives a ranging result, where the ranging result includes distance information between the first device and the second device.

[0062] In an embodiment of the present application, a possible specific implementation of ranging is provided. Specifically, a first device receives a ranging result, which may be a ranging result sent by a third device. The third device may be a second device, configured to calculate a ranging result based on the received first measurement result and send the ranging result to the first device, or may be another device capable of performing ranging calculations, and send the calculated ranging result to the first device. The ranging result includes distance information between the first device and the second device.

[0063] In a second aspect, an embodiment of the present application provides a ranging method, the method comprising:

[0064] The second device receives the first measurement frame sent by the first device at the first frequency point, and sends a second measurement frame to the first device at the first frequency point;

[0065] The second device receives a third measurement frame sent by the first device at a second frequency, and sends a fourth measurement frame to the first device at the second frequency; wherein the second frequency is different from the first frequency;

[0066] The second device obtains a second measurement result according to the first measurement frame;

[0067] The second device obtains a fourth measurement result according to the third measurement frame;

[0068] The second device receives a first measurement result and a third measurement result from a fourth device, where the first measurement result is a measurement result of the first device on the second measurement frame, and the third measurement result is a measurement result of the first device on the fourth measurement frame;

[0069] The second device determines the distance between the first device and the second device according to the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result.

[0070] In an embodiment of the present application, a ranging method is provided. A first device and a second device exchange measurement frames on at least two frequencies. For example, the second device receives a first measurement frame sent by the first device on a first frequency and sends a second measurement frame to the first device. It also receives a third measurement frame sent by the first device on a second frequency and sends a fourth measurement frame to the first device. The second frequency is different from the first frequency, and the second and fourth measurement frames are used by the first device to obtain a first measurement result and a third measurement result, respectively. The second device obtains a second measurement result based on the received first measurement frame, obtains a fourth measurement result based on the received third measurement frame, and receives the first and third measurement results from a fourth device. The second device calculates a ranging result based on the first, second, third, and fourth measurement results to determine the distance between the first and second devices. The fourth device can be the first device or a device other than the first device, and this application does not limit this. The fourth device can be the first device, configured to obtain the first and third measurement results and send them to the second device or a forwarding device; or the fourth device can be a forwarding device, configured to forward the first and third measurement results to the second device, and this application does not limit this. When the first device and the second device switch from the first frequency point to the second frequency point, a random initial phase is generated, which results in the first measurement result and the third measurement result cannot be directly coherently combined, and the second measurement result and the fourth measurement result cannot be directly coherently combined. The first measurement result and the second measurement result are combined to obtain a joint measurement result of the first frequency point, and the joint measurement result of the first frequency point is not affected by the initial phase of the first device and the second device at the first frequency point; the third measurement result and the fourth measurement result are combined to obtain a joint measurement result of the second frequency point, and the joint measurement result of the second frequency point is also not affected by the initial phase of the first device and the second device at the second frequency point. Therefore, the joint measurement result of the first frequency point and the joint measurement result of the second frequency point are not affected by the random initial phase caused by the device switching frequency point, and can be coherently combined. When calculating the ranging result, a bandwidth larger than the measurement frame bandwidth of a single frequency point can be used to calculate the ranging result, thereby obtaining a more accurate ranging result and improving the ranging accuracy.

[0071] In a possible implementation, the first frequency point and the second frequency point are adjacent frequency points in a usage time sequence, the first frequency point belongs to a first frequency point set, the second frequency point belongs to a second frequency point set, and the first frequency point set consists of the first frequency point and the second frequency point set.

[0072] In an embodiment of the present application, a possible specific implementation method for obtaining a first frequency point and a second frequency point is provided, specifically, the first frequency point and the second frequency point are two frequency points adjacent in the order of use time, that is, the first device and the second device first exchange measurement frames on the first frequency point, and then exchange measurement frames on the second frequency point, and in the time between the two measurement frame exchanges, no measurement frame exchanges are conducted on other frequency points other than the first frequency point and the second frequency point. It should be understood that the use here refers to the exchange of measurement frames between the first device and the second device, and the first frequency point and the second frequency point are adjacent in the order of use time. It does not exclude the situation that the first device and the second device exchange non-measurement frames on other frequency points in the time between the above two measurement frame exchanges, such as the exchange of frames used to transmit service data, measurement results, signaling, etc. but not used for ranging measurement; it also does not exclude the situation that in the time between the above two measurement frame exchanges, other devices other than the first device and the second device exchange frames of any type at any frequency point. A first frequency point is obtained from a first frequency point set, and a second frequency point is obtained from a second frequency point set. The difference between the first frequency point set and the second frequency point set is that the first frequency point is included in the first frequency point, while the second frequency point set does not include the first frequency point. It can be understood that the second frequency point set is a frequency point set obtained by removing the first frequency point from the first frequency point set. Through the embodiment of the present application, based on the fact that the first frequency point and the second frequency point are two frequency points adjacent in time sequence, it is possible to avoid repeatedly using the same frequency point during the measurement period, thereby shortening the measurement time of the ranging. If there is relative motion between the first device and the second device, shortening the ranging measurement time can reduce the change in the relative position between the first device and the second device during the measurement period, thereby obtaining a more accurate ranging result and improving the ranging accuracy. In addition, for the first device and the second device, due to the non-ideal nature of the clock, the device clock frequency will drift over time. The longer the measurement time, the more serious the drift. Shortening the ranging measurement time can reduce the range of device clock frequency drift during the measurement period, suppress the impact of clock drift on the ranging result, and improve the ranging accuracy.

[0073] In one possible implementation, the method further includes:

[0074] The second device determines the first frequency point in the first frequency point set in a pseudo-random manner according to the first random seed;

[0075] The second device determines the second frequency point in the second frequency point set in a pseudo-random manner according to a second random seed.

[0076] In an embodiment of the present application, a possible specific implementation method for determining a first frequency point and a second frequency point is provided. Specifically, the frequency point to be used is determined in a pseudo-random manner in a corresponding frequency point set based on a random seed. The first random seed used to determine the first frequency point and the second random seed used to determine the second frequency point can be the same random seed or different random seeds. Through the embodiment of the present application, the frequency point is determined in a pseudo-random manner based on the random seed, so that the determined frequency point has randomness, reduces the probability of mutual interference caused by using the same time-frequency resources when sharing the spectrum with other devices, and improves ranging performance.

[0077] In one possible implementation, the method further includes:

[0078] The second device generates and sends the first random seed and / or the second random seed;

[0079] or,

[0080] The second device receives the first random seed and / or the second random seed.

[0081] In the embodiments of the present application, several possible specific implementation methods for obtaining the first random seed and / or the second random seed are provided, specifically: 1. The second device generates and sends the first random seed and / or the second random seed to the first device; 2. The second device generates and sends the first random seed and / or the second random seed to other devices, and the other devices then forward the first random seed and / or the second random seed to the first device; 3. The second device can also receive the first random seed and / or the second random seed from the first device; 4. The second device receives the first random seed and / or the second random seed from other devices, before which the first random seed and / or the second random seed of the other device is generated by the first device and sent to the other device; 5. The other device generates the first random seed and / or the second random seed and sends it to the first device and the second device. Using any of the above methods, the first device and the second device use the same first random seed when selecting the first frequency point, and use the same second random seed when selecting the second frequency point. Therefore, the first device and the second device will select the same first frequency point and the same second frequency point, avoiding frequency point selection errors.

[0082] In one possible implementation, the method further includes:

[0083] The second device obtains a second measurement result based on the first measurement frame; wherein the second measurement result includes the phase information or the in-phase component and quadrature component IQ information of the single-frequency sinusoidal wave signal contained in the first measurement frame at the second moment, or the phase information or IQ information of the single-frequency sinusoidal wave signal contained in the first measurement frame at the second moment according to the single-frequency sinusoidal wave model extension signal, and the second measurement result is used for ranging.

[0084] In an embodiment of the present application, a possible specific implementation method for obtaining a second measurement result is provided. Specifically, a second device measures a first measurement frame and obtains a second measurement result, wherein the second measurement result includes phase information or in-phase and quadrature component IQ information of a single-frequency sinusoidal wave contained in the first measurement frame at a second moment, or alternatively, the second measurement result includes phase information or in-phase and quadrature component IQ information of a signal extended according to a single-frequency sinusoidal wave model contained in the first measurement frame at a second moment. Ranging based on phase information or IQ information containing phase information can achieve higher ranging accuracy than traditional amplitude-based ranging methods.

[0085] In one possible implementation, the method further includes:

[0086] The second device determines a second timing offset value, where the second timing offset value represents a timing offset of the second device relative to the first measurement frame;

[0087] The second device determines the second moment according to the second timing offset value.

[0088] In an embodiment of the present application, a possible specific implementation method for determining the second moment is provided. Specifically, the second device determines a second timing deviation value, and determines the second moment based on the second timing deviation value, wherein the second timing deviation value represents the timing deviation of the second device relative to the first measurement frame. By correcting the moment corresponding to the phase information or IQ information based on the measured timing deviation, the influence of the timing and frequency differences between the clocks of the first and second devices on the ranging results can be suppressed, thereby improving ranging accuracy.

[0089] In a possible implementation manner, the second moment satisfies: T2=t0+t2 / 2; wherein t0 represents the reference moment, t2 represents the second timing offset value, and T2 represents the second moment.

[0090] In an embodiment of the present application, a possible specific implementation method for determining the second moment is provided, specifically, the second moment must satisfy t0+t2 / 2, wherein t0 represents the reference moment and t2 represents the second timing deviation value. Correspondingly, the first device also adopts a similar method to determine the first moment, and the difference between the real time corresponding to the first moment of the first device clock and the real time corresponding to the second moment of the second device clock is mainly related to the measurement error of the first timing deviation value and the second timing deviation value, and has nothing to do with the timing deviation between the first device clock and the second device clock. The joint measurement result of the first frequency point obtained by combining the first measurement result and the second measurement result is not affected by the timing deviation between the first device clock and the second device clock, thereby suppressing the influence of the timing deviation between the first device clock and the second device clock on the ranging result, thereby improving the ranging accuracy.

[0091] In a possible implementation, determining the second timing offset value includes:

[0092] The second device determines the second timing offset value by measuring the signal in the first measurement frame.

[0093] In an embodiment of the present application, a possible specific implementation method for determining a second timing deviation value is provided. Specifically, the second device determines the second timing deviation value by measuring a signal in a first measurement frame. Alternatively, the second device may also determine the second timing deviation value by measuring other signals sent by the first device, where the other signals may include signals in other measurement frames or signals in other non-measurement frames. The second timing deviation value determined by the embodiment of the present application can correct the timing deviation, reduce the difference in timing and frequency between the clocks of the first device and the second device, and reduce the impact on the measurement results of the measurement frame, thereby reducing the error in the ranging result and improving the ranging accuracy.

[0094] In one possible implementation, the method further includes:

[0095] The second device sends a first message and / or receives the first message, where the first message is used to indicate the reference time;

[0096] or,

[0097] The reference time is a preconfigured or predefined time.

[0098] In an embodiment of the present application, a possible specific implementation method for determining a reference time is provided, specifically, a second device receives a first message and / or sends a first message, and determines the reference time based on information indicated by the first message, or the reference time is a time pre-configured for the second device (and the first device) or pre-defined by a protocol. Through the embodiment of the present application, the first device and the second device use the same agreed reference time to determine the measurement time, which can suppress the impact of the timing and frequency differences between the clocks of the first device and the second device on the measurement results of the measurement frame, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0099] In one possible implementation, the method further includes:

[0100] The second device sends a second message, and / or receives the second message, where the second message is used to indicate a reference value; or the reference value is a preconfigured or predefined value;

[0101] The reference time is determined according to the reference value and a second frequency deviation value, wherein the second frequency deviation value represents a frequency deviation of the second device relative to the first measurement frame.

[0102] In an embodiment of the present application, several possible specific implementation methods for determining the reference moment are provided, specifically, the second device receives the second message and / or sends the second message, and determines the reference moment based on the second frequency deviation value and the reference value indicated by the second message, wherein the second frequency deviation value represents the frequency deviation of the second device relative to the first measurement frame. Through the embodiment of the present application, the first device and the second device use the same reference value as agreed upon, and the second device determines the reference moment based on the frequency deviation and the reference value to correct the influence of the timing deviation caused by the frequency deviation on the reference moment over time, and then determines the measurement moment by the reference moment, which can suppress the influence of the timing and frequency differences between the clocks of the first device and the second device on the measurement results of the measurement frame, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0103] In a possible implementation manner, the reference moments corresponding to different frequency points are the same or different, and / or the reference values ​​corresponding to different frequency points are the same or different.

[0104] In a possible implementation, when the first device and / or the second device uses multiple antennas, the reference times used by different antenna combinations at the same frequency are the same or different, and / or the reference values ​​used by different antenna combinations at the same frequency are the same or different.

[0105] Among them, different antenna combinations include but are not limited to: antenna combination one (transmitting antenna 1 of the first device and receiving antenna 2 of the second device), and / or, antenna combination two (receiving antenna 1 of the first device and transmitting antenna 2 of the second device), etc., and the embodiments of the present application are not limited to this.

[0106] In a possible implementation, the single-frequency sinusoidal wave signal included in the second measurement frame includes at least two symbols, each of the at least two symbols is modulated by a second constellation diagram according to a second sequence, the second sequence is a sequence consisting of M bits, and the value of M corresponds to the modulation mode of the second constellation diagram.

[0107] In an embodiment of the present application, a possible specific implementation method for obtaining a second measurement frame is provided, specifically, the single-frequency sinusoidal signal included in the second measurement frame includes at least two symbols, each of the at least two symbols is obtained by modulation according to a second sequence through a second constellation diagram. The second sequence is a sequence consisting of M bits, and the value of M corresponds to the modulation mode of the second constellation diagram. For example, the M value corresponding to the modulation mode of binary phase shift keying (BPSK) is 1, the M value corresponding to the modulation mode of quadrature phase shift keying (QPSK) is 2, and the M value corresponding to the modulation mode of eight-phase phase shift keying (8PSK) is 3. In the embodiment of the present application, the single-frequency sinusoidal signal in the second measurement frame uses the same modulation mode as other signals, avoiding the additional implementation complexity and additional time overhead caused by switching the modulation mode, thereby shortening the second measurement frame or increasing the time length of the signal used for measurement in the second measurement frame, such as the length of the single-frequency sinusoidal signal. The shortening of the measurement frame length can further shorten the interval between the transmission of the single-frequency sinusoidal signal and the total measurement time of the ranging between the first device and the second device. Considering clock non-ideality, the ranging error caused by the clock frequency offset between the first and second devices is related to the interval between the transmission of single-frequency sinusoidal signals. Given the same frequency offset, the larger the interval, the greater the error. Shortening the interval between the transmission of single-frequency sinusoidal signals can mitigate the impact of the clock frequency offset on the ranging result. If there is relative motion between the first and second devices, shortening the total ranging measurement time can reduce the change in relative position between the first and second devices during the measurement, thereby obtaining more accurate ranging results and improving ranging accuracy. Furthermore, due to clock non-ideality, the clock frequencies of the first and second devices drift over time. Longer measurement times increase the severity of the drift. Shortening the total ranging measurement time can reduce the extent of device clock frequency drift during the measurement, mitigate the impact of clock drift on ranging results, and improve ranging accuracy. Increasing the duration of the signal used for measurement in the second measurement frame can improve the accuracy of the second measurement result obtained by the second device using the first measurement frame, thereby improving ranging accuracy.

[0108] In a possible implementation manner, the third symbol is obtained by modulating the second sequence through the second constellation diagram;

[0109] The third symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the second measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the second measurement frame.

[0110] In an embodiment of the present application, a possible specific implementation method for obtaining a second measurement frame is provided, specifically, the third symbol contained in the second measurement frame, like the at least two symbols contained in the single-frequency sinusoidal wave signal in the second measurement frame, is also obtained by modulation according to the second sequence and through the second constellation diagram. The third symbol includes a symbol that is located before the single-frequency sinusoidal wave signal and adjacent to the single-frequency sinusoidal wave signal in the second measurement frame, and / or the first symbol that is located after the single-frequency sinusoidal wave signal in the second measurement frame. Through the embodiment of the present application, the single-frequency sinusoidal wave signal and the symbols adjacent to it on both sides of the boundary are mapped in the same sequence and use the same constellation diagram, which can avoid the measurement frame from suddenly changing at the boundary, thereby suppressing the signal distortion caused by the boundary, improving the accuracy of the measurement result of the measurement frame, and thus improving the ranging accuracy.

[0111] In a possible implementation manner, the single-frequency sinusoidal wave signal included in the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained by Gaussian frequency shift keying (GFSK) modulation according to the second bit;

[0112] A fourth symbol is obtained according to the second bit and through the GFSK modulation;

[0113] The fourth symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the second measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the second measurement frame.

[0114] In an embodiment of the present application, a possible specific implementation for obtaining a second measurement frame is provided. Specifically, the single-frequency sinusoidal signal included in the second measurement frame includes at least two symbols, each of which is modulated using Gaussian frequency shift keying (GFSK) based on the second bit. Compared to the current measurement frame structure design that uses the "preamble sequence + synchronization sequence + data + single-frequency sinusoidal" structure used in the prior art, the second measurement frame obtained through the embodiment of the present application does not include measurement result data or service data. This can shorten the interval between the transmission of the single-frequency sinusoidal signal between the first and second devices or increase the length of the single-frequency sinusoidal signal used for measurement, thereby reducing measurement frame measurement result errors caused by timing and frequency differences between the clocks of the first and second devices, thereby reducing ranging result errors and improving ranging accuracy. Furthermore, the fourth symbol included in the second measurement frame, like the at least two symbols included in the single-frequency sinusoidal signal in the second measurement frame, is also modulated using Gaussian frequency shift keying (GFSK) based on the second bit. The fourth symbol includes a symbol located before and adjacent to the single-frequency sine wave signal in the second measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the second measurement frame. Through the embodiments of the present application, the single-frequency sine wave signal and the symbols adjacent to it on both sides of the boundary are mapped to the same bits and use the same modulation method, which can avoid sudden changes in the measurement frame at the boundary, thereby suppressing signal distortion caused by the boundary, improving the accuracy of the measurement frame measurement results, and thus improving ranging accuracy.

[0115] In one possible implementation, the method further includes:

[0116] The second device sends a ranging result, where the ranging result includes distance information between the first device and the second device.

[0117] In an embodiment of the present application, a possible specific implementation method of ranging is provided, specifically,

[0118] After the second device calculates the distance based on the received first measurement result to obtain the distance measurement result, the second device sends the distance measurement result, which may be sent to a fourth device. The fourth device may be the first device, configured to measure the received second measurement frame to obtain the first measurement result and send it to the second device, or may be another device that does not have the ability to perform distance calculation. The distance measurement result includes distance information between the first device and the second device.

[0119] In a third aspect, an embodiment of the present application provides a communication device, which includes a module or unit for executing the method as described in the first aspect or any one of the second aspects.

[0120] In one possible design, the communication device includes:

[0121] a transceiver unit, configured to send a first measurement frame to a second device at a first frequency, and receive a second measurement frame sent by the second device at the first frequency;

[0122] The transceiver unit is further configured to send a third measurement frame to the second device at a second frequency, and receive a fourth measurement frame sent by the second device at the second frequency; wherein the second frequency is different from the first frequency;

[0123] a processing unit, configured to obtain a first measurement result according to the second measurement frame;

[0124] The processing unit is further configured to obtain a third measurement result according to the fourth measurement frame;

[0125] The transceiver unit is further configured to send the first measurement result and the third measurement result to a third device, where the first measurement result and the third measurement result are used for ranging.

[0126] In a possible implementation, the first frequency point and the second frequency point are adjacent frequency points in a usage time sequence, the first frequency point belongs to a first frequency point set, the second frequency point belongs to a second frequency point set, and the first frequency point set consists of the first frequency point and the second frequency point set.

[0127] In a possible implementation, the processing unit is further configured to determine the first frequency point in the first frequency point set in a pseudo-random manner according to a first random seed;

[0128] The processing unit is further configured to determine the second frequency point in the second frequency point set in a pseudo-random manner according to a second random seed.

[0129] In a possible implementation, the processing unit is further configured to generate and send the first random seed and / or the second random seed via the transceiver unit;

[0130] or,

[0131] The transceiver unit is further configured to receive the first random seed and / or the second random seed.

[0132] In one possible embodiment, the first measurement result includes the phase information or the in-phase component and quadrature component IQ information of the single-frequency sinusoidal wave signal contained in the second measurement frame at the first moment, or the phase information or IQ information of the single-frequency sinusoidal wave signal contained in the second measurement frame at the first moment extended according to the single-frequency sinusoidal wave model.

[0133] In a possible implementation, the processing unit is further configured to determine a first timing offset value, where the first timing offset value represents a timing offset of the communication device relative to the second measurement frame;

[0134] The processing unit is further configured to determine the first moment according to the first timing offset value.

[0135] In a possible implementation manner, the first moment satisfies: T1=t0+t1 / 2; wherein t0 represents a reference moment, t1 represents the first timing deviation value, and T1 represents the first moment.

[0136] In a possible implementation manner, the processing unit is specifically configured to determine the first timing offset value by measuring a signal in the second measurement frame.

[0137] In a possible implementation, the transceiver unit is further configured to receive a first message and / or send the first message, where the first message is used to indicate the reference time;

[0138] or,

[0139] The reference time is a preconfigured or predefined time.

[0140] In a possible implementation, the transceiver unit is further configured to receive a second message and / or send the second message, where the second message is used to indicate a reference value; or the reference value is a preconfigured or predefined value;

[0141] The processing unit is further configured to determine the reference time according to the reference value and a first frequency deviation value, wherein the first frequency deviation value represents a frequency deviation of the communication device relative to the second measurement frame.

[0142] In a possible implementation, the single-frequency sinusoidal wave signal included in the first measurement frame includes at least two symbols, each of the at least two symbols is modulated by a first constellation diagram according to a first sequence, the first sequence is a sequence consisting of N bits, and the value of N corresponds to the modulation mode of the first constellation diagram.

[0143] In a possible implementation, the first symbol is obtained by modulating the first sequence through the first constellation diagram;

[0144] The first symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the first measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the first measurement frame.

[0145] In a possible implementation manner, the single-frequency sinusoidal wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained by Gaussian frequency shift keying (GFSK) modulation according to the first bit;

[0146] The second symbol is obtained according to the first bit and through the GFSK modulation;

[0147] The second symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the first measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the first measurement frame.

[0148] In a possible implementation, the transceiver unit is further configured to receive a distance measurement result, where the distance measurement result includes distance information between the communication apparatus and the second device.

[0149] Regarding the technical effects brought about by the third aspect and any possible implementation method, please refer to the introduction of the technical effects corresponding to the first aspect and the corresponding implementation method.

[0150] In another possible design, the communication device includes:

[0151] a transceiver unit, configured to receive a first measurement frame sent by a first device at a first frequency point, and send a second measurement frame to the first device at the first frequency point;

[0152] The transceiver unit is further configured to receive a third measurement frame sent by the first device at a second frequency, and send a fourth measurement frame to the first device at the second frequency; wherein the second frequency is different from the first frequency;

[0153] a processing unit, configured to obtain a second measurement result according to the first measurement frame;

[0154] The processing unit is further configured to obtain a fourth measurement result according to the third measurement frame;

[0155] The transceiver unit is further configured to receive a first measurement result and a third measurement result from a fourth device, where the first measurement result is a measurement result of the first device on the second measurement frame, and the third measurement result is a measurement result of the first device on the fourth measurement frame;

[0156] The processing unit is further configured to determine a distance between the first device and the communication apparatus according to the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result.

[0157] In a possible implementation, the first frequency point and the second frequency point are adjacent frequency points in a usage time sequence, the first frequency point belongs to a first frequency point set, the second frequency point belongs to a second frequency point set, and the first frequency point set consists of the first frequency point and the second frequency point set.

[0158] In a possible implementation manner, the processing unit is further configured to determine the first frequency point in the first frequency point set in a pseudo-random manner according to a first random seed;

[0159] The processing unit is further configured to determine the second frequency point in the second frequency point set in a pseudo-random manner according to a second random seed.

[0160] In a possible implementation, the processing unit is further configured to generate and send the first random seed and / or the second random seed via the transceiver unit;

[0161] or,

[0162] The transceiver unit is further configured to receive the first random seed and / or the second random seed.

[0163] In one possible embodiment, the processing unit is further used to obtain a second measurement result based on the first measurement frame; wherein the second measurement result includes the phase information or the in-phase component and quadrature component IQ information of the single-frequency sinusoidal wave signal contained in the first measurement frame at the second moment, or the phase information or IQ information of the single-frequency sinusoidal wave signal contained in the first measurement frame at the second moment according to the single-frequency sinusoidal wave model extension signal, and the second measurement result is used for ranging.

[0164] In a possible implementation, the processing unit is further configured to determine a second timing offset value, where the second timing offset value represents a timing offset of the communication device relative to the first measurement frame;

[0165] The processing unit is further configured to determine the second moment according to the second timing offset value.

[0166] In a possible implementation manner, the second moment satisfies: T2=t0+t2 / 2; wherein t0 represents the reference moment, t2 represents the second timing offset value, and T2 represents the second moment.

[0167] In a possible implementation manner, the processing unit is specifically configured to determine the second timing offset value by measuring a signal in the first measurement frame.

[0168] In a possible implementation, the transceiver unit is further configured to send a first message and / or receive the first message, where the first message is used to indicate the reference time;

[0169] or,

[0170] The reference time is a preconfigured or predefined time.

[0171] In a possible implementation, the transceiver unit is further configured to send a second message and / or receive the second message, where the second message is used to indicate a reference value; or the reference value is a preconfigured or predefined value;

[0172] The processing unit is further configured to determine the reference time according to the reference value and a second frequency offset value, wherein the second frequency offset value represents a frequency offset of the communication device relative to the first measurement frame.

[0173] In a possible implementation, the single-frequency sinusoidal wave signal included in the second measurement frame includes at least two symbols, each of the at least two symbols is modulated by a second constellation diagram according to a second sequence, the second sequence is a sequence consisting of M bits, and the value of M corresponds to the modulation mode of the second constellation diagram.

[0174] In a possible implementation manner, the third symbol is obtained by modulating the second sequence through the second constellation diagram;

[0175] The third symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the second measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the second measurement frame.

[0176] In a possible implementation manner, the single-frequency sinusoidal wave signal included in the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained by Gaussian frequency shift keying (GFSK) modulation according to the second bit;

[0177] A fourth symbol is obtained according to the second bit and through the GFSK modulation;

[0178] The fourth symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the second measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the second measurement frame.

[0179] In a possible implementation, the transceiver unit is further configured to send a ranging result, where the ranging result includes distance information between the first device and the second device.

[0180] Regarding the technical effects brought about by the third aspect and any possible implementation method, please refer to the introduction of the technical effects corresponding to the second aspect and the corresponding implementation method.

[0181] In a fourth aspect, embodiments of the present application provide a communication device comprising a processor. The processor is coupled to a memory and can be configured to execute instructions in the memory to implement the method of any of the first and second aspects described above and any possible implementation methods. Optionally, the communication device further comprises a memory. Optionally, the communication device further comprises a communication interface, the processor being coupled to the communication interface.

[0182] In a fifth aspect, embodiments of the present application provide a communication device, comprising: a logic circuit and a communication interface. The communication interface is configured to receive or send information; the logic circuit is configured to receive or send information via the communication interface, so that the communication device executes the method of any of the first and second aspects above, and any possible implementation thereof.

[0183] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium for storing a computer program (also referred to as code, or instructions); when the computer program runs on a computer, the method of any one of the above-mentioned first to second aspects and any possible implementation method is implemented.

[0184] In the seventh aspect, an embodiment of the present application provides a computer program product, which includes: a computer program (also referred to as code, or instructions); when the computer program is run, it enables the computer to execute any one of the above-mentioned first to second aspects and any possible implementation method.

[0185] In an eighth aspect, an embodiment of the present application provides a chip, comprising a processor configured to execute instructions. When the processor executes the instructions, the chip performs the method of any one of the first and second aspects and any possible implementation methods described above. Optionally, the chip further comprises a communication interface configured to receive or send signals.

[0186] In the ninth aspect, an embodiment of the present application provides a vehicle end, which includes at least one communication device as described in the third aspect, or the communication device as described in the fourth aspect, or the communication device as described in the fifth aspect, or the chip as described in the eighth aspect.

[0187] In the tenth aspect, an embodiment of the present application provides a system, which includes a vehicle end and at least one communication device as described in the third aspect, or the communication device as described in the fourth aspect, or the communication device as described in the fifth aspect, or the chip as described in the eighth aspect.

[0188] In addition, in the process of executing the method described in the first aspect and any possible embodiment, or the method described in the second aspect and any possible embodiment, the process of sending information and / or receiving information in the above method can be understood as the process of the processor outputting information, and / or the process of the processor receiving input information. When outputting information, the processor can output the information to the transceiver (or communication interface, or sending module) so that it can be transmitted by the transceiver. After the information is output by the processor, it may also need to undergo other processing before it reaches the transceiver. Similarly, when the processor receives input information, the transceiver (or communication interface, or sending module) receives the information and inputs it into the processor. Furthermore, after the transceiver receives the information, the information may need to undergo other processing before it is input into the processor.

[0189] Based on the above principles, for example, the sending of information mentioned in the above method can be understood as the processor outputting information. For another example, the receiving of information can be understood as the processor receiving input information.

[0190] Optionally, for the operations such as emission, sending and receiving involved in the processor, if there is no special explanation, or if they do not conflict with their actual functions or internal logic in the relevant descriptions, they can be more generally understood as processor output, reception, input and other operations.

[0191] Optionally, in the process of executing the method described in the first aspect and any possible embodiment, or the method described in the second aspect and any possible embodiment, the processor may be a processor specifically used to execute these methods, or a processor that executes these methods by executing computer instructions in a memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as a read-only memory (ROM), which may be integrated with the processor on the same chip or may be separately provided on different chips. The embodiments of the present application do not limit the type of memory and the configuration of the memory and the processor.

[0192] In a possible implementation, the at least one memory is located outside the device.

[0193] In yet another possible implementation, the at least one memory is located within the device.

[0194] In another possible implementation, part of the at least one memory is located inside the device, and another part of the memory is located outside the device.

[0195] In this application, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

[0196] In the embodiment of the present application, the joint measurement result based on the first frequency point and the joint measurement result based on the second frequency point are not affected by the random initial phase caused by the device switching the frequency point, and can be coherently combined. When calculating the ranging result, a bandwidth larger than the measurement frame bandwidth of a single frequency point can be used to calculate the ranging result, thereby obtaining a more accurate ranging result and improving the ranging accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0197] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0198] FIG1 is a schematic diagram of a bilateral measurement provided in an embodiment of the present application;

[0199] FIG2 is a schematic diagram of the architecture of a communication system provided in an embodiment of the present application;

[0200] FIG3 is a flow chart of a distance measurement method according to an embodiment of the present application;

[0201] FIG4 is a flow chart of another ranging method provided in an embodiment of the present application;

[0202] FIG5 is a flow chart of another ranging method provided in an embodiment of the present application;

[0203] FIG6 is a flow chart of a frequency hopping algorithm provided in an embodiment of the present application;

[0204] FIG7 is a schematic diagram of a bilateral measurement provided in an embodiment of the present application;

[0205] FIG8 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0206] FIG9 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0207] FIG10 is a schematic diagram of the structure of a chip provided in an embodiment of the present application. DETAILED DESCRIPTION

[0208] In order to make the purpose, technical solutions and advantages of this application clearer, the embodiments of this application will be described below in conjunction with the drawings in the embodiments of this application.

[0209] The terms "first" and "second" in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. 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 that are not listed, or may optionally include other steps or units that are inherent to the process, method, product, or device.

[0210] The “embodiment” mentioned herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It can be understood explicitly and implicitly by those skilled in the art that in the various embodiments of the present application, unless otherwise specified and there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment according to their inherent logical relationship.

[0211] It should be understood that in the present application, "at least one (item)" refers to one or more, "more than one" refers to two or more, "at least two (items)" refers to two or three and more than three, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0212] This application provides a distance measurement method. In order to more clearly describe the solution of this application, some knowledge related to distance measurement is first introduced below.

[0213] Frequency: The center frequency of a transmitted signal. Devices with frequency hopping can use the same or different frequencies between two different transmissions. The frequency can be indicated as an absolute frequency or a number representing that absolute frequency.

[0214] Using communication equipment to transmit ranging signals to achieve ranging is an important means of solving ranging and positioning problems. Ranging accuracy is closely related to the bandwidth covered by the ranging signals that can be coherently combined. The wider the bandwidth covered by the ranging signals, the higher the ranging accuracy.

[0215] Frequency hopping is used for ranging, and a single transmission occupies a smaller bandwidth. However, ranging accuracy cannot meet the required requirements. Frequency hopping can expand the bandwidth covered by the ranging signal. However, each frequency hop causes the device clock to generate a random phase, making it impossible to directly combine ranging signals at different frequencies received by the device.

[0216] To solve the random phase problem caused by the above-mentioned frequency hopping, the random phase of the device clock caused by frequency hopping can be eliminated through bilateral measurement, so that the ranging signals at different frequencies can be coherently combined to obtain higher ranging accuracy.

[0217] For a specific bilateral measurement process, please refer to FIG1 , which is a schematic diagram of a possible bilateral measurement provided in an embodiment of the present application.

[0218] As shown in Figure 1, bilateral measurement refers to a first device sending a first measurement frame at each frequency hopping frequency. The first measurement frame includes a single-frequency sinusoidal signal. The second device receives the first measurement frame and measures the in-phase and quadrature phase (IQ) values ​​(or amplitude and phase information) of the single-frequency sinusoidal signal in the first measurement frame at the second moment. Alternatively, the IQ value (or amplitude and phase information) of the single-frequency sinusoidal signal in the first measurement frame is extended according to a single-frequency sinusoidal model at the second moment. In actual processing, the IQ value can also be calculated using algorithms such as parameter estimation without extending the single-frequency sinusoidal signal. The second device then sends a second measurement frame, which includes a single-frequency sinusoidal signal. The first device receives the second measurement frame and measures the IQ value (or amplitude, phase information) of the single-frequency sinusoidal signal in the second measurement frame at the first moment, or extends the IQ value (or amplitude, phase information) of the single-frequency sinusoidal signal in the second measurement frame at the first moment according to a single-frequency sinusoidal model. In actual processing, the IQ value can also be calculated using an algorithm such as parameter estimation without extending the single-frequency sinusoidal signal. After a device (the first device, the second device, or another device) obtains the two measurement values ​​(e.g., via wired and / or wireless communication), it combines (e.g., simply multiplies) the two measurement values ​​to obtain a reference value for the frequency hopping frequency. The reference values ​​of multiple frequency hopping frequencies can be coherently combined for ranging to obtain distance information between the first device and the second device.

[0219] However, in actual measurements, timing and frequency differences between the clocks of different devices can lead to errors in ranging. Furthermore, in actual measurements, devices often move relative to each other, and changes in their relative positions during measurement can also lead to errors in ranging.

[0220] In response to the technical problems that the ranging error in the above-mentioned ranging method is large and the ranging accuracy needs to be improved, the embodiments of the present application provide a communication architecture for ranging, and based on this architecture, a new ranging method is proposed. The joint measurement result based on the first frequency point and the joint measurement result of the second frequency point are not affected by the random initial phase caused by the device switching frequency point, and can be coherently combined. When calculating the ranging result, a bandwidth larger than the measurement frame bandwidth of a single frequency point can be used to calculate the ranging result, thereby obtaining a more accurate ranging result and improving the ranging accuracy.

[0221] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0222] The method provided in this application can be applied to various communication systems, for example, the Internet of Things (IoT) system, the narrowband Internet of Things (NB-IoT) system, the long term evolution (LTE) system, the short-range wireless communication network system, such as the SparkLink communication network system, the fifth-generation (5G) communication system, and new communication systems (such as 6G) that will emerge in the future development of communications.

[0223] The technical solution provided in this application can also be applied to machine type communication (MTC), long term evolution-machine (LTE-M), device-to-device (D2D) network, machine-to-machine (M2M) network, Internet of Things (IoT) network or other networks. Among them, the IoT network may include, for example, the Internet of Vehicles. Among them, the communication mode in the Internet of Vehicles system is collectively referred to as vehicle-to-everything (V2X, X can represent anything). For example, the V2X may include: vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-pedestrian (V2P) communication or vehicle-to-network (V2N) communication, etc.

[0224] In the various communication systems described above, devices with communication capabilities can be referred to as nodes or communication nodes. For example, a node can include standalone devices such as handheld terminals, vehicles, onboard equipment, or network-side equipment, user equipment, access terminals, subscriber units, user stations, mobile stations, mobile stations, remote stations, remote terminals, wireless communication devices, user agents, or user devices. It can also be a component (such as a chip or integrated circuit) included in a standalone device. A node can be any possible intelligent terminal device (such as a mobile phone), intelligent transportation equipment (such as vehicles and drones), intelligent manufacturing equipment, or smart home devices (such as large screens and speakers).

[0225] The nodes in the embodiments of the present application can be applied to a variety of application scenarios, such as the following application scenarios: mobile internet (MI), industrial control, self-driving, transportation safety, Internet of Things (IoT), smart city, or smart home, etc.

[0226] In some application scenarios or certain network types, the name of a device with similar communication capabilities may not be called a node, and this application does not impose any restrictions on this.

[0227] For example, in FIG2 shown below, nodes can communicate with each other through D2D technology, M2M technology, or V2X technology.

[0228] Please refer to FIG2 , which is a schematic diagram of the architecture of a possible communication system provided in an embodiment of the present application.

[0229] As shown in FIG2 , the communication system may include at least one first node (eg, a base station) and at least one second node (eg, a UE).

[0230] The introductions to the first and second nodes are as follows:

[0231] Exemplarily, the first node may be a master device, specifically a next generation node B (gNB), a next generation evolved node B (ng-eNB), a node in a short-range wireless communication network system (for example, a master node or G node in a Star Flash communication network system), or an access network device in future 6G communications. The master device may be any device with wireless transceiver functions. The master device may be an access node, a wireless relay node, a wireless backhaul node, etc. in a wireless local area network (wireless fidelity, WiFi) system. The master device may be a wireless controller in a cloud radio access network (CRAN) scenario. The master device may be a wearable device or a vehicle-mounted device, etc. The master device may also be a small station, a transmission reception point (TRP) (or also referred to as a transmission point), etc.

[0232] Exemplarily, the second node may be a terminal device, which may also be referred to as user equipment (UE), a terminal, or the like. A terminal device is a device with wireless transceiver capabilities and can be deployed on land, including indoors or outdoors, handheld, wearable, or vehicle-mounted; on water, such as on a ship; or in the air, such as on an airplane, balloon, or satellite. The terminal device may be a mobile phone, a tablet computer, a computer with wireless transceiver capabilities, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical care, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, or the like. It can be understood that the terminal device can also be a node in a short-range wireless communication network system (for example, a slave node or T node in a Star Flash communication network system), a terminal device in a future 6G network, or a terminal device in a future evolved PLMN, etc.

[0233] It can be understood that the terminal device shown in this application can not only include vehicles in the Internet of Vehicles (such as complete vehicles), but also include vehicle-mounted devices or vehicle-mounted terminals in the Internet of Vehicles. This application does not limit the specific form of the terminal device when applied to the Internet of Vehicles.

[0234] It should be understood that Figure 2 exemplarily illustrates one base station and six UEs, as well as the communication links between the various communication devices. Optionally, the communication system may include multiple base stations, and each base station may include other numbers of UEs within its coverage area, such as more or fewer UEs, etc., which is not limited in this application.

[0235] Optionally, the communication links between the above-mentioned communication devices may include various types of connection media, including wired links (such as optical fibers), wireless links, or a combination of wired and wireless links. For example, the short-range connection technologies may include SparkLink, 802.11b / g, Bluetooth, Zigbee, radio frequency identification (RFID), ultra-wideband (UWB), or wireless short-range communication systems (such as vehicle-mounted wireless short-range communication systems).

[0236] Each of the aforementioned communication devices, such as the base station and UE1 to UE6 in Figure 2 , may be configured with multiple antennas. These multiple antennas may include at least one transmit antenna for sending signals and at least one receive antenna for receiving signals. The embodiments of this application do not limit the specific structure of each communication device. Optionally, the communication system may also include other network entities such as a network controller and a mobility management entity, but the embodiments of this application are not limited thereto.

[0237] It is understandable that the communication architecture diagram shown in Figure 2 is only an example. For other forms of communication architecture diagrams, please refer to relevant standards or protocols, etc., which will not be described in detail here.

[0238] It is understood that the ranging method provided in this application can be applied not only to the communication system shown in FIG2 , but also to other communication systems. The various embodiments shown below can be applied to the communication system shown in FIG2 , and will not be described in detail below.

[0239] Accordingly, the present application proposes a new ranging method based on the architecture of the above-mentioned communication system. The ranging method provided by the present application will be described in detail below with reference to FIG. 3 to FIG. 8 .

[0240] Please refer to Figure 3, which is a flow chart of a distance measurement method provided in an embodiment of the present application. The distance measurement method includes but is not limited to the following steps:

[0241] S301: A first device sends a first measurement frame to a second device at a first frequency. Correspondingly, the second device receives the first measurement frame sent by the first device at the first frequency.

[0242] S302: The second device sends a second measurement frame to the first device at the first frequency. Correspondingly, the first device receives the second measurement frame sent by the second device at the first frequency.

[0243] S303: The first device sends a third measurement frame to the second device at the second frequency point. Correspondingly, the second device receives the third measurement frame sent by the first device at the second frequency point.

[0244] S304: The second device sends a fourth measurement frame to the first device at the second frequency point. Correspondingly, the first device receives the fourth measurement frame sent by the second device at the second frequency point.

[0245] It is understandable that the execution order of the above steps S301, S302, S303 and S304 is not limited in the embodiment of the present application and is based on the actual scene interaction.

[0246] The above steps S301 to S304 can be understood as the first device and the second device interacting with measurement frames at at least two frequency points during the measurement process, such as the first device sending a first measurement frame to the second device at the first frequency point, and receiving the second measurement frame sent by the second device at the first frequency point; the first device sends a third measurement frame to the second device at the second frequency point, and receives the fourth measurement frame sent by the second device at the second frequency point; wherein the second frequency point is different from the first frequency point, the first measurement frame and the third measurement frame are respectively used by the second device to obtain the second measurement result and the fourth measurement result, and the second measurement frame and the fourth measurement frame are respectively used by the first device to obtain the first measurement result and the third measurement result.

[0247] It can be understood that the first device (and / or the second device) in the embodiment of the present application is a device equipped with a processor that can be used to execute computer-executable instructions. It can be a terminal device (such as a vehicle-mounted terminal), etc., or it can be a network device (such as a service base station), etc. Specifically, it can be the second node in Figure 2 above (such as any device from UE1 to UE6), or it can be the first node in Figure 2 above, which is used to execute the ranging method in the embodiment of the present application to reduce the ranging error and improve the ranging accuracy.

[0248] In a possible embodiment, the first frequency point and the second frequency point may be determined by, but not limited to, the following methods:

[0249] A first frequency point is obtained from the first frequency point set, and then a second frequency point is obtained from the second frequency point set.

[0250] The difference between the first frequency set and the second frequency set is that the first frequency set includes the first frequency, while the second frequency set does not include the first frequency. It can be understood that the second frequency set is the frequency set obtained by removing the first frequency from the first frequency set.

[0251] Furthermore, the first frequency point and the second frequency point are two frequencies that are adjacent in a usage time sequence. The term “adjacent in usage time sequence” may be understood as follows:

[0252] The first device and the second device first perform measurement frame interaction on the first frequency point, and then perform measurement frame interaction on the second frequency point, and in the time between the two measurement frame interactions, no measurement frame interaction is performed on other frequency points other than the first frequency point and the second frequency point. It should be understood that the use here refers to the interaction of measurement frames between the first device and the second device, and the first frequency point and the second frequency point are adjacent in the use time sequence. It does not exclude that in the time between the above two measurement frame interactions, the first device and the second device perform non-measurement frame interaction on other frequency points, such as the interaction for transmitting service data, measurement results, signaling, etc. but not for ranging measurement. It also does not exclude that in the time between the above two measurement frame interactions, other devices other than the first device and the second device interact with any type of frames at any frequency point.

[0253] Through the embodiments of the present application, based on the fact that the first frequency point and the second frequency point are two frequency points that are adjacent in time sequence, it is possible to avoid repeatedly using the same frequency point during the measurement period, thereby shortening the measurement time of the ranging. If there is relative motion between the first device and the second device, shortening the measurement time of the ranging can reduce the change in the relative position between the first device and the second device during the measurement period, thereby obtaining a more accurate ranging result and improving the ranging accuracy. In addition, for the first device and the second device, due to the non-ideality of the clock, the device clock frequency will drift over time. The longer the measurement time, the more serious the drift. Shortening the measurement time of the ranging can reduce the range of the device clock frequency drift during the measurement period, suppress the influence of the clock drift on the ranging result, and improve the ranging accuracy.

[0254] Optionally, the frequency point to be used may be determined in a pseudo-random manner in the corresponding frequency point set according to a random seed.

[0255] Illustratively, the first frequency point is determined in a pseudo-random manner in the first frequency point set according to the first random seed, and the second frequency point is determined in a pseudo-random manner in the second frequency point set according to the second random seed.

[0256] The first random seed used to determine the first frequency point and the second random seed used to determine the second frequency point may be the same random seed or different random seeds.

[0257] Through the embodiments of the present application, the frequency point is determined in a pseudo-random manner based on a random seed, so that the determined frequency point has randomness, which can reduce the probability of mutual interference caused by using the same time-frequency resources when sharing the spectrum with other devices, and improve ranging performance.

[0258] Optionally, the first device may obtain a random seed required for determining the frequency point in one of multiple ways.

[0259] Exemplary: Method 1. The first device generates a first random seed and / or a second random seed by itself and sends it to the second device; Method 2. The first device generates a first random seed and / or a second random seed by itself and sends it to another device, which then forwards the first random seed and / or the second random seed to the second device; Method 3. The first device receives the first random seed and / or the second random seed from the second device; Method 4. The first device receives the first random seed and / or the second random seed from the other device, prior to which the first random seed and / or the second random seed of the other device was generated by the second device and sent to the other device; Method 5. The other device generates a first random seed and / or a second random seed and sends it to the first device.

[0260] Correspondingly, the second device may also obtain the random seed required for determining the frequency point through one of multiple methods.

[0261] Exemplary: Method 1. The second device generates a first random seed and / or a second random seed by itself and sends it to the first device; Method 2. The second device generates a first random seed and / or a second random seed by itself and sends it to another device, which then forwards the first random seed and / or the second random seed to the first device; Method 3. The second device receives the first random seed and / or the second random seed from the first device; Method 4. The second device receives the first random seed and / or the second random seed from another device, before which the first random seed and / or the second random seed of the other device was generated by the first device and sent to the other device; Method 5. The other device generates a first random seed and / or a second random seed and sends it to the second device.

[0262] Through the embodiments of the present application, the first device and the second device use the same first random seed when selecting the first frequency point, and use the same second random seed when selecting the second frequency point. Therefore, the first device and the second device will select the same first frequency point and the same second frequency point, avoiding frequency selection errors.

[0263] S305: The first device obtains a first measurement result according to the second measurement frame.

[0264] S306: The first device obtains a third measurement result according to the fourth measurement frame.

[0265] Since the above steps S305 and S306 are similar, S305 will be taken as an example for description below. The execution process of S306 can be referred to S3065 and will not be repeated here.

[0266] The first device measures the second measurement frame to obtain a first measurement result.

[0267] In which, the first measurement result includes the phase information or the IQ information of the in-phase component and the quadrature component of the single-frequency sinusoidal wave contained in the second measurement frame at the first moment, or the first measurement result includes the phase information or the IQ information of the in-phase component and the quadrature component of the single-frequency sinusoidal wave contained in the second measurement frame at the first moment according to the single-frequency sinusoidal wave model extended signal. In actual processing, the IQ information can also be calculated through algorithms such as parameter estimation without extending the single-frequency sinusoidal wave signal.

[0268] According to the embodiments of the present application, ranging based on phase information or IQ information containing phase information can achieve higher ranging accuracy than traditional ranging methods based on amplitude.

[0269] In a possible implementation, to obtain the first measurement result, it is necessary to determine the first moment. The determination of the first moment may be achieved by, but not limited to, the following methods:

[0270] The first device determines a first timing offset value, and determines a first moment according to the first timing offset value.

[0271] The first timing deviation value represents the timing deviation of the first device relative to the second measurement frame.

[0272] Through the embodiments of the present application, by correcting the time corresponding to the phase information or IQ information based on the measured timing deviation, the influence of the timing and frequency differences between the clocks of the first device and the second device on the ranging result can be suppressed, thereby improving the ranging accuracy.

[0273] Optionally, the first device determines the first timing deviation value by measuring the signal in the second measurement frame.

[0274] Optionally, the first device may further determine the first timing offset value by measuring other signals sent by the second device, where the other signals may include signals in other measurement frames or signals in other non-measurement frames.

[0275] The first timing deviation value determined by the embodiment of the present application can correct the timing deviation, reduce the timing and frequency differences between the clocks of the first device and the second device, reduce the impact on the measurement results of the measurement frame, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0276] Exemplarily, the first moment satisfies T1=t0+t1 / 2.

[0277] Wherein, t0 represents the reference time, t1 represents the first timing deviation value, and T1 represents the first time.

[0278] The first moment is determined by the embodiment of the present application, and accordingly, the second device also uses a similar method to determine the second moment. Then, the difference between the real time corresponding to the first moment of the first device clock and the real time corresponding to the second moment of the second device clock is mainly related to the measurement error of the first timing deviation value and the second timing deviation value, and has nothing to do with the timing deviation between the clocks of the first device and the second device. The joint measurement result of the first frequency point obtained by combining the first measurement result and the second measurement result is not affected by the timing deviation between the clocks of the first device and the second device, thereby suppressing the influence of the timing deviation between the clocks of the first device and the second device on the ranging result, thereby improving the ranging accuracy.

[0279] Optionally, the reference time can be obtained by, but not limited to, the following methods:

[0280] Method 1: The first device receives a first message and / or sends a first message, and determines the reference time through information indicated by the first message.

[0281] Method 2: The first device receives and / or sends the second message, and determines the reference time according to the first frequency deviation value and the reference value indicated by the second message, wherein the first frequency deviation value represents the frequency deviation of the first device relative to the second measurement frame.

[0282] Method three: The reference time is a pre-configured or pre-defined time. Specifically, it can be a time pre-configured by the first device, a time pre-configured by other devices, or a time specified by the protocol. This embodiment of the present application does not limit this.

[0283] Method 4: The reference value is a preconfigured or predefined value. Specifically, it can be a reference value preconfigured by the first device, a reference value preconfigured by another device, or a reference value specified by a protocol. This embodiment of the present application is not limited to this. The first device determines the reference time based on the first frequency deviation value and the preconfigured or predefined reference value.

[0284] Correspondingly, the second moment satisfies T2=t0+t2 / 2.

[0285] Wherein, t0 represents the reference time, t2 represents the second timing deviation value, that is, represents the timing deviation of the second device relative to the first measurement frame, and T2 represents the second time.

[0286] The second moment is used to obtain a second measurement result based on the first measurement frame. The second measurement result includes phase information or IQ information of the in-phase and quadrature components of the single-frequency sine wave contained in the first measurement frame at the second moment. Alternatively, the second measurement result includes phase information or IQ information of the in-phase and quadrature components of the single-frequency sine wave contained in the first measurement frame at the second moment, which is extended according to a single-frequency sine wave model. In actual processing, the IQ information can also be calculated using algorithms such as parameter estimation without extending the single-frequency sine wave signal.

[0287] Through the embodiments of the present application, the first device and the second device use the same agreed reference value, and the first device determines the reference time based on the frequency deviation and the reference value to correct the influence of the timing deviation caused by the frequency deviation changing over time on the reference time. Then, the measurement time is determined based on the reference time, which can suppress the influence of the timing and frequency differences between the clocks of the first device and the second device on the measurement results of the measurement frame, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0288] In a possible implementation manner, the reference moments corresponding to different frequency points are the same or different, and / or the reference values ​​corresponding to different frequency points are the same or different.

[0289] In one possible embodiment, when the first device and / or the second device uses a multi-antenna interactive measurement frame, when different antenna combinations are used to interact with the measurement frame at the same frequency point, the reference time used is the same or different, and / or, when different antenna combinations are used to interact with the measurement frame at the same frequency point, the reference value used is the same or different.

[0290] Exemplarily, the first device uses antenna 1 and the second device uses antenna 2 to interact with measurement frames. At this time, antenna 1 of the first device and antenna 2 of the second device are an antenna combination; the first device uses transmitting antenna 3 to send measurement frames and uses receiving antenna 4 to receive measurement frames. The second device uses transmitting antenna 5 to send measurement frames and uses receiving antenna 6 to receive measurement frames. At this time, the transmitting antenna 3 and receiving antenna 4 of the first device, as well as the transmitting antenna 5 and receiving antenna 6 of the second device, are an antenna combination; and so on. The embodiments of the present application are not limited to this.

[0291] S307: The first device sends the first measurement result and the third measurement result to the third device. Correspondingly, the third device receives the first measurement result and the third measurement result sent by the first device.

[0292] The first measurement result and the third measurement result may be used to calculate distance information between the first device and the second device.

[0293] Optionally, the first device receives the ranging result.

[0294] Specifically, the third device may receive a ranging result sent by a third device, where the third device may be the second device, configured to calculate the ranging result based on the received first measurement result and the third measurement result, as well as the second measurement result and the fourth measurement result obtained by the third device itself, and send the calculated ranging result to the first device. The third device may also be another device capable of performing ranging calculations, and send the calculated ranging result to the first device, where the ranging result includes distance information between the first device and the second device.

[0295] It can be understood that the third device in the embodiment of the present application is a device equipped with a processor that can be used to execute computer-executable instructions. It can be a terminal device (such as a vehicle-mounted terminal), etc., or it can be a network device (such as a service base station), etc. Specifically, it can be the second node in Figure 2 above (such as any device from UE1 to UE6), or it can be the first node in Figure 2 above, which is used to execute the ranging method in the embodiment of the present application to reduce the ranging error and improve the ranging accuracy.

[0296] It is understandable that the third device in the embodiment of the present application may be the second device or other devices. Different situations of the third device are described below:

[0297] Case 1:

[0298] When the third device and the second device are the same device, this is equivalent to the first device obtaining a first measurement result based on a second measurement frame sent by the second device at the first frequency, and sending the first measurement result to the second device (i.e., the third device). The first device obtains a third measurement result based on a fourth measurement frame sent by the second device at the second frequency, and sends the third measurement result to the second device (i.e., the third device). Accordingly, the second device receives the first and third measurement results sent by the first device, and the first and third measurement results are used by the second device to perform ranging calculations.

[0299] Optionally, the second device (ie, the third device) obtains a ranging result according to the received first measurement result, the third measurement result, and / or other measurement results.

[0300] Among them, the ranging result includes the distance information between the first device and the second device, and the other measurement results may include the second measurement result obtained by the second device based on the first measurement frame sent by the first device at the first frequency point, and the fourth measurement result obtained by the second device based on the third measurement frame sent by the first device at the second frequency point. It may also include the measurement result obtained by the second device based on the measurement frame sent by the first device at other frequency points, and may also include the measurement result obtained by the first device based on the measurement frame sent by the second device at other frequency points. The embodiment of the present application is not limited to this.

[0301] Optionally, after obtaining the ranging result, the second device (ie, the third device) sends the ranging result to the first device.

[0302] It is understood that in scenario 1, the second device is a device with both signal frame measurement capabilities and the ability to perform computational ranging. It can calculate ranging based on the measurement results obtained by measuring the signal frames itself and the measurement results received from the first device, thereby obtaining distance information between the first and second devices. The first device is a device with signal frame measurement capabilities but without the ability to perform computational ranging. It can measure the signal frames to obtain measurement results and send them to the second device, but relies on the second device to perform computational ranging to obtain distance information between the first and second devices.

[0303] Case 2:

[0304] When the third device and the second device are different devices, this is equivalent to the first device obtaining a first measurement result based on a second measurement frame sent by the second device at the first frequency and sending the first measurement result to the third device. The first device then obtains a third measurement result based on a fourth measurement frame sent by the second device at the second frequency and sends the third measurement result to the third device. Accordingly, the third device receives the first and third measurement results sent by the first device, and uses the first and third measurement results to perform ranging calculations on the third device.

[0305] Optionally, the third device obtains a ranging result according to the received first measurement result, third measurement result, and / or other measurement results.

[0306] Among them, the ranging result includes the distance information between the first device and the second device, and the other measurement results may include the second measurement result obtained by the second device based on the first measurement frame sent by the first device at the first frequency point, and the fourth measurement result obtained by the second device based on the third measurement frame sent by the first device at the second frequency point. It may also include the measurement result obtained by the second device based on the measurement frame sent by the first device at other frequency points, and may also include the measurement result obtained by the first device based on the measurement frame sent by the second device at other frequency points. The embodiment of the present application is not limited to this.

[0307] Optionally, after obtaining the ranging result, the third device sends the ranging result to the first device and / or the second device.

[0308] It can be understood that in case two, the third device is different from the second device, and the third device is a device capable of performing calculation ranging. The third device does not participate in the signal frame interaction and signal frame measurement between the first device and the second device. The third device can calculate the distance based on the measurement result sent by the first device and / or the measurement result sent by the second device, obtain the distance information between the first device and the second device, and send it to the first device and / or the second device. The first device is a device with the ability to measure signal frames but does not have the ability to perform calculation ranging. It can measure the signal frame to obtain the measurement result and send it to the third device. It needs to rely on the third device to perform calculation ranging to obtain the distance information between the first device and the second device. The second device is a device with the ability to measure signal frames but does not have the ability to perform calculation ranging. It can measure the signal frame to obtain the measurement result and send it to the third device. It needs to rely on the third device to perform calculation ranging to obtain the distance information between the first device and the second device.

[0309] In the embodiment of the present application, the first measurement result and the second measurement result are combined to obtain a joint measurement result of the first frequency point, and the joint measurement result of the first frequency point is not affected by the initial phase of the first device and the second device at the first frequency point. The third measurement result and the fourth measurement result are combined to obtain a joint measurement result of the second frequency point, and the joint measurement result of the second frequency point is also not affected by the initial phase of the first device and the second device at the second frequency point. Therefore, the joint measurement result of the first frequency point and the joint measurement result of the second frequency point are not affected by the random initial phase caused by the device switching frequency point, and can be coherently combined. When calculating the ranging result, a bandwidth larger than the measurement frame bandwidth of a single frequency point can be used to calculate the ranging result, thereby obtaining a more accurate ranging result and improving ranging accuracy.

[0310] In addition, the embodiment of the present application separates the measurement process (such as steps S301 to S304 above) and the measurement result interaction process (such as steps S305 to S307 above), which can shorten the measurement time and reduce the change in the relative position between the first device and the second device during the measurement, thereby obtaining a more accurate ranging result and improving the ranging accuracy. It can also more flexibly support a variety of different communication architectures for ranging.

[0311] In a possible embodiment, the measurement frames (such as the first measurement frame, the second measurement frame, the third measurement frame, and the fourth measurement frame) sent and received by the first device and the second device during the measurement interaction process may be implemented in the following manner, including but not limited to (for ease of description, the first measurement frame is used as an example below):

[0312] Mode 1: The single-frequency sinusoidal wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained by modulation according to a first sequence through a first constellation diagram.

[0313] The first sequence is a sequence consisting of N bits, and the value of N corresponds to the modulation mode of the first constellation diagram.

[0314] For example, the N value corresponding to the binary phase shift keying (BPSK) modulation method is 1; the N value corresponding to the quadrature phase shift keying (QPSK) modulation method is 2; and the N value corresponding to the octal phase shift keying (8PSK) modulation method is 3.

[0315] Optionally, the first symbol included in the first measurement frame, like the at least two symbols included in the single-frequency sinusoidal wave signal in the first measurement frame, is also obtained according to the first sequence and modulated by the first constellation diagram.

[0316] The first symbol includes a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the first measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the first measurement frame.

[0317] Mode 2: The single-frequency sinusoidal wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained by Gaussian frequency shift keying (GFSK) modulation based on the first bit.

[0318] Moreover, the second symbol included in the first measurement frame, like the at least two symbols included in the single-frequency sinusoidal wave signal in the first measurement frame, is also obtained based on the first bit and through Gaussian Frequency Shift Keying (GFSK) modulation.

[0319] The second symbol includes a symbol located before and adjacent to the single-frequency sine wave signal in the first measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the first measurement frame.

[0320] In the embodiment of the present application, the single-frequency sinusoidal signal in the first measurement frame uses the same modulation scheme as other signals, avoiding the additional implementation complexity and time overhead associated with switching modulation schemes. This allows the first measurement frame to be shortened or the time length of the signal used for measurement in the first measurement frame to be increased, such as the length of the single-frequency sinusoidal signal. Shortening the measurement frame length can thereby shorten the interval between the transmission of the single-frequency sinusoidal signal between the first and second devices and the total measurement time for ranging. Considering clock non-idealities, the ranging error caused by the clock frequency offset between the first and second devices is related to the interval between the transmission of the single-frequency sinusoidal signal between the first and second devices. Under the same frequency offset, the larger the interval, the greater the error. Shortening the interval between the transmission of the single-frequency sinusoidal signal between the first and second devices can suppress the impact of the clock frequency offset between the first and second devices on the ranging result. If there is relative motion between the first and second devices, shortening the total ranging measurement time can reduce the change in the relative position between the first and second devices during the measurement, thereby obtaining a more accurate ranging result and improving ranging accuracy. Furthermore, for the first and second devices, due to clock non-idealities, the device clock frequency drifts over time. The longer the measurement time, the more severe the drift. Shortening the total ranging measurement time can reduce the range of device clock frequency drift during the measurement, suppressing the impact of clock drift on the ranging results, and improving ranging accuracy. Increasing the duration of the measurement signal in the first measurement frame can improve the accuracy of the second measurement result obtained by the second device using the first measurement frame, thereby improving ranging accuracy.

[0321] Furthermore, through the embodiments of the present application, the single-frequency sinusoidal signal and the adjacent symbols on both sides of its boundary have the same mapped bits and adopt the same modulation method, which can avoid the measurement frame from changing suddenly at the boundary, thereby suppressing the signal distortion caused by the boundary, improving the accuracy of the measurement frame measurement results, and thus improving the ranging accuracy.

[0322] Please refer to Figure 4, which is a flow chart of another ranging method provided in an embodiment of the present application. The ranging method includes but is not limited to the following steps:

[0323] S401: A first device sends a first measurement frame to a second device at a first frequency. Correspondingly, the second device receives the first measurement frame sent by the first device at the first frequency.

[0324] S402: The second device sends a second measurement frame to the first device at the first frequency. Correspondingly, the first device receives the second measurement frame sent by the second device at the first frequency.

[0325] S403: The first device sends a third measurement frame to the second device at the second frequency point. Correspondingly, the second device receives the third measurement frame sent by the first device at the second frequency point.

[0326] S404: The second device sends a fourth measurement frame to the first device at the second frequency point. Correspondingly, the first device receives the fourth measurement frame sent by the second device at the second frequency point.

[0327] It is understandable that the execution order of the above steps S401, S402, S403 and S404 is not limited in this embodiment of the present application.

[0328] The above steps S401 to S404 can be understood as the first device and the second device interacting with measurement frames at at least two frequency points during the measurement process, such as the first device sending a first measurement frame to the second device at the first frequency point, and receiving the second measurement frame sent by the second device at the first frequency point; the first device sending a third measurement frame to the second device at the second frequency point, and receiving the fourth measurement frame sent by the second device at the second frequency point; wherein the second frequency point is different from the first frequency point, the first measurement frame and the third measurement frame are respectively used by the second device to obtain the second measurement result and the fourth measurement result, and the second measurement frame and the fourth measurement frame are respectively used by the first device to obtain the first measurement result and the third measurement result.

[0329] It can be understood that the first device (and / or the second device) in the embodiment of the present application is a device equipped with a processor that can be used to execute computer-executable instructions. It can be a terminal device (such as a vehicle-mounted terminal), etc., or it can be a network device (such as a service base station), etc. Specifically, it can be the second node in Figure 2 above (such as any device from UE1 to UE6), or it can be the first node in Figure 2 above, which is used to execute the ranging method in the embodiment of the present application to reduce the ranging error and improve the ranging accuracy.

[0330] In a possible embodiment, the manner of determining the first frequency point and the second frequency point may refer to the relevant descriptions of steps S301 to S304 above, which will not be repeated here.

[0331] S405: The second device obtains a second measurement result according to the first measurement frame.

[0332] S406: The second device obtains a fourth measurement result according to the third measurement frame.

[0333] Steps S405 and S406 are similar to the above-mentioned steps S305 and S306. The execution process thereof can be referred to the relevant description above and will not be repeated here.

[0334] S407: The second device receives the first measurement result and the third measurement result from the fourth device. Correspondingly, the fourth device sends the first measurement result and the third measurement result to the second device.

[0335] In which, the first measurement result includes the phase information or the IQ information of the in-phase component and the quadrature component of the single-frequency sinusoidal wave contained in the second measurement frame at the first moment, or the first measurement result includes the phase information or the IQ information of the in-phase component and the quadrature component of the single-frequency sinusoidal wave contained in the second measurement frame at the first moment according to the single-frequency sinusoidal wave model extended signal. In actual processing, the IQ information can also be calculated through algorithms such as parameter estimation without extending the single-frequency sinusoidal wave signal.

[0336] According to the embodiments of the present application, ranging based on phase information or IQ information containing phase information can achieve higher ranging accuracy than traditional ranging methods based on amplitude.

[0337] Correspondingly, the second measurement result includes the phase information or the IQ information of the in-phase component and the quadrature component of the single-frequency sinusoidal wave contained in the first measurement frame at the second moment, or the second measurement result includes the phase information or the IQ information of the in-phase component and the quadrature component of the single-frequency sinusoidal wave contained in the first measurement frame at the second moment according to the single-frequency sinusoidal wave model extended signal. In actual processing, the IQ information can also be calculated through algorithms such as parameter estimation without extending the single-frequency sinusoidal wave signal.

[0338] In a possible embodiment, in order to obtain the second measurement result, the second moment needs to be determined. The method for determining the second moment can refer to the relevant description of the above step S305 and will not be repeated here.

[0339] Through the embodiments of the present application, the first device and the second device use the same agreed reference value, and the first device determines the reference time based on the frequency deviation and the reference value to correct the influence of the timing deviation caused by the frequency deviation changing over time on the reference time. Then, the measurement time is determined based on the reference time, which can suppress the influence of the timing and frequency differences between the clocks of the first device and the second device on the measurement results of the measurement frame, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0340] S408: The second device determines the distance between the first device and the second device according to the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result.

[0341] Optionally, the second device sends a ranging result.

[0342] Specifically, the ranging result may be sent to the fourth device, where the fourth device may be the first device, configured to obtain the first measurement result and the third measurement result based on the received second measurement frame and the fourth measurement frame, and send the first measurement result and the third measurement result to the second device for the second device to calculate the ranging; the fourth device may also be other devices capable of performing ranging calculations, and send the calculated ranging result to the second device, where the ranging result includes distance information between the first device and the second device.

[0343] It can be understood that the fourth device in the embodiment of the present application is a device equipped with a processor that can be used to execute computer-executable instructions. It can be a terminal device (such as a vehicle-mounted terminal), etc., or it can be a network device (such as a service base station), etc. Specifically, it can be the second node in Figure 2 above (such as any device from UE1 to UE6), or it can be the first node in Figure 2 above, which is used to execute the ranging method in the embodiment of the present application to reduce the error of ranging and improve the accuracy of ranging.

[0344] It is understandable that the fourth device in the embodiment of the present application may be the first device or other devices. Different situations of the fourth device are described below:

[0345] Case 1:

[0346] When the fourth device and the first device are the same device, this is equivalent to the first device (i.e., the fourth device) obtaining a first measurement result based on a second measurement frame sent by the second device at the first frequency and sending the first measurement result to the second device. The first device (i.e., the fourth device) obtains a third measurement result based on a fourth measurement frame sent by the second device at the second frequency and sends the third measurement result to the second device. Accordingly, the second device receives the first and third measurement results sent by the first device, and the first and third measurement results are used by the second device to perform ranging calculations.

[0347] Optionally, the second device obtains a ranging result according to the received first measurement result, third measurement result, and / or other measurement results.

[0348] Among them, the ranging result includes the distance information between the first device and the second device, and the other measurement results may include the second measurement result obtained by the second device based on the first measurement frame sent by the first device at the first frequency point, and the fourth measurement result obtained by the second device based on the third measurement frame sent by the first device at the second frequency point. It may also include the measurement result obtained by the second device based on the measurement frame sent by the first device at other frequency points, and may also include the measurement result obtained by the first device based on the measurement frame sent by the second device at other frequency points. The embodiment of the present application is not limited to this.

[0349] Optionally, after obtaining the ranging result, the second device sends the ranging result to the first device (ie, the fourth device).

[0350] It is understandable that in scenario one, the second device is a device with both signal frame measurement capability and the ability to perform computational ranging. It can calculate ranging based on the measurement results obtained by measuring the signal frame itself and the measurement results received from the first device (i.e., the fourth device), thereby obtaining the distance information between the first device and the second device. The first device (i.e., the fourth device) is a device with signal frame measurement capability but does not have the ability to perform computational ranging. It can measure the signal frame to obtain the measurement result and send it to the second device, but relies on the second device to perform computational ranging to obtain the distance information between the first device and the second device.

[0351] Case 2:

[0352] When the fourth device is different from the first device, this is equivalent to the first device obtaining a first measurement result based on a second measurement frame sent by the second device at the first frequency and sending the first measurement result to the fourth device. The first device obtains a third measurement result based on a fourth measurement frame sent by the second device at the second frequency and sends the third measurement result to the fourth device. Accordingly, the fourth device receives the first and third measurement results sent by the first device and forwards them to the second device. The first and third measurement results are used by the second device to perform ranging calculations.

[0353] Optionally, the second device obtains a ranging result according to the received first measurement result, third measurement result, and / or other measurement results.

[0354] Among them, the ranging result includes the distance information between the first device and the second device, and the other measurement results may include the second measurement result obtained by the second device based on the first measurement frame sent by the first device at the first frequency point, and the fourth measurement result obtained by the second device based on the third measurement frame sent by the first device at the second frequency point. It may also include the measurement result obtained by the second device based on the measurement frame sent by the first device at other frequency points, and may also include the measurement result obtained by the first device based on the measurement frame sent by the second device at other frequency points. The embodiment of the present application is not limited to this.

[0355] Optionally, after obtaining the ranging result, the second device sends the ranging result to the fourth device and / or the first device.

[0356] It can be understood that in case 2, the fourth device is different from the first device. The fourth device is a device that does not have the ability to perform calculation ranging. The fourth device does not participate in the signal frame interaction and signal frame measurement between the first device and the second device. The fourth device can receive the measurement results sent by the first device and / or receive the measurement results sent by other devices, and forward the measurement results to the second device. The first device is a device that has the ability to measure signal frames but does not have the ability to perform calculation ranging. It can measure the signal frame to obtain the measurement result and send it to the fourth device. The measurement result needs to be forwarded to the second device via the fourth device, relying on the second device to perform calculation ranging to obtain the distance information between the first device and the second device. The second device is a device that has the ability to measure signal frames and has the ability to perform calculation ranging. It can measure the signal frame to obtain the measurement result, and calculate the ranging based on the measurement result sent by the fourth device and / or the measurement result obtained by the second device, obtain the distance information between the first device and the second device, and send it to the fourth device and / or the first device.

[0357] In the embodiment of the present application, the first measurement result and the second measurement result are combined to obtain a joint measurement result of the first frequency point, and the joint measurement result of the first frequency point is not affected by the initial phase of the first device and the second device at the first frequency point. The third measurement result and the fourth measurement result are combined to obtain a joint measurement result of the second frequency point, and the joint measurement result of the second frequency point is also not affected by the initial phase of the first device and the second device at the second frequency point. Therefore, the joint measurement result of the first frequency point and the joint measurement result of the second frequency point are not affected by the random initial phase caused by the device switching frequency point, and can be coherently combined. When calculating the ranging result, a bandwidth larger than the measurement frame bandwidth of a single frequency point can be used to calculate the ranging result, thereby obtaining a more accurate ranging result and improving ranging accuracy.

[0358] In addition, the embodiment of the present application separates the measurement process (such as steps S401 to S404 above) and the measurement result interaction process (such as steps S405 to S408 above), which can shorten the measurement time and reduce the change in the relative position between the first device and the second device during the measurement, thereby obtaining a more accurate ranging result and improving the ranging accuracy. It can also more flexibly support a variety of different communication architectures for ranging.

[0359] In a possible embodiment, the measurement frames (such as the first measurement frame, the second measurement frame, the third measurement frame, and the fourth measurement frame) sent and received by the first device and the second device during the measurement interaction process can be obtained by referring to the relevant description of the above step S307, which will not be repeated here.

[0360] It should be understood that steps S401 to S404 in the embodiment of the present application are similar to steps S301 to S304 in Figure 3 above, and steps S405 to S408 in the embodiment of the present application are variations or supplements of steps S305 to S307 in Figure 3 above.

[0361] Please refer to Figure 5, which is a flow chart of another ranging method provided in an embodiment of the present application. The ranging method is applied to the field of communication technology, and includes but is not limited to the following steps:

[0362] S501: A first device and a second device exchange measurement frames and perform measurements on at least two frequency points to obtain measurement results.

[0363] It can be understood that the first device and the second device interact with measurement frames at at least two frequency points during the measurement process, that is, the first device sends a first measurement frame to the second device at the first frequency point, and receives a second measurement frame sent by the second device at the first frequency point; the first device sends a third measurement frame to the second device at the second frequency point, and receives a fourth measurement frame sent by the second device at the second frequency point; wherein the second frequency point is different from the first frequency point, the first measurement frame and the third measurement frame are respectively used by the second device to obtain the second measurement result and the fourth measurement result, and the second measurement frame and the fourth measurement frame are respectively used by the first device to obtain the first measurement result and the third measurement result.

[0364] It can be understood that the first device (and / or the second device) in the embodiment of the present application is a device equipped with a processor that can be used to execute computer-executable instructions. It can be a terminal device (such as a vehicle-mounted terminal), etc., or it can be a network device (such as a service base station), etc. Specifically, it can be the second node in Figure 2 above (such as any device from UE1 to UE6), or it can be the first node in Figure 2 above, which is used to execute the ranging method in the embodiment of the present application to reduce the ranging error and improve the ranging accuracy.

[0365] In a possible embodiment, the manner of determining the first frequency point and the second frequency point may refer to the relevant descriptions of steps S301 to S304 above, which will not be repeated here.

[0366] In a possible embodiment, the first device needs to determine the measurement time in order to obtain the measurement result. The method for determining the measurement time can refer to the relevant description of the above step S305 and will not be repeated here.

[0367] In a possible embodiment, the second device needs to determine the measurement time in order to obtain the measurement result. The method for determining the measurement time can refer to the relevant description of the above step S305 and will not be repeated here.

[0368] In a possible embodiment, the relationship that needs to be satisfied between the measurement time determined by the first device and the measurement time determined by the second device can be found in the relevant description of step S305 above, which will not be repeated here.

[0369] S502: The first device reports the measurement results of each frequency point to the G node.

[0370] S503: The second device reports the measurement results of each frequency point to the G node.

[0371] It is understandable that the execution order of the above steps S502 and S503 is not limited in this embodiment of the present application.

[0372] The above-mentioned G node can also be called a master node, a management node or a control node. The G node and the T node are two types of nodes distinguished by logical functions. The T node can also be called a slave node or a terminal. Among them, the G node manages the T node, has the function of allocating resources, and is responsible for allocating resources to the T node; the T node obeys the scheduling of the G node and uses the resources allocated by the G node for communication, ranging, etc. The node can be various devices, for example: the G node is a mobile phone, the T node is a headset, and the mobile phone establishes a communication connection with the headset to realize data interaction. The mobile phone manages the headset, and the mobile phone has the function of allocating resources and can allocate resources to the headset. For example: the G node is a positioning server, the T node is a positioning base station and a positioning tag, the positioning server manages the positioning base station and the positioning tag, and allocates resources for interactive measurement frames to the positioning base station and the positioning tag.

[0373] S504: The G node calculates a ranging result based on the measurement result of each frequency point reported by the first device and the measurement result of each frequency point reported by the second device.

[0374] The distance measurement result includes distance information between the first device and the second device.

[0375] It can be understood that the G node in the embodiment of the present application is a device equipped with a processor that can be used to execute computer-executable instructions. It can be a terminal device (such as a vehicle-mounted terminal), etc., or it can be a network device (such as a service base station), etc. Specifically, it can be the second node in Figure 2 above (such as any device from UE1 to UE6), or it can be the first node in Figure 2 above (such as a base station), which is used to execute the ranging method in the embodiment of the present application to reduce the ranging error and improve the accuracy of the ranging.

[0376] It is understandable that the G node is different from the first device and the second device.

[0377] A G node is a device capable of performing distance calculations. The G node does not participate in the signal frame exchange or signal frame measurement between the first and second devices. Instead, the G node can calculate the distance based on the measurement results received from the first device and / or the measurement results received from the second device to obtain the distance information between the first and second devices.

[0378] Optionally, S505: the G node sends the ranging result to the first device.

[0379] Optionally, S506: the G node sends the ranging result to the second device.

[0380] It is understandable that the execution order of the above steps S505 and S506 is not limited in this embodiment of the present application.

[0381] In the embodiment of the present application, during the measurement process, the first device and the second device exchange measurement frames at at least two different frequencies. The joint measurement result based on the frequencies is not affected by the random initial phase caused by the devices switching frequencies, and can be coherently combined. When calculating the ranging result, a bandwidth greater than the measurement frame bandwidth of a single frequency can be used to calculate the ranging result, thereby obtaining a more accurate ranging result and improving ranging accuracy.

[0382] In addition, the embodiment of the present application separates the measurement process (such as step S501 above) and the measurement result interaction process (such as steps S502 to S503 above), which can shorten the measurement time and reduce the change in the relative position between the first device and the second device during the measurement, thereby obtaining a more accurate ranging result and improving the ranging accuracy. It can also more flexibly support a variety of different communication architectures for ranging.

[0383] In a possible embodiment, the method for acquiring the measurement frames sent and received by the first device and the second device during the measurement interaction process can refer to the relevant description of step S307 above, which will not be repeated here.

[0384] It should be understood that step S501 in the embodiment of the present application is similar to steps S301 to S304 in Figure 3 and steps S401 to S404 in Figure 4, and steps S502 to S506 in the embodiment of the present application are variations or supplements of steps S305 to S307 in Figure 3, or variations or supplements of steps S405 to S408 in Figure 4.

[0385] Please refer to Figure 6, which is a flowchart of a frequency hopping algorithm provided in an embodiment of the present application, which can be understood as a variation or supplement to the content of "the implementation method adopted for determining the first frequency point and the second frequency point" in Figures 3 to 5 above.

[0386] As shown in Figure 6, the synchronization sequence and slot count are input into a pseudo-random number generator to generate a random number. This random number is then remapped to obtain an available frequency. Repeating this process multiple times yields an available frequency hopping list containing multiple available frequencies. A frequency can be selected from this available frequency hopping list and output as the frequency hopping frequency.

[0387] Exemplarily, a first random seed is generated, or a first random seed sent by another device is received, and a first frequency point is determined in a pseudo-random manner in a first frequency point set (i.e., the above-mentioned available frequency hopping list) based on the first random seed, and the first frequency point is output as the frequency hopping frequency point.

[0388] Generate a second random seed, or receive a second random seed sent by another device, and determine a second frequency point in a pseudo-random manner in a second frequency point set (i.e., the available frequency hopping list after excluding the above-mentioned first frequency point) according to the second random seed, and output the second frequency point as the next frequency hopping frequency point.

[0389] The first random seed used to determine the first frequency point and the second random seed used to determine the second frequency point may be the same random seed or different random seeds.

[0390] Through the embodiments of the present application, a frequency is determined in a pseudo-random manner based on a random seed, making the determined frequency random. This can reduce the probability of mutual interference caused by using the same time-frequency resources when sharing spectrum with other devices, thereby improving ranging performance. Furthermore, the first device and the second device use the same first random seed when selecting the first frequency, and the same second random seed when selecting the second frequency. Therefore, the first device and the second device will select the same first frequency and the same second frequency, avoiding frequency selection errors.

[0391] Please refer to Figure 7, which is a schematic diagram of a bilateral measurement provided by an embodiment of the present application. Specifically, it can be understood as a variation or supplement to the content of "the implementation method adopted for determining the measurement time (first time and / or second time)" in Figures 3 to 5 above.

[0392] As shown in Figure 7, the first device sends a first measurement frame to the second device at time t1. The second device receives the first measurement frame sent by the first device at time t′1. The second device measures the first measurement frame to determine the phase or IQ value at the first moment. The second device sends a second measurement frame to the first device at time t2. The first device receives the second measurement frame sent by the second device at time t′2. The first device measures the second measurement frame to determine the phase or IQ value at the second moment.

[0393] As shown in Figure 7, when two devices exchange measurement frames, there is a propagation delay t (t can be understood as an ideal average value) between the time one device sends the measurement frame and the time the other device receives the measurement frame. In addition, the timing and frequency differences between the clocks of the first and second devices will affect the measurement results of the measurement frame, resulting in larger errors in the ranging results and lower ranging accuracy.

[0394] Therefore, in order to suppress the impact of the timing and frequency differences between the clocks of the first device and the second device on the measurement results of the measurement frame, thereby reducing the error of the ranging result and improving the ranging accuracy, the embodiment of the present application provides a relationship that must be satisfied between the measurement time (first time) when the first device measures the second measurement frame and the measurement time (second time) when the second device measures the first measurement frame.

[0395] For example, the relationship between the first moment and the second moment may be as follows:

[0396] The first device uses t0+(t′2-t2) / 2 as the second time. At this time, the second time on the ideal clock corresponds to:

[0397]

[0398] The second device uses t0+(t′1-t1) / 2 as the first moment. At this time, the first moment on the ideal clock corresponds to:

[0399]

[0400] Since the first moment - the second moment = Ignoring the frequency deviation of the device clock, dt0 = dt1 = dt2, the first moment is equal to the second moment, that is, the measurement time of the first device and the second device is the same, thereby avoiding the ranging error caused by the different measurement times of the two devices.

[0401] Among them, the time t1 of the second device clock corresponds to the real time (i.e., the ideal clock time in Figure 7) The time t1 of the first device clock corresponds to the real time (i.e., the ideal clock time in FIG7 ) The time t′1 of the second device clock corresponds to the real time (i.e., the ideal clock time in Figure 7) The time t0 of the second device clock corresponds to the real time (i.e., the ideal clock time in Figure 7) The time t0 of the first device clock corresponds to the real time (i.e., the ideal clock time in FIG7 ) The time t2 of the second device clock corresponds to the real time (i.e., the ideal clock time in FIG7 ) The time t2 of the first device clock corresponds to the real time (i.e., the ideal clock time in FIG7 ) The time t′2 of the first device clock corresponds to the real time (i.e., the ideal clock time in FIG7 )

[0402] On the other hand, if the frequency deviation of the device clock is not ignored, then:

[0403]

[0404]

[0405] Subtracting the above two equations, the left side of the equal sign is:

[0406]

[0407] On the right side of the equal sign is:

[0408]

[0409] Therefore, we can get:

[0410]

[0411] Similarly, we can get:

[0412]

[0413] First moment - second moment

[0414] Exemplarily, three methods are listed below for correcting the reference time based on the frequency offset so that the first time is approximately equal to the second time:

[0415] Method 1:

[0416] The second node does not modify the reference time, that is, the reference time = reference value t0;

[0417] The first node makes an additional correction to the reference time. Specifically, the reference time = reference value (Recorded as Formula 1);

[0418] Among them, f, t0, t1, and t2 are all configuration (configuration includes: receiving corresponding configuration messages, determining parameters by oneself, and sending configuration messages to configure another node. The node that generates parameters can be the first node, the second node, or other nodes), pre-configured, or protocol-specified values. 2 -f 1 The frequency offset of the second device relative to the first device is determined by the first node by measuring a signal (which may be a measurement frame or other signal) sent by the second device.

[0419] Method 2:

[0420] The first node does not modify the reference time, that is, the reference time = reference value t0;

[0421] The second node makes an additional correction to the reference time. Specifically, the reference time = reference value (Recorded as Formula 2);

[0422] f 1 -f 2 The frequency offset of the first device relative to the second device is determined by the second node by measuring a signal (which may be a measurement frame or other signal) sent by the first device.

[0423] Method 3:

[0424] The first node makes an additional correction to the reference time. Specifically, the reference time = reference value (Recorded as Formula 3);

[0425] The second node makes an additional correction to the reference time. Specifically, the reference time = reference value (Recorded as Formula 4);

[0426] f 2 -f 1 The frequency offset of the second device relative to the first device is determined by the first node by measuring the signal (which may be a measurement frame or other signal) sent by the second device, f 1 -f 2 The frequency offset of the first device relative to the second device is determined by the second node by measuring a signal (which may be a measurement frame or other signal) sent by the first device.

[0427] Optionally, in Formula 1, Formula 2, Formula 3, and Formula 4 in the above-mentioned methods, t1 may be replaced by t1′, and t2 may be replaced by t2′.

[0428] The above t1′ represents the moment when the first timing offset value t1 is determined, that is, the first device measures the signal in the second measurement frame, or measures other signals sent by the second device at time t1′, which may include signals in other measurement frames or signals not in measurement frames, to determine the first timing offset value t1. The above t2′ represents the moment when the second timing offset value t2 is determined, that is, the second device measures the signal in the first measurement frame, or measures other signals sent by the first device at time t2′, which may include signals in other measurement frames or signals not in measurement frames, to determine the second timing offset value t2.

[0429] It should be understood that the above-mentioned relationship between the first moment and the second moment is only an optional or possible implementation method, and does not exclude the possibility of other relationships between the first moment and the second moment. Therefore, this should not constitute a limitation to the present application.

[0430] Through the embodiments of the present application, a first moment is determined based on a timing deviation of a first device relative to a second measurement frame, and a second moment is determined based on a timing deviation of a second device relative to the first measurement frame. This timing deviation can be corrected, and the timing and frequency differences between the clocks of the first and second devices can be reduced. Furthermore, the first and second devices use an agreed-upon reference moment to determine the measurement moment, which can suppress the impact of the timing and frequency differences between the clocks of the first and second devices on the measurement results of the measurement frame, thereby reducing the error in the ranging result and improving the ranging accuracy.

[0431] The above describes in detail the methods of the embodiments of the present application. The following provides an apparatus for implementing any of the methods in the embodiments of the present application. For example, an apparatus is provided that includes units (or means) for implementing each step performed by the device in any of the above methods.

[0432] Please refer to FIG8 , which is a schematic structural diagram of a communication device provided in an embodiment of the present application.

[0433] As shown in Figure 8, the communication device 80 may include a transceiver unit 801 and a processing unit 802. The transceiver unit 801 and the processing unit 802 may be software, hardware, or a combination of software and hardware.

[0434] The transceiver unit 801 can implement a sending function and / or a receiving function, and can also be described as a communication unit. The transceiver unit 801 can also be a unit that integrates an acquisition unit and a transmission unit, wherein the acquisition unit is used to implement the receiving function and the transmission unit is used to implement the transmission function. Optionally, the transceiver unit 801 can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0435] In one possible design, the communication device 80 may correspond to the first device in the method embodiment shown in FIG. 3 , for example, the communication device 80 may be the first device or a chip in the first device. The communication device 80 may include a unit for executing the operations performed by the first device in the method embodiment shown in FIG. 3 , and each unit in the communication device 80 is respectively for implementing the operations performed by the first device in the method embodiment shown in FIG. 3 . The description of each unit is as follows:

[0436] The transceiver unit 801 is configured to send a first measurement frame to a second device at a first frequency, and receive a second measurement frame sent by the second device at the first frequency;

[0437] The transceiver unit 801 is further configured to send a third measurement frame to the second device at a second frequency, and receive a fourth measurement frame sent by the second device at the second frequency; wherein the second frequency is different from the first frequency;

[0438] The processing unit 802 is configured to obtain a first measurement result according to the second measurement frame;

[0439] The processing unit 802 is further configured to obtain a third measurement result according to the fourth measurement frame;

[0440] The transceiver unit 801 is further configured to send the first measurement result and the third measurement result to a third device, where the first measurement result and the third measurement result are used for ranging.

[0441] In a possible implementation, the first frequency point and the second frequency point are adjacent frequency points in a usage time sequence, the first frequency point belongs to a first frequency point set, the second frequency point belongs to a second frequency point set, and the first frequency point set consists of the first frequency point and the second frequency point set.

[0442] In a possible implementation, the processing unit 802 is further configured to determine the first frequency point in the first frequency point set in a pseudo-random manner according to a first random seed;

[0443] The processing unit 802 is further configured to determine the second frequency point in the second frequency point set in a pseudo-random manner according to a second random seed.

[0444] In a possible implementation manner, the processing unit 802 is further configured to generate and send the first random seed and / or the second random seed through the transceiver unit 801;

[0445] or,

[0446] The transceiver unit 801 is further configured to receive the first random seed and / or the second random seed.

[0447] In one possible embodiment, the first measurement result includes the phase information or the in-phase component and quadrature component IQ information of the single-frequency sinusoidal wave signal contained in the second measurement frame at the first moment, or the phase information or IQ information of the single-frequency sinusoidal wave signal contained in the second measurement frame at the first moment extended according to the single-frequency sinusoidal wave model.

[0448] In a possible implementation, the processing unit 802 is further configured to determine a first timing offset value, where the first timing offset value represents a timing offset of the communication device relative to the second measurement frame;

[0449] The processing unit 802 is further configured to determine the first moment according to the first timing offset value.

[0450] In a possible implementation manner, the first moment satisfies: T1=t0+t1 / 2; wherein t0 represents a reference moment, t1 represents the first timing deviation value, and T1 represents the first moment.

[0451] In a possible implementation, the processing unit 802 is specifically configured to determine the first timing offset value by measuring a signal in the second measurement frame.

[0452] In a possible implementation, the transceiver unit 801 is further configured to receive a first message and / or send the first message, where the first message is used to indicate the reference time;

[0453] or,

[0454] The reference time is a preconfigured or predefined time.

[0455] In a possible implementation, the transceiver unit 801 is further configured to receive a second message and / or send the second message, where the second message is used to indicate a reference value; or the reference value is a preconfigured or predefined value;

[0456] The processing unit 802 is further configured to determine the reference time according to the reference value and a first frequency offset value, wherein the first frequency offset value represents a frequency offset of the communication device relative to the second measurement frame.

[0457] In a possible implementation, the single-frequency sinusoidal wave signal included in the first measurement frame includes at least two symbols, each of the at least two symbols is modulated by a first constellation diagram according to a first sequence, the first sequence is a sequence consisting of N bits, and the value of N corresponds to the modulation mode of the first constellation diagram.

[0458] In a possible implementation, the first symbol is obtained by modulating the first sequence through the first constellation diagram;

[0459] The first symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the first measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the first measurement frame.

[0460] In a possible implementation manner, the single-frequency sinusoidal wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained by Gaussian frequency shift keying (GFSK) modulation according to the first bit;

[0461] The second symbol is obtained according to the first bit and through the GFSK modulation;

[0462] The second symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the first measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the first measurement frame.

[0463] In a possible implementation, the transceiver unit 801 is further configured to receive a distance measurement result, where the distance measurement result includes distance information between the communication apparatus and the second device.

[0464] In another possible design, the communication device 80 may correspond to the second device in the method embodiment shown in FIG. 4 , for example, the communication device 80 may be the second device or a chip in the second device. The communication device 80 may include a unit for executing the operations performed by the second device in the method embodiment shown in FIG. 4 , and each unit in the communication device 80 is respectively for implementing the operations performed by the second device in the method embodiment shown in FIG. 4 . The description of each unit is as follows:

[0465] The transceiver unit 801 is configured to receive a first measurement frame sent by a first device at a first frequency point, and send a second measurement frame to the first device at the first frequency point;

[0466] The transceiver unit 801 is further configured to receive a third measurement frame sent by the first device at a second frequency, and send a fourth measurement frame to the first device at the second frequency; wherein the second frequency is different from the first frequency;

[0467] The processing unit 802 is configured to obtain a second measurement result according to the first measurement frame;

[0468] The processing unit 802 is further configured to obtain a fourth measurement result according to the third measurement frame;

[0469] The transceiver unit 801 is further configured to receive a first measurement result from a fourth device, where the first measurement result is a measurement result of the first device on the second measurement frame;

[0470] The processing unit 802 is further configured to determine a distance between the first device and the communication apparatus according to the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result.

[0471] In a possible implementation, the first frequency point and the second frequency point are adjacent frequency points in a usage time sequence, the first frequency point belongs to a first frequency point set, the second frequency point belongs to a second frequency point set, and the first frequency point set consists of the first frequency point and the second frequency point set.

[0472] In a possible implementation, the processing unit 802 is further configured to determine the first frequency point in the first frequency point set in a pseudo-random manner according to a first random seed;

[0473] The processing unit 802 is further configured to determine the second frequency point in the second frequency point set in a pseudo-random manner according to a second random seed.

[0474] In a possible implementation manner, the processing unit 802 is further configured to generate and send the first random seed and / or the second random seed through the transceiver unit 801;

[0475] or,

[0476] The transceiver unit 801 is further configured to receive the first random seed and / or the second random seed.

[0477] In one possible implementation, the processing unit 802 is further used to obtain a second measurement result based on the first measurement frame; wherein the second measurement result includes the phase information or the in-phase component and quadrature component IQ information of the single-frequency sinusoidal wave signal contained in the first measurement frame at the second moment, or the phase information or IQ information of the single-frequency sinusoidal wave signal contained in the first measurement frame at the second moment according to the single-frequency sinusoidal wave model extension signal, and the second measurement result is used for ranging.

[0478] In a possible implementation, the processing unit 802 is further configured to determine a second timing offset value, where the second timing offset value represents a timing offset of the communication device relative to the first measurement frame;

[0479] The processing unit 802 is further configured to determine the second moment according to the second timing offset value.

[0480] In a possible implementation manner, the second moment satisfies: T2=t0+t2 / 2; wherein t0 represents the reference moment, t2 represents the second timing offset value, and T2 represents the second moment.

[0481] In a possible implementation, the processing unit 802 is specifically configured to determine the second timing offset value by measuring the signal in the first measurement frame.

[0482] In a possible implementation, the transceiver unit 801 is further configured to send a first message and / or receive the first message, where the first message is used to indicate the reference time;

[0483] or,

[0484] The reference time is a preconfigured or predefined time.

[0485] In a possible implementation, the transceiver unit 801 is further configured to send a second message and / or receive the second message, where the second message is used to indicate a reference value; or the reference value is a preconfigured or predefined value;

[0486] The processing unit 802 is further configured to determine the reference time according to the reference value and a second frequency offset value, wherein the second frequency offset value represents a frequency offset of the communication device relative to the first measurement frame.

[0487] In a possible implementation, the single-frequency sinusoidal wave signal included in the second measurement frame includes at least two symbols, each of the at least two symbols is modulated by a second constellation diagram according to a second sequence, the second sequence is a sequence consisting of M bits, and the value of M corresponds to the modulation mode of the second constellation diagram.

[0488] In a possible implementation manner, the third symbol is obtained by modulating the second sequence through the second constellation diagram;

[0489] The third symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the second measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the second measurement frame.

[0490] In a possible implementation manner, the single-frequency sinusoidal wave signal included in the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained by Gaussian frequency shift keying (GFSK) modulation according to the second bit;

[0491] A fourth symbol is obtained according to the second bit and through the GFSK modulation;

[0492] The fourth symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the second measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the second measurement frame.

[0493] In a possible implementation, the transceiver unit 801 is further configured to send a ranging result, where the ranging result includes distance information between the first device and the second device.

[0494] According to an embodiment of the present application, each unit in the device shown in Figure 8 can be separately or all merged into one or several other units to constitute, or one (some) unit therein can also be split into multiple smaller units in function to constitute, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above-mentioned units are divided based on logical functions. In practical applications, the functions of a unit can also be implemented by multiple units, or the functions of multiple units can be implemented by one unit. In other embodiments of the present application, other units can also be included based on the device. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented by the collaboration of multiple units.

[0495] It should be noted that the implementation of each unit may also refer to the corresponding description of the method embodiments shown in FIG. 3 , FIG. 4 , and FIG. 5 .

[0496] In the communication device 80 described in FIG8 , the joint measurement result based on the first frequency point and the joint measurement result based on the second frequency point are not affected by the random initial phase caused by the device switching the frequency point, and can be coherently combined. When calculating the ranging result, a bandwidth larger than the measurement frame bandwidth of a single frequency point can be used to calculate the ranging result, thereby obtaining a more accurate ranging result and improving the ranging accuracy.

[0497] Please refer to FIG. 9 , which is a schematic structural diagram of a communication device provided in an embodiment of the present application.

[0498] It should be understood that the communication device 90 shown in Figure 9 is only an example. The communication device of the embodiment of the present application may also include other components, or include components with similar functions to the various components in Figure 9, or not necessarily include all the components in Figure 9.

[0499] The communication device 90 includes a communication interface 901 and at least one processor 902 .

[0500] The communication device 90 may correspond to any network element or device in the first device, the second device, the third device, the fourth device, or the G node. The communication interface 901 is used to send and receive signals, and the at least one processor 902 executes program instructions, so that the communication device 90 implements the corresponding process of the method executed by the corresponding device in the above method embodiment.

[0501] In one possible design, the communication device 90 may correspond to the first device in the method embodiment shown in FIG. 3 . For example, the communication device 90 may be the first device or a chip in the first device. The communication device 90 may include components for executing the operations performed by the first device in the method embodiment described above, and each component in the communication device 90 is configured to implement the operations performed by the first device in the method embodiment described above. Specifically, the communication device 90 may be as follows:

[0502] The first device sends a first measurement frame to the second device at a first frequency point, and receives a second measurement frame sent by the second device at the first frequency point;

[0503] The first device sends a third measurement frame to the second device at a second frequency, and receives a fourth measurement frame sent by the second device at the second frequency; wherein the second frequency is different from the first frequency;

[0504] Acquiring, by the first device, a first measurement result according to the second measurement frame;

[0505] Acquiring, by the first device, a third measurement result according to the fourth measurement frame;

[0506] The first device sends the first measurement result and the third measurement result to a third device, where the first measurement result and the third measurement result are used for ranging.

[0507] In a possible implementation, the first frequency point and the second frequency point are adjacent frequency points in a usage time sequence, the first frequency point belongs to a first frequency point set, the second frequency point belongs to a second frequency point set, and the first frequency point set consists of the first frequency point and the second frequency point set.

[0508] In one possible implementation, the method further includes:

[0509] The first device determines the first frequency point in the first frequency point set in a pseudo-random manner according to a first random seed;

[0510] The first device determines the second frequency point in the second frequency point set in a pseudo-random manner according to a second random seed.

[0511] In one possible implementation, the method further includes:

[0512] The first device generates and sends the first random seed and / or the second random seed;

[0513] or,

[0514] The first device receives the first random seed and / or the second random seed.

[0515] In one possible embodiment, the first measurement result includes the phase information or the in-phase component and quadrature component IQ information of the single-frequency sinusoidal wave signal contained in the second measurement frame at the first moment, or the phase information or IQ information of the single-frequency sinusoidal wave signal contained in the second measurement frame at the first moment extended according to the single-frequency sinusoidal wave model.

[0516] In one possible implementation, the method further includes:

[0517] The first device determines a first timing offset value, where the first timing offset value represents a timing offset of the first device relative to the second measurement frame;

[0518] The first device determines the first moment according to the first timing offset value.

[0519] In a possible implementation manner, the first moment satisfies: T1=t0+t1 / 2; wherein t0 represents a reference moment, t1 represents the first timing deviation value, and T1 represents the first moment.

[0520] In a possible implementation, determining the first timing offset value includes:

[0521] The first device determines the first timing offset value by measuring the signal in the second measurement frame.

[0522] In one possible implementation, the method further includes:

[0523] The first device receives a first message, and / or sends the first message, where the first message is used to indicate the reference time;

[0524] or,

[0525] The reference time is a preconfigured or predefined time.

[0526] In one possible implementation, the method further includes:

[0527] The first device receives a second message, and / or sends the second message, where the second message is used to indicate a reference value; or the reference value is a preconfigured or predefined value;

[0528] The reference time is determined according to the reference value and a first frequency deviation value, wherein the first frequency deviation value represents a frequency deviation of the first device relative to the second measurement frame.

[0529] In a possible implementation, the single-frequency sinusoidal wave signal included in the first measurement frame includes at least two symbols, each of the at least two symbols is modulated by a first constellation diagram according to a first sequence, the first sequence is a sequence consisting of N bits, and the value of N corresponds to the modulation mode of the first constellation diagram.

[0530] In a possible implementation, the first symbol is obtained by modulating the first sequence through the first constellation diagram;

[0531] The first symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the first measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the first measurement frame.

[0532] In a possible implementation manner, the single-frequency sinusoidal wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained by Gaussian frequency shift keying (GFSK) modulation according to the first bit;

[0533] The second symbol is obtained according to the first bit and through the GFSK modulation;

[0534] The second symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the first measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the first measurement frame.

[0535] In one possible implementation, the method further includes:

[0536] The first device receives a ranging result, where the ranging result includes distance information between the first device and the second device.

[0537] In another possible design, the communication device 90 may correspond to the second device in the method embodiment shown in FIG. 4 . For example, the communication device 90 may be the second device or a chip in the second device. The communication device 90 may include components for executing the operations performed by the second device in the method embodiment described above, and each component in the communication device 90 is configured to implement the operations performed by the second device in the method embodiment described above. Specifically, the communication device 90 may be as follows:

[0538] The second device receives the first measurement frame sent by the first device at the first frequency point, and sends a second measurement frame to the first device at the first frequency point;

[0539] The second device receives a third measurement frame sent by the first device at a second frequency, and sends a fourth measurement frame to the first device at the second frequency; wherein the second frequency is different from the first frequency;

[0540] The second device obtains a second measurement result according to the first measurement frame;

[0541] The second device obtains a fourth measurement result according to the third measurement frame;

[0542] The second device receives a first measurement result and a third measurement result from a fourth device, where the first measurement result is a measurement result of the first device on the second measurement frame, and the third measurement result is a measurement result of the first device on the fourth measurement frame;

[0543] The second device determines the distance between the first device and the second device according to the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result.

[0544] In a possible implementation, the first frequency point and the second frequency point are adjacent frequency points in a usage time sequence, the first frequency point belongs to a first frequency point set, the second frequency point belongs to a second frequency point set, and the first frequency point set consists of the first frequency point and the second frequency point set.

[0545] In one possible implementation, the method further includes:

[0546] The second device determines the first frequency point in the first frequency point set in a pseudo-random manner according to the first random seed;

[0547] The second device determines the second frequency point in the second frequency point set in a pseudo-random manner according to a second random seed.

[0548] In one possible implementation, the method further includes:

[0549] The second device generates and sends the first random seed and / or the second random seed;

[0550] or,

[0551] The second device receives the first random seed and / or the second random seed.

[0552] In one possible implementation, the method further includes:

[0553] The second device obtains a second measurement result based on the first measurement frame; wherein the second measurement result includes the phase information or the in-phase component and quadrature component IQ information of the single-frequency sinusoidal wave signal contained in the first measurement frame at the second moment, or the phase information or IQ information of the single-frequency sinusoidal wave signal contained in the first measurement frame at the second moment according to the single-frequency sinusoidal wave model extension signal, and the second measurement result is used for ranging.

[0554] In one possible implementation, the method further includes:

[0555] The second device determines a second timing offset value, where the second timing offset value represents a timing offset of the second device relative to the first measurement frame;

[0556] The second device determines the second moment according to the second timing offset value.

[0557] In a possible implementation manner, the second moment satisfies: T2=t0+t2 / 2; wherein t0 represents the reference moment, t2 represents the second timing offset value, and T2 represents the second moment.

[0558] In a possible implementation, determining the second timing offset value includes:

[0559] The second device determines the second timing offset value by measuring the signal in the first measurement frame.

[0560] In one possible implementation, the method further includes:

[0561] The second device sends a first message and / or receives the first message, where the first message is used to indicate the reference time;

[0562] or,

[0563] The reference time is a preconfigured or predefined time.

[0564] In one possible implementation, the method further includes:

[0565] The second device sends a second message, and / or receives the second message, where the second message is used to indicate a reference value; or the reference value is a preconfigured or predefined value;

[0566] The reference time is determined according to the reference value and a second frequency deviation value, wherein the second frequency deviation value represents a frequency deviation of the second device relative to the first measurement frame.

[0567] In a possible implementation, the single-frequency sinusoidal wave signal included in the second measurement frame includes at least two symbols, each of the at least two symbols is modulated by a second constellation diagram according to a second sequence, the second sequence is a sequence consisting of M bits, and the value of M corresponds to the modulation mode of the second constellation diagram.

[0568] In a possible implementation manner, the third symbol is obtained by modulating the second sequence through the second constellation diagram;

[0569] The third symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the second measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the second measurement frame.

[0570] In a possible implementation manner, the single-frequency sinusoidal wave signal included in the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained by Gaussian frequency shift keying (GFSK) modulation according to the second bit;

[0571] A fourth symbol is obtained according to the second bit and through the GFSK modulation;

[0572] The fourth symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the second measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the second measurement frame.

[0573] In one possible implementation, the method further includes:

[0574] The second device sends a ranging result, where the ranging result includes distance information between the first device and the second device.

[0575] In the communication device 90 described in Figure 9, the joint measurement result based on the first frequency point and the joint measurement result of the second frequency point are not affected by the random initial phase caused by the device switching the frequency point, and can be coherently combined. When calculating the ranging result, a bandwidth larger than the measurement frame bandwidth of a single frequency point can be used to calculate the ranging result, thereby obtaining a more accurate ranging result and improving the ranging accuracy.

[0576] For the case where the communication device may be a chip or a chip system, reference may be made to the schematic structural diagram of the chip shown in FIG10 .

[0577] As shown in Figure 10, chip 100 includes a processor 1001 and an interface 1002. There may be one or more processors 1001, and there may be multiple interfaces 1002. It should be noted that the functions of processor 1001 and interface 1002 can be implemented through hardware design, software design, or a combination of hardware and software, without limitation.

[0578] Optionally, the chip 100 may further include a memory 1003 , which is used to store necessary program instructions and data.

[0579] In the present application, the processor 1001 may be configured to call from the memory 1003 an implementation program for the communication method provided in one or more embodiments of the present application on one or more devices or network elements in the first device, the second device, the third device, the fourth device, or the G node, and execute the instructions contained in the program. The interface 1002 may be configured to output the execution results of the processor 1001. In the present application, the interface 1002 may be specifically configured to output various messages or information from the processor 1001.

[0580] Regarding the communication method provided by one or more embodiments of the present application, reference may be made to the embodiments shown in FIG. 3 , FIG. 4 , and FIG. 5 , which will not be described in detail here.

[0581] The processor in the embodiments of the present application may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0582] The memory in the embodiments of the present application is used to provide storage space, in which data such as an operating system and computer programs can be stored. The memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0583] According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on one or more processors, the method shown in Figures 3, 4, and 5 can be implemented.

[0584] According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program runs on a processor, it can implement the methods shown in Figures 3, 4, and 5 above.

[0585] An embodiment of the present application provides a vehicle side, which includes at least one communication device 80 or communication device 90 or chip 100 as described above.

[0586] An embodiment of the present application also provides a system, which includes a vehicle end and at least one communication device 80 or communication device 90 or chip 100 such as the above-mentioned, for executing the steps executed by the corresponding device in any of the embodiments of Figures 3, 4, and 5 above.

[0587] An embodiment of the present application further provides a processing device, including a processor and an interface; the processor is used to execute the method in any of the above method embodiments.

[0588] It should be understood that the above-mentioned processing device can be a chip. For example, the processing device can be a field programmable gate array (FPGA), a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, a system on chip (SoC), a central processing unit (CPU), a network processor (NP), a digital signal processing circuit (DSP), a microcontroller unit (MCU), a programmable logic device (PLD) or other integrated chip. The various methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method.

[0589] It is understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0590] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a high-density digital video disc (DVD)), or a semiconductor medium (eg, a solid state disc (SSD)).

[0591] The units in the above-mentioned various apparatus embodiments completely correspond to the electronic devices in the method embodiments, and the corresponding modules or units perform the corresponding steps. For example, the communication unit (transceiver) performs the receiving or sending steps in the method embodiments, and other steps except sending and receiving can be performed by the processing unit (processor). The functions of the specific units can be referred to the corresponding method embodiments. Among them, there can be one or more processors.

[0592] It is understood that in the embodiments of the present application, the electronic device can perform some or all of the steps in the embodiments of the present application. These steps or operations are merely examples, and the embodiments of the present application can also perform other operations or variations of various operations. In addition, the various steps can be performed in a different order than those presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application need to be performed.

[0593] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0594] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0595] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0596] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0597] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0598] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory ROM, a random access memory RAM, a magnetic disk, or an optical disk.

[0599] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A distance measurement method, characterized in that: include: The first device sends a first measurement frame to the second device at a first frequency point, and receives a second measurement frame sent by the second device at the first frequency point; The first device sends a third measurement frame to the second device at a second frequency, and receives a fourth measurement frame sent by the second device at the second frequency; wherein the second frequency is different from the first frequency; Acquiring, by the first device, a first measurement result according to the second measurement frame; Acquiring, by the first device, a third measurement result according to the fourth measurement frame; The first device sends the first measurement result and the third measurement result to a third device, where the first measurement result and the third measurement result are used for ranging.

2. The method according to claim 1, characterized in that The first frequency point and the second frequency point are adjacent frequency points in a usage time sequence, the first frequency point belongs to a first frequency point set, the second frequency point belongs to a second frequency point set, and the first frequency point set consists of the first frequency point and the second frequency point set.

3. The method according to claim 1 or 2, characterized in that The method further comprises: The first device determines the first frequency point in the first frequency point set in a pseudo-random manner according to a first random seed; The first device determines the second frequency point in the second frequency point set in a pseudo-random manner according to a second random seed.

4. The method according to claim 3, characterized in that The method further comprises: The first device generates and sends the first random seed and / or the second random seed; or, The first device receives the first random seed and / or the second random seed.

5. The method according to any one of claims 1 to 4, characterized in that The first measurement result includes the phase information or the in-phase component and quadrature component IQ information of the single-frequency sinusoidal wave signal contained in the second measurement frame at the first moment, or the phase information or IQ information of the single-frequency sinusoidal wave signal contained in the second measurement frame at the first moment extended according to the single-frequency sinusoidal wave model.

6. The method according to claim 5, characterized in that The method further comprises: The first device determines a first timing offset value, where the first timing offset value represents a timing offset of the first device relative to the second measurement frame; The first device determines the first moment according to the first timing offset value.

7. The method according to claim 6, characterized in that The first moment satisfies: T1=t0+t1 / 2; wherein, t0 represents the reference moment, t1 represents the first timing deviation value, and T1 represents the first moment.

8. The method according to claim 6 or 7, characterized in that Determining the first timing deviation value includes: The first device determines the first timing offset value by measuring the signal in the second measurement frame.

9. The method according to claim 7 or 8, characterized in that The method further comprises: The first device receives a first message, and / or sends the first message, where the first message is used to indicate the reference time; or, The reference time is a preconfigured or predefined time.

10. The method according to claim 7 or 8, characterized in that The method further comprises: The first device receives a second message, and / or sends the second message, where the second message is used to indicate a reference value; or the reference value is a preconfigured or predefined value; The reference time is determined according to the reference value and a first frequency deviation value, wherein the first frequency deviation value represents a frequency deviation of the first device relative to the second measurement frame.

11. The method according to any one of claims 1 to 10, characterized in that The single-frequency sinusoidal wave signal included in the first measurement frame includes at least two symbols, each of the at least two symbols is modulated by a first constellation diagram according to a first sequence, the first sequence is a sequence consisting of N bits, and the value of N corresponds to the modulation method of the first constellation diagram.

12. The method according to claim 11, characterized in that The first symbol is obtained by modulating the first sequence through the first constellation diagram; The first symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the first measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the first measurement frame.

13. The method according to any one of claims 1 to 10, characterized in that The single-frequency sinusoidal wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained by Gaussian frequency shift keying (GFSK) modulation according to the first bit; The second symbol is obtained based on the first bit and through the GFSK modulation; the second symbol includes: a symbol in the first measurement frame that is located before the single-frequency sinusoidal wave signal and adjacent to the single-frequency sinusoidal wave signal, and / or the first symbol in the first measurement frame that is located after the single-frequency sinusoidal wave signal.

14. The method according to any one of claims 1 to 13, characterized in that The method further comprises: The first device receives a ranging result, where the ranging result includes distance information between the first device and the second device.

15. A distance measurement method, characterized in that: include: The second device receives the first measurement frame sent by the first device at the first frequency point, and sends a second measurement frame to the first device at the first frequency point; The second device receives a third measurement frame sent by the first device at a second frequency, and sends a fourth measurement frame to the first device at the second frequency; wherein the second frequency is different from the first frequency; The second device obtains a second measurement result according to the first measurement frame; The second device obtains a fourth measurement result according to the third measurement frame; The second device receives a first measurement result and a third measurement result from a fourth device, where the first measurement result is a measurement result of the first device on the second measurement frame, and the third measurement result is a measurement result of the first device on the fourth measurement frame; The second device determines the distance between the first device and the second device according to the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result.

16. The method according to claim 15, characterized in that The first frequency point and the second frequency point are adjacent frequency points in a usage time sequence, the first frequency point belongs to a first frequency point set, the second frequency point belongs to a second frequency point set, and the first frequency point set consists of the first frequency point and the second frequency point set.

17. The method according to claim 15 or 16, characterized in that The method further comprises: The second device determines the first frequency point in the first frequency point set in a pseudo-random manner according to the first random seed; The second device determines the second frequency point in the second frequency point set in a pseudo-random manner according to a second random seed.

18. The method according to claim 17, characterized in that The method further comprises: The second device generates and sends the first random seed and / or the second random seed; or, The second device receives the first random seed and / or the second random seed.

19. The method according to any one of claims 15 to 18, characterized in that The method further comprises: The second device obtains a second measurement result based on the first measurement frame; wherein the second measurement result includes the phase information or the in-phase component and quadrature component IQ information of the single-frequency sinusoidal wave signal contained in the first measurement frame at the second moment, or the phase information or IQ information of the single-frequency sinusoidal wave signal contained in the first measurement frame at the second moment according to the single-frequency sinusoidal wave model extension signal, and the second measurement result is used for ranging.

20. The method according to claim 19, wherein The method further comprises: The second device determines a second timing offset value, where the second timing offset value represents a timing offset of the second device relative to the first measurement frame; The second device determines the second moment according to the second timing offset value.

21. The method according to claim 20, characterized in that The second moment satisfies: T2=t0+t2 / 2; wherein, t0 represents the reference moment, t2 represents the second timing deviation value, and T2 represents the second moment.

22. The method according to claim 20 or 21, characterized in that Determining the second timing deviation value includes: The second device determines the second timing offset value by measuring the signal in the first measurement frame.

23. The method according to claim 21 or 22, characterized in that The method further comprises: The second device sends a first message and / or receives the first message, where the first message is used to indicate the reference time; or, The reference time is a preconfigured or predefined time.

24. The method according to claim 21 or 22, characterized in that The method further comprises: The second device sends a second message, and / or receives the second message, where the second message is used to indicate a reference value; or the reference value is a preconfigured or predefined value; The reference time is determined according to the reference value and a second frequency deviation value, wherein the second frequency deviation value represents a frequency deviation of the second device relative to the first measurement frame.

25. The method according to any one of claims 15 to 24, characterized in that The single-frequency sinusoidal wave signal included in the second measurement frame includes at least two symbols, each of the at least two symbols is modulated by a second constellation diagram according to a second sequence, the second sequence is a sequence consisting of M bits, and the value of M corresponds to the modulation method of the second constellation diagram.

26. The method according to claim 25, characterized in that The third symbol is obtained by modulating the second sequence through the second constellation diagram; The third symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the second measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the second measurement frame.

27. The method according to any one of claims 15 to 24, characterized in that The single-frequency sinusoidal wave signal included in the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained by Gaussian frequency shift keying (GFSK) modulation according to the second bit; The fourth symbol is obtained according to the second bit and through the GFSK modulation; The fourth symbol includes: a symbol located before the single-frequency sine wave signal and adjacent to the single-frequency sine wave signal in the second measurement frame, and / or the first symbol located after the single-frequency sine wave signal in the second measurement frame.

28. The method according to any one of claims 15 to 27, characterized in that The method further comprises: The second device sends a ranging result, where the ranging result includes distance information between the first device and the second device.

29. A communication device, characterized in that: The method comprises a module or a unit for executing the method according to any one of claims 1 to 14 or claims 15 to 28.

30. A communication device, characterized in that: include: processor; When the processor calls the computer program or instruction in the memory, the method according to any one of claims 1 to 14 is executed, or the method according to any one of claims 15 to 28 is executed.

31. A communication device, characterized in that: include: Logic circuits and communication interfaces; The communication interface is used to receive or send information; The logic circuit is configured to receive information or send information through the communication interface, so that the method according to any one of claims 1 to 14 is executed, or the method according to any one of claims 15 to 28 is executed.

32. A computer-readable storage medium, characterized in that include: The computer-readable storage medium is used to store instructions or computer programs; when the instructions or the computer program are executed, the method according to any one of claims 1 to 14 is implemented, or the method according to any one of claims 15 to 28 is implemented.

33. A computer program product, characterized in that include: instructions or computer programs; When the instructions or the computer program are executed, the method according to any one of claims 1 to 14 or the method according to any one of claims 15 to 28 is implemented.

34. A terminal device, characterized in that: Comprising the communication device according to claim 29, or the communication device according to claim 30, or the communication device according to claim 31.

35. A system, characterized in that The method comprises a vehicle and a communication device according to claim 29, a communication device according to claim 30, or a communication device according to claim 31.

Images