Signal transmission method and related device

Abstract

The invention provides a signal transmission method and a related device. In the method, a first initiating device sends a voting frame. The voting frame comprises time-frequency position information of the N first UWB segmented signals and first time delay information of replying the response frame to the first initiating device by each second response device in the M second response devices. And the first initiating device receives the plurality of response frames based on the first delay information of replying the response frames to the first initiating device by the second response devices and the timestamps of the voting frames. The voting frame sent by the first initiating device comprises first time delay information of replying the response frame by each second response device in the M second response devices, so that part or all of the M second response devices can reply the response frame at different time determined by different first time delays, and a distance measurement process of the first initiating device is added. Therefore, the first initiating device can carry out distance measurement on the plurality of second response devices in a short time, and the distance measurement efficiency can be improved.

Description

[0001] This application is a divisional application. The application number of the original application is 202210225959.X, and the original application date is March 7, 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 signal transmission method and related devices. Background Art

[0003] Ultra wideband (UWB) technology is a wireless carrier communication technology that transmits data by sending and receiving extremely narrow pulses of nanoseconds or less. Therefore, the spectrum range occupied by the UWB technology is relatively wide.

[0004] For ranging, the accuracy of its measurement or perception is related to the signal bandwidth. The larger the signal bandwidth, the higher the accuracy of its perception or ranging. Therefore, people propose to use UWB system for ranging to improve the accuracy of ranging.

[0005] At present, when the initiator uses the UWB system to measure the distance of a responder, the initiator needs to complete the distance measurement of the responder within multiple milliseconds. Therefore, if the initiator uses the process of measuring the distance of one responder to measure the distance of multiple responders, it will take the initiator a long time to complete the distance measurement of multiple responders, and its ranging efficiency is low. Summary of the invention

[0006] The embodiments of the present application provide a signal transmission method and related devices, which are conducive to improving ranging efficiency.

[0007] In a first aspect, an embodiment of the present application provides a signal transmission method. In the method, a first initiating device sends a voting frame. The voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, and first delay information of each second response device among M second response devices replying a response frame to the first initiating device. The first initiating device receives multiple response frames based on the first delay information of each second response device replying a response frame to the first initiating device and the timestamp of the voting frame. N and M are integers greater than or equal to 2.

[0008] It can be seen that in the embodiment of the present application, the voting frame sent by the first initiating device includes the first delay information of each second response device in the M second response devices replying to the response frame, so that some or all of the M second response devices can reply to the response frame at different times determined based on different first delays and join the ranging process of the first initiating device. Furthermore, it is beneficial for the first initiating device to perform ranging on multiple second response devices in a shorter time, which is beneficial to improving the ranging efficiency.

[0009] In an optional implementation, the voting frame further includes the second delay information of each second answering device replying the first UWB segment signal to the first initiating device. In this manner, the first initiating device may also send N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals. The first initiating device receives multiple second UWB segment signals respectively based on the second delay information of each second answering device replying the first UWB segment signal to the first initiating device.

[0010] It can be seen that the first initiator starts the ranging process by sending the first UWB segment signal, and the first initiator can receive the second UWB segment signals of the multiple second responder devices in reply to each first UWB segment signal at different times determined based on different second delay information. This is conducive to the first initiator to perform ranging on multiple second initiator devices based on the multiple first UWB signals sent and the multiple second UWB segment signals received.

[0011] In another optional implementation, the voting frame also includes the same third delay information of the M second response devices replying to the first initiator device for the first UWB segment signal, and the orthogonal sequence index of each second response device. In this way, the first initiator device can also send N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals. The first initiator device receives multiple first orthogonal UWB segment signals based on the third delay information and the orthogonal sequence index of each second response device.

[0012] It can be seen that the first initiator starts the ranging process by sending the first UWB segment signal, and the first initiator can receive the first orthogonal UWB segment signals of multiple second responding devices replying to the first UWB segment signal at the same time determined by the third delay information, and the multiple first orthogonal UWB segment signals are mutually orthogonal. This method is also conducive to the first initiator to measure the distance of multiple second initiators based on the multiple first UWB signals sent and the multiple first orthogonal UWB segment signals received.

[0013] In an optional implementation, the voting frame further includes the same third delay information of the M second answering devices replying the first UWB segment signal to the first initiating device, and the orthogonal sequence index of each second answering device, when the first initiating device sends N first UWB segment signals and receives multiple first orthogonal UWB segment signals, the first initiating device is in an active state. The first initiating device is in an idle state during the interval between the N first UWB segment signals, except for the time when the N first UWB segment signals are sent and the multiple first orthogonal UWB segment signals are received.

[0014] It can be seen that this method can make the first initiator device be in an active state when sending N first UWB segment signals and receiving multiple first orthogonal UWB segment signals, and be in an idle state during the interval between the N first UWB segment signals. This can reduce the startup time of the first initiator device and thus reduce the power consumption of the first initiator device.

[0015] In another optional implementation, the voting frame further includes fourth delay information for each second response device to send a data frame to the first initiating device. In this manner, the first initiating device may also receive multiple data frames based on the fourth delay information for each second response device to send a data frame to the first initiating device. Each of the multiple data frames includes the time for the first response device to receive N first UWB segment signals, and the time for sending N second UWB segment signals or N first orthogonal UWB segment signals. The first response device is any device among the M second response devices.

[0016] It can be seen that the first initiating device can also receive the UWB segment signal receiving and sending times reported by multiple second responding devices through data frames at different times determined by the fourth delay information of each second responding device. This helps the first initiating device determine the ranging results of the multiple second responding devices based on its own UWB segment signal receiving and sending times and the receiving and sending times reported by the multiple second responding devices.

[0017] In an optional implementation, the first initiating device sends N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals, including: when the first timer has not timed out and M response frames are received, the first initiating device sends N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals; or, when the first initiating device receives S response frames and the first timer times out, the first initiating device sends N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals. The first timer is triggered when the first initiating device sends a voting frame. S is an integer greater than or equal to 1 and less than M.

[0018] It can be seen that the first initiating device triggers the first timer when sending the voting frame. If the first initiating device receives the response frames replied by all the second response devices among the M second response devices, it sends N first UWB segment signals respectively; if the first initiating device receives the response frames of some of the second response devices among the M second response devices and the first timer times out, the first initiating device also sends N first UWB segment signals respectively. That is, when the first initiating device has not received all the response frames and the first timer times out, it will no longer continue to wait for the other second response devices to reply to the voting frame, but directly send N first UWB segment signals to start the ranging process. This method can avoid the ranging failure caused by the first initiating device permanently waiting for the second response device to reply to the voting frame.

[0019] In the second aspect, the present application also provides a signal transmission method. The signal transmission method of this aspect corresponds to the signal transmission method described in the first aspect, and the signal transmission method of this aspect is described from the first response device side. In this method, the first response device receives a voting frame. The voting frame includes the time-frequency position information of N first ultra-wideband UWB segmented signals, and the first delay information of each second response device among the M second response devices replying a response frame to the first initiating device. N and M are integers greater than or equal to 2. The first response device is any device among the M second response devices. The first response device sends a response frame to the first initiating device based on the first delay information of the first response device replying a response frame to the first initiating device and the timestamp of the voting frame.

[0020] It can be seen that in the embodiment of the present application, the voting frame received by any second response device includes the first delay information of the second response device replying the voting frame to the first initiating device, so that any second response device can reply the response frame to the first initiating device at the time determined by the first delay information of the second response device. Therefore, any second response device can join the ranging process initiated by the first initiating device, which is beneficial for the first initiating device to perform ranging on multiple second response devices in a shorter time, that is, it is beneficial to improve the ranging efficiency.

[0021] In an optional implementation, the voting frame further includes the second delay information of each second answering device replying the first UWB segment signal to the first initiating device. In this manner, the first answering device can also receive the N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals. The first answering device sends the N second UWB segment signals to the first initiating device respectively based on the second delay information of the first answering device replying the first UWB segment signal to the first initiating device.

[0022] It can be seen that when the voting frame also includes the second delay information of each second responding device replying the first UWB segment signal to the first initiating device, any second responding device can also reply N second UWB segment signals to the first initiating device at different times based on the second delay information, so that the first initiating device obtains the UWB segment signal used for ranging.

[0023] In another optional implementation, the voting frame also includes the same third delay information of the M second answering devices replying to the first initiating device for the first UWB segment signal, and the orthogonal sequence index of each second answering device. In this manner, the first answering device can also receive N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals. The first answering device sends N first orthogonal UWB segment signals to the first initiating device based on the third delay information. The first orthogonal UWB segment signal is determined based on the orthogonal sequence index of the first answering device.

[0024] It can be seen that any second responding device can reply N first orthogonal UWB segment signals to the first initiating device at different times based on the third delay information. Thus, different second responding devices reply different first orthogonal UWB segment signals to the first initiating device at the same time within the interval time of the N first UWB segment signals.

[0025] In another optional implementation, the voting frame further includes fourth delay information for each second response device to send a data frame to the first initiating device. In this manner, the first response device may also send a data frame to the first initiating device based on the fourth delay information for the first response device to send a data frame to the first initiating device. The data frame includes the time for the first response device to receive N first UWB segment signals, and the time for sending N second UWB segment signals or N first orthogonal UWB segment signals.

[0026] It can be seen that any second answering device can also report the time of sending and receiving the UWB segment signal to the first initiating device at the time determined by the fourth delay information. Therefore, different second answering devices can send data frames to the first initiating device at different times determined by different fourth delay information, so as to facilitate the first initiating device to measure the distance of the multiple second answering devices based on its own time of sending and receiving the UWB segment signal and the time of sending and receiving the UWB segment signal reported by the multiple second answering devices.

[0027] In the third aspect, the present application also provides a signal transmission method. In the method, a first initiating device sends a voting frame. The voting frame includes the time-frequency position information of N first ultra-wideband UWB segmented signals, the same response time at which M second response devices reply to the first initiating device with a response frame, and a subcarrier set at which each of the M second response devices replies to the first initiating device with a response frame. The narrowband signal transmitted at the response time includes multiple subcarriers. N and M are integers greater than or equal to 2. The first initiating device receives a response frame based on the response time and the subcarrier set at which each second response device replies to the first initiating device with a response frame, and the response frame includes multiple response signals.

[0028] It can be seen that in the embodiment of the present application, the voting frame sent by the first initiating device includes the same response time at which the M second response devices reply to the first initiating device with a response frame, and the subcarrier set at which each of the M second response devices reply to the first initiating device with a response frame. Thus, some or all of the M second response devices can reply to the first initiating device with a response signal on a different subcarrier set at the response time. Furthermore, some or all of the M second response devices can join the ranging process of the first initiating device, which is beneficial for the first initiating device to perform ranging on multiple second response devices in a shorter time, and is beneficial for improving ranging efficiency.

[0029] In an optional implementation, the voting frame further includes the second delay information of each second answering device replying the first UWB segment signal to the first initiating device. In this manner, the first initiating device may also send N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals. The first initiating device receives multiple second UWB segment signals respectively based on the second delay information of each second answering device replying the first UWB segment signal to the first initiating device.

[0030] It can be seen that the first initiator starts the ranging process by sending the first UWB segment signal, and the first initiator can receive the second UWB segment signals of the multiple second responding devices in reply to each first UWB segment signal at different times determined based on different second delay information. This is conducive to the first initiator to perform ranging on multiple second initiators based on the multiple first UWB signals sent and the multiple second UWB segment signals received.

[0031] In another optional implementation, the voting frame also includes the same third delay information of the M second response devices replying to the first initiator device for the first UWB segment signal, and the orthogonal sequence index of each second response device. In this way, the first initiator device can also send N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals. The first initiator device receives multiple first orthogonal UWB segment signals based on the third delay information and the orthogonal sequence index of each second response device.

[0032] It can be seen that the first initiator starts the ranging process by sending the first UWB segment signal, and the first initiator can receive the first orthogonal UWB segment signals of multiple second responding devices replying to the first UWB segment signal at the same time determined by the third delay information, and the multiple first orthogonal UWB segment signals are mutually orthogonal. This method is also conducive to the first initiator to measure the distance of multiple second initiators based on the multiple first UWB signals sent and the multiple first orthogonal UWB segment signals received.

[0033] In an optional embodiment, when the voting frame also includes the same third delay information of M second responding devices replying to the first initiating device with the first UWB segment signal, and the orthogonal sequence index of each second responding device, the first initiating device is in an activated state when sending N first UWB segment signals and receiving multiple first orthogonal UWB segment signals. The first initiating device is in an idle state during the interval time of the N first UWB segment signals, except for the time of sending N first UWB segment signals and receiving multiple first orthogonal UWB segment signals.

[0034] It can be seen that this method can make the first initiator device be in an active state when sending N first UWB segment signals and receiving multiple first orthogonal UWB segment signals, and be in an idle state during the interval between the N first UWB segment signals. This can reduce the startup time of the first initiator device and thus reduce the power consumption of the first initiator device.

[0035] In another optional implementation, the voting frame also includes the same data frame time at which each second answering device sends a data frame to the first initiating device, and a subcarrier set at which each second answering device sends a data frame to the first initiating device. In this manner, the first initiating device can also receive a data frame based on the data frame time and the subcarrier set at which each second answering device sends a data frame to the first initiating device. The data frame includes multiple data signals. Each of the multiple data signals includes the time at which the first answering device receives N first UWB segment signals, and the time at which N second UWB segment signals or N first orthogonal UWB segment signals are sent. The first answering device is any device among the M second answering devices.

[0036] It can be seen that the first initiating device can also receive the sending and receiving times of the UWB segmented signals reported by the multiple second responding devices through data frames at different times determined by the fourth delay information of each second responding device. This method is conducive to the first initiating device to determine the ranging results of the multiple second responding devices based on its own sending and receiving time of the UWB segmented signal and the sending and receiving time reported by the multiple second responding devices.

[0037] In a fourth aspect, the present application also provides a signal transmission method, which corresponds to the signal transmission method described in the third aspect, and is described from the first response device side. In this method, the first response device receives a voting frame. The voting frame includes the time-frequency position information of N first ultra-wideband UWB segmented signals, the same response time of M second response devices replying to the first initiating device with a response frame, and the subcarrier set of each first response device in the M second response devices replying to the first initiating device with a response frame, and the narrowband signal transmitted at the response time includes multiple subcarriers, and N and M are integers greater than or equal to 2. The first response device sends a response signal to the first initiating device based on the response time and the subcarrier set of the first response device replying to the first initiating device with a response frame. The first response device is any device among the M second response devices.

[0038] It can be seen that in the embodiment of the present application, any second answering device can reply a response frame to the first initiator on the subcarrier set of the second answering device at the response time. This method can enable any second answering device to join the ranging process of the first initiating device, thereby facilitating the first initiating device to achieve ranging of multiple second answering devices, and can improve ranging efficiency.

[0039] In an optional implementation, the voting frame further includes the second delay information of each second answering device replying the first UWB segment signal to the first initiating device. In this manner, the first answering device can also receive the N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals. The first answering device sends the N second UWB segment signals to the first initiating device respectively based on the second delay information of the first answering device replying the first UWB segment signal to the first initiating device.

[0040] It can be seen that when the voting frame also includes the second delay information of each second response device replying the first UWB segment signal to the first initiating device, any second response device can also reply N second UWB segment signals to the first initiating device at different times based on the second delay information, so that the first initiating device obtains the UWB segment signal used for ranging. In another optional implementation, the voting frame also includes the same third delay information of M second response devices replying the first UWB segment signal to the first initiating device, and the orthogonal sequence index of each second response device. In this way, the first response device can also receive N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals. The first response device sends N first orthogonal UWB segment signals to the first initiating device based on the third delay information. The first orthogonal UWB segment signal is determined based on the orthogonal sequence index of the first response device.

[0041] It can be seen that any second responding device can reply N first orthogonal UWB segment signals to the first initiating device at different times based on the third delay information. Thus, different second responding devices reply different first orthogonal UWB segment signals to the first initiating device at the same time within the interval time of the N first UWB segment signals.

[0042] In an optional implementation, the voting frame also includes the same data frame time when each second answering device sends a data frame to the first initiating device, and the subcarrier set when each second answering device sends a data frame to the first initiating device. In this manner, the first answering device can also send a data signal to the first initiating device based on the data frame time and the subcarrier set when the first answering device sends a data frame to the first initiating device. The data signal includes the time when the first answering device receives N first UWB segment signals, and the time when N second UWB segment signals or N first orthogonal UWB segment signals are sent.

[0043] It can be seen that any second answering device can also report the time of sending and receiving the UWB segment signal to the first initiating device at the time determined by the fourth delay information. Therefore, different second answering devices can send data frames to the first initiating device at different times determined by different fourth delay information, so as to facilitate the first initiating device to measure the distance of the multiple second answering devices based on its own time of sending and receiving the UWB segment signal and the time of sending and receiving the UWB segment signal reported by the multiple second answering devices.

[0044] In a fifth aspect, the present application also provides a signal transmission method. In the method, the control device sends a voting frame, which includes the time-frequency position information of N ultra-wideband UWB segmented signal groups, the first delay information of each second response device in the M second response devices replying a response frame to the control device, and the fifth delay information of each second initiating device in the X second initiating devices replying a response frame to the control device. N, M, and X are integers greater than or equal to 2. The control device receives multiple response frames based on multiple first delay information, multiple fifth delay information, and the timestamp of the voting frame.

[0045] It can be seen that in the embodiment of the present application, the control device sends a voting frame, and configures the fifth delay information of each second initiating device replying a response frame to the control device through the voting frame to the X second initiating devices, and configures the first delay information of each second response device replying a response frame to the control device to the M second response devices, so that some or all of the X second initiating devices reply with a response frame to the control device at different times, and some or all of the M second response devices reply with a response frame to the control device at different times, so that multiple second initiating devices that reply with a response frame and multiple second response devices join the same ranging process, which is conducive to realizing the ranging of multiple second initiating devices to multiple second response devices, that is, it is conducive to improving the ranging efficiency.

[0046] In an optional implementation, the voting frame also includes an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each second responding device among the M second responding devices, and the same third delay information of each second responding device replying a third orthogonal UWB segment signal to the first initiating device.

[0047] This method can make any second initiating device send N second orthogonal UWB segment signals based on the time-frequency position information of N UWB segment signal groups and the orthogonal sequence index of the second initiating device. Thus, any second responding device receives multiple second orthogonal UWB segment signals based on the time-frequency position information of N UWB segment signal groups and the orthogonal sequence index of each second initiating device. In addition, any second responding device can send N third orthogonal UWB segment signals based on the third delay information and its own orthogonal sequence index. Thus, any second initiating device can receive multiple third orthogonal UWB segment signals based on the third delay information and the orthogonal sequence index of each second responding device.

[0048] In another optional implementation, the voting frame also includes the fourth delay information of each second answering device sending a data frame to the second initiating device, so that any second answering device can send a data frame based on the fourth delay information of the second answering device. The data frame includes the time when the second answering device receives the second orthogonal UWB segment signal and the time when the third orthogonal UWB segment signal is sent. Correspondingly, any first initiating device participating in the ranging process can receive multiple data frames based on the fourth delay information of each second answering device, and then use the time information carried in the data frame to perform ranging on multiple second answering devices.

[0049] In the sixth aspect, the present application also provides a signal transmission method, which corresponds to the signal transmission method described in the fifth aspect, and is described from the first initiating device side. In this method, the first initiating device receives a voting frame, which includes the time-frequency position information of N ultra-wideband UWB segmented signal groups, and the fifth delay information of each second initiating device in the X second initiating devices replying a response frame to the control device. The first initiating device is any device in the X second initiating devices, and N and X are integers greater than or equal to 2. The first initiating device sends a response frame to the control device based on the timestamp of the voting frame and the fifth delay information of the first initiating device replying a response frame to the control device.

[0050] It can be seen that in the embodiment of the present application, the voting frame received by any second initiating device includes the fifth delay information of the initiating device replying to the control device's response frame, so that any second initiating device can reply to the control device with a response frame based on the fifth delay information. Thus, any second initiating device can be added to the ranging process, that is, multiple initiating devices can be added to the same ranging process, which is beneficial to improving the ranging efficiency.

[0051] In an optional implementation, the voting frame also includes the orthogonal sequence index of each second initiating device, the orthogonal sequence index of each second response device in the M second response devices, and the same third delay information of each second response device replying the first UWB segment signal to the first initiating device. M is an integer greater than or equal to 2. In this manner, the first initiating device can also send N second orthogonal UWB segment signals based on the time-frequency position information of the N UWB segment signal groups and the orthogonal sequence index of the first initiating device. The first initiating device receives multiple third orthogonal UWB segment signals based on the third delay information and the orthogonal index sequence of each second response device.

[0052] It can be seen that any second initiating device can also send N second orthogonal UWB segment signals based on its own orthogonal sequence index and the time-frequency position information of the N UWB segment signal groups, and receive multiple third orthogonal UWB segment signals based on the third delay information and the orthogonal index sequence of each second responding device. In other words, any second initiating device can perform ranging by sending second orthogonal UWB segment signals and receiving third orthogonal UWB segment signals.

[0053] In another optional implementation, the voting frame further includes fourth delay information for each second response device to send a data frame to the second initiating device. In this manner, the first initiating device may also receive multiple data frames based on the fourth delay information for each second response device to send a data frame to the second initiating device. Each of the multiple data frames includes the time when the first response device receives multiple second orthogonal UWB segment signals and the time when it sends multiple third orthogonal UWB segment signals. The first response device is any device among the M second response devices.

[0054] It can be seen that any second initiating device can also receive the transmission and reception time of the orthogonal UWB segment signals reported by multiple second response devices based on the fourth delay information of each response device, so that each second initiating device can measure the distance of multiple second response devices that report the transmission and reception time based on the transmission and reception time of the orthogonal UWB segment signal.

[0055] In the seventh aspect, the present application also provides a signal transmission method, which corresponds to the signal transmission method described in the fifth and sixth aspects, and is described from the first response device side. In this method, the first response device receives a voting frame, which includes the time-frequency position information of N ultra-wideband UWB segmented signal groups and the first delay information of each second response device among the M second response devices replying a response frame to the control device. The first response device is any device among the M second response devices. N and M are integers greater than or equal to 2. The first response device sends a response frame to the control device based on the timestamp of the voting frame and the first delay information of the first response device replying a response frame to the control device.

[0056] It can be seen that in the embodiment of the present application, the voting frame received by any second response device includes the first delay information of the second response device replying the response frame to the control device, so that any second response device can reply the response frame to the control device at different times, which is conducive to allowing multiple second response devices to join the same ranging process, which is conducive to improving the ranging efficiency.

[0057] In an optional implementation, the voting frame further includes an orthogonal sequence index of each second initiating device among the X second initiating devices, an orthogonal sequence index of each second responding device, and the same third delay information of each second responding device replying the first UWB segment signal to the first initiating device. X is an integer greater than or equal to 2. In this manner, the second responding device can also receive multiple second orthogonal UWB segment signals based on the time-frequency position information of the N UWB segment signal groups and the orthogonal sequence indexes of the X second initiating devices. The first responding device sends multiple third orthogonal UWB segment signals based on the third delay information and the orthogonal index sequence of the first responding device.

[0058] In an optional implementation, the voting frame further includes fourth delay information for each second response device to send a data frame to the second initiating device. In this manner, the first response device may also send a data frame based on the fourth delay information for the first response device to send a data frame to the second initiating device. The data frame includes the time when the first response device receives a plurality of second orthogonal UWB segment signals and the time when the first response device sends a plurality of third orthogonal UWB segment signals.

[0059] In an eighth aspect, the present application also provides a signal transmission method. In the method, the control device sends a voting frame, which includes the time-frequency position information of N ultra-wideband UWB segment signal groups, the first response time of the X second initiating devices replying to the control device for the response frame, and the subcarrier set of each second initiating device in the X second initiating devices replying to the control device for the response frame, and the second response time of the M second response devices replying to the control device for the response frame and the subcarrier set of each second response device in the M second response devices replying to the control device for the response frame. N, M, and X are integers greater than or equal to 2. The control device receives the second response frame based on the same second response time of the M second response devices replying to the control device for the response frame and the subcarrier set of each second response device replying to the control device for the response frame, and the second response frame includes multiple second response signals. The control device receives the first response frame based on the same first response time of the X second initiating devices replying to the control device for the response frame and the subcarrier set of each second initiating device replying to the control device for the response frame, and the first response frame includes multiple first response signals.

[0060] It can be seen that in the embodiment of the present application, the control device sends a voting frame, and through the voting frame, the first response time for replying a response frame to the control device and the subcarrier set for each of the X second initiating devices to reply a response frame to the control device are configured to the X second initiating devices, and the second response time for replying a response frame to the control device and the subcarrier set for each of the M second response devices to reply a response frame to the control device are configured to the M second response devices. This method can enable multiple second initiating devices among the X second initiating devices to reply a first response signal to the control device at the first response time, and multiple second response devices among the M second response devices to reply a second response signal to the control device at the second response time. The first response signals replied by the multiple second initiating devices are mutually orthogonal, and the second response signals replied by the multiple second response devices are mutually orthogonal. This is conducive to enabling multiple second initiating devices and multiple second response devices that have replied to the response frame to join the same ranging process, and thus is conducive to realizing the ranging of multiple second initiating devices to multiple second response devices, that is, it is conducive to improving the ranging efficiency.

[0061] In an optional implementation, the voting frame further includes an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each second responding device among the M second responding devices, and the same third delay information of each second responding device replying the first UWB segment signal to the first initiating device.

[0062] In another optional implementation, the voting frame also includes the data frame time when the M second answering devices send data frames to the second initiating device, and the subcarrier set when each of the M second answering devices sends data frames to the second initiating device. This method allows different second answering devices to send data signals to the second initiating device on different subcarrier sets at the same data frame time, and multiple data signals form a data frame. Each data signal includes the time when the first answering device sends and receives the UWB segmented signal, so that any second initiating device can perform ranging on multiple second answering devices based on the time carried by each data signal.

[0063] In the ninth aspect, the present application also provides a signal transmission method, which corresponds to the signal transmission method described in the eighth aspect, and is described from the side of the first initiating device. In this method, the first initiating device receives a voting frame, which includes the time-frequency position information of N ultra-wideband UWB segmented signal groups, the same first response time of X second initiating devices replying response frames to the control device, and the subcarrier set of each second initiating device in the X second initiating devices replying response frames to the control device, and the first initiating device is any device among the X second initiating devices. N and X are integers greater than or equal to 2. The first initiating device sends a first response signal based on the first response time and the subcarrier set of the response frame that the first initiating device replies to the control device.

[0064] It can be seen that in the embodiment of the present application, any voting frame received by the second initiating device includes the time and subcarrier set at which the second initiating device replies to the control device with the first response signal, so that multiple second initiating devices can join the same ranging process, which is conducive to realizing the ranging of multiple second initiating devices and is conducive to improving the ranging efficiency.

[0065] In an optional implementation, the voting frame further includes an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each second responding device in the M second responding devices, and the same third delay information of each second responding device replying the first UWB segment signal to the second initiating device, where M is an integer greater than or equal to 2. In this manner, the first initiating device may also send N second orthogonal UWB segment signals based on the time-frequency position information of the N first UWB segment signal groups and the orthogonal sequence index of the first initiating device. The first initiating device receives multiple third orthogonal UWB segment signals based on the third delay information and the orthogonal index sequence of each second responding device.

[0066] In an optional implementation, the voting frame also includes the same data frame time at which each second answering device sends a data frame to the first initiating device, and a subcarrier set at which each second answering device sends a data frame to the first initiating device. In this manner, the first initiating device can also receive a data frame based on the data frame time and the subcarrier set at which each second answering device sends a data frame to the first initiating device. The data frame includes a plurality of data signals, each of the plurality of data signals including a time at which the first answering device receives a plurality of second orthogonal UWB segment signals, and a time at which a plurality of third orthogonal UWB segment signals are sent. The first answering device is any device among the M second answering devices.

[0067] In the tenth aspect, the present application also provides a signal transmission method, which corresponds to the signal transmission method described in the eighth and ninth aspects, and is described from the first response device side. In the method, the first response device receives a voting frame, which includes the time-frequency position information of N ultra-wideband UWB segmented signal groups, the same second response time of M second response devices replying response frames to the control device, and the subcarrier set of each second response device in the M second response devices replying response frames to the control device. N and M are integers greater than or equal to 2. The first response device is any device among the M second response devices. The first response device sends a second response signal based on the second response time and the subcarrier set of the response frame replied by the first response device to the control device.

[0068] It can be seen that in the embodiment of the present application, any voting frame received by the second answering device includes the time and subcarrier set at which the second answering device replies to the control device with the second answering signal, so that multiple second answering devices can join the same ranging process, which is conducive to achieving ranging for multiple second answering devices and improving ranging efficiency.

[0069] In an optional implementation, the voting frame also includes an orthogonal sequence index of each second initiating device among the X second initiating devices, an orthogonal sequence index of each second responding device, and the same third delay information of each second responding device replying the first UWB segment signal to the first initiating device. The first initiating device is any device among the X second initiating devices, and M is an integer greater than or equal to 2. In this manner, the first responding device can also receive multiple second orthogonal UWB segment signals based on the time-frequency position information of the N UWB segment signal groups and the orthogonal sequence index of each second initiating device. The first responding device sends multiple third orthogonal UWB segment signals based on the third delay information and the orthogonal sequence index of the first responding device.

[0070] In another optional implementation, the voting frame also includes the same data frame time when each second answering device sends a data frame to the first initiating device, and the subcarrier set when each second answering device sends a data frame to the first initiating device. In this manner, the first answering device may also send a data signal based on the data frame time and the subcarrier set when the first answering device sends a data frame to the first initiating device, and the data signal includes the time when the first answering device receives multiple second orthogonal UWB segment signals and the time when multiple third orthogonal UWB segment signals are sent.

[0071] In the eleventh aspect, the present application also provides a communication device. The communication device has some or all of the functions of the first initiating device described in the first, third, sixth and ninth aspects above, or has some or all of the functions of the first responding device described in the second, fourth, seventh and tenth aspects above, or has some or all of the functions of the control device described in the fifth and eighth aspects above. For example, the functions of the communication device may have the functions of some or all of the embodiments of the first initiating device described in the first aspect of the present application, or may have the functions of implementing any one of the embodiments of the present application alone. The functions may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the above functions.

[0072] In a possible design, the structure of the communication device may include a processing unit and a communication unit, and the processing unit is configured to support the communication device to perform the corresponding functions in the above method. The communication unit is used to support communication between the communication device and other communication devices. The communication device may also include a storage unit, which is used to couple with the processing unit and the communication unit, and store the necessary program instructions and data of the communication device.

[0073] In one embodiment, the communication device includes: a processing unit and a communication unit, the processing unit is used to control the communication unit to send and receive data / signaling; the communication unit is used to send a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, and first delay information of each second response device among M second response devices replying a response frame to the first initiating device; N and M are integers greater than or equal to 2; the communication unit is also used to receive multiple response frames based on the first delay information of each second response device replying a response frame to the first initiating device and the timestamp of the voting frame.

[0074] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the first aspect mentioned above and will not be described in detail here.

[0075] In another embodiment, the communication device includes: a processing unit and a communication unit, the processing unit is used to control the communication unit to send and receive data / signaling; the communication unit is used to receive a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, and first delay information of each second response device among M second response devices replying a response frame to the first initiating device; N and M are integers greater than or equal to 2; the first response device is any device among the M second response devices; the communication unit is also used to send a response frame to the first initiating device based on the first delay information of the first response device replying a response frame to the first initiating device and the timestamp of the voting frame.

[0076] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the above-mentioned second aspect and will not be described in detail here.

[0077] In another embodiment, the communication device includes: a processing unit and a communication unit, the processing unit is used to control the communication unit to send and receive data / signaling; the communication unit is used to send a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, the same response time of M second response devices replying response frames to the first initiating device, and a subcarrier set of each second response device in the M second response devices replying response frames to the first initiating device; the narrowband signal transmitted at the response time includes multiple subcarriers; N and M are integers greater than or equal to 2; the communication unit is also used to receive a response frame based on the response time and the subcarrier set of each second response device replying response frames to the first initiating device; the response frame includes multiple response signals.

[0078] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the third aspect mentioned above and will not be described in detail here.

[0079] In another embodiment, the communication device includes: a processing unit and a communication unit, the processing unit is used to control the communication unit to send and receive data / signaling; the communication unit is used to receive a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, the same response time of M second response devices replying response frames to the first initiating device, and a subcarrier set of each first response device among the M second response devices replying response frames to the first initiating device; the narrowband signal transmitted at the response time includes multiple subcarriers; N and M are integers greater than or equal to 2; the communication unit is also used to send a response signal to the first initiating device based on the response time and the subcarrier set of the first response device replying response frames to the first initiating device; the first response device is any device among the M second response devices.

[0080] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the fourth aspect mentioned above, and will not be described in detail here.

[0081] In another embodiment, the communication device includes: a processing unit and a communication unit, the processing unit is used to control the communication unit to send and receive data / signaling; the communication unit sends a voting frame; the voting frame includes time-frequency position information of N ultra-wideband UWB segmented signal groups, first delay information of each second response device among M second response devices replying a response frame to the control device, and fifth delay information of each second initiating device among X second initiating devices replying a response frame to the control device; the N, the M, and the X are integers greater than or equal to 2; the communication unit is also used to receive multiple response frames based on multiple first delay information, multiple fifth delay information and the timestamp of the voting frame.

[0082] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the fifth aspect above, which will not be described in detail here.

[0083] In another embodiment, the communication device includes: a processing unit and a communication unit, the processing unit is used to control the communication unit to send and receive data / signaling; the communication unit is used to receive a voting frame; the voting frame includes time-frequency position information of N ultra-wideband UWB segmented signal groups, and fifth delay information of each second initiating device among X second initiating devices replying a response frame to the control device; the first initiating device is any device among the X second initiating devices; N and X are integers greater than or equal to 2; the communication unit is also used to send a response frame to the control device based on the timestamp of the voting frame and the fifth delay information of the first initiating device replying a response frame to the control device.

[0084] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the sixth aspect mentioned above and will not be described in detail here.

[0085] In another embodiment, the communication device includes: a processing unit and a communication unit, the processing unit is used to control the communication unit to send and receive data / signaling; the communication unit is used to receive a voting frame; the voting frame includes time-frequency position information of N ultra-wideband UWB segmented signal groups, and first delay information of each second response device among M second response devices replying a response frame to the control device; the first response device is any device among the M second response devices; N and X are integers greater than or equal to 2; the communication unit is also used to send a response frame to the control device based on the timestamp of the voting frame and the first delay information of the first response device replying a response frame to the control device.

[0086] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the seventh aspect mentioned above, and will not be described in detail here.

[0087] In another embodiment, the communication device includes: a processing unit and a communication unit, the processing unit is used to control the communication unit to perform data / signaling transmission and reception; the communication unit is used to send a voting frame; the voting frame includes time-frequency position information of N ultra-wideband UWB segment signal groups, the same second response time at which M second response devices reply to the control device with a response frame, a subcarrier set at which each second response device in the M second response devices replies to the control device with a response frame, the same first response time at which X second initiating devices reply to the control device with a response frame, and a subcarrier set at which each second initiating device in the X second initiating devices replies to the control device with a response frame; the narrowband signal transmitted at the response time includes multiple subcarriers; the N, the M, and the X are integers greater than or equal to 2;

[0088] The communication unit is further used to receive a second response frame based on the same second response time when the M second response devices reply response frames to the control device and the subcarrier set to which each second response device replies a response frame to the control device; the second response frame includes multiple second response signals; the communication unit is further used to receive a first response frame based on the same first response time when the X second initiating devices reply response frames to the control device and the subcarrier set to which each second initiating device replies a response frame to the control device; the first response frame includes multiple first response signals.

[0089] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the eighth aspect mentioned above and will not be described in detail here.

[0090] In another embodiment, the communication device includes: a processing unit and a communication unit, the processing unit is used to control the communication unit to send and receive data / signaling; the communication unit is used to receive a voting frame; the voting frame includes time-frequency position information of N ultra-wideband UWB segment signal groups, the same first response time of X second initiating devices replying response frames to the control device, and a subcarrier set of each second initiating device in the X second initiating devices replying response frames to the control device; the first initiating device is any device in the X second initiating devices; N and X are integers greater than or equal to 2;

[0091] The communication unit is further configured to send a first response signal based on the first response time and the subcarrier set of the response frame in which the first initiating device replies to the control device.

[0092] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the above-mentioned ninth aspect and will not be described in detail here.

[0093] In another embodiment, the communication device includes: a processing unit and a communication unit, the processing unit is used to control the communication unit to send and receive data / signaling; the communication unit is used to receive a voting frame; the voting frame includes time-frequency position information of N ultra-wideband UWB segmented signal groups, the same second response time at which M second response devices reply to the control device with a response frame, and a subcarrier set at which each second response device among the M second response devices replies to the control device with a response frame; N and M are integers greater than or equal to 2; the first response device is any device among the M second response devices; the communication unit is further used to send a second response signal based on the second response time and the subcarrier set at which the first response device replies to the control device with a response frame.

[0094] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the above-mentioned tenth aspect and will not be described in detail here.

[0095] As an example, the communication unit may be a transceiver or a communication interface, the storage unit may be a memory, and the processing unit may be a processor.

[0096] In one embodiment, the communication device includes: a processor and a transceiver, the processor is used to control the transceiver to perform data / signaling transmission and reception; the transceiver is used to send a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, and first delay information of each second response device among M second response devices replying a response frame to the first initiating device; N and M are integers greater than or equal to 2; the transceiver is also used to receive multiple response frames based on the first delay information of each second response device replying a response frame to the first initiating device and the timestamp of the voting frame.

[0097] In addition, in this aspect, other optional implementations of the uplink communication device can refer to the relevant content of the first aspect mentioned above, and will not be described in detail here.

[0098] In another embodiment, the communication device includes: a processor and a transceiver, the processor is used to control the transceiver to send and receive data / signaling; the transceiver receives a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, and first delay information of each second response device among M second response devices replying a response frame to the first initiating device; N and M are integers greater than or equal to 2; the first response device is any device among the M second response devices; the transceiver is also used to send a response frame to the first initiating device based on the first delay information of the first response device replying a response frame to the first initiating device and the timestamp of the voting frame.

[0099] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the above-mentioned second aspect and will not be described in detail here.

[0100] In another embodiment, the communication device includes: a processor and a transceiver, the processor is used to control the transceiver to perform data / signaling transmission and reception; the transceiver is used to send a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, the same response time of M second response devices replying response frames to the first initiating device, and a subcarrier set of each second response device in the M second response devices replying response frames to the first initiating device; the narrowband signal transmitted at the response time includes multiple subcarriers; N and M are integers greater than or equal to 2; the transceiver is also used to receive a response frame based on the response time and the subcarrier set of each second response device replying response frames to the first initiating device; the response frame includes multiple response signals.

[0101] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the third aspect mentioned above, and will not be described in detail here.

[0102] In another embodiment, the communication device includes: a processor and a transceiver, the processor is used to control the transceiver to perform data / signaling transmission and reception; the transceiver is used to receive a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, the same response time at which M second response devices reply to a response frame to a first initiating device, and a subcarrier set at which each first response device among the M second response devices replies to a response frame to the first initiating device; the narrowband signal transmitted at the response time includes multiple subcarriers; the N and the M are integers greater than or equal to 2; the transceiver is also used to send a response signal to the first initiating device based on the response time and the subcarrier set at which the first response device replies to the first initiating device to reply to the response frame; the first response device is any device among the M second response devices.

[0103] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the fourth aspect mentioned above, and will not be described in detail here.

[0104] In another embodiment, the communication device includes: a processor and a transceiver, the processor is used to control the transceiver to perform data / signaling transmission and reception; the transceiver is used to send a voting frame; the voting frame includes time-frequency position information of N ultra-wideband UWB segmented signal groups, first delay information of each second response device among M second response devices replying a response frame to the control device, and fifth delay information of each second initiating device among X second initiating devices replying a response frame to the control device; the N, the M, and the X are integers greater than or equal to 2; the transceiver is also used to receive multiple response frames based on multiple first delay information, multiple fifth delay information and the timestamp of the voting frame.

[0105] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the fifth aspect above, which will not be described in detail here.

[0106] In another embodiment, the communication device includes: a processor and a transceiver, the processor is used to control the transceiver to send and receive data / signaling; the transceiver is used to receive a voting frame; the voting frame includes time-frequency position information of N ultra-wideband UWB segmented signal groups, and fifth delay information of each second initiating device among X second initiating devices replying a response frame to the control device; the first initiating device is any device among the X second initiating devices; N and X are integers greater than or equal to 2; the transceiver is also used to send a response frame to the control device based on the timestamp of the voting frame and the fifth delay information of the first initiating device replying a response frame to the control device.

[0107] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the sixth aspect mentioned above and will not be described in detail here.

[0108] In another embodiment, the communication device includes: a processor and a transceiver, the processor is used to control the transceiver to perform data / signaling transmission and reception; the transceiver is used to receive a voting frame; the voting frame includes time-frequency position information of N ultra-wideband UWB segmented signal groups, and first delay information of each second response device among M second response devices replying a response frame to the control device; the first response device is any device among the M second response devices; N and X are integers greater than or equal to 2; the transceiver is also used to send a response frame to the control device based on the timestamp of the voting frame and the first delay information of the first response device replying a response frame to the control device.

[0109] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the seventh aspect mentioned above, and will not be described in detail here.

[0110] In another embodiment, the communication device includes: a processor and a transceiver, the processor is used to control the transceiver to perform data / signaling transmission and reception; the transceiver is used to send a voting frame; the voting frame includes time-frequency position information of N ultra-wideband UWB segmented signal groups, the same second response time at which M second response devices reply to the control device with a response frame, a subcarrier set at which each of the M second response devices replies to the control device with a response frame, the same first response time at which X second initiating devices reply to the control device with a response frame, and a subcarrier set at which each of the X second initiating devices reply to the control device with a response frame; the narrowband signal transmitted at the first response time includes multiple subcarriers; the N, the M, and the X are integers greater than or equal to 2;

[0111] The transceiver is further used to receive a second response frame based on the same second response time when the M second response devices reply response frames to the control device and the subcarrier set to which each second response device replies a response frame to the control device; the second response frame includes multiple second response signals; the transceiver is further used to receive a first response frame based on the same first response time when the X second initiating devices reply response frames to the control device and the subcarrier set to which each second initiating device replies a response frame to the control device; the first response frame includes multiple first response signals.

[0112] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the eighth aspect mentioned above and will not be described in detail here.

[0113] In another embodiment, the communication device includes: a processor and a transceiver, the processor is used to control the transceiver to perform data / signaling transmission and reception; the transceiver is used to receive a voting frame; the voting frame includes time-frequency position information of N ultra-wideband UWB segmented signal groups, the same first response time of X second initiating devices replying response frames to the control device, and a subcarrier set of each second initiating device in the X second initiating devices replying response frames to the control device; the first initiating device is any device among the X second initiating devices; N and X are integers greater than or equal to 2; the transceiver is also used to send a first response signal based on the first response time and the subcarrier set of each second initiating device replying response frames to the control device.

[0114] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the above-mentioned ninth aspect and will not be described in detail here.

[0115] In another embodiment, the communication device includes: a processor and a transceiver, the processor is used to control the transceiver to perform data / signaling transmission and reception; the transceiver is used to receive a voting frame; the voting frame includes time-frequency position information of N ultra-wideband UWB segmented signal groups, the same second response time at which M second response devices reply to the control device with a response frame, and a subcarrier set at which each second response device among the M second response devices replies to the control device with a response frame; the N and the M are integers greater than or equal to 2; the first response device is any device among the M second response devices; the transceiver is also used to send a second response signal based on the second response time and the subcarrier set at which the first response device replies to the control device with a response frame.

[0116] In addition, in this aspect, other optional implementations of the communication device can refer to the relevant content of the above-mentioned tenth aspect and will not be described in detail here.

[0117] In another embodiment, the communication device is a chip or a chip system. The processing unit may also be embodied as a processing circuit or a logic circuit; the transceiver unit may be an input / output interface, an interface circuit, an output circuit, an input circuit, a pin or a related circuit on the chip or the chip system.

[0118] During the implementation process, the processor can be used to perform, for example, but not limited to, baseband related processing, and the transceiver can be used to perform, for example, but not limited to, radio frequency transceiver. The above-mentioned devices can be respectively arranged on chips independent of each other, or at least partially or completely arranged on the same chip. For example, the processor can be further divided into an analog baseband processor and a digital baseband processor. Among them, the analog baseband processor can be integrated with the transceiver on the same chip, and the digital baseband processor can be arranged on an independent chip. With the continuous development of integrated circuit technology, more and more devices can be integrated on the same chip. For example, a digital baseband processor can be integrated with a variety of application processors (such as but not limited to a graphics processor, a multimedia processor, etc.) on the same chip. Such a chip can be called a system on a chip (System on aChip, SoC). Whether each device is independently arranged on different chips or integrated on one or more chips often depends on the needs of product design. The embodiment of the present application does not limit the implementation form of the above-mentioned devices.

[0119] In the twelfth aspect, the present application also provides a processor for executing the above-mentioned various methods. In the process of executing these methods, the process of sending the above-mentioned information and receiving the above-mentioned information in the above-mentioned methods can be understood as the process of the processor outputting the above-mentioned information and the process of the processor receiving the above-mentioned information input. When outputting the above-mentioned information, the processor outputs the above-mentioned information to the transceiver so that it can be transmitted by the transceiver. After being output by the processor, the above-mentioned information may also need to be processed in other ways before it reaches the transceiver. Similarly, when the processor receives the above-mentioned input information, the transceiver receives the above-mentioned information and inputs it into the processor. Furthermore, after the transceiver receives the above-mentioned information, the above-mentioned information may need to be processed in other ways before it is input into the processor.

[0120] Based on the above principle, for example, the sending of the voting frame mentioned in the above method can be understood as the processor outputting the voting frame.

[0121] For the sending and receiving operations involved in the processor, unless otherwise specified, or unless they conflict with their actual function or internal logic in the relevant description, they can be more generally understood as processor output, reception, input and other operations, rather than sending and receiving operations performed directly by the RF circuit and antenna.

[0122] In the implementation process, the processor may be a processor specifically used to execute these methods, or a processor that executes computer instructions in a memory to execute these methods, such as a general-purpose processor. The memory may be a non-transitory memory, such as a read-only memory (ROM), which may be integrated with the processor on the same chip or may be separately arranged on different chips. The embodiment of the present application does not limit the type of memory and the arrangement of the memory and the processor.

[0123] In a thirteenth aspect, the present application further provides a communication system, which includes at least one first initiating device and at least two first responding devices of the above aspect. In another possible design, the system may also include other devices that interact with the first initiating device and the first responding device in the solution provided by the present application.

[0124] In a fourteenth aspect, the present application provides a computer-readable storage medium for storing instructions, which, when executed by a computer, implements the method described in any one of the first to tenth aspects above.

[0125] In a fifteenth aspect, the present application further provides a computer program product comprising instructions, which, when executed on a computer, implements the method described in any one of the first to tenth aspects above.

[0126] In the sixteenth aspect, the present application provides a chip system, which includes a processor and an interface, wherein the interface is used to obtain a program or instruction, and the processor is used to call the program or instruction to implement or support the second communication device to implement the functions involved in any one of the first to tenth aspects. For example, determine or process at least one of the data and information involved in the above method. In one possible design, the chip system also includes a memory, which is used to store program instructions and data necessary for the terminal. The chip system can be composed of chips, and can also include chips and other discrete devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0127] FIG. 1( a ) is a schematic diagram of a system architecture provided in an embodiment of the present application;

[0128] FIG1( b ) is a schematic diagram of another system architecture provided in an embodiment of the present application;

[0129] FIG2( a ) is a schematic diagram of a ranging process of a unilateral bidirectional ranging provided in an embodiment of the present application;

[0130] FIG2( b ) is a schematic diagram of a ranging process of bilateral two-way ranging provided in an embodiment of the present application;

[0131] Figure 3 It is a structural diagram of a UWB segmented signal provided in an embodiment of the present application;

[0132] Figure 4 This is a schematic diagram of a one-to-one ranging process provided in an embodiment of the present application;

[0133] Figure 5 It is a schematic diagram of an interactive process of a signal transmission method provided in an embodiment of the present application;

[0134] Figure 6 This is a schematic diagram of a ranging process provided by an embodiment of the present application;

[0135] Figure 7 This is another distance measurement process diagram provided in an embodiment of the present application;

[0136] Figure 8 It is a schematic diagram of an interaction process of another signal transmission method provided in an embodiment of the present application;

[0137] Fig. 9 This is another schematic diagram of a ranging process provided by an embodiment of the present application;

[0138] Fig.10 This is another schematic diagram of a ranging process provided by an embodiment of the present application;

[0139] Fig.11It is a schematic diagram of an interaction process of another signal transmission method provided in an embodiment of the present application;

[0140] Fig.12 This is another schematic diagram of a ranging process provided by an embodiment of the present application;

[0141] Fig.13 It is a schematic diagram of an interaction process of another signal transmission method provided in an embodiment of the present application;

[0142] Fig.14 This is another schematic diagram of a ranging process provided by an embodiment of the present application;

[0143] Fig.15 is a structural diagram of a communication device provided in an embodiment of the present application;

[0144] Fig.16 is a structural diagram of another communication device provided in an embodiment of the present application;

[0145] Fig.17 It is a schematic diagram of the structure of a chip provided in an embodiment of the present application. DETAILED DESCRIPTION

[0146] The technical solutions in the embodiments of the present application are clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0147] 1. System architecture.

[0148] In order to better understand the signal transmission method disclosed in the embodiment of the present application, the system architecture applicable to the embodiment of the present application is described.

[0149] The system architecture applicable to the embodiments of the present application is shown in Figures 1(a) and 1(b), both of which include full-function devices and simplified function devices. Figure 1(a) is a star topology system architecture, in which the central control node communicates data with one or more other nodes. Figure 1(b) is a point-to-point topology system structure, in which the central control node can communicate data with one or more other nodes, and other different nodes can also communicate data with each other.

[0150] In the embodiment of the present application, the nodes in Figure 1(a) and Figure 1(b) include but are not limited to communication servers, routers, switches, bridges, computers, mobile phones, other network devices, other terminal devices, central control points, personal area networks (PANs) and PAN coordinators, etc.

[0151] It can be understood that the wireless communication systems involved in the embodiments of the present application include but are not limited to: narrowband Internet of Things system (NB-IoT), long term evolution system (LTE), three major application scenarios of 5G mobile communication system: enhanced mobile broadband (eMBB), ultra-reliable low latency communication (URLLC) and massive machine type communication (mMTC), wireless fidelity (WiFi) system, or mobile communication system after 5G, etc.

[0152] The network device involved in the embodiments of the present application is a device with wireless transceiver functions, which is used to communicate with the terminal device, and can be an evolved base station (evolved Node B, eNB or eNodeB) in LTE; or a base station in a 5G network or a base station in a future evolved public land mobile network (public land mobile network, PLMN), a broadband network service gateway (broadband network gateway, BNG), an aggregation switch or a non-third generation partnership project (3rd generation partnership project, 3GPP) access device, etc. Optionally, the network devices in the embodiments of the present application may include various forms of base stations, such as: macro base stations, micro base stations (also called small stations), relay stations, access points, devices that realize base station functions in the future, access nodes in WiFi systems, transmission and receiving points (TRP), transmitting points (TP), mobile switching centers, and devices that perform base station functions in device-to-device (D2D), vehicle-to-everything (V2X), and machine-to-machine (M2M) communications, etc. The embodiments of the present application do not make specific limitations on this.

[0153] The terminal devices involved in the embodiments of the present application may include various handheld devices, vehicle-mounted devices, wearable devices, computing devices, or other processing devices connected to a wireless modem with wireless communication functions. Terminal equipment may also refer to user equipment (UE), access terminal, subscriber unit, user agent, cellular phone, smart phone, wireless data card, personal digital assistant (PDA) computer, tablet computer, wireless modem, handheld device (handset), laptop computer, machine type communication (MTC) terminal, communication equipment carried on high-altitude aircraft, wearable device, drone, robot, terminal in device-to-device communication (D2D), terminal in vehicle to everything (V2X), virtual reality (VR) terminal equipment, augmented reality (AR) terminal equipment, wireless terminal in industrial control, wireless terminal in self driving, wireless terminal in remote medical, wireless terminal in smart grid, wireless terminal in transportation safety, wireless terminal in smart city, etc. This application does not limit the wireless terminal in the city, the wireless terminal in the smart home, or the terminal equipment in the future communication network.

[0154] To facilitate understanding of the embodiments disclosed in the present application, the following two points are explained.

[0155] (1) The scenarios in the embodiments disclosed in the present application are described by taking the scenarios of the 5G new radio (NR) network in the wireless communication network as an example. It should be noted that the solutions in the embodiments disclosed in the present application can also be applied to other wireless communication networks, and the corresponding names can also be replaced by the names of corresponding functions in other wireless communication networks.

[0156] (2) The embodiments disclosed in this application will present various aspects, embodiments or features of this application around a system including multiple devices, components, modules, etc. It should be understood and appreciated that each system may include additional devices, components, modules, etc., and / or may not include all of the devices, components, modules, etc. discussed in conjunction with the figures. In addition, combinations of these schemes may also be used.

[0157] Ultra wideband (UWB) is a wireless carrier communication technology that uses nanosecond non-sinusoidal narrow pulses to transmit data, so the spectrum range occupied is very wide. For ranging, the accuracy of its measurement or perception is related to the signal bandwidth. The larger the signal bandwidth, the higher the accuracy of its perception or ranging. Therefore, it is proposed to use the UWB solution for ranging to improve the accuracy of ranging and perception.

[0158] At present, the ranging methods of one node to multiple nodes include single-sided twoway ranging (SS-TWR) and double-sided two way ranging (DS-TWR). Among them, the SS-TWR ranging process of one node to multiple nodes is shown in Figure 2(a). The initiator broadcasts the UWB signal #a used for ranging. Responders 1 to n receive the UWB signal #a, and responders 1 to n reply to the initiator's UWB signal #a according to scheduling or competition, that is, responders 1 to n reply to the initiator with UWB signals #1 to UWB signals #n respectively, and the UWB signal replied by each responder carries the time when the responder receives UWB signal #a and the time when the UWB signal is replied. For example, for responder #1, the UWB signal #1 replied by responder #1 carries the time when responder #1 receives UWB signal #a and the time when UWB signal #1 is sent. Therefore, the initiator can calculate the flight time (TOF) between the UWB signal and each respondent based on the transmission and reception time carried in the UWB signal replied by each respondent and the time when the initiator sends and receives the UWB signal, thereby completing the ranging of multiple responders.

[0159] The DS-TWR ranging process of one node to multiple nodes is shown in Figure 2(b). Compared with Figure 2(a), the difference between the DS-TWR ranging process and the SS-TWR ranging process is that after the initiator receives the UWB signal replied by each responder, it will broadcast another UWB signal #a. The UWB signal #a carries the time when the initiator receives the UWB signal replied by each responder, as well as the time when the UWB signal #a was sent. In this way, after each responder receives the UWB signal #a, it can calculate the TOF between it and the initiator based on the time when the responder sends and receives the UWB signal. Therefore, not only can the initiator complete the ranging of each responder, but each responder can also complete the ranging of the initiator, that is, bilateral ranging is achieved.

[0160] However, due to the large bandwidth of the UWB system, in order to reduce its interference to other narrowband devices during operation, the Federal Communications Commission of the United States has imposed strict restrictions on the power spectrum density of UWB signals. On the one hand, the total energy emitted by UWB signals under a bandwidth of 500M is limited to 37nJ within 1 millisecond. This restriction makes the coverage of UWB signals smaller. In other words, if the UWB signals shown in Figures 2(a) and 2(b) above are used for ranging, the coverage of the UWB signals will be smaller, resulting in a lower signal-to-noise ratio at the receiving end of the UWB signal, which in turn affects the ranging performance.

[0161] Therefore, people have proposed to concentrate the energy of UWB signals and transmit them in a shorter time, thereby increasing the instantaneous power of the transmitted signal, which can increase the coverage of UWB signals and the signal-to-noise ratio of the UWB signals received by the receiver. Based on this, in some scenarios where the transmission power needs to be increased, the transmitter will split the UWB signal to be transmitted into multiple segments, and each UWB segment signal is less than 1 millisecond in duration. For example, Figure 3 The split UWB segment signals include UWB segment signal 1, UWB segment signal 2, and UWB segment signal 3. The transmitter sends only one of the UWB segment signals in each millisecond.

[0162] At present, the process of measuring the distance between one node and another node based on the UWB segmented signal is as follows: Figure 4 When the initiator performs ranging on the responder, it includes multiple ranging blocks, and one ranging block includes an active ranging process (active ranging round).

[0163] In the activated ranging process, the initiator uses a narrowband signal to send a poll frame, which indicates the time-frequency position information of multiple UWB segment signals #1. When the responder receives the poll frame and confirms to participate in the ranging process of the initiator, it replies with a response frame to the initiator, and the response frame carries the time-frequency position information of replying to the initiator of multiple UWB segment signals #2. The process of the initiator sending the poll frame and the responder replying the response frame is the coordination stage in the ranging process, that is, the initiator and the responder negotiate the time-frequency position information of sending multiple UWB segment signals #1 and replying to multiple UWB segment signals #2. The initiator sends multiple UWB segment signals #1 based on the time-frequency position information of multiple UWB segment signals #1 respectively; the responder receives multiple UWB segment signals #1 based on the time-frequency position information of multiple UWB segment signals #1 respectively. The responder replies to multiple UWB segment signals #2 based on the time-frequency position information of multiple UWB segment signals #2; the initiator receives multiple UWB segment signals #2 based on the time-frequency position information of multiple UWB segment signals #2. Finally, the responder reports the time of receiving multiple UWB segment signals #1 and the time of sending multiple UWB segment signals #2 to the initiator through a data frame. Thus, the initiator calculates TOF based on the time of sending multiple UWB segment signals #1, the time of receiving multiple UWB segment signals #2, and the time when the responder receives multiple UWB segment signals #1 and sends multiple UWB segment signals #2, thereby completing the ranging of the responder.

[0164] However, when the initiator uses the UWB segmented signal to perform one-to-one ranging on the responder, the initiator needs multiple ms to complete the ranging of the responder, and its ranging efficiency is low. If the initiator performs one-to-many ranging on multiple responders, the initiator still uses the above method to schedule each responder one by one, then the scheduling process for multiple responders is more complicated, the ranging time is longer, and the ranging efficiency is low.

[0165] In the embodiment of the present application, the first initiating device is any device among the multiple second initiating devices. Each second initiating device among the multiple second initiating devices is a device that initiates a ranging process request, and each second initiating device can initiate a ranging request to other devices by sending a poll frame. The first responding device is any device among the multiple second responding devices. Each second responding device among the multiple second responding devices can receive a voting frame sent by the first initiating device. If the second responding device confirms to join the ranging process of the first initiating device, the second responding device can reply a response frame to the first initiating device to confirm to the first initiating device that it has joined the ranging process of the first initiating device.

[0166] 2. Signal transmission method 100.

[0167] This embodiment of the application proposes a signal transmission method 100. Figure 5 1 is a schematic diagram of the interaction flow of the signal transmission method 100. The signal transmission method 100 is described from the perspective of the interaction between the first initiating device and the first responding device. The signal transmission method 100 includes but is not limited to the following steps:

[0168] S101. The first initiating device sends a voting frame, which includes time-frequency position information of N first ultra-wideband UWB segment signals and first delay information of each second responding device among M second responding devices replying a response frame to the first initiating device.

[0169] Wherein, N and M are integers greater than or equal to 2. The N first UWB segment signals are N parts of the UWB signal used by the first initiator for ranging, that is, the first initiator divides the UWB signal used for ranging into N first UWB segment signals. This method can improve the transient power of the transmitted signal, increase the coverage of the signal and increase the signal-to-noise ratio of the received signal at the receiving end.

[0170] The time length of each first UWB segment signal in the N first UWB segment signals is less than 1ms, and the time interval between each two first UWB segment signals is greater than or equal to 1ms. The embodiment of the present application does not limit the time length of each first UWB segment signal and the time interval between each two first UWB segment signals. The embodiment of the present application takes the time interval between each two first UWB segment signals as 1ms as an example for explanation. For example, the time-frequency position information of each first UWB segment signal in the N first ultra-wideband UWB segment signals is as follows: Figure 6 As shown, the Figure 6 The time interval between every two first UWB segment signals is 1 ms.

[0171] In addition, the delay in the first delay information is the delay relative to the first initiating device sending the voting frame, that is, the delay relative to the timestamp of the voting frame. The first delay information of different second response devices is different, that is, the delay of each second response device replying the response frame to the first initiating device is different. Therefore, each second response device replies to the first initiating device with a different delay from the time when the first device sends the voting frame. It can be seen that the first initiating device configures each second response device with a first delay information for replying the response frame to the first initiating device, so that each second response device can reply the response frame to the first initiating device at different times, thereby joining the ranging process of the first initiating device.

[0172] Exemplarily, the delay in the first delay information of the response frame that the response device #1 replies to the first initiator is 5us, the delay in the first delay information of the response frame that the response device #2 replies to the first initiator is 8us, and the moment when the first initiator sends the voting frame is moment #A. If both the response device #1 and the response device #2 confirm to participate in the ranging initiated by the first initiator, the response device #1 replies to the first initiator with a reply frame at 5us after moment #A, and the response device #2 replies to the first initiator with a reply frame at 8us after moment #A. Then, both the response device #1 and the response device #2 join the ranging process of the first initiator.

[0173] The timestamp of the voting frame may be carried in the voting frame, or may be sent by the first initiating device to the M second response devices through other signaling. For example, the first initiating device informs the M second response devices of the timestamp of the voting frame through downlink control information (DCI).

[0174] The voting frame includes the time-frequency position information of the N first UWB segment signals used by the first initiating device when performing ranging, so as to broadcast the time-frequency position information of the N first UWB segment signals to the M second answering devices. This method enables the M second answering devices to subsequently receive the N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals.

[0175] The voting frame includes the first delay information of each second response device among the M second response devices replying a response frame to the first initiating device, indicating that the first initiating device has initiated a ranging request to the M second response devices. Each second response device among the M second response devices has a first delay information of replying a response frame to the first initiating device, indicating that the first initiating device implements the scheduling of narrowband signals to the M second response devices in a time-division manner, so that each second response device among the M second response devices can reply a response frame to the first device at a different time to participate in the ranging process of the first initiating device. Furthermore, this method is conducive to realizing the ranging of multiple second response devices by the first initiating device, that is, it is conducive to improving the ranging efficiency.

[0176] It is understandable that the first initiating device may send the voting frame to the M second responding devices in a broadcasting manner to reduce signaling overhead.

[0177] In an optional implementation, the voting frame may also include second delay information for each second response frame in the M second response devices to reply to the first initiating device with the first UWB segment signal. The delay in the second delay information is the delay relative to each first UWB segment signal in the N first UWB segment signals. In other words, the first initiating device configures each second response device with a delay for replying to the N first UWB segment signals to the first initiating device, which is conducive to each second response device replying to the first UWB segment signal at different times.

[0178] In another optional implementation, the voting frame also includes the same third delay information of the M second answering devices replying the first UWB segment signal to the first initiating device, and the orthogonal sequence index of each second answering device. The orthogonal sequence of each second answering device is used for the second answering device to generate an orthogonal UWB segment signal. In other words, the first initiating device configures the M second answering devices with the same delay information for replying N first UWB segment signals, and different orthogonal sequence indexes for each second answering device to generate an orthogonal UWB segment signal. This method allows each second answering device to reply to the first initiating device with a first orthogonal UWB signal at the same time, and the orthogonal UWB segment signal is determined based on its own orthogonal sequence index.

[0179] In this manner, the first initiator configures the voting frame so that each of the M second answering devices replies to the first orthogonal UWB segment signal at the same time, so that the first initiator also receives the first orthogonal UWB segment signal from each second answering device at the same time. It can be seen that the first initiator does not need to frequently receive orthogonal UWB segment signals from multiple second answering devices within the time interval of each first UWB segment signal, and can receive orthogonal UWB segment signals from multiple second answering devices at a fixed time, thereby reducing the power consumption of the first initiator.

[0180] That is to say, the first initiator device is in an active state when sending N first UWB segment signals and receiving multiple first orthogonal UWB segment signals. The first initiator device is in an idle state during the interval between the N first UWB segment signals, except for sending the N first UWB segment signals and receiving multiple first orthogonal UWB segment signals. It can be seen that this method greatly reduces the time when the first initiator device is in an active state, and can reduce the power consumption of the first initiator device.

[0181] In another optional implementation, the voting frame also includes fourth delay information for each second response device to send a data frame to the first initiating device. The delay in the fourth delay information is the delay relative to the last time interval in the time intervals of the N first UWB segmented signals. The data frame includes the time when the second response device sends and receives the UWB segmented signal. In other words, the first initiating device configures the time for reporting the sending and receiving of the UWB segmented signal to each second response device through the voting frame. Different second response devices have different fourth delay information, so that different second response devices send data frames to the first initiating device at different times. This method is beneficial for the first initiating device to obtain the time when multiple second response devices send and receive UWB segmented signals, and then it is beneficial for the first initiating device to calculate the TOF of the multiple response devices and realize the ranging of the multiple response devices.

[0182] Optionally, the voting frame also includes the addresses of the M second answering devices, so that each second answering device can determine whether it can participate in the ranging process of the first initiating device based on the address information in the voting frame after receiving the voting frame.

[0183] It can be seen from the above that in addition to the time-frequency position information of the N first UWB segment signals, the voting frame also includes one or more items listed in the following Table 1.

[0184] Table 1

[0185]

[0186] S102. The first answering device receives the voting frame.

[0187] S103: The first responding device sends a response frame to the first initiating device based on the first delay information of the response frame that the first responding device replies to the first initiating device and the timestamp of the voting frame.

[0188] The first response device is any device among the M second response devices. The response frame is used to confirm the time-frequency resource position of the N first UWB segmented signals in the voting frame. If any second response device among the M second response devices confirms to join the ranging process of the first initiating device, a response frame can be sent to the first initiating device.

[0189] The voting frame received by any second response device includes the first delay information of the second response device replying the response frame to the first initiator. Therefore, any second response device can send a response frame to the first initiator based on the delay in the first delay information of the second response device and the timestamp of the voting frame. It can be understood that any second response device determines the time to send the response frame based on the delay in its own first delay information and the timestamp of the voting frame, and then sends the response frame to the first initiator at this time.

[0190] For example, as mentioned above Figure 6 As shown, the second response device #1 determines that the sending time is time #1 based on its own first delay information and the timestamp of the voting frame, and the second response device #M determines that the sending time is time #M based on its own first delay information and the timestamp of the voting frame. Then, the second response device #1 sends a response frame 1 to the first initiating device at time #1, and the second response device #M sends a response frame M to the first initiating device at time #M.

[0191] That is to say, any of the M second response devices can send a response frame to the first initiator device based on its own first delay information, and different second response devices send response frames to the first initiator device at different times. That is, different response devices can join the ranging process of the first initiator device by sending response frames to the first initiator device at different times. This method can enable multiple second response devices to join the ranging process of the first initiator device, so that the first initiator device can achieve ranging of multiple second response devices.

[0192] S104: The first initiating device receives multiple response frames based on the first delay information of the response frames that each second response device replies to the first initiating device and the timestamp of the voting frame.

[0193] Accordingly, the first initiating device can determine the time when each second response device sends a response frame based on the first delay information of the response frame that each second response device replies to the first initiating device and the timestamp of the voting frame, so that the first initiating device can receive response frames from multiple second response devices based on different times of receiving response frames.

[0194] The first initiating device may determine the second response device to join the ranging process among the M second response devices based on the received response frame, so that ranging may be subsequently performed using the UWB segmented signal replied by the second response device that sent the response frame.

[0195] S105. The first initiating device sends N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals.

[0196] The first initiating device sends N first UWB segment signals at different time-frequency positions of the N first UWB segment signals. Figure 6 As shown, the first initiating device sends N first UWB segment signals at different time and frequency positions respectively.

[0197] In an optional implementation, the first initiating device sends N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals, including: when the first timer has not timed out and M response frames are received, the first initiating device sends N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals; or, when the first initiating device receives S response frames and the first timer times out, the first initiating device sends N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals. The first timer is triggered when the voting frame is sent, and S is an integer greater than or equal to 1 and less than M.

[0198] It can be seen that the first initiating device starts the first timer when sending the voting frame. The time of the first timer is customized by the first sending device. When the first timer has not timed out and the first initiating device receives a response frame from each of the M second response devices, the first initiating device sends N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals. When the first initiating device receives the response frames from some of the M second response devices and the first timer times out, the first initiating device no longer continues to wait for the responses of other second response devices, but sends N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals. This method can avoid ranging failures caused by the first initiating device permanently waiting for the second response device to reply to the response frame.

[0199] Optionally, when the first timer times out, the first initiating device does not receive any response frame replied by the second responding device, that is, the above s is equal to 0. In this manner, the first initiating device resends the voting frame, that is, rebroadcasts the voting frame to the M second responding devices to re-request the M second responding devices to join the ranging process.

[0200] S106. The first response device receives N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals.

[0201] The voting frame received by any second answering device includes the time-frequency position information of the N first UWB segment signals, so that any second answering device can receive the N first UWB segment signals at different time-frequency positions based on the time-frequency position information of the N first UWB segment signals.

[0202] S107. The first responding device sends UWB segment signals to the first initiating device respectively.

[0203] After receiving a first UWB segment signal, any answering device replies with the first UWB segment signal to the first initiating device, that is, sends a UWB segment signal to the first initiating device.

[0204] In an optional implementation, the voting frame also includes when each second response device replies to the first initiating device with the second delay information of the first UWB segment signal, any second response device sends N second UWB segment signals to the first initiating device based on the second delay information of the first UWB segment signal replied by the second response device to the first initiating device.

[0205] That is to say, in this manner, each second answering device can determine the time to send N second UWB segment signals to the first initiating device based on its own second delay information, thereby sending N second UWB segment signals to the first initiating device at the determined time. The second delay information of each second answering device is different, so within the time interval of each first UWB segment signal, each second answering device sends the second UWB segment signal to the first initiating device at a different time.

[0206] For example, as mentioned above Figure 6 As shown, each second answering device sends a second UWB segment signal to the first initiating device at a different time within the time interval of each first UWB segment signal, and each second answering device sends N second UWB segment signals respectively.

[0207] In another optional implementation, the voting frame further includes the same third delay information of the M second answering devices replying to the first initiating device for the first UWB segment signal, and when the orthogonal sequence index of each second answering device is obtained, any second answering device sends N first orthogonal UWB segment signals to the first initiating device based on the third delay information. The first orthogonal UWB segment signal is determined based on the orthogonal sequence index of the first answering device.

[0208] That is, in each time interval of the first UWB segment signal, different second answering devices send the first orthogonal UWB segment signal to the first initiating device at the same time, that is, multiple second answering devices send the first orthogonal UWB segment signal with code division orthogonality at the same time. The time for sending the first orthogonal UWB segment signal in each time interval of the first UWB segment signal is determined based on the third delay information and the time for sending the first UWB segment signal in the time interval of the first UWB segment signal.

[0209] The first orthogonal UWB segment signal of each second response device is determined based on the orthogonal sequence index of the second response device. The embodiment of the present application does not limit the implementation method of each second response device generating the first orthogonal UWB segment signal based on the orthogonal sequence index. For example, different first orthogonal IWB segment signals can be implemented based on M sequences with different parameters, or repetitions of M sequences with different parameters. The generation formula of the M sequence is:

[0210] d(n)=1-2x(m) (1)

[0211] m=[n+43N ID ]modL (2)

[0212] Where, 0≤n≤L, x(i+7)=[x(i+4)+x(i)]mod2, L represents the length of the M sequence, N ID The orthogonal sequence index assigned to the Poll frame, the number of pulses of the first orthogonal UWB segment signal is ZL, where z is a positive integer. And [x(6) x(5)x(4) x(3) x(2) x(1) x(0)] = [1 1 1 0 1 1 0]. At this time, the first orthogonal UWB segment signal is obtained by encoding the M sequence of length L with binary phase shift keyin (BPSK) and repeating it Z times.

[0213] For example, Figure 7 As shown, within the time interval of each first UWB segment signal, each second answering device sends a different first orthogonal UWB segment signal to the first initiating device at the same time, and each second answering device sends N first orthogonal UWB segment signals respectively.

[0214] In this manner, in the time interval of each first UWB segment signal, different second answering devices send different first orthogonal UWB segment signals to the first device at the same time, so that the first initiating device also receives different first orthogonal UWB segment signals from multiple second answering devices at the same time. Furthermore, the first initiating device is in an active state when sending N first UWB segment signals and receiving multiple first orthogonal UWB segment signals. The first initiating device is in an idle state during the interval of N first UWB segment signals, except for sending N first UWB segment signals and receiving multiple first orthogonal UWB segment signals.

[0215] Compared with the above-mentioned second responding devices sending the second UWB segment signals at different times, the first initiating device does not need to frequently receive multiple second UWB segment signals. This approach can reduce the boot time of the first initiating device, thereby reducing the power consumption of the first initiating device.

[0216] In addition, this method can make the first initiator device switch the time of sending the first UWB signal and receiving the first orthogonal UWB segment signals replied by multiple second answering devices once within the time interval of each first UWB segment signal, which can reduce the risk of occupying the switching time. At the same time, the idle time within the time interval of each first UWB segment signal is increased, and multiple second answering device groups can reply to the answer frame at different times during the idle time, which can increase the data of the second answering device participating in the ranging of the first initiator device, and improve the ranging efficiency.

[0217] S108. The first initiating device receives a plurality of UWB segment signals respectively.

[0218] Correspondingly, the voting frame also includes the second delay information of each second responding device replying the first UWB segment signal to the first initiating device. The first initiating device receives multiple second UWB segment signals respectively based on the second delay information of each second responding device replying the first UWB segment signal to the first initiating device.

[0219] Optionally, the voting frame also includes the same third delay information of M second response devices replying to the first initiating device with the first UWB segment signal, and the orthogonal sequence index of each second response device. The first initiating device receives multiple first orthogonal UWB segment signals based on the third delay information and the orthogonal sequence index of each second response device.

[0220] It is understandable that the implementation of the first initiating device receiving multiple UWB segment signals is similar to the implementation of each second responding device sending a UWB segment signal. Please refer to the implementation of each second responding device sending a UWB segment signal, which will not be repeated here.

[0221] In an optional implementation, the voting frame may also include fourth delay information for each second response device to send a data frame to the first initiating device. In this manner, the first response device may send a data frame to the first initiating device based on the fourth delay information for the first response device to send a data frame to the first initiating device, and the data frame includes the time for the first response device to receive N first UWB segment signals and the time for sending N second UWB segment signals or N first orthogonal UWB segment signals.

[0222] That is to say, any second response device can also determine the time to send data frames to the first initiator device based on its own fourth delay information, so that the second response device sends data frames to the first initiator device at the determined time to report the time when the second response device sends and receives UWB segment signals to the first initiator device, and then the first initiator device performs ranging based on the time of sending and receiving UWB segment signals.

[0223] Therefore, the first initiator device can receive multiple data frames based on the fourth delay information of each second response device sending a data frame to the first initiator device, so as to obtain the time when multiple second response devices send and receive UWB segment signals from the multiple data frames, and then measure the distance of the multiple second response devices.

[0224] For example, as above Figure 6 and Figure 7 As shown, different second response devices send data frames to the first initiator at different times determined based on the fourth delay information, and the M second response devices send a total of M data frames to the first initiator. The first initiator receives multiple data frames at different times.

[0225] In the embodiment of the present application, the time when each second answering device sends a UWB segment signal must be converted with the time when the first initiating device sends the first UWB segment signal, that is, the time when each second answering device sends a UWB segment signal is staggered with the time when the first initiating device sends the first UWB segment signal. Figure 6 and Figure 7 In the embodiment, there is a turnaround time after the first initiator device finishes sending the first UWB segment signal and before it starts sending the first UWB segment signal. This method allows the first device to distinguish the time of sending the first UWB segment signal and the time of receiving the UWB segment signals from multiple second responding devices, which is conducive to ranging based on the two times.

[0226] It is understandable that the embodiments of the present application also include Figure 6 and Figure 7 The present invention provides a ranging process of one initiating device to multiple answering devices, and obtains a ranging process of multiple initiating devices to multiple answering devices.

[0227] It can be seen that in the embodiment of the present application, the voting frame sent by the first initiating device includes the first delay information for each of the multiple second response devices to reply to the response frame to the first initiating device, that is, it includes time-division scheduling of the multiple second response devices, so that the response frames from the multiple second response devices can be received at different times, so that the multiple second response devices join the ranging or sensing process initiated by the first initiating device. Then the first initiating device sends N first UWB segment signals to start the ranging process. The multiple second response devices participate in the ranging process of the first initiating device by replying UWB segment signals to the first initiating device. This method is conducive to the first initiating device to achieve ranging for multiple second responders in a shorter time, which is conducive to improving the ranging efficiency.

[0228] 3. Signal transmission method 200.

[0229] The present application also provides a signal transmission method 200. Figure 82 is a schematic diagram of the interaction flow of the signal transmission method 200. The signal transmission method 200 is described from the perspective of the interaction between the first initiating device and the first responding device. The signal transmission method 200 includes but is not limited to the following steps:

[0230] S201. The first initiating device sends a voting frame, which includes time-frequency position information of N first ultra-wideband UWB segmented signals, the same response time at which M second response devices reply to the first initiating device with a response frame, and a subcarrier set at which each second response device in the M second response devices replies to the first initiating device with a response frame, and the narrowband signal transmitted at the response time includes multiple subcarriers.

[0231] Wherein, N and M are integers greater than or equal to 2.

[0232] The N first ultra-wideband UWB segment signals and the time-frequency position information of the N first ultra-wideband UWB segment signals can refer to the above-mentioned S101, and will not be described in detail again.

[0233] It can be seen that the first initiating device configures the same response time for the M second response devices to reply to the response frame of the first initiating device through the voting frame, as well as the subcarrier set for each second response device to reply to the response frame of the first initiating device. In other words, the first initiating device implements narrowband scheduling of the M second response devices through frequency division, so that the M second response devices can reply to the response frame of the first initiating device at the same response time and on different subcarrier sets. That is, this method allows the M second response devices to join the ranging process of the first initiating device through frequency division, which is beneficial for the first initiating device to realize the perception or measurement of multiple second response devices, and can also improve the ranging efficiency.

[0234] In the embodiment of the present application, other implementations of the voting frame can refer to the above S101 and will not be repeated here.

[0235] In combination with the implementation of the voting frame in S101, it can be known that the voting frame may include the information in Table 2.

[0236] Table 2

[0237]

[0238]

[0239] S202: The first answering device receives the voting frame.

[0240] S203: The first responding device sends a response signal based on the response time and the subcarrier set of the response frame in which the first responding device replies to the first initiating device.

[0241] Since the voting frame includes the response time of M second response devices and the subcarrier set of each second response device, when any second response device confirms to participate in the ranging of the first initiator device, it can send a response signal to the first initiator device on the subcarrier set of the first response device at the response time. Fig. 9 As shown, multiple second response devices send response signals to the first initiator device on different subcarrier sets at time #a, and the multiple response signals constitute a response frame.

[0242] S204: The first initiating device receives a response frame based on the response time and the subcarrier set of each second response device replying a response frame to the first initiating device, where the response frame includes multiple response signals.

[0243] Correspondingly, the first initiating device receives a response frame at the response time, the response frame including response signals on different subcarrier sets, and the response signals on different subcarrier sets come from different second response devices.

[0244] In the embodiment of the present application, the first initiating device receives response signals from multiple second response devices at the same response time. Compared with S104, in which the first initiating device receives response frames from different second response devices at different times, this implementation allows the first initiating device to be in an activated state at the response time when receiving the response frame, which can reduce the startup time of the first initiating device and further reduce the power consumption of the first initiating device.

[0245] S205. The first initiating device sends N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals.

[0246] S206. The first response device receives N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals.

[0247] The implementation of S205 and S206 can refer to the implementation of S105 and S106 mentioned above, and will not be described in detail.

[0248] S207. The first responding device sends UWB segment signals to the first initiating device respectively.

[0249] The UWB signal sent by any second answering device to the first initiating device is a reply signal to the first UWB segment signal sent by the first initiating device.

[0250] In an optional implementation, the voting frame further includes when each second answering device replies to the first initiating device with the second delay information of the first UWB segment signal, the first answering device sends N second UWB segment signals to the first initiating device based on the second delay information of the first UWB segment signal replied by the first answering device to the first initiating device. The specific implementation can be referred to in the above S107.

[0251] For example, as mentioned above Fig. 9 As shown, after receiving the first UWB segment signal from the first initiator device within the time interval of each first UWB segment signal, each second responding device sends a second UWB segment signal to the first initiator device at different times based on its own second delay information. Each second responding device sends a total of N second UWB segment signals.

[0252] In another optional implementation, the voting frame further includes the same third delay information of the M second answering devices replying to the first initiating device for the first UWB segment signal, and the orthogonal sequence index of each second answering device, and the first answering device sends the first orthogonal UWB segment signal to the first initiating device based on the third delay information and the orthogonal sequence index of the first answering device. The specific implementation can be referred to in the above S107.

[0253] For example, Fig.10 As shown, after receiving the first UWB segment signal in the time interval of each first UWB segment signal, each second answering device sends the first orthogonal UWB segment signal determined based on its own orthogonal sequence index within the same time determined based on the third delay information. In the time interval of N first UWB segment signals, each answering device sends a total of N first orthogonal UWB segment signals to the first initiating device.

[0254] In addition, this method can make the first initiator device switch the time of sending the first UWB signal and receiving the first orthogonal UWB segment signals replied by multiple second answering devices once within the time interval of each first UWB segment signal, which can reduce the risk of occupying the switching time, thereby enhancing the robustness of the system. At the same time, the idle time within the time interval of each first UWB segment signal is increased, and multiple second answering device groups can reply to the answer frame at different times during the idle time, which can increase the number of ranging devices added to the first initiator device, that is, improve the efficiency of ranging.

[0255] S208. The first initiating device receives a plurality of UWB segment signals respectively.

[0256] In an optional implementation, the voting frame also includes when each second responding device replies to the first initiating device with the second delay information of the first UWB segment signal, the first initiating device receives multiple second UWB segment signals based on the second delay information of the first UWB segment signal replied by each second responding device to the first initiating device.

[0257] In another optional implementation, the voting frame also includes the same third delay information of M second response devices replying to the first initiating device for the first UWB segment signal, and the orthogonal sequence index of each second response device. The first initiating device receives multiple first orthogonal UWB segment signals based on the third delay information and the orthogonal sequence index of each second response device.

[0258] The detailed implementation of the first initiating device receiving the multiple UWB segment signals respectively can be found in the above S108, which will not be described in detail.

[0259] In another optional implementation, the voting frame also includes the same data frame time when each second answering device sends a data frame to the first initiating device, and the subcarrier set when each second answering device sends a data frame to the first initiating device. Thus, the first answering device can also send a data signal based on the data frame time and the subcarrier set when the first answering device sends a data frame to the first initiating device. The data signal includes the time when the first answering device receives N first UWB segment signals, and the time when N second UWB segment signals or N first orthogonal UWB segment signals are sent.

[0260] Accordingly, the first initiator device can receive data frames on different subcarrier sets at the data frame time, and the data frames include data signals from multiple second response devices. In this manner, the first initiator device does not need to receive data frames from different second response devices at different times, but only needs to receive data frames at one data frame time, thereby reducing the power consumption of the first initiator device.

[0261] It is understandable that the embodiments of the present application also include Fig. 9 and Fig.10 The ranging process of one initiating device to multiple answering devices is obtained, and the ranging process of multiple initiating devices to multiple answering devices is obtained. It can be seen that in the embodiment of the present application, the first initiating device configures the same response time for replying the response frame to the M second answering devices through the voting frame, and the subcarrier set for each second answering device to reply the response frame, that is, the frequency division scheduling of the M second answering devices is configured. This method enables the M second answering devices to send a response signal to the first initiating device on different subcarrier sets at the same response time. Thereby, some or all of the M second answering devices can join the ranging process of the first initiating device, which can improve the ranging efficiency.

[0262] 4. Signal transmission method 300.

[0263] The present application also provides a signal transmission method 300. Fig.11 3 is a schematic diagram of the interaction flow of the signal transmission method 300. The signal transmission method 300 is described from the perspective of the interaction between the control device, the first initiating device, and the first responding device. The signal transmission method 300 includes but is not limited to the following steps:

[0264] S301. The control device sends a voting frame, which includes the time-frequency position information of N ultra-wideband UWB segment signal groups, the first delay information of each second responding device in the M second responding devices replying a response frame to the control device, and the fifth delay information of each second initiating device in the X second initiating devices replying a response frame to the control device.

[0265] Wherein, N, M, and X are integers greater than or equal to 2. The control device may be an independent device or any second initiator device among the X second initiator devices. The UWB segment signal group includes a plurality of second orthogonal UWB segment signals. The delay in the first delay information and the delay in the fifth delay information are both delays relative to the timestamp of the voting frame.

[0266] It can be seen that the control device configures the delay information of sending the response frame to the first initiating device to each of the M second response devices and the X second initiating devices through the voting frame, thereby realizing the time division scheduling of the M second response devices and the X second initiating devices. This method can enable multiple devices in the M second response devices and the X second initiating devices to join the same ranging process, which is conducive to improving the ranging efficiency.

[0267] In an optional implementation, the voting frame also includes the orthogonal sequence index of each second initiating device, the orthogonal sequence index of each second responding device in the M second responding devices, and the same third delay information of each second responding device replying the second orthogonal UWB segment signal to the first initiating device. This method allows any second initiating device to send N second orthogonal UWB segment signals based on the time-frequency position information of the N UWB segment signal groups and the orthogonal sequence index of the second initiating device. Thus, any second responding device receives multiple second orthogonal UWB segment signals based on the time-frequency position information of the N UWB segment signal groups and the orthogonal sequence index of each second initiating device.

[0268] In addition, any second answering device can send N third orthogonal UWB segment signals based on the third delay information and its own orthogonal sequence index. Thus, any second initiating device can receive multiple third orthogonal UWB segment signals based on the third delay information and the orthogonal sequence index of each second answering device.

[0269] In another optional implementation, the voting frame also includes the fourth delay information of each second answering device sending a data frame to the second initiating device, so that any second answering device can send a data frame based on the fourth delay information of the second answering device. The data frame includes the time when the second answering device receives the second orthogonal UWB segment signal and the time when the third orthogonal UWB segment signal is sent. Correspondingly, any first initiating device participating in the ranging process can receive multiple data frames based on the fourth delay information of each second answering device, and then use the time information carried in the data frame to perform ranging on multiple second answering devices.

[0270] Optionally, the voting frame may further include addresses of M second responding devices and X second initiating devices, so as to request the devices including the address information to join the same ranging process.

[0271] S302. The first initiating device receives a voting frame.

[0272] S303. The first answering device receives the voting frame.

[0273] The embodiment of the present application does not limit the execution order of S302 and S303. S302 is executed after S303, or S303 can be executed after S302.

[0274] Any second initiating device among the X second initiating devices may receive the voting frame. Any second responding device among the M second responding devices may receive the voting frame.

[0275] S304. The first initiating device sends a response frame to the control device based on the timestamp of the voting frame and the fifth delay information of the response frame that the first initiating device replies to the control device.

[0276] Any second initiating device sends a response frame to the control device at a time determined based on the timestamp of the voting frame and the fifth delay information of the second initiating device. Different second initiating devices send response frames to the control device at different times based on different fifth delay information.

[0277] For example. Fig.12 As shown, the response frame sent by the second initiator device 1 is the response frame i1, and the response frame sent by the second initiator device X is ix. The times at which the X second initiators send the response frames are different.

[0278] S305. The first response device sends a response frame to the control device based on the timestamp of the voting frame and the first delay information of the first response device replying the response frame to the control device.

[0279] Any second response device sends a response frame to the control device at a time determined based on the timestamp of the voting frame and the first delay information of the second response device. Different second response devices send response frames to the control device at different times based on different first delay information.

[0280] For example. As mentioned above Fig.12 As shown, the response frame sent by the second response device 1 is the response frame r1, and the response frame sent by the second response device X is rx. The times at which the X second response devices send the response frames are different.

[0281] The embodiment of the present application does not limit the execution order of S304 and S305. S304 is executed after S305, or S305 can be executed after S304.

[0282] S306. The control device receives multiple response frames based on the multiple first delay information, the multiple fifth delay information and the timestamp of the voting frame.

[0283] Accordingly, the control device can determine the time when the multiple second initiating devices send the response frames based on the multiple fifth delay information and the timestamp of the voting frame, so that the control device can receive the response frames from different second initiating devices at the determined different times. The control device can also determine the time when the multiple second response devices send the response frames based on the multiple first delay information and the timestamp of the voting frame, so that the control device receives the response frames from different second response devices at the determined different times.

[0284] S307. The first initiating device sends N second orthogonal UWB segment signals respectively.

[0285] In an optional implementation, the voting frame also includes the orthogonal sequence index of each second initiator. Therefore, any second initiator can send N second orthogonal UWB segment signals based on the time-frequency position information of the N UWB segment signal groups and the orthogonal sequence index of the second initiator. That is, each second initiator that replies to the response frame can send the second orthogonal UWB segment signal determined based on the orthogonal sequence of the second initiator at the N transmission times determined based on the time-frequency position information of the N UWB segment signal groups.

[0286] Thus, within the time interval of each UWB segment signal group, multiple second initiating devices send different second orthogonal UWB segment signals at the same time, and each second orthogonal UWB segment signal is an orthogonal UWB segment signal determined by the corresponding second initiating device based on its own orthogonal sequence index. Multiple second initiating devices send second orthogonal UWB segment signals at a time within the time interval of each UWB segment signal group, which can reduce the risk of occupying the time for any second initiating device to perform a transmission and reception conversion.

[0287] For example, as mentioned above Fig.12 As shown, any second initiator device among the X second initiators respectively sends N second orthogonal UWB segment signals at N times determined based on the time-frequency position information of the N UWB segment signal groups. At the location of each UWB segment signal group, there are second orthogonal UWB segment signals sent by multiple second initiators.

[0288] S308. The first answering device receives a plurality of second orthogonal UWB segment signals respectively.

[0289] Correspondingly, any second responding device receives multiple second orthogonal UWB segment signals based on the orthogonal sequence indexes of the second initiating devices at N times determined based on the time-frequency position information of the N UWB segment signal groups.

[0290] S309. The first answering device sends a plurality of third orthogonal UWB segment signals respectively.

[0291] In an optional implementation, the voting frame further includes the orthogonal sequence index of each second initiating device, the orthogonal sequence index of each second responding device among the M second responding devices, and the same third delay information of each second responding device replying the second orthogonal UWB segment signal to the first initiating device. Thus, any second responding device can send the third orthogonal UWB segment signal determined based on the orthogonal sequence index of the second responding device at N times determined based on the third delay information. Each second responding device replies to the first initiating device with a different third orthogonal UWB segment signal at the same time determined based on the third delay information.

[0292] For example, as mentioned above Fig.12 As shown, different second answering devices all reply to the third orthogonal UWB segment signal at the same time.

[0293] This approach allows each second answering device to process the active state (active) when receiving the second orthogonal UWB segment signal and sending the third orthogonal UWB segment signal, and process the idle state (idle) at other times, thereby reducing the startup time of each second answering device and reducing the power consumption of each second answering device.

[0294] S310. The first initiating device receives a plurality of third orthogonal UWB segment signals respectively.

[0295] Accordingly, any second initiating device receives different third orthogonal UWB segment signals from multiple second responding devices at the same time determined based on the third delay information within the time interval of each UWB segment signal group.

[0296] In an optional implementation, the voting frame further includes fourth delay information for each second answering device to send a data frame to the second initiating device. Thus, any second answering device can send a data frame based on the fourth delay information of the second answering device. The data frame includes the time when the second answering device receives a plurality of second orthogonal UWB segment signals and sends a plurality of third orthogonal UWB segment signals. That is, different second answering devices send different data frames at different times determined based on different fourth delay information.

[0297] Accordingly, any second initiating device can receive multiple data frames at different times determined based on multiple fourth delay information, thereby obtaining the time when multiple second responding devices receive multiple second orthogonal UWB segment signals and send multiple third orthogonal UWB segment signals, and then perform ranging based on the obtained time.

[0298] For example, as mentioned above Fig.12 As shown, the M second answering devices send data frames at different times determined based on different fourth delay information. The data frames sent by the M second answering devices are data frame 1 to data frame M respectively.

[0299] In the embodiment of the present application, the control device sends a voting frame, and configures the fifth delay information of each second initiating device replying a response frame to the control device through the voting frame to the X second initiating devices, and configures the first delay information of each second response device replying a response frame to the control device to the M second response devices, so that some or all of the X second initiating devices reply with a response frame to the control device at different times, and some or all of the M second response devices reply with a response frame to the control device at different times, so that multiple second initiating devices that reply with a response frame and multiple second response devices join the same ranging process, which is conducive to realizing the ranging of multiple second initiating devices to multiple second response devices, and is conducive to improving the ranging efficiency.

[0300] 5. Signal transmission method 400.

[0301] The present application also provides a signal transmission method 400. Fig.13 4 is a schematic diagram of the interaction flow of the signal transmission method 400. The signal transmission method 400 is also described from the perspective of the interaction between the control device, the first initiating device, and the first responding device. The signal transmission method 400 includes but is not limited to the following steps:

[0302] S401. The control device sends a voting frame, which includes the time-frequency position information of N ultra-wideband UWB segment signal groups, the first response time of the X second initiating devices replying response frames to the control device, and the subcarrier set of each second initiating device in the X second initiating devices replying response frames to the control device, as well as the second response time of the M second response devices replying response frames to the control device and the subcarrier set of each second response device in the M second response devices replying response frames to the control device.

[0303] Wherein, N, M, and X are integers greater than or equal to 2. The control device may be an independent device or any second initiating device among the X second initiating devices. The UWB segment signal group includes a plurality of second orthogonal UWB segment signals.

[0304] The voting frame includes the first response time when the X second initiating devices reply the response frame to the control device and the subcarrier set at which each of the X second initiating devices reply the response frame to the control device, so that any of the X second initiating devices can reply the first response signal to the control device on a different subcarrier set at the first response time. The voting frame includes the second response time when the M second response devices reply the response frame to the control device and the subcarrier set at which each of the M second response devices reply the response frame to the control device, so that any of the M second response devices can reply the second response device to the control device on a different subcarrier set at the second response time. In other words, the control device can implement frequency division scheduling of the M second response devices and frequency division scheduling of the X second initiating devices. Therefore, this method is conducive to enabling multiple devices among the M second response devices and the X second initiating devices to join the same ranging process, which is conducive to improving ranging efficiency.

[0305] In addition, any second responding device among the M second responding devices replies to the control device with a second response signal at the same time, and any second initiating device among the X second initiating devices replies to the control device with a first response signal at the same time, so that the control device receives the first response frame and the second response frame at the same time, which can reduce the startup time of the control device, that is, reduce the power consumption of the control device. At the same time, this method can allow multiple groups of second responding devices and multiple groups of second initiating devices to join the same ranging process, so that more second initiating devices can achieve ranging of more second responding devices, which is conducive to further improving ranging efficiency.

[0306] Other implementations of the voting frame may refer to the above S301 and will not be described in detail.

[0307] S402. The first initiating device receives a voting frame.

[0308] S403. The first answering device receives the voting frame.

[0309] The embodiment of the present application does not limit the execution order of S402 and S403. S402 is executed after S403, or S403 can be executed after S402.

[0310] S404: The first initiating device sends a first response signal to the control device based on the first response time and the subcarrier set of the response frame that the first initiating device replies to the control device.

[0311] Any second initiating device may reply a first response signal to the control device on the subcarrier set of the second initiating device at the first response time. Different second initiating devices may send different first response signals to the control device on different subcarrier sets at the first response time.

[0312] For example, Fig.14 As shown, multiple second initiating devices send different first response signals at the first response time, and the multiple first response signals constitute a first response frame (response frame i), and multiple second response devices send different second response signals at the second response time, and the multiple second response signals constitute a second response frame (response frame r).

[0313] S405. The first response device sends a second response signal to the control device based on the second response time and the subcarrier set of the response frame that the first response device replies to the control device.

[0314] The embodiment of the present application does not limit the execution order of S404 and S405. S404 is executed after S405, or S405 can be executed after S404.

[0315] S406. The control device receives a first response frame based on the first response time and the subcarrier set of each second initiating device replying a response frame to the control device, where the first response frame includes multiple first response signals.

[0316] S407. The control device receives a second response frame based on the second response time and the subcarrier set of the response frame that each second response device replies to the control device, where the second response frame includes multiple second response signals.

[0317] The embodiment of the present application does not limit the execution order of S406 and S407. S406 is executed after S407, or S407 can be executed after S406.

[0318] S408. The first initiating device sends N second orthogonal UWB segment signals respectively.

[0319] S409. The first answering device receives a plurality of second orthogonal UWB segment signals respectively.

[0320] S410. The first answering device sends a plurality of third orthogonal UWB segment signals respectively.

[0321] S411. The first initiating device receives a plurality of third orthogonal UWB segment signals respectively.

[0322] The implementation of S408 to S411 may refer to the implementation of S307 to S310 described above, and will not be described in detail.

[0323] In another optional implementation, the voting frame further includes a data frame time at which the M second answering devices send data frames to the second initiating device, and a subcarrier set at which each of the M second answering devices sends data frames to the second initiating device. This approach allows different second answering devices to send data signals to the second initiating device on different subcarrier sets at the same data frame time, and multiple data signals form a data frame.

[0324] Accordingly, any second initiating device can receive a data frame at the data frame time, the data frame including multiple data signals, each data signal carried on a different subcarrier set. Each data signal includes the time when the first responding device sends and receives the UWV segment signal, thereby enabling any second initiating device to perform ranging based on the time carried by each data signal.

[0325] It can be seen that in the embodiment of the present application, the control device sends a voting frame, and configures the first response time for the X second initiating devices to reply response frames to the control device and the subcarrier set for each of the X second initiating devices to reply response frames to the control device through the voting frame, and configures the second response time for the M second response devices to reply response frames to the control device and the subcarrier set for each of the M second response devices to reply response frames to the control device to the M second response devices, so that multiple second initiating devices among the X second initiating devices reply with a first response signal to the control device at the first response time, and multiple second response devices among the M second response devices reply with a second response signal to the control device at the second response time, so that multiple second initiating devices that reply with response frames and multiple second response devices join the same ranging process, thereby realizing ranging of multiple second initiating devices to multiple second response devices, and improving the efficiency of ranging.

[0326] It is understandable that the embodiments of the present application also include Fig.12 and Fig.14 The unilateral ranging process of multiple initiating devices to multiple responding devices is obtained, and the bilateral ranging process of multiple initiating devices to multiple responding devices is obtained.

[0327] It is understandable that in the above signal transmission method 100, each second answering device may also send a data signal to the first initiating device on different subcarrier sets at the same time, and each data signal includes the time when the second answering device receives the first UWB segment signal, and the time when the second UWB segment signal or the first orthogonal UWB segment signal is sent. In other words, the embodiment of the present application does not limit the implementation method of each second answering device sending a data frame to the first initiating device in the signal transmission method 100.

[0328] Similarly, in the above signal transmission method 200, each second response device may also send data frames to the first initiator device at different times. The embodiment of the present application does not limit the implementation method of each second response device sending data frames to the first initiator device in the signal transmission method 200.

[0329] Similarly, the embodiment of the present application does not limit the implementation method in the signal transmission method 300 and the signal transmission method 400 in which each second response device sends a data frame to the first initiator device.

[0330] It is understandable that in the above-mentioned signal transmission method 400, each second response device and each second initiating device can reply a response signal to the control device on different subcarrier sets at the same time, and multiple response signals constitute a response frame. Optionally, a part of the X second initiating devices and the M second response devices reply a response signal to the control device on different subcarrier sets at the same time, and another part of the devices reply a response signal to the control device on another different subcarrier set at the same time. In other words, the embodiment of the present application does not limit the frequency division scheduling method of the control device for the X second initiating devices and the M second response devices in the signal transmission method 400. This is conducive to supporting more second initiating devices and second response devices to join the same ranging process.

[0331] 6. Device item implementation examples.

[0332] In order to implement the functions of the method provided in the above embodiment of the present application, the control device, or the first initiating device, or the first responding device may include a hardware structure and / or a software module, and implement the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether one of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0333] like Fig.15As shown, an embodiment of the present application provides a communication device 1500. The communication device 1500 may be a component of a first initiating device (e.g., an integrated circuit, a chip, etc.), a component of a first responding device (e.g., an integrated circuit, a chip, etc.), or a component of a control device (e.g., an integrated circuit, a chip, etc.). The communication device 1500 may also be other communication units for implementing the method in the method embodiment of the present application. The communication device 1500 may include: a communication unit 1501 and a processing unit 1502. Optionally, a storage unit 1503 may also be included.

[0334] In one possible design, Fig.15 One or more units may be implemented by one or more processors, or by one or more processors and memories; or by one or more processors and transceivers; or by one or more processors, memories, and transceivers, which are not limited in the embodiments of the present application. The processor, memory, and transceiver may be provided separately or integrated.

[0335] The communication device 1500 has the function of implementing the first high initiating device described in the embodiment of the present application. Optionally, the communication device 1500 has the function of implementing the first responding device described in the embodiment of the present application. Optionally, the communication device 1500 has the function of implementing the control device described in the embodiment of the present application. For example, the communication device 1500 includes a module or unit or means (means) corresponding to the first initiating device executing the steps involved in the first initiating device described in the embodiment of the present application. The function or unit or means (means) can be implemented by software, or by hardware, or by hardware executing the corresponding software implementation, or by a combination of software and hardware. For details, please refer to the corresponding description in the aforementioned corresponding method embodiment.

[0336] In one possible design, a communication device 1500 may include: a processing unit 1502 and a communication unit 1501, where the processing unit 1502 is used to control the communication unit 1501 to send and receive data / signaling;

[0337] The communication unit 1501 is used to send a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, and first delay information of each second response device among M second response devices replying a response frame to the first initiating device; the N and the M are integers greater than or equal to 2; the communication unit 1501 is also used to receive multiple response frames based on the first delay information of each second response device replying a response frame to the first initiating device and the timestamp of the voting frame.

[0338] In an optional implementation, the voting frame also includes the second delay information of each second responding device replying the first UWB segment signal to the first initiating device, and the communication unit 1501 is further used to: send the N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals; and receive multiple second UWB segment signals respectively based on the second delay information of each second responding device replying the first UWB segment signal to the first initiating device.

[0339] In an optional implementation, the voting frame also includes the same third delay information of the M second response devices replying to the first initiating device with the first UWB segment signal, and the orthogonal sequence index of each second response device; the communication unit 1501 is also used for: the first initiating device sends the N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals; and receives multiple first orthogonal UWB segment signals respectively based on the third delay information and the orthogonal sequence index of each second response device.

[0340] In an optional implementation, the communication device 1500 is in an active state when sending the N first UWB segment signals and receiving the multiple first orthogonal UWB segment signals; the communication device 1500 is in an idle state during the interval time of the N first UWB segment signals, except for the time when sending the N first UWB segment signals and receiving the multiple first orthogonal UWB segment signals.

[0341] In an optional implementation, the voting frame also includes fourth delay information for each second response device to send a data frame to the first initiating device; the communication unit 1501 is also used to: receive multiple data frames based on the fourth delay information for each second response device to send a data frame to the first initiating device; each of the multiple data frames includes the time for the first response device to receive the N first UWB segment signals, and the time for sending N second UWB segment signals or N first orthogonal UWB segment signals; the first response device is any device among the M second response devices.

[0342] In an optional implementation, the communication unit 1501 sends the N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals, and is specifically used to: when the first timer has not timed out and M response frames are received, send the N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals; or, when S response frames are received and the first timer times out, send the N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals; the first timer is triggered when the voting frame is sent; S is an integer greater than or equal to 1 and less than M.

[0343] The embodiments of the present application and the method embodiments shown above are based on the same concept, and the technical effects they bring are also the same. For the specific principles, please refer to the description of the embodiments shown above, and no further details will be given.

[0344] In another possible design, a communication device 1500 may include: a processing unit 1502 and a communication unit 1501, the processing unit 1502 is used to control the communication unit 1501 to send and receive data / signaling; the communication unit 1501 is used to receive a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, and first delay information of each second response device among M second response devices replying a response frame to the first initiating device; the N and the M are integers greater than or equal to 2; the first response device is any device among the M second response devices; the communication unit 1501 is also used to send a response frame to the first initiating device based on the first delay information of the first response device replying a response frame to the first initiating device and the timestamp of the voting frame.

[0345] In an optional implementation, the voting frame also includes the second delay information of each second responding device replying the first UWB segment signal to the first initiating device, and the communication unit 1501 is also used to: receive the N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals; and send N second UWB segment signals to the first initiating device respectively based on the second delay information of the first responding device replying the first UWB segment signal to the first initiating device.

[0346] In an optional implementation, the voting frame also includes the same third delay information of the M second response devices replying to the first initiating device with the first UWB segment signal, and the orthogonal sequence index of each second response device; the communication unit 1501 is also used for: the first response device receives the N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals; based on the third delay information, sends N first orthogonal UWB segment signals to the first initiating device respectively; the first orthogonal UWB segment signal is determined based on the orthogonal sequence index of the first response device.

[0347] In another optional implementation, the voting frame also includes fourth delay information of each second response device sending a data frame to the first initiating device; the communication unit 1501 is also used to: send a data frame to the first initiating device based on the fourth delay information of the first response device sending a data frame to the first initiating device; the data frame includes the time when the first response device receives the N first UWB segment signals, and the time when the N second UWB segment signals or the N first orthogonal UWB segment signals are sent.

[0348] The embodiments of the present application and the method embodiments shown above are based on the same concept, and the technical effects they bring are also the same. For the specific principles, please refer to the description of the embodiments shown above, and no further details will be given.

[0349] In another possible design, a communication device 1500 may include: a processing unit 1502 and a communication unit 1501, the processing unit 1502 is used to control the communication unit 1501 to send and receive data / signaling; the communication unit 1501 is used to send a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, the same response time at which M second response devices reply to the first initiating device with a response frame, and a subcarrier set at which each second response device among the M second response devices replies to the first initiating device with a response frame; the narrowband signal transmitted at the response time includes multiple subcarriers; the N and the M are integers greater than or equal to 2; the communication unit 1501 is also used to receive a response frame based on the response time and the subcarrier set at which each second response device replies to the first initiating device with a response frame; the response frame includes multiple response signals. In an optional implementation, the voting frame also includes the second delay information of each second responding device replying the first UWB segment signal to the first initiating device, and the communication unit 1501 is further used to: based on the time-frequency position information of the N first UWB segment signals, respectively send the N first UWB segment signals; based on the second delay information of each second responding device replying the first UWB segment signal to the first initiating device, respectively receive multiple second UWB segment signals.

[0350] In an optional implementation, the voting frame also includes the same third delay information of the M second response devices replying to the first initiating device with the first UWB segment signal, and the orthogonal sequence index of each second response device; the communication unit 1501 is also used to: send the N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals; and receive multiple first orthogonal UWB segment signals respectively based on the third delay information and the orthogonal sequence index of each second response device.

[0351] In an optional implementation, the communication device 1500 is in an active state when sending the N first UWB segment signals and receiving the multiple first orthogonal UWB segment signals; the communication device 1500 is in an idle state during the interval time of the N UWB segment signals, except for the time when sending the N first UWB segment signals and receiving the multiple first orthogonal UWB segment signals.

[0352] In an optional implementation, the voting frame also includes the same data frame time at which each second response device sends a data frame to the first initiating device, and a subcarrier set at which each second response device sends a data frame to the first initiating device; the communication unit 1501 is further used to: receive a data frame based on the data frame time and the subcarrier set at which each second response device sends a data frame to the first initiating device; the data frame includes multiple data signals; each of the multiple data signals includes the time at which the first response device receives the N first UWB segment signals, and the time at which N second UWB segment signals or N first orthogonal UWB segment signals are sent; the first response device is any device among the M second response devices.

[0353] The embodiments of the present application and the method embodiments shown above are based on the same concept, and the technical effects they bring are also the same. For the specific principles, please refer to the description of the embodiments shown above, and no further details will be given.

[0354] In another possible design, a communication device 1500 may include: a processing unit 1502 and a communication unit 1501, the processing unit 1502 is used to control the communication unit 1501 to send and receive data / signaling; the communication unit 1501 is used to receive a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, the same response time at which M second response devices reply to a response frame to a first initiating device, and a subcarrier set at which each first response device among the M second response devices replies to a response frame to the first initiating device; the narrowband signal transmitted at the response time includes multiple subcarriers; the N and the M are integers greater than or equal to 2; the communication unit 1501 is also used to send a response signal to the first initiating device based on the response time and the subcarrier set at which the first response device replies to the first initiating device to reply to the response frame; the first response device is any device among the M second response devices.

[0355] In an optional implementation, the voting frame also includes the second delay information of each second responding device replying the first UWB segment signal to the first initiating device, and the communication unit 1501 is also used for: the first responding device receives the N first UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signals; based on the second delay information of the first responding device replying the first UWB segment signal to the first initiating device, sending N second UWB segment signals to the first initiating device respectively.

[0356] In an optional implementation, the voting frame also includes the same third delay information of the M second response devices replying to the first initiating device with the first UWB segment signal, and the orthogonal sequence index of each second response device; the communication unit 1501 is also used to: based on the time-frequency position information of the N first UWB segment signals, respectively receive the N first UWB segment signals; based on the third delay information, respectively send N first orthogonal UWB segment signals to the first initiating device; the first orthogonal UWB segment signal is determined based on the orthogonal sequence index of the first response device.

[0357] In an optional implementation, the voting frame also includes the same data frame time at which each second response device sends a data frame to the first initiating device, and a subcarrier set at which each second response device sends a data frame to the first initiating device; the communication unit 1501 is further used to: send a data signal to the first initiating device based on the data frame time and the subcarrier set at which the first response device sends a data frame to the first initiating device; the data signal includes the time at which the first response device receives the N first UWB segment signals, and the time at which the N second UWB segment signals or the N first orthogonal UWB segment signals are sent.

[0358] The embodiments of the present application and the method embodiments shown above are based on the same concept, and the technical effects they bring are also the same. For the specific principles, please refer to the description of the embodiments shown above, and no further details will be given.

[0359] In yet another possible design, a communication device 1500 may include: a processing unit 1502 and a communication unit 1501, where the processing unit 1502 is used to control the communication unit 1501 to send and receive data / signaling;

[0360] The communication unit 1501 is used to send a voting frame, which includes time-frequency position information of N ultra-wideband UWB segment signal groups, first delay information of each second response device in the M second response devices replying a response frame to the control device, and fifth delay information of each second initiating device in the X second initiating devices replying a response frame to the control device. N, M, and X are integers greater than or equal to 2; the communication unit 1501 is also used to receive multiple response frames based on multiple first delay information, multiple fifth delay information, and the timestamp of the voting frame.

[0361] In an optional implementation, the voting frame also includes an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each second responding device among the M second responding devices, and the same third delay information of each second responding device replying a third orthogonal UWB segment signal to the first initiating device.

[0362] In another optional implementation, the voting frame further includes fourth delay information for each second responding device to send a data frame to the second initiating device.

[0363] The embodiments of the present application and the method embodiments shown above are based on the same concept, and the technical effects they bring are also the same. For the specific principles, please refer to the description of the embodiments shown above, and no further details will be given.

[0364] In another possible design, a communication device 1500 may include: a processing unit 1502 and a communication unit 1501, the processing unit 1502 is used to control the communication unit 1501 to send and receive data / signaling; the communication unit 1501 is used to receive a voting frame, the voting frame includes time-frequency position information of N ultra-wideband UWB segmented signal groups, and fifth delay information of each second initiating device among X second initiating devices replying a response frame to the control device, the first initiating device is any device among the X second initiating devices, and N and X are integers greater than or equal to 2; the communication unit 1501 is also used to send a response frame to the control device based on the timestamp of the voting frame and the fifth delay information of the first initiating device replying a response frame to the control device.

[0365] In an optional implementation, the voting frame further includes an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each second responding device among the M second responding devices, and the same third delay information of each second responding device replying the first UWB segment signal to the first initiating device. M is an integer greater than or equal to 2. The communication unit 1501 is also used to: send N second orthogonal UWB segment signals respectively based on the time-frequency position information of the N UWB segment signal groups and the orthogonal sequence index of the first initiating device; and receive multiple third orthogonal UWB segment signals respectively based on the third delay information and the orthogonal index sequence of each second responding device.

[0366] In another optional implementation, the voting frame further includes fourth delay information for each second answering device to send a data frame to the second initiating device. The communication unit 1501 is further configured to: receive multiple data frames based on the fourth delay information for each second answering device to send a data frame to the second initiating device. Each of the multiple data frames includes the time when the first answering device receives multiple second orthogonal UWB segment signals and the time when the first answering device sends multiple third orthogonal UWB segment signals. The first answering device is any device among the M second answering devices.

[0367] The embodiments of the present application and the method embodiments shown above are based on the same concept, and the technical effects they bring are also the same. For the specific principles, please refer to the description of the embodiments shown above, and no further details will be given.

[0368] In another possible design, a communication device 1500 may include: a processing unit 1502 and a communication unit 1501, the processing unit 1502 is used to control the communication unit 1501 to send and receive data / signaling; the communication unit 1501 is used to receive a voting frame, the voting frame includes the time-frequency position information of N ultra-wideband UWB segmented signal groups, and the first delay information of each second response device among the M second response devices replying a response frame to the control device. The first response device is any device among the M second response devices. N and M are integers greater than or equal to 2. The communication unit 1501 is also used to send a response frame to the control device based on the timestamp of the voting frame and the first delay information of the first response device replying a response frame to the control device.

[0369] In an optional implementation, the voting frame further includes an orthogonal sequence index of each second initiating device among the X second initiating devices, an orthogonal sequence index of each second responding device, and the same third delay information of each second responding device replying the first UWB segment signal to the first initiating device. X is an integer greater than or equal to 2. The communication unit 1501 is also used to: based on the time-frequency position information of the N UWB segment signal groups and the orthogonal sequence indexes of the X second initiating devices, respectively receive multiple second orthogonal UWB segment signals; based on the third delay information and the orthogonal index sequence of the first responding device, respectively send multiple third orthogonal UWB segment signals.

[0370] In an optional implementation, the voting frame further includes fourth delay information for each second answering device to send a data frame to the second initiating device. The communication unit 1501 is further configured to: send a data frame based on the fourth delay information for the first answering device to send a data frame to the second initiating device. The data frame includes the time when the first answering device receives a plurality of second orthogonal UWB segment signals and the time when the plurality of third orthogonal UWB segment signals are sent.

[0371] In another possible design, a communication device 1500 may include: a processing unit 1502 and a communication unit 1501, the processing unit 1502 is used to control the communication unit 1501 to send and receive data / signaling; the communication unit 1501 is used to send a voting frame, the voting frame includes the time-frequency position information of N ultra-wideband UWB segment signal groups, the voting frame includes the time-frequency position information of N ultra-wideband UWB segment signal groups, the first response time of the X second initiating devices replying a response frame to the control device and the subcarrier set of each second initiating device in the X second initiating devices replying a response frame to the control device, and the second response time of the M second response devices replying a response frame to the control device and the subcarrier set of each second response device in the M second response devices replying a response frame to the control device. N, M, and X are integers greater than or equal to 2;

[0372] The communication unit 1501 is further configured to receive a second response frame based on the same second response time when the M second response devices reply response frames to the control device and a subcarrier set at which each second response device replies a response frame to the control device, wherein the second response frame includes multiple second response signals; and receive a first response frame based on the same first response time when the X second initiating devices reply response frames to the control device and a subcarrier set at which each second initiating device replies a response frame to the control device, wherein the first response frame includes multiple first response signals.

[0373] In an optional implementation, the voting frame further includes an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each second responding device among the M second responding devices, and the same third delay information of each second responding device replying the first UWB segment signal to the first initiating device.

[0374] In another optional implementation, the voting frame further includes the data frame time when the M second response devices send data frames to the second initiating device, and the subcarrier set at which each second response device among the M second response devices sends data frames to the second initiating device.

[0375] The embodiments of the present application and the method embodiments shown above are based on the same concept, and the technical effects they bring are also the same. For the specific principles, please refer to the description of the embodiments shown above, and no further details will be given.

[0376] In another possible design, a communication device 1500 may include: a processing unit 1502 and a communication unit 1501, the processing unit 1502 is used to control the communication unit 1501 to send and receive data / signaling; the communication unit 1501 is used to receive a voting frame, the voting frame includes the time-frequency position information of N ultra-wideband UWB segment signal groups, the same first response time of X second initiating devices replying to the control device with a response frame, and the subcarrier set of each second initiating device in the X second initiating devices replying to the control device with a response frame, and the first initiating device is any device in the X second initiating devices. N and X are integers greater than or equal to 2; the communication unit 1501 is also used to send a first response signal based on the first response time and the subcarrier set of the response frame of the first initiating device replying to the control device.

[0377] In an optional implementation, the voting frame further includes an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each second responding device in the M second responding devices, and the same third delay information of each second responding device replying the first UWB segment signal to the second initiating device, where M is an integer greater than or equal to 2. The communication unit 1501 is further configured to: send N second orthogonal UWB segment signals respectively based on the time-frequency position information of the N first UWB segment signal groups and the orthogonal sequence index of the first initiating device; and receive multiple third orthogonal UWB segment signals respectively based on the third delay information and the orthogonal index sequence of each second responding device.

[0378] In an optional implementation, the voting frame also includes the same data frame time at which each second answering device sends a data frame to the first initiating device, and a subcarrier set at which each second answering device sends a data frame to the first initiating device. The communication unit 1501 is further configured to: receive a data frame based on the data frame time and the subcarrier set at which each second answering device sends a data frame to the first initiating device. The data frame includes a plurality of data signals, each of the plurality of data signals including a time at which the first answering device receives a plurality of second orthogonal UWB segment signals, and a time at which a plurality of third orthogonal UWB segment signals are sent. The first answering device is any device among the M second answering devices.

[0379] The embodiments of the present application and the method embodiments shown above are based on the same concept, and the technical effects they bring are also the same. For the specific principles, please refer to the description of the embodiments shown above, and no further details will be given.

[0380] In another possible design, a communication device 1500 may include: a processing unit 1502 and a communication unit 1501, the processing unit 1502 is used to control the communication unit 1501 to send and receive data / signaling; the communication unit 1501 is used to receive a voting frame, the voting frame includes the time-frequency position information of N ultra-wideband UWB segmented signal groups, the same second response time of M second response devices replying response frames to the control device, and the subcarrier set of each second response device in the M second response devices replying response frames to the control device. N and M are integers greater than or equal to 2. The first response device is any device among the M second response devices. The communication unit 1501 is also used to send a second response signal based on the second response time and the subcarrier set of the first response device replying response frames to the control device.

[0381] In an optional implementation, the voting frame further includes an orthogonal sequence index of each second initiating device among the X second initiating devices, an orthogonal sequence index of each second responding device, and the same third delay information of each second responding device replying the first UWB segment signal to the first initiating device. For any device among the X second initiating devices of the first initiating device, M is an integer greater than or equal to 2. The communication unit 1501 is further used to: receive multiple second orthogonal UWB segment signals based on the time-frequency position information of the N UWB segment signal groups and the orthogonal sequence index of each second initiating device; and send multiple third orthogonal UWB segment signals respectively based on the third delay information and the orthogonal sequence index of the first responding device.

[0382] In another optional implementation, the voting frame also includes the same data frame time at which each second answering device sends a data frame to the first initiating device, and a subcarrier set at which each second answering device sends a data frame to the first initiating device. The communication unit 1501 is further configured to: send a data signal based on the data frame time and the subcarrier set at which the first answering device sends a data frame to the first initiating device, the data signal including the time at which the first answering device receives a plurality of second orthogonal UWB segment signals, and the time at which a plurality of third orthogonal UWB segment signals are sent.

[0383] The embodiments of the present application and the method embodiments shown above are based on the same concept, and the technical effects they bring are also the same. For the specific principles, please refer to the description of the embodiments shown above, and no further details will be given.

[0384] The embodiment of the present application further provides a communication device 1600, Fig.16 1 is a schematic diagram of the structure of a communication device 1600. The communication device 1600 may be a first initiating device, a first responding device, or a control device, or may be a chip, a chip system, or a processor that supports the first initiating device, the first responding device, or the control device to implement the above method. The device may be used to implement the method described in the above method embodiment, and the details may refer to the description in the above method embodiment.

[0385] The communication device 1600 may include one or more processors 1601. The processor 1601 may be a general-purpose processor or a dedicated processor, etc. For example, it may be a baseband processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component or a central processing unit (CPU). The baseband processor may be used to process the communication protocol and the communication data, and the central processing unit may be used to control the communication device (such as a base station, a baseband chip, a terminal, a terminal chip, a distributed unit (DU) or a centralized unit (CU), etc.), execute the software program, and process the data of the software program.

[0386] Optionally, the communication device 1600 may include one or more memories 1602, on which instructions 1604 may be stored, and the instructions may be executed on the processor 1601, so that the communication device 1600 performs the method described in the above method embodiment. Optionally, data may also be stored in the memory 1602. The processor 1601 and the memory 1602 may be provided separately or integrated together.

[0387] The memory 1602 may include, but is not limited to, non-volatile memory such as a hard disk drive (HDD) or a solid-state drive (SSD), a random access memory (RAM), an erasable programmable ROM (EPROM), a ROM or a portable read-only memory (CD-ROM), etc.

[0388] Optionally, the communication device 1600 may further include a transceiver 1605 and an antenna 1606. The transceiver 1605 may be referred to as a transceiver unit, a transceiver, or a transceiver circuit, etc., for implementing a transceiver function. The transceiver 1605 may include a receiver and a transmitter, the receiver may be referred to as a receiver or a receiving circuit, etc., for implementing a receiving function; the transmitter may be referred to as a transmitter or a transmitting circuit, etc., for implementing a transmitting function.

[0389] The communication device 1600 is a first initiating device: the transceiver 1605 is used to execute S101, S104, S105, S108 in the above-mentioned signal transmission method 100, and is used to execute S201, S204, S205, S208 in the signal transmission method 200, and is used to execute S302, S304, S307, S310 in the signal transmission method 300, and is used to execute S402, S404, S408, S411 in the signal transmission method 400.

[0390] The communication device 1600 is a first response device: the transceiver 1605 is used for S102, S103, S106, S107 in the signal transmission method 100, and for executing S202, S203, S206, S207 in the signal transmission method 200, and for executing S303, S305, S308, S309 in the signal transmission method 300, and for executing S403, S405, S409, S410 in the signal transmission method 400.

[0391] The communication device 1600 is a control device: the transceiver 1605 is used for S301 and S306 in the signal transmission method 300 , and is used for executing S401 , S406 , and S407 in the signal transmission method 300 .

[0392] In another possible design, the processor 1601 may include a transceiver for implementing the receiving and sending functions. For example, the transceiver may be a transceiver circuit, or an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing the receiving and sending functions may be separate or integrated. The above-mentioned transceiver circuit, interface, or interface circuit may be used for reading and writing code / data, or the above-mentioned transceiver circuit, interface, or interface circuit may be used for transmitting or delivering signals.

[0393] In another possible design, optionally, the processor 1601 may store an instruction 1603, and the instruction 1603 runs on the processor 1601, which can enable the communication device 1600 to perform the method described in the above method embodiment. The instruction 1603 may be solidified in the processor 1601, in which case the processor 1601 may be implemented by hardware.

[0394] In another possible design, the communication device 1600 may include a circuit that can implement the functions of sending or receiving or communicating in the aforementioned method embodiments. The processor and transceiver described in the embodiments of the present application can be implemented in an integrated circuit (IC), an analog IC, a radio frequency integrated circuit (RFIC), a mixed signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), an electronic device, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (nMetal-oxide-semiconductor, NMOS), P-type metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (Bipolar Junction Transistor, BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

[0395] The communication device described in the above embodiments may be the first communication device or the second communication device, but the scope of the communication device described in the embodiments of the present application is not limited thereto, and the structure of the communication device may not be limited thereto. Fig.16 The communication device may be an independent device or may be part of a larger device. For example, the communication device may be:

[0396] (1) Independent integrated circuit IC, or chip, or chip system or subsystem;

[0397] (2) having a set of one or more ICs, and optionally, the IC set may also include a storage component for storing data and instructions;

[0398] (3) ASIC, such as a modem;

[0399] (4) Modules that can be embedded in other devices;

[0400] (5) Receivers, terminals, smart terminals, cellular phones, wireless devices, handheld devices, mobile units, vehicle-mounted devices, network devices, cloud devices, artificial intelligence devices, etc.;

[0401] (6)Others

[0402] For the case where the communication device may be a chip or a chip system, see Fig.17 Schematic diagram of the chip structure shown. Fig.17 The chip 1700 shown includes a processor 1701 and an interface 1702. The number of the processors 1701 may be one or more, and the number of the interfaces 1702 may be multiple. The processor 1701 may be a logic circuit, and the interface 1702 may be an input-output interface, an input interface, or an output interface. The chip 1700 may also include a memory 1703.

[0403] In one design, for a case where the chip is used to implement the function of the first initiator device in an embodiment of the present application: processor 1701 is used to control interface 1702 to output or receive.

[0404] The interface 1702 is used to send a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, and first delay information of each second response device among M second response devices replying a response frame to the first initiating device; N and M are integers greater than or equal to 2; the interface 1702 is also used to receive multiple response frames based on the first delay information of each second response device replying a response frame to the first initiating device and the timestamp of the voting frame.

[0405] In another design, for the case where the chip is used to implement the function of the first response device in the embodiment of the present application: the interface 1702 is used to receive a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, and first delay information of each second response device in M ​​second response devices replying a response frame to the first initiating device; the N and the M are integers greater than or equal to 2; the first response device is any device among the M second response devices; the interface 1702 is also used to send a response frame to the first initiating device based on the first delay information of the first response device replying a response frame to the first initiating device and the timestamp of the voting frame.

[0406] In another design, for a case where the chip is used to implement the function of the first initiator in the embodiment of the present application:

[0407] The interface 1702 is used to send a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, the same response time at which M second response devices reply to the first initiating device with a response frame, and a subcarrier set at which each of the M second response devices replies to the first initiating device with a response frame; the narrowband signal transmitted at the response time includes multiple subcarriers; N and M are integers greater than or equal to 2; the interface 1702 is also used to receive a response frame based on the response time and the subcarrier set at which each second response device replies to the first initiating device with a response frame; the response frame includes multiple response signals.

[0408] In another design, for the case where the chip is used to implement the function of the first response device in the embodiment of the present application:

[0409] The interface 1702 is used to receive a voting frame; the voting frame includes time-frequency position information of N first ultra-wideband UWB segmented signals, the same response time at which M second response devices reply response frames to the first initiating device, and a subcarrier set at which each first response device among the M second response devices replies a response frame to the first initiating device; the narrowband signal transmitted at the response time includes multiple subcarriers; N and M are integers greater than or equal to 2; the interface 1702 is also used to send a response signal to the first initiating device based on the response time and the subcarrier set at which the first response device replies a response frame to the first initiating device; the first response device is any device among the M second response devices.

[0410] In another design, for the case where the chip is used to implement the function of the control device in the embodiment of the present application:

[0411] The interface 1702 is used to send a voting frame, which includes the time-frequency position information of the N ultra-wideband UWB segment signal groups, the first delay information of each of the M second response devices replying a response frame to the control device, and the fifth delay information of each of the X second initiating devices replying a response frame to the control device. N, M, and X are integers greater than or equal to 2; the interface 1702 is also used to receive multiple response frames based on multiple first delay information, multiple fifth delay information, and the timestamp of the voting frame.

[0412] In another design, for a case where the chip is used to implement the function of the first initiator in the embodiment of the present application:

[0413] The interface 1702 is used to receive a voting frame, which includes time-frequency position information of N ultra-wideband UWB segmented signal groups and fifth delay information of each second initiating device among X second initiating devices replying a response frame to the control device, the first initiating device is any device among the X second initiating devices, and N and X are integers greater than or equal to 2; the interface 1702 is also used to send a response frame to the control device based on the timestamp of the voting frame and the fifth delay information of the first initiating device replying a response frame to the control device.

[0414] In another design, for the case where the chip is used to implement the function of the first response device in the embodiment of the present application:

[0415] The interface 1702 is used to receive a voting frame, which includes time-frequency position information of N ultra-wideband UWB segment signal groups and first delay information of each second response device in the M second response devices replying a response frame to the control device. The first response device is any device in the M second response devices. N and X are integers greater than or equal to 2. The interface 1702 is also used to send a response frame to the control device based on the timestamp of the voting frame and the first delay information of the first response device replying a response frame to the control device.

[0416] In another design, for the case where the chip is used to implement the function of the control device in the embodiment of the present application:

[0417] The interface 1702 is used to send a voting frame, the voting frame includes the time-frequency position information of N ultra-wideband UWB segment signal groups, the voting frame includes the time-frequency position information of N ultra-wideband UWB segment signal groups, the same second response time at which the M second response devices reply to the control device with a response frame, the subcarrier set at which each of the M second response devices reply to the control device with a response frame, the same first response time at which the X second initiating devices reply to the control device with a response frame, and the subcarrier set at which each of the X second initiating devices reply to the control device with a response frame; the narrowband signal transmitted at the response time includes multiple subcarriers; the N, the M, and the X are integers greater than or equal to 2;

[0418] The interface 1702 is further used to: receive a second response frame based on the same second response time when the M second response devices reply response frames to the control device and the subcarrier set when each second response device replies a response frame to the control device; the second response frame includes multiple second response signals; receive a first response frame based on the same first response time when the X second initiating devices reply response frames to the control device and the subcarrier set when each second initiating device replies a response frame to the control device; the first response frame includes multiple first response signals.

[0419] In another design, for a case where the chip is used to implement the function of the first initiator in the embodiment of the present application:

[0420] The interface 1702 is used to receive a voting frame, which includes the time-frequency position information of N ultra-wideband UWB segment signal groups, the same first response time of the X second initiating devices replying to the control device with a response frame, and the subcarrier set of each second initiating device in the X second initiating devices replying to the control device with a response frame, and the first initiating device is any device in the X second initiating devices. N and X are integers greater than or equal to 2; the interface 1702 is also used to send a second response signal based on the first response time and the subcarrier set of the response frame replied by the first initiating device to the control device.

[0421] In another design, for the case where the chip is used to implement the function of the first response device in the embodiment of the present application:

[0422] The interface 1702 is used to receive a voting frame, which includes time-frequency position information of N ultra-wideband UWB segment signal groups, the same second response time of the M second response devices replying to the control device, and the subcarrier set of each second response device in the M second response devices replying to the control device. N and M are integers greater than or equal to 2. The first response device is any device among the M second response devices; the interface 1702 is also used to send a first response signal based on the second response time and the subcarrier set of the response frame of the first response device replying to the control device.

[0423] In the embodiment of the present application, the communication device 1600 and the chip 1700 can also execute the implementation method described in the above-mentioned communication device 1500. Those skilled in the art can also understand that the various illustrative logical blocks and steps listed in the embodiment of the present application can be implemented by electronic hardware, computer software, or a combination of the two. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art can use various methods to implement the described functions for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present application.

[0424] The embodiments of the present application and the method embodiments shown in the above-mentioned signal transmission method 100 to signal transmission method 400 are based on the same concept and bring the same technical effects. For the specific principles, please refer to the description of the embodiments shown in the above-mentioned signal transmission method 100 to signal transmission method 400 and will not be repeated here.

[0425] The present application also provides a computer-readable storage medium for storing computer software instructions, which, when executed by a communication device, implement the functions of any of the above method embodiments.

[0426] The present application also provides a computer program product for storing computer software instructions, which, when executed by a communication device, implement the functions of any of the above method embodiments.

[0427] The present application also provides a computer program, which, when executed on a computer, implements the functions of any of the above method embodiments.

[0428] The present application also provides a communication system, which includes at least one first initiating device and at least two first responding devices of the above aspect. In another possible design, the system may also include other devices that interact with the first initiating device and the first responding device in the solution provided by the present application.

[0429] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a high-density digital video disc (DVD)), or a semiconductor medium (eg, an SSD), etc.

[0430] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A signal transmission method, characterized in that: The method comprises: The first initiating device sends a voting frame; the voting frame includes first delay information of each second response device among M second response devices replying a response frame to the first initiating device, the M second response devices include second response device #1 and second response device #M; M is an integer greater than or equal to 2; The first initiating device receives multiple response frames based on the first delay information of the response frames replied by the second response devices to the first initiating device and the timestamp of the voting frame.

2. The method according to claim 1, characterized in that After receiving the plurality of response frames, the method further comprises: The first initiating device sends the first UWB segment signal #1 based on the time-frequency position information of the first UWB segment signal #1; The first initiating device receives the second UWB segment signal #1 from the second answering device #1 and the second UWB segment signal #M from the second answering device #M respectively; The transmission times of the second UWB segment signal #1 and the second UWB segment signal #M are different.

3. The method according to claim 1, characterized in that After receiving the plurality of response frames, the method further comprises: The first initiating device sends the first UWB segment signal #1 based on the time-frequency position information of the first UWB segment signal #1; The first initiating device receives a first orthogonal UWB segment signal #1 from the second answering device #1 and a first orthogonal UWB segment signal #M from the second answering device #M based on the third delay information, the orthogonal sequence index of the second answering device #1 and the orthogonal sequence index of the second answering device #M; The first orthogonal UWB segment signal #1 and the first orthogonal UWB segment signal #M are transmitted at the same time.

4. The method according to claim 3, characterized in that The first initiating device is in an active state when sending the first UWB segment signal #1 and receiving the first orthogonal UWB segment signal #1 and the first orthogonal UWB segment signal #M.

5. The method according to any one of claims 2 to 4, characterized in that: After the first initiating device receives the UWB segment signal in reply to the first UWB segment signal #1, the method further includes: The first initiating device receives the data frame #1 from the second answering device #1 and the data frame #M from the second answering device #M respectively; The sending time of the data frame #1 and the sending time of the data frame #M are different.

6. The method according to claim 5, characterized in that The data frame #1 includes the time when the second answering device #1 receives the first UWB segment signal #1 and sends the second UWB segment signal #1; or, The data frame #M includes the time when the second answering device #2 receives the first UWB segment signal #1 and sends the second UWB segment signal #M.

7. The method according to claim 5, characterized in that The data frame #1 includes the time when the second answering device #1 receives the first UWB segment signal #1 and sends the first orthogonal UWB segment signal #1; or, The data frame #M includes the time when the second answering device #2 receives the first UWB segment signal #1 and sends the first orthogonal UWB segment signal #M.

8. The method according to any one of claims 2 to 7, characterized in that: The first initiating device sends the first UWB segment signal #1 based on the time-frequency position information of the first UWB segment signal #1, including: The first initiating device sends the first UWB segment signal #1 based on the time-frequency position information of the first UWB segment signal #1 when the first timer has not timed out and M response frames have been received; or, When the first initiating device receives S response frames and the first timer times out, the first initiating device sends the first UWB segment signal #1 based on the time-frequency position information of the first UWB segment signal #1; The first timer is triggered when the voting frame is sent; S is an integer greater than or equal to 1 and less than M.

9. A signal transmission method, characterized in that: The method comprises: The first response device receives a voting frame; the voting frame includes first delay information of each second response device among the M second response devices replying a response frame to the first initiating device; the first response device is any one of the M second response devices, and M is an integer greater than or equal to 2; The first responding device sends a response frame to the first initiating device based on the first delay information of the response frame that the first responding device replies to the first initiating device and the timestamp of the voting frame.

10. The method according to claim 9, characterized in that After sending the response frame to the first initiator device, the method further includes: The first answering device receives the first UWB segment signal based on the time-frequency position information of the first UWB segment signal; The first responding device sends a second UWB segment signal to the first initiating device based on the second delay information.

11. The method according to claim 9, characterized in that After sending the response frame to the first initiator device, the method further includes: The first answering device receives the first UWB segment signal based on the time-frequency position information of the first UWB segment signal; The first responding device sends a first orthogonal UWB segment signal to the first initiating device based on the third delay information; the first orthogonal UWB segment signal is determined based on the orthogonal sequence index of the first responding device.

12. The method according to claim 10 or 11, characterized in that: After sending the UWB segment signal to the first initiator device, the method further includes: The first responding device sends the data frame to the first initiating device based on fourth delay information for the first responding device to send the data frame to the first initiating device.

13. The method according to claim 12, characterized in that The data frame includes the time when the first transponder receives the first UWB segment signal and sends the second UWB segment signal.

14. The method according to claim 12, characterized in that The data frame includes the time when the first transponder device receives the first UWB segment signal and sends the first orthogonal UWB segment signal.

15. A communication device, characterized in that: The communication device comprises a module for executing the method according to any one of claims 1 to 8, or comprises a module for executing the method according to any one of claims 9 to 14.

16. A communication device, characterized in that: The communication device comprises a processor, wherein the processor is configured to execute the method according to any one of claims 1 to 8, or configured to execute the method according to any one of claims 9 to 14.

17. A chip, characterized in that: The chip comprises at least one processor, wherein the processor is used to execute instructions so that a communication device comprising the chip executes the communication method according to any one of claims 1 to 8, or executes the communication method according to any one of claims 9 to 14.

18. The chip according to claim 17, characterized in that: The chip further includes an interface circuit, and the interface circuit is used to receive the executed instruction and transmit it to the processor.

19. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store instructions, and when the instructions are executed on the communication device, the method according to any one of claims 1 to 8 is implemented, or the method according to any one of claims 9 to 14 is implemented.

20. A computer program product comprising instructions, characterized in that When the instruction is executed on the communication device, the method according to any one of claims 1 to 8 is implemented, or the method according to any one of claims 9 to 14 is implemented.

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