Ranging method and device

Abstract

The invention discloses a distance measuring method and device, which can be applied to vehicle-mounted positioning and indoor positioning scenes. The method may comprise the following steps: on a first channel, sending a first ranging frame, the first ranging frame bearing first ranging information through at least one first symbol; on the first channel, receiving a second ranging frame from the second node, the second ranging frame bearing second ranging information through at least one second symbol, thereby realizing transmission of the ranging frame for the first channel; receiving first channel state information corresponding to the first channel from the second node; determining second channel state information corresponding to the first channel according to the at least one second symbol; and determining channel state information of the first channel according to the first channel state information and the second channel state information, the channel state information of the first channel being used for measuring the distance between the sender of the first ranging frame and the second node, thereby realizing inter-node ranging for the first channel, and being helpful for improving ranging precision.

Description

[0001] This application is a divisional application. The application number of the original application is 202280095900.1, and the original application date is June 22, 2022. The entire contents of the original application are incorporated into this application by reference. Technical Field

[0002] The present application relates to the field of communication technology, and in particular to a distance measurement method and device. Background Art

[0003] With the continuous development of wireless communication technology, smart application scenarios such as smart home, smart cockpit, smart driving, smart manufacturing, and smart transportation have emerged. Based on wireless communication technology, wireless ranging and / or positioning can be achieved, such as indoor positioning, passive entry and start (PEPS), asset management, logistics management, etc.

[0004] Taking the smart cockpit as an example, there are multiple communication domains in the car. A communication domain includes a master node and at least one slave node, where the master node schedules the time and frequency resources of the slave node to achieve data transmission between nodes. For example, on a carrier (such as a channel with a bandwidth of 20MHz) that the master node can use, the master node can schedule the time and frequency resources for slave node communication.

[0005] Currently, communication frames are defined for data transmission between nodes, but ranging frames are not defined for ranging between nodes. Therefore, how to implement ranging between nodes is a technical problem that needs to be solved urgently. Summary of the invention

[0006] The present application provides a ranging method and device, which can realize ranging between nodes and help improve ranging accuracy.

[0007] In a first aspect, the present application provides a ranging method, which may include: sending a first ranging frame on a first channel, the first ranging frame carrying first ranging information through at least one first symbol; receiving a second ranging frame from a second node on the first channel, the second ranging frame carrying second ranging information through at least one second symbol; receiving first channel state information, the first channel state information being channel state information from the second node corresponding to the first channel; determining second channel state information corresponding to the first channel according to at least one second symbol; determining channel state information of the first channel according to the first channel state information and the second channel state information, the channel state information of the first channel being used to measure the distance between the sender of the first ranging frame and the second node.

[0008] It can be seen that on the first channel, by sending the first ranging frame and receiving the second ranging frame, the transmission of the ranging frame for the first channel can be realized. The ranging frame carries the ranging information through at least one symbol, and the transmission of the ranging information can be realized. According to the first channel state information and the second channel state information corresponding to the first channel, the channel state information of the first channel can be determined, so as to realize the inter-node ranging for the first channel, which helps to improve the ranging accuracy.

[0009] Optionally, the first ranging frame and the second ranging frame have the same frame structure, so that ranging frames with the same frame structure are used on the first channel, which helps to improve the stability of ranging frame transmission.

[0010] In a possible implementation manner, the first ranging frame includes at least one first radio frame, and the second ranging frame includes at least one second radio frame.

[0011] Optional method 1: The symbols in the at least one first radio frame are all used to carry the first ranging information, and the symbols in the at least one second radio frame are all used to carry the second ranging information. There is a switching interval between the first radio frame and the second radio frame, and the switching interval is used to perform the transmission and reception switching. Under Optional method 1, the switching interval does not occupy the duration of the first radio frame, nor does it occupy the duration of the second radio frame, thereby saving overhead; the symbols in the first radio frame are all used to carry the first ranging information, and the symbols in the second radio frame are all used to carry the second ranging information, which increases the transmission amount of ranging information, thereby improving transmission efficiency and ranging accuracy. Optional method 1 can be applicable to the case where the first channel is the initial channel or frequency hopping channel of frequency hopping ranging.

[0012] Optional mode 2: For any one of the at least one first radio frame mentioned above: the first radio frame includes a switching interval, each symbol except the switching interval is used to carry the first ranging information, and the switching interval is located after the symbol used to carry the first ranging information in time, that is, the switching interval occupies the duration of one symbol in the first radio frame; for any one of the at least one second radio frame mentioned above: the second radio frame includes a switching interval, each symbol except the switching interval is used to carry the second ranging information, and the switching interval is located after the symbol used to carry the second ranging information in time, that is, the switching interval occupies the duration of one symbol in the second radio frame. The switching interval is used to perform transceiver switching. The switching interval in the first radio frame is located after the symbol used to carry the first ranging information in time, and the switching interval in the second radio frame is located after the symbol used to carry the second ranging information in time, which reduces the uplink and downlink switching intervals, thereby saving overhead. Symbols except the switching interval are used to carry ranging information, which increases the transmission amount of ranging information, thereby improving transmission efficiency and ranging accuracy. Option 2 may be applicable to the case where the first channel is an initial channel or a frequency hopping channel for frequency hopping ranging.

[0013] Optional method 3: For any one of the at least one first radio frame mentioned above: the first radio frame includes a switching interval, a first overhead symbol and a first link symbol, and the first overhead symbol and the first link symbol are used to carry the first ranging information; for any one of the at least one second radio frame mentioned above: the second radio frame includes a switching interval, a second overhead symbol and a second link symbol, and the second overhead symbol and the second link symbol are used to carry the second ranging information. Among them, the switching interval is used to perform transceiver switching. The first link symbol is a link symbol sent to the second node, and the second link symbol is a link symbol sent by the second node. Optional method 3 can be compatible with radio frames including switching intervals, overhead symbols and link symbols, which increases the transmission amount of ranging information, thereby improving transmission efficiency and ranging accuracy. Optional method 3 can be applicable to the case where the first channel is the initial channel of frequency hopping ranging.

[0014] The number of switching intervals included in the first wireless frame and / or the second wireless frame is 2, and further, the first wireless frame also includes at least one second link symbol, and / or the second wireless frame also includes at least one first link symbol, which can realize parallel transmission of ranging information and data. The first link symbol and the second link symbol are used to carry information of different transmission directions.

[0015] Optionally, the method further includes: sending a first bitmap, the first bitmap being used to indicate the first radio frame in a superframe so that the second node determines which radio frames in a superframe are first radio frames. Optionally, the first bitmap is a 48-bit bitmap, and the value of a bit indicates whether the radio frame corresponding to the bit is the first radio frame.

[0016] Optionally, the first bitmap may be carried in the first configuration information sent to the second node, and the first configuration information may further include the number of superframes L1 and / or the first indication information, where L1 is a positive integer. The number of superframes L1, i.e., L1 superframes, are continuous in the time domain. Each of the L1 superframes includes a first ranging frame, and the second node may determine the time-frequency resources for transmitting the first ranging frame according to the number of superframes L1 and the first bitmap.

[0017] The first indication information is used to indicate whether the first bitmap corresponding to each superframe in the L1 superframes is the same. If the indication is the same, then the first configuration information may include a first bitmap, which is applicable to each superframe in the L1 superframes, and then the second node may determine the time-frequency resources for transmitting the first ranging frame according to the first bitmap and the L1 superframes. If the indication is not the same, then the first configuration information may include at most L1 first bitmaps, and the second node may determine the time-frequency resources for transmitting the first ranging frame according to the first bitmap corresponding to each superframe in the L1 superframe.

[0018] Optionally, for the last first radio frame in the at least one first radio frame, the last N symbols used to carry the first ranging information contained therein are inverted with other symbols used to carry the first ranging information in the last first radio frame, and the last first radio frame indicates channel switching; wherein N is a positive integer;

[0019] And / or, for the last second radio frame in at least one second radio frame, the last M symbols used to carry the second ranging information contained therein are inverted from other symbols used to carry the second ranging information in the last second radio frame, and the last second radio frame indicates channel switching; wherein M is a positive integer.

[0020] It can be seen that the last first radio frame and / or the last second radio frame can indicate channel switching to hop from a first channel to another channel, thereby facilitating ranging interaction on another channel.

[0021] In another possible implementation, the first ranging frame is composed of at least one first overhead symbol, the at least one first overhead symbol is all or part of the overhead symbols of at least one first wireless frame, and the at least one first overhead symbol is used to carry the first ranging information; the second ranging frame is composed of at least one second overhead symbol, the at least one second overhead symbol is all or part of the overhead symbols of at least one second wireless frame, and the at least one second overhead symbol is used to carry the second ranging information. This method is compatible with wireless frames including overhead symbols and link symbols, and the use of overhead symbols to carry ranging information can improve the utilization rate of overhead symbols. This method can be applicable to the case where the first channel is the initial channel of frequency hopping ranging.

[0022] Optionally, the at least one first overhead symbol is a partial overhead symbol of at least one first radio frame, and at least one third overhead symbol of at least one first radio frame is a first link system overhead symbol or a second link system overhead symbol; the at least one second overhead symbol is a partial overhead symbol of at least one second radio frame, and at least one fourth overhead symbol of at least one second radio frame is a first link system overhead symbol or a second link system overhead symbol. The first link system overhead symbol and the second link system overhead symbol are used to ensure data communication, and a partial overhead symbol of at least one first radio frame is used to carry ranging information, and another partial overhead symbol is used to ensure data communication, so that parallel transmission of ranging information and data can be achieved.

[0023] Further, the first overhead symbol and the third overhead symbol in the same first wireless frame can be arranged in a comb-tooth manner, which can maintain the synchronization performance of the communication system, and improve the accuracy of ranging by using the synchronization accuracy of the communication symbols while ensuring the communication performance of the communication system. And / or, the second overhead symbol and the fourth overhead symbol in the same second wireless frame can be arranged in a comb-tooth manner, which can maintain the synchronization performance of the communication system, and improve the accuracy of ranging by using the synchronization accuracy of the communication symbols while ensuring the communication performance of the communication system.

[0024] Optionally, the at least one first overhead symbol is all overhead symbols of at least one first wireless frame, and the at least one second overhead symbol is all overhead symbols of at least one second wireless frame, which helps to expand the estimation range of Doppler frequency shift and can be applicable to ranging in high-speed mobile scenarios.

[0025] Optionally, on the first channel, a difference between the number of symbols in the first ranging frame used to carry the first ranging information and the number of symbols in the second ranging frame used to carry the second ranging information is less than a first threshold, so that a signal-to-noise ratio (SNR) when determining the first channel state information is the same as or similar to an SNR when determining the second channel state information, thereby obtaining first channel state information and second channel state information with the same or similar accuracy, thereby determining channel state information on the first channel with higher accuracy based on the first channel state information and the second channel state information.

[0026] Optionally, the method further includes: sending a second bitmap, the second bitmap being used to indicate the overhead symbols used to carry the first ranging information in a superframe, so that the second node determines which overhead symbols carry the first ranging information in a superframe. Optionally, the second bitmap is a 96-bit bitmap, and the value of a bit indicates whether the overhead symbol corresponding to the bit carries the first ranging information.

[0027] Optionally, the last X first overhead symbols of the at least one first overhead symbol are inverted with other first overhead symbols used to carry the first ranging information, and the inverted last X symbols indicate channel switching to achieve frequency hopping from the first channel to another channel, thereby facilitating ranging interaction on another channel; wherein X is a positive integer;

[0028] And / or, the last Y second overhead symbols of the at least one second overhead symbol are inverted with other second overhead symbols used to carry second ranging information, and the inverted last Y second overhead symbols indicate channel switching to achieve frequency hopping from a first channel to another channel, thereby facilitating ranging interaction on another channel; wherein Y is a positive integer.

[0029] Optionally, within a superframe, the number of the first first radio frame included in the first ranging frame is greater than K, and the overhead symbols in the first radio frame to the radio frame numbered K within the superframe are used to transmit control information, where K is a positive integer greater than 1. The overhead symbols used to transmit control information are not used for ranging, that is, they do not carry ranging information.

[0030] In a possible implementation, the method further includes: receiving P third ranging frames from P third nodes on the first channel, the third ranging frame carrying the second ranging information through at least one second symbol, the third ranging frame having the same frame structure as the second ranging frame, and P being a positive integer. The third node has the same node type as the second node. That is, on the first channel, broadcasting the first ranging frame, and receiving multiple second ranging frames from multiple second nodes, thereby realizing multicast ranging interaction on the first channel.

[0031] Further, the order of the P third ranging frames and the second ranging frames in the time domain meets the preset setting, that is, the plurality of second nodes send the second ranging frames in the preset order.

[0032] In a possible implementation, the method further includes: sending a fourth ranging frame on the second channel according to the first information for indicating channel switching, the fourth ranging frame carries the first ranging information through at least one first symbol; the frame structure of the fourth ranging frame is the same as or different from the frame structure of the first ranging frame, that is, the frame structure of the ranging frame transmitted on the first channel and the frame structure of the ranging frame transmitted on the second channel can be the same or different; receiving a fifth ranging frame from the second node on the second channel, the fifth ranging frame carries the second ranging information through at least one second symbol; the fifth ranging frame has the same frame structure as the fourth ranging frame; receiving third channel state information, the third channel state information is the channel state information from the second node corresponding to the second channel; determining the fourth channel state information corresponding to the second channel according to the fifth ranging frame; determining the channel state information of the second channel according to the third channel state information and the fourth channel state information, the channel state information of the second channel is used to measure the distance between the sender of the fourth ranging frame and the second node, thereby realizing the inter-node ranging for the second channel. It can be seen that the accuracy and precision of ranging can be improved by frequency hopping.

[0033] Furthermore, the method further includes: determining the distance between the sender of the first ranging frame and the second node according to the channel state information of the first channel and the channel state information of the second channel. That is, determining the distance between the sender of the first ranging frame and the second node according to the channel state information of multiple channels of the frequency hopping ranging (including the initial channel of the frequency hopping ranging and the frequency hopping channel of the frequency hopping ranging), so that the obtained distance has high accuracy and precision. Furthermore, the method further includes: sending the distance between the sender of the first ranging frame and the second node to the second node so that the second node knows the distance between the second node and the sender of the first ranging frame.

[0034] Optionally, the method further includes: sending second information, where the second information is used to indicate the number of fourth ranging frames transmitted continuously in time and / or the number of fifth ranging frames transmitted continuously in time, so as to continuously transmit ranging frames on a frequency hopping channel of frequency hopping ranging, which is conducive to improving the accuracy and precision of ranging.

[0035] Optionally, the difference between the number of symbols used to carry the first ranging information contained in the fourth ranging frame and the number of symbols used to carry the first ranging information contained in the first ranging frame is less than a second threshold; and / or the difference between the number of symbols used to carry the second ranging information contained in the fifth ranging frame and the number of symbols used to carry the second ranging information contained in the second ranging frame is less than the second threshold, so that the channel state information on different channels maintains the same or similar SNR.

[0036] Optionally, the method provided in the first aspect may be executed by the first node, or may be executed by a module in the first node, for example, by a chip in the first node.

[0037] In a second aspect, the present application provides a ranging method, which may include: receiving a first ranging frame from a first node on a first channel, the first ranging frame carrying first ranging information through at least one first symbol; sending a second ranging frame to the first node on the first channel, the second ranging frame carrying second ranging information through at least one second symbol; determining first channel state information corresponding to the first channel according to the at least one first symbol; sending the first channel state information to the first node, the first channel state information being used to measure the distance between the first node and a recipient of the first ranging frame.

[0038] It can be seen that, on the first channel, by receiving the first ranging frame and sending the second ranging frame, the transmission of the ranging frame for the first channel can be achieved. The ranging frame carries the ranging information through at least one symbol, and the transmission of the ranging information can be achieved. The first channel state information is sent to the first node so that the first node determines the channel state information of the first channel, thereby achieving inter-node ranging for the first channel, which helps to improve the ranging accuracy.

[0039] Optionally, the first ranging frame and the second ranging frame have the same frame structure, so that ranging frames with the same frame structure are used on the first channel, which helps to improve the stability of ranging frame transmission.

[0040] In a possible implementation manner, the first ranging frame includes at least one first radio frame, and the second ranging frame includes at least one second radio frame.

[0041] Optional method 1: All symbols in the above-mentioned at least one first radio frame are used to carry the first ranging information, and all symbols in the above-mentioned at least one second radio frame are used to carry the second ranging information. There is a switching interval between the first radio frame and the second radio frame, and the switching interval is used to perform the transmission and reception switching. In this method, the switching interval does not occupy the duration of the first radio frame, nor does it occupy the duration of the second radio frame, thereby saving overhead; all symbols in the first radio frame are used to carry the first ranging information, and all symbols in the second radio frame are used to carry the second ranging information, which increases the transmission amount of ranging information, thereby improving transmission efficiency and ranging accuracy. Optional method 1 can be applicable to the case where the first channel is the initial channel or frequency hopping channel of frequency hopping ranging.

[0042] Optional mode 2: For any one of the at least one first radio frame mentioned above: the first radio frame includes a switching interval, each symbol except the switching interval is used to carry the first ranging information, and the switching interval is located after the symbol used to carry the first ranging information in time, that is, the switching interval occupies the duration of one symbol in the first radio frame; for any one of the at least one second radio frame mentioned above: the second radio frame includes a switching interval, each symbol except the switching interval is used to carry the second ranging information, and the switching interval is located after the symbol used to carry the second ranging information in time, that is, the switching interval occupies the second radio frame. The switching interval is used to perform transceiver switching. The switching interval in the first radio frame is located after the symbol used to carry the first ranging information in time, and the switching interval in the second radio frame is located after the symbol used to carry the second ranging information in time, which reduces the number of switching intervals, thereby saving overhead. Symbols except the switching interval are used to carry ranging information, which increases the transmission amount of ranging information, thereby improving transmission efficiency and ranging accuracy. Optional mode 2 can be applied to the case where the first channel is an initial channel or a frequency hopping channel of frequency hopping ranging.

[0043] Optional method 3: For any one of the at least one first radio frame mentioned above: the first radio frame includes a switching interval, a first overhead symbol and a first link symbol, and the first overhead symbol and the first link symbol are used to carry the first ranging information; for any one of the at least one second radio frame mentioned above: the second radio frame includes a switching interval, a second overhead symbol and a second link symbol, and the second overhead symbol and the second link symbol are used to carry the second ranging information. Among them, the switching interval is used to perform transceiver switching. The first link symbol is a link symbol sent to the second node, and the second link symbol is a link symbol sent by the second node. Optional method 3 can be compatible with radio frames including switching intervals, overhead symbols and link symbols, which increases the transmission amount of ranging information, thereby improving transmission efficiency and ranging accuracy. Optional method 3 can be applicable to the case where the first channel is the initial channel of frequency hopping ranging.

[0044] Among them, the number of switching intervals included in the first wireless frame and / or the second wireless frame is 2. Furthermore, the first wireless frame also includes at least one second link symbol, and / or the second wireless frame also includes at least one first link symbol, which can realize parallel transmission of ranging information and data.

[0045] Optionally, the method further includes: receiving a first bitmap, the first bitmap being used to indicate the first radio frame in a superframe, thereby determining the first radio frame in a superframe. Optionally, the first bitmap is a 48-bit bitmap, and the value of a bit indicates whether the radio frame corresponding to the bit is the first radio frame.

[0046] Optionally, the first bitmap may be carried in the first configuration information sent by the first node, and the first configuration information may further include the number of superframes L1 and / or the first indication information, where L1 is a positive integer. The number of superframes L1, i.e., L1 superframes, are continuous in the time domain. Each of the L1 superframes includes a first ranging frame, and then the time-frequency resources for transmitting the first ranging frame may be determined according to the number of superframes L1 and the first bitmap.

[0047] The first indication information is used to indicate whether the first bitmap corresponding to each superframe in the L1 superframes is the same. If the indication is the same, the first configuration information may include a first bitmap, which is applicable to each superframe in the L1 superframes, and then the time-frequency resources for transmitting the first ranging frame may be determined based on the first bitmap and the L1 superframes. If the indication is not the same, the first configuration information may include at most L1 first bitmaps, and then the time-frequency resources for transmitting the first ranging frame may be determined respectively based on the first bitmap corresponding to each superframe in the L1 superframes.

[0048] Optionally, for the last first radio frame in the at least one first radio frame, the last N symbols used to carry the first ranging information contained therein are inverted with other symbols used to carry the first ranging information in the last first radio frame, and the last first radio frame indicates channel switching; wherein N is a positive integer;

[0049] And / or, for the last second radio frame in at least one second radio frame, the last M symbols used to carry the second ranging information contained therein are inverted from other symbols used to carry the second ranging information in the last second radio frame, and the last second radio frame indicates channel switching; wherein M is a positive integer.

[0050] It can be seen that the last first radio frame and / or the last second radio frame can indicate channel switching to hop from a first channel to another channel, thereby facilitating ranging interaction on another channel.

[0051] In another possible implementation, the first ranging frame is composed of at least one first overhead symbol, the at least one first overhead symbol is all or part of the overhead symbols of at least one first wireless frame, and the at least one first overhead symbol is used to carry the first ranging information; the second ranging frame is composed of at least one second overhead symbol, the at least one second overhead symbol is all or part of the overhead symbols of at least one second wireless frame, and the at least one second overhead symbol is used to carry the second ranging information. This method is compatible with wireless frames including overhead symbols and link symbols, and the use of overhead symbols to carry ranging information can improve the utilization rate of overhead symbols. This method can be applicable to the case where the first channel is the initial channel of frequency hopping ranging.

[0052] Optionally, the at least one first overhead symbol is a partial overhead symbol of at least one first radio frame, and at least one third overhead symbol of at least one first radio frame is a first link system overhead symbol or a second link system overhead symbol; the at least one second overhead symbol is a partial overhead symbol of at least one second radio frame, and at least one fourth overhead symbol of at least one second radio frame is a first link system overhead symbol or a second link system overhead symbol. The first link system overhead symbol and the second link system overhead symbol are used to ensure data communication, and a partial overhead symbol of at least one first radio frame is used to carry ranging information, and another partial overhead symbol is used to ensure data communication, so that parallel transmission of ranging information and data can be achieved.

[0053] Further, the first overhead symbol and the third overhead symbol in the same first wireless frame can be arranged in a comb-tooth manner, which can maintain the synchronization performance of the communication system, and improve the accuracy of ranging by using the synchronization accuracy of the communication symbols while ensuring the communication performance of the communication system. And / or, the second overhead symbol and the fourth overhead symbol in the same second wireless frame can be arranged in a comb-tooth manner, which can maintain the synchronization performance of the communication system, and improve the accuracy of ranging by using the synchronization accuracy of the communication symbols while ensuring the communication performance of the communication system.

[0054] Optionally, the at least one first overhead symbol is all overhead symbols of at least one first wireless frame, and the at least one second overhead symbol is all overhead symbols of at least one second wireless frame, which helps to expand the estimation range of Doppler frequency shift and can be applicable to ranging in high-speed mobile scenarios.

[0055] Optionally, on the first channel, the difference between the number of symbols used to carry the first ranging information in the first ranging frame and the number of symbols used to carry the second ranging information in the second ranging frame is less than a first threshold, so that the SNR when determining the first channel state information is the same or similar to the SNR when determining the second channel state information, thereby obtaining the first channel state information and the second channel state information with the same or similar accuracy, thereby determining the channel state information on the first channel with higher accuracy based on the first channel state information and the second channel state information.

[0056] Optionally, the method further includes: receiving a second bitmap, the second bitmap being used to indicate an overhead symbol used to carry the first ranging information in a superframe, and then determining an overhead symbol that carries the first ranging information in a superframe. Optionally, the second bitmap is a 96-bit bitmap, and the value of a bit indicates whether the overhead symbol corresponding to the bit carries the first ranging information.

[0057] Optionally, the last X first overhead symbols of the at least one first overhead symbol are inverted with other first overhead symbols used to carry the first ranging information, and the inverted last X first overhead symbols indicate channel switching to achieve frequency hopping from the first channel to another channel, thereby facilitating ranging interaction on another channel; wherein X is a positive integer;

[0058] And / or, the last Y second overhead symbols of the at least one second overhead symbol are inverted with other second overhead symbols used to carry second ranging information, and the inverted last Y second overhead symbols indicate channel switching to achieve frequency hopping from a first channel to another channel, thereby facilitating ranging interaction on another channel; wherein Y is a positive integer.

[0059] Optionally, within a superframe, the number of the first first radio frame included in the first ranging frame is greater than K, and the overhead symbols in the first radio frame to the radio frame numbered K within the superframe are used to transmit control information, where K is a positive integer greater than 1. The overhead symbols used to transmit control information are not used for ranging, that is, they do not carry ranging information.

[0060] In a possible implementation, the method further includes: receiving a fourth ranging frame from the first node on the second channel according to the first information for indicating channel switching, the fourth ranging frame carries the first ranging information through at least one first symbol; the frame structure of the fourth ranging frame is the same as or different from the frame structure of the first ranging frame, that is, the frame structure of the ranging frame transmitted on the first channel and the frame structure of the ranging frame transmitted on the second channel can be the same or different; sending a fifth ranging frame to the first node on the second channel, the fifth ranging frame carries the second ranging information through at least one second symbol; the fifth ranging frame has the same frame structure as the fourth ranging frame; determining the third channel state information corresponding to the second channel according to the fifth ranging frame, sending the third channel state information to the first node, the third channel state information is used to measure the distance between the first node and the receiver of the fourth ranging frame, so that the first node implements inter-node ranging for the second channel. It can be seen that the accuracy and precision of ranging can be improved by frequency hopping.

[0061] Furthermore, the above method also includes: receiving the distance between the receiver of the first ranging frame from the first node and the first node, that is, obtaining the distance to the first node, and the distance has high accuracy and precision.

[0062] Optionally, the method further includes: receiving second information, where the second information is used to indicate the number of fourth ranging frames transmitted continuously in time and / or the number of fifth ranging frames transmitted continuously in time, so as to continuously transmit ranging frames on a frequency hopping channel of frequency hopping ranging, which is beneficial to improving the accuracy and precision of ranging.

[0063] Optionally, the difference between the number of symbols used to carry the first ranging information contained in the fourth ranging frame and the number of symbols used to carry the first ranging information contained in the first ranging frame is less than a second threshold; and / or the difference between the number of symbols used to carry the second ranging information contained in the fifth ranging frame and the number of symbols used to carry the second ranging information contained in the second ranging frame is less than the second threshold, so that the channel state information on different channels maintains the same or similar SNR.

[0064] Optionally, the method provided in the second aspect may be executed by the second node, or may be executed by a module in the second node, for example, by a chip in the second node.

[0065] In a third aspect, the present application provides a communication device, comprising a module or unit for executing the method as described in the first aspect or any one of the second aspects.

[0066] In one possible design, the communication device includes:

[0067] A communication unit, configured to send a first ranging frame on a first channel, the first ranging frame carrying first ranging information through at least one first symbol; receive a second ranging frame from a second node on the first channel, the second ranging frame carrying second ranging information through at least one second symbol; receive first channel state information, the first channel state information being channel state information from the second node and corresponding to the first channel;

[0068] A processing unit is used to determine second channel state information corresponding to the first channel according to at least one second symbol; determine channel state information of the first channel according to the first channel state information and the second channel state information, and the channel state information of the first channel is used to measure the distance between the sender of the first ranging frame and the second node.

[0069] In a possible implementation manner, the first ranging frame includes at least one first radio frame, and the second ranging frame includes at least one second radio frame.

[0070] Optional method 1: The symbols in the above-mentioned at least one first wireless frame are all used to carry the first ranging information, and the symbols in the above-mentioned at least one second wireless frame are all used to carry the second ranging information. There is a switching interval between the first wireless frame and the second wireless frame, and the switching interval is used to perform the sending and receiving switching.

[0071] Option 2: For any one of the at least one first radio frame: the first radio frame includes a switching interval, each symbol except the switching interval is used to carry the first ranging information, and the switching interval is located after the symbol used to carry the first ranging information in time; for any one of the at least one second radio frame: the second radio frame includes a switching interval, each symbol except the switching interval is used to carry the second ranging information, and the switching interval is located after the symbol used to carry the second ranging information in time. The switching interval is used to perform transceiver switching.

[0072] Optional mode 3: For any one of the at least one first radio frame: the first radio frame includes a switching interval, a first overhead symbol and a first link symbol, and the first overhead symbol and the first link symbol are used to carry the first ranging information; for any one of the at least one second radio frame: the second radio frame includes a switching interval, a second overhead symbol and a second link symbol, and the second overhead symbol and the second link symbol are used to carry the second ranging information. The switching interval is used to perform the transmission and reception switching.

[0073] Optionally, the communication unit is further used to send a first bitmap, where the first bitmap is used to indicate the above-mentioned first wireless frame in a superframe.

[0074] Optionally, for the last first radio frame in the at least one first radio frame, the last N symbols used to carry the first ranging information contained therein are inverted with other symbols used to carry the first ranging information in the last first radio frame, and the last first radio frame indicates channel switching; wherein N is a positive integer;

[0075] And / or, for the last second radio frame in at least one second radio frame, the last M symbols used to carry the second ranging information contained therein are inverted from other symbols used to carry the second ranging information in the last second radio frame, and the last second radio frame indicates channel switching; wherein M is a positive integer.

[0076] In another possible implementation, the first ranging frame consists of at least one first overhead symbol, the at least one first overhead symbol is all or part of the overhead symbols of at least one first radio frame, and the at least one first overhead symbol is used to carry the first ranging information; the second ranging frame consists of at least one second overhead symbol, the at least one second overhead symbol is all or part of the overhead symbols of at least one second radio frame, and the at least one second overhead symbol is used to carry the second ranging information.

[0077] Optionally, the at least one first overhead symbol is a partial overhead symbol of at least one first wireless frame, and at least one third overhead symbol of at least one first wireless frame is a first link system overhead symbol or a second link system overhead symbol; the at least one second overhead symbol is a partial overhead symbol of at least one second wireless frame, and at least one fourth overhead symbol of at least one second wireless frame is a first link system overhead symbol or a second link system overhead symbol.

[0078] Optionally, on the first channel, a difference between the number of symbols used to carry the first ranging information in the first ranging frame and the number of symbols used to carry the second ranging information in the second ranging frame is less than a first threshold.

[0079] Optionally, the communication unit is further used to send a second bitmap, where the second bitmap is used to indicate an overhead symbol used to carry the first ranging information in a superframe.

[0080] Optionally, the last X first overhead symbols of the at least one first overhead symbol are inverted with other first overhead symbols used to carry the first ranging information, and the inverted last X symbols indicate channel switching; wherein X is a positive integer;

[0081] And / or, the last Y second overhead symbols of the at least one second overhead symbol are inverted with other second overhead symbols used to carry the second ranging information, and the inverted last Y second overhead symbols indicate channel switching; wherein Y is a positive integer.

[0082] Optionally, in a superframe, the first first radio frame included in the first ranging frame is numbered greater than K, and overhead symbols from the first radio frame to the radio frame numbered K in the superframe are used to transmit control information, where K is a positive integer greater than 1.

[0083] In a possible implementation, the communication unit is further used to receive P third ranging frames from P third nodes on the first channel, the third ranging frame carries second ranging information through at least one second symbol, the third ranging frame has the same frame structure as the second ranging frame, and P is a positive integer.

[0084] Further, the order of the P third ranging frames and the second ranging frames in the time domain meets the pre-set conditions.

[0085] In a possible implementation, the communication unit is further configured to send a fourth ranging frame on the second channel according to the first information for indicating channel switching, the fourth ranging frame carrying the first ranging information through at least one first symbol; the frame structure of the fourth ranging frame is the same as or different from that of the first ranging frame; receive a fifth ranging frame from the second node on the second channel, the fifth ranging frame carrying the second ranging information through at least one second symbol; the frame structure of the fifth ranging frame is the same as that of the fourth ranging frame; receive third channel state information, the third channel state information is channel state information from the second node corresponding to the second channel;

[0086] The processing unit is further used to determine fourth channel state information corresponding to the second channel according to the fifth ranging frame; determine the channel state information of the second channel according to the third channel state information and the fourth channel state information, and the channel state information of the second channel is used to measure the distance between the sender of the fourth ranging frame and the second node.

[0087] Furthermore, the processing unit is further configured to determine the distance between the sender of the first ranging frame and the second node according to the channel state information of the first channel and the channel state information of the second channel.

[0088] Optionally, the communication unit is further used to send second information, where the second information is used to indicate the number of fourth ranging frames transmitted continuously in time and / or the number of fifth ranging frames transmitted continuously in time.

[0089] Optionally, the difference between the number of symbols used to carry the first ranging information contained in the fourth ranging frame and the number of symbols used to carry the first ranging information contained in the first ranging frame is less than a second threshold; and / or the difference between the number of symbols used to carry the second ranging information contained in the fifth ranging frame and the number of symbols used to carry the second ranging information contained in the second ranging frame is less than the second threshold.

[0090] Regarding the technical effects brought about by the third aspect and any possible implementation method, reference may be made to the introduction of the technical effects corresponding to the first aspect and the corresponding implementation method.

[0091] In another possible design, the communication device includes:

[0092] A communication unit, configured to receive a first ranging frame from a first node on a first channel, the first ranging frame carrying first ranging information through at least one first symbol; and send a second ranging frame to the first node on the first channel, the second ranging frame carrying second ranging information through at least one second symbol;

[0093] a processing unit, configured to determine first channel state information corresponding to a first channel according to at least one first symbol;

[0094] The communication unit is further used to send first channel state information to the first node, where the first channel state information is used to measure the distance between the first node and a receiver of the first ranging frame.

[0095] In a possible implementation, the communication unit is further used to receive a first bitmap, where the first bitmap is used to indicate a first radio frame within a superframe; symbols in the first radio frame are all used to carry first ranging information; or, the first radio frame includes a switching interval, where each symbol except the switching interval is used to carry the first ranging information, and the switching interval is temporally located after the symbol used to carry the first ranging information, and the switching interval is used to perform transceiver switching.

[0096] In another possible implementation manner, the communication unit is further configured to receive a second bitmap, where the second bitmap is used to indicate an overhead symbol used to carry the first ranging information in a superframe.

[0097] Optionally, the communication unit is further used to receive, on the second channel according to the first information, a fourth ranging frame from the first node, the fourth ranging frame carrying the first ranging information through at least one first symbol; the frame structure of the fourth ranging frame is the same as or different from that of the first ranging frame; the first information is used to indicate channel switching; on the second channel, send a fifth ranging frame to the first node, the fifth ranging frame carrying the second ranging information through at least one second symbol; the fifth ranging frame has the same frame structure as the fourth ranging frame;

[0098] The processing unit is further used to determine third channel state information corresponding to the second channel according to the fifth ranging frame;

[0099] The communication unit is further used to send third channel state information to the first node, where the third channel state information is used to measure the distance between the first node and a receiver of a fourth ranging frame.

[0100] Furthermore, the communication unit is further configured to receive the distance between the first node and a receiver of the first ranging frame from the first node.

[0101] Regarding the technical effects brought about by the third aspect and any possible implementation method, reference may be made to the introduction of the technical effects corresponding to the second aspect and the corresponding implementation method.

[0102] In a fourth aspect, an embodiment of the present application provides a communication device, including a processor. The processor is coupled to a memory and can be used to execute instructions in the memory to implement the method of any aspect of the first to second aspects and any possible implementation method. Optionally, the communication device also includes a memory. Optionally, the communication device also includes a communication interface, and the processor is coupled to the communication interface.

[0103] In a fifth aspect, an embodiment of the present application provides a communication device, comprising: a logic circuit and a communication interface. The communication interface is used to receive information or send information; the logic circuit is used to receive information or send information through the communication interface, so that the communication device executes the method of any aspect of the first to second aspects and any possible implementation method.

[0104] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, which is used to store a computer program (also referred to as code, or instructions); when the computer program is run on a computer, the method of any one of the first to second aspects above and any possible implementation method is implemented.

[0105] In the seventh aspect, an embodiment of the present application provides a computer program product, which includes: a computer program (also referred to as code, or instructions); when the computer program is executed, it enables the computer to execute any one of the above-mentioned first to second aspects and any possible implementation method.

[0106] In an eighth aspect, an embodiment of the present application provides a chip, the chip including a processor, the processor being used to execute instructions, when the processor executes the instructions, the chip executes the method of any aspect of the first to second aspects and any possible implementation method. Optionally, the chip also includes a communication interface, the communication interface being used to receive or send signals.

[0107] In the ninth aspect, an embodiment of the present application provides a terminal device, which includes at least one communication device as described in the third aspect, or the communication device as described in the fourth aspect, or the communication device as described in the fifth aspect, or the chip as described in the eighth aspect.

[0108] In the tenth aspect, an embodiment of the present application provides a system, comprising a terminal device and at least one communication device as described in the third aspect, or the communication device as described in the fourth aspect, or the communication device as described in the fifth aspect, or the chip as described in the eighth aspect.

[0109] In addition, in the process of executing the method described in the first aspect and any possible implementation method, or the method described in the second aspect and any possible implementation method, the process of sending information and / or receiving information in the above method can be understood as a process in which the processor outputs information, and / or a process in which the processor receives input information. When outputting information, the processor can output the information to the transceiver (or communication interface, or sending module) so that it can be transmitted by the transceiver. After the information is output by the processor, it may also need to be processed in other ways before it reaches the transceiver. Similarly, when the processor receives input information, the transceiver (or communication interface, or sending module) receives the information and inputs it into the processor. Furthermore, after the transceiver receives the information, the information may need to be processed in other ways before it is input into the processor.

[0110] Based on the above principle, for example, the sending information mentioned in the above method can be understood as the processor outputting information. For another example, the receiving information can be understood as the processor receiving input information.

[0111] Optionally, for the operations of transmitting, sending and receiving involved in the processor, if there is no special explanation, or if they do not conflict with their actual functions or internal logic in the relevant descriptions, they can be more generally understood as operations such as processor output, reception and input.

[0112] Optionally, in the process of executing the method described in the first aspect and any possible implementation method, or the method described in the second aspect and any possible implementation method, the processor may be a processor specifically used to execute these methods, or a processor that executes these methods by executing computer instructions in a memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as a read-only memory (ROM), which may be integrated with the processor on the same chip or may be separately arranged on different chips. The embodiment of the present application does not limit the type of memory and the arrangement of the memory and the processor.

[0113] In a possible implementation manner, the at least one memory is located outside the device.

[0114] In yet another possible implementation, the at least one memory is located within the device.

[0115] In another possible implementation, part of the at least one memory is located inside the device, and another part of the memory is located outside the device.

[0116] In the present application, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

[0117] In the present application, by transmitting a ranging frame on the first channel, the transmission of the ranging frame for the first channel between nodes can be realized. The ranging frame carries the ranging information through at least one symbol, and the transmission of the ranging information can be realized. According to the first channel state information and the second channel state information corresponding to the first channel, the channel state information of the first channel can be determined, thereby realizing the ranging between nodes for the first channel, which helps to improve the ranging accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0118] Figure 1 This is an example diagram of the structure of a superframe;

[0119] Figure 2 It is a schematic diagram of a vehicle positioning scenario;

[0120] Figure 3 is a schematic diagram of a possible wireless communication system provided by the present application;

[0121] Figure 4 is an example diagram of the frame structure of the ranging frame 1 provided in this application;

[0122] Figure 5 This is an example diagram of the frame structure of the ranging frame 2 provided in this application;

[0123] Figure 6 This is an example diagram of the frame structure of the ranging frame 3 provided in this application;

[0124] Figure 7 is an example diagram of the frame structure of the ranging frame 4 provided in this application;

[0125] Figure 8 This is an example diagram of frequency hopping ranging;

[0126] Fig. 9 It is a flow chart of a distance measurement method provided by the present application;

[0127] Figure 9-1 is an example diagram of a ranging interaction provided by this application;

[0128] Figure 9-2 is another example diagram of ranging interaction provided by this application;

[0129] Fig.10 It is a flowchart of another ranging method provided by the present application;

[0130] Figure 10-1 is another example diagram of ranging interaction provided by this application;

[0131] Fig.11 It is a flowchart of another distance measurement method provided by the present application;

[0132] Figure 11-1 is another example diagram of ranging interaction provided by this application;

[0133] Fig.12 A schematic diagram of the structure of a communication device provided in an embodiment of the present application;

[0134] Fig.13 A schematic diagram of the structure of a communication device provided in an embodiment of the present application;

[0135] Fig.14 A schematic diagram of the structure of a chip provided in an embodiment of the present application. DETAILED DESCRIPTION

[0136] In the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previously associated objects are in an "or" relationship.

[0137] It should be understood that in this application, "at least one" means one or more; "plurality" means two or more. In addition, "equal to" in this application can be used in conjunction with "greater than" or "less than". When "equal to" is used in conjunction with "greater than", the technical solution of "greater than" is adopted; when "equal to" is used in conjunction with "less than", the technical solution of "less than" is adopted.

[0138] The following is an explanation of the relevant names or terms involved in this application to facilitate understanding by those skilled in the art.

[0139] 1. Node

[0140] A node is an electronic device with communication capabilities, also known as a communication node. For example, a node may include a handheld terminal, a vehicle, a vehicle-mounted device, or a network-side device, a user device, an access terminal, a user unit, a user station, a mobile station, a mobile station, a remote station, a remote terminal, a wireless communication device, a user agent, or a user device, or may be a component (such as a chip or an integrated circuit) contained in an independent device. A node may be any possible intelligent terminal device (such as a mobile phone), intelligent transportation equipment (such as a vehicle, a drone, etc.), intelligent manufacturing equipment, intelligent home equipment (such as a large screen, a speaker, etc.), etc.

[0141] Exemplarily, when the node is an onboard device, it can be a cockpit domain device or a module in the cockpit domain device, such as one or more modules of a cockpit domain controller (CDC), camera, screen, microphone, audio, electronic key, keyless entry and start system controller, etc. In the vehicle, the node can also be a battery in a battery management system and a battery pack.

[0142] Exemplarily, when the node is a handheld terminal, it can be a mobile phone, a wearable device, a tablet computer (pad), or a computer with data transceiving functions (such as a laptop computer, a PDA, etc.).

[0143] The nodes in the embodiments of the present application can be applied to a variety of application scenarios, such as the following application scenarios: mobile internet (MI), industrial control, self driving, transportation safety, Internet of Things (IoT), smart city, or smart home, etc.

[0144] The nodes in this application can be applied to a variety of network types, for example, one or more of the following network types: SparkLink, Long Term Evolution (LTE), Fifth Generation Mobile Communication Technology (5G th -generation mobile communication technology, 5G), wireless local area network (e.g., Wi-Fi), Bluetooth (BT), Zigbee, or in-vehicle short-range wireless communication network, etc.

[0145] In some application scenarios or certain network types, the name of a device with similar communication capabilities may not be called a node, but for the convenience of description, in the embodiments of the present application, devices with communication capabilities are collectively referred to as nodes.

[0146] 2. Superframe

[0147] A superframe is a concept in the time domain. A superframe is composed of multiple radio frames. A radio frame is composed of multiple symbols. The symbol may be, for example, an orthogonal frequency-division multiplexing (OFDM) symbol.

[0148] At present, the SparkLink basic (SLB) standard involved in the SparkLink Alliance specifies the frame structure of superframes and radio frames. The superframe period is 1 millisecond (ms), that is, the duration of the superframe is 1ms, a superframe contains 48 radio frames, and the duration of each radio frame is 1 / 48 = 20.833 microseconds (us). In one example, Figure 1 As shown, a superframe includes 48 radio frames, and the 48 radio frames are numbered from radio frame #0 to radio frame #47. Each radio frame contains a number of downlink symbols, a number of uplink symbols, an overhead symbol and a switching interval (gap, GAP). Downlink symbols are used for downlink transmission, and uplink symbols are used for uplink transmission. Overhead symbols can also be described as flexible symbols or specific symbols, etc., which are used for synchronization, channel detection, downlink control information (DCI) transmission, etc. Overhead symbols can be divided into downlink overhead symbols and uplink overhead symbols. The switching interval is used to perform uplink and downlink switching. The duration of a switching interval in a radio frame is, for example, the duration of a symbol in the radio frame. The duration of a downlink symbol = the duration of an uplink symbol = the duration of an overhead symbol.

[0149] For example, in an on-board (or off-board) wireless short-range communication system, uplink usually refers to the direction in which a terminal (T) node sends data or information to a grant (G) node, which can be represented by "T". Downlink usually refers to the direction in which a G node sends data or information to a T node, which can be represented by "G". Figure 1 In the figure, the downlink symbol is represented by a G symbol, which can also be described as a G link symbol or a G link data symbol, etc.; the uplink symbol is represented by a T symbol, which can also be described as a T link symbol or a T link data symbol, etc. Since in the vehicle-mounted wireless short-range communication system, there is usually a communication demand between different T nodes or different G nodes, the communication between different T nodes or different G nodes can occupy the above overhead symbols. Figure 1In the IEEE 802.11 protocol, downlink overhead symbols are represented by special grant (SG) symbols, which can also be described as G overhead symbols, overhead G symbols, or G link overhead symbols, etc. Uplink overhead symbols are represented by special terminal (ST) symbols, which can also be described as T overhead symbols, overhead T symbols, or T link overhead symbols, etc. When the transmission direction is not distinguished, G overhead symbols and T overhead symbols can be collectively referred to as system overhead symbols.

[0150] Each radio frame may contain 1 or 2 overhead symbols, and a superframe may contain up to 96 overhead symbols. Figure 1 In the superframe shown, each radio frame of the superframe includes an overhead symbol, and the superframe includes 48 overhead symbols. For example, the overhead symbol included in radio frame #0 is SG symbol #0, and the overhead symbol included in radio frame #46 is ST symbol #46. It should be noted that Figure 1 In the scheme, the overhead symbols are numbered consecutively starting from 0, instead of numbering the SG symbols starting from 0 and the ST symbols starting from 0.

[0151] 3.OFDM

[0152] OFDM technology is a multi-carrier frequency division multiplexing (FDM) technology, with multiple carriers working at the same time. These carriers can be called subcarriers in FDM technology. OFDM technology is also called discrete multitone modulation (DMT) technology. It has the ability of high-speed transmission and can effectively combat frequency selective attenuation. In OFDM, multiple subcarriers are orthogonal, so it is called orthogonal frequency division multiplexing. Among them, the operating frequency of the subcarrier corresponds to the frequency point. From the spectrum, each subcarrier takes its own frequency point as the center frequency and occupies a certain bandwidth.

[0153] By adjusting the number of subcarriers, OFDM can flexibly change the working bandwidth, meet the demand for large bandwidth, and achieve better capacity expansion effect.

[0154] OFDM technology carries signals through OFDM symbols, and one OFDM symbol can correspond to one or more subcarriers. Adding a cyclic prefix (CP) to an OFDM symbol can avoid inter-symbol interference. An OFDM symbol with a CP added is called a CP-OFDM symbol, and a CP-OFDM symbol can be divided into a normal CP-OFDM symbol and an extended CP-OFDM symbol. In other words, the CP type of an OFDM symbol can be divided into no CP, normal CP, and extended CP. The symbols involved in this application may be OFDM symbols.

[0155] In SLB technology, OFDM symbols are used as communication symbols. In SLB technology, an OFDM symbol with a physical bandwidth of about 20MHz is called a carrier, and the center frequency of the 20MHz OFDM symbol (i.e., direct current (DC) subcarrier) is called the carrier frequency. That is, a carrier of SLB consists of 39 consecutive subcarriers, and the 39 subcarriers are numbered #0, #1, ..., #38 in order from low to high corresponding frequencies, among which #19 subcarrier is a direct current (DC) subcarrier. Except for the DC subcarrier, the other 38 subcarriers are called effective subcarriers. G nodes and T nodes may work on multiple carriers, and multiple carriers constitute a carrier group.

[0156] 4. Frequency Hopping

[0157] Frequency hopping refers to the device switching the center frequency of the transmission signal by changing the center frequency of the device's radio frequency channel (for example, changing the carrier frequency of the local oscillator signal) or by digitally changing the center frequency of the generated transmission signal. Frequency hopping can refer to frequency hopping based on OFDM signals. OFDM frequency hopping is defined as the DC subcarrier of the OFDM symbol switching from the center frequency of one carrier channel to the center frequency of another carrier channel. For frequency hopping switching of a single carrier, it refers to the DC subcarrier switching from one carrier channel to another; for frequency hopping switching of multiple carriers, it refers to the carrier channel group corresponding to multiple carriers switching to another carrier channel group. For example, the G node and the T node originally worked on carrier channel groups 1 to 4, and switched to carrier channel groups 5 to 8 after frequency hopping. Carrier channel groups 1 to 4 are called initial carrier channel groups or initial channel groups, and carrier channel groups 5 to 8 are called frequency hopping carrier channel groups or frequency hopping channel groups. In this application, for the convenience of description, the carrier channel is referred to as a channel, and the terms "channel" and "carrier channel" are interchangeable.

[0158] In the present application, the frequency hopping modes of different nodes may be the same (for example, both are RF frequency hopping or digital frequency hopping) or different (for example, the frequency hopping mode of the first node is RF frequency hopping, and the frequency hopping mode of the second node is digital frequency hopping), and the present application does not impose any restrictions.

[0159] 5. Distance measurement

[0160] Ranging is achieved by at least two nodes sending ranging wireless signals to each other to measure the distance between each other. For example, a G node and a T node send ranging wireless signals to each other to measure the distance between the G node and the T node. For another example, a G node and a T node #1 send ranging wireless signals to each other to measure the distance between the G node and the T node #1; a G node and a T node #2 send ranging wireless signals to each other to measure the distance between the G node and the T node #2; and a T node #1 and a T node #2 send ranging wireless signals to each other to measure the distance between the T node #1 and the T node #2.

[0161] It can be understood that in the embodiments of the present application, the steps for achieving ranging, positioning, angle measurement, perception, etc. are similar, and thus "ranging" can be replaced by "positioning", "angle measurement", "perception", etc.

[0162] The following is an introduction to the application scenarios and system architecture of the embodiments of the present application.

[0163] A communication system usually includes multiple nodes, and the nodes can communicate with each other to transmit data. Taking the vehicle-mounted communication system as an example, there can be multiple communication domains in the vehicle. A communication domain refers to a system composed of a group of nodes with a communication relationship and a communication connection relationship (i.e., a communication link) between the communication nodes, which is usually used to complete a specific function. Exemplarily, a communication domain may include a master node and at least one slave node, and the master and slave nodes, or the master node and the master node, or the slave node and the slave node can communicate with each other. The master node can manage the slave node, has the function of allocating resources, and is responsible for allocating resources to the slave node; the slave node obeys the scheduling of the master node, and uses the resources allocated by the master node to communicate with the master node and / or other nodes.

[0164] In some specific implementation scenarios, the master node may also be called a G node, a management node or a control node, and the slave node may also be called a T node or a terminal. The communication link from the G node to the T node may be called a G link or a downlink, and the communication link from the T node to the G node may be called a T link or an uplink.

[0165] The present application can be applied to vehicle-mounted wireless positioning scenarios (such as PEPS) and indoor positioning scenarios, and can also be applied to other wide-area wireless communication or local-area wireless communication scenarios.

[0166] For example, in the vehicle positioning scenario, positioning nodes are deployed at the four corners of the vehicle, and PEPS positioning nodes are deployed at the center console / rearview mirror / ceiling (inside the roof) in the vehicle. The display screen, microphone, speaker, camera, T-BOX and other vehicle-mounted wireless communication devices in the vehicle can also be used as positioning nodes. Positioning nodes and / or PEPS positioning nodes can be used to locate car keys / mobile phones. Car keys / mobile phones represent electronic devices that are located by positioning nodes. They can be traditional car keys with positioning functions, or mobile phones or wearable devices with positioning functions. Figure 2 A schematic diagram of a vehicle positioning scenario is shown, in which the car key / mobile phone can be used as a G node, and all positioning nodes in the car (including the PEPS positioning node) can be used as T nodes; or, the PEPS positioning node is used as a G node and the remaining devices are used as T nodes.

[0167] Those skilled in the art should understand that Figure 2 The application scenario shown is only one of the exemplary scenarios to which the solution of the present application can be applied. Figure 2 In addition to the application scenarios shown, the solution of the present application can also be applied to any other suitable application scenarios, such as but not limited to home, office, exhibition hall, production and other scenarios.

[0168] Exemplarily, it is taken as an example that the communicating nodes include a first node and a second node. Figure 3 3 is a schematic diagram of a possible wireless communication system provided by the present application, and the wireless communication system includes a first node 301 and a second node 302. The first node 301 may be a G node or a master node, and the second node 302 may be a T node or a slave node.

[0169] It should be understood that the communication system may include more nodes, which are shown as a first node and a second node here for ease of description. For example, in a multicast scenario, the number of the second nodes may be multiple.

[0170] Figure 1 The frame shown is a communication frame. Based on the communication frame, data transmission between nodes can be realized, but ranging between nodes cannot be realized. Therefore, the present application provides a ranging method that can realize ranging between nodes. In order to realize ranging between nodes, the present application can provide a frame structure of a ranging frame. The following takes the first node as a G node and the second node as a T node as an example to introduce the frame structures of several ranging frames provided by the present application.

[0171] Ranging frame 1: For the ranging frame 1 sent by the G node, the ranging frame 1 includes at least one radio frame 1, and the symbols in at least one radio frame 1 are all used to carry ranging information 1; for the ranging frame 1 sent by the T node, the ranging frame 1 includes at least one radio frame 2, and the symbols in at least one radio frame 2 are all used to carry ranging information 2; there is a switching interval (GAP) between the ranging frame 1 sent by the G node and the ranging frame 1 sent by the T node, and the switching interval is used to perform the sending and receiving switching.

[0172] Among them, the symbols in at least one radio frame 1 are all used to carry ranging information 1, that is, for any radio frame 1, the symbols contained therein are all used to carry ranging information 1. Ranging information 1 can be a positioning reference signal (PRS) sent by the G node to the T node, and the PRS can be, for example, a channel state information reference signal (CSI-RS) or a first training signal (FTS) or a second training signal (STS). In other words, the symbol type of any wireless frame 1 is a CSI-RS symbol, an FTS symbol, or an STS symbol; or all symbols of any wireless frame 1 are configured as CSI-RS symbols, FTS symbols, or STS symbols; wherein, CSI-RS is a channel state information reference signal sent by a G node, which is used by other nodes to measure the transmission channel characteristics (i.e., channel state information) from the G node to the other node; FTS is a signal used for time and frequency synchronization in a vehicle-mounted wireless short-range communication system, such as the signal used for time and frequency synchronization in the SparkLink Basic (SLB) standard, and FTS is a signal that appears first in the time domain and can also be used to transmit channel characteristics (i.e., channel state information); STS is a signal used for time and frequency synchronization in a vehicle-mounted wireless short-range communication system, such as the signal used for time and frequency synchronization in the SparkLink Basic (SLB) standard, and STS is a signal that appears later in the time domain and can also be used to transmit channel characteristics (i.e., channel state information). It can be understood that in a wireless short-range communication system, synchronization signals appear in pairs, that is, two synchronization signals are understood as a group of synchronization signals. In a group of synchronization signals, the OFDM symbol that appears first in the time domain is called FTS, and the OFDM symbol that appears first in the time domain is called STS.

[0173] Correspondingly, the symbols in at least one wireless frame 2 are all used to carry ranging information 2, that is, for any wireless frame 2, the symbols contained therein are all used to carry ranging information 2. Ranging information 2 can be a PRS sent by the T node to the G node, and the PRS can be, for example, a channel sounding reference signal (SRS) or a second training signal (STS) or a first training signal (FTS). In other words, the symbol type of any wireless frame 2 is an SRS symbol, an STS symbol, or an FTS symbol; or all symbols of any wireless frame 2 are configured as SRS symbols, STS symbols, or FTS symbols; wherein, SRS is a channel sounding signal sent by the G node when receiving other nodes, and is used by the G node to measure the transmission channel characteristics (i.e., channel state information) from other nodes to the G node.

[0174] The symbols in wireless frame 1 are all used to carry ranging information 1, and the symbols in wireless frame 2 are all used to carry ranging information 2, which increases the number of continuous transmission symbols carrying ranging information, thereby improving transmission efficiency and ranging accuracy. Continuous transmission can also facilitate centralized processing of ranging information. There is a GAP between the ranging frame 1 sent by the G node and the ranging frame 1 sent by the T node, that is, the GAP does not occupy the duration of wireless frame 1 or the duration of wireless frame 2. The GAP is used to perform transceiver switching, which can also be described as uplink and downlink switching. Compared with wireless frame 1 and wireless frame 2 Figure 1 The wireless frame shown eliminates Figure 1 All GAPs in the radio frame shown are changed to GAPs between radio frame 1 and radio frame 2, which can reduce the number of handovers and save overhead. Figure 1 The radio frame #0 and the radio frame #1 shown include 4 GAPs in total, and there is 1 GAP between the radio frame 1 and the radio frame 2.

[0175] It should be noted that the present application does not specifically limit the frame format of radio frame 1 and radio frame 2. Taking SLB as an example, in the SLB standard, the radio frame is a frame format containing multiple OFDM (CP-OFDM) with a cyclic prefix (CP), and the time length is 640×Ts, where Ts is the sampling time interval of the baseband. However, in the present application, radio frame 1 and radio frame 2 can be a frame format in which OFDM symbol parameters are pre-configured by the G node (the frame length can be less than 640×Ts), and a radio frame can contain pre-configured Q OFDM symbols, where Q is a positive integer, and the value of Q can be configured according to the desired SNR. The pre-configured OFDM symbol parameters include at least one of the following: with CP or without CP, extended CP or regular CP, carrying CSI-RS or SRS or FTS or STS, etc. For example, if the CP type of the symbols contained in radio frame 1 and radio frame 2 is no CP, then radio frame 1 contains 10 CSI-RS symbols / FTS symbols, and radio frame 2 contains 10 SRS symbols / STS symbols; for another example, if the CP type of the symbols contained in radio frame 1 and radio frame 2 is regular CP, then radio frame 1 contains 8 CSI-RS symbols, and radio frame 2 contains 8 SRS symbols; for another example, if the CP type of the symbols contained in radio frame 1 and radio frame 2 is extended CP, then radio frame 1 contains 7 CSI-RS symbols, and radio frame 2 contains 7 SRS symbols. For another example, when Q is 1, it means that a ranging frame 1 (or a radio frame) contains 1 OFDM symbol; that is, the radio frame 1 and the radio frame 2 corresponding to the ranging frame 1 only contain 1 OFDM symbol respectively. Among them, according to the number of OFDM symbols configured by the G node for radio frame 1 and radio frame 2, the G node and the T node use the ranging frame 1 with the corresponding number of OFDM symbols for ranging interaction measurement.

[0176] For example, Figure 4 The frame structure of the ranging frame 1 shown in the figure takes the ranging frame 1 sent by the G node including 1 radio frame 1 and the ranging frame 1 sent by the T node including 1 radio frame 2 as an example. The CP type of the symbols included in the radio frame 1 and the radio frame 2 is no CP. Figure 4 The G in represents a G link symbol, and the G link symbol can be configured as a CSI-RS symbol or an FTS symbol; Figure 4 The T in represents a T link symbol, and the T link symbol can be configured as an SRS symbol or an STS symbol.

[0177] Optionally, one or some symbols carrying ranging information 1 in wireless frame 1 are inversely related to other symbols carrying ranging information 1, which may indicate channel switching, which may also be described as frequency hopping, or jumping to other channels; and / or, one or some symbols carrying ranging information 2 in wireless frame 2 are inversely related to other symbols carrying ranging information 2, which may indicate channel switching. Among them, some may be the first number, the last number, or a specified number, or a preset number, etc.

[0178] In one implementation, for the last radio frame 1 in at least one radio frame 1, the last N symbols used to carry ranging information 1 contained therein are inverted with other symbols used to carry ranging information 1 in the last radio frame 1, the last radio frame 1 may indicate channel switching, and the T node may perform channel switching according to the last radio frame 1; and / or, for the last radio frame 2 in at least one radio frame 2, the last M symbols used to carry ranging information 2 contained therein are inverted with other symbols used to carry ranging information 2 in the last radio frame 2, the last radio frame 2 may indicate channel switching, and the G node may perform channel switching according to the last radio frame 2. Wherein, N and M are positive integers, and N and M may be the same or different, for example, N=2, M=2; for another example, N=1, M=2. In another implementation, for the last radio frame 1 in at least one radio frame 1, the first N' symbols used to carry ranging information 1 contained therein are inverted with other symbols used to carry ranging information 1 in the last radio frame 1, the last radio frame 1 may indicate channel switching, and the T node may perform channel switching according to the last radio frame 3; and / or, for the last radio frame 2 in at least one radio frame 2, the first M' symbols used to carry ranging information 2 contained therein are inverted with other symbols used to carry ranging information 2 in the last radio frame 2, the last radio frame 2 may indicate channel switching, and the G node may perform channel switching according to the last radio frame 2. Wherein, N' and M' are positive integers, and N' and M' may be the same or different.

[0179] Exemplarily, N=2, M=2, if the CP type of the symbol included in radio frame 1 and radio frame 2 is no CP, the frame structure of the last radio frame 1 and the last radio frame 2 may be as shown in Table 1 below; if the CP type of the symbol included in radio frame 1 and radio frame 2 is regular CP, the frame structure of the last radio frame 1 and the last radio frame 2 may be as shown in Table 2 below. If the CP type of the symbol included in radio frame 1 and radio frame 2 is extended CP, the frame structure of the last radio frame 1 and the last radio frame 2 may be as shown in Table 3 below.

[0180] Table 1

[0181]

[0182] Table 2

[0183]

[0184] Table 3

[0185]

[0186]

[0187] In Tables 1 to 3, G represents a G link symbol, which can be configured as a CSI-RS symbol or an FTS symbol; T represents a T link symbol, which can be configured as an SRS symbol or an STS symbol; -G represents an inverted CSI-RS symbol or an FTS symbol; -T represents an inverted SRS symbol or an STS symbol. The serial numbers of the radio frame structures in Tables 1 to 3 are for example only and do not constitute a limitation on the present application.

[0188] Ranging frame 2: For the ranging frame 2 sent by the G node, the ranging frame 2 includes at least one radio frame 3, each radio frame 3 includes a switching interval (GAP), each symbol except the GAP is used to carry the ranging information 1, and the GAP is located after the symbol used to carry the ranging information 1 in time; for the ranging frame 2 sent by the T node, the ranging frame 2 includes at least one radio frame 4, each radio frame 4 includes a switching interval (GAP), each symbol except the GAP is used to carry the ranging information 2, and the GAP is located after the symbol used to carry the ranging information 2 in time. The switching interval is used to perform the transmission and reception switching. For the ranging information 1 and the ranging information 2, refer to the description of the ranging information 1 and the ranging information 2 in the ranging frame 1.

[0189] Optionally, the number of GAPs in radio frame 3 is 1, which occupies the duration of one symbol in radio frame 3; the number of GAPs in radio frame 4 is 1, which occupies the duration of one symbol in radio frame 4. Figure 1 The wireless frame shown eliminates Figure 1 The partial GAP in the wireless frame shown can reduce the number of handovers, thereby saving overhead. Figure 1 The wireless frame #0 and wireless frame #1 shown include a total of 4 GAPs, while a wireless frame 3 and a wireless frame 4 each include a GAP, and the GAP in wireless frame 3 is located after the symbol carrying ranging information 1, and the GAP in wireless frame 4 is located after the symbol carrying ranging information 2.

[0190] It should be noted that the present application does not specifically limit the frame format of radio frame 3 and radio frame 4. In the present application, radio frame 3 and radio frame 4 may be a frame format in which OFDM symbol parameters are pre-configured by a G node (the frame length may be less than 640×Ts), and a radio frame may contain pre-configured Q OFDM symbols, where Q is a positive integer, and the value of Q may be configured according to the desired SNR. The pre-configured OFDM symbol parameters include at least one of the following: with or without CP, extended CP or regular CP, carrying CSI-RS or SRS or FTS or STS, etc. For example, if the CP type of the symbols contained in wireless frame 3 and wireless frame 4 is no CP, then wireless frame 3 contains 9 CSI-RS symbols and 1 GAP (located after 9 CSI-RS symbols in time), and wireless frame 2 contains 9 SRS symbols and 1 GAP (located after 9 SRS symbols in time); for another example, if the CP type of the symbols contained in wireless frame 1 and wireless frame 2 is normal CP, then wireless frame 3 contains 7 CSI-RS symbols and 1 GAP (located after 7 CSI-RS symbols in time), and wireless frame 4 contains 7 SRS symbols and 1 GAP (located after 7 SRS symbols in time).

[0191] For example, Figure 5 The frame structure of the ranging frame 2 shown in the figure takes the ranging frame 2 sent by the G node including 1 radio frame 3 and the ranging frame 2 sent by the T node including 1 radio frame 4 as an example. The CP type of the symbols included in the radio frame 3 and the radio frame 4 is no CP. Figure 5 The G in represents a G link symbol, and the G link symbol can be configured as a CSI-RS symbol or an FTS symbol; Figure 5 The T in represents a T link symbol, and the T link symbol can be configured as an SRS symbol or an STS symbol.

[0192] Optionally, one or some symbols carrying ranging information 1 in wireless frame 3 are inverted with other symbols carrying ranging information 1, which may indicate channel switching; and / or one or some symbols carrying ranging information 2 in wireless frame 4 are inverted with other symbols carrying ranging information 2, which may indicate channel switching. The specific description of indicating channel switching by inversion can be referred to ranging frame 1, which will not be repeated here.

[0193] For example, N=2, M=2, if the CP type of the symbols included in radio frame 3 and radio frame 4 is no CP, the frame structure of the last radio frame 3 and the last radio frame 4 may be as shown in Table 4. The serial numbers of the radio frame structures in Table 4 are for example only and do not constitute a limitation on the present application.

[0194] Table 4

[0195]

[0196] The difference between ranging frame 2 and ranging frame 1 is that: there is a GAP between radio frame 1 and radio frame 2 in ranging frame 1, and the GAP does not occupy the duration of radio frame 1 or the duration of radio frame 2; in ranging frame 2, radio frame 3 and radio frame 4 each include a GAP, and the GAP in radio frame 3 is located after the symbol carrying ranging information 1, and the GAP in radio frame 4 is located after the symbol carrying ranging information 2.

[0197] Ranging frame 3: For the ranging frame 3 sent by the G node, the ranging frame 3 includes at least one radio frame 5, each of which includes a switching interval (GAP), a G overhead symbol and a G link symbol, and the G overhead symbol and the G link symbol are used to carry ranging information 1; for the ranging frame 3 sent by the T node, the ranging frame 3 includes at least one radio frame 6, each of which includes a GAP, a T overhead symbol and a T link symbol, and the T overhead symbol and the T link symbol are used to carry ranging information 2. Among them, the switching interval is used to perform the transmission and reception switching. For ranging information 1 and ranging information 2, refer to the description of ranging information 1 and ranging information 2 in ranging frame 1.

[0198] The number of GAPs included in the wireless frame 5 and the wireless frame 6 may be 1 or 2. If the number of switching interval GAPs included in the wireless frame 5 is 2, further, the wireless frame 5 further includes at least one T link symbol; and / or, if the number of switching intervals included in the wireless frame 6 is 2, further, the wireless frame 6 further includes at least one G link symbol.

[0199] It should be noted that the present application does not specifically limit the frame format of radio frame 5 and radio frame 6. In the present application, radio frame 5 and radio frame 6 may be a frame format in which OFDM symbol parameters are pre-configured by the G node (the frame length may be less than 640×Ts), and a radio frame may contain pre-configured Q OFDM symbols, where Q is a positive integer, and the value of Q may be configured according to the desired SNR. The pre-configured OFDM symbol parameters include at least one of the following: with CP or without CP, extended CP or regular CP, carrying CSI-RS or SRS or FTS or STS, etc. For example, based on Figure 1 In the radio frame #0 shown in FIG. 1 , the G overhead symbol and the G link symbol in the radio frame #0 are used to carry the ranging information 1, that is, the G overhead symbol and the G link symbol in the radio frame #0 are configured as CSI-RS symbols or FTS symbols, thereby obtaining the radio frame 5. For another example, based on Figure 1 The wireless frame #46 shown uses the T overhead symbol and T link symbol in the wireless frame #46 to carry the ranging information 2, that is, the T overhead symbol and T link symbol in the wireless frame #46 are configured as SRS symbols or STS symbols, so that the wireless frame 6 can be obtained.

[0200] For example, Figure 6 The frame structure of the ranging frame 3 shown is taken as an example in which the ranging frame 3 sent by the G node includes one radio frame 5 and the ranging frame 3 sent by the T node includes one radio frame 6. Figure 6 In the wireless frame 5, G in wireless frame 5 represents a G link symbol, G(SG) represents that the G link symbol is configured as a G overhead symbol, and the G link symbol and the G overhead symbol can be further configured as a CSI-RS symbol or an FTS symbol; T in wireless frame 6 represents a T link symbol, G(ST) represents that the G link symbol is configured as a T overhead symbol, and the T link symbol and the T overhead symbol can be further configured as an SRS symbol or an STS symbol. Figure 6 The wireless frame 5 and the wireless frame 6 in the structure can be the wireless frame structure shown in Table 5 below.

[0201] Table 5

[0202]

[0203] In Table 5, G represents a G link symbol, and T represents a T link symbol.

[0204] Optionally, one or some symbols carrying ranging information 1 in wireless frame 5 are inverted with other symbols carrying ranging information 1, which may indicate channel switching; and / or one or some symbols carrying ranging information 2 in wireless frame 6 are inverted with other symbols carrying ranging information 2, which may indicate channel switching. The specific description of indicating channel switching by inversion can be referred to ranging frame 1, which will not be repeated here.

[0205] Similar to the radio frame structure shown in Table 5, the ranging frame 3 may also use radio frame structures with other sequence numbers. Among them, the G link symbol in the symbol configuration may use the CSI-RS symbol, and the T link symbol may use the SRS symbol.

[0206] Ranging frame 4: For the ranging frame 4 sent by the G node, the ranging frame 4 is composed of at least one overhead symbol 1, at least one overhead symbol 1 is all or part of the overhead symbols of at least one radio frame 7, and at least one overhead symbol 1 is used to carry ranging information 1; for the ranging frame 4 sent by the T node, the ranging frame 4 is composed of at least one overhead symbol 2, at least one overhead symbol 2 is all or part of the overhead symbols of at least one radio frame 8, and at least one overhead symbol 2 is used to carry ranging information 2. For ranging information 1 and ranging information 2, refer to the description of ranging information 1 and ranging information 2 in ranging frame 1. Overhead symbol 1 is a G overhead symbol or a T overhead symbol, and overhead symbol 2 is a G overhead symbol or a T overhead symbol.

[0207] Optionally, at least one radio frame 7 and at least one radio frame 8 are located in the same superframe, then at least one overhead symbol 1 for carrying ranging information 1 and at least one overhead symbol 2 for carrying ranging information 2 are located in the same superframe. In one implementation, in a superframe, the overhead symbols in the first K+1 radio frames (i.e., radio frames numbered from 0 to K) are used to transmit control information (such as G link system information, etc.), that is, the overhead symbols in the first K+1 radio frames cannot carry ranging information 1 or ranging information 2, K is a positive integer greater than 1, and the specific value of K can be preset or predefined. In another implementation, in a superframe, the first K overhead symbols are used to transmit control information and cannot carry ranging information 1 or ranging information 2. Optionally, the number of at least one overhead symbol 1 for carrying ranging information 1 can be preset or predefined, and the number of at least one overhead symbol 2 for carrying ranging information 2 can be preset or predefined.

[0208] For the case where a radio frame 7 contains one overhead symbol 1 and a radio frame 8 contains one overhead symbol 2:

[0209] All overhead symbols 1 of at least one radio frame 7 are used to carry ranging information 1, and all overhead symbols 2 of at least one radio frame 8 are used to carry ranging information 2. The interval between two adjacent overhead symbols for carrying ranging information is large (20.83us), resulting in a lower estimated Doppler shift.

[0210] For the case where a radio frame 7 contains 2 overhead symbols 1 and a radio frame 8 contains 2 overhead symbols 2:

[0211] In one mode, all overhead symbols 1 of at least one radio frame 7 are used to carry ranging information 1, and all overhead symbols 2 of at least one radio frame 8 are used to carry ranging information 2, which can expand the estimation range of Doppler frequency shift and can be applicable to ranging in high-speed mobile scenarios. Optionally, the two overhead symbols 1 for carrying ranging information 1 contained in a radio frame 7 are continuous in time (i.e., adjacent in time domain position), and the two overhead symbols 2 for carrying ranging information 2 contained in a radio frame 8 are continuous in time to reduce interference.

[0212] In another manner, a portion of overhead symbols 1 of at least one radio frame 7 is used to carry ranging information 1, and another portion of overhead symbols 1 is a G overhead symbol or a T overhead symbol, which is used for synchronization or data transmission; a portion of overhead symbols 2 of at least one radio frame 8 is used to carry ranging information 2, and another portion of overhead symbols 2 is a G overhead symbol or a T overhead symbol, which is used for synchronization or data transmission. That is, one overhead symbol 1 in any radio frame 7 is used to carry ranging information 1, and another overhead symbol 1 is used for synchronization or data transmission; one overhead symbol 1 in any radio frame 8 is used to carry ranging information 1, and another overhead symbol 2 is used for synchronization or data transmission. Further, in any radio frame 7, the overhead symbol 1 used to carry ranging information 1 and the overhead symbol 1 used for synchronization or data transmission can be arranged in a comb-tooth manner (that is, adjacent in time domain position). And / or, in any radio frame 8, the overhead symbol 2 used to carry ranging information 2 and the overhead symbol 2 used for synchronization or data transmission can be arranged in a comb-tooth manner. Among them, the comb-tooth method can maintain the synchronization performance of the communication system. While ensuring the communication performance of the communication system, it uses the synchronization accuracy of communication symbols (i.e., overhead symbols used for data transmission) to improve the ranging accuracy.

[0213] For example, Figure 7 The frame structure of the ranging frame 4 shown extracts the overhead symbols in a superframe, taking the ranging frame 4 sent by the G node containing I overhead symbols 1 for carrying ranging information 1, and the ranging frame 4 sent by the T node containing J overhead symbols 1 for carrying ranging information 2 as an example. Figure 7 In the figure, SG represents a G overhead symbol, ST represents a T overhead symbol, the first K+1 G overhead symbols (i.e., overhead symbols numbered from 0 to K) are used to transmit control information, G overhead symbols numbered from K+1 to K2 are used to carry ranging information 1, and T overhead symbols numbered from K2+1 to K3 are used to carry ranging information 2. Wherein, I = K2-K1-1, J = K3-K2-1, and the difference between I and J is less than the first threshold. Wherein, the difference may be an absolute value, and the first threshold may be 1; the difference may also be a relative value, and the first threshold may be ±1.

[0214] Optionally, the last X overhead symbols 1 of at least one overhead symbol 1 are inverted with other overhead symbols 1 used to carry ranging information 1, and the inverted last X overhead symbols 1 indicate channel switching; and / or, the last Y overhead symbols 2 of at least one overhead symbol 2 are inverted with other overhead symbols 2 used to carry ranging information 2, and the inverted last Y overhead symbols 2 indicate channel switching; wherein X is a positive integer, and Y is a positive integer. X and Y may be the same or different, for example, X=2, Y=2.

[0215] It can be understood that ranging frame 4 uses some overhead symbols in the superframe to carry ranging information 1, and uses some overhead symbols in the superframe to carry ranging information 2.

[0216] In periodic superframe transmission, the G node uses reference signals such as FTS or STS at the front of the first superframe for timing and frequency synchronization of the T node, and inserts a synchronization signal in each superframe to maintain timing and frequency synchronization, so that the overhead symbols and / or link symbols in subsequent superframes can be used to carry ranging information.

[0217] The above-mentioned ranging frames 1 to 4 can be understood as ranging frames of 4 different frame types. Ranging frames 1 and 2 can be applicable to the initial channel or frequency hopping channel of frequency hopping ranging, and ranging frames 3 and 4 can be applicable to the initial channel of frequency hopping ranging. Optionally, according to the applicable channels, ranging frames 3 and 4 can be called first-type ranging frames, and ranging frames 1 and 2 can be called second-type ranging frames. It should be noted that the name of ranging frame is used for example, and can also be described as positioning frame, measurement frame, or perception frame, etc. Other names may be adopted as the standard evolves.

[0218] The present application relates to frequency hopping ranging, which refers to ranging interaction on multiple channels (for example, at least including: G node sends a ranging frame 1, T node receives ranging frame 1 from G node and measures, sends ranging frame 1 to G node, G node receives ranging frame 1 from T node and measures), and performs channel state information feedback on a certain channel (the channel may be the same as or partially overlap with the initial channel of frequency hopping ranging). The initial channel of frequency hopping ranging represents the working channel (group) after G node and T node complete the association, that is, the channel (group) where ranging negotiation is performed.

[0219] For example, Figure 8 An example diagram of frequency hopping ranging is shown. Figure 8 In the switching time, T0 = radio frequency (RF) switching stable time (T RF )+Listen-before-talk (LBT) duration (T LBT ). RF Taking the stabilization time of a phase locked loop (PLL) as an example, the initiator and / or responder node must RF After the end, LBT operation or clear channel assessment (CCA) or carrier sense multiple access can be started. Within the LBT time window, if the channel indicates idle, ranging interaction will start on the channel. Figure 8As shown, the initial channel of the frequency hopping ranging is channel 3. After the ranging interaction 1 is completed on channel 3, within the time window of LBT, if channel 2 indicates that it is idle, the ranging interaction starts on channel 2. Finally, the channel state information feedback can be performed on channel 3. The channel state information fed back on channel 3 can be obtained based on the channel state information of channel 3, channel 2 and channel 1. The channel state information fed back on channel 3 can also be called a ranging result or a positioning result.

[0220] The following introduces the ranging method provided by the present application based on the ranging frame provided by the present application.

[0221] See also Fig. 9 , is a flow chart of a distance measurement method provided by the present application, which may include but is not limited to the following steps:

[0222] S901, on a first channel, a first node sends a first ranging frame to a second node. Correspondingly, on the first channel, the second node receives the first ranging frame from the first node. The first ranging frame carries first ranging information through at least one first symbol.

[0223] S902: The second node determines first channel state information corresponding to a first channel according to at least one first symbol.

[0224] S903, on the first channel, the second node sends a second ranging frame to the first node. Correspondingly, on the first channel, the first node receives the second ranging frame from the second node, wherein the second ranging frame carries second ranging information through at least one second symbol.

[0225] S904: The second node sends first channel state information to the first node. Correspondingly, the first node receives the first channel state information from the second node.

[0226] S905: The first node determines second channel state information corresponding to the first channel according to at least one second symbol.

[0227] S906: The first node determines channel state information of the first channel according to the first channel state information and the second channel state information. The channel state information of the first channel is used to measure the distance between the first node and the second node.

[0228] It should be noted that the execution order of the above steps S901, S902, S903, S904, S905 and S906 is for example only, and the embodiments of the present application do not limit this, and the actual scene interaction shall prevail. S902, S904, S905 and S906 may be executed on the first channel or not. The first channel may be the initial channel (group) of the frequency hopping ranging or the frequency hopping channel (group) of the frequency hopping ranging. Fig. 9 Take the example that the first channel is the initial channel (group) of frequency hopping ranging.

[0229] The above steps S901 and S903 can be understood as the first node and the second node performing ranging frame transmission on the first channel, the number of first ranging frames sent by the first node to the second node can be one or more, and the number of second ranging frames sent by the second node to the first node can be one or more.

[0230] The first ranging frame carries the first ranging information through at least one first symbol, which can be understood as at least one first symbol in the first ranging frame is used to carry the first ranging information. The second ranging frame carries the second ranging information through at least one second symbol, which can be understood as at least one second symbol in the second ranging frame is used to carry the second ranging information. The first ranging information can refer to the specific description of ranging information 1 in the above ranging frame 1, and the second ranging information can refer to the specific description of ranging information 2 in the above ranging frame 1, which will not be repeated here.

[0231] The frame structure of the first ranging frame is the same as that of the second ranging frame, so that the ranging frame with the same frame structure is used on the first channel, which helps to improve the stability of ranging frame transmission. For example, the frame structure of the first ranging frame can be any one of the above-mentioned ranging frames 1 to 4, and the frame structure of the second ranging frame is the same as that of the first ranging frame.

[0232] In a first implementation manner, the first ranging frame includes at least one first radio frame, and the second ranging frame includes at least one second radio frame.

[0233] Optional mode 1: All symbols in the at least one first radio frame are used to carry the first ranging information, and all symbols in the at least one second radio frame are used to carry the second ranging information, and there is a switching interval (GAP) between the first radio frame and the second radio frame. Optional mode 1 may correspond to the frame structure of the ranging frame 1, and specific reference may be made to the description of the ranging frame 1.

[0234] Optional mode 2: For any one of the at least one first radio frame mentioned above: the first radio frame includes a GAP, each symbol except the GAP is used to carry the first ranging information, and the GAP is located in time after the symbol used to carry the first ranging information, that is, the GAP occupies the duration of one symbol in the first radio frame; for any one of the at least one second radio frame mentioned above: the second radio frame includes a GAP, each symbol except the GAP is used to carry the second ranging information, and the GAP is located in time after the symbol used to carry the second ranging information, that is, the GAP occupies the duration of one symbol in the second radio frame. Optional mode 2 may correspond to the frame structure of the ranging frame 2 mentioned above, and specific reference may be made to the description of the ranging frame 2 mentioned above.

[0235] Optional mode 3: For any one of the at least one first radio frame mentioned above: the first radio frame includes a GAP, a first overhead symbol and a first link symbol, and the first overhead symbol and the first link symbol are used to carry the first ranging information; for any one of the at least one second radio frame mentioned above: the second radio frame includes a GAP, a second overhead symbol and a second link symbol, and the second overhead symbol and the second link symbol are used to carry the second ranging information. The transmission directions of the first link and the second link are different. For example, the first link is a G link (i.e., the direction in which the G node sends data or information to the T node), and the second link is a T link (i.e., the direction in which the T node sends data or information to the G node). Furthermore, the first link symbol and the second link symbol are used to carry information in different transmission directions, and the first overhead symbol and the second overhead symbol are used to carry information in different transmission directions, but the transmission direction of the information carried by the first overhead symbol and the first link symbol is the same, and the transmission direction of the information carried by the second overhead symbol and the second link symbol is the same, for example, the first overhead symbol is a G overhead symbol, and the first link symbol is a G link symbol; the second overhead symbol is a T overhead symbol, and the first link symbol is a T link symbol. Optional method 3 may correspond to the frame structure of the above-mentioned ranging frame 3, and specific reference may be made to the description of the above-mentioned ranging frame 3.

[0236] Optionally, for the first implementation manner, the first node may send first configuration information to the second node, so that the second node receives the first ranging frame according to the first configuration information. The first configuration information may include one or more of the following:

[0237] 1) A first bitmap is used to indicate at least one first radio frame used for ranging in a superframe, that is, to indicate which radio frames in a superframe can be used as the first radio frame for ranging. Optionally, the first bitmap is a 48-bit bitmap, corresponding to 48 radio frames in a superframe. The value of a bit indicates whether the radio frame corresponding to the bit is the first radio frame. For example, when the value of a bit is 1, it indicates that the radio frame corresponding to the bit is the first radio frame, and when the value of the bit is 0, it indicates that the radio frame corresponding to the bit is not the first radio frame. Multiple first radio frames in a superframe can constitute a first ranging frame, or a first radio frame in a superframe is the first ranging frame. In other words, a superframe can contain one or more first ranging frames. The second node can determine which or which radio frames in a superframe carry the first ranging information based on the first bitmap. The first bitmap can be a 48-bit indication information, and the value of a bit in the indication information indicates whether the radio frame corresponding to the bit is the first radio frame.

[0238] Optionally, the first configuration information may also include a third bitmap for indicating at least one second radio frame used for ranging in a superframe, that is, indicating which radio frames in a superframe can be used as second radio frames for ranging. Optionally, the third bitmap is a 48-bit bitmap, corresponding to 48 radio frames in a superframe. The value of a bit indicates whether the radio frame corresponding to the bit is a second radio frame. Multiple second radio frames in a superframe may constitute a second ranging frame, or a second radio frame in a superframe may be a second ranging frame. In other words, a superframe may contain one or more second ranging frames. Based on the third bitmap, the second node may determine which or which radio frames in a superframe are used to carry the second ranging information.

[0239] 2) The number of superframes L1, i.e., L1 superframes, is continuous in the time domain. Each of the L1 superframes includes a first ranging frame, or is described as each of the L1 superframes includes a first wireless frame for ranging. Wherein, L1 is a positive integer. The number of superframes L1 can also be described as the number of superframes L1 corresponding to the first ranging frame. The second node can determine the time-frequency resources for transmitting the first ranging frame according to the number of superframes L1 and the first bitmap.

[0240] Optionally, the first configuration information may also include the number of superframes L2, that is, L2 superframes, which are continuous in the time domain. Each of the L2 superframes includes a second ranging frame, or is described as each of the L2 superframes including a second wireless frame for ranging. Wherein, L2 is a positive integer. The specific value of L2 may be the same as the specific value of L1, or the difference between the two may be less than ±1. If the specific value of L2 is the same as the specific value of L1 by default, the first configuration information includes the number of superframes L1. The first node and the second node perform ranging interaction within the superframe, for example, perform ranging interaction within each superframe of L1 superframes, and the first configuration information includes the number of superframes L1.

[0241] 3) The first indication information is used to indicate whether the first bitmap corresponding to each superframe in the L1 superframes is the same. For example, the first indication information may be indicated by 1 bit. When the value of the bit is 1, it indicates that the first bitmap corresponding to each superframe in the L1 superframes is the same. When the value of the bit is 0, it indicates that the first bitmap corresponding to each superframe in the L1 superframes is different. One superframe may correspond to one first bitmap, for example, superframe #1 corresponds to first bitmap #1. First bitmap #1 is a 48-bit bitmap, which corresponds to 48 wireless frames of superframe #1. The first bitmap corresponding to each superframe in the L1 superframes is different. For example, superframe #1 corresponds to first bitmap #1, superframe #2 corresponds to first bitmap #2, and first bitmap #1 is different from first bitmap #2.

[0242] If the first indication information indicates that the first bitmap corresponding to each superframe in the L1 superframes is the same, then the first configuration information may include a first bitmap, which is applicable to each superframe in the L1 superframes, and then the number of the first wireless frame for ranging contained in each superframe in the L1 superframes is the same, that is, the first ranging frame is repeated in L1 consecutive superframes. Further, the second node may determine the time-frequency resources for transmitting the first ranging frame based on the first bitmap and the L1 superframes. If the first indication information indicates that the first bitmap corresponding to each superframe in the L1 superframes is different, then the first configuration information may include at most L1 first bitmaps, and any two first bitmaps in the L1 first bitmaps are different. Further, the second node can determine the time-frequency resources for transmitting the first ranging frame according to the first bitmap corresponding to each superframe in the L1 superframes. For example, L1=2, according to the first bitmap #1 corresponding to superframe #1, the time-frequency resources for transmitting the first ranging frame in superframe #1 are determined, and according to the first bitmap #2 corresponding to superframe #2, the time-frequency resources for transmitting the first ranging frame in superframe #2 are determined.

[0243] Optionally, the first configuration information may further include second indication information, used to indicate whether the third bitmap corresponding to each superframe in the L2 superframes is the same. For example, the second indication information may be indicated by 1 bit, and when the value of the bit is 1, it indicates that the third bitmap corresponding to each superframe in the L2 superframes is the same, and when the value of the bit is 0, it indicates that the third bitmap corresponding to each superframe in the L2 superframes is different.

[0244] 4) The number of ranging interactions (or measurement interactions) of frequency hopping ranging, the value of which can be 1 to 256 times, and the specific value can be indicated by, for example, an 8-bit field. One ranging interaction can be that the first node sends a first ranging frame once, the second node receives the first ranging frame, sends a second ranging frame to the first node once, and the first node receives the second ranging frame.

[0245] 5) The number of first ranging frames on the first channel.

[0246] 6) Third indication information, used to indicate whether the number of first ranging frames and the number of second ranging frames on the first channel are the same, for example, 1 bit indication may be used, when the value of the bit is 1, it indicates the same, and when the value of the bit is 0, it indicates different. If they are different, the first configuration information may also include the number of second ranging frames on the first channel.

[0247] The first configuration information may be determined by the first node or pre-configured by the first node. Optionally, the second node may also send the second configuration information to the first node so that the first node receives the second ranging frame. The second configuration information includes content similar to that included in the first configuration information, for example, the second configuration information includes a third bitmap so that the first node determines which second radio frame or frames in a superframe carry the second ranging information according to the third bitmap. The second configuration information may be determined by the second node or pre-configured by the second node.

[0248] For example, in a superframe, taking the case where the first ranging frame includes a first wireless frame and the second ranging frame includes a second wireless frame, the ranging interaction between the first node and the second node in the superframe can refer to Figure 9-1 and Figure 9-2 . Figure 9-1 and Figure 9-2 In the wireless frame, wireless frame #0 to wireless frame #11 are used to transmit control information. Figure 9-1 In the embodiment, the first node continuously sends two first ranging frames to the second node, and the two first ranging frames carry the first ranging information through the symbols in the wireless frame #12 and the wireless frame #13; the second node continuously sends two second ranging frames to the first node, and the two second ranging frames carry the second ranging information through the symbols in the wireless frame #14 and the wireless frame #15. Figure 9-2In the example, the first node sends a first ranging frame to the second node, and the first ranging frame carries the first ranging information through the symbol in the wireless frame #12; the second node sends a second ranging frame to the first node, and the second ranging frame carries the second ranging information through the symbol in the wireless frame #13; the first node sends another first ranging frame to the second node, and the first ranging frame carries the first ranging information through the symbol in the wireless frame #14; the second node sends another second ranging frame to the first node, and the second ranging frame carries the second ranging information through the symbol in the wireless frame #15. It can be understood that Figure 9-1 The first node and the second node perform a ranging interaction, and the first node and the second node each send 2 consecutive ranging frames in one ranging interaction; Figure 9-2 The first node and the second node perform two ranging interactions. In one ranging interaction, the first node and the second node each send one ranging frame.

[0249] In a second implementation, the first ranging frame is composed of at least one first overhead symbol, at least one first overhead symbol is all or part of the overhead symbol of at least one first wireless frame, and at least one first overhead symbol is used to carry the first ranging information; the second ranging frame is composed of at least one second overhead symbol, at least one second overhead symbol is all or part of the overhead symbol of at least one second wireless frame, and at least one second overhead symbol is used to carry the second ranging information. The second implementation may correspond to the frame structure of the above-mentioned ranging frame 4, and specific reference may be made to the description of the above-mentioned ranging frame 4.

[0250] Optionally, on the first channel, the difference between the number of symbols used to carry the first ranging information in the first ranging frame and the number of symbols used to carry the second ranging information in the second ranging frame is less than a first threshold, so that the SNR of the first channel state information is the same as or similar to that of the second channel state information. The difference may be an absolute value, and the first threshold may be 1; the difference may also be a relative value, and the first threshold may be ±1.

[0251] Optionally, for the above-mentioned second implementation method, the first node may send a second bitmap to the second node, and the second bitmap is used to indicate the overhead symbol used to carry the first ranging information in a superframe. Optionally, the second bitmap is a 96-bit bitmap, which corresponds to 96 overhead symbols in a superframe. The value of a bit indicates whether the overhead symbol corresponding to the bit carries the first ranging information. For example, when the value of a bit is 1, it indicates that the overhead symbol corresponding to the bit carries the first ranging information, and when the value of the bit is 0, it indicates that the overhead symbol corresponding to the bit carries the first ranging information. The third bitmap can be 96-bit indication information, and the value of a bit in the indication information indicates whether the overhead symbol corresponding to the bit carries the first ranging information. The second bitmap can be carried in the configuration information sent by the first node to the second node, such as the third configuration information.

[0252] Optionally, the third configuration information may also include: a fourth bitmap, the fourth bitmap is used to indicate the overhead symbols used to carry the second ranging information in a superframe. Optionally, the fourth bitmap is a 96-bit bitmap, corresponding to the 96 overhead symbols in a superframe. The value of a bit indicates whether the overhead symbol corresponding to the bit carries the second ranging information. For example, when the value of a bit is 1, it indicates that the overhead symbol corresponding to the bit carries the second ranging information, and when the value of the bit is 0, it indicates that the overhead symbol corresponding to the bit does not carry the first ranging information. Alternatively, the second node sends the fourth bitmap to the first node so that the first node determines which overhead symbols in a superframe carry the second ranging information.

[0253] The third configuration information may be determined by the first node or pre-configured by the first node.

[0254] Exemplarily, in a superframe, taking the case where the first ranging frame is composed of I first overhead symbols and the second ranging frame is composed of J second overhead symbols, in the superframe, the first node and the second node perform a ranging interaction. The difference between I and J is less than the first threshold. I and J are both positive integers.

[0255] The above steps S902, S904, S905 and S906 can be understood as, the first node and the second node perform ranging according to the ranging information carried by the ranging frame to determine the corresponding channel state information, the first node determines the channel state information of the first channel based on the first channel state information and the second channel state information, the channel state information of the first channel is used to measure the distance between the first node and the second node, thereby realizing inter-node ranging for the first channel, which helps to improve the ranging accuracy.

[0256] Among them, the first channel state information refers to the subcarrier measurement information of the first ranging frame or the arrival time of the first ranging frame, which can be understood as the channel state information from the first node to the second node measured by the second node on the first channel, that is, the distance from the first node to the second node. Correspondingly, the second channel state information refers to the subcarrier measurement information of the second ranging frame or the arrival time of the second ranging frame, which can be understood as the channel state information from the second node to the first node measured by the first node on the first channel, that is, the distance from the second node to the first node. The channel state information of the first channel refers to the channel state information obtained by combining the first channel state information and the second channel state information, which is used to measure the distance between the first node and the second node. Among them, the subcarrier measurement information refers to the measured value of the frequency corresponding to the subcarrier determined by receiving the PRS symbol, demodulating the known ranging OFDM symbol, and performing frequency domain channel estimation (that is, frequency domain channel state information).

[0257] exist Fig. 9 In the illustrated embodiment, on the first channel, by sending a first ranging frame and receiving a second ranging frame, the transmission of the ranging frame for the first channel can be achieved. The ranging frame carries ranging information through at least one symbol, and the transmission of ranging information can be achieved. According to the first channel state information and the second channel state information corresponding to the first channel, the channel state information of the first channel can be determined, thereby achieving inter-node ranging for the first channel, which helps to improve the ranging accuracy.

[0258] Fig. 9 The communication mode between the first node and the second node is unicast, and the ranging frame provided in the present application can also be applied to the multicast communication mode.

[0259] See also Fig.10 , is a flow chart of another ranging method provided by the present application, which may include but is not limited to the following steps:

[0260] S1001: On a first channel, a first node broadcasts a first ranging frame.

[0261] Optionally, on the first channel, the first node broadcasts the first ranging frame to the second node in its communication domain, and correspondingly, the second node in the communication domain receives the first ranging frame from the first node. The first channel and the first ranging frame can refer to Fig. 9 The detailed description in the illustrated embodiment will not be repeated here.

[0262] The communication domain of the first node can be understood as a ranging group formed during the ranging negotiation process, and the ranging group includes at least one first node and one second node, for example, at least one G node and one T node. This application does not limit the number of second nodes in the communication domain of the first node. Fig.10 Taking the communication domain including two T nodes, namely the second node #1 and the second node #2 as an example, on the first channel, the first node broadcasts the first ranging frame, the second node #1 can receive the first ranging frame, and the second node #2 can also receive the first ranging frame.

[0263] Further, when the second node #1 receives the first ranging frame, it can determine the channel state information 1 corresponding to the first channel according to the first ranging frame, and specifically can determine the channel state information 1 corresponding to the first channel according to at least one first symbol. When the second node #2 receives the first ranging frame, it can determine the channel state information 2 corresponding to the first channel according to the first ranging frame. It can be understood that the second node in the communication domain performs ranging on the first ranging frame broadcast by the first node.

[0264] S1002: On the first channel, the second node #1 sends a second ranging frame to the first node. Correspondingly, the first node receives the second ranging frame from the second node #1.

[0265] S1003: On the first channel, the second node #2 sends a third ranging frame to the first node. Correspondingly, the first node receives the third ranging frame from the second node #2.

[0266] The second ranging frame carries the second ranging information through at least one second symbol, and the third ranging frame carries the second ranging information through at least one second symbol. The frame structures of the first ranging frame, the second ranging frame and the third ranging frame are the same, for example, they are all ranging frame 1 mentioned above.

[0267] The order of the third ranging frame and the second ranging frame in the time domain meets the pre-set. In one implementation, the pre-set can be the size order of the identifiers of multiple second nodes in the communication domain, for example, the identifier of the second node #1 in the communication domain is node 1, and the identifier of the second node #2 in the communication domain is node 2. If the identifiers are in order from small to large, then the second ranging frame is before the third ranging frame in the time domain; if the identifiers are in order from large to small, then the second ranging frame is after the third ranging frame in the time domain. In another implementation, the pre-set can be the order determined by multiple second nodes during the ranging negotiation process. For example, if it is determined that the second node #1 is before the second node #2 during the ranging negotiation process, then the second ranging frame is before the third ranging frame in the time domain; for another example, if it is determined that the second node #2 is before the second node #1 during the ranging negotiation process, then the third ranging frame is before the second ranging frame in the time domain. These two implementations are used for example and do not constitute a limitation on the present application.

[0268] For example, in a superframe, taking the case where the first ranging frame includes a first radio frame, and the second ranging frame and the third ranging frame each include a second radio frame, the ranging interaction in the superframe can refer to Figure 10-1 . Figure 10-1 In the embodiment, radio frames #0 to #11 are used to transmit control information, and the second ranging frame is before the third ranging frame.

[0269] Fig.10 Taking the example of a first node broadcasting a first ranging frame to two second nodes on a first channel, further, on the first channel, the first node broadcasts a first ranging frame, receives a second ranging frame from a second node, receives P third ranging frames from P third nodes (taking a third node sending a third ranging frame as an example), and the order of the P third ranging frames and the second ranging frames in the time domain meets the pre-set settings. Among them, the second node and the third node are both T nodes. In other words, the first node broadcasts a first ranging frame, receives multiple second ranging frames from multiple second nodes (taking a second node sending a second ranging frame as an example), and the order of the multiple second ranging frames in the time domain meets the pre-set settings.

[0270] exist Fig.10 In the illustrated embodiment, the first node broadcasts the first ranging frame, which can save overhead and reduce power consumption of the first node.

[0271] Fig. 9 and Fig.10 For example, the first channel is the initial channel (group) of frequency hopping ranging. If the initial channel is switched to the frequency hopping channel (or described as hopping from the initial channel to another channel), the ranging interaction on the frequency hopping channel is similar to the ranging interaction on the first channel. For example, the frequency hopping channel is called the second channel, see Fig.11 , is a flow chart of another ranging method provided by the present application, which may include but is not limited to the following steps:

[0272] S1101: On a second channel, a first node sends a fourth ranging frame to a second node. Correspondingly, the second node receives the fourth ranging frame from the first node.

[0273] The fourth ranging frame carries the first ranging information through at least one first symbol. The frame structure of the fourth ranging frame is the same as or different from that of the first ranging frame. For example, the first ranging frame is the ranging frame 4, and the fourth ranging frame is the ranging frame 1; for another example, the first ranging frame and the fourth ranging frame are both the ranging frame 1.

[0274] S1102: The second node determines third channel state information corresponding to the second channel according to a fourth ranging frame.

[0275] S1103: On the second channel, the second node sends a fifth ranging frame to the first node. Correspondingly, on the second channel, the first node receives the fifth ranging frame from the second node.

[0276] The fifth ranging frame carries the second ranging information through at least one second symbol. The frame structure of the fifth ranging frame is the same as or different from that of the second ranging frame. For example, the fifth ranging frame is the ranging frame 4, and the second ranging frame is the ranging frame 1; for another example, the fifth ranging frame and the second ranging frame are both the ranging frame 1.

[0277] S1104: The second node sends third channel state information to the first node. Correspondingly, the first node receives the third channel state information from the second node.

[0278] S1105: The first node determines fourth channel state information corresponding to the second channel according to the fifth ranging frame.

[0279] S1106: The first node determines channel state information of the second channel according to the third channel state information and the fourth channel state information. The channel state information of the second channel is used to measure the distance between the first node and the second node.

[0280] Fig.11 In the embodiment shown, Fig. 9 The same or similar parts of the embodiments shown can be referred to Fig. 9 The description will not be repeated here.

[0281] Furthermore, the first node determines the distance between the first node and the second node based on the channel state information of the first channel and the channel state information of the second channel. That is, the first node determines the final distance between the first node and the second node based on the channel state information of multiple channels. For example, in a vehicle positioning scenario, it can represent the distance between a car key and a certain positioning node. Frequency hopping can expand the measurement bandwidth of frequency hopping ranging, which helps to improve the accuracy and precision of ranging. The distance between the first node and the second node in this application is determined by the ranging interaction of multiple channels, which has high accuracy and precision.

[0282] Optionally, the first node may send the distance between the first node and the second node to the second node, so that the second node learns the distance between the first node and the second node.

[0283] Channel switching can be achieved through the following method 1 and / or method 2.

[0284] In mode 1, the first node and / or the second node may perform channel switching according to the first information. The first information is used to indicate channel switching or frequency hopping. The first information may be preconfigured frequency hopping information, such as a preconfigured timer, and channel switching may be performed when the timer times out.

[0285] Mode 2: The radio frame where the inversion symbol is located indicates the channel switching. Mode 2 can be divided into two types according to the frame structure of the ranging frame, as follows: Mode 2.1 and Mode 2.2.

[0286] Mode 2.1: The first ranging frame and the second ranging frame are the above-mentioned ranging frame 1 or ranging frame 2 or ranging frame 3. The first ranging frame includes at least one first wireless frame, and the second ranging frame includes at least one second wireless frame.

[0287] For the first node, if the last second radio frame of the at least one second radio frame received by the first node contains the last M symbols used to carry the second ranging information, which are inversely proportional to the other symbols used to carry the second ranging information in the last second radio frame, then the last second radio frame may indicate channel switching. When the first node receives the last second radio frame, it may perform channel switching.

[0288] For the second node, if the last N symbols used to carry the first ranging information contained in the last first radio frame of the at least one first radio frame it receives are inverted with other symbols used to carry the first ranging information in the last first radio frame, then the last first radio frame may indicate channel switching. When the second node receives the last first radio frame, it may perform channel switching when the second ranging frame is sent.

[0289] Mode 2.2: The first ranging frame and the second ranging frame are the above-mentioned ranging frame 4, the first ranging frame is composed of at least one first overhead symbol, and the second ranging frame is composed of at least one second overhead symbol.

[0290] For the first node, the last Y second overhead symbols of the at least one second overhead symbol received by the first node are inverted with other second overhead symbols used to carry the second ranging information, then the inverted last Y second overhead symbols may indicate channel switching, or the first radio frame where the inverted last Y second overhead symbols are located may indicate channel switching. When the first node receives the inverted last Y second overhead symbols, it may perform channel switching.

[0291] For the second node, if the last X first overhead symbols of the at least one first overhead symbol received by the second node are inverted with other first overhead symbols used to carry the first ranging information, then the inverted last X first overhead symbols may indicate channel switching, or the first radio frame where the inverted last X first overhead symbols are located may indicate channel switching. When the second node receives the inverted last Y first overhead symbols, it may perform channel switching when the second ranging frame is sent.

[0292] The above-mentioned methods 1 and 2 are used for example and do not constitute a limitation on the present application. It should be noted that, if the timer of method 1 has not timed out and method 2 indicates channel switching, method 2 can be directly used for channel switching, that is, regardless of whether the timer has timed out.

[0293] The number of the fourth ranging frames and / or the number of the fifth ranging frames may be indicated by the second information. For example, the second information is used to indicate the number of the fourth ranging frames transmitted continuously in time and / or the number of the fifth ranging frames transmitted continuously in time. On the frequency hopping channel, the continuous transmission of ranging frames is conducive to improving the accuracy and precision of ranging. The first node may send the second information to the second node so that the second node receives the fourth ranging frame and / or sends the fifth ranging frame. The second information may be carried in the first configuration information or the third configuration information.

[0294] Further, the difference between the number of symbols for carrying the first ranging information contained in the fourth ranging frame and the number of symbols for carrying the first ranging information contained in the first ranging frame is less than the second threshold; and / or, the difference between the number of symbols for carrying the second ranging information contained in the fifth ranging frame and the number of symbols for carrying the second ranging information contained in the second ranging frame is less than the second threshold, so as to maintain the same or similar SNR on different channels. The difference may be an absolute value, and the second threshold may be 1; the difference may also be a relative value, and the second threshold may be ±1. For example, the fourth ranging frame is the above-mentioned ranging frame 1, and the first ranging frame is the above-mentioned ranging frame 4, then the difference between the number of overhead symbols for carrying ranging information 1 contained in ranging frame 4 and the number of symbols for carrying ranging information 1 contained in ranging frame 4 is less than the second threshold.

[0295] Optionally, when hopping from the first channel to the second channel, the first node sends a preamble to the second node before sending the ranging frame 1 or ranging frame 2 to the second node, and the preamble is used for retiming and frequency synchronization between the first node and the second node. Whether the second node sends the preamble to the first node before sending the ranging frame 1 or ranging frame 2 to the first node can be indicated by the preamble sent by the first node to the second node.

[0296] Further, for the multicast communication mode, when hopping from the first channel to the second channel, the first node broadcasts the preamble information before broadcasting the ranging frame 1 or the ranging frame 2, and the preamble information is used for retiming and frequency synchronization of the first node and multiple second nodes. Optionally, the preamble information is also used to indicate that the ranging interaction mode is multicast.

[0297] For example, for the multicast communication mode, taking the above-mentioned ranging frame 1 on the second channel as an example, the ranging interaction between the first node and the three second nodes can refer to Figure 11-1 . Figure 11-1 In the first node, after T RF After that, CCA is performed and the second channel is accessed; after the first node sends the preamble information, it sends the ranging frame 1 (carried by all symbols in the wireless frame #13); the three second nodes send the ranging frame 1 according to the pre-set settings, for example, the ranging frame 1 sent by the second node 1 is carried by all symbols in the wireless frame #14, the ranging frame 1 sent by the second node 2 is carried by all symbols in the wireless frame #15, and the ranging frame 1 sent by the second node 3 is carried by all symbols in the wireless frame #16.

[0298] exist Fig.11 In the illustrated embodiment, the second channel is a frequency hopping channel, which expands the measurement bandwidth of the frequency hopping ranging by frequency hopping, thereby helping to improve the accuracy and precision of the ranging.

[0299] In the above embodiments, the frame format of the wireless frame is not specifically limited. A wireless frame may be a frame format in which OFDM symbol parameters are pre-configured by a G node (the frame length may be less than 640×Ts), and a wireless frame may contain pre-configured Q OFDM symbols, where Q is a positive integer, and the value of Q may be configured according to the desired SNR. The pre-configured OFDM symbol parameters include at least one of the following: with or without CP, extended CP or regular CP, carrying CSI-RS or SRS or FTS or STS, etc. When a wireless frame contains a smaller number of OFDM symbols, the time length of the ranging frame can be reduced while meeting the ranging accuracy, thereby improving the ranging efficiency and saving the power consumption of the ranging node.

[0300] The above describes in detail the method provided in the embodiments of the present application. The following provides a device for implementing any method in the embodiments of the present application. For example, a device is provided including a unit (or means) for implementing each step performed by a node in any of the above methods.

[0301] See also Fig.12 , Fig.12 A schematic diagram of the structure of a communication device provided in an embodiment of the present application.

[0302] like Fig.12 As shown, the communication device 120 may include a communication unit 1201 and a processing unit 1202. The communication unit 1201 and the processing unit 1202 may be software, hardware, or a combination of software and hardware.

[0303] The communication unit 1201 may implement a sending function and / or a receiving function, and the communication unit 1201 may also be described as a transceiver unit, an acquisition unit, or a sending unit. The communication unit 1201 may also be a unit integrating an acquisition unit and a sending unit, wherein the acquisition unit is used to implement a receiving function, and the sending unit is used to implement a sending function. Optionally, the communication unit 1201 may be used to receive information sent by other devices, and may also be used to send information to other devices.

[0304] In a possible design, the communication device 120 may correspond to the first node in the above method embodiment, such as the communication device 120 may be the first node, or a chip in the first node. The communication device 120 may include a unit for executing the operation performed by the first node in the above method embodiment, and each unit in the communication device 120 is respectively for implementing the operation performed by the first node in the above method embodiment. The description of each unit is as follows:

[0305] The communication unit 1201 is configured to send a first ranging frame on a first channel, where the first ranging frame carries first ranging information through at least one first symbol; receive a second ranging frame from a second node on the first channel, where the second ranging frame carries second ranging information through at least one second symbol; and receive first channel state information, where the first channel state information is channel state information from the second node corresponding to the first channel;

[0306] The processing unit 1202 is used to determine second channel state information corresponding to the first channel according to at least one second symbol; determine channel state information of the first channel according to the first channel state information and the second channel state information, and the channel state information of the first channel is used to measure the distance between the sender of the first ranging frame and the second node.

[0307] In a possible implementation manner, the first ranging frame includes at least one first radio frame, and the second ranging frame includes at least one second radio frame.

[0308] Optional method 1: The symbols in the above-mentioned at least one first wireless frame are all used to carry the first ranging information, and the symbols in the above-mentioned at least one second wireless frame are all used to carry the second ranging information. There is a switching interval between the first wireless frame and the second wireless frame, and the switching interval is used to perform the sending and receiving switching.

[0309] Option 2: For any one of the at least one first radio frame: the first radio frame includes a switching interval, each symbol except the switching interval is used to carry the first ranging information, and the switching interval is located after the symbol used to carry the first ranging information in time; for any one of the at least one second radio frame: the second radio frame includes a switching interval, each symbol except the switching interval is used to carry the second ranging information, and the switching interval is located after the symbol used to carry the second ranging information in time. The switching interval is used to perform transceiver switching.

[0310] Optional method 3: For any one of the at least one first radio frame mentioned above: the first radio frame includes a switching interval, a first overhead symbol and a first link symbol, and the first overhead symbol and the first link symbol are used to carry the first ranging information; for any one of the at least one second radio frame mentioned above: the second radio frame includes a switching interval, a second overhead symbol and a second link symbol, and the second overhead symbol and the second link symbol are used to carry the second ranging information. The switching interval is used to perform the sending and receiving switching. The first link symbol and the second link symbol are used to carry information of different transmission directions.

[0311] Optionally, the communication unit 1201 is further used to send a first bitmap, where the first bitmap is used to indicate the first radio frame in a superframe.

[0312] Optionally, for the last first radio frame in the at least one first radio frame, the last N symbols used to carry the first ranging information contained therein are inverted with other symbols used to carry the first ranging information in the last first radio frame, and the last first radio frame indicates channel switching; wherein N is a positive integer;

[0313] And / or, for the last second radio frame in at least one second radio frame, the last M symbols used to carry the second ranging information contained therein are inverted from other symbols used to carry the second ranging information in the last second radio frame, and the last second radio frame indicates channel switching; wherein M is a positive integer.

[0314] In another possible implementation, the first ranging frame consists of at least one first overhead symbol, the at least one first overhead symbol is all or part of the overhead symbols of at least one first radio frame, and the at least one first overhead symbol is used to carry the first ranging information; the second ranging frame consists of at least one second overhead symbol, the at least one second overhead symbol is all or part of the overhead symbols of at least one second radio frame, and the at least one second overhead symbol is used to carry the second ranging information.

[0315] Optionally, the at least one first overhead symbol is a partial overhead symbol of at least one first wireless frame, and at least one third overhead symbol of at least one first wireless frame is a first link system overhead symbol or a second link system overhead symbol; the at least one second overhead symbol is a partial overhead symbol of at least one second wireless frame, and at least one fourth overhead symbol of at least one second wireless frame is a first link system overhead symbol or a second link system overhead symbol.

[0316] Optionally, on the first channel, a difference between the number of symbols used to carry the first ranging information in the first ranging frame and the number of symbols used to carry the second ranging information in the second ranging frame is less than a first threshold.

[0317] Optionally, the communication unit is further used to send a second bitmap, where the second bitmap is used to indicate an overhead symbol used to carry the first ranging information in a superframe.

[0318] Optionally, the last X first overhead symbols of the at least one first overhead symbol are inverted with other first overhead symbols used to carry the first ranging information, and the inverted last X symbols indicate channel switching; wherein X is a positive integer;

[0319] And / or, the last Y second overhead symbols of the at least one second overhead symbol are inverted with other second overhead symbols used to carry the second ranging information, and the inverted last Y second overhead symbols indicate channel switching; wherein Y is a positive integer.

[0320] Optionally, in a superframe, the first first radio frame included in the first ranging frame is numbered greater than K, and overhead symbols from the first radio frame to the radio frame numbered K in the superframe are used to transmit control information, where K is a positive integer greater than 1.

[0321] In a possible implementation, the communication unit 1201 is further used to receive P third ranging frames from P third nodes on the first channel, the third ranging frame carries second ranging information through at least one second symbol, the third ranging frame has the same frame structure as the second ranging frame, and P is a positive integer.

[0322] Further, the order of the P third ranging frames and the second ranging frames in the time domain meets the pre-set conditions.

[0323] In a possible implementation, the communication unit 1201 is further configured to send a fourth ranging frame on the second channel according to the first information for indicating channel switching, the fourth ranging frame carrying the first ranging information through at least one first symbol; the frame structure of the fourth ranging frame is the same as or different from that of the first ranging frame; on the second channel, receive a fifth ranging frame from the second node, the fifth ranging frame carrying the second ranging information through at least one second symbol; the frame structure of the fifth ranging frame is the same as that of the fourth ranging frame; receive third channel state information, the third channel state information is channel state information from the second node corresponding to the second channel;

[0324] The processing unit 1202 is further used to determine fourth channel state information corresponding to the second channel according to the fifth ranging frame; determine the channel state information of the second channel according to the third channel state information and the fourth channel state information, and the channel state information of the second channel is used to measure the distance between the sender of the fourth ranging frame and the second node.

[0325] Furthermore, the processing unit 1202 is further configured to determine the distance between the sender of the first ranging frame and the second node according to the channel state information of the first channel and the channel state information of the second channel.

[0326] Optionally, the communication unit 1201 is further used to receive second information, where the second information is used to indicate the number of fourth ranging frames transmitted continuously in time and / or the number of fifth ranging frames transmitted continuously in time.

[0327] Optionally, the difference between the number of symbols used to carry the first ranging information contained in the fourth ranging frame and the number of symbols used to carry the first ranging information contained in the first ranging frame is less than a second threshold; and / or the difference between the number of symbols used to carry the second ranging information contained in the fifth ranging frame and the number of symbols used to carry the second ranging information contained in the second ranging frame is less than the second threshold.

[0328] In another possible design, the communication device 120 may correspond to the second node in the above method embodiment, such as the communication device 120 may be the second node, or a chip in the second node. The communication device 120 may include a unit for executing the operation performed by the second node in the above method embodiment, and each unit in the communication device 120 is respectively for implementing the operation performed by the second node in the above method embodiment. The description of each unit is as follows:

[0329] The communication unit 1201 is configured to receive a first ranging frame from a first node on a first channel, where the first ranging frame carries first ranging information through at least one first symbol; and send a second ranging frame to the first node on the first channel, where the second ranging frame carries second ranging information through at least one second symbol;

[0330] A processing unit 1202 is configured to determine first channel state information corresponding to a first channel according to at least one first symbol;

[0331] The communication unit 1201 is further configured to send first channel state information to the first node, where the first channel state information is used to measure the distance between the first node and a receiver of the first ranging frame.

[0332] In a possible implementation, the communication unit 1201 is further used to receive a first bitmap, which is used to indicate a first radio frame in a superframe; symbols in the first radio frame are all used to carry first ranging information; or, the first radio frame includes a switching interval, and each symbol except the switching interval is used to carry the first ranging information, and the switching interval is located after the symbol used to carry the first ranging information in time, and the switching interval is used to perform transmit and receive switching.

[0333] In another possible implementation, the communication unit 1201 is further configured to receive a second bitmap, where the second bitmap is used to indicate an overhead symbol used to carry the first ranging information in a superframe.

[0334] Optionally, the communication unit 1201 is further used to receive a fourth ranging frame from the first node on the second channel according to the first information, the fourth ranging frame carrying the first ranging information through at least one first symbol; the frame structure of the fourth ranging frame is the same as or different from that of the first ranging frame; the first information is used to indicate channel switching; on the second channel, send a fifth ranging frame to the first node, the fifth ranging frame carrying the second ranging information through at least one second symbol; the fifth ranging frame has the same frame structure as the fourth ranging frame;

[0335] The processing unit 1202 is further configured to determine third channel state information corresponding to the second channel according to the fifth ranging frame;

[0336] The communication unit 1201 is further configured to send third channel state information to the first node, where the third channel state information is used to measure the distance between the first node and a receiver of the fourth ranging frame.

[0337] Furthermore, the communication unit 1201 is further configured to receive the distance between the first node and a receiver of the first ranging frame from the first node.

[0338] According to the embodiment of the present application, Fig.12 Each unit in the device shown can be separately or all merged into one or several other units to constitute, or some (some) units therein can also be split into multiple smaller units in function to constitute, which can achieve the same operation without affecting the realization of the technical effect of the embodiment of the present application. The above-mentioned units are divided based on logical functions. In practical applications, the function of a unit can also be realized by multiple units, or the function of multiple units is realized by one unit. In other embodiments of the present application, other units can also be included based on nodes. In practical applications, these functions can also be assisted by other units to be realized, and can be realized by the collaboration of multiple units.

[0339] It should be noted that the implementation of each unit can also refer to the above Fig. 9 , Fig.10 , Fig.12 The corresponding description of the method embodiment shown.

[0340] exist Fig.12 In the described communication device 120, by transmitting a ranging frame on the first channel, the transmission of the ranging frame for the first channel between nodes can be realized. The ranging frame carries ranging information through at least one symbol, and the transmission of ranging information can be realized. According to the first channel state information and the second channel state information corresponding to the first channel, the channel state information of the first channel can be determined, thereby realizing ranging interaction for the first channel, which helps to improve the ranging accuracy.

[0341] See also Fig.13 , Fig.13 A schematic diagram of the structure of a communication device provided in an embodiment of the present application.

[0342] It should be understood that Fig.13 The communication device 130 shown is only an example. The communication device of the embodiment of the present application may also include other components, or include Fig.13 components similar in function to the components in the Fig.13 All parts in.

[0343] The communication device 130 includes a communication interface 1301 and at least one processor 1302 .

[0344] The communication device 130 may correspond to the first node or the second node. The communication interface 1301 is used to send and receive information, and at least one processor 1302 executes program instructions so that the communication device 130 implements the corresponding process of the method executed by the corresponding node in the above method embodiment.

[0345] In one possible design, the communication device 130 may correspond to the above Figure 3 The first node in the method embodiment shown in the figure, such as the communication device 130, can be the first node, or a chip in the first node. The communication device 130 can include a component for performing the operation performed by the first node in the above method embodiment, and each component in the communication device 130 is respectively for implementing the operation performed by the first node in the above method embodiment, and specifically can be referred to above Fig. 9 , Fig.10 , Fig.11 The corresponding description of the first node of the method embodiment shown.

[0346] In another possible design, the communication device 130 may correspond to the above Figure 3 The second node in the method embodiment shown in the figure, such as the communication device 130, can be a second node, or a chip in the second node. The communication device 130 can include a component for performing the operation performed by the second node in the above method embodiment, and each component in the communication device 130 is respectively for implementing the operation performed by the second node in the above method embodiment, and specifically can be referred to above Fig. 9 , Fig.10 , Fig.11 The corresponding description of the second node of the method embodiment shown.

[0347] For the case where the communication device may be a chip or a chip system, see Fig.14 Schematic diagram of the chip structure shown.

[0348] like Fig.14 As shown, the chip 140 includes a processor 1401 and an interface 1402. The number of the processors 1401 may be one or more, and the number of the interfaces 1402 may be multiple. It should be noted that the functions corresponding to the processor 1401 and the interface 1402 may be implemented by hardware design, software design, or a combination of hardware and software, which is not limited here.

[0349] Optionally, the chip 140 may further include a memory 1403, and the memory 1403 is used to store necessary program instructions and data.

[0350] In the present application, the processor 1401 may be used to call the implementation program of the communication method provided by one or more embodiments of the present application at the first node or the second node from the memory 1403, and execute the instructions contained in the program. The interface 1402 may be used to output the execution result of the processor 1401. In the present application, the interface 1402 may be specifically used to output various messages or information of the processor 1401.

[0351] For the communication method provided by one or more embodiments of the present application, please refer to the aforementioned Fig. 9 , Fig.10 , Fig.11 The various embodiments shown will not be described in detail here.

[0352] The processor in the embodiment of the present application may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0353] The memory in the embodiment of the present application is used to provide storage space, and the storage space can store data such as operating system and computer program. The memory includes but is not limited to random access memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM), or portable read only memory (compact disc read-only memory, CD-ROM).

[0354] According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed on one or more processors, the above-mentioned Fig. 9 , Fig.10 , Fig.11 The method shown.

[0355] According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a computer program product, the above-mentioned computer program product includes a computer program, when the above-mentioned computer program is run on a processor, it can implement the above-mentioned Fig. 9 , Fig.10 , Fig.11 The method shown.

[0356] An embodiment of the present application provides a terminal device, which includes at least one communication device 120 or communication device 130 or chip 140 as described above.

[0357] The embodiment of the present application also provides a system, which includes a terminal device and at least one communication device 120 or communication device 130 or chip 140 as described above, for executing the above Fig. 9 , Fig.10 , Fig.11 The steps performed by the corresponding nodes in any embodiment.

[0358] An embodiment of the present application also provides a processing device, including a processor and an interface; the processor is used to execute the method in any of the above method embodiments.

[0359] It should be understood that the above-mentioned processing device can be a chip. For example, the processing device can be a field programmable gate array (FPGA), a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, a system on chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processing circuit (DSP), a microcontroller unit (MCU), a programmable logic device (PLD) or other integrated chips. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor are combined to be executed. The software module can be located in a storage medium mature in the art 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.

[0360] It can be understood that the memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can 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 can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0361] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a high-density digital video disc (DVD)), or a semiconductor medium (eg, a solid state disc (SSD)).

[0362] The units in the above-mentioned various device embodiments completely correspond to the electronic devices in the method embodiments, and the corresponding modules or units perform the corresponding steps. For example, the communication unit (transceiver) performs the steps of receiving or sending in the method embodiment, and other steps except sending and receiving can be performed by the processing unit (processor). The functions of the specific units can refer to the corresponding method embodiments. Among them, the processor can be one or more.

[0363] It is understandable that in the embodiments of the present application, the electronic device can perform some or all of the steps in the embodiments of the present application, and these steps or operations are only examples. The embodiments of the present application can also perform other operations or variations of various operations. In addition, the various steps can be performed in different orders presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application need to be performed.

[0364] 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.

[0365] 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.

[0366] 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.

[0367] 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.

[0368] 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.

[0369] 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 can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories ROM, random access memories RAM, magnetic disks or optical disks.

[0370] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the 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.

Claims

1. A distance measurement method, characterized in that: include: Sending a first ranging frame on a first channel, wherein the first ranging frame carries first ranging information through at least one first symbol; receiving, on the first channel, a second ranging frame from a second node, wherein the second ranging frame carries second ranging information through at least one second symbol; receiving first channel state information, where the first channel state information is channel state information from the second node and corresponds to the first channel; determining second channel state information corresponding to the first channel according to the at least one second symbol; Channel state information of the first channel is determined according to the first channel state information and the second channel state information, where the channel state information of the first channel is used to measure the distance between a sender of the first ranging frame and the second node.

2. The method according to claim 1, characterized in that The first ranging frame includes at least one first radio frame, and the second ranging frame includes at least one second radio frame.

3. The method according to claim 2, characterized in that The symbols in the at least one first wireless frame are all used to carry the first ranging information, and the symbols in the at least one second wireless frame are all used to carry the second ranging information. There is a switching interval between the first wireless frame and the second wireless frame, and the switching interval is used to perform transmission and reception switching.

4. The method according to claim 2, characterized in that: For each first radio frame in the at least one first radio frame: the first radio frame includes a switching interval, each symbol except the switching interval is used to carry the first ranging information, and the switching interval is located after the symbol used to carry the first ranging information in time, and the switching interval is used to perform transceiver switching; For each second radio frame of the at least one second radio frame: the second radio frame includes a switching interval, each symbol except the switching interval is used to carry the second ranging information, and the switching interval is temporally located after the symbol used to carry the second ranging information, and the switching interval is used to perform transceiver switching.

5. The method according to claim 2, characterized in that: For each first radio frame in the at least one first radio frame: the first radio frame includes a switching interval, a first overhead symbol and a first link symbol, the first overhead symbol and the first link symbol are used to carry the first ranging information; the switching interval is used to perform transceiver switching; For each second radio frame in the at least one second radio frame: the second radio frame includes a switching interval, a second overhead symbol and a second link symbol, the second overhead symbol and the second link symbol are used to carry the second ranging information; the switching interval is used to perform transceiver switching.

6. The method according to claim 5, characterized in that The number of switching intervals included in the first radio frame and / or the second radio frame is 2; The first wireless frame further includes at least one second link symbol, and / or the second wireless frame further includes at least one first link symbol; the second link symbol and the first link symbol are used to carry information of different transmission directions.

7. The method according to any one of claims 2 to 6, characterized in that: The method further comprises: A first bitmap is sent, where the first bitmap is used to indicate the first radio frame within a superframe.

8. The method according to any one of claims 2 to 6, characterized in that: For a last first radio frame in the at least one first radio frame, the last N symbols used to carry the first ranging information contained therein are inverted with other symbols used to carry the first ranging information in the last first radio frame, and the last first radio frame indicates channel switching; wherein N is a positive integer; And / or, for the last second radio frame in the at least one second radio frame, the last M symbols contained therein for carrying the second ranging information are inverted with other symbols in the last second radio frame for carrying the second ranging information, and the last second radio frame indicates channel switching; wherein M is a positive integer.

9. The method according to claim 1, characterized in that: The first ranging frame is composed of at least one first overhead symbol, where the at least one first overhead symbol is all or part of the overhead symbols of at least one first radio frame, and the at least one first overhead symbol is used to carry the first ranging information; The second ranging frame is composed of at least one second overhead symbol, where the at least one second overhead symbol is all or part of the overhead symbols of at least one second radio frame, and the at least one second overhead symbol is used to carry the second ranging information.

10. The method according to claim 9, characterized in that The at least one first overhead symbol is a partial overhead symbol of the at least one first radio frame, and the at least one third overhead symbol of the at least one first radio frame is a first link system overhead symbol or a second link system overhead symbol; The at least one second overhead symbol is a partial overhead symbol of the at least one second radio frame, and the at least one fourth overhead symbol of the at least one second radio frame is a first link system overhead symbol or a second link system overhead symbol.

11. The method according to claim 9, characterized in that On the first channel, a difference between the number of symbols used to carry first ranging information in the first ranging frame and the number of symbols used to carry second ranging information in the second ranging frame is less than a first threshold.

12. The method according to any one of claims 9 to 11, characterized in that: The method further comprises: A second bitmap is sent, where the second bitmap is used to indicate an overhead symbol used to carry the first ranging information in a superframe.

13. The method according to claim 9 or 10, characterized in that: The last X first overhead symbols of the at least one first overhead symbol are inverted with other first overhead symbols used to carry the first ranging information, and the inverted last X first overhead symbols indicate channel switching; wherein X is a positive integer; And / or, the last Y second overhead symbols of the at least one second overhead symbol are inverted with other second overhead symbols used to carry the second ranging information, and the inverted last Y second overhead symbols indicate channel switching; wherein Y is a positive integer.

14. The method according to claim 9 or 10, characterized in that In a superframe, the first first radio frame included in the first ranging frame is numbered greater than K, and the overhead symbols from the first radio frame to the radio frame numbered K in the superframe are used to transmit control information, where K is a positive integer greater than 1.

15. The method according to any one of claims 1 to 14, characterized in that The method further comprises: On the first channel, P third ranging frames are received from P third nodes, the third ranging frames carrying the second ranging information through the at least one second symbol; the third ranging frames have the same frame structure as the second ranging frames, and P is a positive integer.

16. The method according to claim 15, characterized in that The order of the P third ranging frames and the second ranging frame in the time domain meets the pre-set conditions.

17. The method according to claim 1, characterized in that The method further comprises: sending, on a second channel, a fourth ranging frame according to the first information, wherein the fourth ranging frame carries the first ranging information through the at least one first symbol; the frame structure of the fourth ranging frame is the same as or different from that of the first ranging frame; and the first information is used to indicate channel switching; receiving, on the second channel, a fifth ranging frame from the second node, the fifth ranging frame carrying the second ranging information through the at least one second symbol; the fifth ranging frame having the same frame structure as the fourth ranging frame; receiving third channel state information, where the third channel state information is channel state information from the second node and corresponds to the second channel; Determine fourth channel state information corresponding to the second channel according to the fifth ranging frame; Channel state information of the second channel is determined according to the third channel state information and the fourth channel state information, where the channel state information of the second channel is used to measure the distance between the sender of the fourth ranging frame and the second node.

18. The method according to claim 17, characterized in that The method further comprises: The distance between the sender of the first ranging frame and the second node is determined according to the channel state information of the first channel and the channel state information of the second channel.

19. The method according to claim 17, characterized in that The method further comprises: Second information is sent, where the second information is used to indicate the number of the fourth ranging frames transmitted continuously in time and / or the number of the fifth ranging frames transmitted continuously in time.

20. The method according to claim 18, characterized in that A difference between the number of symbols used to carry the first ranging information contained in the fourth ranging frame and the number of symbols used to carry the first ranging information contained in the first ranging frame is less than a second threshold; and / or a difference between the number of symbols used to carry the second ranging information contained in the fifth ranging frame and the number of symbols used to carry the second ranging information contained in the second ranging frame is less than a second threshold.

21. A communication device, characterized in that: The communication device comprises a communication unit and a processing unit; The communication unit is configured to send a first ranging frame on a first channel, wherein the first ranging frame carries first ranging information through at least one first symbol; and receive a second ranging frame from a second node on the first channel, wherein the second ranging frame carries second ranging information through at least one second symbol; receiving first channel state information, where the first channel state information is channel state information from the second node and corresponds to the first channel; The processing unit is used to determine second channel state information corresponding to the first channel according to the at least one second symbol; determine channel state information of the first channel according to the first channel state information and the second channel state information, wherein the channel state information of the first channel is used to measure the distance between the sender of the first ranging frame and the second node.

22. A communication device, characterized in that: include: processor; When the processor calls the computer program or instruction in the memory, the method according to any one of claims 1 to 20 is executed.

23. A communication device, characterized in that: include: Logic circuits and communication interfaces; The communication interface is used to receive information or send information; The logic circuit is used to receive information or send information through the communication interface, so that the method according to any one of claims 1 to 20 is executed.

24. A terminal device, characterized in that: Comprising the communication device as claimed in claim 21, or the communication device as claimed in claim 21, or the communication device as claimed in claim 23.

25. A computer-readable storage medium, characterized in that: include: The computer-readable storage medium is used to store instructions or computer programs; when the instructions or the computer program are executed, the method according to any one of claims 1 to 20 is implemented.

26. A computer program product, characterized in that include: instructions or computer programs; When the instructions or the computer program are executed, the method according to any one of claims 1 to 20 is implemented.

Images