Distance measurement positioning method, device and system

Abstract

The invention provides a ranging positioning method, device and system. The method comprises the steps that first equipment receives first configuration information, second configuration information and third configuration information through a first communication frequency band, and receives first ranging information, second ranging information and third ranging information through a second communication frequency band. The bandwidth used in the second communication band is greater than the bandwidth used in the first communication band. And after completing time synchronization with the first terminal equipment on the first communication frequency band based on the first configuration information, the first equipment determines and receives the arrival time of the first ranging information. And determining the position of the first device according to the time difference of arrival of the first distance measurement information, the second distance measurement information and the third distance measurement information. The method can reduce the operation power consumption of the receiving equipment and improve the cruising ability of the equipment.

Description

Technical Field

[0001] The present application relates to the field of communications, and in particular to a ranging and positioning method, device and system. Background Art

[0002] With the development of science and technology, the application of ultra wide band (UWB) ranging and positioning technology is becoming more and more widespread. The UWB communication system uses a pulse with a pulse width of only nanoseconds as the basic signal. The UWB communication system occupies a large bandwidth and has the characteristics of high transmission rate and large system capacity. It can still achieve ranging and positioning in a complex multipath environment and has good anti-multipath capability. It has become a research hotspot.

[0003] When using UWB ranging, the receiving device needs to continuously receive ultra-wideband signals. Due to the large bandwidth of UWB signals, the chip power consumption of the receiving device is high and the battery life of the device is low. In addition, since the UWB standard stipulates that the power spectrum density cannot exceed -41.3dBm / MHz, the transmission power and transmission distance of the transmitting device are limited.

[0004] Therefore, how to reduce the operating power consumption of the receiving device is an urgent problem to be solved. Summary of the invention

[0005] The present application provides a ranging and positioning method, device and system, which can reduce the operating power consumption of a receiving device and improve the endurance of the device.

[0006] In the first aspect, a ranging and positioning method is provided. The first device receives first configuration information, second configuration information, and third configuration information through a first communication frequency band, and receives first ranging information, second ranging information, and third ranging information through a second communication frequency band. The bandwidth used in the second communication frequency band is greater than the bandwidth used in the first communication frequency band. After the first device completes time synchronization with the first terminal device on the first communication frequency band based on the first configuration information, it determines the time when the first ranging information arrives and receives it. The position of the first device is determined based on the arrival time difference of the first ranging information, the second ranging information, and the third ranging information.

[0007] Based on the present technical solution, the first device receives configuration information through the first communication frequency band and receives ranging information through the second communication frequency band. The first device can complete time synchronization in the first communication frequency band according to the configuration information and the corresponding terminal device that sends the configuration information, thereby determining the moment of receiving the ranging information through the second communication frequency band. There is no need to perform time synchronization again in the second communication frequency band, which can reduce the operating power consumption of the first device and improve the battery life of the device.

[0008] It should be understood that the first device includes a device that needs to be located and measured, that is, a receiving device in the ranging system. In some embodiments, it includes a mobile phone, a vehicle, or a terminal device marked with a tag, etc. This application does not make any special limitations on this.

[0009] It should be understood that in an optional implementation, the first terminal device sends first configuration information, the first configuration information includes broadcast information, the first device receives the first configuration information, and completes time synchronization with the first terminal device through the first configuration information; the second terminal device sends second configuration information, the second configuration information includes broadcast information, the first device receives the second configuration information, and completes time synchronization with the second terminal device through the second configuration information; the third terminal device sends third configuration information, the third configuration information includes broadcast information, the first device receives the third configuration information, and completes time synchronization with the third terminal device through the third configuration information.

[0010] It should be understood that the first communication frequency band includes a narrowband communication frequency band, and the second communication frequency band includes a broadband communication frequency band. The broadband communication frequency band includes a communication frequency band greater than or equal to 499.2 MHz.

[0011] It should be understood that configuration information is also referred to as narrowband signal, narrowband information, narrowband frame, etc. in some embodiments; ranging information is also referred to as broadband signal, broadband information, broadband frame, etc. in some embodiments; these are only references in name, and the specific scope of protection shall be subject to the claims, and this application does not limit this.

[0012] It should be understood that the positions of the first terminal device, the second terminal device, and the third terminal device are known or set in advance. The first device calculates the distance difference between the first device and the first terminal device, the second terminal device, and the distance difference between the first device and the second terminal device, the third terminal device based on the arrival time difference of the received first ranging information, the second ranging information, and the third ranging information, and calculates the distance and relative position of the first device from the three terminal devices based on the distance difference. The calculation of the distance difference based on the time difference and the positioning solution disclosed here is only a specific implementation method for determining the position of the first device. This application does not make any special limitation on this. The specific scope of protection shall be subject to the claims.

[0013] It should be understood that the position of the first device can be calculated based on the distance difference ranging and positioning, and the first device can also send the ranging information to other computing engine devices for ranging and positioning solution. This application does not make any special limitations on this.

[0014] It should be understood that the ranging and positioning method provided in the present application may also include multiple first devices, and perform ranging and positioning on multiple first devices. Among them, the remaining first devices may also be called second devices, third devices, etc., and the present application does not make special restrictions on this.

[0015] It should be understood that the ranging and positioning method provided by the present application may also include multiple terminal devices. The more terminal devices with known locations, the higher the solution accuracy of the device to be measured and the larger the ranging range. The present application does not make any special limitations on this.

[0016] In combination with the first aspect, in some implementations of the first aspect, after the first device determines the moment when the first ranging information arrives, the first device turns on the second communication frequency band for receiving the first ranging information, and turns off the second communication frequency band after receiving the first ranging information.

[0017] Based on this technical solution, the second communication frequency band can be kept in a normally closed state, opened for receiving ranging information before receiving ranging information, and closed after receiving ranging information. Since the bandwidth on the second communication frequency band is relatively wide, being in a normally closed state can further reduce the operating power consumption of the receiving device and improve the endurance of the device.

[0018] It should be understood that in an optional implementation, after the first device receives the first configuration information, it completes time synchronization with the first terminal device and determines the time when the first ranging information arrives. Before this time, the second communication frequency band is opened in advance to receive the first ranging information; after receiving the first ranging information, the second communication frequency band is closed. After the first device receives the second configuration information, it completes time synchronization with the second terminal device and determines the time when the second ranging information arrives. Before this time, the second communication frequency band is opened in advance to receive the second ranging information; after receiving the second ranging information, the second communication frequency band is closed again. After the first device receives the third configuration information, it completes time synchronization with the third terminal device and determines the time when the third ranging information arrives. Before this time, the second communication frequency band is opened in advance to receive the third ranging information; after receiving the third ranging information, the second communication frequency band is closed again.

[0019] In combination with the first aspect, in some implementations of the first aspect, the first device determines, according to the first configuration information, the arrival times of the second ranging information and the third ranging information.

[0020] Based on this technical solution, the first device can also determine the arrival time of the ranging information sent by the other terminal devices according to the first configuration information, and the first device can estimate the receiving time according to the determined arrival time, thereby controlling the opening or closing of the second communication frequency band for receiving the ranging information. The operating power consumption of the receiving device can be further reduced, and the endurance of the device can be improved.

[0021] It should be understood that in an optional implementation, the first configuration information sent by the first terminal device includes a data field for determining the time when the remaining terminal devices send ranging information. When the remaining terminal devices send configuration information, the configuration information may no longer carry the data field for determining the arrival time of the ranging information, thereby saving signaling overhead.

[0022] In combination with the first aspect, in certain implementations of the first aspect, after the first device receives the first configuration information, it turns off the first communication frequency band, determines the time when the second configuration information arrives based on the first configuration information, and turns on the first communication frequency band again to receive the second configuration information.

[0023] Based on this technical solution, the first device can also determine the arrival time of the configuration information sent by other terminals according to the first configuration information, thereby controlling the opening or closing of the first communication frequency band for receiving the configuration information. The operating power consumption of the receiving device can be further reduced, and the endurance of the device can be improved.

[0024] It should be understood that in an optional implementation, after the first device receives the first configuration information, the first communication frequency band is turned off, the time of arrival of the second configuration information sent by the second terminal device is determined based on the first configuration information, and the first communication frequency band is turned on again for receiving the second configuration information. After the first device receives the second configuration information, the first communication frequency band is turned off again, the time of arrival of the third configuration information sent by the third terminal device is determined based on the first configuration information, and the first communication frequency band is turned on again for receiving the third configuration information. After the first device receives the third configuration information, the first communication frequency band is turned off again.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, the first configuration information includes device information of the first terminal device, a device synchronization signal, time setting information, and a data field. The first ranging information includes a ranging frame, but does not include a data field.

[0026] Based on the technical solution, the first configuration information includes the device information of the first terminal device, the synchronization signal between the first terminal device and the first device, the remaining configuration information or the time setting information of the remaining ranging information, the data field, etc. The first ranging information does not repeatedly include the existing data field in the first configuration information, mainly including the ranging frame. Reducing the field length of the ranging information can reduce certain signaling overheads, shorten the time period for the first device to receive the ranging information, reduce the time period for the second communication frequency band to be turned on, further reduce the operating power consumption of the receiving device, and improve the endurance of the device.

[0027] In combination with the first aspect, in some implementations of the first aspect, the first device estimates the first carrier frequency offset CFO information with the first terminal device based on the first configuration information, and completes time synchronization with the first terminal device on the first communication frequency band according to the first CFO information. The first device determines the time to receive the first ranging information through the second communication frequency band according to the first CFO information.

[0028] Based on this technical solution, the first device completes the estimation of the CFO information between the first device and the first terminal device based on the first configuration information, thereby completing the time synchronization with the first terminal device on the first communication frequency band according to the CFO information. Since the first device and the first terminal device have completed the time synchronization on the first communication frequency band, when the first terminal device sends information to the first device through the second communication frequency band, there is no need to perform time synchronization. The first device directly determines the time to turn on the second communication frequency band for receiving the first ranging information based on the CFO information. Further reduce the operating power consumption of the receiving device and improve the endurance of the device.

[0029] It should be understood that in an optional implementation, the first device completes time synchronization with the first terminal device based on the first configuration information, thereby determining the time to open the second communication frequency band for receiving the first ranging information in combination with the time when the first ranging information arrives. The first device completes time synchronization with the second terminal device based on the second configuration information, thereby determining the time to open the second communication frequency band for receiving the second ranging information in combination with the time when the second ranging information arrives. The first device completes time synchronization with the third terminal device based on the third configuration information, thereby determining the time to open the second communication frequency band for receiving the third ranging information in combination with the time when the third ranging information arrives.

[0030] In combination with the first aspect, in some implementations of the first aspect, before the first terminal device sends the first configuration information, the first terminal device completes time synchronization with other terminal devices that send configuration information.

[0031] Based on this technical solution, before sending the first configuration information, the first terminal device completes time synchronization with the second terminal device and the third terminal device, so that all terminal devices used to send configuration information and ranging information are under the same clock source, and the arrival time difference of the ranging time can be used more accurately to solve the ranging positioning, thereby improving the accuracy of ranging positioning.

[0032] In the second aspect, a ranging positioning method is provided. A first terminal device sends first configuration information through a first communication frequency band and sends first ranging information through a second communication frequency band. The first device receives the first configuration information, completes time synchronization with the first terminal device on the first communication frequency band based on the first configuration information, determines the time when the first ranging information arrives and receives it. The bandwidth used in the second communication frequency band is greater than the bandwidth used in the first communication frequency band. The second terminal device sends the second configuration information through the first communication frequency band and sends the second ranging information through the second communication frequency band. The first device receives the second configuration information, completes time synchronization with the second terminal device on the first communication frequency band based on the second configuration information, determines the time when the second ranging information arrives and receives it. The third terminal device sends the third configuration information through the first communication frequency band and sends the third ranging information through the second communication frequency band. The first device receives the third configuration information, completes time synchronization with the third terminal device on the first communication frequency band based on the third configuration information, determines the time when the third ranging information arrives and receives it. The position of the first device is determined according to the arrival time difference of the first ranging information, the second ranging information, and the third ranging information.

[0033] Based on this technical solution, the terminal device sends configuration information through the first communication frequency band and sends ranging information through the second communication frequency band. The first device receives the configuration information and ranging information on the corresponding frequency band, and completes time synchronization with the corresponding terminal device according to the configuration information. The first device also determines the time to turn on the second communication frequency band to receive the corresponding ranging information according to the configuration information. The first device does not need to perform time synchronization again on the second communication frequency band, which can reduce the operating power consumption of the first device and improve the endurance of the device.

[0034] In combination with the second aspect, in some implementations of the second aspect, after the first device determines the time when the first ranging information arrives, it turns on the second communication frequency band for receiving the first ranging information, and after receiving the first ranging information, it turns off the second communication frequency band.

[0035] Based on this technical solution, the second communication frequency band can be kept in a normally closed state, opened for receiving ranging information before receiving ranging information, and closed after receiving ranging information. Since the bandwidth on the second communication frequency band is relatively wide, being in a normally closed state can further reduce the operating power consumption of the receiving device and improve the endurance of the device.

[0036] In combination with the second aspect, in some implementations of the second aspect, the first device determines, according to the first configuration information, the arrival times of the second ranging information and the third ranging information.

[0037] Based on this technical solution, the first device can also determine the arrival time of the ranging information sent by the other terminal devices according to the first configuration information, and the first device can estimate the receiving time according to the determined arrival time, thereby controlling the opening or closing of the second communication frequency band for receiving the ranging information. The operating power consumption of the receiving device can be further reduced, and the endurance of the device can be improved.

[0038] In combination with the second aspect, in certain implementations of the second aspect, after the first device receives the first configuration information, it turns off the first communication frequency band, determines the time when the second configuration information arrives based on the first configuration information, and turns on the first communication frequency band to receive the second configuration information.

[0039] Based on this technical solution, the first device can also determine the arrival time of the configuration information sent by other terminals according to the first configuration information, thereby controlling the opening or closing of the first communication frequency band for receiving the configuration information. The operating power consumption of the receiving device can be further reduced, and the endurance of the device can be improved.

[0040] In conjunction with the second aspect, in some implementations of the second aspect, the first configuration information includes device information of the first terminal device, a device synchronization signal, time setting information, and a data field. The first ranging information includes a ranging frame, but does not include a data field.

[0041] Based on the technical solution, the first configuration information includes the device information of the first terminal device, the synchronization signal between the first terminal device and the first device, the remaining configuration information or the time setting information of the remaining ranging information, the data field, etc. The first ranging information does not repeatedly include the existing data field in the first configuration information, mainly including the ranging frame. Reducing the field length of the ranging information can reduce certain signaling overheads, shorten the time period for the first device to receive the ranging information, reduce the time period for the second communication frequency band to be turned on, further reduce the operating power consumption of the receiving device, and improve the endurance of the device.

[0042] In combination with the second aspect, in some implementations of the second aspect, the first device estimates the first carrier frequency offset CFO information with the first terminal device based on the first configuration information, and completes time synchronization with the first terminal device on the first communication frequency band according to the first CFO information. The first device determines the moment of receiving the first ranging information through the second communication frequency band according to the first CFO information.

[0043] Based on this technical solution, the first device completes the estimation of the CFO information between the first device and the first terminal device based on the first configuration information, thereby completing the time synchronization with the first terminal device on the first communication frequency band according to the CFO information. Since the first device and the first terminal device have completed the time synchronization on the first communication frequency band, when the first terminal device sends information to the first device through the second communication frequency band, there is no need to perform time synchronization. The first device directly determines the time to turn on the second communication frequency band for receiving the first ranging information based on the CFO information. Further reduce the operating power consumption of the receiving device and improve the endurance of the device.

[0044] In combination with the second aspect, in some implementations of the second aspect, before the first terminal device sends the first configuration information, time synchronization is completed among the first terminal device, the second terminal device, and the third terminal device.

[0045] Based on this technical solution, before sending the first configuration information, the first terminal device completes time synchronization with the second terminal device and the third terminal device, so that all terminal devices used to send configuration information and ranging information are under the same clock source, and the arrival time difference of the ranging time can be used more accurately to solve the ranging positioning, thereby improving the accuracy of ranging positioning.

[0046] In a third aspect, a communication device is provided. The communication device includes a first communication module, a second communication module, a control module and a calculation module. Specifically, the first communication module is used to receive first configuration information, second configuration information, and third configuration information transmitted on a first communication frequency band. The second communication module is used to receive first ranging information, second ranging information, and third ranging information transmitted on a second communication frequency band. The bandwidth used in the second communication frequency band is greater than the bandwidth used in the first communication frequency band. The control module is used to determine the time when the first ranging information arrives and control the second communication module to receive it after completing time synchronization with the first terminal device on the first communication frequency band according to the first configuration information. The calculation module is used to determine the position of the first device according to the arrival time difference of the first ranging information, the second ranging information, and the third ranging information.

[0047] Based on the present technical solution, the first device receives configuration information through the first communication module and receives ranging information through the second communication module. The first device can complete time synchronization in the first communication frequency band according to the configuration information and the corresponding terminal device that sends the configuration information, thereby determining the moment of receiving the ranging information through the second communication module. There is no need to perform time synchronization again in the second communication frequency band, which can reduce the operating power consumption of the first device and improve the battery life of the device.

[0048] In combination with the third aspect, in some implementations of the third aspect, after the control module determines the time when the first ranging information arrives, it controls the second communication module to start receiving the first ranging information. After receiving the first ranging information, the control module controls the second communication module to close.

[0049] Based on this technical solution, the second communication module can be kept in a normally closed state, turned on to receive the ranging information before receiving the ranging information, and turned off after receiving the ranging information. Since the bandwidth used by the second communication module is relatively wide, the power consumption is relatively large; being in a normally closed state can further reduce the operating power consumption of the receiving device and improve the endurance of the device.

[0050] In combination with the third aspect, in certain implementations of the third aspect, the control module is used to determine the arrival times of the second ranging information and the third ranging information according to the first configuration information.

[0051] Based on this technical solution, the first device can also determine the arrival time of the ranging information sent by the other terminal devices according to the first configuration information, and the first device can estimate the receiving time according to the determined arrival time, thereby controlling the opening or closing of the second communication module for receiving the ranging information. The operating power consumption of the receiving device can be further reduced, and the endurance of the device can be improved.

[0052] In combination with the third aspect, in some implementations of the third aspect, after the first communication module receives the first configuration information, the control module controls the first communication module to be turned off. The control module determines the time when the second configuration information arrives based on the first configuration information, controls the first communication module to be turned on and receive the second configuration information.

[0053] Based on this technical solution, the first device can also determine the arrival time of the configuration information sent by other terminals according to the first configuration information, thereby controlling the opening or closing of the first communication module for receiving the configuration information. This can further reduce the operating power consumption of the receiving device and improve the endurance of the device.

[0054] In conjunction with the third aspect, in some implementations of the third aspect, the first configuration information includes device information of the first terminal device, a device synchronization signal, time setting information, and a data field. The first ranging information includes a ranging frame, but does not include a data field.

[0055] Based on the technical solution, the first configuration information includes the device information of the first terminal device, the synchronization signal between the first terminal device and the first device, the remaining configuration information or the time setting information for sending the remaining ranging information, the data field, etc. The first ranging information does not repeatedly include the existing data field in the first configuration information, mainly including the ranging frame. Reducing the field length of the measurable ranging information can reduce certain signaling overheads, shorten the time period for the first device to receive the ranging information, reduce the time period for the second communication module to be turned on, further reduce the operating power consumption of the receiving device, and improve the endurance of the device.

[0056] In combination with the third aspect, in some implementations of the third aspect, the control module is used to estimate the first carrier frequency offset CFO information with the first terminal device according to the first configuration information, and complete the time synchronization with the first terminal device on the first communication frequency band according to the first CFO information. The control module determines the moment to start the second communication module to receive the first ranging information according to the first CFO information.

[0057] Based on this technical solution, the first device completes the estimation of the CFO information between the first device and the first terminal device based on the first configuration information, thereby completing the time synchronization with the first terminal device on the first communication frequency band according to the CFO information. Since the first device and the first terminal device have completed the time synchronization on the first communication frequency band, the first terminal device does not need to perform time synchronization when sending information to the first device through the second communication module. The first device directly determines the time to turn on the second communication module for receiving the first ranging information based on the CFO information. This further reduces the operating power consumption of the receiving device and improves the battery life of the device.

[0058] In a fourth aspect, a ranging and positioning method is provided. The second terminal device sends the second configuration information through the first communication frequency band, and sends the second ranging information through the second communication frequency band. The bandwidth used in the second communication frequency band is greater than the bandwidth used in the first communication frequency band. Before the second configuration information is sent, the first terminal device sends the first configuration information through the first communication frequency band, and sends the first ranging information through the second communication frequency band. After the second ranging information is sent, the third terminal device sends the third configuration information through the first communication frequency band, and sends the third ranging information through the second communication frequency band. Among them, the first configuration information includes information for determining the time when the first ranging information is sent, and the first configuration information also includes information for completing time synchronization with the first terminal device. The position of the receiving device is determined based on the arrival time difference of the received first ranging information, the second ranging information, and the third ranging information.

[0059] Based on this technical solution, the terminal device sends configuration information through the first communication frequency band and sends ranging information through the second communication frequency band. The receiving device receives the configuration information and ranging information on the corresponding frequency band, and completes time synchronization with the corresponding terminal device according to the configuration information. The receiving device also determines the time to turn on the second communication frequency band to receive the corresponding ranging information according to the configuration information. The receiving device does not need to perform time synchronization again on the second communication frequency band, which can reduce the operating power consumption of the first device and improve the endurance of the device.

[0060] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the first device receives the first ranging information, determines the time when the first ranging information arrives, and then turns on the second communication frequency band for receiving the first ranging information. After receiving the first ranging information, the first device turns off the second communication frequency band.

[0061] Based on this technical solution, the second communication frequency band can be kept in a normally closed state, opened for receiving ranging information before receiving ranging information, and closed after receiving ranging information. Since the bandwidth on the second communication frequency band is relatively wide, being in a normally closed state can further reduce the operating power consumption of the receiving device and improve the endurance of the device.

[0062] In combination with the fourth aspect, in certain implementations of the fourth aspect, the first device determines, according to the first configuration information, the arrival times of the second ranging information and the third ranging information.

[0063] Based on this technical solution, the first device can also determine the arrival time of the ranging information sent by the other terminal devices according to the first configuration information, and the first device can estimate the receiving time according to the determined arrival time, thereby controlling the opening or closing of the second communication frequency band for receiving the ranging information. The operating power consumption of the receiving device can be further reduced, and the endurance of the device can be improved.

[0064] In combination with the fourth aspect, in certain implementations of the fourth aspect, after the first device receives the first configuration information, it turns off the first communication frequency band, determines the time when the second configuration information arrives based on the first configuration information, and turns on the first communication frequency band to receive the second configuration information.

[0065] Based on this technical solution, the first device can also determine the arrival time of the configuration information sent by other terminals according to the first configuration information, thereby controlling the opening or closing of the first communication frequency band for receiving the configuration information. The operating power consumption of the receiving device can be further reduced, and the endurance of the device can be improved.

[0066] In conjunction with the fourth aspect, in certain implementations of the fourth aspect, the first configuration information includes device information of the first terminal device, a device synchronization signal, time setting information, and a data field. The first ranging information includes a ranging frame, but does not include a data field.

[0067] Based on the technical solution, the first configuration information includes the device information of the first terminal device, the synchronization signal between the first terminal device and the first device, the remaining configuration information or the time setting information of the remaining ranging information, the data field, etc. The first ranging information does not repeatedly include the existing data field in the first configuration information, mainly including the ranging frame. Reducing the field length of the ranging information can reduce certain signaling overheads, shorten the time period for the first device to receive the ranging information, reduce the time period for the second communication frequency band to be turned on, further reduce the operating power consumption of the receiving device, and improve the endurance of the device.

[0068] In combination with the fourth aspect, in some implementations of the fourth aspect, the first device estimates the first carrier frequency offset CFO information with the first terminal device based on the first configuration information, and completes time synchronization with the first terminal device on the first communication frequency band according to the first CFO information. The first device determines the moment of receiving the first ranging information through the second communication frequency band according to the first CFO information.

[0069] Based on this technical solution, the first device completes the estimation of the CFO information between the first device and the first terminal device based on the first configuration information, thereby completing the time synchronization with the first terminal device on the first communication frequency band according to the CFO information. Since the first device and the first terminal device have completed the time synchronization on the first communication frequency band, when the first terminal device sends information to the first device through the second communication frequency band, there is no need to perform time synchronization. The first device directly determines the time to turn on the second communication frequency band for receiving the first ranging information based on the CFO information. Further reduce the operating power consumption of the receiving device and improve the endurance of the device.

[0070] In combination with the fourth aspect, in certain implementations of the fourth aspect, before the first terminal device sends the first configuration information, time synchronization is completed among the first terminal device, the second terminal device, and the third terminal device.

[0071] Based on this technical solution, before sending the first configuration information, the first terminal device completes time synchronization with the second terminal device and the third terminal device, so that all terminal devices used to send configuration information and ranging information are under the same clock source, and the arrival time difference of the ranging time can be used more accurately to solve the ranging positioning, thereby improving the accuracy of ranging positioning.

[0072] In a fifth aspect, a transmitting device is provided. The transmitting device includes a first terminal device, a second terminal device and a third terminal device. Each terminal device includes a first communication module and a second communication module. Specifically, the first communication module of the second terminal device is used to send the second configuration information, and the second communication module of the second terminal device is used to send the second ranging information. The bandwidth used in the second communication module is greater than the bandwidth used in the first communication module. Before the second configuration information is sent, the first communication module of the first terminal device sends the first configuration information, and the second communication module of the first terminal device sends the first ranging information. After the second ranging information is sent, the first communication module of the third terminal device sends the third configuration information, and the second communication module of the third terminal device sends the third ranging information. The first configuration information includes information for determining the time of sending the first ranging information, and the first configuration information also includes information for completing time synchronization with the first terminal device. The position of the receiving device is determined according to the arrival time difference of the received first ranging information, the second ranging information, and the third ranging information.

[0073] Based on this technical solution, the terminal device sends configuration information through the first communication module and sends ranging information through the second communication module. The receiving device receives the configuration information and ranging information on the corresponding frequency band, and completes time synchronization with the corresponding terminal device according to the configuration information. The receiving device also determines the time to turn on the second communication module to receive the corresponding ranging information according to the configuration information. The receiving device does not need to perform time synchronization again on the second communication frequency band, which can reduce the operating power consumption of the first device and improve the endurance of the device.

[0074] In conjunction with the fifth aspect, in some implementations of the fifth aspect, the first device receives the first ranging information, determines the time when the first ranging information arrives, and then turns on the second communication module of the first device for receiving the first ranging information. After receiving the first ranging information, the first device turns off the second communication module.

[0075] Based on this technical solution, the second communication module can be kept in a normally closed state, turned on to receive the ranging information before receiving the ranging information, and turned off after receiving the ranging information. Since the bandwidth used by the second communication module is relatively wide, being in a normally closed state can further reduce the operating power consumption of the receiving device and improve the endurance of the device.

[0076] In combination with the fifth aspect, in certain implementations of the fifth aspect, the first device determines the arrival times of the second ranging information and the third ranging information according to the first configuration information.

[0077] Based on this technical solution, the first device can also determine the arrival time of the ranging information sent by the other terminal devices according to the first configuration information, and the first device can estimate the receiving time according to the determined arrival time, thereby controlling the opening or closing of the second communication frequency band for receiving the ranging information. The operating power consumption of the receiving device can be further reduced, and the endurance of the device can be improved.

[0078] In combination with the fifth aspect, in certain implementations of the fifth aspect, after the first device receives the first configuration information, it turns off the first communication module, determines the time when the second configuration information arrives based on the first configuration information, and turns on the first communication module to receive the second configuration information.

[0079] Based on this technical solution, the first device can also determine the arrival time of the configuration information sent by other terminals according to the first configuration information, thereby controlling the opening or closing of the first communication module for receiving the configuration information. This can further reduce the operating power consumption of the receiving device and improve the endurance of the device.

[0080] In conjunction with the fifth aspect, in some implementations of the fifth aspect, the first configuration information includes device information of the first terminal device, a device synchronization signal, time setting information, and a data field. The first ranging information includes a ranging frame, but does not include a data field.

[0081] Based on the technical solution, the first configuration information includes the device information of the first terminal device, the synchronization signal between the first terminal device and the first device, the remaining configuration information or the time setting information of the remaining ranging information, the data field, etc. The first ranging information does not repeatedly include the existing data field in the first configuration information, mainly including the ranging frame. Reducing the field length of the ranging information can reduce certain signaling overheads, shorten the time period for the first device to receive the ranging information, reduce the time period for the second communication frequency band to be turned on, further reduce the operating power consumption of the receiving device, and improve the endurance of the device.

[0082] In combination with the fifth aspect, in some implementations of the fifth aspect, the first device estimates the first carrier frequency offset CFO information with the first terminal device based on the first configuration information, and completes time synchronization with the first terminal device on the first communication frequency band according to the first CFO information. The first device determines the moment of receiving the first ranging information through the second communication frequency band according to the first CFO information.

[0083] Based on this technical solution, the first device completes the estimation of the CFO information between the first device and the first terminal device based on the first configuration information, thereby completing the time synchronization with the first terminal device on the first communication frequency band according to the CFO information. Since the first device and the first terminal device have completed the time synchronization on the first communication frequency band, when the first terminal device sends information to the first device through the second communication frequency band, there is no need to perform time synchronization. The first device directly determines the time to turn on the second communication frequency band for receiving the first ranging information based on the CFO information. Further reduce the operating power consumption of the receiving device and improve the endurance of the device.

[0084] In combination with the fifth aspect, in certain implementations of the fifth aspect, before the first communication module of the first terminal device sends the first configuration information, time synchronization is completed among the first terminal device, the second terminal device, and the third terminal device.

[0085] Based on this technical solution, before sending the first configuration information, the first terminal device completes time synchronization with the second terminal device and the third terminal device, so that all terminal devices used to send configuration information and ranging information are under the same clock source, and the arrival time difference of the ranging time can be used more accurately to solve the ranging positioning, thereby improving the accuracy of ranging positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] Figure 1 It is a schematic diagram of the architecture of a ranging and positioning system provided in an embodiment of the present application.

[0087] Figure 2 It is a schematic diagram of the architecture of a TDOA uplink ranging and positioning system provided in an embodiment of the present application.

[0088] Figure 3 It is a schematic diagram of ranging based on a hyperbola positioning method provided in an embodiment of the present application.

[0089] Figure 4 It is a signal timing arrangement schematic diagram of a TDOA downlink ranging and positioning system provided in an embodiment of the present application.

[0090] Figure 5 It is a schematic diagram of the UWB ranging frame format provided in an embodiment of the present application.

[0091] Figure 6 It is a detailed schematic diagram of the UWB frame provided by the implementation of this application.

[0092] Figure 7 It is a schematic diagram of the signal timing arrangement of a ranging and positioning system provided in an embodiment of the present application.

[0093] Figure 8 It is a schematic diagram of communication between devices in a ranging and positioning system provided in an embodiment of the present application.

[0094] Fig. 9 A schematic block diagram of a communication device 100 provided in the present application.

[0095] Fig.10 A schematic structural diagram of the communication device 10 provided in this application. DETAILED DESCRIPTION

[0096] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0097] The technical solution of the present application can be applied to wireless personal area network (WPAN). The standard currently adopted by WPAN is the Institute of Electrical and Electronics Engineers (IEEE) 802.15 series. WPAN can be used for communication between digital auxiliary devices within a small range, such as telephones, computers, and auxiliary devices. Technologies supporting wireless personal area networks include Bluetooth, ZigBee, ultra wideband (UWB), infrared data association (IrDA) connection technology, home radio frequency (HomeRF), etc. From the perspective of network composition, WPAN is located at the bottom layer of the entire network architecture and is used for wireless connection between devices within a small range, that is, point-to-point short-distance connection, which can be regarded as a short-distance wireless communication network. According to different application scenarios, WPAN is divided into high rate (HR)-WPAN and low rate (LR)-WPAN, among which HR-WPAN can be used to support various high-rate multimedia applications, including high-quality audio and video distribution, multi-megabyte music and image document transmission, etc. LR-WPAN can be used for general business in daily life.

[0098] In WPAN, devices can be divided into full-function devices (FFD) and reduced-function devices (RFD) according to their communication capabilities. FFDs can communicate with each other and with RFDs. RFDs cannot communicate directly with each other, but can only communicate with FFDs, or forward data outward through an FFD. The FFD associated with an RFD is called the coordinator of the RFD. RFD devices are mainly used for simple control applications, such as light switches, passive infrared sensors, etc. The amount of data transmitted is small, and the transmission and communication resources are not much occupied, so the cost of RFD is low. Among them, the coordinator can also be called a personal area network (PAN) coordinator or a central control node. The PAN coordinator is the master control node of the entire network, and there is generally only one PAN coordinator in each ad hoc network, which has member identity management, link information management, and packet forwarding functions.

[0099] Optionally, the device in the embodiment of the present application (eg, a sending device or a receiving device) may be a device supporting the 802.15 series, for example, a device supporting 802.15.4a and 802.15.4z, as well as multiple WPAN standards currently under discussion or subsequent versions.

[0100] In the embodiments of the present application, the above-mentioned device may be a communication server, a router, a switch, a bridge, a computer or a mobile phone, a smart home device, a vehicle-mounted communication device, etc.

[0101] In an embodiment of the present application, the above-mentioned device includes a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system layer. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and a memory (also called main memory). The operating system can be any one or more computer operating systems that implement business processing through a process, such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a windows operating system. The application layer includes applications such as a browser, an address book, a word processing software, and an instant messaging software. In addition, the embodiment of the present application does not specifically limit the specific structure of the execution subject of the method provided in the embodiment of the present application, as long as it can communicate according to the method provided in the embodiment of the present application by running a program that records the code of the method provided in the embodiment of the present application, for example, the execution subject of the method provided in the embodiment of the present application can be an FFD or an RFD, or a functional module in an FFD or RFD that can call a program and execute the program.

[0102] In addition, various aspects or features of the present application can be implemented as methods, devices or products using standard programming and / or engineering techniques. The term "product" used in this application covers computer programs that can be accessed from any computer-readable device, carrier or medium. For example, computer-readable media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks or tapes, etc.), optical disks (e.g., compact discs (CDs), digital versatile discs (DVDs), etc.), smart cards and flash memory devices (e.g., erasable programmable read-only memory (EPROM), cards, sticks or key drives, etc.). In addition, the various storage media described herein may represent one or more devices and / or other machine-readable media for storing information. The term "machine-readable medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing and / or carrying instructions and / or data.

[0103] The technical solution of the present application can also be applied to wireless local area network systems such as the Internet of Things (IoT) network or the Vehicle to X (V2X). Of course, the embodiments of the present application can also be applied to other possible communication systems, such as the long term evolution (LTE) system, the LTE frequency division duplex (FDD) system, the LTE time division duplex (TDD) system, the universal mobile telecommunication system (UMTS), the world-wide interoperability for microwave access (WiMAX) communication system, the fifth generation (5G) communication system, and the future sixth generation (6G) communication system.

[0104] The above-mentioned communication systems applicable to the present application are only examples, and the communication systems applicable to the present application are not limited thereto. They are uniformly described here and will not be repeated below. In the embodiments of the present application, the term "wireless communication" may also be referred to as "communication", and the term "communication" may also be described as "data transmission", "information transmission" or "transmission".

[0105] With the development of science and technology, the application of UWB ranging and positioning technology is becoming more and more extensive. UWB is an ultra-wideband communication system that uses pulses with a pulse width of nanoseconds (ns) or even picoseconds (ps) as its basic signal. UWB has a bandwidth of hundreds of megabytes or even up to 1GHz in the spectrum. For example, a 2ns pulse signal has a bandwidth of 500MHz. Therefore, UWB has the characteristics of large bandwidth, high transmission rate, and large system capacity. Based on these characteristics, UWB can achieve higher ranging and positioning accuracy than existing wireless positioning technologies, and can achieve centimeter-level positioning accuracy; and its high time resolution gives it good anti-multipath capability, and it can still achieve ranging and positioning in complex multipath environments. It has become a research hotspot.

[0106] In order to facilitate understanding of the technical solutions of the embodiments of the present application, some terms or concepts involved in the embodiments of the present application are first briefly described.

[0107] 1. UWB technology: It is a wireless carrier communication technology that uses nanosecond non-sinusoidal narrow pulses to transmit data, so it occupies a wide spectrum range. Due to its narrow pulses and extremely low radiation spectrum density, the UWB system has the advantages of strong multipath resolution, low power consumption, and strong confidentiality, which is conducive to coexistence with other systems, thereby improving spectrum utilization and system capacity.

[0108] 2. Time Difference of Arrival (TDOA): It is a positioning technology used to measure the time difference of signal arrival. It determines the location of the signal source based on the difference in the time when multiple receivers receive the same signal. The location of the mobile device can be determined by measuring the time difference of the arrival signal at different base stations or receivers. TDOA positioning technology is applicable to fields such as wireless communications, radar, acoustics and positioning systems.

[0109] 3. UWB ranging and / or positioning: With the development of indoor positioning technology, the application of UWB ranging and / or positioning technology is becoming more and more widespread. UWB uses pulses with a pulse width of nanoseconds or even picoseconds as its basic signal. It has the characteristics of high transmission rate, large system capacity, large spectrum bandwidth, and extremely low power spectrum density, and can coexist with existing short-range communication systems. These characteristics of UWB give it high time resolution, strong anti-multipath capability, and high ranging and positioning accuracy, which can reach the centimeter level. Realizing ranging and positioning in complex multipath environments has become a research hotspot.

[0110] 4. TDOA ranging positioning system: It can be applied to real-time location systems (RTLS) that require large capacity, such as shopping malls, factories, workshops and other places. In the TDOA positioning system, fixed or known terminal devices are required. Based on the location of these terminal devices, the distance between the terminal device at the position to be measured and the terminal device at the known position is measured and calculated, so as to obtain the specific location of the terminal device to be measured.

[0111] In some embodiments, a terminal device with a known location is also referred to as an anchor point, a base station, etc.; a terminal device at a location to be measured is also referred to as a tag, a located device, etc.; these are merely references to names and do not constitute any limitation on the scope of protection of this application.

[0112] The device involved in the present application may be a wireless communication chip, a wireless sensor or a wireless communication terminal. For example, a user terminal, a user device, an access device, a subscriber station, a subscriber unit, a mobile station, a user agent, and a user equipment that support Wi-Fi communication functions, wherein the user terminal may include various handheld devices with wireless communication functions, vehicle-mounted devices, wearable devices, Internet of Things (IoT) devices, computing devices, or other processing devices connected to a wireless modem, as well as various forms of user equipment (UE), mobile station (MS), terminal, terminal equipment, portable communication devices, handheld devices, portable computing devices, entertainment devices, gaming devices or systems, global positioning system devices, or any other suitable devices configured to communicate over a wireless medium. In addition, the device may support 802.15.4ab or the next generation of 802.15.4ab. The device can also support multiple standards such as 802.15.4a, 802.15.4-2011, 802.15.4-2015 and 802.15.4z. The device can also support multiple wireless local area networks (WLAN) standards of the 802.11 family such as 802.11ax, 802.11ac, 802.11n, 802.11g, 802.11b, 802.11a, and 802.11be next generation.

[0113] For ease of understanding, combined Figure 1 Briefly introduce the TDOA ranging and positioning system used in the above-mentioned ranging technology.

[0114] Figure 1 Schematic diagram of the architecture of a ranging and positioning system provided in an embodiment of the present application. Figure 1 As shown, it includes anchor points with known positions and tags at positions to be measured. These anchor points need to be in the same time system, that is, time synchronization between anchor points is achieved through a clock source. The TDOA ranging and positioning system distinguishes between uplink and downlink modes. In the uplink mode, the uplink TDOA is broadcast by the tag to broadcast the UWB signal, which is received by the anchor point. The position of the tag is calculated based on the arrival time difference of the signals received by different anchor points and the position of the anchor point. The downlink TDOA is broadcast by the anchor point in chronological order to be received by the tag. The tag in the downlink TDOA ranging and positioning system is always in a receiving state, constantly searching for the UWB signal broadcast by the anchor point, and calculating the position of the tag based on the arrival time difference of the signals broadcast by different anchor points and the position of the anchor point.

[0115] In the TDOA ranging positioning system, at least two anchor points with known positions are required to complete the ranging and positioning of the tag. When the TDOA ranging positioning system has only two anchor points, the system can measure the distance and locate the tag on one side of the connecting line with the two anchor points. When the TDOA ranging positioning system has three anchor points, the system can measure the distance and locate the tag at any position within the communication range of the anchor points. The more anchor points the TDOA ranging positioning system has, the wider the ranging and positioning range of the system and the higher the accuracy.

[0116] It should be understood that within the detection area of ​​the anchor point, the present application does not impose any special limitation on the number of detectable tags.

[0117] 5. TDOA uplink ranging positioning: For ease of understanding, the following is combined with Figure 2 A UWB ranging method based on TDOA uplink is briefly introduced.

[0118] Figure 2 This is a schematic diagram of the architecture of a TDOA uplink ranging positioning system provided by an embodiment of the present application. In the figure, the clock source is used to provide time synchronization between anchor points, and the positioning engine is used to receive the timestamp sent by the anchor point to complete the tag position solution. The specific ranging positioning steps are as follows.

[0119] Step 1: Time synchronization between anchor points. The clock source periodically sends time synchronization signals to anchor points 1, 2, 3, and 4. In one possible method, the time synchronization signal is first sent to anchor points 1, 2, 3, and 4 to reset the clocks of all anchor points. Subsequently, the time synchronization signal is sent to anchor points 1, 2, 3, and 4 every second, that is, the anchor point adjusts its own clock every 1 second, so that the time systems of all anchor points are based on the clock source and time synchronization is completed.

[0120] Step 2: Prevent uplink signal collision. Tags 0, 1, and 2 are in the receiving state, during which carrier sense multiple access with collision avoidance (CSMA / CA) detection is performed to prevent signal collision.

[0121] Step 3: Tag broadcasts a signal to the anchor point. Tag0, 1, and 2 all have the ability to broadcast UWB signals. Tag0 is used as an example for description. Tag0 sends UWB signals to anchor points 1, 2, 3, and 4, where the UWB signal carries basic information such as the device address.

[0122] Step 4: Anchor point receiving and sending timestamp. Anchor points 1, 2, 3, and 4 are always in the receiving state. After receiving the UWB signal of tag0, they record the received timestamp and send timestamps 1, 2, 3, and 4 to the positioning engine respectively.

[0123] Step 5: Distance measurement and positioning. After the positioning engine receives the timestamp sent by the anchor point, it converts the time difference to obtain the distance between the tag and each anchor point, and then locates the tag based on the hyperbolic positioning method. Figure 3 Introduce the hyperbolic positioning method.

[0124] Figure 3 It is a schematic diagram of a distance measurement based on a hyperbolic positioning method provided in an embodiment of the present application. The figure takes the calculation of the distance between three anchor points and a tag as an example for description. The coordinate positions of the three anchor points at known positions in the figure are (x1, y1), (x2, y2), and (x3, y3), and the coordinates of the tag at the position to be measured are (x, y). The distances between the tag and the three anchor points are r1, r2, and r3, respectively. The values ​​of r1, r2, and r3 are calculated, and the specific coordinate position of the tag can be obtained by combining the coordinate positions of the three anchor points. The specific calculation formula includes:

[0125]

[0126]

[0127] Here, |r1-r2| represents the distance difference between the signal broadcast by the tag at (x, y) reaching the anchor point at (x1, y1) and reaching the anchor point at (x2, y2). The distance difference can be calculated by multiplying the time difference of the timestamps recorded between the two anchor points by the speed of light.

[0128] In summary, the positioning engine completes the calculation of the tag position and obtains the tag's ranging positioning information.

[0129] 6. TDOA downlink ranging and positioning: In the ranging and positioning system based on the downlink method, the anchor point sends the UWB signal to the tag, the tag records the received timestamp and solves it based on the time difference.

[0130] It should be understood that in the downlink mode, after the tag records the received timestamp, the timestamp information can be sent to the positioning engine for position solution; the solution module can also be integrated into the tag, and the distance solution can be directly performed according to the recorded timestamp information. This application does not make special restrictions on this. This application takes the integration of the solution module in the tag as an example to describe the TDOA downlink ranging positioning.

[0131] For ease of understanding, the following Figure 1 and Figure 4 This paper briefly introduces a UWB ranging method based on TDOA downlink. Figure 1In the process, the tag is always in the receiving state, constantly searching for the UWB signal broadcast by the anchor point, and calculating the tag's position based on the arrival time difference of the signals broadcast by different anchor points and the anchor point position. The specific ranging and positioning steps are as follows.

[0132] Step 1: Anchor point time synchronization. The clock source synchronizes the time of anchor points 1, 2, 3, and 4, so that the time system of all anchor points is based on the clock source. The specific synchronization steps can refer to the time synchronization steps in TDOA uplink ranging positioning, and this application will not repeat them here.

[0133] Step 2: Anchor points broadcast signals to tags. Anchor points 1, 2, 3, and 4 broadcast UWB signals to tags in chronological order. The UWB signals carry basic information such as device addresses. Figure 4 Describes sending signals from anchor points to tags.

[0134] Figure 4 This is a schematic diagram of the signal timing arrangement of a TDOA downlink ranging positioning system provided in an embodiment of the present application. In the figure, A1, A2, A3, and A4 represent anchor points 1, 2, 3, and 4, respectively. In the TDOA downlink ranging positioning system, there is no specific limit on the number of tags to be measured, and multiple tags can be ranged and positioned. Figure 4 Let's take tag0 and tag1 as examples.

[0135] Anchor points 1, 2, 3, and 4 broadcast UWB signals to tag0 and tag1 at intervals of delta duration in sequence, where the delta duration can be adjusted according to actual conditions, generally in the order of microseconds to milliseconds.

[0136] Step 3: Tag receives and records the timestamp. Tag0 and tag1 are always in the receiving state, receiving UWB signals sent by anchor points 1, 2, 3, and 4. When the tag0 device receives the UWB signal sent by anchor point 1, it records the receiving timestamp tag0_A1. When it receives the UWB signal sent by anchor point 2, it records the receiving timestamp tag0_A2. Similarly, when the tag receives the UWB signal sent by the anchor point, it records the receiving timestamp tag*_A*.

[0137] Step 4: Ranging and positioning solution. A solution module is set in the tag. The solution module obtains the distance difference between the tag and each anchor point according to the recorded timestamp, and then performs ranging and positioning of the tag according to the hyperbolic positioning method. For specific hyperbolic positioning methods and calculations, please refer to the solution steps in TDOA uplink ranging and positioning, which will not be repeated in this application.

[0138] Specifically, UWB technology does not need to use the carrier in the traditional communication system, but transmits data by sending and receiving extremely narrow pulses with nanoseconds or less. Therefore, the synchronization of the transceiver equipment is crucial in UWB technology. The so-called synchronization of the transceiver equipment can be understood as the physical layer protocol data unit (PPDU) is sent in the form of a pulse signal, and the receiving end determines which of the multiple pulse signals received is the PPDU it wants to receive. Currently, the synchronization of transceivers is mainly achieved through the synchronization header (SHR) in the PPDU. Specifically, the receiving end can determine which of the multiple pulse signals received is the PPDU it wants to receive based on correlation detection with the synchronization header. For example, the form of the ranging frame in the UWB signal can be as follows Figure 5 One of the four types shown.

[0139] Figure 5 It is a schematic diagram of the UWB ranging frame format provided in an embodiment of the present application. Among them, the ranging frame shown in type one is composed of a synchronization header (SHR), a physical header (PHR) and a payload (payload), wherein the SHR includes a synchronization (SYNC) field and a start frame delimiter (SFD) field. On the basis of type one, the security of the ranging can be enhanced by adding a scrambled timestamp sequence (STS) during the ranging process. For example, type two and type three are composed of SHR, PHR, payload and STS. For the specific composition order, see Figure 5 Type 4 consists of SHR and STS.

[0140] Figure 6 It is a detailed schematic diagram of the UWB frame, namely Figure 5The detailed composition of the payload in the UWB frame. The UWB frame consists of three parts: the Media Access Control Header (MHR), the Media Access Control Load (MAC payload) and the Media Access Control Footer (MFR). Among them, the MHR is used to control and manage the information of the Media Access Control (MAC) layer. The MHR determines the specific field structure and bit allocation according to the specification of the UWB protocol. The MAC payload is the actual data carried in the Mac frame, which can be the transmitted application data, such as files, audio, video, etc. The MFR contains the tail information of the Mac frame, which is usually some fields used for verification, error detection or encryption integrity verification. The specific content and purpose of the MFR vary according to the requirements of the UWB protocol and application.

[0141] MHR includes frame control, sequence number, destination address, source address, etc. Among them, frame control includes frame type, and different frame types can identify different fields. Frame control usually uses 3 bits (bit2, bit1 and bit0) as flag bits to determine the type of frame. The corresponding relationship between some common frame type identifiers is shown in Table 1.

[0142] Table 1

[0143] Frame Type value (bit2, bit1, bit0) describe 000 Beacon frame 001 Data Frame 010 Acknowled character (ACK) frame

[0144] exist Figure 1 , Figure 2 In the UWB-based TDOA ranging and positioning solution shown, the UWB signal receiver needs to remain turned on and continue to receive the UWB signal. Due to the large bandwidth of the UWB signal and the high power consumption of the chip, the endurance of the receiving device will be low. In addition, since the transmission power of the UWB signal is limited and the transmission distance is limited, the range of ranging and positioning is also limited.

[0145] In view of this, the present application proposes a ranging and positioning method, which can reduce the operating power consumption of the receiving device and improve the device's endurance and ranging range.

[0146] It should be understood that in the TDOA positioning system, ranging can be completed based on uplink and downlink methods, and this application does not make any special restrictions here. In order to clearly describe this solution, TDOA downlink ranging positioning is used as an example for description, which does not constitute any limitation on the protection scope of this application.

[0147] It should be understood that Figure 1 The embodiment of the present application is described by taking the architecture of the TDOA positioning system shown as an example, which does not constitute any limitation on the protection scope of the present application.

[0148] by Figure 1 Taking the anchor points 1, 2, 3 and tag0, tag1 as examples, the ranging and positioning method proposed in this application specifically includes the following steps.

[0149] Step 1: Anchor point time synchronization. The clock source synchronizes the time of anchor points 1, 2, and 3, so that the time system of all anchor points is based on the clock source. The specific synchronization steps can refer to the time synchronization steps in TDOA uplink ranging positioning, and this application will not repeat them here.

[0150] Step 2: Anchor 1 broadcasts a signal. Anchor 1 sends a narrowband frame at time t1. This narrowband frame contains the device information of the anchor point and carries synchronization signals, deltaT1, deltaT2, deltaT3 and other time setting information. Anchor 1 sends a broadband ranging frame at time t1+deltaT2. This broadband ranging frame does not need to carry device information and payload again, which can effectively reduce the broadband working time. For ease of understanding, the following is combined with Figure 7 Describes sending signals from anchor points to tags.

[0151] Figure 7 : is a signal timing arrangement diagram of a ranging and positioning system provided in an embodiment of the present application. In the figure, A1, A2, and A3 represent anchor points 1, 2, and 3 respectively. In the ranging and positioning method provided in the present application, there is no specific restriction on the number of tags, and multiple tags can be ranging and positioned.

[0152] Step 3: The tag receives the signal from anchor point 1. The narrowband communication system of tag0 is always in the on state, and the broadband communication system of tag0 is in the off state. After tag0 receives the narrowband frame sent by A1, it is recorded as NB_tag0_A1. After tag0 receives the narrowband frame signal, it completes the time synchronization with the anchor point 1 device based on the device information and synchronization signal carried by the narrowband frame signal. Tag0 estimates the carrier frequency offset (CFO) information based on the narrowband frame signal. The CFO information can be positive or negative. Tag0 calculates the start time of the broadband communication system based on the CFO information to start the broadband communication system to receive the broadband ranging frame sent by A1. The start time of tag0 starting the broadband communication system includes:

[0153] NB_tag0_A1+deltaT2·(1-CFO tag0_A1 ) (3)

[0154] Among them, CFO tag0_A1 Represents the CFO of A1 relative to tag0 predicted at the time when tag0 records the timestamp of NB_tag0_A1.

[0155] After tag0 receives the broadband ranging frame, the timestamp is recorded as WB_tag0_A1. Since the narrowband communication system and the broadband communication system are based on the same clock source, after completing the narrowband time synchronization with the anchor device, the broadband coarse synchronization step can be omitted, which can reduce the power consumption of the tag searching for broadband signals. The way tag1 receives the narrowband frame and broadband ranging frame sent by anchor 1 is the same as tag0, and this application will not repeat it here.

[0156] Step 4: Anchor 2 broadcasts a signal. Anchor 2 sends a narrowband frame at time t2. Since the systems between anchors are synchronized and share the same clock source, t2 = t1 + deltaT1. Similar to anchor 1, this narrowband frame contains the device information of the anchor and carries synchronization signals, deltaT1, deltaT2, deltaT3 and other time setting information. Anchor 2 broadcasts a wideband ranging frame at time t2 + deltaT2. This wideband ranging frame does not need to carry device information and payload again.

[0157] Step 5: The tag receives the signal from anchor point 2. Tag0 starts receiving based on the time NB_tag0_A1+deltaT2-delta, and performs a coarse search for the narrowband signal sent by A2.

[0158] It should be understood that the delta value here is set according to the actual system situation to ensure that tag0 can start receiving in advance and can receive the narrowband signal sent by A2. The specific delta value is related to the electrical characteristics of the device and signal propagation, etc., and this application does not make any special limitations here.

[0159] When tag0 receives the narrowband signal sent by A2, it records the timestamp as NB_tag0_A2 and completes the CFO estimation between tag0 and A2. The moments when tag0 starts the broadband communication system to receive the broadband ranging frame of A2 include:

[0160] NB_tag0_A2+deltaT2·(1-CFO tag0_A2 ) (4)

[0161] Among them, CFO tag0_A2 Represents the CFO of A2 relative to tag0 predicted at the time when tag0 records the timestamp of NB_tag0_A2.

[0162] After tag0 receives the broadband ranging frame from A2, the timestamp is recorded as WB_tag0_A2. The receiving method of tag1 for the narrowband frame and broadband ranging frame sent by anchor point 2 is the same as that of tag0, and this application will not repeat it here.

[0163] Step 6: Anchor point 3 broadcasts a signal. Anchor point 3 sends a narrowband frame at time t3. The specific sending process can refer to the sending process of anchor point 2 in step 4, and this application will not repeat it here.

[0164] Step 7: Tag receives the signal from anchor point 3. Tag0 and tag1 receive the signal sent by A3. The specific receiving process can refer to the tag receiving process in steps 3 and 5, which will not be described in detail in this application.

[0165] Step 8: Ranging and positioning solution. A solution module is set in the tag. The solution module obtains the distance difference between the tag and each anchor point according to the recorded timestamp, and then performs ranging and positioning of the tag according to the hyperbolic positioning method. For specific hyperbolic positioning methods and calculations, please refer to the solution steps in TDOA uplink ranging and positioning, which will not be repeated in this application.

[0166] The arrival time differences between anchor points A1, A2, A3 and tag0 include:

[0167] ΔtimeA1A2_tag0=WB_tag0_A2-WB_tag0_A1-deltaT3·(1-CFO tag0_A2 ) (5)

[0168] ΔtimeA2A3_tag0=WB_tag0_A3-WB_tag0_A2-deltaT3·(1-CFO tag0_A3 ) (6)

[0169] Among them, ΔtimeA1A2_tag0 represents the time difference between A1 and A2 reaching tag0, and ΔtimeA2A3_tag0 represents the time difference between A2 and A3 reaching tag0. Through the time difference, we can calculate the distance difference between tag0 and A1 and A2, and the distance difference between tag0 and A2 and A3. Based on the distance difference, combined with Figure 3 The described hyperbolic positioning method can calculate the distance between tag0 and A1, A2, A3, and thus calculate the position of tag0. The method for calculating the position of tag1 can refer to the method for calculating tag0, and this application will not repeat it here.

[0170] It should be understood that in some embodiments, the wideband ranging frame is also referred to as a wideband frame, a wideband signal, a wideband ranging signal, etc. It should be understood that these are only references to names, and the signal described should be the same signal, and this application does not make any special limitation on this.

[0171] It should be understood that in some embodiments, the narrowband frame is also referred to as a narrowband signal, a narrowband communication and synchronization frame, a narrowband communication and synchronization signal, etc. It should be understood that these are only references to names, and what is described should be the same signal. This application does not make any special limitations on this.

[0172] The above is a detailed description of the ranging and positioning method provided by the present application. The following is an introduction to the communication device provided by the present application.

[0173] Figure 8 It is a schematic diagram of communication between devices in a ranging and positioning system provided in an embodiment of the present application. The ranging and positioning system includes at least two transmitting devices, namely anchor points. The ranging and positioning system includes at least one receiving device, namely a tag. Taking the communication between an anchor point and a tag as an example, the devices 1 and 2 in the figure can be the anchor point and tag involved in the embodiment of the present application, respectively. Each device includes at least a broadband communication module and a narrowband communication module. Among them, the broadband communication modules of device 1 and device 2 can be positioned and / or ranging, and the narrowband communication modules of device 1 and device 2 can be used to transmit data through a wireless link. Device 2, as a receiving module, can also include a control module and a calculation module. Among them, the control module is used to synchronize with the anchor point according to the received narrowband signal, and is also used to determine the moment of receiving the broadband signal. The calculation module is used to solve the position of the tag according to the arrival time difference between the received narrowband signals. The control module is also used to control the opening and / or closing of the narrowband communication module and the broadband communication module.

[0174] In this application, the broadband communication module can be understood as a device, chip or system that implements broadband communication wireless communication technology; accordingly, the narrowband communication module can be understood as a device, chip or system that implements narrowband communication technology (such as Wi-Fi, Bluetooth, or Zigbee (Purple Bee Protocol), etc.). In a device, the broadband communication module and the narrowband communication module can be different devices or chips. Of course, the broadband communication module and the narrowband communication module can also be integrated in one device or chip. The embodiment of this application does not limit the implementation method of the broadband communication module and the narrowband communication module in the device. Broadband communication technology can enable the communication device to have a high data throughput and enable the device positioning to have high accuracy. Through narrowband communication, a more accurate startup time is provided for the broadband communication system, so that the broadband communication system does not need coarse synchronization and directly performs fine synchronization. It can further save power consumption and extend the endurance of the receiving device.

[0175] It should be understood that both device 1 and device 2 can represent anchor points or tags. Data is transmitted between anchor points and tags through a narrowband communication system, and positioning and / or ranging are performed through a broadband communication system. Device 1 and device 2 can have a built-in solution module for positioning and / or ranging, or send a timestamp to an independent calculation module for positioning and / or ranging, and this application does not specifically limit this.

[0176] In the present application, broadband communication signals include signals with a bandwidth greater than or equal to 499.2 MHz.

[0177] It should be understood that the broadband communication signal emitted by the broadband communication module includes a UWB signal and also includes other signals with a bandwidth greater than or equal to 499.2 MHz.

[0178] In the ranging and positioning system of the present application, the receiving system of the receiving device does not need to be kept turned on all the time. After receiving the narrowband signal sent by the sending device 1 at time t1, the sending time of the broadband signal of the sending device 1 can be predicted based on the synchronization signal and time setting information carried by the narrowband signal, and the broadband receiving system can be turned on before the predicted time to receive the broadband signal. It is also possible to predict the sending time of the narrowband signal and broadband signal sent by the sending device 2, the sending device 3 and other sending devices based on the synchronization signal and time setting information carried by the narrowband signal sent by the sending device 1, and turn on the corresponding receiving system before the predicted time. The power consumption of the receiving device can be reduced and the endurance of the receiving device can be improved.

[0179] It should be understood that in the ranging and positioning method provided in the present application, the sending device includes an anchor point, a tag, etc.; the receiving device includes a tag, an anchor point, etc. Whether the sending device and the receiving device are specifically an anchor point or a tag depends on whether the TDOA uplink or downlink ranging method is adopted. In uplink ranging, the sending device is a tag and the receiving device is an anchor point. In downlink ranging, the sending device is an anchor point and the receiving device is a tag.

[0180] In the ranging and positioning method provided in the present application, the number of anchor points should be greater than or equal to 2. When there are only two anchor points with known positions in the ranging and positioning system, when the hyperbolic positioning method is used to solve the position coordinates of the tag, two tag positions will appear, located on both sides of the line connecting the two anchor points, and symmetrical along the line connecting the anchor points. As a non-limiting embodiment, if there are only two anchor points, the two anchor points are generally installed on the same side of the ranging edge, and the tag located on one side is measured and positioned. For example, if two anchor points are fixed to the same inner wall of a building, the position of the tag located in the building can be measured and positioned.

[0181] The following, combined Fig. 9 and Fig.10 The communication device provided in the embodiment of the present application is described in detail. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment, so the contents not described in detail can be referred to the method embodiment above, and some contents will not be repeated for the sake of brevity.

[0182] The embodiment of the present application can divide the anchor point or tag into functional modules according to the above method example. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation. The following is an example of dividing each functional module corresponding to each function.

[0183] Fig. 9 is a schematic block diagram of a communication device provided in an embodiment of the present application. Fig. 9 As shown, the device 100 may include a transceiver unit 110 and a processing unit 120. The transceiver unit 110 may communicate with the outside, and the processing unit 120 is used for data processing. The transceiver unit 110 may also be called a communication interface or a communication unit.

[0184] Optionally, the device 100 may further include a storage unit, which may be used to store instructions and / or data, and the processing unit 120 may read the instructions and / or data in the storage unit so that the device implements the aforementioned method embodiment.

[0185] The device 100 can be used to execute the actions performed by the transceiver device (such as tags and anchor points) in the above method embodiments. In this case, the device 100 can be a transceiver device or a component that can be configured in a transceiver device. The transceiver unit 110 is used to execute the transceiver-related operations of the transceiver device in the above method embodiments, and the processing unit 120 is used to execute the processing-related operations of the transceiver device in the above method embodiments.

[0186] Optionally, the transceiver unit 110 in the device 100 can communicate on two frequency bands with different bandwidths. The transceiver unit 110 can transmit and receive information on a narrowband frequency band, and can also transmit and receive information on a broadband frequency band. The processing unit 120 is used to control the transceiver unit 110 to send information on different frequency bands, and is also used to process the information received by the transceiver unit 110 on different frequency bands.

[0187] As a design, the device 100 is used to execute the actions performed by the anchor point in the above method embodiment, and the transceiver unit 110 includes the broadband communication module and the narrowband communication module in the embodiment.

[0188] As another design, the device 100 is used to execute the action performed by the tag in the above method embodiment, and the transceiver unit 110 includes the broadband communication module and the narrowband communication module in the embodiment.

[0189] It should be understood that the specific process of each unit executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0190] The processing unit 120 in the above embodiment may be implemented by at least one processor or processor-related circuits. The transceiver unit 110 may be implemented by a transceiver or a transceiver-related circuit. The storage unit may be implemented by at least one memory.

[0191] like Fig.10 As shown, an embodiment of the present application further provides a device 10. The device 10 includes a processor 11 and may also include one or more memories 12. The processor 11 is coupled to the memory 12, and the memory 12 is used to store computer programs or instructions and / or data. The processor 11 is used to execute the computer programs or instructions and / or data stored in the memory 12, so that the method in the above method embodiment is executed. Optionally, the device 10 includes one or more processors 11.

[0192] Optionally, the memory 12 may be integrated with the processor 11 or provided separately.

[0193] Alternatively, if Fig.10As shown, the device 10 may further include a transceiver 13, and the transceiver 13 is used for receiving and / or sending signals. For example, the processor 11 is used to control the transceiver 13 to receive and / or send signals.

[0194] As a solution, the apparatus 10 is used to implement the operations performed by the transceiver devices (such as anchor points and tags) in the above method embodiments.

[0195] In addition, the present application also provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed on a computer, the methods in the various method embodiments of the present application are executed.

[0196] The present application also provides a computer program product, which includes computer program codes or instructions. When the computer program codes or instructions are run on a computer, the methods in the various method embodiments of the present application are executed.

[0197] In addition, the present application also provides a chip, the chip including a processor. A memory for storing a computer program is provided independently of the chip, and the processor is used to execute the computer program stored in the memory, so that the method in each method embodiment of the present application is executed.

[0198] Furthermore, the chip may further include a communication interface. The communication interface may be an input / output interface, or an interface circuit, etc. Furthermore, the chip may further include a memory.

[0199] In addition, the present application also provides a communication system, including the terminal device in the embodiment of the present application.

[0200] It should be understood that the processor in the embodiment of the present application can be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the above method embodiment can be completed by the hardware integrated logic circuit or software instructions in the processor. The processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware coding processor to be executed, or the hardware and software modules in the coding processor are combined to be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0201] 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 synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DRRAM).

[0202] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated into the processor.

[0203] It should also be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0204] Those of ordinary skill 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 to be beyond the scope of this application.

[0205] Those skilled in the art can 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.

[0206] In the several embodiments provided in the present 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 only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, 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.

[0207] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0208] 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.

[0209] 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, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0210] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A ranging and positioning method, characterized in that: include: The first device receives the first configuration information, the second configuration information, and the third configuration information through the first communication frequency band, and receives the first ranging information, the second ranging information, and the third ranging information through the second communication frequency band, wherein the bandwidth used in the second communication frequency band is greater than the bandwidth used in the first communication frequency band; After the first device completes time synchronization with the first terminal device on the first communication frequency band based on the first configuration information, the first device determines the arrival time of the first ranging information and receives it, The location of the first device is determined according to the arrival time difference of the first ranging information, the second ranging information, and the third ranging information.

2. The method according to claim 1, characterized in that: include: After the first device determines the time when the first ranging information arrives, it turns on the second communication frequency band to receive the first ranging information, and after receiving the first ranging information, it turns off the second communication frequency band.

3. The method according to claim 1 or 2, characterized in that: include: The first device determines, according to the first configuration information, arrival times of the second ranging information and the third ranging information.

4. The method according to any one of claims 1 to 3, characterized in that include: After receiving the first configuration information, the first device turns off the first communication frequency band, determines the time when the second configuration information arrives based on the first configuration information, and turns on the first communication frequency band again to receive the second configuration information.

5. The method according to any one of claims 1 to 4, characterized in that The first configuration information includes device information, a device synchronization signal, time setting information, and a data field of the first terminal device; The first ranging information includes a ranging frame but does not include the data field.

6. The method according to any one of claims 1 to 5, characterized in that The first device estimates, based on the first configuration information, first carrier frequency offset CFO information with the first terminal device, and completes time synchronization with the first terminal device on the first communication frequency band according to the first CFO information; The first device determines a time to receive the first ranging information through the second communication frequency band according to the first CFO information.

7. The method according to any one of claims 1 to 6, characterized in that include: Before the first terminal device sends the first configuration information, the first terminal device completes time synchronization with other terminal devices that send configuration information.

8. A ranging and positioning system, characterized in that: include: The first terminal device sends first configuration information through the first communication frequency band, and sends first ranging information through the second communication frequency band; The first device receives the first configuration information, completes time synchronization with the first terminal device on the first communication frequency band based on the first configuration information, determines the arrival time of the first ranging information and receives it, and the bandwidth used in the second communication frequency band is greater than the bandwidth used in the first communication frequency band; The second terminal device sends second configuration information through the first communication frequency band, and sends second ranging information through the second communication frequency band; The first device receives the second configuration information, completes time synchronization with the second terminal device on the first communication frequency band based on the second configuration information, determines the arrival time of the second ranging information, and receives it; The third terminal device sends third configuration information through the first communication frequency band, and sends third ranging information through the second communication frequency band; The first device receives the third configuration information, completes time synchronization with the third terminal device on the first communication frequency band based on the third configuration information, determines the arrival time of the third ranging information, and receives it; The location of the first device is determined according to the arrival time difference of the first ranging information, the second ranging information, and the third ranging information.

9. The system according to claim 8, characterized in that include: After the first device determines the time when the first ranging information arrives, it turns on the second communication frequency band to receive the first ranging information, and after receiving the first ranging information, it turns off the second communication frequency band.

10. The system according to claim 8 or 9, characterized in that include: The first device determines, according to the first configuration information, arrival times of the second ranging information and the third ranging information.

11. The system according to any one of claims 8 to 10, characterized in that include: After receiving the first configuration information, the first device turns off the first communication frequency band, determines the time when the second configuration information arrives based on the first configuration information, and turns on the first communication frequency band to receive the second configuration information.

12. The system according to any one of claims 8 to 11, characterized in that The first configuration information includes device information, a device synchronization signal, time setting information, and a data field of the first terminal device; The first ranging information includes a ranging frame but does not include the data field.

13. The system according to any one of claims 8 to 12, characterized in that The first device estimates, based on the first configuration information, first carrier frequency offset CFO information with the first terminal device, and completes time synchronization with the first terminal device on the first communication frequency band according to the first CFO information; The first device determines a time to receive the first ranging information through the second communication frequency band according to the first CFO information.

14. The system according to any one of claims 8 to 13, characterized in that include: Before the first terminal device sends the first configuration information, time synchronization is completed among the first terminal device, the second terminal device, and the third terminal device.

15. A communication device, characterized in that: include: A first communication module, configured to receive first configuration information, second configuration information, and third configuration information transmitted on a first communication frequency band; A second communication module, configured to receive first ranging information, second ranging information, and third ranging information transmitted on a second communication frequency band, wherein a bandwidth used in the second communication frequency band is greater than a bandwidth used in the first communication frequency band; a control module, configured to determine a time when the first ranging information arrives and control the second communication module to receive the first ranging information after completing time synchronization with the first terminal device on the first communication frequency band according to the first configuration information; A calculation module is used to determine the position of the first device according to the arrival time difference of the first ranging information, the second ranging information, and the third ranging information.

16. The device according to claim 15, characterized in that include: After determining the time when the first ranging information arrives, the control module controls the second communication module to start receiving the first ranging information. After receiving the first ranging information, the control module controls the second communication module to close.

17. The device according to claim 15 or 16, characterized in that include: The control module is used to determine the arrival time of the second ranging information and the third ranging information according to the first configuration information.

18. The device according to any one of claims 16 to 17, characterized in that include: After the first communication module receives the first configuration information, the control module controls the first communication module to be turned off; The control module determines a time when the second configuration information arrives based on the first configuration information, and controls the first communication module to start and receive the second configuration information.

19. The device according to any one of claims 15 to 18, characterized in that The first configuration information includes device information, a device synchronization signal, time setting information, and a data field of the first terminal device; The first ranging information includes a ranging frame but does not include the data field.

20. The device according to any one of claims 15 to 19, characterized in that The control module is used to estimate the first carrier frequency offset CFO information with the first terminal device according to the first configuration information, and complete the time synchronization with the first terminal device on the first communication frequency band according to the first CFO information; The control module determines a time to start the second communication module to receive the first ranging information according to the first CFO information.

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