Wideband-assisted ultra wide band (UWB) sensing

Abstract

An example method of ultra wide band (UWB) sensing performed by a wireless communication device includes determining a first channel impulse response (CIR) estimate for a first frequency channel based on a radio access technology (RAT) session, where the RAT is different from the UWB. The method further includes determining a second CIR estimate for a second frequency channel based on the UWB session; and determining a third CIR estimate for the first frequency channel based on determining a phase difference between the third CIR estimate and the first CIR estimate. The method further includes determining a total CIR estimate for a combined frequency channel including the first frequency channel and the second frequency channel based on splicing the first CIR estimate, the second CIR estimate, and the third CIR estimate.

Description

[0001] Related Applications

[0002] This application claims the benefit of U.S. Application No. 17 / 931,470, filed on September 12, 2022, and entitled “WIDEBAND-ASSISTED ULTRA-WIDEBAND(UWB) SENSING,” which is assigned to the assignee of this application and is incorporated herein by reference in its entirety. Background Art 1. Technical Field

[0004] The present disclosure generally relates to the field of radio frequency (RF) based sensing (position determination / location) of electronic wireless devices. More specifically, the present disclosure relates to ultra-wideband (UWB) based sensing.

[0005] 2. Related technologies

[0006] Sensing of devices can have a wide range of consumer, industrial, commercial, military and other applications.UWB-based positioning provides a highly accurate, low-power positioning solution relative to other RF-based sensing technologies for wireless electronic devices. Summary of the invention

[0007] An example method of ultra-wideband (UWB) sensing performed by a wireless communication device, the method comprising determining a first channel impulse response (CIR) estimate for a first frequency channel based on a radio access technology (RAT) session, wherein the RAT is different from UWB. The method further comprises: determining a second CIR estimate for a second frequency channel based on the UWB session; and determining a third CIR estimate for the first frequency channel based on determining a phase difference between the third CIR estimate and the first CIR estimate. The method further comprises determining an overall CIR estimate for a combined frequency channel including the first frequency channel and the second frequency channel based on concatenating the first CIR estimate, the second CIR estimate, and the third CIR estimate.

[0008] An example transmitting device in a wireless communication network, the example transmitting device comprising: a wireless communication interface; a memory; and one or more processing units, the one or more processing units being communicatively coupled to the wireless communication interface and the memory. The one or more processing units are configured to determine a first channel impulse response (CIR) estimate of a first frequency channel based on a radio access technology (RAT) session, wherein the RAT is different from UWB. The one or more processing units are also configured to: determine a second CIR estimate of a second frequency channel based on the UWB session; and determine a third CIR estimate of the first frequency channel based on determining a phase difference between the third CIR estimate and the first CIR estimate. The one or more processing units are also configured to determine a total CIR estimate of a combined frequency channel including the first frequency channel and the second frequency channel based on concatenating the first CIR estimate, the second CIR estimate, and the third CIR estimate.

[0009] An example non-transitory computer-readable medium having stored thereon instructions for providing driving assistance information, wherein the instructions, when executed by one or more processors of a mobile device, cause the one or more processors to determine a first channel impulse response (CIR) estimate for a first frequency channel based on a radio access technology (RAT) session, wherein the RAT is different from UWB. When executed by the one or more processors of the mobile device, the instructions further cause the one or more processors to: determine a second CIR estimate for a second frequency channel based on the UWB session; and determine a third CIR estimate for the first frequency channel based on determining a phase difference between the third CIR estimate and the first CIR estimate. When executed by the one or more processors of the mobile device, the instructions further cause the one or more processors to determine a total CIR estimate for a combined frequency channel including the first frequency channel and the second frequency channel based on concatenating the first CIR estimate, the second CIR estimate, and the third CIR estimate.

[0010] This summary is neither intended to identify key features or essential features of the claimed subject matter nor is it intended to be used alone to determine the scope of the claimed subject matter. The subject matter should be understood by reference to appropriate portions of the entire specification of the disclosure, any or all of the drawings, and each claim. The foregoing and other features and examples will be described in more detail in the following description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a simplified illustration of a positioning system according to an embodiment.

[0012] Figure 2A is a diagram illustrating a scenario in which ultra-wideband (UWB) technology may be used to locate a target device.

[0013] Figure 2B is a simplified diagram illustrating how UWB positioning of a target device may be performed based on time difference of arrival (TDoA) according to some embodiments.

[0014] Figure 3A and Figure 3B is a flow chart illustrating the roles that different devices may play with respect to a UWB ranging session.

[0015] Figure 4 is a diagram illustrating an example technique for determining CIR.

[0016] Figure 5 is a block diagram illustrating an RF device with multiple RAT modules performing UWB sensing using CIR estimation stitching according to an embodiment.

[0017] Fig. 6A and Figure 6B is a block diagram illustrating an example UWB sensing stage utilizing CIR estimation stitching according to some embodiments.

[0018] Figure 7 is a flow chart of a UWB sensing method using CIR estimation stitching according to an embodiment.

[0019] Figure 8 is a block diagram of an implementation of a mobile UWB device according to an implementation.

[0020] Fig. 9 is a block diagram of an implementation of a stationary UWB device in accordance with an implementation.

[0021] Similar reference symbols in the various drawings indicate similar elements according to certain example implementations. In addition, multiple instances of the element can be indicated by adding a letter or hyphen and a second digit after the first digit of the element. For example, multiple instances of element 110 can be indicated as 110-1, 110-2, 110-3, etc. or 110a, 110b, 110c, etc. When only the first digit is used to refer to such an element, any instance of the element should be understood (for example, the element 110 in the previous example will refer to elements 110-1, 110-2 and 110-3 or to elements 110a, 110b and 110c). DETAILED DESCRIPTION

[0022] The following description is directed to certain specific implementations for the purpose of describing the innovative aspects of each embodiment. However, one of ordinary skill in the art will readily recognize that the teachings herein can be applied in a variety of different ways. The described specific implementations can be implemented in any device, system, or network capable of sending and receiving radio frequency (RF) signals according to any communication standard, such as any of the following: the Institute of Electrical and Electronics Engineers (IEEE) 802.15.4 standard for ultra-wideband (UWB), the IEEE 802.11 standard (including those identified as Wi-Fi 802.11, Wi-Fi 802.15.4 ... ® technology standards), Bluetooth ® Standard, Code Division Multiple Access (CDMA), Frequency Division Multiple Access (FDMA), Time Division Multiple Access (TDMA), Global System for Mobile Communications (GSM), GSM / General Packet Radio Service (GPRS), Enhanced Data GSM Environment (EDGE), Terrestrial Trunked Radio (TETRA), Wideband CDMA (W-CDMA), Evolution-Data Optimized (EV-DO), 1xEV-DO, EV-DO Revision A, EV-DO Revision B, High Rate Packet Data (HRPD), High Speed ​​Packet Access (HSPA), High Speed ​​Downlink Packet Access (HSDPA), High Speed ​​Uplink Packet Access (HSUPA), Evolved High Speed ​​Packet Access (HSPA+), Long Term Evolution (LTE), Advanced Mobile Phone System (AMPS), or other known signals used to communicate within a wireless, cellular or Internet of Things (IoT) network, such as a system utilizing 3G, 4G, 5G, 6G or further implementations thereof.

[0023] As used herein, "RF signals" include electromagnetic waves that transmit information through the space between a transmitter (or transmitting device) and a receiver (or receiving device). As used herein, a transmitter may transmit a single "RF signal" or multiple "RF signals" to a receiver. However, due to the propagation characteristics of each RF signal through multiple channels or paths, a receiver may receive multiple "RF signals" corresponding to each transmitted RF signal.

[0024] Additionally, unless otherwise specified, references to "reference signals," "positioning reference signals," "reference signals for positioning," and the like may be used to refer to signals used for positioning user equipment (UE) in 5G New Radio (NR) networks. As described in more detail herein, such signals may include any of a variety of signal types, but may not necessarily be limited to positioning reference signals (PRS) as defined in relevant wireless standards.

[0025] Furthermore, unless otherwise specified, "positioning" is a non-limiting example implementation of "sensing" and the term "positioning" as used herein (including, for example, UWB-based positioning, cellular-based positioning, and hybrid cellular / UWB positioning) may include absolute position determination, relative position determination, ranging, or a combination thereof. For the purpose of location or sensing services, such positioning may include and / or be based on timing, angle, phase, or power measurements, or a combination thereof (which may include RF sensing measurements).

[0026] As previously mentioned, UWB-based positioning provides a highly accurate, low-power positioning solution relative to other RF-based positioning technologies for wireless electronic devices. UWB-based positioning can be used in industrial applications, such as by robots and / or other Internet of Things (IoT) devices in a factory environment, indoor positioning of consumer electronics, etc. Although UWB-based positioning can be used in an ad hoc manner as a stand-alone positioning technology between electronic devices capable of UWB positioning (also referred to herein as "UWB devices"), in some embodiments, UWB-based positioning can be used as one of many technologies for locating electronic devices in a positioning system. Figure 1 An example of such a positioning system is provided.

[0027] As will be disclosed in detail below, high-resolution channel impulse response (CIR) is one of the key technologies in UWB sensing for various purposes (such as health monitoring, gesture recognition, positioning, radar, etc.). The resolution of the CIR in the time domain is limited by the inverse of the bandwidth of the frequency channel available for the CIR. Insufficient resolution prevents the separation of line-of-sight (LOS) paths from closely arriving multipath components, resulting in biased ranging estimates and degraded positioning performance. Therefore, it would be advantageous to splice multiple CIRs estimated on different UWB frequency channels (e.g., UWB channels 5, 6, 8, and 9) to increase the bandwidth of the frequency channel available for the CIR.

[0028] However, some available UWB frequency channels (e.g., UWB channels 5 and 6) overlap with the bandwidth of other types of RF wireless communication components (also referred to as "radio access technologies (RATs)") such as new radio (NR), Wi-Fi, etc. Due to the overlap, the quality of performing UWB CIR on these overlapping frequency channels may be negatively affected, and data transmission of these RF wireless communications may also be interfered. In addition, on devices that share an antenna to receive RF signals (e.g., UWB signals, Wi-Fi signals, and / or NR-U signals) by different RF wireless communication modules (e.g., UWB modules, Wi-Fi modules, and / or NR modules), the reception of UWB signals often has a lower priority than the reception of other types of RF signals. This may further adversely affect the quality of UWB CIR estimation on overlapping frequency channels.

[0029] In order to solve the above-mentioned interference problem, as will be disclosed in detail below, for a device in which an antenna for communicating RF signals is shared by a UWB module and other RAT modules, the technical solution disclosed herein can utilize other RAT modules (e.g., Wi-Fi module and / or NR-U module) to help obtain UWB frequency channel estimation on overlapping frequency channels, while enabling the UWB module to perform frequency channel estimation on non-overlapping frequency channels (e.g., UWB channels 8 and 9). This can allow the UWB module to remain idle on the overlapping channels most of the time (e.g., only transmit for a short period of time, which is sufficient to determine calibration (e.g., phase offset) to compensate for the frequency channel estimation performed by other RF wireless communication modules), and still obtain UWB frequency channel estimation on the overlapping channels.

[0030] Then, the CIR estimates performed by the other RAT modules may be compensated based on the calibration (e.g., based on performing phase compensation on the CIR estimates) and concatenated with the UWB CIR estimates performed on the non-overlapping channels to generate an overall CIR estimate for the combined channels (e.g., UWB channels 5, 6, 8, and 9). Thus, the bandwidth of the frequency channels available for the UWB CIR may be greatly increased while avoiding contention between the UWB modules and the other RAT modules on the overlapping frequency channels.

[0031] Therefore, on the overlapping frequency channels, the interference to UWB sensing caused by other RF wireless communications and the interference to data transmission of other RF wireless communications caused by UWB sensing can be greatly reduced at the same time.Both UWB modules and other RAT modules can benefit from the technical solutions disclosed herein.

[0032] Figure 1is a simplified illustration of a positioning system 100 according to an embodiment, in which a mobile device 105, a location server 160, and / or other components of the positioning system 100 can use the techniques for UWB wireless sensing provided herein. The positioning system 100 can be an example communication / positioning system capable of UWB sensing, and other embodiments can involve different types of systems incorporating UWB sensing. The techniques described herein can be implemented by one or more components of the positioning system 100. The positioning system 100 may include: a mobile device 105; one or more satellites 110 (also referred to as spacecraft (SV)) for a global navigation satellite system (GNSS) (such as a global positioning system (GPS), GLONASS, Galileo, or BeiDou); a base station 120; an access point (AP) 130; a location server 160; a network 170; and an external client 180. In general, the positioning system 100 can estimate the location of the mobile device 105 based on RF signals received by and / or transmitted from the mobile device 105 and the known locations of other components that send and / or receive RF signals (e.g., GNSS satellites 110, base stations 120, APs 130). Additional details regarding specific location estimation techniques are discussed below.

[0033] It should be pointed out that Figure 1 Only a generalized illustration of the various components is provided, any or all of which may be utilized as appropriate, and each component may be repeated as needed. Specifically, although only one mobile device 105 is illustrated, it should be understood that many mobile devices (e.g., hundreds, thousands, millions, etc.) may utilize the positioning system 100. Similarly, the positioning system 100 may include more than one mobile device 105. Figure 1 A greater or lesser number of base stations 120 and / or APs 130 are illustrated. The illustrated connections connecting the various components in the positioning system 100 include data and signaling connections, which may include additional (intermediate) components, direct or indirect physical and / or wireless connections, and / or additional networks. In addition, the components may be rearranged, combined, separated, replaced, and / or omitted depending on the desired functionality. In some embodiments, for example, the external client 180 may be directly connected to the location server 160. Those of ordinary skill in the art will recognize many modifications to the illustrated components.

[0034] Depending on the desired functionality, network 170 may include any one of a variety of wireless and / or wired networks. Network 170 may, for example, include any combination of public and / or private networks, local area networks and / or wide area networks, etc. In addition, network 170 may utilize one or more wired and / or wireless communication technologies. In some embodiments, network 170 may include, for example, cellular or other mobile networks, wireless local area networks (WLANs), wireless wide area networks (WWANs), and / or the Internet. Examples of network 170 include LTE wireless networks, fifth generation (5G) wireless networks (also referred to as NR wireless networks or 5G NR wireless networks), Wi-Fi WLANs, and the Internet. LTE, 5G, and NR are wireless technologies defined or being defined by the Third Generation Partnership Project (3GPP). Network 170 may also include more than one network and / or more than one type of network. In a wireless cellular network (e.g., LTE or 5G), mobile device 105 may be referred to as user equipment (UE).

[0035] The base station 120 and the access point (AP) 130 may be communicatively coupled to the network 170. In some embodiments, the base station 120 may be owned, maintained and / or operated by a cellular network provider and may employ any of a variety of wireless technologies, as described below. Depending on the technology of the network 170, the base station 120 may include a Node B, an evolved Node B (eNodeB or eNB), a base transceiver station (BTS), a radio base station (RBS), an NR NodeB (gNB), a next generation eNB (ng-eNB), etc. In the case where the network 170 is a 5G network, the base station 120 as a gNB or ng-eNB may be part of a next generation radio access network (NG-RAN) that may be connected to a 5G core network (5GC). In view of the open radio access network (O-RAN) and / or virtualized radio access network (V-RAN or vRAN) in 5G or higher networks, the functionality performed by the base station 120 in the earlier networks (e.g., 3G and 4G) may be divided into different functional components (e.g., radio unit (RU), distributed unit (DU), and central unit (CU)) and layers (e.g., L1 / L2 / L3), which may be executed on different devices at different locations connected, for example, via fronthaul connections, midhaul connections, and backhaul connections. As referred to herein, a "base station" (or ng-eNB, gNB, etc.) may include any or all of these functional components. For example, AP 130 may include a Wi-Fi AP or a Bluetooth AP. ®AP or an AP with cellular capabilities (e.g., 4G LTE and / or 5G NR). Thus, the mobile device 105 can transmit and receive information with network connectivity devices (such as location server 160) by accessing the network 170 via the base station 120 using the first communication link 133. Additionally or alternatively, because the AP 130 can also be communicatively coupled with the network 170, the mobile device 105 can communicate with network connectivity and Internet connectivity devices (including the location server 160) using the second communication link 135 or via one or more other mobile devices 145.

[0036] As used herein, the term "base station" may generally refer to a single physical transmission point or multiple co-located physical transmission points that may be located at a base station 120. A transmit receive point (TRP) (also referred to as a transmit / receive point) corresponds to this type of transmission point, and the term "TRP" may be used interchangeably with the terms "gNB," "ng-eNB," and "base station" herein. In some cases, a base station 120 may include multiple TRPs—for example, where each TRP is associated with a different antenna or a different antenna array of the base station 120. As used herein, the transmit functionality of a TRP may be performed using a transmit point (TP), and / or the receive functionality of a TRP may be performed by a receive point (RP), which may be physically separate or distinct from the TP. That is, a TRP may include both a TP and an RP. A physical transmission point may include an antenna array of a base station 120 (for example, as in a multiple-input multiple-output (MIMO) system and / or where the base station employs beamforming). The term "base station" may additionally refer to multiple non-co-located physical transmission points, which may be a distributed antenna system (DAS) (a network of spatially separated antennas connected to a common source via a transmission medium) or a remote radio head (RRH) (a remote base station connected to a serving base station).

[0037] As used herein, the term "cell" may generally refer to a logical communication entity for communicating with a base station 120, and may be associated with an identifier (e.g., a physical cell identifier (PCID), a virtual cell identifier (VCID)) for distinguishing adjacent cells operating via the same or different carriers. In some examples, a carrier may support multiple cells, and different cells may be configured according to different protocol types that may provide access for different types of devices (e.g., machine type communication (MTC), narrowband Internet of Things (NB-IoT), enhanced mobile broadband (eMBB), or other protocols). In some cases, the term "cell" may refer to a portion of a geographic coverage area (e.g., a sector) on which the logical entity operates.

[0038] Satellites 110 may be used to locate mobile device 105 in one or more ways. For example, satellites 110 (also referred to as space vehicles (SVs)) may be part of a GNSS such as GPS, GLONASS, Galileo, or BeiDou. Positioning using RF signals from GNSS satellites may include measuring multiple GNSS signals at a GNSS receiver of mobile device 105 to perform code-based and / or carrier-based positioning, which may be highly accurate. Additionally or alternatively, satellites 110 may be used for non-terrestrial network (NTN) based positioning, where satellites 110 may be functionally operable as a TRP (or multiple TPs) of a network (e.g., LTE and / or NR network) and may be communicatively coupled with network 170. Specifically, reference signals (e.g., PRS) transmitted by satellites 110 for NTN based positioning may be similar to those transmitted by base station 120 and may be coordinated by location server 160. In some embodiments, satellites 110 used for NTN based positioning may be different from those used for GNSS based positioning.

[0039] The location server 160 may include a server and / or other computing device configured to determine an estimated location of the mobile device 105 and / or provide data (e.g., “assistance data”) to the mobile device 105 to facilitate location measurement and / or location determination by the mobile device 105. According to some embodiments, the location server 160 may include a Home Secure User Plane Location (SUPL) Location Platform (H-SLP), which may support a SUPL User Plane (UP) positioning solution defined by the Open Mobile Alliance (OMA), and may support location services for the mobile device 105 based on subscription information for the mobile device 105 stored in the location server 160. In some embodiments, the location server 160 may include a Discovery SLP (D-SLP) or an Emergency SLP (E-SLP). The location server 160 may also include an Enhanced Serving Mobile Location Center (E-SMLC) that supports positioning of the mobile device 105 using a Control Plane (CP) positioning solution for LTE radio access of the mobile device 105. The location server 160 may also include a location management function (LMF) that supports positioning of the mobile device 105 using a control plane (CP) positioning solution for NR or LTE radio access of the mobile device 105 .

[0040] In the CP positioning solution, from the perspective of the network 170, signaling for controlling and managing the positioning of the mobile device 105 may use existing network interfaces and protocols and be exchanged as signaling between the elements of the network 170 and with the mobile device 105. In the UP positioning solution, from the perspective of the network 170, signaling for controlling and managing the positioning of the mobile device 105 may be exchanged between the location server 160 and the mobile device 105 as data (e.g., data transmitted using the Internet Protocol (IP) and / or the Transmission Control Protocol (TCP)).

[0041] As previously described (and discussed in more detail below), the estimated position of the mobile device 105 can be based on measurements of RF signals transmitted from and / or received by the mobile device 105. Specifically, these measurements can provide information about the relative distances and / or angles of the mobile device 105 and one or more components in the positioning system 100 (e.g., GNSS satellites 110, APs 130, base stations 120). The estimated position of the mobile device 105 can be estimated geometrically (e.g., using multi-angle measurements and / or multilateration) based on the distance and / or angle measurements along with the known positions of the one or more components.

[0042] Although ground components (such as AP 130 and base station 120) can be fixed, embodiments are not limited in this regard. Mobile components can be used. For example, in some embodiments, the location of mobile device 105 can be estimated based at least in part on measurements of RF signals 140 communicated between mobile device 105 and one or more other mobile devices 145 (the one or more other mobile devices can be mobile or fixed). As illustrated, the other mobile devices can include, for example, mobile phone 145-1, vehicle 145-2, static communication / positioning device 145-3, or other static and / or mobile devices capable of providing wireless signals for locating mobile device 105, or combinations thereof. The wireless signals from mobile device 145 for locating mobile device 105 can include using, for example, Bluetooth. ® (including Bluetooth Low Energy (BLE)), IEEE 802.11x (e.g., Wi-Fi ® ), UWB, IEEE 802.15x, or a combination thereof. The mobile device 145 may additionally or alternatively use non-RF wireless signals for positioning of the mobile device 105, such as infrared signals or other optical technologies.

[0043] Mobile devices 145 may include other mobile devices that are communicatively coupled to a cellular or other mobile network (e.g., network 170). When one or more other mobile devices 145 are used in a positioning determination for a particular mobile device 105, the mobile device 105 whose positioning is to be determined may be referred to as a "target mobile device" and each of the other mobile devices 145 used may be referred to as an "anchor mobile device". (In cellular / mobile broadband networks, the terms "anchor UE" and "target UE" may be used.) In order to make a positioning determination for a target mobile device, the corresponding positioning of the one or more anchor mobile devices may be known and / or determined jointly with the target mobile device. Direct communication between one or more other mobile devices 145 and mobile device 105 may include sidelink and / or similar device-to-device (D2D) communication technologies. Sidelink, as defined by 3GPP, is a form of D2D communication under cellular-based LTE and NR standards. UWB may be one such technology by which measurements from one or more anchor devices (e.g., mobile devices 145) may be used to facilitate positioning of a target device (e.g., mobile device 105).

[0044] According to some embodiments, such as when the mobile device 105 includes and / or is incorporated into a vehicle, a form of D2D communication used by the mobile device 105 may include vehicle-to-everything (V2X) communication. V2X is a communication standard for vehicles to exchange information about the traffic environment with related entities. V2X may include vehicle-to-vehicle (V2V) communication between vehicles with V2X capabilities, vehicle-to-infrastructure (V2I) communication between vehicles and infrastructure-based equipment (commonly referred to as roadside units (RSUs)), vehicle-to-person (V2P) communication between vehicles and nearby people (pedestrians, cyclists, and other road users), etc. In addition, V2X may use any of a variety of wireless RF communication technologies. For example, cellular V2X (CV2X) is a form of V2X that uses cellular-based communications in a direct communication mode defined by 3GPP, such as LTE (4G), NR (5G), and / or other cellular technologies. Figure 1The mobile device 105 illustrated in the figure may correspond to a component or device on a vehicle, an RSU, or other V2X entity used to communicate V2X messages. In an embodiment in which V2X is used, the static communication / positioning device 145-3 (which may correspond to an RSU) and / or the vehicle 145-2 may therefore communicate with the mobile device 105 and may be used to determine the location of the mobile device 105 using techniques similar to those used by the base station 120 and / or the AP 130 (e.g., using multi-angle measurements and / or multi-point positioning). It may be further noted that according to some embodiments, the mobile device 145 (which may include a V2X device), the base station 120, and / or the AP 130 may be used together (e.g., in a WWAN positioning solution) to determine the location of the mobile device 105.

[0045] The estimated location of mobile device 105 may be used in a variety of applications, such as to assist a user of mobile device 105 with direction finding or navigation or to assist another user (e.g., associated with external client 180) in locating mobile device 105. "Location" is also referred to herein as "location estimate," "estimated location," "position," "position estimate," "position fix," "estimated position," "position fix," or "fix." The process of determining a location may be referred to as "positioning," "position determination," "location determination," or the like. The location of mobile device 105 may include an absolute location of mobile device 105 (e.g., latitude and longitude, and possibly altitude) or a relative location of mobile device 105 (e.g., a location expressed as a distance north or south, east or west, and possibly above or below some other known fixed location (including, for example, the location of base station 120 or AP 130) or some other location such as the location of mobile device 105 at some known previous time, or the location of mobile device 145 (e.g., another mobile device) at some known previous time). The location may be specified as a geodetic location including coordinates that may be absolute (e.g., latitude, longitude, and optionally altitude), relative (e.g., relative to some known absolute location), or local (e.g., X, Y, and optionally Z coordinates according to a coordinate system defined relative to a local area, such as a factory, warehouse, college campus, shopping mall, stadium, or convention center). The location may alternatively be a city location, and may then include one or more of a street address (e.g., including a country, state, county, city, road and / or street name or label, and / or road or street number) and / or a label or name of a place, a building, a portion of a building, a floor of a building, and / or a room within a building, etc. The location may also include an uncertainty or error indication, such as a horizontal distance and possibly a vertical distance over which the location is expected to have error, or an indication of an area or volume (e.g., a circle or ellipse) within which the mobile device 105 is expected to be located with a certain confidence level (e.g., 95% confidence).

[0046] The external client 180 may be a web server or remote application that may have some association with the mobile device 105 (e.g., may be accessed by a user of the mobile device 105), or may be a server, application, or computer system that provides location services to some other user or users, which may include obtaining and providing the location of the mobile device 105 (e.g., to enable services such as friend or relative locating or child or pet location). Additionally or alternatively, the external client 180 may obtain the location of the mobile device 105 and provide it to emergency service providers, government agencies, etc.

[0047] As will be disclosed herein, "positioning" and / or "ranging" will be described as non-limiting examples of "sensing" that can also be performed with reference to UWB technology. That is, RF sensing can be performed in conjunction with ranging / positioning / communication and / or can be performed independently of ranging / positioning / communication. For example, Figure 2A is a diagram illustrating a scenario in which UWB technology can be used to locate a target device 205 (eg, a tracker). Here, the target device 205 can be located with Figure 1 The mobile device 105 corresponds to the mobile device 105. Figure 2A As shown, the target device 205 may include a wireless communication device within the coverage of the cluster 210. The cluster 210 may include one or more UWB devices (e.g., UWB anchor point 222) with a known location, which may exchange UWB RF signals (e.g., downlink time difference of arrival (TDoA) signals) with the target device 205 for locating the target device 205. For example, Figure 2A As shown, the UWB anchor point 222 may include an initiator 222-1 (e.g., an initiating anchor point) and responders 222-2, 222-3, and 222-4 (e.g., responding anchor points). The role of each device in the devices (e.g., the initiator 222-1 and the responders 222-2, 222-3, and 222-4) will be disclosed in detail below. In some embodiments, the UWB anchor point 222 may be a downlink UWB anchor point.

[0048] When performing location / position determination of the target device 205, the target device 205 may transmit and / or receive UWB RF signals from the UWB anchor points 222. The UWB anchor points 222 may use different measurements of the UWB RF signals (e.g., time difference of arrival (TDoA), two-way ranging (TWR), reverse TDoA, and / or phase difference of arrival (PDOA)) to calculate the distance between devices. For example, in a time difference of arrival (TDoA) scheme, the target device 205 may transmit a UWB RF signal (e.g., a "beacon" or "blink" signal) to each of the anchor points 222, where each of the UWB anchor points 222 timestamps the arrival / reception of the UWB RF signal based on a common synchronized time base. The timestamps from each of the UWB anchor points 222 may be used to calculate the TDoA of each responder (e.g., responders 222-2, 222-3, and 222-4). For example, the TDoA, TDoA1 (eg, the time difference between the initiator 222-1 and the responder 222-2) of the responder 222-2 may be calculated as:

[0049] TDoA1=(d1-d0) / c=T1-T0

[0050] Where d0 and d1 represent the distance between the target device 205 and the initiator 222-1 and the responder 222-2, respectively, c represents the speed of light, and T0 and T1 represent the timestamps when the initiator 222-1 and the responder 222-2 receive the UWB RF signal, respectively. The location of the target device 205 can be determined based on TDOA (e.g., TDoA1, TDoA2, and TDoA3).

[0051] For example, Figure 2B is a simplified diagram illustrating how positioning of a target device 205 may be performed based on TDoA according to some embodiments. Here, the time difference between the arrival of a UWB RF signal at two anchor points (e.g., Figure 2A TDoA1, TDoA2, TDoA3) in can be used to calculate Figure 2B Using multilateration, the location of target device 205 can be determined as the location where all of the hyperbolas intersect (eg, circle 230 ). The result can be a 2D or 3D location of target device 205 .

[0052] Figure 3Ais a flow chart illustrating the roles that different devices may play with respect to a UWB ranging session (or simply, "UWB session"). Herein, each UWB device may be referred to as an enhanced ranging device (ERDEV). ERDEV may refer to different terms at different layers of the network stack (e.g., initiator / responder or controller / controlled party). The terms initiator / responder (as described above and below) will be used at lower layers (e.g., at the UWB physical (PHY) layer and the medium access control (MAC) layer), while the terms controller and controlled party (also described below) may be used at higher layers (e.g., the application layer of the ERDEV). Herein, any ERDEV may be used with Figure 2A The target device 205 or the UWB anchor point 222 or Figure 1 Corresponding to the mobile device 105.

[0053] As indicated, for a pair of ERDEVs communicating with each other, controller 310 is the ERDEV that transmits a control information message 325 to a receiving ERDEV designated as a controlled party 320. Control information message 325 may include parameters for the ranging phase of a UWB ranging session, such as timing, channel, etc. Although not illustrated, controlled party 320 may transmit an acknowledgment to control information message 325, may negotiate changes to parameters, etc.

[0054] The exchanges between the controller 310 and the controlled party 320 (including the transmission of the control information message 325 and the subsequent related exchanges between the controller 310 and the controlled party 320 regarding the control information) may be conducted out-of-band (OOB) using different wireless communication technologies (e.g., Bluetooth or Wi-Fi) before the ranging phase. In other words, a UWB session may be associated with a control phase and a ranging phase, wherein the control phase (which may occur over the OOB link) includes a preliminary exchange between the controller 310 and the controlled party 320 of parameter values ​​for the ranging phase, and the subsequent ranging phase includes a portion of the UWB session in which the devices exchange messages within the UWB band for ranging measurements. (However, it may be noted that some control information may be exchanged within the UWB band (e.g., a "ranging control phase" occurring in the first time slot of a UWB round. Therefore, after the preliminary OOB exchange between the controller 310 and the controlled party 320, some aspects of the control phase may be considered to occur within the band.)

[0055] Depending on the parameters provided in the control information, a UWB session may then occur. During the ranging phase of a UWB session, one ERDEV may take the role of an initiator 330 and another ERDEV may take the role of a responder 340. Figure 3AAs indicated in the control information message 325, the initiator 330 may initiate UWB ranging by transmitting a ranging initiation message 345 to the responder 340, to which the responder 340 may reply with a ranging response message 350, and to which timing measurements may be made (by the devices receiving these messages) to perform time difference of arrival (TDoA). Depending on the parameters of the control information message 325, additional exchanges may be made between the initiator 330 and the responder 340 during the ranging phase to allow for additional ranging measurements.

[0056] The roles of the initiator 330 and the responder 340 may be indicated in the control information message 325. Figure 3A As indicated, the controller 310 in the control phase may be the initiator 330 in the ranging phase of the UWB session. Figure 3B As indicated, the controller 310 in the control phase may be the responder 340 in the ranging phase. The determination of which device is the initiator 330 and which device is the responder 340 may depend on the parameters set forth in the control information 325, in which case the controlled party 320 correspondingly becomes the responder 340 or the initiator 330. According to some embodiments, the controller / initiator may perform ranging with multiple controlled parties / responders.

[0057] Figure 4 is a diagram 400 illustrating an example technique for determining CIR. In some embodiments, Figure 3A and Figure 3B 2 . In some embodiments, the CIR may be performed for channel estimation purposes (e.g., based on calculating a correlation between a received signal and a transmitted signal). In some embodiments, in order to be able to determine the mutual range or location of devices, a technique used by a wireless system such as UWB is to determine a channel impulse response (CIR) 406. The CIR 406 may represent a profile of direct and indirect (reflected) wireless propagation paths between two devices such as a UWB device 402 (e.g., UWB anchor 222 in FIG. 2 ) and a UWB device 404 (e.g., target device 205 in FIG. 2 ), each path being characterized by its propagation delay, amplitude, and radio frequency (RF) phase. Due to the large bandwidth of UWB, the CIR may be calculated in UWB with a high level of resolution, which in turn enables more accurate extraction of line-of-sight (LOS) paths and therefore the TOF / range corresponding to the first path in the CIR.

[0058] For example, Figure 4 As shown in the diagram 400, at time t Al, pulse 408 is sent from UWB device 402. In some embodiments, pulse 408 can be considered to represent a long series of pulses relative to IR-UWB. In this example of diagram 400, pulse 408 propagates to UWB device 404 via a series of propagation paths (e.g., paths 410a, 410b, 410c, and 410d). Path 410a is a direct LOS path, while paths 410b, 410c, and 410d are reflections from different objects in the environment (e.g., objects 412a, 412b, and 412c). After a large amount of delay "ToF" (time of flight) 414, which represents the distance divided by the speed of light, the signal that experienced the direct (LOS) path 410a is reflected at time t B1 Arrives at UWB device 404 as pulse 414a. Pulses corresponding to reflected paths 410b, 410c, and 410d arrive later than direct paths because pulses 414b, 414c, and 414d and their arrival times will depend on the distance traveled from UWB device 402 to UWB device 404 via one or more reflectors experienced by each path. Note that pulses 414a, 414b, 414c, and 414d are non-limiting examples of channel impulse response (CIR) 406. In some embodiments, CIR 406 may enable a device to determine, for example, distance d based on ToF. AB The ToF itself is derived from the first arriving pulse 414a.

[0059] In some embodiments, in order to estimate CIR 406 (e.g., sometimes referred to as "channel sounding"), the wireless system including the UWB module may perform frequency channel estimation. For example, a so-called "channel impulse response training sequence" (CIRTS) may be performed to perform frequency channel estimation. CIRTS may be a waveform known to both the transmitter (e.g., UWB device 402) and the receiver (e.g., UWB device 404) in the link between the two devices. If the transmitter sends out a waveform containing a specific training sequence 1 (CIRTSl_TX), the wireless propagation channel and its direct and reflected propagation paths may cause the waveform to be linearly distorted so that the modified waveform CIRTSl_RX will arrive at the receiver. Since the receiver knows CIRTSl_TX in advance, the receiver can compare the input signal CIRTSl_RX with the known sequence CIRTSl_TX. Then, using frequency channel estimation (e.g., a mathematical algorithm such as correlation), the receiver can estimate the CIR between the transmitter at the transmitter (e.g., UWB device 402) and the receiver (e.g., UWB device 404).

[0060] As described above, on a device where an antenna is shared by different RAT modules (e.g., UWB module, Wi-Fi module, and / or NR-U module) to receive RF signals (e.g., UWB signals, Wi-Fi signals, and / or NR-U signals), the reception of UWB signals often has a lower priority than the reception of other types of RF signals. This may adversely affect the quality of UWB CIR estimation on overlapping frequency channels.

[0061] In order to solve the above-mentioned interference problem, as will be disclosed in detail below, the technical solution disclosed in this article provides an improved CIR splicing mechanism, in which CIR estimates on frequency channels available for UWB CIR can be obtained with the help of other RAT modules (e.g., Wi-Fi modules and / or NR modules), and can be compensated (e.g., based on performing phase compensation) and spliced ​​to generate a total CIR estimate for frequency channels available for UWB CIR. This can increase the bandwidth available for UWB CIR and thus increase the resolution of UWB sensing.

[0062] For example, Figure 5 is a block diagram illustrating an RF device 500 with multiple RAT modules performing UWB sensing using CIR estimation stitching according to some embodiments. Figure 5 As illustrated in FIG. 1 , the RF device 500 (eg, Figure 1 UE 105 in FIG. 2 , UWB anchor point 222 and / or target device 205 in FIG. 3 , any ERDEV in FIG. 3 , or Figure 4 The UWB device 402 or 404 in the embodiment may include a UWB module 502 configured to communicate and process UWB signals, one or more other RAT modules (e.g., Figure 5 , a Wi-Fi module 504 configured to communicate and process Wi-Fi signals and an NR module 506 configured to communicate and process NR signals), an antenna 508 shared by the UWB module 502 and one or more other RAT modules (e.g., configured to receive and transmit RF signals for the UWB module 502 and one or more other RAT modules), and a frequency domain stitching module 510 configured to compensate for CIR estimates performed by one or more other RAT modules (e.g., perform phase compensation on the CIR estimates) and stitch the compensated CIR estimates with UWB CIR estimates of different UWB frequency channels. As will be disclosed in detail below, the UWB module 502, the Wi-Fi module 504, the NR module 506, and / or the frequency domain stitching module 510 may be combined into a UWB module 502, respectively. Figure 8 and Fig. 9 In one or more hardware (eg, wireless communication interface 830 / 930 ) of the mobile UWB device 800 and / or the stationary UWB device 900 illustrated in FIG.

[0063] It is contemplated that the Wi-Fi module 504 and the NR module 506 disclosed herein are non-limiting examples of one or more other RAT modules that can help obtain UWB CIR estimates on different UWB frequency channels. Any other suitable RAT module operating on a frequency channel overlapping with the UWB module 502 may be included.

[0064] As described above, the Wi-Fi module 504 and the NR module 506 may communicate RF signals on a frequency channel available to the UWB module 502. For example, Fig. 6A and Figure 6B is a block diagram illustrating an example UWB sensing stage 600 utilizing CIR estimation stitching according to some embodiments. Fig. 6A As illustrated in FIG. 5 , the Wi-Fi module 504 and / or the NR module 506 may operate on frequency channels available to the UWB module 502 (eg, UWB channels 5 and 6).

[0065] Instead of competing with the Wi-Fi module 504 and / or the NR module 506 on the overlapping frequency channel, the UWB module 502 may obtain a UWB CIR estimate on the overlapping frequency channel based on the CIR estimate performed by the Wi-Fi module 504 and / or the NR module 506. For example, on the overlapping frequency channel, the Wi-Fi module 504 and / or the NR module 506 may perform the CIR estimate (e.g., by applying different windows) while the UWB module 502 remains in an idle state. The CIR estimate performed by the Wi-Fi module 504 and / or the NR module 506 may be compensated (e.g., perform phase compensation) based on a calibration (e.g., a phase offset between a CIR estimate performed based on other RATs and a UWB CIR estimate on the overlapping frequency channel) that indicates a difference between a CIR estimate performed based on other RATs and a UWB CIR estimate performed on the overlapping bandwidth.

[0066] In some embodiments, the calibration may be determined by the frequency domain stitching module 510. For example, after determining the CIR estimate performed by the Wi-Fi module 504 and / or the NR module 506, the UWB module 502 may operate for a mini-CIR session for a short period of time (e.g., transmitting RF signals over overlapping bandwidths) sufficient to determine the calibration (e.g., phase offset) of the CIR estimate performed by the Wi-Fi module 504 and / or the NR module 506. The CIR estimate performed by the Wi-Fi module 504 and / or the NR module 506, other channel estimation parameters (e.g., signal-to-noise ratio (SNR)), and the mini-CIR may be sent to the frequency domain stitching module 510 for determining the calibration.

[0067] Additionally or alternatively, the calibration may be predetermined at a point in time prior to the sensing phase (eg, during a testing phase).

[0068] The UWB module 502 may also perform UWB CIR estimation on the non-overlapping bandwidths. The UWB CIR estimation performed on the non-overlapping bandwidths may also be sent by the UWB module 502 to the frequency domain stitching module 510 along with other channel estimation parameters such as signal-to-noise ratio (SNR).

[0069] At the frequency domain stitching module 510, the CIR estimation performed by the Wi-Fi module 504 and / or the NR module 506 may be compensated according to the calibration. The CIR estimation performed by the Wi-Fi module 504 and / or the NR module 506 may also be stitched with the compensated CIR and other UWB CIR estimates (e.g., UWB CIR estimates performed by the UWB module 502 on non-overlapping frequency channels such as UWB channels 8 and 9) to generate a total CIR estimate for the combined frequency channels (e.g., including UWB channels 5, 6, 8, and 9). Thus, the total CIR estimate on the combined frequency channels (e.g., combined UWB channels 5, 6, 8, and 9) may be output by the frequency domain stitching module 510, and the combined frequency channels (e.g., including UWB channels 5, 6, 8, and 9) may be used for UWB CIR sensing. The UWB sensing resolution may be increased accordingly.

[0070] Specifically, as a non-limiting example, when determining calibration at the frequency domain stitching module 510, the UWB module 502 may perform a mini-CIR session (e.g., an RF signal for a few shortest packets (e.g., each packet having a duration of about 35 microseconds) that is sufficient to determine the calibration. The mini-CIR session may be much shorter than a conventional CIR estimation on an overlapping frequency channel (e.g., typically lasting about a few milliseconds). The mini-CIR session may be sent to the frequency domain stitching module 510 along with other channel estimation parameters (e.g., SNR). Thus, the frequency domain stitching module 510 may determine the calibration based on the mini-CIR session, the CIR estimation performed by the Wi-Fi module 504 and / or the NR module 506, and / or the other channel estimation parameters. For example, the frequency domain stitching module 510 may determine the calibration based on determining a phase difference between the mini-CIR session and the CIR estimation performed by the Wi-Fi module 504 and / or the NR module 506. Thus, the frequency domain stitching module 510 may compensate the Wi-Fi and / or NR CIR estimation on the overlapping frequency channel based on the calibration.

[0071] Additionally or alternatively, the calibration (e.g., the phase offset between the UWB CIR estimate and the Wi-Fi and / or NR CIR estimate on the overlapping frequency channel) can be predetermined before the sensing phase (e.g., through testing). Thus, the frequency domain stitching module 510 can obtain the calibration and compensate the Wi-Fi and / or NR CIR estimate on the overlapping frequency channel based on the calibration without obtaining input from the UWB module 502 on the overlapping frequency channel.

[0072] For example, Fig. 6A and Figure 6B , at time point t1, Wi-Fi module 504 may perform CIR estimation (eg, Wi-Fi CIR estimations 602, 604, and 606) on overlapping bandwidths by applying different windows (eg, pulse sequences) according to the duration of each session.

[0073] In some embodiments, optionally, if Figure 5 If the calibration is determined at the frequency domain stitching module 510 shown, then at time point t2, the UWB module 502 may perform a mini-CIR session 608 on UWB channel 5 sufficient to determine the calibration of the Wi-Fi CIR estimates 602 and 604 on UWB channel 5 (e.g., the phase offset between the UWB CIR estimate on UWB channel 5 and the Wi-Fi CIR estimates 602 and 604). Additionally or alternatively, if the calibration is predetermined (e.g., obtained prior to the sensing phase), the mini-CIR session 608 may be omitted in the UWB sensing phase 600.

[0074] At time t3, UWB module 502 may perform UWB CIR estimation 610 on UWB channels 6 and 8. Fig. 6A As shown, UWB CIR estimate 610 may overlap with a portion of Wi-Fi CIR estimate 606 over UWB channel 6. A calibration (e.g., a phase offset) between Wi-Fi CIR estimate 606 and UWB CIR estimate 610 may be determined for use in determining the UWB CIR estimate over the entire bandwidth covered by UWB CIR estimate 610. For example, the calibration may indicate a phase offset between Wi-Fi CIR estimate 606 and UWB CIR estimate 610 over the overlapping bandwidth (e.g., a portion of UWB channel 6).

[0075] Calibration may be determined based on determining 1. a phase offset between Wi-Fi CIR estimate 606 and UWB CIR estimate 610 over an overlapping bandwidth of UWB CIR estimate 610 (e.g., a portion of UWB channel 6); and / or 2. a phase offset between Wi-Fi CIR estimate 606 and a non-overlapping bandwidth of UWB CIR estimate 610 (e.g., a portion of UWB channel 8). As described above, Wi-Fi CIR estimate 606 may be determined by, for example, Figure 5 The frequency domain stitching module 510 is shown to compensate based on calibration.

[0076] At time t4, one or more conventional UWB CIR estimations 612 may be performed on non-overlapping frequency channels (eg, UWB channels 8 and 9) to provide channel estimates over the remaining bandwidth of the UWB frequency channels available for UWB CIR sensing.

[0077] Thus, as described above, all available CIR estimates (such as Wi-Fi CIR estimates 602, 604, and 606, compensated Wi-Fi CIR estimates 602, 604, and 606, and UWB CIR estimates 610 and 612) may be viewed in the Figure 5 The frequency domain stitching module 510 is shown stitching to generate a combined CIR estimate for the UWB channels (eg, UWB channels 5, 6, 8, and 9) that can be used for UWB CIR sensing.

[0078] It should be noted that the CIR estimation splicing process disclosed herein is provided as a non-limiting example for illustrative purposes only. For example, the Wi-Fi CIR estimation herein may also be other CIR estimations based on other suitable RATs. The number of CIR estimation sessions and / or the duration of each CIR estimation (e.g., the window of application) may also be different for the desired performance. It should also be noted that Fig. 6A and Figure 6B The time and frequency spans of each CIR estimate shown in the example are not based on actual scale. Fig. 6A and Figure 6B The CIR estimates performed in the 602, 604, and 606 processes may be in a different order than that disclosed herein, and some CIR estimates may be performed concurrently. For example, one or more conventional UWB CIR estimates 612 may be performed before or concurrently with any or all of Wi-Fi CIR estimates 602, 604, and 606, mini CIR session 608, and / or UWB CIR estimation 610.

[0079] Figure 7 is a flow chart of a UWB sensing method 700 using CIR estimation stitching according to an embodiment. Figure 7The functional means illustrated in one or more of the blocks illustrated in may be performed by hardware and / or software components of the UWB device. Figure 8 and Fig. 9 Example components of a UWB device are illustrated in FIG. 4 , and these example components are described in more detail below.

[0080] At block 702, the functionality includes determining a first channel impulse response (CIR) estimate (e.g., Wi-Fi CIR estimates 602, 604, and 606 and / or UR CIR estimates in FIG. 6) of a first frequency channel based on a radio access technology (RAT) session. As noted, according to some embodiments, Figure 5 The Wi-Fi module 504 shown in FIG. 6 may perform CIR estimation (e.g., Wi-Fi CIR estimates 602, 604, and 606 shown in FIG. 6 ) on an overlapping bandwidth (e.g., shared with the UWB module 502) by applying different windows (e.g., pulse sequences) according to the duration of each session.

[0081] Means for performing the functionality at block 702 may include bus 805, processor 810, memory 860, wireless communication interface 830 (including optional UWB transceiver 835), and / or other components of mobile UWB device 800, such as Figure 8 900 , such as the UWB transceiver 935 . Fig. 9 As illustrated and described below.

[0082] The functionality at block 704 includes determining a second CIR estimate for a second frequency channel based on the UWB session. As described above, one or more conventional UWB CIR estimates (e.g., UWB CIR estimates 612) may be performed on non-overlapping frequency channels (e.g., UWB channels 8 and 9) to provide channel estimates over non-overlapping bandwidths of UWB frequency channels that may be used for UWB CIR sensing.

[0083] Means for performing the functionality at block 704 may include bus 805, processor 810, memory 860, wireless communication interface 830 (including optional UWB transceiver 835), and / or other components of mobile UWB device 800, such as Figure 8 900 , such as the UWB transceiver 935 , the UWB device 900 , and / or other components of the UWB device 900 . Fig. 9As illustrated and described below.

[0084] The functionality at block 706 includes determining a third CIR estimate for the first frequency channel based on determining a phase difference between the third CIR estimate and the first CIR estimate. Figure 5 The phase difference is determined at the frequency domain stitching module 510 shown. For example, a UWB module (e.g., UWB module 502) may perform a mini CIR session (e.g., the RF signal lasts for a few shortest packets (e.g., each packet has a duration of about 35 microseconds) that are sufficient to determine the phase difference. The mini CIR session may be much shorter than a conventional CIR estimation on an overlapping frequency channel (e.g., typically lasting about a few milliseconds).

[0085] The mini-CIR session can be sent to the frequency domain stitching module 510 along with other channel estimation parameters (e.g., SNR). Thus, the frequency domain stitching module 510 can determine the phase difference based on the mini-CIR session, the CIR estimation performed by the Wi-Fi module 504 and / or the NR module 506, and / or other channel estimation parameters. For example, if the calibration is determined at the frequency domain stitching module 510, such as Figure 5 , Fig. 6A and Figure 6B As illustrated in , UWB module 502 may perform a mini CIR session 608 on UWB channel 5 sufficient to determine the phase difference of Wi-Fi CIR estimates 602 and 604 on UWB channel 5 (e.g., the phase offset between the UWB CIR estimate on UWB channel 5 and Wi-Fi CIR estimates 602 and 604).

[0086] Additionally or alternatively, the phase offset between the UWB CIR estimate and the Wi-Fi and / or NR CIR estimate on the overlapping frequency channels may be predetermined prior to the sensing phase (e.g., through testing). Thus, the frequency domain stitching module 510 may obtain a calibration without obtaining input from the UWB module 502 on the overlapping frequency channels. For example, if the calibration is predetermined (e.g., obtained prior to the sensing phase), such as Figure 5 , Fig. 6A and Figure 6B As illustrated in , the mini-CIR session 608 may be omitted in the UWB sensing phase 600 .

[0087] In some embodiments, the frequency domain stitching module 510 can determine a third CIR estimate based on compensating the Wi-Fi and / or NR CIR estimates on the overlapping frequency channels using the phase difference. The third CIR estimate can be equivalent to the UWB CIR estimate performed on the same frequency channel.

[0088] Means for performing the functionality at block 706 may include bus 805, processor 810, memory 860, wireless communication interface 830 (including optional UWB transceiver 835), and / or other components of mobile UWB device 800, such as Figure 8 906. The means for performing the functionality at block 706 may also include bus 905, processor 910, memory 960, wireless communication interface 930 (including optional UWB transceiver 935), and / or other components of UWB device 900, such as Fig. 9 As illustrated and described below.

[0089] At block 708, the functionality includes determining an overall CIR estimate for a combined frequency channel including the first frequency channel and the second frequency channel based on concatenating the first CIR estimate, the second CIR estimate, and the third CIR estimate. Figure 5 , Fig. 6A and Figure 6B As shown in , all available CIR estimates (e.g., Wi-Fi CIR estimates 602, 604, and 606, compensated Wi-Fi CIR estimates 602, 604, and 606, and UWB CIR estimates 610 and 612) may be stitched at frequency domain stitching module 510 to generate a combined CIR estimate for a UWB channel (e.g., UWB channels 5, 6, 8, and 9) that may be used for UWB CIR sensing.

[0090] Means for performing the functionality at block 708 may include bus 805, processor 810, memory 860, wireless communication interface 830 (including optional UWB transceiver 835), and / or other components of mobile UWB device 800, such as Figure 8 900 , such as the UWB transceiver 935 . Fig. 9 As illustrated and described below.

[0091] Figure 8 800 can be utilized as described herein. The mobile UWB device 800 can have cellular (e.g., 5G NR) capabilities and can therefore act as a UE in a cellular wireless network and / or perform cellular / UWB positioning as described herein. It should be noted that Figure 8It is intended only to provide a generalized illustration of the various components, any or all of which may be utilized as appropriate. For example, a more basic / simple type of UWB device may omit various components that may be included in a more advanced / complex UWB device. Furthermore, as previously noted, the functionality of the UE discussed in the previously described embodiments may be implemented by Figure 8 The invention may be executed by one or more of the illustrated hardware and / or software components.

[0092] Mobile UWB device 800 is shown as including hardware elements that may be electrically coupled via bus 805 (or may otherwise communicate as appropriate). The hardware elements may include a processor 810, which may include, but is not limited to, one or more general-purpose processors (e.g., application processors), one or more special-purpose processors (such as digital signal processor (DSP) chips, graphics acceleration processors, application-specific integrated circuits (ASICs), etc.), and / or other processing structures or components. Processor 810 may include one or more processing units, which may be housed in a single integrated circuit (IC) or multiple ICs. Figure 8 As shown, some embodiments may have a separate DSP 820, depending on the desired functionality. Position determination and / or other determinations based on wireless communication (discussed below) may be provided in the processor 810 and / or the wireless communication interface 830. The mobile UWB device 800 may also include one or more input devices 870, which may include but are not limited to one or more keyboards, touch screens, touch pads, microphones, buttons, dials, switches, etc.; and one or more output devices 815, which may include but are not limited to one or more displays (e.g., touch screens), light emitting diodes (LEDs), speakers, etc.

[0093] The mobile UWB device 800 may also include a wireless communication interface 830, which may include but is not limited to a modem, a network card, an infrared communication device, a wireless communication device and / or a chipset (such as a Bluetooth ®Devices, IEEE 802.8 devices, IEEE 802.15.4 devices, Wi-Fi devices, WiMAX devices, WAN devices and / or various cellular devices, etc.), etc., which can enable the mobile UWB device 800 to communicate with other devices as described herein. The wireless communication interface 830 can allow communication (e.g., sending and receiving) of data and signaling with access points, various base stations and / or other access node types and / or other network components, computer systems and / or any other electronic devices coupled thereto in communication. Communication can be performed via one or more wireless communication antennas 832 that transmit and / or receive wireless signals 834. According to some embodiments, the wireless communication antenna 832 may include multiple discrete antennas, antenna arrays, or any combination thereof. The antenna 832 may be able to use beams (e.g., Tx beams and Rx beams) to send and receive wireless signals. Beamforming can be performed using digital and / or analog beamforming techniques using corresponding digital and / or analog circuits. The wireless communication interface 830 may include such circuits.

[0094] As illustrated, the wireless communication interface 830 may also include a UWB transceiver 835. The UWB transceiver 835 may be operated to perform the UWB operations described herein. In addition, the wireless communication interface 830 may include one or more additional communication technologies that utilize it to perform any OOB functionality described herein. According to some embodiments, the UWB transceiver 835 may be one of a plurality of UWB transceivers of the mobile UWB device 800. In addition, the UWB transceiver may be used for functionality other than the UWB positioning functionality described herein. Although illustrated as part of the wireless communication interface 830, in some embodiments, the UWB transceiver 835 may be separate from the wireless communication interface 830.

[0095] Depending on the desired functionality, the wireless communication interface 830 may include separate receivers and transmitters, or any combination of transceivers, transmitters, and / or receivers to communicate with base stations (e.g., ng-eNBs and gNBs) and other terrestrial transceivers (such as wireless devices and access points). The mobile UWB device 800 may communicate with different data networks, which may include various network types. For example, the WWAN may be a CDMA network, a TDMA network, an FDMA network, an Orthogonal Frequency Division Multiple Access (OFDMA) network, a Single Carrier Frequency Division Multiple Access (SC-FDMA) network, a WiMAX (IEEE 802.16) network, and the like. A CDMA network may implement one or more RATs, such as CDMA2000. ® , WCDMA, etc. CDMA2000 ®Includes IS-95, IS-2000, and / or IS-856 standards. A TDMA network may implement GSM, Digital Advanced Mobile Phone System (D-AMPS), or some other RAT. An OFDMA network may employ LTE, LTE-Advanced, 5G NR, and so on. 5G NR, LTE, LTE-Advanced, GSM, and WCDMA are described in documents from 3GPP. CDMA2000 ® Described in documents from an organization named "3rd Generation Partnership Project 2" (3GPP2). 3GPP and 3GPP2 documents are publicly available. A WLAN may also be an IEEE 802.11x network, while a wireless personal area network (WPAN) may be a Bluetooth network, IEEE 802.15x, or some other type of network. The techniques described herein may also be used for any combination of WWAN, WLAN, and / or WPAN.

[0096] The mobile UWB device 800 may also include a sensor 840. The sensor 840 may include, but is not limited to, one or more inertial sensors and / or other sensors (e.g., accelerometers, gyroscopes, cameras, magnetometers, altimeters, microphones, proximity sensors, light sensors, barometers, etc.), some of which may be used to obtain location-related measurements and / or other information.

[0097] The embodiment of the mobile UWB device 800 may also include a GNSS receiver 880 capable of receiving signals 884 from one or more GNSS satellites using an antenna 882 (which may be the same as the antenna 832). Positioning based on GNSS signal measurements may be used to supplement and / or incorporate the techniques described herein. The GNSS receiver 880 may extract the positioning of the mobile UWB device 800 from GNSS satellites of GNSS systems (such as GPS, Galileo, GLONASS, Quasi-Zenith Satellite System (QZSS) above Japan, IRNSS above India, Beidou Navigation Satellite System (BDS) above China, etc.) using conventional techniques. In addition, the GNSS receiver 880 may be used with various + storage devices, solid-state storage devices such as random access memory (RAM) and / or read-only memory (ROM), which may be programmable, flash-updatable, etc. Such storage devices may be configured to implement any suitable data storage, including but not limited to various file systems, database structures, etc.

[0098] The memory 860 of the mobile UWB device 800 may also include software elements ( Figure 8), the software elements include operating systems, device drivers, executable libraries and / or other code (such as one or more applications), which may include computer programs provided by various embodiments, and / or may be designed to implement methods provided by other embodiments and / or configure systems provided by other embodiments, as described herein. By way of example only, one or more procedures described with respect to the methods discussed above may be implemented as code and / or instructions in memory 860 that may be executed by the mobile UWB device 800 (and / or the processor 810 or DSP 820 within the mobile UWB device 800). In some embodiments, such code and / or instructions may then be used to configure and / or adapt a general purpose computer (or other device) to perform one or more operations according to the described methods.

[0099] Fig. 9 is a block diagram of an embodiment of a stationary UWB device 900 that may be utilized as described herein. The stationary UWB device 900 may, for example, serve as a UWB anchor point for UWB and / or hybrid cellular / UWB positioning of a mobile UWB device (e.g., the mobile UWB device 800). It should be noted that Fig. 9 It is intended only to provide a generalized illustration of the various components, any or all of which may be utilized as appropriate. In some embodiments, the stationed UWB device 900 may correspond to an anchor UWB with a known location that can be used to determine the location of other UWB devices, including mobile UWB devices. According to some embodiments, the stationed UWB device 900 may be permanently stationed or temporarily stationed.

[0100] The stationary UWB device 900 is shown as including hardware elements that may be electrically coupled via a bus 905 (or may communicate in other ways as appropriate). The hardware elements may include a processor 910, which may include, but is not limited to, one or more general-purpose processors, one or more special-purpose processors (such as DSP chips, graphics acceleration processors, ASICs, etc.), and / or other processing structures or components. Fig. 9 As shown, some embodiments may have a separate DSP 920, depending on the desired functionality. According to some embodiments, location determination and / or other determinations based on wireless communication may be provided in the processor 910 and / or the wireless communication interface 930 (discussed below). The stationary UWB device 900 may also include one or more input devices, which may include but are not limited to a keyboard, a display, a mouse, a microphone, buttons, dials, switches, etc.; and one or more output devices, which may include but are not limited to a display, a light emitting diode (LED), a speaker, etc.

[0101] The stationary UWB device 900 may also include a wireless communication interface 930, which may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication device and / or a chipset (such as a Bluetooth®) that enables the stationary UWB device 900 to communicate as described herein. ® Devices, IEEE 802.11 devices, IEEE 802.15.4 devices, Wi-Fi devices, WiMAX devices, cellular communication facilities, etc.). The wireless communication interface 930 can permit communication (e.g., sending and receiving) of data and signaling to mobile devices, wireless network nodes (e.g., base stations, access points, etc.) and / or other network components, computer systems, and / or any other electronic devices described herein. Communication can be performed via one or more wireless communication antennas 932 that transmit and / or receive wireless signals 934.

[0102] As illustrated, the wireless communication interface 930 may also include a UWB transceiver 935. The UWB transceiver 935 may be operated to perform the UWB operations described herein. In addition, the wireless communication interface 930 may include one or more additional communication technologies that utilize it to perform any OOB functionality described herein. According to some embodiments, the UWB transceiver 935 may be one of a plurality of UWB transceivers stationed in the UWB device 900. In addition, the UWB transceiver may be used for functionality other than the UWB positioning functionality described herein. Although illustrated as part of the wireless communication interface 930, in some embodiments, the UWB transceiver 935 may be separate from the wireless communication interface 930.

[0103] The stationary UWB device 900 may also include a network interface 980, which may include support for wired communication technologies. The network interface 980 may include a modem, a network card, a chipset, etc. The network interface 980 may include one or more input and / or output communication interfaces to permit data to be exchanged with a network, a communication network server, a computer system, and / or any other electronic device described herein. In some embodiments, the stationary UWB device 900 may be communicatively coupled to one or more servers and / or other stationary UWB devices via the network interface 980.

[0104] In many embodiments, the stationary UWB device 900 may also include memory 960. The memory 960 may include, but is not limited to, local and / or network accessible storage, disk drives, drive arrays, optical storage devices, solid-state storage devices (such as RAM and / or ROM), which may be programmable, flash-updatable, etc. Such storage devices may be configured to implement any suitable data storage, including, but not limited to, various file systems, database structures, etc.

[0105] The memory 960 of the resident UWB device 900 may also include software elements ( Fig. 9 ), the software elements include operating systems, device drivers, executable libraries and / or other code (such as one or more applications), which may include computer programs provided by various embodiments, and / or may be designed to implement methods provided by other embodiments and / or configure systems provided by other embodiments, as described herein. By way of example only, one or more procedures described with respect to the methods discussed above may be implemented as code and / or instructions in memory 960 that may be executed by a resident UWB device 900 (and / or a processor 910 or DSP 920 within a resident UWB device 900). In some embodiments, such code and / or instructions may then be used to configure and / or adapt a general purpose computer (or other device) to perform one or more operations according to the described methods.

[0106] It will be apparent to those skilled in the art that substantial modifications may be made according to specific requirements. For example, customized hardware may also be used, and / or specific elements may be implemented in hardware, software (including portable software, such as applets, etc.), or both. In addition, connections to other computing devices, such as network input / output devices, may be employed.

[0107] With reference to the accompanying drawings, components that may include memory may include non-transitory machine-readable media. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any storage medium that participates in providing data that causes a machine to operate in a particular manner. In the embodiments provided above, various machine-readable media may be involved when providing instructions / codes to a processor and / or other devices for execution. Additionally or alternatively, machine-readable media may be used to store and / or carry such instructions / codes. In many specific implementations, computer-readable media are physical and / or tangible storage media. Such media may take many forms, including but not limited to non-volatile media and volatile media. Common forms of computer-readable media include, for example: magnetic and / or optical media, any other physical media with hole patterns, RAM, programmable ROM (PROM), erasable PROM (EPROM), FLASH-EPROM, any other memory chip or memory box, or any other medium from which a computer can read instructions and / or codes.

[0108] The methods, systems and devices discussed herein are examples. Various embodiments may omit, replace or add various procedures or components as appropriate. For example, features described with respect to certain embodiments may be combined in various other embodiments. Different aspects and elements of the embodiments may be combined in a similar manner. The various components of the accompanying drawings provided herein may be embodied in hardware and / or software. In addition, technology may evolve, and therefore many elements are examples, which do not limit the scope of the present disclosure to those specific examples.

[0109] It has proven convenient at times, primarily for reasons of common usage, to refer to such signals as bits, information, values, elements, symbols, characters, variables, terms, numbers, digital symbols, and the like. However, it should be understood that all of these or similar terms are to be associated with the appropriate physical quantities and are merely convenient labels. Unless otherwise specifically stated, as will be apparent from the above discussion, it should be understood that throughout this specification, discussions utilizing terms such as "processing," "computing," "calculating," "determining," "ascertaining," "identifying," "correlating," "measuring," "performing," and the like refer to the actions or processes of a particular device such as a special-purpose computer or similar special-purpose electronic computing device. Thus, in the context of this specification, a special-purpose computer or similar special-purpose electronic computing device is capable of manipulating or transforming signals, typically represented as physical, electronic, electrical, or magnetic quantities in a memory, register, or other information storage device, a transmitting device, or a display device of the special-purpose computer or similar special-purpose electronic computing device.

[0110] As used herein, the terms "and" and "or" may include multiple meanings that are also intended to depend at least in part on the context in which such terms are used. Generally, "or", if used in association with a list, such as A, B, or C, is intended to mean A, B, and C (inclusive meanings are used here) as well as A, B, or C (exclusive meanings are used here). In addition, as used herein, the term "one or more" may be used to describe any feature, structure, or characteristic in the singular form, or may be used to describe a certain combination of features, structures, or characteristics. However, it should be noted that this is merely an illustrative example, and the subject matter claimed is not limited to this example. In addition, the term "at least one of...", if used in association with a list, such as A, B, or C, may be interpreted to mean any combination of A, B, and / or C, such as A, AB, AA, AAB, AABBCCC, etc.

[0111] Several embodiments have been described, and various modifications, alternative configurations, and equivalents may be used without departing from the scope of the present disclosure. For example, the above elements may be components of a larger system, wherein other rules may take precedence over the application of the various embodiments or otherwise modify the application of the various embodiments. In addition, multiple steps may be performed before, during, or after considering the above elements. Accordingly, the above description does not limit the scope of the present disclosure.

[0112] In view of this description, various embodiments may include different combinations of features. Specific implementation examples are described in the following numbered clauses:

[0113] Clause 1. A method of ultra-wideband (UWB) sensing performed by a wireless communication device, the method comprising determining a first channel impulse response (CIR) estimate for a first frequency channel based on a radio access technology (RAT) session, wherein the RAT is different from UWB. The method further comprises: determining a second CIR estimate for a second frequency channel based on the UWB session; and determining a third CIR estimate for the first frequency channel based on determining a phase difference between the third CIR estimate and the first CIR estimate. The method further comprises determining an overall CIR estimate for a combined frequency channel including the first frequency channel and the second frequency channel based on concatenating the first CIR estimate, the second CIR estimate, and the third CIR estimate.

[0114] Clause 2. The method of clause 1, wherein when determining the first CIR estimate, a UWB module executing the UWB session is in an idle state.

[0115] Clause 3. A method according to clauses 1 and 2, wherein determining the phase difference between the third CIR estimate and the first CIR estimate further includes: receiving an RF signal by the UWB module using the first frequency channel; and determining the phase difference between the third CIR estimate and the first CIR estimate based on determining the phase difference between the received RF signal and the first CIR estimate.

[0116] Clause 4. The method of clauses 1 to 3, wherein determining the third CIR estimate for the first frequency channel further comprises performing phase compensation on the first CIR estimate based on the determined phase difference.

[0117] Clause 5. The method of clauses 1 to 4, wherein the RAT session comprises: a Wi-Fi CIR session; a New Radio (NR) CIR session; or any combination thereof.

[0118] Clause 6. The method of clauses 1 to 5, wherein the first frequency channel is shared by a RAT module and the UWB module executing the RAT session.

[0119] Clause 7. The method of clauses 1 to 6, wherein the UWB module and the RAT module share a same set of antennas configured to receive RF signals on the first frequency channel and the second frequency channel.

[0120] Clause 8. A transmitting device in a wireless communication network, the transmitting device comprising: a wireless communication interface; a memory; and one or more processing units, the one or more processing units being communicatively coupled to the wireless communication interface and the memory. The one or more processing units are configured to determine a first channel impulse response (CIR) estimate for a first frequency channel based on a radio access technology (RAT) session, wherein the RAT is different from UWB. The one or more processing units are further configured to: determine a second CIR estimate for a second frequency channel based on the UWB session; and determine a third CIR estimate for the first frequency channel based on determining a phase difference between the third CIR estimate and the first CIR estimate. The one or more processing units are further configured to determine a total CIR estimate for a combined frequency channel including the first frequency channel and the second frequency channel based on concatenating the first CIR estimate, the second CIR estimate, and the third CIR estimate.

[0121] Clause 9. The transmitting device of clause 8, wherein when determining the first CIR estimate, a UWB module executing the UWB session is in an idle state.

[0122] Clause 10. A transmitting device according to clauses 8 and 9, wherein in order to determine the phase difference between the third CIR estimate and the first CIR estimate, the one or more processing units are also configured to: receive an RF signal by the UWB module using the first frequency channel; and determine the phase difference between the third CIR estimate and the first CIR estimate based on determining the phase difference between the received RF signal and the first CIR estimate.

[0123] Clause 11. A transmitting device according to clauses 8 to 10, wherein in order to determine the third CIR estimate for the first frequency channel, the one or more processing units are further configured to: perform phase compensation on the first CIR estimate based on the determined phase difference.

[0124] Clause 12. The transmitting device of clauses 8 to 11, wherein the RAT session comprises: a Wi-Fi CIR session; a New Radio (NR) CIR session; or any combination thereof.

[0125] Clause 13. The transmitting device of clauses 8 to 12, wherein the first frequency channel is shared by a RAT module and the UWB module executing the RAT session.

[0126] Clause 14. The transmitting device of clauses 8 to 13, wherein the UWB module and the RAT module share a same set of antennas configured to receive RF signals on the first frequency channel and the second frequency channel.

[0127] Clause 15. A non-transitory computer-readable medium having stored thereon instructions for providing driving assistance information, wherein the instructions, when executed by one or more processors of a mobile device, cause the one or more processors to determine a first channel impulse response (CIR) estimate for a first frequency channel based on a radio access technology (RAT) session, wherein the RAT is different from UWB. When executed by the one or more processors of the mobile device, the instructions further cause the one or more processors to: determine a second CIR estimate for a second frequency channel based on the UWB session; and determine a third CIR estimate for the first frequency channel based on determining a phase difference between the third CIR estimate and the first CIR estimate. When executed by the one or more processors of the mobile device, the instructions further cause the one or more processors to determine a total CIR estimate for a combined frequency channel including the first frequency channel and the second frequency channel based on concatenating the first CIR estimate, the second CIR estimate, and the third CIR estimate.

[0128] Clause 16. The non-transitory computer-readable medium of Clause 15, wherein when determining the first CIR estimate, a UWB module executing the UWB session is in an idle state.

[0129] Clause 17. A non-transitory computer-readable medium according to clauses 15 and 16, wherein determining the phase difference between the third CIR estimate and the first CIR estimate causes the one or more processors to: receive an RF signal using the first frequency channel by the UWB module; and determine the phase difference between the third CIR estimate and the first CIR estimate based on determining the phase difference between the received RF signal and the first CIR estimate.

[0130] Clause 18. The non-transitory computer-readable medium of clauses 15 to 17, wherein determining the third CIR estimate for the first frequency channel causes the one or more processors to: perform phase compensation on the first CIR estimate based on the determined phase difference.

[0131] Clause 19. The non-transitory computer-readable medium of clauses 15 to 18, wherein the RAT session comprises: a Wi-Fi CIR session; a New Radio (NR) CIR session; or any combination thereof.

[0132] Clause 20. The non-transitory computer-readable medium of clauses 15 to 19, wherein the first frequency channel is shared by a RAT module and the UWB module executing the RAT session.

[0133] Clause 21. The non-transitory computer-readable medium of clauses 15 to 20, wherein the UWB module and the RAT module share a same set of antennas configured to receive RF signals on the first frequency channel and the second frequency channel.

Claims

1. A method of ultra-wideband (UWB) sensing performed by a wireless communication device, the method comprising: determining a first channel impulse response (CIR) estimate for a first frequency channel based on a radio access technology (RAT) session, wherein the RAT is different than UWB; determining a second CIR estimate for a second frequency channel based on the UWB session; determining a third CIR estimate for the first frequency channel based on determining a phase difference between the third CIR estimate and the first CIR estimate; as well as An overall CIR estimate for a combined frequency channel including the first frequency channel and the second frequency channel is determined based on concatenating the first CIR estimate, the second CIR estimate, and the third CIR estimate.

2. The method of claim 1, wherein when determining the first CIR estimate, a UWB module executing the UWB session is in an idle state.

3. The method of claim 2, wherein determining the phase difference between the third CIR estimate and the first CIR estimate further comprises: Receiving an RF signal by the UWB module using the first frequency channel; as well as The phase difference between the third CIR estimate and the first CIR estimate is determined based on determining a phase difference between a received RF signal and the first CIR estimate.

4. The method of claim 3, wherein determining the third CIR estimate for the first frequency channel further comprises: Phase compensation is performed on the first CIR estimate based on the determined phase difference.

5. The method of claim 1, wherein the RAT session comprises: Wi-Fi CIR session; New Radio (NR) CIR session; or Any combination of them. 6 . The method of claim 2 , wherein the first frequency channel is shared by a RAT module executing the RAT session and the UWB module. 7 . The method of claim 6 , wherein the UWB module and the RAT module share a same set of antennas configured to receive RF signals on the first frequency channel and the second frequency channel.

8. A sending device in a wireless communication network, the sending device comprising: Wireless communication interface; Memory; and one or more processing units, the one or more processing units being communicatively coupled to the wireless communication interface and the memory, the one or more processing units being configured to: determining a first channel impulse response (CIR) estimate for a first frequency channel based on a radio access technology (RAT) session, wherein the RAT is different than UWB; determining a second CIR estimate for a second frequency channel based on the UWB session; determining a third CIR estimate for the first frequency channel based on determining a phase difference between the third CIR estimate and the first CIR estimate; as well as An overall CIR estimate for a combined frequency channel including the first frequency channel and the second frequency channel is determined based on concatenating the first CIR estimate, the second CIR estimate, and the third CIR estimate.

9. The transmitting device of claim 8, wherein when determining the first CIR estimate, a UWB module executing the UWB session is in an idle state.

10. The transmitting device of claim 9, wherein to determine the phase difference between the third CIR estimate and the first CIR estimate, the one or more processing units are further configured to: receiving, by the UWB module, an RF signal using the first frequency channel; and The phase difference between the third CIR estimate and the first CIR estimate is determined based on determining a phase difference between a received RF signal and the first CIR estimate.

11. The transmitting device of claim 10, wherein to determine the third CIR estimate for the first frequency channel, the one or more processing units are further configured to: Phase compensation is performed on the first CIR estimate based on the determined phase difference.

12. The transmitting device according to claim 8, wherein the RAT session comprises: Wi-Fi CIR session; New Radio (NR) CIR session; or Any combination of them. 13 . The transmitting device of claim 9 , wherein the first frequency channel is shared by a RAT module executing the RAT session and the UWB module.

14. The transmitting device of claim 13, wherein the UWB module and the RAT module share a same set of antennas configured to receive RF signals on the first frequency channel and the second frequency channel.

15. A non-transitory computer-readable medium having stored thereon instructions for providing driving assistance information, wherein the instructions, when executed by one or more processors of a mobile device, cause the one or more processors to: determining a first channel impulse response (CIR) estimate for a first frequency channel based on a radio access technology (RAT) session, wherein the RAT is different than UWB; determining a second CIR estimate for a second frequency channel based on the UWB session; determining a third CIR estimate for the first frequency channel based on determining a phase difference between the third CIR estimate and the first CIR estimate; as well as An overall CIR estimate for a combined frequency channel including the first frequency channel and the second frequency channel is determined based on concatenating the first CIR estimate, the second CIR estimate, and the third CIR estimate.

16. The non-transitory computer-readable medium of claim 15, wherein when determining the first CIR estimate, a UWB module executing the UWB session is in an idle state.

17. The non-transitory computer readable medium of claim 16, wherein determining the phase difference between the third CIR estimate and the first CIR estimate causes the one or more processors to: receiving, by the UWB module, an RF signal using the first frequency channel; and The phase difference between the third CIR estimate and the first CIR estimate is determined based on determining a phase difference between a received RF signal and the first CIR estimate.

18. The non-transitory computer readable medium of claim 17, wherein determining the third CIR estimate for the first frequency channel causes the one or more processors to: Phase compensation is performed on the first CIR estimate based on the determined phase difference.

19. The non-transitory computer-readable medium of claim 15, wherein the RAT session comprises: Wi-Fi CIR session; New Radio (NR) CIR session; or Any combination of them.

20. The non-transitory computer readable medium of claim 16, wherein the first frequency channel is shared by a RAT module executing the RAT session and the UWB module.

21. The non-transitory computer readable medium of claim 20, wherein the UWB module and the RAT module share a same set of antennas configured to receive RF signals on the first frequency channel and the second frequency channel.

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