Ranging method, device and system

Abstract

A distance measurement method, device and system are used for realizing reliable distance measurement. The first node measures the first ranging frame to obtain first measurement information (S202); the first node sends second measurement information according to the first measurement information and the first feedback mode (S203); in other words, the mode in which the first node feeds back the measurement information needs to be determined according to the measurement result of the first node and the first feedback mode. The distance measurement method realizes feedback of measurement information in a distance measurement scene, and improves the reliability and flexibility of distance measurement.

Description

[0001] This application is a divisional application. The application number of the original application is 202280045390.7, and the original application date is September 30, 2022. The entire contents of the original application are incorporated into this application by reference. Technical Field

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

[0003] With the continuous development of global communication technology, the development speed and application of wireless communication technology have surpassed that of wired communication technology, showing a trend of rapid development. Intelligent transportation equipment, smart home equipment, robots and other intelligent devices are gradually entering people's daily lives. Based on wireless communication technology, the equipment can locate, measure distance, measure angles or sense targets. For example, Passive Entry Passive Start (PEPS) is an example of in-vehicle wireless positioning application. Users do not need to use keys, but measure the distance of the car keys or mobile phones carried by users through the in-vehicle positioning system to automatically lock or unlock the car doors.

[0004] How to achieve reliable ranging is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present application provides a ranging method, device and system for achieving reliable ranging.

[0006] In a first aspect, a ranging method is provided, including: a first node receives a first ranging frame on at least one channel; the first node measures the first ranging frame to obtain first measurement information; the first node sends second measurement information according to the first measurement information and a first feedback method.

[0007] In an embodiment of the present application, after the first node measures the first ranging frame to obtain the first measurement information, the first node sends the second measurement information according to the first measurement information and the first feedback method. In other words, the specific form in which the first node feeds back the measurement information needs to be determined based on the measurement result of the first node and the first feedback method. This solution implements the feedback of measurement information in the ranging scenario and improves the reliability of ranging.

[0008] The first feedback mode may belong to a predefined or configured feedback mode set, which defines a plurality of different feedback modes. Through this solution, compared with a single fixed feedback mode, it is possible to achieve flexible feedback of measurement information while improving ranging reliability.

[0009] In one possible design, the first ranging frame includes at least one symbol, and the first measurement information indicates channel state information of at least one valid subcarrier corresponding to the at least one symbol (or referred to as ranging symbol). Exemplarily, the symbol is an OFDM symbol.

[0010] In this way, signal measurement is performed at symbol granularity, which can improve the reliability of ranging.

[0011] In the embodiment of the present application, there are multiple possibilities for the first feedback mode, and several possibilities are listed below:

[0012] 1. The first feedback mode indicates feeding back the channel state information of all valid subcarriers.

[0013] In this case, the second measurement information indicates the same channel state information as the first measurement information.

[0014] The first feedback method mentioned above can feed back detailed channel state information and improve the accuracy of the ranging frame.

[0015] 2. The first feedback mode indicates feedback of the channel state information of the DC subcarrier, and the second measurement information includes the channel state information of the DC subcarrier corresponding to at least one symbol, wherein the channel state information of the DC subcarrier is determined by interpolation based on the channel state information of the valid subcarriers adjacent to the DC subcarrier.

[0016] The interpolation includes but is not limited to at least one of linear interpolation, nearest neighbor interpolation, cubic spline interpolation, and / or quadratic interpolation.

[0017] The second feedback method mentioned above can reduce the amount of feedback data while ensuring the reliability of ranging.

[0018] 3. The first feedback mode indicates feedback of channel state information of at least one subcarrier group, at least one valid subcarrier corresponding to at least one symbol belongs to at least one subcarrier group, and the second measurement information includes channel state information of each subcarrier group in the at least one subcarrier group.

[0019] Here are some possible grouping methods:

[0020] In a possible design, each M consecutive subcarriers corresponding to at least one symbol is a subcarrier group, where M is a positive integer. In this way, the grouping intervals of all subcarrier groups (ie, the number of subcarriers included in the subcarrier group) can be made consistent.

[0021] In one possible design, each continuous P or L subcarriers corresponding to at least one symbol is a subcarrier group, P and L are positive integers, and P≠L. It can be understood that P and L exist at the same time, in other words, two different grouping intervals can exist at the same time. In this way, it can be avoided that when grouping is performed only with a single grouping interval (such as P), some subcarriers cannot be grouped, and it is ensured that all subcarriers have corresponding subcarrier groups.

[0022] In one possible design, at least one channel includes a first channel and a second channel; among the subcarriers corresponding to the first channel, each consecutive Q subcarriers form a subcarrier group, and among the subcarriers corresponding to the second channel, each consecutive N subcarriers form a subcarrier group, where Q and N are positive integers, and Q≠N. In this way, different channels can be grouped at different grouping intervals, achieving the effect of non-uniform grouping and meeting different requirements of different channels for CSI feedback accuracy.

[0023] Of course, in actual applications, uniform grouping is also possible, that is, the grouping intervals corresponding to different channels are the same.

[0024] The third feedback method mentioned above can reduce the amount of feedback data while ensuring the reliability of ranging.

[0025] In one possible design, the channel state information of each subcarrier group is an average value, a median value, a maximum value, or a minimum value of the channel state information of all valid subcarriers in each subcarrier group.

[0026] In this way, each subcarrier group only needs to feed back one channel state information, which can reduce the feedback amount.

[0027] In a possible design, the channel state information of each subcarrier group is the channel state information of a subcarrier in each subcarrier group, for example, the channel state information of the first subcarrier, the last subcarrier, or a subcarrier in the middle.

[0028] In this way, not only the amount of feedback can be reduced, but also the implementation is simple, easy to implement and highly reliable.

[0029] In one possible design, the number of subcarriers included in the subcarrier group is related to the ranging range. For example, the larger the ranging range, the fewer subcarriers included in the subcarrier group; conversely, the smaller the ranging range, the more subcarriers included in the subcarrier group.

[0030] In another possible design, the number of subcarriers included in the subcarrier group is related to the amount of data that the first node can feedback. For example, the larger the amount of data that the first node can feedback, the smaller the number of subcarriers included in the subcarrier group; conversely, the smaller the amount of data that the first node can feedback, the larger the number of subcarriers included in the subcarrier group.

[0031] In an embodiment of the present application, the first node may start measuring from a specified position in the first ranging frame. Several possible measurement designs are introduced below:

[0032] In a possible design, a symbol of the first ranging frame has a CP; the first node measures the first ranging frame, including: the first node starts measuring from the first symbol in the first ranging frame.

[0033] In a possible design, a symbol of the first ranging frame does not have a CP; the first node measures the first ranging frame, including: the first node starts measuring from the second symbol of the first ranging frame.

[0034] It can be understood that in this case, the first ranging frame has no CP to combat multipath interference, so the first symbol can be sacrificed to combat multipath interference and play the role of CP to improve the measurement accuracy.

[0035] In one possible design, the first node starts measuring from a designated symbol of the first ranging frame according to indication information or pre-settings.

[0036] Of course, the above three design methods are only examples and not limitations.

[0037] In one possible design, the first ranging frame includes multiple symbols, and the first node measures the first ranging frame, including: the first node determines the channel state information corresponding to the Rth symbol in the first ranging frame based on the channel state information corresponding to the multiple symbols, where R is a positive integer; wherein the first measurement information indicates the channel state information corresponding to the Rth symbol; or, the first node determines the average value of the channel state information corresponding to the multiple symbols based on the channel state information corresponding to the multiple symbols; the first measurement information indicates the average value of the channel state information corresponding to the multiple symbols.

[0038] In this way, the first node can provide feedback on the channel state information of a specified position (such as the Rth symbol) in the first ranging frame, thereby improving the reliability of ranging feedback.

[0039] In one possible design, the symbols in the first ranging frame use resources of overhead symbols of a first type of wireless frame, the first type of wireless frame includes data symbols and overhead symbols; at least one channel is an initial carrier channel. Alternatively, the symbols in the first ranging frame use resources of data symbols and overhead symbols of a first type of wireless frame, the first type of wireless frame includes data symbols and overhead symbols; at least one channel is an initial carrier channel.

[0040] For example, the first type of radio frame is a superframe or a radio frame in an SLB.

[0041] In this way, existing wireless frame resources can be reused for ranging, which can improve resource utilization.

[0042] In one possible design, the symbols in the first ranging frame use data symbols of the second type of wireless frame, all symbols in the second type of wireless frame are data symbols, and at least one channel is an initial carrier channel or a channel after frequency hopping.

[0043] In this way, a dedicated wireless frame type is designed for ranging, which can improve the reliability of ranging.

[0044] In one possible design, the first node sends or receives one or more of the following information:

[0045] The first indication information is used to indicate the type of the first ranging frame;

[0046] The second indication information is used to indicate whether the first ranging frame has a CP or does not have a CP;

[0047] The third indication information is used to indicate that the first ranging frame has a normal CP or an extended CP;

[0048] Fourth indication information, used to instruct the first node to feed back channel state information of at least one channel and / or channel number information of the at least one channel;

[0049] The fifth indication information is used to indicate the measurement start position of the first ranging frame;

[0050] Sixth indication information, used to instruct the first node to feed back channel state information corresponding to the Rth symbol in the first ranging frame, where R is a positive integer;

[0051] Seventh indication information, used to instruct the first node to feed back an average value of channel state information corresponding to multiple symbols in the first ranging frame;

[0052] The eighth indication information is used to indicate a first feedback mode in which the first node feeds back channel state information, where the first feedback mode is: feeding back the channel state information of at least one subcarrier group, or feeding back the channel state information of a DC subcarrier, or feeding back the channel state information of all valid subcarriers.

[0053] It can be understood that when the first feedback mode is to feed back the channel state information of at least one subcarrier group, the first node further sends or receives one or more of the following information:

[0054] Ninth indication information, used to indicate a grouping parameter of at least one subcarrier group;

[0055] The tenth indication information is used to indicate a calculation method of the channel state information of at least one subcarrier group.

[0056] In a specific implementation, the first node sends or receives one or more of the above information in the ranging negotiation phase. For example, if the first node is a G node, the first node sends one or more of the above information; or if the first node is a T node, the first node receives one or more of the above information sent by the G node.

[0057] Of course, the above indication information is only for example and not for limitation.

[0058] In a possible design, the value of R may be preset or predefined, for example, pre-agreed by the first node and the second node, or agreed upon by a protocol.

[0059] In a possible design, the first node may also calibrate the first measurement information according to the calibration information to obtain the calibrated first measurement information; wherein the calibration information is determined according to at least one channel. Accordingly, the first node sends the second measurement information according to the first measurement information and the first feedback method, including: the first node sends the second measurement information according to the calibrated first measurement information and the first feedback method.

[0060] The calibration information is determined according to at least one channel, which can be understood as different channels may have different calibration information, or in other words, corresponding calibration information is designed separately for the channel state information of each channel for calibration.

[0061] In this way, the accuracy of distance measurement can be improved.

[0062] In a possible design, the first node may also send a second ranging frame on at least one channel, and the second ranging frame is used by the second node to perform measurement to obtain third measurement information.

[0063] In this way, bilateral ranging interaction can be achieved, and the reliability of ranging can be improved.

[0064] In one possible design, at least one channel belongs to a first channel group, and the method further includes: the first node receives a third ranging frame on the second channel group; the first node measures the third ranging frame to obtain fourth measurement information; wherein the second channel group includes one or more channels, and at least one channel of the second channel group is different from that of the first channel group; and the first node sends fifth measurement information according to the fourth measurement information and the first feedback method.

[0065] In other words, the embodiments of the present application can be applied to a frequency hopping ranging scenario, and the first node and the second node can perform ranging interaction on different channels (or channel groups) successively, which can improve the accuracy of ranging.

[0066] In one possible design, the first node sends the second measurement information and the fifth measurement information on at least one initial carrier channel.

[0067] In this way, the measurement information is fed back centrally on the initial carrier channel, which can improve the efficiency of ranging interaction and ensure the reliability of the feedback process.

[0068] In a possible design, the channel state information includes a relative value of a reference power level RPL. In addition to sending the second measurement information, the first node may also send the RPL.

[0069] In this way, the dynamic range of the measurement information can be increased, so that limited information bits can indicate more measurement results, the accuracy of measurement information feedback can be improved, and quantization errors can be reduced.

[0070] In one possible design, in addition to sending the second measurement information, RPL, etc., the first node may also send the SNR of at least one channel.

[0071] In this way, the SNR can assist the second node in performing ranging calculations, for example, determining which channels' CSIs to merge based on the SNRs of each channel, thereby further improving the reliability of the ranging solution.

[0072] In a second aspect, a ranging method is provided, including: a second node sending a first ranging frame for ranging on at least one channel; the second node receiving second measurement information from the first node, wherein the second measurement information corresponds to the first ranging frame and the first feedback method, and the second measurement information is used to determine a ranging result, and the ranging result includes a distance between the first node and the second node.

[0073] In one possible design, the first ranging frame includes at least one symbol; the first measurement information indicates channel state information of at least one valid subcarrier corresponding to the at least one symbol.

[0074] In one possible design, the first feedback method indicates feedback of channel state information of all valid subcarriers, and the second measurement information indicates the same channel state information as the first measurement information.

[0075] In one possible design, the first feedback method indicates feedback of channel state information of a DC subcarrier, and the second measurement information includes channel state information of a DC subcarrier corresponding to at least one symbol, wherein the channel state information of the DC subcarrier is determined by interpolation based on channel state information of valid subcarriers adjacent to the DC subcarrier.

[0076] In one possible design, interpolation includes at least one of linear interpolation, nearest neighbor interpolation, cubic spline interpolation, and / or quadratic interpolation.

[0077] In one possible design, the first feedback method indicates feedback of channel state information of at least one subcarrier group, at least one valid subcarrier corresponding to at least one symbol belongs to at least one subcarrier group, and the second measurement information includes channel state information of each subcarrier group in the at least one subcarrier group.

[0078] In a possible design, every M consecutive subcarriers corresponding to at least one symbol are a subcarrier group, where M is a positive integer; or,

[0079] Every P or L consecutive subcarriers corresponding to at least one symbol is a subcarrier group, where P and L are positive integers and P≠L.

[0080] In one possible design, at least one channel includes a first channel and a second channel; among the subcarriers corresponding to the first channel, every consecutive Q subcarriers form a subcarrier group, and among the subcarriers corresponding to the second channel, every consecutive N subcarriers form a subcarrier group, Q and N are positive integers, and Q≠N.

[0081] In one possible design, the channel state information of each subcarrier group is the average value, median value, maximum value, or minimum value of the channel state information of all valid subcarriers in each subcarrier group, or the channel state information of one subcarrier in each subcarrier group.

[0082] In one possible design, the number of subcarriers included in the subcarrier group is related to the ranging range.

[0083] In one possible design, the symbol of the first ranging frame has a CP; or, the symbol of the first ranging frame does not have a CP.

[0084] In one possible design, the symbols in the first ranging frame use resources of overhead symbols of a first type of wireless frame, the first type of wireless frame includes data symbols and overhead symbols; at least one channel is an initial carrier channel; or, the symbols in the first ranging frame use resources of data symbols and overhead symbols of the first type of wireless frame, the first type of wireless frame includes data symbols and overhead symbols; at least one channel is an initial carrier channel; or, the symbols in the first ranging frame use data symbols of a second type of wireless frame, all symbols in the second type of wireless frame are data symbols, and at least one channel is an initial carrier channel or a channel after frequency hopping.

[0085] In one possible design, the second node sends or receives one or more of the following information:

[0086] The first indication information is used to indicate the type of the first ranging frame;

[0087] The second indication information is used to indicate whether the first ranging frame has a CP or does not have a CP;

[0088] The third indication information is used to indicate that the first ranging frame has a normal CP or an extended CP;

[0089] Fourth indication information, used to instruct the first node to feed back channel state information of at least one channel and / or channel number information of the at least one channel;

[0090] The fifth indication information is used to indicate the measurement start position of the first ranging frame;

[0091] Sixth indication information, used to instruct the first node to feed back channel state information corresponding to the Rth symbol in the first ranging frame, where R is a positive integer;

[0092] Seventh indication information, used to instruct the first node to feed back an average value of channel state information corresponding to multiple symbols in the first ranging frame;

[0093] The eighth indication information is used to indicate a first feedback mode in which the first node feeds back channel state information, where the first feedback mode is: feeding back the channel state information of at least one subcarrier group, or feeding back the channel state information of a DC subcarrier, or feeding back the channel state information of all valid subcarriers.

[0094] In a possible design, when the first feedback mode is to feed back channel state information of at least one subcarrier group, the second node further sends or receives one or more of the following information:

[0095] Ninth indication information, used to indicate a grouping parameter of at least one subcarrier group;

[0096] The tenth indication information is used to indicate a calculation method of the channel state information of at least one subcarrier group.

[0097] In one possible design, the second node also receives a second ranging frame on at least one channel, measures the second ranging frame to obtain third measurement information, and the second node determines a ranging result based on the second measurement information and the third measurement information, wherein the ranging result includes the distance between the first node and the second node.

[0098] In one possible design, at least one channel belongs to a first channel group, and the second node may also send a third ranging frame for ranging on the second channel group; wherein the second channel group includes one or more channels, and the second channel group is different from the first channel group in at least one channel; the second node receives fifth measurement information from the first node, wherein the fifth measurement information corresponds to the fourth measurement information and the first feedback method.

[0099] In one possible design, the second node may also receive the second measurement information and the fifth measurement information on at least one initial carrier channel.

[0100] In one possible design, the value of R is preset or predefined.

[0101] In one possible design, the channel state information includes a relative value relative to a reference power level RPL. The second node also receives the RPL.

[0102] In one possible design, the second node also receives an SNR of at least one channel.

[0103] In a third aspect, a ranging device is provided, comprising a module or unit or technical means for implementing the method described in the first aspect or any possible design of the first aspect.

[0104] Exemplarily, the device may include:

[0105] A receiving module, configured to receive a first ranging frame on at least one channel;

[0106] A processing module, configured to measure the first ranging frame to obtain first measurement information;

[0107] The sending module is used to send the second measurement information according to the first measurement information and the first feedback mode.

[0108] In a fourth aspect, a ranging device is provided, comprising a module or unit or technical means for implementing the method described in the second aspect or any possible design of the second aspect.

[0109] Exemplarily, the device may include:

[0110] A sending module, configured to send a first ranging frame for ranging on at least one channel;

[0111] The receiving module is used to receive second measurement information from the first node, wherein the second measurement information corresponds to the first measurement information and the first feedback mode, and the second measurement information is used to determine the ranging result, and the ranging result includes the distance between the first node and the node where the device is located.

[0112] In a fifth aspect, a ranging device is provided, comprising: at least one processor and an interface circuit; the interface circuit is used to receive a signal from another device outside the device and send or receive it to the processor or send a signal from the processor to another device outside the device, and the processor is used to implement the method described in the first aspect or any possible design of the first aspect through a logic circuit or execution code instructions, or is used to implement the method described in the second aspect or any possible design of the second aspect.

[0113] In a sixth aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored. When the computer program or instruction is executed by a communication device, the method described in the first aspect or any possible design of the first aspect is implemented, or the method described in the second aspect or any possible design of the second aspect is implemented.

[0114] In the seventh aspect, a computer program product is provided, in which instructions are stored, and when the computer program product is run on a computer, the computer executes the method described in the first aspect or any possible design of the first aspect, or executes the method described in the second aspect or any possible design of the second aspect.

[0115] In an eighth aspect, a ranging system is provided, including:

[0116] A first node, configured to execute the method as described in the first aspect or any possible design of the first aspect;

[0117] The second node is used to execute the method described in the second aspect or any possible design of the first aspect.

[0118] In the ninth aspect, a computer program product is provided, wherein instructions are stored in the computer program product, which, when executed on a computer, enables the computer to execute the method described in the first aspect or any possible design of the first aspect, or enables the computer to execute the method described in the second aspect or any possible design of the second aspect.

[0119] For the technical effects of the second to ninth aspects mentioned above, please refer to the technical effects that can be achieved by the corresponding designs in the first aspect mentioned above, and they will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0120] Figure 1 A schematic diagram of a possible application scenario provided by an embodiment of the present application;

[0121] Figure 2 A flow chart of a distance measurement method provided in an embodiment of the present application;

[0122] Figure 3 is a schematic diagram of a superframe;

[0123] Figure 4 A schematic diagram of a G-node ranging frame and a T-node ranging frame provided in an embodiment of the present application;

[0124] Figure 5 A schematic diagram of a ranging frame of a G node provided in an embodiment of the present application;

[0125] Figure 6 A schematic diagram of a ranging frame provided in an embodiment of the present application;

[0126] Figure 7 A schematic diagram of a ranging frame provided in an embodiment of the present application;

[0127] Figure 8 A schematic diagram showing that the measurement start symbol is the first symbol of a ranging frame;

[0128] Fig. 9 A schematic diagram of a first node feeding back channel state information corresponding to the first symbol of a ranging frame;

[0129] Fig.10 A schematic diagram of channel state information corresponding to the second symbol of the feedback of the first node ranging frame;

[0130] Fig.11 This is a schematic diagram of frequency hopping ranging;

[0131] Fig.12 A schematic diagram of a distance measuring device provided in an embodiment of the present application;

[0132] Fig.13 A schematic diagram of another distance measuring device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0133] The technical solution provided in the embodiments of the present application can be applied to various wireless communication scenarios, such as vehicle positioning, ranging, angle measurement or perception scenarios, indoor positioning, ranging, angle measurement or perception scenarios, or other wide area wireless communication or local area wireless communication scenarios, and the present application does not limit it. Specific wireless communication technologies include but are not limited to Sparklink, Wireless Fidelity (Wi-Fi), Bluetooth, Bluetooth Low Energy (BLE) or Ultra Wide Band (UWB), etc.

[0134] It can be understood that in the embodiments of the present application, the steps for implementing positioning, ranging, angle measurement, perception, etc. are similar, and thus any one of the terms can be used to simultaneously refer to "positioning", "ranging", "angle measurement", "perception", etc.

[0135] See also Figure 1, which is a schematic diagram of a possible application scenario provided by an embodiment of the present application. In the vehicle-mounted positioning scenario, positioning anchor points (or called positioning stations or position anchor points or anchor points or beacons or measurement nodes) are deployed at the four corners outside the vehicle, such as nodes b, c, d, and e. At least one positioning anchor point is deployed inside the vehicle (such as the interior rearview mirror or the inside of the roof, etc.), such as node a. The car key is the target that needs to be located (i.e., the device to be located or the device to be measured or the tag), such as node A, and its specific implementation can be a traditional car key with a positioning function, or a mobile phone or wearable device with a positioning function. The positioning anchor point and / or the car key can send and / or receive ranging signals, and measure the received ranging signals to obtain corresponding measurement quantities. By calculating the measurement quantities obtained by the positioning anchor point and / or the car key, the location information of the car key (for example, the distance relative to the car) can be obtained.

[0136] In wireless communication scenarios, multiple communication domains may be included within a certain communication area or range. A communication domain refers to a system consisting of a group of communication nodes with communication relationships and communication connection relationships (i.e., communication links) between communication nodes. A communication domain includes a master communication node (which may be referred to as a master node or G node) and at least one slave communication node (which may be referred to as a slave node or T node). The master node is also called a management node, which is responsible for managing the time and frequency resources of the communication domain and has the function of scheduling resources for communication or positioning between communication nodes in the communication domain. The communication link from the G node to the T node is called the G link or downlink, and the communication link from the T node to the G node is called the T link or uplink.

[0137] by Figure 1 Taking the scenario shown as an example, the positioning anchor point, car key, etc. can form a communication domain. Among them, the car key can be a master node (G node), and each positioning anchor point is a slave node (T node); or, one positioning anchor point is a master node, and other positioning anchor points and car keys are slave nodes, which is not limited in this application. For the convenience of explanation, the following explanation is mostly based on G nodes and T nodes as examples, but this application does not limit the node type.

[0138] Understandably, Figure 1 The scenarios shown are only examples. In actual applications, the embodiments of the present application can also be applied to other wireless communication scenarios.

[0139] In wireless communication systems based on Orthogonal Frequency Division Multiplexing (OFDM) signals, frequency hopping ranging technology is used (i.e., the two ranging parties can perform ranging interactions on multiple different channels). The measurement results of multiple channels can be combined to make the measurement bandwidth exceed the bandwidth of a single OFDM signal, thereby obtaining a higher ranging resolution, and thus being less susceptible to multipath interference in multipath-rich environments such as indoors, underground parking lots, and factories, ultimately achieving higher ranging accuracy.

[0140] The SparkLink Basic (SLB) version standard uses OFDM signals as communication signals. In the OFDM frequency hopping ranging system based on SLB, one of a pair of ranging nodes is required to feedback measurement information (such as frequency domain channel state information (Channel-StateInformation, CSI) for the measurement result of the ranging frame (or measurement frame) it receives. The ranging frame includes at least one ranging symbol (such as OFDM symbol) for ranging. For example, in Figure 1 In the scenario shown, the car key can receive the ranging frame, and after measuring the received ranging frame to obtain corresponding measurement information, it is necessary to feed back the measurement information to the positioning anchor point.

[0141] There are some solutions for feeding back CSI in Wi-Fi systems, but these solutions are for transmit precoding in closed-loop multiple-in multiple-out (MIMO) systems. For example, the receiving end feeds back the transmit precoding matrix V to the transmitting end. There is no single-antenna signaling, and the fed-back CSI information cannot be used for bidirectional ranging in frequency hopping ranging (for example, CSI cannot correspond to the frequency hopping channel). Therefore, it is not suitable for measurement information feedback in the above ranging scenario.

[0142] In view of this, a technical solution of this application is provided.

[0143] See also Figure 2 , is a flow chart of a distance measurement method provided in an embodiment of the present application, the method comprising:

[0144] S201. A second node sends a first ranging frame on at least one channel; and a first node receives the first ranging frame on at least one channel.

[0145] The first node is a G node, the second node is a T node, and accordingly, the first ranging frame is a ranging frame of the T node; or, the first node is a T node, the second node is a G node, and accordingly, the first ranging frame is a ranging frame of the G node.

[0146] In one possible design, the first ranging frame includes at least one symbol, which can be used for ranging, angle measurement or perception. For example, in SLB, the ranging symbols of the G link (i.e., G node link) and the T link (i.e., T node link) are the CSI reference signal (CSI-RS) and the sounding reference signal (SRS), respectively. It can be understood that each symbol in the first ranging frame contains all subcarrier information of the at least one channel. Among them, the symbols in the first ranging frame can also be called ranging symbols or measurement symbols, etc., which can be used to achieve purposes such as ranging, angle measurement or perception.

[0147] Optionally, the symbol is an OFDM symbol. For example, in SLB, an 80MHz OFDM symbol with four 20MHz carriers, each carrier can be used for channel measurement of a 20MHz carrier channel, and each carrier has 38 effective subcarriers and one direct current (DC) subcarrier, so the above 80MHz OFDM signal can simultaneously measure four 20MHz carrier channels, where the four carrier channels constitute a channel group.

[0148] The structure of the first ranging frame is introduced below:

[0149] In one possible design, the symbols in the first ranging frame use the resources of the overhead symbols of the first type of wireless frame. In other words, the second node uses the resources of the overhead symbols in the first type of wireless frame to send the symbols of the first ranging frame, and the first node uses the resources of the overhead symbols in the first type of wireless frame to receive the symbols of the first ranging frame. The first type of wireless frame includes data symbols and overhead symbols. The resources refer to the time-frequency resources occupied by symbol transmission.

[0150] Exemplarily, the first type of radio frame may be a radio frame in the SLB standard. The SLB standard defines a transmission frame structure of a superframe: a superframe period is 1 ms, each superframe contains 48 radio frames, and each radio frame contains a number of downlink OFDM symbols (or G link data symbols), uplink OFDM symbols (or T link data symbols), overhead symbols, and an uplink and downlink switching interval (GAP).

[0151] Among them, the symbol used for G link data transmission is called G link data symbol, the symbol used for T link data transmission is called T link data symbol, and when the transmission direction is not distinguished, the G link data symbol and the T link data symbol are collectively referred to as data symbols. Data transmission includes data information transmission (including user data or high-level signaling transmission) and another part of physical layer signal transmission (such as the second type of data information demodulation reference signal).

[0152] Among them, the symbol used for G link system overhead transmission is called G link system overhead symbol, and the symbol used for T link system overhead transmission is called T link system overhead symbol. When the transmission direction is not distinguished, the G link system overhead symbol and the T link system overhead symbol are collectively referred to as system overhead symbols. For example, the synchronization signal belongs to the overhead symbol.

[0153] Overhead symbols can be used by nodes to perform one or more operations such as synchronization, channel detection, and downlink control information (DCI) transmission. Overhead symbols are embedded in each radio frame. The number of available overhead symbols in each radio frame can be 1-2, and accordingly, there are a maximum of 96 overhead symbols in a superframe (SF).

[0154] When the transmission direction is distinguished, the overhead symbols are divided into two types: the overhead symbols used for G link system overhead transmission are called G link system overhead symbols (SG for short), and the overhead symbols used for T link system overhead transmission are called T link system overhead symbols (ST for short). When the transmission direction is not distinguished, the overhead symbols of the G link system and the overhead symbols of the T link system are collectively referred to as system overhead symbols.

[0155] See also Figure 3 , is a schematic diagram of a superframe, including 48 radio frames, numbered 0 to 47, SG represents the G link system overhead symbol, ST represents the T link system overhead symbol resources, G represents the G link data symbol resources, and T represents the T link data symbol resources. Figure 3 In the superframe, each radio frame contains one SG symbol or ST symbol, and the 48 radio frames in a superframe contain a total of 48 overhead symbols.

[0156] In periodic superframe transmission, G and T nodes use reference signals such as the first training signal (FTS) and the second training signal (STS) at the front of the first superframe for timing and frequency synchronization. Synchronization signals can be inserted into each superframe to maintain timing and frequency synchronization, so that the overhead symbols in subsequent superframes can be used for ranging symbol transmission.

[0157] For example, see Figure 4 , which is a schematic diagram of the ranging frame of the G node and the ranging frame of the T node when each wireless frame contains an SG or ST symbol. When each wireless frame contains an SG or ST symbol, a ranging frame may include L overhead symbols, wherein the ranging frame of the G node includes L SG symbols, and the ranging frame of the T node includes L ST symbols. It can be understood that a ranging interaction process includes at least one ranging frame of the G node and at least one ranging frame of the T node.

[0158] For example, see Figure 5, which is a schematic diagram of a ranging frame of a G node when each wireless frame contains two SG or ST symbols.

[0159] certainly, Figure 4 and Figure 5 This is only an example. In actual applications, the ranging frame may have other forms.

[0160] It can be understood that in the above design, at least one channel is the initial carrier channel (or initial carrier channel group) of the first node and the second node. The initial carrier channel (or initial carrier channel group) represents the working carrier channel (or working carrier channel group) of the G node or the T node after the association is completed, that is, the carrier channel (or working carrier channel group) where the ranging negotiation is performed.

[0161] It can be understood that before the G node and the T node perform ranging interaction, they need to associate first. The specific operation process includes: the G node sends an association request to the T node, and the T node replies with an association response to the G node; or, the T node sends an association request to the G node, and the G node replies with an association response to the T node. Among them, when there is no security context between the G node and the T node, the association request can be a "associationRequestNonSec (non-secure association request)" message, and the association response can be a "AssociationSetupNonSec (non-secure association setup)" message; when there is a security context between the G node and the T node, the association request can be a "associationRequestWithSec (secure association request)" message, and the association response can be a "AssociationSetupWithSec (secure association setup)" message.

[0162] Optionally, the initial carrier channel is a channel (or channel group) with the highest frequency among all available channels (or available channel groups) of the first node and the second node.

[0163] On the initial carrier channel, the symbols of the ranging frame use the resources of the overhead symbols of the defined radio frame, which can improve resource utilization while not affecting the communication between the G node and the T node, and has strong backward compatibility.

[0164] In another possible design, the symbols in the first ranging frame use the resources of the data symbols of the second type of wireless frame. In other words, the second node uses the resources of the data symbols in the second type of wireless frame to send the symbols of the first ranging frame, and the first node uses the resources of the data symbols in the second type of wireless frame to receive the symbols of the first ranging frame. The symbols in the second type of wireless frame are all data symbols, and at least one channel is an initial carrier channel or a channel after frequency hopping.

[0165] It can be understood that the second type of wireless frame is different from the first type of wireless frame, and the symbols in the second type of wireless frame are all T data symbol configurations or all G data symbol configurations. There may be no SG symbol, ST symbol and GAP in the second type of wireless frame, and the uplink and downlink switching GAP is implemented between the wireless frame intervals of the G node and the T node.

[0166] In specific implementation, all symbols in the second type of wireless frame can be used for ranging, so the structure of the ranging frame can be consistent with the second type of wireless frame, that is, all symbols in the ranging frame use the resources of all symbols in the second type of wireless frame, or in other words, the ranging frame is the second type of wireless frame, that is, all symbols in the second type of wireless frame constitute the ranging frame. Therefore, in this design, the second type of wireless frame can be replaced with the ranging frame.

[0167] The OFDM symbols of the second type of wireless frames can use FTS and STS in addition to the Channel-State Information-Reference Signal (CSI-RS) and the Sounding Reference Signal (SRS). When a sending node (such as the second node) in a pair of ranging nodes sends any of the above ranging symbols, since the reference signal known to the receiving node is sent, the receiving node can demodulate the reference signal or estimate the channel to obtain CSI. At the receiving node (such as the first node), the channel frequency response value (complex value, referred to as IQ value) of the corresponding frequency corresponding to the subcarrier of an OFDM symbol (or reference signal) used to detect the channel is called the frequency domain CSI of the detected channel.

[0168] The second type of wireless frame supports having a cyclic prefix (CP) or not having a CP. For example, when the symbol type is specifically a CSI-RS or SRS symbol, it may have or not have a CP. For example, when the symbol type is specifically an FTS or STS symbol in an SLB, it does not have a CP. When multiple OFDM symbols without CP (such as FTS or STS symbols) are sent continuously, since there is a natural cyclic shift characteristic between adjacent symbols, the previous symbol can be used as a cyclic prefix for the next symbol. Since the duration of an OFDM symbol is much longer than the duration of a CP, the ability to accommodate multipath delay extension becomes stronger, and the time synchronization requirements between the transmitting and receiving nodes are relaxed, which can reduce the overhead used for time synchronization before the ranging frame.

[0169] Furthermore, when the second type of wireless frame has a CP, the CP can be divided into a regular CP and an extended CP. The extended CP is used in scenarios with a larger ranging range. When the G node and the T node perform frequency hopping to measure multiple carrier channels, the CP configuration on all carrier channels remains consistent.

[0170] The GAP between the second type of wireless frame of the G node and the second type of wireless frame of the T node can occupy the last OFDM symbol of the first second type of wireless frame, such as Figure 6 As shown; or, each second-class radio frame can accommodate 10 CP-free OFDM symbols, and GAP appears between two second-class radio frames (i.e., GAP does not occupy the time within the second-class radio frame). When CP-OFDM symbols (i.e., OFDM symbols with CP) are used as ranging symbols, each radio frame can adopt the same method as the existing radio frame structure in SLB, that is, one radio frame has 8 conventional CP-OFDM symbols or 7 extended CP-OFDM symbols.

[0171] It can be understood that the second type of wireless frame provided in the above design is not a defined wireless frame for G and T node communication, and is therefore applicable to all channels. In other words, the above at least one channel can be the initial carrier channel (or initial carrier channel group) for the first node and the second node, or it can be a channel after frequency hopping.

[0172] The design defines a new wireless frame structure for the transmission of ranging symbols without affecting the transmission of the original wireless frame.

[0173] In another possible design, the symbols in the first ranging frame use resources of data symbols and overhead symbols of the first type of radio frame, and the first type of radio frame includes data symbols and overhead symbols. In other words, the second node uses resources of data symbols and overhead symbols in the first type of radio frame to send symbols of the first ranging frame, and the first node uses resources of data symbols and overhead symbols in the first type of radio frame to receive symbols of the first ranging frame. For the structure of the first type of radio frame, please refer to the above Figure 3 The relevant introduction in will not be repeated here.

[0174] According to the above introduction, in the periodically transmitted superframe, except for the first superframe, the overhead symbols in the subsequent superframes can be used for the transmission of ranging symbols. As for the data symbol resources in the subsequent superframes, if there are surplus data symbols in the G and T node communications, the remaining data symbol resources can also be used for the transmission of ranging symbols. For example, Figure 7 FIG. 1 is a schematic diagram of a possible ranging frame. As to which data symbol resources can be used for the transmission of ranging symbols, the G node and the T node can agree in the ranging negotiation phase and / or indicate it through the preamble information sent before the ranging frame.

[0175] It can be understood that in the above design, at least one channel is an initial carrier channel (or an initial carrier channel group) of the first node and the second node.

[0176] On the initial carrier channel, the ranging symbols of the ranging frame are sent using the resources of the overhead symbols and data symbols of the defined radio frame, which can improve resource utilization without affecting the communication between the G node and the T node, so that the ranging and positioning functions can be carried out in parallel with the communication functions, and the backward compatibility is strong.

[0177] Several possible types of the first ranging frame are introduced above. In practical applications, the first node and the second node need to determine the type of the first ranging frame before transmitting the first ranging frame.

[0178] In one possible design, the first node and the second node may determine the type of the first ranging frame in the ranging negotiation phase. For example, the G node among the first node and the second node configures the type of the first ranging frame and sends first indication information to indicate the type of the first ranging frame.

[0179] Specifically, if the first node is a G node, the first node sends the first indication information, and the second node receives the first indication information; if the first node is a T node, the second node sends the first indication information, and the first node receives the first indication information.

[0180] Optionally, the first indication information can be included in the first message during the ranging negotiation phase, so that after receiving the first message, the node receiving the first message can determine the type of ranging frame that needs to interact with the node sending the first message, thereby preparing to send or receive the ranging frame in advance.

[0181] For example, define Figure 4 The ranging frame shown is type 1, Figure 5 The ranging frame shown is type 2, Figure 6 The ranging frame shown is type 3, Figure 7 The ranging frame shown is of type 4, then the first node may send or receive first indication information, where the first indication information is used to indicate any one of type 1, type 2, type 3, and type 4.

[0182] In addition to indicating the type of ranging frame in the ranging negotiation phase, the G node may also indicate the type of ranging frame through the radio frame structure information in the leading information sent before the ranging frame. For example, the leading information sent by the G node indicates the specific number of the radio frame structure, thereby determining the structure of the ranging frame.

[0183] For example, the following Table 1 is an example of the radio frame structure under various ratios of G link symbols and T link symbols in the extended CP configuration. Among them, the radio frame structure 0-11 indicates that there are both G link ranging symbols and T link ranging symbols in a radio frame, and the radio frame structure 12-13 indicates that there are only G link ranging symbols or T link ranging symbols in a radio frame, which can be used for the transmission of ranging frame type 3. The radio frame structure based on the conventional cyclic prefix configuration is similar to Table 1, except that the resources with 8 OFDM symbols in a radio frame are used to carry the G link ranging symbols and the T link ranging symbols.

[0184] Table 1 Radio frame structure based on extended cyclic prefix configuration

[0185]

[0186] Furthermore, before transmitting the first ranging frame, the first node and the second node also need to determine whether the first ranging frame has a CP.

[0187] In one possible design, the first node and the second node may determine whether the first ranging frame has a CP during the ranging negotiation phase. For example, the G node among the first node and the second node configures whether the first ranging frame has a CP or not, and sends second indication information to indicate whether the first ranging frame has a CP or not.

[0188] It can be understood that in actual applications, the first indication information and the second indication information can be the same indication information, that is, one indication information can simultaneously indicate the frame type and whether there is a CP. For example, the first indication information indicates that the frame type is Figure 4 The ranging frame (type 1) shown in FIG. 1 does not have a CP, so there is no need to use additional indication information to indicate whether there is a CP.

[0189] Of course, the first indication information and the second indication information may also be different indication information. For example, the first indication information indicates that the frame type is Figure 5 The ranging frame (type 2) shown in FIG. 1 may have a CP or may not have a CP, so an additional second indication information may be configured to indicate whether the first ranging frame has a CP.

[0190] Optionally, the first indication information and the second indication information are both carried in the first message. In this way, resource overhead can be saved.

[0191] Further, when the first ranging frame has a CP, the first node and the second node need to determine whether the CP of the first ranging frame is a normal CP or an extended CP before transmitting the first ranging frame.

[0192] In one possible design, the first node and the second node may determine in the ranging negotiation stage that the first ranging frame has a regular CP or an extended CP. For example, the G node among the first node and the second node configures the first ranging frame to have or not have a regular CP or an extended CP, and sends third indication information to indicate that the first ranging frame has a regular CP or an extended CP.

[0193] Optionally, the third indication information may also be carried in the first message. In this way, resource overhead can be further saved.

[0194] S202: The first node measures a first ranging frame to obtain first measurement information.

[0195] As an example, when OFDM symbols are used as ranging symbols, an OFDM signal with an effective bandwidth of approximately 20 MHz can be called a carrier (the channel that sends the carrier OFDM signal is called a carrier channel), and the center frequency of the 20 MHz OFDM signal (i.e., the DC subcarrier) is called the carrier frequency. That is, a carrier is composed of 39 consecutive subcarriers, and the 39 subcarriers are numbered in order from low to high according to the corresponding frequencies #0, #1,…, #38, where #19 subcarrier is a direct current (DC) subcarrier. Except for the DC subcarrier, the other 38 subcarriers are called effective subcarriers. G nodes and T nodes may operate on multiple carrier channels, and multiple carrier channels constitute a carrier channel group (corresponding to a channel group). For ease of description, the carrier channel is referred to as a channel in the embodiments of the present application.

[0196] It should be understood that when the first node measures the first ranging frame, it actually measures each valid subcarrier, so the first measurement information obtained by measurement can indicate the channel state information of the frequency corresponding to at least one valid subcarrier of at least one symbol corresponding to the first ranging frame.

[0197] For the convenience of description, in this document, "channel state information of the frequency corresponding to the subcarrier" may also be referred to as "channel state information of the subcarrier".

[0198] In addition, the "channel state information" in this article may also be referred to as "CSI", "CSI information", "CSI feedback information", "feedback information", etc.

[0199] In specific implementation, the receiver of the first node performs fast Fourier transform (FFT) on the received data in the time domain, and then demodulates and / or estimates the channel for the known modulation sequences of CSI-RS, SRS, etc., to obtain the channel frequency response value (or channel estimation value) of each effective subcarrier, which can be represented by complex values ​​(such as I value and Q value, referred to as IQ value). These IQ values ​​can be called frequency domain channel state information (i.e., frequency domain CSI). Because this article mainly discusses frequency domain channel state information, in the following text, frequency domain channel state information can be referred to as channel state information (CSI).

[0200] In a possible design, during the ranging negotiation phase, the first node and the second node also determine the channel state information of the at least one channel to be fed back after the measurement (i.e., determine that the measurement is for the frequency domain CSI measurement). For example, the G node (the first node or the second node) also sends a fourth indication information to instruct the first node to feed back the channel state information of at least one channel, and / or the channel number information of at least one channel. Optionally, for the frequency hopping ranging scenario, the fourth indication information may also indicate the carrier channel number and / or subcarrier number corresponding to the fed back channel state information. Among them, the carrier channel number represents the channel number of the carrier (for example, a 20MHz carrier), so that after multiple channels complete the frequency hopping measurement, the channel state information corresponding to the multiple channels can be fed back together, and the channel state information can correspond to the channel to which it belongs through the channel number, so as to facilitate the merging of the channel state information of multiple channels in the frequency hopping ranging signal processing.

[0201] As can be seen from the above, there may be one ranging frame symbol or multiple ranging symbols in the first ranging frame. Therefore, when there are multiple ranging frame symbols in the first ranging frame, the first node needs to determine which symbols to measure or which symbol to start measuring from before measuring the first ranging frame.

[0202] In one possible design, the symbols of the first ranging frame have a CP, and the first node may start measuring from the first symbol in the first ranging frame. Figure 8 , a schematic diagram in which the measurement start symbol is the first symbol. Wherein, the channel state information of the radio frame 1 and the radio frame 2 are both the channel state information corresponding to the first symbol.

[0203] In another possible design, the symbol of the first ranging frame does not have a CP, and the first node can start measuring from the second symbol of the first ranging frame. It can be understood that the first ranging frame does not have a CP to combat multipath interference, so the first symbol can be sacrificed to combat multipath interference and play the role of a CP to improve the accuracy of the measurement.

[0204] In another possible design, the first node starts measuring from a designated symbol of the first ranging frame according to indication information or pre-setting or pre-agreement.

[0205] Exemplarily, the first node and the second node may configure the measurement start position (or measurement start symbol) in the ranging negotiation phase. For example, the G node of the first node and the second node sends fifth indication information for indicating the measurement start position of the first ranging frame (i.e., from which symbol to start measurement, for example, the Rth symbol, where R is a positive integer and a fixed value).

[0206] Exemplarily, the protocol stipulates or the first node and the second node agree on the measurement start position of the first ranging frame (ie, from which symbol the measurement starts, for example, the Rth symbol, where R is a positive integer and is a fixed value once agreed upon).

[0207] Further, when the first node measures multiple symbols of the first ranging frame, it is necessary to determine which symbols correspond to which channel state information the first node feeds back.

[0208] In one possible design, when the first ranging frame includes multiple symbols, the first node determines the channel state information corresponding to the Rth symbol in the first ranging frame based on the channel state information corresponding to the multiple symbols, where R is a positive integer; and the first measurement information indicates the channel state information corresponding to the Rth symbol.

[0209] Among them, the first node determines the channel state information corresponding to the Rth symbol in the first ranging frame based on the channel state information corresponding to the multiple symbols, which can be understood as: when the first node measures the multiple symbols of the first ranging frame and feeds back the channel state information corresponding to the Rth symbol in the first ranging frame, the channel state information corresponding to the other symbols in the first ranging frame except the Rth symbol can be converted into the channel state information corresponding to the Rth symbol, or in other words, the channel state information corresponding to the other symbols in the first ranging frame except the Rth symbol can be used to assist in estimating the channel state information corresponding to the Rth symbol. For example, when determining the channel state information corresponding to the Rth symbol, the CSI, symbol duration, carrier frequency offset (Carrier Frequency Offset, CFO) and other information calculated based on at least one symbol after the Rth symbol are converted into the estimated CSI corresponding to the Rth symbol and the CSI measured by the Rth symbol is corrected, so that the signal-to-noise ratio and the accuracy of the CSI corresponding to the Rth symbol can be improved.

[0210] By indicating or agreeing in advance, one of the nodes (such as the first node) of the two ranging parties feeds back the CSI corresponding to the Rth symbol, so that when the other node (such as the second node) in the frequency hopping ranging merges the CSIs of the two nodes, the CSI corresponding to the symbols with the same resource sequence number can be merged (for example, the CSI corresponding to the Rth symbol in the first ranging frame and the CSI corresponding to the Rth symbol in the second ranging frame are merged, and the second ranging frame is a ranging frame sent by the first node and used for the second node to perform measurement).

[0211] The resource sequence number is used to indicate the position of the symbol in the ranging frame. For example, if the ranging frame includes N symbols, the resource sequence number of the N symbols can indicate the order in which the N symbols appear in the time domain, indicating the symbol in the ranging frame. For example, the resource sequence number of the first symbol can be 0, the resource sequence number of the second symbol can be 1, ..., and the resource sequence number of the Nth symbol can be N-1. Of course, this is only an example and not a limitation.

[0212] In this way, it is possible to avoid combining CSIs corresponding to symbols with different resource numbers during frequency hopping ranging.

[0213] As an example, when the symbol of the first ranging frame has a CP, the first node feeds back the channel state information corresponding to the first symbol, that is, the first measurement information indicates the channel state information corresponding to the first symbol, such as Fig. 9 shown.

[0214] The measurement results of other symbols in the frame should be converted to the measurement results of the first symbol. For example, when measuring the frequency domain CSI of OFDM subcarriers, due to the existence of residual carrier frequency offset (CFO), the phase of the same subcarrier of the first symbol and the second symbol is not the same, so the position of the measurement symbol should be specified, and the phase of other symbols should be aligned and estimated according to the appearance time of the first symbol, so that the channel state information corresponding to other symbols in the wireless frame except the first symbol is converted to the first ranging symbol and the channel state information of the first symbol is corrected, and finally the channel state information corresponding to the first symbol is fed back.

[0215] As an example, when the symbol of the first ranging frame does not have a CP, the first node feeds back the channel state information corresponding to the second symbol, that is, the first measurement information indicates the channel state information corresponding to the second symbol, such as Fig.10 shown.

[0216] Of course, the above two are only examples. In practical applications, R can also take other values, which are not limited in this application.

[0217] In another possible design, when the first ranging frame includes multiple symbols, the first node determines the statistical values ​​of the channel state information corresponding to the multiple symbols, such as the maximum value, the minimum value, or the average value, based on the channel state information corresponding to the multiple symbols; the first measurement information indicates the statistical values ​​of the channel state information corresponding to the multiple symbols.

[0218] In order to ensure smooth measurement interaction between the first node and the second node, the first node and the second node need to determine which symbols the first node feeds back corresponding to channel state information before transmitting the first ranging frame.

[0219] For example, in the ranging negotiation phase or when sending the leading information, the G node (the first node or the second node) sends the seventh indication information to instruct the first node to feed back the average value of the channel state information corresponding to the multiple symbols in the first ranging frame. Sending the average value of the channel state information corresponding to the multiple symbols can obtain the channel state information with high SNR in a simple processing manner, and avoid merging the CSI corresponding to the symbols with different resource numbers. For example, in the ranging negotiation phase or when sending the leading information, the G node (the first node or the second node) sends the sixth indication information to instruct the first node to feed back the channel state information corresponding to the Rth symbol in the first ranging frame, and so on. Sending the channel state information corresponding to the Rth symbol can be fed back as the channel state information corresponding to the specified symbol, which can avoid the incoherent combining gain caused by merging the corresponding CSI of different resource numbers.

[0220] During frequency hopping ranging, after the G node sends the sixth indication information or the seventh indication information, the first node can maintain the same feedback mode on each frequency hopping channel (group) so that the CSI on different channels can be coherently combined to obtain the high bandwidth gain of frequency hopping ranging.

[0221] S203: The first node sends second measurement information according to the first measurement information and the first feedback method; the second node receives the second measurement information from the first node.

[0222] As an optional implementation, after obtaining the first measurement information, the first node may also calibrate it to eliminate non-ideal characteristics introduced by the RF transceiver channel and antenna contained in the first measurement information, and then the first node sends the second measurement information according to the calibrated first measurement information and the first feedback method.

[0223] Exemplarily, the first node calibrates the first measurement information according to the calibration information to obtain the calibrated first measurement information; wherein the calibration information is determined according to at least one channel.

[0224] The calibration information is determined based on at least one channel. It can be understood that the channel state information corresponding to the channel needs to be calibrated based on the calibration information corresponding to the channel. Different channels may correspond to different calibration information.

[0225] For example, the definition of the IQ value of a single subcarrier may be the subcarrier IQ value at the antenna connector of the first node when the Rth symbol in the first ranging frame arrives. During implementation, the loopback measurement results of different frequency bands or channels, and / or the baseband processing delay, need to be calibrated at the baseband for the subcarrier IQ value estimated for the original received signal to obtain the subcarrier IQ value at the antenna connector.

[0226] In this way, the accuracy of the channel state information can be improved, thereby improving the accuracy of ranging.

[0227] In the embodiment of the present application, the first node measures and obtains the first measurement information, but the form of the measurement information finally fed back by the first node (whether the first measurement information is fed back directly or the first measurement information is fed back after further processing) needs to be determined according to the first feedback method.

[0228] The first feedback mode may belong to a predefined or configured feedback mode set, and the feedback mode set defines a plurality of different feedback modes.

[0229] Here are some possible feedback methods:

[0230] 1. The first feedback mode indicates feedback of the channel state information of all valid subcarriers. In this case, the second measurement information indicates the same channel state information as the first measurement information. In other words, the second measurement information also indicates the channel state information of at least one valid subcarrier of at least one symbol corresponding to the first ranging frame.

[0231] For example, when the number of at least one channel is one, the first measurement information may indicate the channel state information of 38 valid subcarriers of the channel, and the second measurement information also indicates the channel state information of 38 valid subcarriers of the channel.

[0232] For example, when the number of at least one channel is multiple, the first measurement information may indicate the channel state information of 38 valid subcarriers of each of the multiple channels, and the second measurement information also indicates the channel state information of 38 valid subcarriers of each of the multiple channels.

[0233] In a specific implementation, the second measurement information may be carried in a CSI report message. For example, Table 2 is an example of a CSI report message corresponding to a 20 MHz carrier under the first feedback mode.

[0234] It can be understood that when the ranging frame is carried by multiple 20MHz carriers, the CSI feedback of each 20MHz is shown in Table 2. For the three non-effective subcarriers used as intervals between adjacent 20MHz carriers, since there is no modulation signal and CSI cannot be measured, they may not be fed back as part of the CSI, thereby reducing the amount of CSI feedback data.

[0235] Table 2 CSI report message (20MHz carrier)

[0236]

[0237] In frequency hopping ranging, in the CSI report message shown in Table 2, the carrier channel number (ChannelNumber) and / or subcarrier number corresponding to the fed-back CSI should be indicated according to the fourth indication information, where ChannelNumber can be a channel number corresponding to a carrier, that is, indicating the channel corresponding to the reported CSI (CSI values ​​corresponding to 0# to 38# subcarriers).

[0238] 2. The first feedback mode indicates the feedback of the channel state information of the DC subcarrier. In this case, the second measurement information indicates different channel state information from the first measurement information, and the second measurement information is determined based on the first measurement information. The second measurement information includes the channel state information of the DC subcarrier corresponding to at least one symbol, wherein the channel state information of the DC subcarrier is determined by interpolation based on the channel state information of the valid subcarriers adjacent to the DC subcarrier. The interpolation includes at least one of linear interpolation, nearest neighbor interpolation, cubic spline interpolation, and / or quadratic interpolation, which is not limited in this application.

[0239] According to the above introduction, each channel includes 38 valid subcarriers and 1 DC subcarrier, so when the number of at least one channel is multiple, the second measurement information includes the channel state information of the DC subcarriers of the multiple channels. The channel state information of each DC subcarrier is determined by interpolation based on the channel state information of other valid subcarriers on the channel to which the DC subcarrier belongs.

[0240] For example, on a 2.4GHz channel, the DC subcarrier spacing is 5MHz, and the unambiguous distance (i.e., the maximum ranging range) is 60m; for example, on a 2.4GHz & 5GHz channel, the minimum DC subcarrier spacing is 5MHz, and the unambiguous distance is also 60m. It can be seen that when the DC subcarrier spacing is 5MHz, the method of feeding back the channel state information of the DC subcarrier can support a ranging range of 60m, which is in line with most short-distance ranging scenarios.

[0241] 3. The first feedback mode indicates group feedback, that is, the first feedback mode indicates feedback of channel state information of at least one subcarrier group, wherein at least one valid subcarrier corresponding to at least one symbol belongs to at least one subcarrier group, and the second measurement information includes channel state information of each subcarrier group in the at least one subcarrier group. In this case, the second measurement information indicates different channel state information from the first measurement information, and the second measurement information is determined based on the first measurement information.

[0242] It can be understood that, in the text, the number of subcarriers included in a subcarrier group may also be referred to as a subcarrier grouping interval, a subcarrier group interval, etc. The grouping interval may indicate a grouping method, such as how many subcarriers form a subcarrier group.

[0243] When grouping, only valid subcarriers may be considered for grouping, or both valid subcarriers and DC subcarriers may be considered for grouping. In other words, a subcarrier group may include only valid subcarriers, or both valid subcarriers and DC subcarriers. This application does not impose any restrictions. After the valid subcarriers are grouped, only the CSI of one subcarrier may be fed back in each subcarrier group, which can reduce the amount of CSI data fed back (i.e., the amount of data of the second measurement information).

[0244] Here are some possible grouping methods:

[0245] Mode 1: Every M consecutive subcarriers corresponding to at least one symbol are a subcarrier group, where M is a positive integer.

[0246] For example, for any one of the at least one channel, among its 39 subcarriers, three consecutive subcarriers may be grouped together, and 13 subcarrier groups may be formed in total. Of course, this is only an example and not a limitation.

[0247] This grouping method is simple and easy to implement.

[0248] Mode 2: Every continuous P or L subcarriers corresponding to at least one symbol is a subcarrier group, where P and L are positive integers and P≠L.

[0249] It should be noted that the subcarrier group consisting of P subcarriers and the subcarrier group consisting of L subcarriers exist at the same time, that is, two different grouping intervals can exist at the same time.

[0250] For example, for any one of the at least one channels (corresponding to a bandwidth of 20 MHz), among its 39 subcarriers, a subcarrier group can be formed by every 4 or 3 consecutive subcarriers, and then it can be divided into 12 groups, of which the number of subcarriers in 3 groups is 4, and the number of subcarriers in the other 9 groups is 3. Of course, this is only an example and not a limitation.

[0251] This grouping method can ensure that all subcarriers can be divided into subcarrier groups, thereby improving the reliability of the solution.

[0252] Optionally, the difference between P and L is 1 or 2.

[0253] For example: Among the subcarriers in a certain channel, some subcarriers are grouped into a subcarrier group with every P consecutive subcarriers, and the other part is grouped into a subcarrier group with every L consecutive subcarriers, where L=P-2, and the DC subcarrier is included in the subcarrier group with L subcarriers. The advantage of this is that the effective subcarriers on both sides of the DC subcarrier appear in pairs, for example, #0, #16, and #18 subcarriers are paired with #38, #22, and #20 respectively. Selecting subcarriers that appear in pairs facilitates interpolation of blank DC subcarriers and blank subcarriers between adjacent 20MHz carriers. As shown in Table 3, when P=4, by setting L=2 in the place containing the #19 DC subcarrier, #18 and #20 subcarriers are selected, so that all selected subcarriers are symmetrical subcarriers relative to the DC subcarrier. Symmetrical subcarrier selection helps the processing algorithm eliminate the impact of DC and improve the CSI of combined multiple channels.

[0254] In a specific example, when P=4 and L=3, it means that every consecutive 4 (P) or 3 (L) subcarriers in a carrier constitute a first granularity subcarrier group.

[0255] As shown in Table 3, this is an example of a CSI report message when the subcarrier grouping is 2 (P=L=2), the subcarrier grouping is 4 (P=4, L=3), and the subcarrier grouping is 8 (P=8, L=6) in the first feedback mode. In this case, a subcarrier is designated in each subcarrier group as the representative of the subcarrier group for feedback. Among them, L is used to describe the exception caused by the inability to evenly group the DC subcarrier, so the subcarrier grouping parameter can be represented by P only, and L can be omitted.

[0256] Table 3 CSI report message when subcarriers are grouped (per 20MHz carrier)

[0257]

[0258] In an embodiment of the present application, when the number of at least one channel is multiple, the grouping interval of the subcarriers corresponding to all channels (or the subcarrier group interval, which is equal to the number of subcarriers P contained in the subcarrier group) can be the same (i.e., uniform grouping) or different (i.e., uneven grouping), and the present application does not impose any restrictions.

[0259] For example, at least one channel includes a first channel and a second channel; among the subcarriers corresponding to the first channel, every consecutive Q subcarriers form a subcarrier group, and among the subcarriers corresponding to the second channel, every consecutive N subcarriers form a subcarrier group, Q and N are positive integers, and Q≠N.

[0260] When configuring the parameters for CSI feedback at the G node, the uniform grouping mode or the non-uniform grouping mode should be indicated in the CSI configuration information. When the uniform grouping mode is indicated, the subcarrier grouping parameter of all measured channels is P; when the non-uniform grouping mode is used, different P values ​​are used to indicate the grouping parameters of each channel. For example, when a total of 4 channels are measured (such as frequency hopping measurement), 4 different P values ​​can be configured:

[0261] Channel 1, P = 1 (indicating that the subcarrier grouping interval on channel 1 is 1, i.e., full feedback);

[0262] Channel 2, P = 1 (indicating that the subcarrier grouping interval on channel 2 is 1, i.e., full feedback);

[0263] Channel 3, P=2 (indicating that the subcarrier grouping interval on channel 3 is 2, that is, the grouping parameter P=2);

[0264] Channel 4, P=4 (indicating that the subcarrier grouping interval on channel 3 is 2, that is, the grouping parameter P=4).

[0265] In the above-mentioned method 1 or method 2, the channel state information of each subcarrier group can be a statistical value (such as an average value, a median value, a maximum value, a minimum value, etc.) of the channel state information of all valid subcarriers in the subcarrier group, so that the feedback amount can be reduced.

[0266] In the above-mentioned method 1 or method 2, the channel state information of each subcarrier group can also be the channel state information of a subcarrier in the subcarrier group, such as the channel state information of the first subcarrier or the last subcarrier or the subcarrier in the middle. In this way, not only the feedback amount can be reduced, but also the implementation method is simple, easy to implement and has strong reliability.

[0267] The above-mentioned methods 1 and 2 are to group all subcarriers. In practical applications, only some subcarriers can be selected for grouping. For example:

[0268] Mode 3: Divide the subcarrier groups using G subcarriers as comb teeth. Specifically, a valid subcarrier is selected from each of the G consecutive subcarriers and the subcarrier is used as a subcarrier group alone, that is, each subcarrier group contains only one subcarrier.

[0269] For example, 39 subcarriers corresponding to a channel can be divided into 8 subcarrier groups with 5 as the comb teeth, and the subcarriers included in each subcarrier group are #0, #5, #10, #15, #20, #25, #30, and #35 respectively.

[0270] In mode 3, the channel state information of each subcarrier group is the channel state information of the subcarriers included in the subcarrier group.

[0271] It can be understood that under the above-mentioned methods 1 and 2, if the channel state information of each subcarrier group is the channel state information of a valid subcarrier in the subcarrier group, the feedback effect ultimately achieved is similar to the feedback effect of method 3, that is, the channel state information of each subcarrier group is essentially the channel state information of a valid subcarrier.

[0272] In the embodiment of the present application, before the first node and the second node transmit the first ranging frame, it is also necessary to determine a first feedback mode in which the first node feeds back channel state information.

[0273] In a possible design, the first node and the second node may determine a first feedback mode for the first node to feed back channel state information during the ranging negotiation phase. For example, the first feedback mode is determined by the G node among the first node and the second node, and the eighth indication information is sent to indicate the first feedback mode for the first node to feed back channel state information, and the first feedback mode is: feeding back the channel state information of at least one subcarrier group, or feeding back the channel state information of the DC subcarrier, or feeding back the channel state information of all valid subcarriers.

[0274] Furthermore, when the first feedback method is to feed back channel state information of at least one subcarrier group, the first node and the second node also need to determine the grouping parameters of the at least one subcarrier group, the calculation method of the channel state information of the at least one subcarrier group, and so on.

[0275] Among them, the grouping parameter is used to indicate the way of dividing the subcarrier groups. For example, the grouping parameter can indicate that the grouping method is the above-mentioned method 1 or method 2 or method 3, etc. Optionally, the grouping parameter also indicates the specific grouping interval under the corresponding grouping method (that is, the number of subcarriers contained in the subcarrier group), such as M, or P and L in the above text. Optionally, the grouping parameter can also indicate whether different channels are evenly grouped or unevenly grouped. When unevenly grouped, the grouping parameter can also be the grouping interval of different channels, such as the values ​​of Q and N in the above text. Of course, the above are just some examples of grouping parameters. In practical applications, as long as they are parameters used to indicate the grouping method, they can all belong to grouping parameters.

[0276] The calculation method is used to indicate a method for determining the channel state information of the subcarrier group. For example, the channel state information of each subcarrier group is an average value of the channel state information of all valid subcarriers in the subcarrier group, or the channel state information of each subcarrier group is the channel state information of one subcarrier in the subcarrier group, and so on.

[0277] In one possible design, the first node and the second node may determine the grouping parameters of the at least one subcarrier group, the calculation method of the channel state information of the at least one subcarrier group, etc. during the ranging negotiation phase.

[0278] For example, the G node among the first node and the second node determines the grouping parameters of the at least one subcarrier group and the calculation method of the channel state information of the at least one subcarrier group, and sends the ninth indication information and the tenth indication information, which are respectively used to indicate the grouping parameters of the at least one subcarrier group and the calculation method of the channel state information of the at least one subcarrier group.

[0279] Optionally, the ninth indication information and / or the tenth indication information and the eighth indication information may be carried in the same message, such as a second message, so that resource overhead may be saved. The second message may be the same as or different from the first message, and this application does not limit this.

[0280] In the specific implementation process, the number of subcarriers included in the subcarrier group may be related to the ranging range. For example, if the ranging range is larger, the number of subcarriers included in the subcarrier group is smaller, and vice versa, if the ranging range is smaller, the number of subcarriers included in the subcarrier group is larger.

[0281] For example, using D max Indicates the maximum ranging range, B SC Indicates the number of subcarriers contained in the subcarrier group, and satisfies the following relationship:

[0282] D max =c / 2B SC ;

[0283] The value of c is the speed of light 3×10 8 m / s. For example, B SC =480kHz, the corresponding maximum ranging range is 312.5m; B SC =480×4kHz, the corresponding maximum ranging range is 78.125m.

[0284] In actual applications, for positioning applications that do not require a large ranging range, the corresponding subcarrier group interval can be expanded to reduce the amount of feedback data and reduce feedback overhead and power consumption.

[0285] In a specific implementation process, the number of subcarriers included in the subcarrier group may also be related to the feedback capability of the first node, such as the amount of data that can be fed back. For example, the less the amount of data that the first node can feed back, the more subcarrier data included in the subcarrier group. Conversely, the more the amount of data that the first node can feed back, the less subcarrier data included in the subcarrier group.

[0286] As an optional implementation, a reference power level RPL (Reference Power Level) may be used as a reference value, and the channel state information to be fed back, such as an IQ value, may be expressed as a relative value relative to the RPL.

[0287] for example:

[0288]

[0289] Among them, IQ[linear] represents the relative value (not dB value) relative to RPL[dBm], RPL[dBm] represents the relative reference value used by the measured value IQ[dBm], and IQ[dBm] represents the actual measured value of the sampling point. Setting the reference value RPL is conducive to increasing the dynamic range of CSI feedback information, so that limited information bits can indicate more CSI, improve the accuracy of measurement information feedback, and reduce quantization errors. According to the above formula, the sending device of CSI information can calculate the IQ[dBm] to be fed back based on the measured IQ[linear] and RPL[dBm]. The denominator 1024 in the above formula can be replaced by other values.

[0290] In specific implementation, for one or more carrier channels, only one reference value RPL [dBm] may be fed back to reduce the amount of data for feedback CSI information; or one reference value may be fed back for every C carrier channels, where C is a positive integer; or one reference value may be fed back for every S subcarriers, where S is a positive integer. Optionally, for one carrier channel, the reference value RPL [dBm] needs to be fed back together with the CSI information (such as the CSI information shown in Table 2 or Table 3). Setting the reference value RPL is beneficial to increasing the dynamic range of CSI feedback information, allowing limited information bits to indicate more CSI, improving the accuracy of measurement information feedback, and reducing quantization errors.

[0291] When the frequency hopping bandwidth is large, different RPL values ​​can be fed back on different channels, for example, RPL1 is fed back on channel 1 and RPL2 is fed back on channel 2. By setting different RPL values ​​according to the average power of received symbols on different channels, the frequency selectivity when the frequency hopping bandwidth is large can be overcome and a more accurate CSI quantization value can be given.

[0292] An example of the amount of data to be fed back: for one 80MHz OFDM signal measurement, the amount of data to be fed back is 38*4*12*2=3648 bits; for three 80MHz OFDM signal measurements, the amount of data to be fed back is 38*4*12*2*3=10944 bits. It can be seen that even for the frequency hopping of 80MHz OFDM, the amount of data to be fed back does not exceed 11 kbit. It can be seen that the above method can effectively reduce the amount of data feedback, so that the first node can complete the transmission of CSI feedback information in a shorter time.

[0293] The above steps S201 to S203 provide a solution for how the first node feeds back measurement information when the first node and the second node perform ranging interaction, that is, after the first node obtains the first measurement information by measuring the first ranging frame, the first node sends the second measurement information to the second node according to the first measurement information and the first feedback method, which can improve the reliability of ranging. In addition, the above solution provides multiple feedback methods, and the first node can flexibly select any feedback method for feedback, which can realize flexible feedback of measurement information compared to a single fixed feedback method.

[0294] It can be understood that in the embodiment of the present application, when the first node is a T node, its CSI information feedback is divided into two feedback types: feedback type 1 is CSI information measured for the G node, and feedback type 2 is CSI information measured for the T node. The description of the above two types of CSI feedback processes is as follows:

[0295] Feedback type 1: In SLB, since the initial carrier channel only supports G link symbols and T link symbols for carrying CSI feedback information, the T node participating in the frequency hopping ranging needs to feed back the CSI information to the G node. If the measured node or the located node is a G node, the G node performs CSI information merging processing based on the CSI information of at least one T node measured by itself and the CSI information received from at least one T node to obtain the ranging result. The ranging result includes the distance between the first node and the second node.

[0296] Feedback type 2: In SLB, if the G node and the T2 node are positioning anchor points and the T1 node is the target node to be measured (measured node), the T1 node first sends the measured CSI information of the T2 node (expressed as T2-T1) to the G node, and then the G node sends the received CSI information T2-T1 to the T2 node, so that the T2 node can combine the CSI information (T1-T2) measured on the T1 node and the CSI information (T2-T1) received from the G node to obtain the distance between the T1 and T2 nodes.

[0297] This helps to reduce the time interval between ranging interactions on different channels, thereby reducing the total duration of channel hopping measurements, which is helpful for coping with dynamic changes in channels during ranging of mobile targets and can improve ranging accuracy.

[0298] In a possible design, after step S203, the second node may obtain a ranging result according to the second measurement information, wherein the ranging result includes the distance between the first node and the second node.

[0299] Take the case where the ranging interaction between the first node and the second node is a bilateral ranging interaction, that is, the first node measures the ranging frame (i.e., the first ranging frame) sent by the second node, and the second node also measures the ranging frame (i.e., the second ranging frame) sent by the first node. Correspondingly, the second node receives the second ranging frame on the at least one channel, measures the second ranging frame to obtain the third measurement information, and then the second node determines the ranging result based on the second measurement information and the third measurement information. The ranging result includes the distance between the first node and the second node.

[0300] In one possible design, the first node and the second node may perform frequency hopping ranging.

[0301] Exemplarily, the at least one channel belongs to the first channel group. Before step S201 or after step S203, the method may further include:

[0302] The second node sends a third ranging frame on the second channel group, and the first node receives the third ranging frame on the second channel group; the first node measures the third ranging frame to obtain fourth measurement information; and the first node sends fifth measurement information according to the fourth measurement information and the first feedback mode. The second channel group includes one or more channels, and the second channel group is different from the first channel group in at least one channel.

[0303] For example, see Fig.11 , which is an example of frequency hopping ranging, the first node and the second node can perform a ranging interaction on channel groups 1, 2, and 3 respectively, and the above S201~S203 can be a ranging interaction on any one of channel groups 1, 2, and 3.

[0304] Through frequency hopping ranging, the technical effect of merging large bandwidth signal measurements can be achieved, which can improve the ranging resolution and accuracy.

[0305] In one possible design, after measuring the first ranging frame, the first node can feed back the SNR of the at least one channel in addition to feeding back CSI information (i.e., sending the second measurement information) and RPL. The SNR may be the SNR corresponding to one or more carrier channels, or the average SNR corresponding to a carrier channel group, which is not limited in this application. The unit of SNR is dB.

[0306] In this way, the second node can use the SNR to indicate the signal quality of the fed-back CSI information, and then perform ranging calculation for the CSI information based on the signal quality of the CSI information, for example, combining the CSI information of the channel with a high SNR can improve the accuracy of ranging. In addition, when the SNR is not sufficient to indicate the signal quality, the signal quality of the CSI information can also be indicated by rating or scoring the signal quality.

[0307] In one possible design, the first node may feed back measurement information (such as the second measurement information and the fifth measurement information mentioned above) on at least one initial carrier channel. Fig.11 As shown, the initial carrier channel of the first node and the second node is channel group 3. After completing three ranging interactions, they return to channel group 3 to centrally feedback the channel state information.

[0308] It can be understood that the embodiments described herein can be implemented individually or in combination with each other.

[0309] Based on the same technical concept, an embodiment of the present application provides a ranging device, which includes a module, unit, or means for executing the method executed by the first node or the second node in the above method embodiment. The module, unit, or means can be implemented by software, or by hardware, or the corresponding software can be implemented by hardware.

[0310] For example, see Fig.12 The device may include a receiving module 1201, a processing module 1202, and a sending module 1203.

[0311] When the device is located at the above-mentioned first node, the receiving module 1201 is used to receive a first ranging frame on at least one channel; the processing module 1202 is used to measure the first ranging frame to obtain first measurement information; and the sending module 1203 is used to send second measurement information according to the first measurement information and the first feedback method.

[0312] When the device is located at the above-mentioned first node, the sending module 1203 is used to send a first ranging frame on at least one channel; the first ranging frame is used by the first node to perform measurement to obtain first measurement information; the receiving module 1201 is used to receive second measurement information from the first node, wherein the second measurement information is determined according to the first measurement information and the first feedback method.

[0313] It should be understood that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0314] In specific implementation, the above device can have a variety of product forms. Several possible product forms are introduced below.

[0315] See also Fig.13 , an embodiment of the present application also provides a ranging device, which includes at least one processor 1301 and an interface circuit 1302; the interface circuit 1302 is used to receive signals from other devices outside the device and send or receive signals to the processor 1301 or send signals from the processor 1301 to other communication devices outside the device, and the processor 1301 is used to implement the method performed by the above-mentioned first device or second device through logic circuits or execution code instructions.

[0316] It should be understood that the processor mentioned in the embodiments of the present application can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented by software, the processor can be a general-purpose processor implemented by reading software code stored in a memory.

[0317] Exemplarily, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0318] It should be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct memory bus random access memory (DirectRambus RAM, DR RAM).

[0319] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated into the processor.

[0320] It should be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0321] Based on the same technical concept, an embodiment of the present application also provides a computer-readable storage medium, including a program or instruction, when the program or instruction is run on a computer, the method performed by the first node or the second node as described above is executed.

[0322] Based on the same technical concept, an embodiment of the present application also provides a computer program product comprising instructions. The computer program product stores instructions, and when the computer program product is run on a computer, the method executed by the first node or the second node is executed.

[0323] Based on the same technical concept, an embodiment of the present application also provides a ranging system, including the above-mentioned first node or second node.

[0324] Based on the same technical concept, the embodiment of the present application also provides a terminal device, which is the first node or the second node described above, or is located on the first node or the second node described above. The terminal device can be a vehicle, a drone, a helicopter, an airplane, a ship, an intelligent transportation device, or a smart home device. The embodiment of the present application does not limit the specific form of the terminal device.

[0325] In the present application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of the present application, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula of the present application, the character " / " indicates that the previous and next associated objects are in a "division" relationship. "Including at least one of A, B and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B and C.

[0326] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0327] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0328] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

Claims

1. A distance measurement method, characterized in that: include: The first node receives a first ranging frame on at least one channel; The first node measures the first ranging frame to obtain first measurement information; The first node sends second measurement information according to the first measurement information and a first feedback mode, where the first feedback mode is full feedback or partial feedback.

2. The method according to claim 1, characterized in that The first ranging frame includes at least one symbol; The first measurement information indicates channel state information of at least one effective subcarrier corresponding to the at least one symbol.

3. The method according to claim 2, characterized in that The first feedback mode is the full feedback, the first feedback mode indicates feedback of channel state information of all valid subcarriers, and the second measurement information indicates the same channel state information as the first measurement information.

4. The method according to claim 2, characterized in that The first feedback mode is the partial feedback, and the first feedback mode indicates feedback of the channel state information of the direct current (DC) subcarrier, and the second measurement information includes the channel state information of the DC subcarrier corresponding to the at least one symbol, wherein the channel state information of the DC subcarrier is determined by interpolation based on the channel state information of the valid subcarriers adjacent to the DC subcarrier.

5. The method according to claim 4, characterized in that The interpolation includes at least one of linear interpolation, nearest neighbor interpolation, cubic spline interpolation, and / or quadratic interpolation.

6. The method according to claim 2, characterized in that The first feedback mode is the partial feedback, the first feedback mode indicates feedback of channel state information of at least one subcarrier group, at least one valid subcarrier corresponding to the at least one symbol belongs to the at least one subcarrier group, and the second measurement information includes channel state information of each subcarrier group in the at least one subcarrier group.

7. The method according to claim 6, characterized in that Every M consecutive subcarriers corresponding to the at least one symbol is a subcarrier group, where M is a positive integer; or, Each continuous P or L subcarriers corresponding to the at least one symbol is a subcarrier group, and the P and L are positive integers, and P≠L.

8. The method according to claim 6, characterized in that The at least one channel includes a first channel and a second channel; Among the subcarriers corresponding to the first channel, every consecutive Q subcarriers form a subcarrier group, and among the subcarriers corresponding to the second channel, every consecutive N subcarriers form a subcarrier group, where Q and N are positive integers, and Q≠N.

9. The method according to any one of claims 6 to 8, characterized in that: The channel state information of each subcarrier group is an average value, a median value, a maximum value, or a minimum value of the channel state information of all valid subcarriers in each subcarrier group, or the channel state information of a subcarrier in each subcarrier group.

10. The method according to any one of claims 6 to 9, characterized in that: The number of subcarriers included in the subcarrier group is related to the ranging range.

11. The method according to any one of claims 1 to 10, characterized in that: The symbol of the first ranging frame has a cyclic prefix CP; the first node measures the first ranging frame, including: the first node starts measuring from the first symbol in the first ranging frame; or, The symbol of the first ranging frame does not have a CP; the first node measures the first ranging frame, including: the first node starts measuring from the second symbol of the first ranging frame; or, The first node starts measuring from a designated symbol of the first ranging frame according to the indication information or the pre-setting.

12. The method according to any one of claims 1 to 11, characterized in that: The first ranging frame includes a plurality of symbols, and the first node measures the first ranging frame, including: The first node determines, according to the channel state information corresponding to the multiple symbols, the channel state information corresponding to the Rth symbol in the first ranging frame, where R is a positive integer; wherein the first measurement information indicates the channel state information corresponding to the Rth symbol; or The first node determines an average value of the channel state information corresponding to the multiple symbols based on the channel state information corresponding to the multiple symbols; and the first measurement information indicates the average value of the channel state information corresponding to the multiple symbols.

13. The method according to any one of claims 1 to 12, characterized in that: The symbols in the first ranging frame use resources of overhead symbols of a first type of radio frame, the first type of radio frame including data symbols and overhead symbols; the at least one channel is an initial carrier channel; or, The symbols in the first ranging frame use resources of data symbols and overhead symbols of a first type of radio frame, the first type of radio frame including data symbols and overhead symbols; the at least one channel is an initial carrier channel; or, The symbols in the first ranging frame use data symbols of the second type of wireless frame, all the symbols in the second type of wireless frame are data symbols, and the at least one channel is an initial carrier channel or a channel after frequency hopping.

14. The method according to any one of claims 1 to 13, characterized in that: Also includes: The first node sends or receives one or more of the following information: first indication information, used to indicate the type of the first ranging frame; The second indication information is used to indicate whether the first ranging frame has a CP or does not have a CP; The third indication information is used to indicate that the first ranging frame has a normal CP or an extended CP; fourth indication information, used to instruct the first node to feed back channel state information of the at least one channel and / or channel number information of the at least one channel; fifth indication information, used to indicate a measurement start position of the first ranging frame; Sixth indication information, used to instruct the first node to feed back channel state information corresponding to the Rth symbol in the first ranging frame, where R is a positive integer; seventh indication information, used to instruct the first node to feed back an average value of channel state information corresponding to multiple symbols in the first ranging frame; The eighth indication information is used to indicate a first feedback mode in which the first node feeds back channel state information, wherein the first feedback mode is: feeding back the channel state information of at least one subcarrier group, or feeding back the channel state information of a DC subcarrier, or feeding back the channel state information of all valid subcarriers.

15. The method according to claim 14, characterized in that When the first feedback mode is to feed back the channel state information of the at least one subcarrier group, the first node further sends or receives one or more of the following information: ninth indication information, used to indicate a grouping parameter of the at least one subcarrier group; The tenth indication information is used to indicate a calculation method of the channel state information of the at least one subcarrier group.

16. The method according to any one of claims 1 to 15, characterized in that: The method further comprises: Calibrate the first measurement information according to the calibration information to obtain calibrated first measurement information; wherein the calibration information is determined according to the at least one channel; The first node sending second measurement information according to the first measurement information and the first feedback mode includes: The first node sends second measurement information according to the calibrated first measurement information and the first feedback mode.

17. The method according to any one of claims 1 to 16, characterized in that: The method further comprises: The first node sends a second ranging frame on the at least one channel, where the second ranging frame is used by the second node to perform measurement to obtain third measurement information.

18. The method according to any one of claims 1 to 17, characterized in that: The at least one channel belongs to a first channel group, and the method further comprises: The first node receives a third ranging frame on the second channel group; the first node measures the third ranging frame to obtain fourth measurement information; wherein the second channel group includes one or more channels, and the second channel group is different from the first channel group in at least one channel; The first node sends fifth measurement information according to the fourth measurement information and the first feedback mode.

19. The method according to claim 18, characterized in that The method comprises: The first node sends the second measurement information and the fifth measurement information on at least one initial carrier channel.

20. The method of claim 12, wherein: The value of R is preset or predefined.

21. The method according to any one of claims 1 to 20, characterized in that The channel state information includes a relative value of a reference power level RPL; The method further comprises: The first node sends the RPL.

22. The method according to any one of claims 1 to 21, characterized in that Also includes: The first node sends a signal-to-noise ratio (SNR) of the at least one channel.

23. The method of claim 7, wherein: The bandwidth of each channel in the at least one channel is 20 MHz; The P is 2, and the second measurement information includes channel state information of subcarriers corresponding to the following subcarrier numbers: #0, #2, #4, #6, #8, #10, #12, #14, #16, #18, #20, #22, #24, #26, #28, #30, #32, #34, #36, #38; or, The P is 4, and the second measurement information includes channel state information of subcarriers corresponding to the following subcarrier numbers: #0, #4, #8, #12, #16, #18, #20, #22, #26, #30, #34, and #38; or, The P is 8, and the second measurement information includes the channel state information of the subcarriers corresponding to the following subcarrier numbers: #0, #8, #16, #22, #30, #38.

24. The method of claim 21, wherein: The channel state information is a complex IQ value, and the expression form of the IQ value is defined as follows: The IQ[linear] represents a relative value (not a dB value) relative to the RPL[dBm], the RPL[dBm] represents a relative reference value used by the measured value IQ[dBm], and the IQ[dBm] represents an actual measured value of a sampling point.

25. A distance measurement method, characterized in that: The second node sends a first ranging frame for ranging on at least one channel; The second node receives second measurement information from the first node, wherein the second measurement information corresponds to the first ranging frame and the first feedback mode, and the second measurement information is used to determine a ranging result, the ranging result includes a distance between the first node and the second node, and the first feedback mode is full feedback or partial feedback.

26. The method of claim 25, wherein: The method further comprises: The second node receives a second ranging frame on the at least one channel, and measures the second ranging frame to obtain third measurement information; The second node determines the ranging result according to the second measurement information and the third measurement information.

27. The method according to claim 25 or 26, characterized in that The at least one channel belongs to a first channel group, and the method further comprises: The second node sends a third ranging frame for ranging on a second channel group; wherein the second channel group includes one or more channels, and the second channel group is different from the first channel group in at least one channel; The second node receives fifth measurement information from the first node, wherein the fifth measurement information corresponds to the third ranging frame and the first feedback mode.

28. The method of claim 27, wherein: The method comprises: The second node receives the second measurement information and the fifth measurement information on at least one initial carrier channel.

29. The method according to any one of claims 25 to 28, characterized in that The method further comprises: The second node receives an SNR of at least one channel.

30. A distance measuring device, characterized in that: include: A receiving module, configured to receive a first ranging frame on at least one channel; A processing module, configured to measure the first ranging frame to obtain first measurement information; The sending module is used to send the second measurement information according to the first measurement information and a first feedback mode, where the first feedback mode is full feedback or partial feedback.

31. A distance measuring device, characterized in that: include: A sending module, configured to send a first ranging frame for ranging on at least one channel; A receiving module is used to receive second measurement information from the first node, wherein the second measurement information corresponds to the first measurement information and a first feedback mode, and the second measurement information is used to determine a ranging result, the ranging result includes a distance between the first node and the node where the ranging device is located, and the first feedback mode is full feedback or partial feedback.

32. A distance measuring device, characterized in that: include: at least one processor and interface circuitry; The interface circuit is used to receive signals from other devices outside the device and send or receive signals to the processor or send signals from the processor to other devices outside the device. The processor is used to implement the method as described in any one of claims 1-24 through logic circuits or execute code instructions, or to implement the method as described in any one of claims 25-29.

33. A computer-readable storage medium, characterized in that: The storage medium stores a computer program or instruction. When the computer program or instruction is executed by the communication device, the method according to any one of claims 1 to 24 is implemented, or the method according to any one of claims 25 to 29 is implemented.

34. A computer program product, characterized in that The computer program product stores instructions, and when the computer program product is run on a computer, the computer is caused to execute the method according to any one of claims 1 to 24, or the method according to any one of claims 25 to 29.

35. A distance measurement system, characterized in that: include: A first node, configured to execute the method according to any one of claims 1 to 24; The second node is configured to execute the method as described in any one of claims 25-29.

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