Method and apparatus for estimating position by using ultra-wideband communication signal

Abstract

The present disclosure provides a method by which an electronic device determines a location of an ultra wide band (UWB) signal. The method of the present disclosure may comprise the steps of: identifying a predetermined number of UWB signals from a plurality of received UWB signals based on line of sight (LOS) probabilities of the plurality of received UWB signals; obtaining a location of the electronic device by using the identified UWB signal; determining whether the obtained location is within an area of a cluster configured by a UWB anchor transmitting the identified UWB signal; and if the obtained position is within the region of the cluster, determining the obtained position as a final position of the electronic device. Here, each of the plurality of received UWB signals may include a UWB message for downlink time difference of arrival (DL-TDoA) positioning.

Description

Technical Field

[0001] The present disclosure relates to methods and apparatus for estimating position using UWB signals. Background Art

[0002] The Internet, which is a human-centered connected network in which people generate and consume information, is now evolving into the Internet of Things (IoT), in which distributed entities (such as things) exchange and process information. The Internet of Everything (IoE), which is a combination of IoT technology and big data processing technology through connection with cloud servers, etc., has emerged. As technical elements, such as "sensing technology", "wired / wireless communication and network infrastructure", "service interface technology" and "security technology" are required for IoT implementation. Recently, sensor networks, machine-to-machine (M2M) communication, machine type communication (MTC), etc. have been studied.

[0003] Such an IoT environment can provide intelligent Internet technology (IT) services, which create new value for human life by collecting and analyzing data generated by connected things. Through the integration and combination of existing information technology (IT) and various industrial applications, IoT can be applied to various fields, including smart homes, smart buildings, smart cities, smart cars or connected cars, smart grids, healthcare, smart home appliances and advanced medical services. Summary of the invention

[0004] Technical issues

[0005] The present disclosure provides a method for classifying UWB signals into line of sight (LOS) / non-LOS (NLOS) signals and estimating a position based on the classification result.

[0006] Technical Solutions

[0007] According to various embodiments of the present disclosure, a method of an electronic device may include an operation of identifying a predetermined number of UWB signals from multiple received ultra-wideband (UWB) signals based on a line of sight (LOS) probability of the multiple received UWB signals, an operation of obtaining a position of the electronic device by using the identified UWB signal, an operation of determining whether the obtained position is within an area of ​​a cluster configured with a UWB anchor that sends the identified UWB signal, and an operation of determining the obtained position as a final position of the electronic device when the obtained position is within the area of ​​the cluster; and each of the multiple received UWB signals may include a UWB message for DL-TDoA positioning.

[0008] According to various embodiments of the present disclosure, an electronic device may include a transceiver and a controller connected to the transceiver, and the controller may be configured to identify a predetermined number of UWB signals from multiple received UWB signals based on a line of sight (LOS) probability of the multiple received UWB signals to obtain the location of the electronic device by using the identified UWB signals to determine whether the obtained location is within an area of ​​a cluster configured with a UWB anchor that sends the identified UWB signal, and when the obtained location is within the area of ​​the cluster, determine the obtained location as the final location of the electronic device; and each of the multiple received UWB signals may include a UWB message for DL-TDoA positioning.

[0009] Beneficial Effects

[0010] According to the method of the present disclosure, the accuracy of position estimation can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a block diagram schematically illustrating an electronic device;

[0012] Figure 2A is a diagram showing the architecture of a UWB device according to an embodiment of the present disclosure;

[0013] Figure 2B is a diagram showing a configuration of a framework of a UWB device according to an embodiment of the present disclosure;

[0014] Figure 3A is a diagram showing the structure of a UWB MAC frame according to an embodiment of the present disclosure;

[0015] Figure 3B is a diagram showing the structure of a UWB PHY packet according to an embodiment of the present disclosure;

[0016] Figure 4 is a diagram showing an example of a cluster configured with a plurality of UWB anchors according to an embodiment of the present disclosure;

[0017] Figure 5A is a diagram illustrating a method for performing UWB ranging based on a DL-TDoA scheme by a UWB device according to an embodiment of the present disclosure;

[0018] Figure 5B is a diagram showing an example of a ranging block structure for a downlink TDoA scheme according to an embodiment of the present disclosure;

[0019] Fig. 6A is a diagram showing an example of UWB CIR data according to an embodiment of the present disclosure;

[0020] Figure 6B is a diagram showing an example of valid UWB CIR data according to an embodiment of the present disclosure;

[0021] Figure 6C is a diagram showing an example of LOS signals and NLOS signals classified using UWB CIR data according to an embodiment of the present disclosure;

[0022] Figure 7 is a diagram showing a training process and a deployment process for LOS / NLOS signal classification using UWB channel impulse response data according to an embodiment of the present disclosure;

[0023] Figure 8 is a diagram showing a configuration of a user equipment for LOS / NLOS classification according to an embodiment of the present disclosure;

[0024] Fig. 9A is a diagram showing an example of a DL-TDoA positioning environment according to an embodiment of the present disclosure;

[0025] Fig. 9B It is shown in Fig. 9A FIG. 1 is a diagram showing an example of LOS probability data of a UWB signal obtained in a DL-TDoA positioning environment;

[0026] Fig. 10A is a flowchart illustrating a method for performing DL-TDoA positioning according to an embodiment of the present disclosure;

[0027] Fig. 10B , 10C and 10D are shown according to Fig. 10A FIG. 1 is a diagram of an example of a cluster configured to perform a method of performing DL-TDoA positioning;

[0028] Fig.11A is a flowchart illustrating a method for performing DL-TDoA positioning according to an embodiment of the present disclosure;

[0029] Fig. 11B , Fig. 11C and Fig.11D It shows that according to Fig.11A FIG. 1 is a diagram of an example of a cluster configured to perform a method of performing DL-TDoA positioning;

[0030] Fig. 12A is a flowchart illustrating a method for performing DL-TDoA positioning according to an embodiment of the present disclosure;

[0031] Fig. 12B It shows that according to Fig. 12A A diagram of an example of a cluster configured to perform a method of DL-TDoA positioning; and

[0032] Fig.13 is a diagram showing a structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0034] When describing the embodiments, descriptions related to well-known technical contents in the relevant field and not directly related to the present disclosure will be omitted. Such unnecessary descriptions are omitted to prevent the main idea of ​​the present disclosure from being obscured and to convey the main idea more clearly.

[0035] For the same reason, in the accompanying drawings, some elements may be exaggerated, omitted or schematically shown. In addition, the size of each element does not fully reflect the actual size. In each of the accompanying drawings, the same or corresponding elements are assigned the same reference numerals.

[0036] By referring to the embodiments described in detail below in conjunction with the accompanying drawings, the advantages and features of the present disclosure and the ways to achieve them will become apparent. However, the present disclosure is not limited to the embodiments set forth below, but can be implemented in various different forms. The following embodiments are provided only to fully disclose the present disclosure and inform those skilled in the art of the scope of the present disclosure, and the present disclosure is limited only by the scope of the attached claims. Throughout the specification, the same or similar reference numerals indicate the same or similar elements.

[0037] Here, it will be understood that each frame of the flowchart diagram and the combination of frames in the flowchart diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that the instructions executed by the processor of the computer or other programmable data processing device create a component for realizing the function specified in one or more flowchart frames. These computer program instructions can also be stored in a computer-available or computer-readable memory, which can instruct the computer or other programmable data processing device to operate in a particular manner so that the instructions stored in the computer-available or computer-readable memory produce a manufactured product including an instruction component for realizing the function specified in one or more flowchart frames. The instructions executed on a computer or other programmable data processing device to execute a series of operating steps on a computer or other programmable data processing device to produce a computer-implemented process can provide steps for realizing the function specified in the flowchart frame.

[0038] In addition, each box in the flow chart can represent a module, paragraph or part of the code, which includes one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions mentioned in the box may not appear in order. For example, two boxes shown in succession can actually be executed substantially simultaneously, or these boxes can sometimes be executed in reverse order, depending on the functions involved.

[0039] As used in the embodiments of the present disclosure, the term "unit" refers to a software element or a hardware element, such as a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC), and a "unit" can perform certain functions. However, a "unit" does not always have a meaning limited to software or hardware. A "unit" can be constructed to be stored in an addressable storage medium or to execute one or more processors. Therefore, a "unit" includes, for example, software elements, object-oriented software elements, class elements or task elements, processes, functions, attributes, programs, subroutines, program code segments, drivers, firmware, microcodes, circuits, data, databases, data structures, tables, arrays, and parameters. The elements and functions provided by a "unit" can be combined into a smaller number of elements or "units", or divided into a larger number of elements or "units". In addition, elements and "units" can be implemented as duplicating one or more CPUs in a device or a secure multimedia card. In addition, according to some embodiments, a "unit" can include one or more processors.

[0040] As used herein, the term "terminal" or "device" may also be referred to as a mobile station (MS), user equipment (UE), user terminal (UT), wireless terminal, access terminal (AT), terminal, subscriber unit, subscriber station (SS), wireless device, wireless communication device, wireless transmit / receive unit (WTRU), mobile node, mobile phone or other terms. Various examples of terminals may include cellular phones, smart phones with wireless communication functions, personal digital assistants (PDAs) with wireless communication functions, wireless modems, portable computers with wireless communication functions, photographing devices such as digital cameras with wireless communication functions, gaming devices with wireless communication functions, music storage and reproduction home appliances with wireless communication functions, Internet home appliances capable of wirelessly accessing and browsing the Internet, and portable units or terminals with integrated combinations of the above functions. In addition, terminals may include machine to machine (M2M) terminals and machine type communication (MTC) terminals / devices, but are not limited thereto. In the specification, a terminal may also be referred to as an electronic device or simply a device.

[0041] Hereinafter, the operating principle of the present disclosure will be described in detail in conjunction with the accompanying drawings. In the following description of the present disclosure, when it is determined that the description may make the subject matter of the present disclosure unnecessarily unclear, the detailed description of the known functions or configurations incorporated herein will be omitted. The terms to be described below are defined in consideration of the functions in the present disclosure, and may differ depending on the user, the user's intention or custom. Therefore, the definition of the terms should be made based on the content of the entire specification.

[0042] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description of the embodiments of the present disclosure, a communication system using UWB will be described by way of example, but the embodiments of the present disclosure may be applied to other communication systems having similar technical backgrounds or characteristics. Examples of such communication systems may include communication systems Bluetooth or ZigBee. Therefore, based on the determination of those skilled in the art, the embodiments of the present disclosure may be applied to other communication systems with some modifications without significantly departing from the scope of the present disclosure.

[0043] In addition, when describing the present disclosure, when it is determined that the description may make the subject matter of the present disclosure unnecessarily unclear, the detailed description of the known functions or configurations incorporated herein will be omitted. The terms to be described below are defined in consideration of the functions in the present disclosure, and may differ depending on the user, the user's intention or custom. Therefore, the definition of the terms should be made based on the content of the entire specification.

[0044] Generally, wireless sensor network technology is briefly divided into wireless local area network (WLAN) technology and wireless personal area network (WPAN) technology based on the identification distance. In this case, WLAN is a technology based on IEEE 802.11 and enables access to a backbone network within a radius of about 100m. WPAN is a technology based on IEEE 802.15 and includes Bluetooth, ZigBee, ultra-wideband (UWB), communication, etc. A wireless network in which these wireless network technologies are embodied may include multiple electronic devices.

[0045] According to the definition of the Federal Communications Commission (FCC), UWB is a wireless communication technology that uses a bandwidth of 500MHz or higher, or at least 20% of its bandwidth corresponds to the center frequency. UWB can be the bandwidth itself to which UWB communication is applied. UWB allows for secure and accurate ranging between devices. Through the above, UWB can enable relative position estimation based on the distance between two devices, or can enable accurate position estimation of a device based on the distance to a static device (whose position is known).

[0046] The predefined terms used in the description provided below are intended to aid understanding of the present disclosure, and the terms may be changed to others without departing from the scope of the technical idea of ​​the present disclosure.

[0047] An "application dedicated file (ADF)" may be, for example, a data structure within an application data structure that can contain an application or application specific data.

[0048] An "application protocol data unit" (APDU) may be a command and response used in communicating with an application data structure within a UWB device.

[0049] The “application specific data” may be, for example, a file structure having a root level and an application level, including UWB control information and UWB session data required for a UWB session.

[0050] A "controller" may be a ranging device that defines and controls ranging control messages (RCMs) (or control messages). A controller may define and control ranging features by sending control messages.

[0051] A "controller" may be a ranging device that uses ranging parameters in an RCM (or control message) received from a controller. A controller may use the same ranging features as those configured by the controller via a control message.

[0052] Unlike "static scrambled timestamp sequence (STS)", "dynamic STS mode" can be an operation mode in which STS is not repeated during a ranging session. In this mode, STS is managed by the ranging device, and the ranging session key for generating STS can be managed by the security component.

[0053] The "applet" may be, for example, an applet executed on a secure component that includes UWB parameters and service data. The applet may be a FiRa applet.

[0054] A "ranging device" may be a device capable of performing UWB ranging. In the present disclosure, a ranging device may be an enhanced ranging device (ERDEV) or a FiRa device defined by IEEE802.15.4z. A ranging device may be referred to as a UWB device.

[0055] A "UWB-enabled application" may be an application for UWB services. For example, a UWB-enabled application may be an application that uses a framework API for configuring an OOB connector, security services, and / or UWB services. A "UWB-enabled application" may be referred to simply as an application or a UWB application. A UWB-enabled application may be a FiRa-enabled application.

[0056] A "framework" may be a component that enables access to profiles and provides individual UWB configuration and / or notifications. The framework may be a collection of logical software components including, for example, a profile manager, an OOB connector, security services, and / or UWB services. The framework may be a FiRa framework.

[0057] An "OOB connector" may be a software component for configuring an out-of-band (OOB) connection (eg, a BLE connection) between ranging devices. The OOB connector may be a FiRa OOB connector.

[0058] A "profile" may be a set of predefined UWB and OOB configuration parameters. The profile may be a FiRa profile.

[0059] A "profile manager" may be a software component that embodies a profile that may be used for a ranging device. The profile manager may be a FiRa profile manager.

[0060] A "service" may be an implementation of a use case that provides a service to an end user.

[0061] A "smart ranging device" may be a ranging device that can embody the optional framework API. A smart ranging device may be a FiRa smart device.

[0062] A "global dedicated file (GDF)" may be application-specific data at the root level, including data required to configure a UWB session.

[0063] A "framework API" may be an API used by UWB-enabled applications to communicate with the framework.

[0064] An "initiator" may be a ranging device that initiates a ranging exchange. The initiator may initiate a ranging exchange by sending a first RFRAME (ranging exchange message).

[0065] An "object identifier (OID)" may be an identifier of an ADF in an application data structure.

[0066] "Out-of-band (OOB)" may be data communications that are the underlying wireless technology and do not use UWB.

[0067] A “ranging data set (RDS)” may be data required to configure a UWB session whose confidentiality, authenticity, and integrity need to be protected (eg, a UWB session key, a session ID, etc.).

[0068] A "responder" may be a ranging device that responds to an initiator in a ranging exchange. A responder may respond to a ranging exchange message received from an initiator.

[0069] "STS" can be an encrypted sequence to increase the integrity and accuracy of the ranging measurement timestamp. STS can be generated based on the ranging session key.

[0070] A "secure channel" may be a data channel that is protected from eavesdropping and tampering.

[0071] A “secure component” may be, for example, an entity (eg, a secure element (SE) or a trusted execution environment (TEE)) having a defined security level and interfacing with the UWBS for the purpose of providing RDS to the UWBS when using a dynamic STS.

[0072] “SE” may be a tamper-resistant secure hardware component that may be used as a secure component in a ranging device.

[0073] "Secure ranging" may be ranging based on an STS generated via a strong cryptographic operation.

[0074] A “security service” may be a software component used to interface with a secure component such as a secure element or TEE.

[0075] A "servlet" may be an applet within a security component that manages service specific transactions.

[0076] The "service data" may be data defined by a service provider and needs to be transmitted between two ranging devices to implement a service.

[0077] A "service provider" may be an entity that defines and provides the hardware and software required to deliver a predetermined service to an end user.

[0078] "Static STS mode" may be a mode of operation in which the STS is repeated during a session and may not need to be managed by a security component.

[0079] A "secure UWB service (SUS) applet" may be an applet in the SE that communicates with the applet in order to search for data required to implement a secure UWB session with another ranging device. In addition, the SUS applet may transmit corresponding data (information) to the UWBS.

[0080] A "UWB Service" may be a software component that provides access to a UWB S.

[0081] A "UWB session" may be a period of time from the start to the end of communication between a controller and a controlled via UWB. A UWB session may include ranging, data transfer, or both ranging and data transfer.

[0082] The “UWB session ID” may be an ID (eg, a 32-bit integer) that identifies a UWB session and is shared between a controller and a controllable.

[0083] "UWB session key" may be a key used to protect a UWB session. The UWB session key may be used to generate an STS. The UWB session key may be a UWB ranging session key (URSK) and may be referred to as a session key.

[0084] A "UWB subsystem (UWBS)" may be a hardware component that embodies the UWB PHY and MAC layers (specifications). The UWBS may have an interface to the framework, and an interface to a security component that searches for RDS.

[0085] A "UWB message" may be a message including a payload IE sent by a UWB device (e.g., ERDEV). A UWB message may be, for example, a ranging initiation message (RIM), a ranging response message (RRM), a ranging final message (RFM), a control message (CM), a measurement report message (MRM), a ranging result report message (RRRM), a control update message (CUM), or a one-way ranging (OWR) message. When necessary, multiple messages may be combined into a single message.

[0086] "OWR" may be a ranging scheme that uses messages sent in one direction between a ranging device and one or more other ranging devices. OWR may be used to measure time difference of arrival (TDoA). In addition, OWR may be used to measure AoA on the receiving side, as opposed to measuring TDoA. In this case, a pair of advertisers and observers may be used.

[0087] "TWR" may be a ranging scheme that measures the time of flight (ToF) and estimates the relative distance between the two devices by exchanging ranging messages between the two devices. The TWR scheme may be one of bilateral two-way ranging (DS-TWR) and unilateral two-way ranging (SS-TWR). SS-TWR may be a process of performing ranging by performing one round-trip time measurement. For example, SS-TWR may include a RIM transmission operation from an initiator to a responder and an RRM transmission operation from a responder to an initiator. DS-TWR may be a process of performing ranging by performing two round-trip time measurements. For example, DS-TWR may include a RIM transmission operation from an initiator to a responder, an RRM transmission operation from a responder to an initiator, and an RFM transmission operation from an initiator to a responder. Via ranging exchange (ranging message exchange), the time of flight (ToF) may be calculated, and the distance between the two devices may be estimated. In the TWR process, the measured AoA information (e.g., AoA azimuth result, AoA elevation result) may be transmitted to another ranging device via RRRM or another message. In the present disclosure, the TWR may be referred to as a UWB TWR.

[0088] "DL-TDoA" may be referred to as downlink time difference of arrival (DL-TDoA) or reverse TDoA. When multiple anchor devices broadcast messages or exchange messages, a user device (tag device) may eavesdrop on the message of the anchor device, which is a basic operation. Similar to uplink TDoA, DL-TDoA may be classified as a one-way ranging. A user device performing a DL-TDoA operation may eavesdrop on messages sent from two anchor devices, and may calculate a TDoA proportional to the distance difference between the user device and the anchor device. The user device may calculate the relative distance to the anchor device by using the TDoA of many pairs of anchor devices, and may use it for positioning. The operation of the anchor device for DL-TDoA may perform operations similar to those of DS-TWR defined in IEEE 802.15.4z, and may further include another useful time information so that the user device can calculate the TDoA. DL-TDoA may be referred to as DL-TDoA positioning.

[0089] An "anchor device" may be referred to as an anchor, a UWB anchor, or a UWB anchor device, and may be a UWB device that is arranged at a predetermined location to provide positioning services. For example, an anchor device may be a UWB device that a service provider installs in a wall, ceiling, structure, etc. in a room to provide indoor positioning services. An anchor device may be classified as an initiator anchor or a responder anchor based on the order and role of message transmission.

[0090] "Initiator anchor" may be referred to as an initiator UWB anchor, an initiator anchor device, etc., and may indicate the initiation of a predetermined ranging round. The initiator anchor may schedule a ranging slot in which responder anchors operating in the same ranging round respond. The initiation message of the initiator anchor may be referred to as an initiator downlink TDoA message (initiator DTM) or a polling message. The initiation message of the initiator anchor may include a send timestamp. The initiator anchor may additionally transmit a termination message after receiving a response from the responder anchor. The termination message of the initiator anchor may be referred to as a final DTM or a final message. The termination message may include a reply time regarding a message sent by the responder anchor. The termination message may include a send timestamp.

[0091] A "responder anchor" may be referred to as a responder UWB anchor, a responder UWB anchor device, a responder anchor device, etc. A responder anchor may be a UWB anchor that responds to an initiation message of an initiator anchor. A message sent by a responder anchor as a response may include a reply time of the initiation message. A message sent by a responder anchor as a response may be referred to as a responder DTM or a response message. A response message of a responder anchor may include a send timestamp.

[0092] A "tag device" can estimate its location (e.g., geographic coordinates) based on the DTM received from the anchor device in DL-TDoA by using TDoA measurements. The tag device may know the location of the anchor device in advance. The tag device may be referred to as a UWB tag, a user device, and a UWB tag device, and the tag device of DL-TDoA may be referred to as a DL-TDoA tag or a DT tag. The tag device may receive a message sent by the anchor device and may measure the reception time of the message. The tag device may obtain the geographic coordinates of the anchor device via an in-band or out-of-band method. When the location update speed is lower than the speed supported by the network, the tag device may skip the ranging block.

[0093] A "cluster" may be a group of UWB anchors covering a predetermined area. A cluster may be configured with an initiator UWB anchor and responder UWB anchors that respond thereto. 2D positioning typically requires a single initiator UWB anchor and at least three responder UWB anchors, while 3D positioning requires a single initiator UWB anchor and at least four responder UWB anchors. If the initiator UWB anchor and the responder UWB anchor can be accurately synchronized in time (time synchronization) via a separate wired / wireless connection, 2D positioning requires a single initiator UWB anchor and two responder UWB anchors, while 3D positioning requires a single initiator UWB anchor and three responder UWB anchors. Unless otherwise specified, it is assumed that there is no separate wired / wireless device for time synchronization between UWB anchors. The area of ​​a cluster may be the space of the UWB anchors that constitute the cluster. Positioning services may be provided to user devices by configuring multiple clusters to support positioning services over a wide area. A cluster may be referred to as a cell. The operation of a cluster operation may be understood as the operation of an anchor belonging to the cluster.

[0094] Figure 1 is a block diagram schematically illustrating an electronic device.

[0095] refer to Figure 1 , the electronic device 101 in the network environment 100 may communicate with the electronic device 102 via the first network 198 (e.g., a short-range wireless communication network), or communicate with at least one of the electronic device 104 and the server 108 via the second network 199 (e.g., a long-range wireless communication network). According to an embodiment, the electronic device 101 may communicate with the electronic device 104 via the server 108. According to an embodiment, the electronic device 101 may include a processor 120, a memory 130, an input module 150, a sound output module 155, a display module 160, an audio module 170, a sensor module 176, an interface 177, a connection terminal 178, a haptic module 179, a camera module 180, a power management module 188, a battery 189, a communication module 190, a user identification module (SIM) 196, or an antenna module 197. In some embodiments, at least one of the above components (e.g., the connection terminal 178) may be omitted from the electronic device 101, or one or more other components may be added to the electronic device 101. In some embodiments, some of the above-described components (eg, sensor module 176, camera module 180, or antenna module 197) may be implemented as a single integrated component (eg, display module 160).

[0096] The processor 120 may run, for example, software (e.g., program 140) to control at least one other component (e.g., hardware component or software component) of the electronic device 101 connected to the processor 120, and may perform various data processing or calculations. According to an embodiment, as at least part of the data processing or calculation, the processor 120 may store a command or data received from another component (e.g., sensor module 176 or communication module 190) in the volatile memory 132, process the command or data stored in the volatile memory 132, and store the result data in the non-volatile memory 134. According to an embodiment, the processor 120 may include a main processor 121 (e.g., a central processing unit (CPU) or an application processor (AP)) or an auxiliary processor 123 (e.g., a graphics processing unit (GPU), a neural processing unit (NPU), an image signal processor (ISP), a sensor hub processor, or a communication processor (CP)) that is independent of or combined with the main processor 121 in operation. For example, when the electronic device 101 includes a main processor 121 and an auxiliary processor 123, the auxiliary processor 123 may be adapted to consume less power than the main processor 121, or adapted to be dedicated to a specific function. The auxiliary processor 123 may be implemented as a separate part from the main processor 121, or as part of the main processor 121.

[0097] When the main processor 121 is in an inactive (e.g., sleep) state, the auxiliary processor 123 (rather than the main processor 121) may control at least some of the functions or states related to at least one component among the components of the electronic device 101 (e.g., the display module 160, the sensor module 176, or the communication module 190), or when the main processor 121 is in an active state (e.g., running an application), the auxiliary processor 123 may control at least some of the functions or states related to at least one component among the components of the electronic device 101 (e.g., the display module 160, the sensor module 176, or the communication module 190) together with the main processor 121. According to an embodiment, the auxiliary processor 123 (e.g., an image signal processor or a communication processor) may be implemented as part of another component (e.g., a camera module 180 or a communication module 190) that is functionally related to the auxiliary processor 123. According to an embodiment, the auxiliary processor 123 (e.g., a neural processing unit) may include a hardware structure dedicated to artificial intelligence model processing. The artificial intelligence model may be generated by machine learning. For example, such learning may be performed by the electronic device 101 where the artificial intelligence is executed or via a separate server (e.g., server 108). The learning algorithm may include, but is not limited to, supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, for example. The artificial intelligence model may include multiple artificial neural network layers. The artificial neural network may be a deep neural network (DNN), a convolutional neural network (CNN), a recurrent neural network (RNN), a restricted Boltzmann machine (RBM), a deep belief network (DBN), a bidirectional recurrent deep neural network (BRDNN), or a deep Q network or a combination of two or more thereof, but is not limited thereto. Additionally or alternatively, the artificial intelligence model may include a software structure in addition to a hardware structure.

[0098] The memory 130 may store various data used by at least one component of the electronic device 101 (e.g., the processor 120 or the sensor module 176). The various data may include, for example, software (e.g., the program 140) and input data or output data for commands related thereto. The memory 130 may include a volatile memory 132 or a non-volatile memory 134.

[0099] The program 140 may be stored as software in the memory 130 , and may include, for example, an operating system (OS) 142 , middleware 144 , or applications 146 .

[0100] The input module 150 may receive commands or data to be used by other components (e.g., the processor 120) of the electronic device 101 from outside the electronic device 101 (e.g., a user). The input module 150 may include, for example, a microphone, a mouse, a keyboard, a key (e.g., a button), or a digital pen (e.g., a stylus).

[0101] The sound output module 155 can output sound signals to the outside of the electronic device 101. The sound output module 155 may include, for example, a speaker or a receiver. The speaker can be used for general purposes such as playing multimedia or playing records. The receiver can be used to receive incoming calls. Depending on the embodiment, the receiver can be implemented as a separate part from the speaker, or as part of the speaker.

[0102] The display module 160 may visually provide information to the outside (e.g., user) of the electronic device 101. The display device 160 may include, for example, a display, a holographic device, or a projector, and a control circuit for controlling a corresponding one of the display, the holographic device, and the projector. According to an embodiment, the display module 160 may include a touch sensor adapted to detect a touch or a pressure sensor adapted to measure the strength of a force caused by a touch.

[0103] The audio module 170 may convert sound into an electrical signal, or vice versa. According to an embodiment, the audio module 170 may obtain sound via the input module 150, or output sound via the sound output module 155 or an earphone of an external electronic device (e.g., electronic device 102) directly (e.g., wired) or wirelessly connected to the electronic device 101.

[0104] The sensor module 176 may detect an operating state (e.g., power or temperature) of the electronic device 101 or an environmental state (e.g., a user's state) outside the electronic device 101, and then generate an electrical signal or data value corresponding to the detected state. According to an embodiment, the sensor module 176 may include, for example, a gesture sensor, a gyro sensor, an atmospheric pressure sensor, a magnetic sensor, an acceleration sensor, a grip sensor, a proximity sensor, a color sensor, an infrared (IR) sensor, a biometric sensor, a temperature sensor, a humidity sensor, or an illumination sensor.

[0105] The interface 177 may support one or more specific protocols that will be used to connect the electronic device 101 directly (e.g., wired) or wirelessly to an external electronic device (e.g., the electronic device 102). According to an embodiment, the interface 177 may include, for example, a high-definition multimedia interface (HDMI), a universal serial bus (USB) interface, a secure digital (SD) card interface, or an audio interface.

[0106] The connection end 178 may include a connector, wherein the electronic device 101 can be physically connected to an external electronic device (e.g., the electronic device 102) via the connector. According to an embodiment, the connection end 178 may include, for example, an HDMI connector, a USB connector, an SD card connector, or an audio connector (e.g., a headphone connector).

[0107] The haptic module 179 may convert the electric signal into mechanical stimulation (eg, vibration or motion) or electric stimulation that can be recognized by the user via his sense of touch or kinesthetic sense. According to an embodiment, the haptic module 179 may include, for example, a motor, a piezoelectric element, or an electric stimulator.

[0108] The camera module 180 may capture still images or moving images. According to an embodiment, the camera module 180 may include one or more lenses, an image sensor, an image signal processor, or a flash.

[0109] The power management module 188 may manage power supply to the electronic device 101. According to an embodiment, the power management module 188 may be implemented as, for example, at least a part of a power management integrated circuit (PMIC).

[0110] The battery 189 may power at least one component of the electronic device 101. According to an embodiment, the battery 189 may include, for example, a non-rechargeable primary battery, a rechargeable secondary battery, or a fuel cell.

[0111] The communication module 190 may support establishing a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device 101 and an external electronic device (e.g., electronic device 102, electronic device 104, or server 108), and perform communication via the established communication channel. The communication module 190 may include one or more communication processors capable of operating independently from the processor 120 (e.g., an application processor (AP)) and supporting direct (e.g., wired) communication or wireless communication. According to an embodiment, the communication module 190 may include a wireless communication module 192 (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module 194 (e.g., a local area network (LAN) communication module or a power line communication (PLC) module). A corresponding one of these communication modules can communicate with an external electronic device via a first network 198 (e.g., a short-range communication network such as Bluetooth, Wireless Fidelity (Wi-Fi) Direct, or Infrared Data Association (IrDA)) or a second network 199 (e.g., a long-range communication network such as a traditional cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or a wide area network (WAN))). These various types of communication modules can be implemented as a single component (e.g., a single chip), or these various types of communication modules can be implemented as multiple components separated from each other (e.g., multiple chips). The wireless communication module 192 can identify and authenticate the electronic device 101 in a communication network (such as the first network 198 or the second network 199) using user information (e.g., an International Mobile Subscriber Identity (IMSI)) stored in the user identification module 196.

[0112] The wireless communication module 192 can support 5G networks after 4G networks and next-generation communication technologies (e.g., new radio (NR) access technology). NR access technology can support enhanced mobile broadband (eMBB), massive machine type communication (mMTC), or ultra-reliable low-latency communication (URLLC). The wireless communication module 192 can support high-frequency bands (e.g., millimeter wave bands) to achieve, for example, high data transmission rates. The wireless communication module 192 can support various technologies for ensuring performance on high-frequency bands, such as, for example, beamforming, massive multiple-input multiple-output (massive MIMO), full-dimensional MIMO (FD-MIMO), array antennas, analog beamforming, or massive antennas. The wireless communication module 192 can support various requirements specified in the electronic device 101, an external electronic device (e.g., an electronic device 104), or a network system (e.g., a second network 199). According to an embodiment, the wireless communication module 192 may support a peak data rate for implementing eMBB (e.g., 20 Gbps or greater), loss coverage for implementing mMTC (e.g., 164 dB or less), or U-plane delay for implementing URLLC (e.g., 0.5 ms or less for each of the downlink (DL) and uplink (UL), or 1 ms or less round trip).

[0113] The antenna module 197 may transmit or receive a signal or power to or from the outside of the electronic device 101 (e.g., an external electronic device). According to an embodiment, the antenna module 197 may include an antenna including a radiating element formed of a conductive material or a conductive pattern formed in or on a substrate (e.g., a printed circuit board (PCB)). According to an embodiment, the antenna module 197 may include a plurality of antennas (e.g., an array antenna). In this case, at least one antenna suitable for a communication scheme used in a communication network (such as the first network 198 or the second network 199) may be selected from the plurality of antennas by, for example, the communication module 190 (e.g., the wireless communication module 192). A signal or power may then be transmitted or received between the communication module 190 and the external electronic device via the selected at least one antenna. According to an embodiment, another component (e.g., a radio frequency integrated circuit (RFIC)) other than the radiating element may be additionally formed as part of the antenna module 197.

[0114] According to various embodiments, the antenna module 197 may form a millimeter wave antenna module. According to an embodiment, the millimeter wave antenna module may include a printed circuit board, a radio frequency integrated circuit (RFIC), and a plurality of antennas (e.g., array antennas), wherein the RFIC is disposed on a first surface (e.g., bottom surface) of the printed circuit board, or adjacent to the first surface and capable of supporting a specified high frequency band (e.g., millimeter wave band), and the plurality of antennas are disposed on a second surface (e.g., top surface or side surface) of the printed circuit board, or adjacent to the second surface and capable of transmitting or receiving signals of the specified high frequency band.

[0115] At least some of the above components may be connected to each other via an inter-peripheral communication scheme (e.g., a bus, a general purpose input output (GPIO), a serial peripheral interface (SPI), or a mobile industry processor interface (MIPI)) and communicatively transmit signals (e.g., commands or data) therebetween.

[0116] According to an embodiment, a command or data may be sent or received between the electronic device 101 and the external electronic device 104 via the server 108 connected to the second network 199. Each of the electronic device 102 or the electronic device 104 may be a device of the same type as the electronic device 101, or a device of a different type from the electronic device 101. According to an embodiment, all or some operations to be run on the electronic device 101 may be run on one or more of the external electronic device 102, the external electronic device 104, or the server 108. For example, if the electronic device 101 should automatically perform a function or service or should perform a function or service in response to a request from a user or another device, the electronic device 101 may request the one or more external electronic devices to perform at least part of the function or service instead of running the function or service, or the electronic device 101 may request the one or more external electronic devices to perform at least part of the function or service in addition to running the function or service. The one or more external electronic devices that receive the request may perform the requested at least part of the function or service, or perform another function or another service related to the request, and transmit the result of the execution to the electronic device 101. The electronic device 101 may provide the result as at least a partial reply to the request when the result is further processed or when the result is not further processed. To this end, cloud computing technology, distributed computing technology, mobile edge computing (MEC) technology or client-server computing technology, for example, may be used. The electronic device 101 may use, for example, distributed computing or mobile edge computing to provide ultra-low latency services. In another embodiment, the external electronic device 104 may include an Internet of Things (IoT) device. The server 108 may be an intelligent server using machine learning and / or neural networks. According to an embodiment, the external electronic device 104 or the server 108 may be included in the second network 199. The electronic device 101 may be applied to intelligent services (e.g., smart homes, smart cities, smart cars or health care) based on 5G communication technology or IoT-related technologies.

[0117] The electronic device according to various embodiments may be one of various types of electronic devices. The electronic device may include, for example, a portable communication device (e.g., a smart phone), a computer device, a portable multimedia device, a portable medical device, a camera, a wearable device, or a household appliance. According to an embodiment of the present disclosure, the electronic device is not limited to those electronic devices described above.

[0118] It should be understood that the various embodiments of the present disclosure and the terms used therein are not intended to limit the technical features set forth herein to specific embodiments, but include various changes, equivalent forms or alternative forms for corresponding embodiments. For the description of the accompanying drawings, similar reference numerals may be used to refer to similar or related elements. It will be understood that the nouns in the singular form corresponding to the term may include one or more things unless the relevant context clearly indicates otherwise. As used herein, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C" and "at least one of A, B or C" may include any one or all possible combinations of the items listed together with the corresponding one of the multiple phrases. As used herein, terms such as "1st" and "2nd" or "first" and "second" may be used to simply distinguish the corresponding component from another component, and do not limit the component in other aspects (e.g., importance or order). It will be understood that if an element (e.g., a first element) is referred to as being “combined with another element (e.g., the second element)”, “combined to another element (e.g., the second element)”, “connected with another element (e.g., the second element)”, or “connected to another element (e.g., the second element)” when the terms “operably” or “communicatively” are used or when the terms “operably” or “communicatively” are not used, it means that the element may be directly (e.g., wired) connected to the other element, wirelessly connected to the other element, or connected to the other element via a third element.

[0119] As used in connection with various embodiments of the present disclosure, the term "module" may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with other terms (e.g., "logic," "logic block," "portion," or "circuit"). A module may be a single integrated component adapted to perform one or more functions or a minimum unit or portion of the single integrated component. For example, depending on the embodiment, a module may be implemented in the form of an application specific integrated circuit (ASIC).

[0120] The various embodiments described herein may be implemented as software (e.g., program 140) including one or more instructions stored in a storage medium (e.g., internal memory 136 or external memory 138) that can be read by a machine (e.g., electronic device 101). For example, under the control of a processor, a processor (e.g., processor 120) of the machine (e.g., electronic device 101) may call at least one of the one or more instructions stored in the storage medium and execute the at least one instruction with or without the use of one or more other components. This enables the machine to operate to perform at least one function according to the at least one instruction called. The one or more instructions may include code generated by a compiler or code that can be run by an interpreter. A machine-readable storage medium may be provided in the form of a non-transitory storage medium. Among them, the term "non-transitory" only means that the storage medium is a tangible device and does not include signals (e.g., electromagnetic waves), but the term does not distinguish between data being semi-permanently stored in a storage medium and data being temporarily stored in a storage medium.

[0121] According to an embodiment, the method according to various embodiments of the present disclosure may be included and provided in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be published in the form of a machine-readable storage medium (e.g., a compact disk read-only memory (CD-ROM)), or may be published online (e.g., downloaded or uploaded) via an application store (e.g., Play StoreTM), or may be distributed (e.g., downloaded or uploaded) directly between two user devices (e.g., smart phones). If published online, at least part of the computer program product may be temporarily generated, or at least part of the computer program product may be at least temporarily stored in a machine-readable storage medium (such as a manufacturer's server, an application store's server, or a memory of a forwarding server).

[0122] According to various embodiments, each of the above-mentioned components (e.g., a module or a program) may include a single entity or multiple entities, and some of the multiple entities may be separately arranged in different components. According to various embodiments, one or more of the above-mentioned components may be omitted, or one or more other components may be added. Alternatively or additionally, multiple components (e.g., a module or a program) may be integrated into a single component. In this case, according to various embodiments, the integrated component may still perform the one or more functions of each of the multiple components in the same or similar manner as a corresponding one of the multiple components performing one or more functions before integration. According to various embodiments, the operations performed by a module, a program or another component may be performed sequentially, in parallel, repeatedly or in a heuristic manner, or one or more of the operations may be run or omitted in a different order, or one or more other operations may be added.

[0123] Figure 2A is a diagram showing the architecture of a UWB device according to an embodiment of the present disclosure.

[0124] In the present disclosure, the UWB device 200 may be an electronic device that supports UWB communication. For example, the UWB device 200 may be Figure 1 Examples of electronic devices.

[0125] The UWB device 200 may be, for example, a ranging device supporting UWB ranging. According to an embodiment, the ranging device may be an enhanced ranging device (ERDEV) or a FiRa device.

[0126] exist Figure 2A In the embodiment of the present invention, the UWB device 200 can interact with another UWB device via a UWB session.

[0127] In addition, the UWB device 200 may embody a first interface (interface #1), which is an interface between the UWB-enabled application 210 and the UWB framework 220, and the first interface may enable the UWB-enabled application 110 in the UWB device 200 to use the UWB capability of the UWB device 200 in a predetermined manner. According to an embodiment, the first interface may be a framework API or a proprietary interface, but is not limited thereto.

[0128] In addition, the UWB device 200 may embody a second interface (interface #2), which is an interface between the UWB framework 220 and the UWB subsystem (UWBS) 230. According to an embodiment, the second interface may be a UWB command interface (UCI) or a proprietary interface, but is not limited thereto.

[0129] refer to Figure 2A , UWB device 200 may include UWB-enabled applications 210, framework (UWB framework) 220 and / or UWBS 230 including a UWB MAC layer and a UWB physical layer. In some embodiments, some entities may not be included in the UWB device, or additional entities (eg, a security layer) may be further included.

[0130] The UWB-enabled application 210 can trigger the configuration of the UWB session by the UWBS 230 by using the first interface. In addition, the UWB-enabled application 210 can use one of the predefined profiles. For example, the UWB-enabled application 210 can use one of the profiles defined in FiRa or can use a custom profile. By using the first interface, the UWB-enabled application 210 can manage related events such as service discovery, ranging notifications, and / or error conditions.

[0131] The framework 220 may enable access to profiles and provide individual UWB configurations and / or notifications. In addition, the framework 220 may support at least one of a function of performing UWB ranging and transactions, a function of providing an interface to the UWBS 230 and applications, and a function of estimating the location of the device 200. The framework 220 may be a set of software components. As described above, the UWB-enabled application 210 may interface with the framework 220 via a first interface, and the framework 220 may interface with the UWBS 230 via a second interface.

[0132] In the present disclosure, the UWB-enabled application 210 and / or framework 220 may be embodied by an application processor (AP) (or processor). Therefore, in the present disclosure, it is understood that the UWB-enabled application 210 and / or framework 220 is executed by an AP (or processor). In the present disclosure, the framework may be referred to as an AP or a processor.

[0133] UWBS 230 may be a hardware component including a UWB MAC layer and a UWB physical layer. UWBS 230 may perform UWB session management and may communicate with the UWBS of another UWB device. UWBS 230 may interface with framework 220 via a second interface and may obtain security data from a security component. In an embodiment, framework (or application processor) 220 may send a command to UWBS 230 via UCI, and UWBS 230 may transmit a response to the command to framework 220. UWBS 230 may transmit a notification to framework 120 via UCI.

[0134] Figure 2B is a diagram showing a configuration of a framework of a UWB device according to an embodiment of the present disclosure.

[0135] Figure 2B A UWB device can be Figure 2A Examples of UWB devices.

[0136] refer to Figure 2B , the framework 220 may, for example, include software components such as a profile manager 221 , an OOB connector 222 , a security service 223 , and / or a UWB service 224 .

[0137] The profile manager 221 may perform the role of managing the profiles available in the UWB device. Here, a profile may be a set of parameters required to configure communications between UWB devices. For example, a profile may include parameters indicating the OOB secure channel used, UWB / OOB configuration parameters, parameters indicating whether the use of a predetermined security component is mandatory, and / or parameters related to the file structure of the ADF. The UWB-enabled application 210 may communicate with the configuration manager 221 via a first interface (e.g., a framework API).

[0138] The OOB connector 222 may perform the role of configuring an OOB connection with another device. The OOB connector 222 may manage OOB operations including a discovery operation and / or a connection operation. The OOB component (eg, a BLE component) 250 may be connected to the OOB connector 222.

[0139] The security service 223 may perform the role of interfacing with a security component 240 such as a SE or TEE.

[0140] The UWB service 224 may perform a role of managing the UWBS 230. The UWB service 224 may embody a second interface, and may provide access from the profile manager 221 to the UWBS 230.

[0141] Figure 3A is a diagram showing the structure of a UWB MAC frame according to an embodiment of the present disclosure.

[0142] In the present disclosure, the UWB MAC frame may be referred to as a MAC frame or simply a frame. According to an embodiment, the UWB MAC frame may be used to send UWB related data (eg, UWB messages, ranging messages, control information, service data, application data, etc.).

[0143] refer to Figure 3A The UWB MAC frame may include a MAC header (MHR), a MAC payload and / or a MAC footer (MFR).

[0144] (1) MAC header

[0145] The MAC header may include a frame control field, a sequence number field, a destination address field, a source address field, an auxiliary security header field, and / or at least one header IE field. Depending on the embodiment, some of the above fields may not be included in the MAC header, or additional fields may be further included in the MAC header.

[0146] According to an embodiment, the frame control field may include a frame type field, a security enabled field, a frame pending field, an ack request (AR) field, a PAN ID compression field (PAN ID present field), a sequence number suppression field, an IE present field, a destination addressing mode field, a frame version field, and / or a source addressing model field. According to an embodiment, some of the above fields may not be included in the frame control field, or additional fields may be further included in the frame control field.

[0147] A description of each field follows.

[0148] The frame type field may indicate a frame type. According to an embodiment, the frame type may include a data type and / or a multi-purpose type.

[0149] The Security Enabled field may indicate whether the Auxiliary Security Header field is present. The Auxiliary Security Header field may include information required for security processing.

[0150] The frame pending field may indicate whether the device sending the frame has more data for the recipient. In other words, the frame pending field may indicate whether there are pending frames for the recipient.

[0151] The Acknowledgement Request (AR) field may indicate whether an acknowledgement of frame reception is required from the receiver.

[0152] The PAN ID Compression field (PAN ID Existence field) may indicate whether the PAN ID field exists.

[0153] The Sequence Number Suppression field may indicate whether the Sequence Number field is present. The Sequence Number field may indicate a sequence identifier for the frame.

[0154] The IE presence field may indicate whether a header IE field and a payload IE field are included in the frame.

[0155] The destination addressing mode field may indicate whether the destination address field includes a short address (eg, 16 bits) or an extended address (eg, 64 bits).The destination address field may indicate the address of the receiver of the frame.

[0156] The frame version field may indicate a frame version. For example, the frame version field may be configured to indicate a value of IEEE standard 802.15.4z-2020.

[0157] The source addressing mode field may indicate whether the source address field is present, and when the source address field is present, may indicate whether the source address field includes a short address (eg, 16 bits) or an extended address (eg, 64 bits). The source address field may indicate the address of the originator of the frame.

[0158] (2) MAC payload

[0159] The MAC payload may include at least one payload IE field. According to an embodiment, the payload IE field may include a vendor-specific nested IE.

[0160] (3) MAC tail

[0161] The MAC trailer may include an FCS field. The FCS field may include a 16-bit CRC or a 32-bit CRC.

[0162] Figure 3B is a diagram showing the structure of a UWB PHY packet according to an embodiment of the present disclosure.

[0163] Figure 3B Part A shows the structure of a UWB PHY packet without applying the STS packet configuration, while Figure 3B Part B of FIG. 1 shows the structure of a UWB PHY packet to which the STS packet configuration is applied. The UWB PHY packet may be referred to as a PHY packet, a PHY PDU (PPDU), or a frame.

[0164] refer to Figure 3B In the A part of the PPDU, the PPDU may include a synchronization header (SHR), a PHY header (PHR) and a PHY payload (PSDU). The PSDU may include a MAC frame, and as shown in FIG. 2, the MAC frame may include a MAC header (MHR), a MAC payload and / or a MAC footer (MFR). The synchronization header part may be referred to as a preamble, and the part including the PHY header and the PHY payload may be referred to as a data part.

[0165] The synchronization header may be used for synchronization of signal reception, and may include a SYNC (synchronization) field and a start-of-frame delimiter (SFD).

[0166] The synchronization field may be a field including a plurality of preamble symbols used for synchronization between transmitting / receiving devices. The preamble symbol may be configured by one of the predefined preambles.

[0167] The SFD field may be a field indicating the end of the SHR and the start of the data field.

[0168] The PHY header may provide information associated with the configuration of the PHY payload. For example, the PHY header may include information associated with the length of the PSDU, information indicating whether the current frame is an RFRAME (or data frame), and the like.

[0169] The PHY layer of a UWB device may include an optional mode to provide reduced air time for high density / low power operation. In this case, the UWB PHY packet may include an encryption sequence (i.e., STS) to increase the integrity and accuracy of the ranging measurement timestamp. The STS may be included in the STS field of the UWB PHY packet and may be used for secure ranging.

[0170] refer to Figure 3B Part B, in the case of STS packet (STS packet, SP) configuration 0 (SP configuration0, SP0), the STS field may not be included in the PPDU (SP0 packet). In the case of SP configuration 1 (SP configuration 1, SP1), the STS field may be immediately after the start of the frame delimiter field and before the PHR field (SP1 packet). In the case of SP configuration 2 (SP configuration2, SP2), the STS field may be after the PHY payload (SP2 packet). In the case of SP configuration 3 (SP configuration 3, SP3), the STS field may be immediately after the SFD field, and the PPDU may not include the PHR and data fields (PHY payload) (SP3 packet). That is, in the case of SP3, the PPDU may not include the PHR and the PHY payload.

[0171] like Figure 3B As shown in part B of , each UWB PHY packet may include RMARKER to define a reference time, and RMARKER may be used to obtain a transmission time (transmission timestamp), a reception time (reception timestamp) and / or a time interval of a ranging message (frame) during UWB ranging. For example, a UWB PHY packet may include RMARKER at the end of a preamble or a preamble.

[0172] Figure 4 is a diagram showing an example of a cluster configured with a plurality of UWB anchors according to an embodiment of the present disclosure.

[0173] A cluster can be a group of UWB anchors (DT anchors) that exchange DTMs with each other to provide positioning services to UWB tags. Figure 4As shown, the cluster may be a set including a single initiator anchor (initiator DT anchor) 410 and three responder anchors (responder DT anchors) 430a, 430b, and 430c. In this case, the embodiment is not limited thereto, and the number of UWB anchors included in the cluster and the number of initiator anchors and responder anchors may be configured differently according to the embodiment.

[0174] According to an embodiment, a UWB anchor may operate in one or more clusters. In this case, a UWB anchor operating as an initiator anchor in one cluster may operate as a responder anchor in another cluster.

[0175] According to an embodiment, the area covered by one cluster may overlap with the area covered by a neighboring cluster.

[0176] refer to Figure 4 , the UWB tag 420 may receive the DTMs exchanged between the UWB anchors 410, 430a, 430b, and 430c, and may calculate TDoAs associated with multiple pairs of anchor devices based on the received DTMs. For example, based on the received DTMs, the UWB tag 420 may calculate a TDoA that is the TDoA between the initiator anchor 410 and the responder anchor 430a. 1 , TDoA as TDoA between the initiator anchor 410 and the responder anchor 430b 2 , and a TDoA as a TDoA between the initiator anchor 410 and the responder anchor 430c 3 The UWB tag 420 may estimate (or determine) its location by using the calculated TDoA.

[0177] Figure 5A is a diagram illustrating a method of performing UWB ranging based on a DL-TDoA scheme by a UWB device according to an embodiment of the present disclosure.

[0178] exist Figure 5A In the embodiment of FIG. 5 , it is assumed that one initiator anchor (initiator DT anchor) 510 and n responder anchors (responder DT anchors 530a, ..., 530n) operate as UWB anchors (DT anchors). Figure 4 As shown, one initiator anchor and three responder anchors may operate as UWB anchors. In this case, the embodiment is not limited thereto, and the number of UWB anchors included in the cluster and the number of initiator anchors and responder anchors may be configured differently according to the embodiment.

[0179] In operation S502, the initiator anchor 510 may send or broadcast a polling DTM received by the responder anchors in the cluster, and may initiate a DL-TDoA round. The polling DTM may include scheduling information (e.g., ranging slot index) associated with each responder anchor so as to send the response DTM in the allocated ranging slot. The polling DTM may also include transmission time information (transmission timestamp) indicating the time when the polling DTM was sent. The polling DTM may also include a round index of the current ranging round and a block index of the current ranging block to which the polling DTM is sent. The polling DTM may also include location information of the UWB anchor that sent the polling DTM.

[0180] According to an embodiment, each responder anchor 530a, ..., and 530n may identify whether to transmit a response DTM and / or a time slot (ranging slot index) for transmitting its response DTM by referring to the scheduling information in the polling DTM.

[0181] In operations S504a, ..., S504n, each responder anchor 530a, ..., 530n that receives the polling DTM can provide a response to the initiator anchor 510 by using the response DTM in the ranging time slot allocated by the polling DTM. For example, each responder anchor 530a, ... 530n can send or broadcast the response DTM in its ranging time slot allocated by the polling DTM. Each response DTM may include reply time information indicating the time between the time of receiving the polling DTM and the time of sending the corresponding response DTM. Each response DTM may include a sending time (sending timestamp) indicating the time when the corresponding response DTM is sent. Each response DTM may also include a round index of the current ranging round and a block index of the current ranging block of the corresponding response DTM. Each response DTM may also include the location information of the UWB anchor that sends the corresponding response DTM.

[0182] In operation S506, the initiator anchor 510 receiving the response DTM may send a final DTM to the responder anchors 530a, ..., 530n in addition. For example, the initiator anchor 510 may send or broadcast the final DTM after receiving the response DTM from the responder anchors 530a, ..., 530n. The final DTM may include each reply time indicating the time between the time when each response DTM is received and the time when the final DTM is sent. That is, the final DTM may include a list of reply times, and the list may include reply times indicating the time between the time when each response DTM is received and the time when the final DTM is sent. The final DTM may include a send time (send timestamp) indicating the time when the final DTM is sent. The final DTM may also include a round index of the current ranging round and a block index of the current ranging block to which the final DTM is sent.

[0183] In operation S508, the tag device (DT tag) 520 can receive (or eavesdrop on) the polling DTM, the response DTM, and the final DTM, can obtain the information included in each DTM message and the reception time information (reception timestamp) indicating the time when each DTM message is received, and can calculate the TDoA value using the obtained information. The tag device 520 can obtain (or estimate) its position by using the calculated TDoA. For example, the tag device 520 (user device) can use the TDoA associated with multiple pairs of anchor devices to calculate the relative distance to the anchor device, and can estimate its position. Through the above, the tag device 520 can estimate its position without exposing its position.

[0184] Each of the above DTMs may be included in a MAC frame (e.g., Figure 3A MAC frame) and can be transmitted via UWB signal (or PHY packet (e.g., Figure 3B PHY packet)) to send.

[0185] Figure 5B is a diagram showing an example of a ranging block structure for a downlink TDoA scheme according to an embodiment of the present disclosure.

[0186] Figure 5B The ranging block structure can be used to perform Figure 5A An example of a ranging block structure for a ranging scheme.

[0187] refer to Figure 5B , a ranging block may include multiple ranging rounds.

[0188] According to an embodiment, a ranging block may include a plurality of ranging rounds respectively allocated to a plurality of clusters. For example, in the case where n clusters are arranged, a ranging block may include a first ranging round allocated to a first cluster, a second ranging round allocated to a second cluster, ..., and an nth ranging round allocated to an nth cluster. Figure 7 Not shown in B, but in some embodiments, multiple ranging rounds may be assigned to a single cluster, and a single ranging round may be assigned to multiple clusters.

[0189] According to an embodiment, a ranging round may include multiple ranging slots. A ranging round may include multiple ranging slots allocated for ranging messages sent by each anchor device belonging to a cluster associated with the corresponding ranging round. For example, in the case where a first cluster is configured with one initiator anchor and three responder anchors, a ranging round of the first cluster may include a first ranging slot (e.g., ranging slot index 0) allocated for sending / receiving a polling message of an initiator anchor included in the first cluster, a second ranging slot allocated for sending / receiving a response message of the first responder anchor, a third ranging slot allocated for sending / receiving a response message of the second responder anchor, a fourth ranging slot allocated for sending / receiving a response message of the third responder anchor, and a fifth ranging slot allocated for sending / receiving a final message of the initiator anchor.

[0190] In this way, ranging slots can be allocated to the ranging round of each cluster.

[0191] Through Figure 5B The ranging block structure shown in FIG. 1 shows, the anchor device of each cluster can perform a ranging message exchange cycle in its corresponding ranging round in a ranging block, and the user device (tag device) can receive the ranging message and can calculate its position. This operation can be repeated for each ranging block. Through the above, the position of the user device can be updated based on the ranging block period.

[0192] Fig. 6A is a diagram showing an example of UWB CIR data according to an embodiment of the present disclosure.

[0193] The UWB channel impulse response (CIR) may be obtained by receiving a UWB signal. For example, when a UWB signal for DL-TDoA is received, the UWB device may obtain UWB CIR data based on the received signal. In the present disclosure, the UWB CIR may be referred to as CIR for short.

[0194] According to an embodiment, the UWB device may obtain UWB CIR data by using a correlation value between an impulse function and a received UWB signal.

[0195] An example of UWB CIR data obtained based on a UWB signal can be as follows Fig. 6A As shown. Fig. 6A As shown, for example, 1016 CIR values ​​can be output. Fig. 6A , a peak value of the amplitude may occur after a predetermined CIR index (eg, CIR index 750).

[0196] For example, based on each UWB signal including a DTM message received by the UWB tag during the DL-TDoA process, the UWB device (eg, UWB tag) may obtain UWB CIR data corresponding to the corresponding UWB signal.

[0197] Figure 6B is a diagram showing an example of effective UWB CIR data according to an embodiment of the present disclosure.

[0198] In the present disclosure, the effective UWB CIR may be a CIR having a significant value among the CIRs. That is, the effective UWB CIR may be a CIR measured or obtained by an actual signal rather than by noise. In the present disclosure, the effective UWB CIR may be referred to as an effective CIR (eCIR).

[0199] According to an embodiment, the UWB device may process the CIR value before the peak as noise, and may process n CIR values ​​from the peak as eCIR.

[0200] According to an embodiment, the UWB device may determine n CIRs as eCIRs from the CIR index obtained by subtracting a margin value from the CIR index where the peak occurs. For example, in the case where the peak occurs at CIR index 750 and the margin value is 5 (margin=5) and n is configured as 200 (n=200), the electronic device may identify CIRs from CIR index 745 to CIR index 945 as eCIRs. As described above, CIRs may be classified into signals and noises, and examples of classification may be as follows: Figure 6B shown.

[0201] In the case where CIRs classified as eCIRs among the obtained CIRs are used only as input data of the CNN model for LOS / NLOS signal classification, inaccurate noise can be removed and the accuracy of classification can be improved.

[0202] In addition, in the case where a CIR classified as an eCIR among the obtained CIRs is used, the waiting time of CIR data exchange can be optimized.

[0203] Furthermore, in the case where a CIR classified as an eCIR among the obtained CIRs is used, an input matrix may be optimized and processing efficiency of a terminal may be improved.

[0204] Figure 6C is a diagram showing an example of LOS signals and NLOS signals classified using UWB CIR data according to an embodiment of the present disclosure.

[0205] As described above, the CIR value used for LOS signal / NLOS signal classification may be an eCIR value. Figure 6C As shown, n (eg, 200) eCIR values ​​may be used for LOS / NLOS signal classification.

[0206] The CIR values ​​(eCIR values) of the LOS signal and the NLOS signal may have different characteristics.

[0207] For example, the LOS signal may have at least one of the following characteristics.

[0208] -The peak value of CIR is higher than the peak value of NLOS signal.

[0209] - The CIR value after the peak is significantly reduced to the noise level.

[0210] - A small number of peaks occur, such as one or two peaks.

[0211] - For example, a NLOS signal may have at least one of the following characteristics.

[0212] -The peak value of CIR is lower than the peak value of LOS signal.

[0213] - It takes a long time for the CIR value after the peak to drop to the noise level.

[0214] -Due to multipath signals, multiple peaks appear.

[0215] Due to the characteristic difference in CIR values ​​between the LOS signal and the NLOS signal, whether a corresponding signal (eg, a UWB signal) is a LOS signal or a NLOS signal may be classified based on the measured CIR data.

[0216] According to an embodiment, the UWB device may use a deep learning algorithm to classify whether the corresponding signal is a LOS signal or a NLOS signal by using the CIR data (eCIR data) of the corresponding signal. For example, the UWB device may perform LOS / NLOS signal classification by using a CNN model (CNN algorithm). Figures 7 and 8 Describe the LOS / NLOS signal classification method using a CNN model.

[0217] Figure 7 is a diagram illustrating a training process and a deployment process for LOS / NLOS signal classification using UWB channel impulse response data according to an embodiment of the present disclosure.

[0218] exist Figure 7In the embodiment of , for ease of description, it is assumed that the training process 710 is performed in the remote server, and the deployment process 720 is performed in the user device. In this case, the embodiment is not limited thereto. For example, if the user device is a device with high computing power, the training process may also be performed in the user device.

[0219] refer to Figure 7 , the training process 710 will be described.

[0220] In the training process 710, the server may collect input data in operation 711. For example, the server may collect CIR data of the UWB signal (eg, eCIR data including n eCIR values) as input data for training.

[0221] In operation 712, the server may perform CIR normalization processing on the collected input data. For example, the server may normalize the collected input data to a range of 0 to 1. In this case, the CIR normalization of operation 712 is an optional operation and may be omitted.

[0222] In operation 713, the server may input the CIR normalized data or the CIR non-normalized data as input data of the CNN model, and may perform processing for LOS / NLOS classification using the CNN model.

[0223] Tables 1 and 2 given below list examples of hyperparameters and features of the CNN model for LOS / NLOS classification.

[0224] Table 1

[0225] layer Number of filters Filter size Activation Function One-dimensional convolution 64 5 - Instance Normalization - - ReLU One-dimensional max pooling - 2 - One-dimensional convolution 128 11 - Instance Normalization - - ReLU One-dimensional max pooling - 2 - One-dimensional convolution 256 17 - Instance Normalization - - ReLU One-dimensional max pooling - 2 - One-dimensional convolution 512 5 - Instance Normalization - - ReLU One-dimensional max pooling - 2 - Flat - - - Intensive - - sigmoid

[0226] Table 2

[0227] Weight Initializer random Solver Adam Maximum number of training rounds 100 Batch size 50 Shuffle Each cycle throw away 0.2 Loss Function Binary Cross Entropy

[0228] In operation 714, the server may obtain a prediction value output from the CNN model. According to an embodiment, the prediction value may include a probability value (first prediction value) of a label (e.g., label 1) corresponding to a LOS signal and / or a probability value (second prediction value) of a label (e.g., label 2) corresponding to a NLOS signal. Here, the first prediction value may indicate the probability that the corresponding UWB signal is a LOS signal, and may be expressed as p(LOS). The second prediction value may indicate the probability that the corresponding UWB signal is a NLOS signal, and may be expressed as p(NLOS).

[0229] In operation 715, the server may obtain a ground truth value of the corresponding signal. According to an embodiment, the ground truth value may include a probability value (first ground truth value) of a tag (e.g., tag 1) corresponding to the LOS signal and / or a probability value (second ground truth value) of a tag (e.g., tag 2) corresponding to the NLOS signal. Here, the first ground truth value may indicate the ground truth probability that the corresponding UWB signal is a LOS signal, and the second probability value may indicate the ground truth probability that the corresponding UWB signal is a NLOS signal.

[0230] In operation 716, the server may calculate the loss and the gradient value between the predicted value of operation 714 and the ground truth value of operation 715 by using a loss function. For example, the total loss may be calculated based on the loss between the predicted value (first predicted value) and the ground truth value (second ground truth value) associated with the LOS signal and the loss between the predicted value (first predicted value) and the ground truth value (second ground truth value) associated with the NLOS signal.

[0231] The server may update the parameters of the CNN model using the values ​​obtained in operation 716. For example, by using a back-propagation scheme, the server may update the parameters of the CNN model to reduce the loss. The parameters updated as described above may be used in the CNN model to process subsequent input data (e.g., subsequent n eCIR values).

[0232] By performing the above training process 710 for all collected input data sets (e.g., each input data set includes n eCIR values ​​for each UWB signal), the server can continuously update the parameters of the CNN model (CNN parameters) to reduce losses. The user device can obtain or download the CNN parameters trained in this manner. In addition, the user device can download information associated with whether normalization is used. In addition, the user device can download the standard deviation associated with the CNN model.

[0233] In the following, reference Figure 7 , the deployment process 720 will be described.

[0234] In the deployment process 720, the user equipment may collect real-time input data in operation 721. For example, the user equipment may collect input data of each UWB signal (eg, n eCIR values ​​of each UWB signal) in real time.

[0235] In operation 722, the user equipment may perform CIR normalization on the collected input data. For example, the user equipment may normalize the collected input data to a range of 0 to 1. In this case, the CIR normalization of operation 722 is an optional operation and may be omitted.

[0236] In operation 723, the user equipment may input CIR normalized data or CIR non-normalized data as input data of the CNN model, and may perform processing for LOS / NLOS classification using the CNN model. The CNN model of the user equipment may use CNN parameters obtained through the training process 710 to process the input data.

[0237] In operation 724, the user equipment may obtain the prediction data (real-time prediction data) output from the CNN model. According to an embodiment, the prediction data output from the CNN model may include a prediction value of the first eCIR data corresponding to the first UWB signal (the first n eCIR data in the real-time input data), a prediction value of the second eCIR data corresponding to the second UWB signal (the second n eCIR data in the real-time input data) ... and a prediction value of the nth eCIR data corresponding to the nth UWB signal (the nnth eCIR data in the real-time input data). Each prediction value may include a probability value (p(LOS)) indicating the probability that the corresponding UWB signal is a LOS signal and / or a probability value (p(NLOS)) indicating the probability that the corresponding UWB signal is a NLOS signal.

[0238] In operation 725, the user equipment may perform filtering of the predicted value (prediction data) by using a filter (e.g., a low pass filter (LPF) or a moving average filter). According to an embodiment, the moving average filter may have a window length parameter indicating a window length for calculating a data average, a hyper parameter, and the user equipment may perform filtering of the prediction data using the moving average filter having the window length parameter.

[0239] For example, the user equipment may replace each predicted value with an average value associated with the corresponding predicted value and obtained based on the window length parameter by using a moving average filter. For example, when the window length parameter is a first value (e.g., 3), the predicted value of the first eCIR data may be replaced with an average value of the predicted value of the first eCIR data, the predicted value of the second eCIR data, and the predicted value of the third eCIR data, and the predicted value of the second eCIR data may be replaced with an average value of the predicted value of the second eCIR data, the predicted value of the third eCIR data, and the predicted value of the fourth eCIR data. In this way, each predicted value may be replaced with a corresponding average value, and the predicted data may be filtered.

[0240] In operation 726, the user device may obtain an output label of the real-time input data by using the filtered data. By using the filtered data, the user device may finally determine whether the output label of the corresponding UWB signal is a label corresponding to the LOS signal (e.g., label 1) or a label corresponding to the NLOS signal (e.g., label 2). Through the above, the user device may finally classify whether the corresponding signal is a LOS signal or a NLOS signal. As described above, before the final LOS / NLOS signal classification, by providing filtering using a moving average filter for the predicted data output from the CNN model, the accuracy of LOS / NLOS signal classification may be improved.

[0241] Table 3 given below lists the comparison of the accuracy of LOS / NLOS classification between the case with an LPF filter (eg, a moving average filter) and the case without the LPF filter.

[0242] Table 3

[0243]

[0244] Figure 8 is a diagram showing a configuration of a user equipment for LOS / NLOS classification according to an embodiment of the present disclosure.

[0245] refer to Figure 8 , the user equipment 800 may include a UWB antenna 810, a CIR collector 820, a machine learning unit 830, a classification processor 840, a central controller 850 and / or a storage device 850. The classification processor 840 may include an effective CIR generator 841, a normalizer 842 and / or a moving average filter 843.

[0246] According to an embodiment, some of the above components may be omitted, or additional components may be further included. According to an embodiment, two or more of the above components may be combined into a single component. According to an embodiment, all or part of the above components may be embodied by at least one processor (or controller). For example, components other than the UWB antenna 810 and the storage device 850 may be embodied by at least one processor (or controller).

[0247] The UWB antenna 810 may receive at least one UWB signal from another electronic device. For example, the UWB antenna 810 may receive at least one UWB signal for DL-TDoA. For example, the UWB antenna 810 may receive a UWB signal including a DTM.

[0248] The CIR collector 820 may collect CIR data from at least one UWB signal received via the UWB antenna 810. The CIR collector 820 may transmit the collected CIR data to the effective CIR generator 841. The collected CIR data may include a CIR value of each UWB signal.

[0249] The effective CIR generator 841 may generate effective CIR data from the collected CIR data. The effective CIR generator 841 may transmit the generated effective CIR data to the normalizer 842, or may transmit it directly to the machine learning unit 830. The effective CIR data may include an effective CIR value (e.g., n eCIRs) for each UWB signal.

[0250] The normalizer 842 may normalize the value of the effective CIR (eCIR) data. For example, the normalizer 842 may normalize the value of the effective CIR data to a value within a range of 0 to 1. The normalizer 842 may be an optional configuration. For example, the normalizer 842 may not be included in the user equipment 800, or although the normalizer 842 is included in the user equipment 800, the processing of the normalizer 842 may be omitted.

[0251] The machine learning unit 830 can generate prediction data using the input valid CIR data. According to an embodiment, the machine learning unit 830 can generate prediction data using a CNN model. According to an embodiment, the CNN parameters of the CNN model can be downloaded from a server that pre-performs a training process. Therefore, the machine learning unit 830 can use an optimized CNN model.

[0252] According to an embodiment, the machine learning unit 830 may perform processing in units of a predetermined number of eCIRs (e.g., n eCIRs) (eCIR sets), and may output prediction values ​​of the corresponding eCIR sets. For example, the prediction data may include prediction values ​​of the first n eCIRs (first eCIR set) corresponding to the first UWB signal, prediction values ​​of the subsequent n eCIRs (second eCIR set) corresponding to the second UWB signal... and prediction values ​​of the nnth eCIR (neCIR set) corresponding to the nth UWB signal. Each prediction value may include a probability value (p(LOS)) indicating the probability that the corresponding UWB signal is a LOS signal and / or a probability value (p(NLOS)) indicating the probability that the corresponding UWB signal is a NLOS signal.

[0253] The machine learning unit 830 may transmit the predicted data to the central controller 850 and / or the moving average filter 843 .

[0254] The central controller 850 may transmit the received prediction data to the storage device 830. The storage device 830 may store the received prediction data, and may transmit the stored prediction data to the moving average filter 843.

[0255] By using the prediction data (e.g., current prediction data) received from the machine learning unit 730 and the prediction data (e.g., previous prediction data) received from the storage device 760, the moving average filter 743 can calculate an average value based on a predetermined window length parameter, and can use the average value to perform filtering of the prediction data. For example, when the window length parameter is a first value (e.g., 3), the prediction value of the first eCIR data can be replaced by the average value of the prediction value of the first eCIR data, the prediction value of the second eCIR data, and the prediction value of the third eCIR data, and the prediction value of the second eCIR data can be replaced by the average value of the prediction value of the second eCIR data, the prediction value of the third eCIR data, and the prediction value of the fourth eCIR data. In this way, each prediction value can be replaced by a corresponding average value, and the prediction data can be filtered. The filtered prediction data can be used for the final LOS signal or NLOS signal classification. The filtered prediction data can be used by various applications.

[0256] The present disclosure provides a method in which an electronic device receives a UWB signal, obtains UWB CIR data associated with the corresponding UWB signal, and classifies whether the UWB signal is a line of sight (LOS) signal or a non-LOS (NLOS) signal based on the UWB CIR data. The UWB signal may be a UWB signal for DL-TDoA ranging (OWR). For example, the UWB signal may be a signal including a DTM (or a signal including a UWB PHY packet including a DTM).

[0257] According to an embodiment, for LOS signal or NLOS signal classification, a convolutional neural network (CNN) algorithm (e.g., Figure 8 Or the CNN model of FIG9). As described above, by using the CNN model, data having time series characteristics can be classified and high classification accuracy can be provided.

[0258] According to an embodiment, as input data of a CNN model for classifying LOS signals or NLOS signals, effective CIR data obtained by removing noise from UWB CIR data can be used. Through the above, the accuracy of LOS / NLOS signal classification and the accuracy of gesture classification can be improved.

[0259] The present disclosure provides a method for filtering the predicted data output from each CNN model before performing the final LOS / NLOS signal classification. For filtering, a moving average filter can be used. Through the above, the accuracy of LOS / NLOS signal classification and the accuracy of posture classification can be improved.

[0260] The present disclosure provides a method for using classified LOS / NLOS signals for various applications of electronic devices. For example, tagless access control applications, digital car key applications, or point of service (POS) applications can use the classification method of the present disclosure.

[0261] According to an embodiment, by using accurately classified LOS / NLOS signals, an application may perform adaptive ranging frequency adjustment for power saving.

[0262] According to an embodiment, an application can selectively use only LOS signals via accurate LOS / NLOS signal classification, thereby improving the accuracy of position estimation. To this end, it is necessary to use LOS / NLOS classification to calculate the probability that the corresponding UWB signal is a LOS signal. In other words, it is necessary to calculate the LOS probability of the UWB signal.

[0263] According to an embodiment, applications may configure adaptive access boundaries via accurate LOS / NLOS signal and attitude classification.

[0264] Based on the LOS probability (the probability that the corresponding UWB signal is a LOS signal) obtained according to the LOS / NLOS classification method (expressed as p(LOS)), the present disclosure provides a method in which an electronic device performs DL-TDoA positioning by using a UWB signal with a high LOS probability. For example, the electronic device can perform DL-TDoA positioning (e.g., 3D DL-TDoA positioning) by using a UWB signal with a maximum m (e.g., 4) LOS probabilities. Through the above, the accuracy of DL-TDoA positioning can be improved.

[0265] In this case, when only UWB signals with a high LOS probability are used, there may be a situation where the user device is not in a cluster configured with a UWB anchor that sends the corresponding UWB signal. This is because the LOS probability of the UWB signal of the UWB anchor located in front of the user device is usually high. When the position of the user device calculated via DL-TDoA positioning is outside the cluster, the accuracy (or reliability) of DL-TDoA positioning may be low. Therefore, the present disclosure may provide a method for selecting the best UWB signal (or UWB anchor / UWB anchor combination) based on the LOS probability (p(LOS)) obtained via LOS / NLOS classification, so that when a UWB signal with a high available LOS probability is used, the position of the user device is within the cluster.

[0266] Hereinafter, various embodiments in which an electronic device improves position accuracy in DL-TDoA by using the above-mentioned LOS / NLOS classification will be described.

[0267] Fig. 9A is a diagram showing an example of a DL-TDoA positioning environment according to an embodiment of the present disclosure.

[0268] exist Fig. 9A In the present invention, for ease of description, it is assumed that the DL-TDoA positioning environment is an environment in which 6 UWB anchors and 1 user device (terminal) for DL-TDoA exist in the gate access area where the gate is located. In this case, the embodiment is not limited thereto, and the DL-TDoA positioning environment may be related to other situations or other applications (e.g., PoS applications), and the number of UWB anchors and the number of user devices for DL-TDoA may be different.

[0269] refer to Fig. 9A , the user equipment 920 may receive a UWB signal for DL-TDoA from each of the UWB anchors 911, 912, 913, 914, 915, and 916. For example, the user equipment 920 may receive a UWB signal including a polling DTM and a UWB signal including a final DTM from an initiator anchor. For example, the user equipment 920 may receive a UWB signal including a response DTM from each responder anchor.

[0270] The user equipment 920 may obtain timestamp information (e.g., transmission timestamp and / or reception timestamp) from UWB signals received from m adjacent UWB anchors, respectively, and may use the obtained m timestamp information for DL-TDOA. For example, in the case of three-dimensional (3D) DL-TDoA positioning, DL-TDoA positioning requires UWB signals received from at least four UWB anchors, so the user equipment 920 may obtain timestamp information from the four UWB signals and may estimate its position.

[0271] According to an embodiment, the user equipment 920 may select a combination of m UWB signals (or UWB anchors or DTMs) that may be selected from n UWB signals (or UWB anchors or DTMs), and may estimate its position by using the timestamp information of each combination. In this case, the user equipment may estimate its position based on each combination, and may determine the precise position by removing the position with the highest variance and performing a recalculation. For example, the user equipment may determine its position by performing C (n, 4) calculations.

[0272] The timestamp (receive timestamp) of the UWB signal can be measured using the first peak of the preamble of the UWB signal (e.g., the preamble of the UWB PHY packet included in the UWB signal). In the case where the UWB signal is a LOS signal, one peak appears, and thus the user equipment 920 can clearly identify the first peak of the preamble of the corresponding UWB signal. In contrast, when the UWB signal is an NLOS signal, multiple peaks appear due to multipath characteristics, and thus the user equipment 920 may have difficulty in clearly identifying which peak is the first peak of the preamble of the corresponding UWB signal. Therefore, when the UWB signal is an NLOS signal, the probability of an error in the receive timestamp is high. An error in the timestamp may cause an error in DL-TDoA positioning.

[0273] Therefore, when the user equipment 920 is able to use the LOS / NLOS classification method (e.g., reference Figure 7 or Figure 8 When the LOS quality (e.g., p(LOS)) of the corresponding UWB signal is identified by the LOS / NLOS classification method described in the foregoing, the user equipment 920 can perform DL-TDoA positioning using only the reception timestamps of the UWB signal with high LOS quality. For example, the user equipment 920 can perform DL-TDoA positioning using only the reception timestamps of the UWB signal with the first four p(LOS). Through the above, accurate positioning can be achieved.

[0274] Fig. 9B It is shown in Fig. 9A Figure 2 shows an example of LOS probability data of a UWB signal obtained in a DL-TDoA positioning environment.

[0275] By using the LOS / NLOS classification method (e.g., ref. Figure 7 or Figure 8 ), the user equipment 920 may obtain the LOS probability (LOS quality) of the UWB signal received from each UWB anchor.

[0276] For example, Fig. 9BAs shown, the LOS probability of the UWB signal received from the first UWB anchor 911 can be 0.33 (p(LOS) = 0.33), the LOS probability of the UWB signal received from the second UWB anchor 912 can be 0.91 (p(LOS) = 0.91), the LOS probability of the UWB signal received from the third UWB anchor 913 can be 0.94 (p(LOS) = 0.94), the LOS probability of the UWB signal received from the fourth UWB anchor 914 can be 0.65 (p(LOS) = 0.65), the LOS probability of the UWB signal received from the fifth UWB anchor 915 can be 0.44 (p(LOS) = 0.44), and the LOS probability of the UWB signal received from the sixth UWB anchor 916 can be 0.21 (p(LOS) = 0.21).

[0277] In the following, for ease of description, the DL-TDoA positioning environment of using Fig. 9A and the Fig. 9B LOS probability data will be used as examples to describe various embodiments of the present disclosure with reference to FIGS. 10 to 12. In this case, as described above, the embodiments are not limited thereto.

[0278] Fig. 10A is a flowchart showing a method for performing DL-TDoA positioning according to an embodiment of the present disclosure. FIG. 10B to FIG. 10D is a diagram showing an example of a cluster configured with a method for performing DL-TDoA positioning according to Fig. 10A .

[0279] Referring to Fig. 10A , in operation 1001, the user equipment (terminal) 920 may identify (or select) the UWB signals having the top m LOS probabilities from n UWB signals (m < n). The user equipment 920 may identify the UWB signals having the top m LOS probabilities (p(LOS)) among the n UWB signals obtained via the LOS / NLOS classification method (e.g., Figure 7 or Figure 8 LOS / NLOS classification method). For example, when the LOS probability data is as shown in the example of Fig. 9B , the user equipment 920 may identify (initially identify) the UWB signals having the top four LOS probabilities (p(LOS)) among the LOS probabilities of the six UWB signals obtained via the LOS / NLOS classification method (i.e., the UWB signal received from the second UWB anchor 912, the UWB signal received from the third UWB anchor 923, the UWB signal received from the fourth UWB anchor 914, and the UWB signal received from the fifth UWB anchor 925). The cluster 1010 configured with the UWB anchors that send the identified UWB signals may be as shown in Fig. 10B .

[0280] In operation 1002, the user equipment 920 may perform DL-TDoA positioning by using the identified (initial identified) UWB signal, and may obtain the position of the user equipment 920. The user equipment 920 may perform DL-TDoA positioning by using the identified UWB signal, and may calculate the position of the user equipment 920. For example, when the LOS probability data is as follows: Fig. 9B As shown in the example of , the user equipment 920 can perform DL-TDoA positioning by using four identified UWB signals (i.e., the UWB signal received from the second UWB anchor 912, the UWB signal received from the third UWB anchor 923, the UWB signal received from the fourth UWB anchor 914, and the UWB signal received from the fifth UWB anchor 925), and can calculate the position of the user equipment 920. For a description of the operation of performing DL-TDoA positioning and calculating the position, refer to the already referenced Figure 4 and the description of FIG. 5 .

[0281] In operation 1003, the user equipment 920 may determine whether the obtained location is within an area where a cluster of UWB anchors transmitting the identified UWB signal is configured.

[0282] When the obtained location is within the area of ​​the corresponding cluster, in operation 1004 , the user equipment 920 may determine the obtained location as a final location of the user equipment 920 .

[0283] When the obtained position is outside the area of ​​the corresponding cluster, the user equipment 920 may additionally identify (or select) a UWB signal having the highest LOS probability among the remaining LOS probabilities in operation 1005. Fig. 10B As shown in FIG. 1 , when the obtained position is outside the area of ​​the corresponding cluster, the user equipment 920 may additionally identify a UWB signal having the highest LOS probability among the LOS probabilities remaining after excluding the first four LOS probabilities from the six obtained LOS probabilities. Fig. 9B As shown in the example of , the user device 920 may additionally identify a UWB signal received from the first UWB anchor 913 and having the fifth highest LOS probability. The cluster 1020 configured with the UWB anchors transmitting the identified UWB signals including the additionally identified UWB signals may be as shown in FIG. Fig. 10C shown.

[0284] When the UWB signal is additionally identified, in operation 1006, the user equipment 920 may perform DL-TDoA positioning using the re-identified UWB signal (i.e., the previously identified UWB signal and the additionally identified UWB signal), and may obtain (re-acquire) the position of the user equipment 920. For example, the user equipment 920 may perform DL-TDoA positioning by using four previously identified UWB signals (i.e., the UWB signal received from the second UWB anchor 912, the UWB signal received from the third UWB anchor 923, the UWB signal received from the fourth UWB anchor 914, and the UWB signal received from the fifth UWB anchor 925) and the additionally identified UWB signal received from the first UWB anchor 913, and may obtain (re-acquire) the position of the user equipment 920. Subsequently, in operation 1003, the user equipment 920 may determine whether the obtained (re-acquired) position is within the area of ​​the cluster in which the UWB anchor transmitting the identified UWB signal is configured.

[0285] When the obtained position is within the area of ​​the corresponding cluster, in operation 1004 , the user equipment 920 may determine the obtained (re-obtained) position as the final position of the user equipment 920 .

[0286] When the obtained (re-obtained) position is outside the area of ​​the corresponding cluster, in operation 1005 , the user equipment 920 may perform operations 1005 , 1006 , and 1003 again.

[0287] In operation 1005, the user equipment 920 may additionally identify a UWB signal having a highest LOS probability from the remaining LOS probabilities. Fig. 10C As shown in FIG. 1 , when the obtained position is outside the area of ​​the corresponding cluster, the user equipment 920 may additionally identify a UWB signal having the highest LOS probability among the LOS probabilities remaining after excluding the first five LOS probabilities from the six obtained LOS probabilities. Fig. 9B As shown, user device 920 may additionally identify a UWB signal received from sixth UWB anchor 916 and having a sixth highest LOS probability. Cluster 1030 configured with a UWB anchor that transmits the identified UWB signal may be configured as shown in FIG. Fig. 10D as shown in the example.

[0288] In operation 1006, the user equipment 920 may perform DL-TDoA positioning using the re-identified UWB signal (i.e., the previously identified UWB signal and the additionally identified UWB signal), and may obtain (reacquire) the position of the user equipment 920. For example, the user equipment 920 may perform DL-TDoA positioning by using five previously identified UWB signals (i.e., the UWB signal received from the second UWB anchor 912, the UWB signal received from the third UWB anchor 923, the UWB signal received from the fourth UWB anchor 914, the UWB signal received from the fifth UWB anchor 925, and the UWB signal received from the first UWB anchor 913) and the additionally identified UWB signal received from the sixth UWB anchor 916, and may obtain (reacquire) the position of the user equipment 920.

[0289] In operation 1003, the user equipment 920 may determine whether the acquired (reacquired) position is within an area where a cluster of UWB anchors transmitting the identified UWB signal is configured.

[0290] When the obtained (re-obtained) position is within the area of ​​the corresponding cluster, in operation 1004, the user equipment 920 may determine the obtained position as the final position of the user equipment 920. Fig. 10D As shown, when the obtained position is within the area of ​​the corresponding cluster, the user equipment 920 may determine the obtained position as the final position of the user equipment 920 .

[0291] When the acquired (reacquired) position is outside the area of ​​the corresponding cluster, the user equipment 920 may additionally identify the UWB signal having the highest LOS probability among the remaining LOS probabilities, and may again perform operations 1005, 1006, and 1003. Operations 1005, 1006, and 1003 may be iteratively performed until the acquired position is within the area of ​​the corresponding cluster.

[0292] Fig. 10A The advantage of the method of performing DL-TDoA positioning may be that the convergence of the position calculation is fast. For example, in the above example, the position of the user equipment can be determined by performing three DL-TDoA positioning processes. In addition, as the number of received UWB signals (or the number of UWB anchors transmitting UWB signals) increases, Fig. 10A The method of performing DL-TDoA positioning may provide better performance than the method of performing DL-TDoA positioning described below.

[0293] in this case, Fig. 10AThe method for performing DL-TDoA positioning can use UWB signals received from UWB anchors with a low LOS probability (or information obtained from UWB signals, such as reception timestamps) for DL-TDoA positioning.

[0294] Fig.11A is a flowchart showing a method for performing DL-TDoA positioning according to an embodiment of the present disclosure. FIG. 11B to FIG. 11D is shown according to Fig.11A a diagram of an example of a cluster configured by a method for performing DL-TDoA positioning.

[0295] Refer to Fig.11A , in operation 1101, the user equipment (terminal) 920 may identify (or select) UWB signals having the top m LOS probabilities among n UWB signals (m < n). The user equipment 920 may identify UWB signals having the top m LOS probabilities (p(LOS)) among the n UWB signals whose LOS probabilities are obtained via a LOS / NLOS classification method (e.g., Figure 7 or Figure 8 the LOS / NLOS classification method of Fig. 9B . For example, when the LOS probability data is as shown in the example of Fig. 9B , the user equipment 920 may identify (initially identify) UWB signals having the top four LOS probabilities (p(LOS)) among the six UWB signals whose LOS probabilities are obtained via the LOS / NLOS classification method (i.e., the UWB signals received from the second UWB anchor 912, the third UWB anchor 923, the fourth UWB anchor 914, and the fifth UWB anchor 925). The cluster 1110 configured with the UWB anchors that transmit the identified UWB signals may be as shown in Fig. 11B .

[0296] In operation 1102, the user equipment 920 may perform DL-TDoA positioning by using the identified (initially identified) UWB signals and may obtain the position of the user equipment 920. The user equipment 920 may perform DL-TDoA positioning by using the identified UWB signals and may calculate the position of the user equipment 920. For example, when the LOS probability data is as shown in the example of Fig. 9B , the user equipment 920 may perform DL-TDoA positioning by using the four identified UWB signals (i.e., the UWB signals received from the second UWB anchor 912, the third UWB anchor 923, the fourth UWB anchor 914, and the fifth UWB anchor 925) and may calculate the position of the user equipment 920. For a description of the operations of performing DL-TDoA positioning and calculating the position, refer to what has been referred to Figure 4 and the description of FIG. 5 .

[0297] In operation 1103, the user equipment 920 may determine whether the obtained location is within an area where a cluster of UWB anchors transmitting the identified UWB signal is configured.

[0298] When the obtained location is within the area of ​​the corresponding cluster, in operation 1104 , the user equipment 920 may determine the obtained location as a final location of the user equipment 920 .

[0299] When the obtained position is outside the area of ​​the corresponding cluster, the user equipment 920 may additionally identify (or select) a UWB signal having the highest LOS probability among the remaining LOS probabilities, and may exclude one of the previously identified UWB signals. Fig. 11B As shown in , when the obtained position is outside the area of ​​the corresponding cluster, the user equipment 920 may additionally identify the UWB signal with the highest LOS probability from the UWB signals remaining after excluding the previously identified UWB signals, and may exclude the UWB signal with the lowest probability from the previously identified UWB signals. For example, when the LOS probability data is as shown in Fig. 9B As shown in the example of , the user equipment 920 may additionally identify the UWB signal having the fifth highest LOS probability and received from the first UWB anchor 913, and may exclude the UWB signal having the lowest LOS probability among the four initially identified UWB signals and received from the fifth UWB anchor 915. The cluster 1120 configured with the UWB anchors transmitting the re-identified UWB signals as described above may be as shown in FIG. Fig. 11C shown.

[0300] When the UWB signal is additionally identified and one of the previously identified UWB signals is excluded, in operation 1106, the user equipment 920 may perform DL-TDoA positioning using four re-identified UWB signals (i.e., the initially identified UWB signal excluding one of them and the additionally identified UWB signal), and may obtain (reacquire) the position of the user equipment 920. For example, the user equipment 920 may perform DL-TDoA positioning by using three initially identified UWB signals remaining after excluding one (e.g., the UWB signal received from the fifth UWB anchor 915) (i.e., the UWB signal received from the second UWB anchor 912, the UWB signal received from the third UWB anchor 923, and the UWB signal received from the fourth UWB anchor 914) and the additionally identified UWB signal (e.g., the UWB signal received from the first UWB anchor 913), and may obtain (reacquire) the position of the user equipment 920. Subsequently, in operation 1103, the user equipment 920 may determine whether the acquired (reacquired) position is within an area where a cluster of UWB anchors transmitting the identified UWB signal is configured.

[0301] When the obtained (re-obtained) position is within the area of ​​the corresponding cluster, in operation 1104 , the user equipment 920 may determine the obtained (re-obtained) position as the final position of the user equipment 920 .

[0302] When the acquired (reacquired) position is outside the area of ​​the corresponding cluster, in operation 1105, the user equipment 920 may additionally identify (or select) a UWB signal having the highest LOS probability among the remaining LOS probabilities, and may exclude one of the previously identified UWB signals. Fig. 11C As shown in , when the obtained position is outside the area of ​​the corresponding cluster, the user equipment 920 may additionally identify the UWB signal with the highest LOS probability from the UWB signals remaining after excluding the previously identified UWB signals, and may exclude the UWB signal with the lowest probability from the previously identified UWB signals. For example, when the LOS probability data is as shown in Fig. 9B As shown in the example of , the user equipment 920 may additionally identify a UWB signal having a sixth high LOS probability and received from the sixth UWB anchor 916, and may exclude a UWB signal having a lowest LOS probability among the initially identified UWB signals (e.g., the UWB signal received from the second UWB anchor 912, the UWB signal received from the third UWB anchor 923, and the UWB signal received from the fourth UWB anchor 914) that remain after excluding one signal. The cluster 1130 configured with the UWB anchors that transmit the re-identified UWB signals as described above may be as shown in FIG. Fig.11D shown.

[0303] When the UWB signal is additionally identified and one of the previously identified UWB signals is excluded, in operation 1106, the user equipment 920 may perform DL-TDoA positioning using four re-identified UWB signals (i.e., the two initially identified UWB signals, the previously additionally identified UWB signal, and the currently additionally identified UWB signal), and may obtain (reacquire) the position of the user equipment 920. For example, the user equipment 920 may perform DL-TDoA positioning by using two initially identified UWB signals (i.e., the UWB signal received from the second UWB anchor 912 and the UWB signal received from the third UWB anchor 923) and the previously additionally identified UWB signal received from the first UWB anchor 911, and the currently additionally identified UWB signal received from the sixth UWB anchor 916, and may obtain (reacquire) the position of the user equipment 920. Subsequently, in operation 1103, the user equipment 920 may determine whether the acquired (reacquired) position is within an area where a cluster of UWB anchors transmitting the identified UWB signal is configured.

[0304] When the obtained (re-obtained) position is within the area of ​​the corresponding cluster, at operation 1104, the user equipment 920 may determine the obtained position as the final position of the user equipment 920. Fig.11D As shown, when the obtained position is within the area of ​​the corresponding cluster, the user equipment 920 may determine the obtained position as the final position of the user equipment 920 .

[0305] When the acquired (reacquired) position is outside the area of ​​the corresponding cluster, the user equipment 920 may additionally identify a UWB signal having the highest LOS probability among the remaining LOS probabilities, may exclude one of the previously identified UWB signals, and may again perform operations 1105, 1106, and 1103. Operations 1105, 1106, and 1103 may be iteratively performed until the acquired position is within the area of ​​the corresponding cluster.

[0306] When the number of iterations of operations 1105 , 1106 , and 1103 reaches C(n,4), the user equipment 920 may stop the iterations, and may perform DL-TDoA positioning by using UWB signals received from all UWB anchors, and may calculate the position of the user equipment.

[0307] exist Fig.11A In the case of the embodiment, when iterating operations 1105, 1106, and 1103, when all four initially identified UWB signals are excluded, the user equipment 920 may perform operation 1105 by excluding one of four UWB signals additionally identified after the four initially identified UWB signals.

[0308] according to Fig.11A When adding a UWB anchor (or a UWB signal), a UWB anchor with a low LOS probability is excluded. Fig. 10A When compared with the method of performing DL-TDoA positioning, the best message combination (or UWB signal / UWB anchor combination) can be obtained and the position can be calculated. This can improve the accuracy of the position calculation.

[0309] In this case, something like Fig. 10A A method for performing DL-TDoA positioning, Fig.11A The method of performing DL-TDoA positioning may use a UWB signal received from a UWB anchor with a low LOS probability (or information obtained from the UWB signal (e.g., a reception timestamp)) for DL-TDoA positioning. Fig.11A In the method for performing DL-TDoA positioning, as the number of UWB anchors increases, the probability of calculating C(n,4) increases.

[0310] Fig. 12A is a flowchart illustrating a method of performing DL-TDoA positioning according to an embodiment of the present disclosure. Fig. 12B It shows that according to Fig. 12A FIG. 1 is a diagram of an example of a cluster configured to perform a DL-TDoA positioning method.

[0311] refer to Fig. 12A In operation 1201, the user equipment (terminal) 920 may calculate an average LOS probability for each UWB anchor combination. The UWB anchor combination may be a combination obtained by selecting m (e.g., 4) UWB anchors from n (e.g., 6) UWB anchors. The UWB anchor combination may correspond to a cluster. The average LOS probability of the UWB anchor combination may be an average LOS probability of UWB signals received from UWB anchors belonging to the corresponding UWB anchor combination.

[0312] For example, when the LOS probability data is Fig. 9B As shown in the example of , the average LOS probability data of each UWB anchor combination can be shown in Table 4 below.

[0313] Table 4

[0314] combination Average p(LOS) (1,2,3,6) 0.5975 (1,2,4,6) 0.525 (1,2,5,6) 0.4725 (1,3,4,6) 0.5325 (1,3,5,6) 0.48 (1,4,5,6) 0.4075

[0315] For example, in Table 4, (1, 2, 3, 6) represents the UWB anchor combination of the first UWB anchor 911, the second UWB anchor 912, the third UWB anchor 913 and the sixth UWB anchor 916, and the average LOS probability (average p(LOS)) of (1, 2, 3, 6) can be 0.5975 (= (0.33+0.91+0.94+0.21) / 4), which is the average of the LOS probability of the UWB signal received from the first UWB anchor 911 (=0.33), the LOS probability of the UWB signal received from the second UWB anchor 912 (=0.91), the LOS probability of the UWB signal received from the third UWB anchor 913 (=0.94), and the LOS probability of the UWB signal received from the sixth UWB anchor 916 (=0.21).

[0316] In operation 1202, the user equipment 920 may obtain the position of the user equipment 920 based on the UWB anchor combination having the highest average LOS probability. For example, the user equipment 920 may perform DL-TDoA positioning by using a UWB signal received from each UWB anchor included in the UWB anchor combination having the highest average LOS probability, and the position of the user equipment 920 may be calculated. For example, when the average LOS probability data is as shown in the example of Table 4, the user equipment 920 can perform DL-TDoA positioning by using the UWB signal received from the first UWB anchor 911 included in the UWB anchor combination of (1, 2, 3, 6), the UWB signal received from the second UWB anchor 912 included in the UWB anchor combination of (1, 2, 3, 6), the UWB signal received from the third UWB anchor 913 included in the UWB anchor combination of (1, 2, 3, 6), and the UWB signal received from the sixth UWB anchor 916 included in the UWB anchor combination of (1, 2, 3, 6), and can calculate the position of the user equipment 920. For the description of the operation of performing DL-TDoA positioning and calculating the position, refer to the already referenced Figure 4 5. The cluster 1210 corresponding to the UWB anchor combination with the highest average LOS probability can be as follows: Fig. 12B as shown in the example.

[0317] In operation 1203, the user equipment 920 may determine whether the obtained position is within the cluster of the corresponding UWB anchor combination.

[0318] When the obtained position is within the cluster of the corresponding UWB anchor combination, in operation 1204, the user equipment 920 may determine the obtained position as the final position of the user equipment 920. Fig. 12B As shown, when the obtained position is within the area of ​​the corresponding cluster, the user equipment 920 may determine the obtained position as the final position of the user equipment 920 .

[0319] In operation 1205, when the acquired position is outside the cluster of the corresponding UWB anchor combination, the user equipment 920 may acquire (reacquire) the position of the user equipment 920 based on the UWB anchor combination having the second highest average LOS probability. For example, the user equipment 920 may perform DL-TDoA positioning by using a UWB signal received from each UWB anchor included in the UWB anchor combination having the second highest average LOS probability, and the position of the user equipment 920 may be calculated. For example, when the average LOS probability data is as shown in the example of Table 4, the user equipment 920 may perform DL-TDoA positioning by using a UWB signal received from the first UWB anchor 911 included in the UWB anchor combination of (1, 3, 4, 6), a UWB signal received from the third UWB anchor 913 included in the UWB anchor combination of (1, 3, 4, 6), a UWB signal received from the fourth UWB anchor 914 included in the UWB anchor combination of (1, 3, 4, 6), and a UWB signal received from the sixth UWB anchor 916 included in the UWB anchor combination of (1, 3, 4, 6), and may calculate the position of the user equipment 920. Subsequently, in operation 1203, the user equipment 920 may determine whether the obtained (re-obtained) position is within the area of ​​the cluster corresponding to the corresponding UWB anchor combination. When the obtained position is within the cluster of the corresponding UWB anchor combination, in operation 1204, the user equipment 920 may determine the obtained position as the final position of the user equipment 920. When the obtained position is outside the area of ​​the cluster of the corresponding UWB anchor combination, the user equipment 920 may again perform operations 1205 and 1203. As described above, the user equipment may iteratively perform operations 1205 and 1203 on the UWB anchor combination with the second highest average LOS probability until the obtained position is within the area of ​​the cluster of the corresponding UWB anchor combination.

[0320] According to an embodiment, when there are a plurality of UWB anchor combinations (i.e., anchor combinations in a LOS environment) whose average LOS probability is greater than or equal to a first value (e.g., 0.5), the user device 920 may calculate the position of the user device 920 for each of the plurality of UWB anchor combinations, and may average the calculated positions to determine the position of the user device 920. For example, when the average LOS probability data is as shown in Table 4 below, the user device 920 may calculate the position of the user device 920 for each of the (1,2,3,6)UWB anchor combination, the (1,2,4,6)UWB anchor combination, and the (1,3,4,6)UWB anchor combination whose average LOS probability is greater than or equal to 0.5, and may average the determined positions to determine the position of the user device 920. In this case, the above description may be used as a reference for the description of the position calculation of each UWB anchor combination. For example, the position associated with the (1,2,3,6) UWB anchor combination can be calculated by performing DL-TDoA positioning using a UWB signal received from a first UWB anchor 911 included in the (1,2,3,6) UWB anchor combination, a UWB signal received from a second UWB anchor 912 included in the (1,2,3,6) UWB anchor combination, a UWB signal received from a third UWB anchor 913 included in the (1,2,3,6) UWB anchor combination, and a UWB signal received from a sixth UWB anchor 916 included in the (1,2,3,6) UWB anchor combination.

[0321] Fig. 12A The method of performing DL-TDoA positioning can calculate the position by obtaining the best UWB anchor combination message combination (or UWB signal / UWB anchor combination). This can improve the accuracy of position calculation.

[0322] Fig. 12A The method of performing DL-TDoA positioning requires calculating the average LOS probability of all UWB anchor combinations, and thus the amount of calculation increases when a sufficiently large number of UWB anchor combinations are used.

[0323] Based on the number of UWB anchors (or the number of UWB messages received from UWB anchors), the user equipment can Fig. 10A A method for performing DL-TDoA positioning (first method), Fig.11A A method for performing DL-TDoA positioning (second method) and Fig. 12A Determine the method to be used in the method for performing DL-TDoA positioning (third method).

[0324] For example, when the number of UWB anchors (or the number of UWB messages received from the UWB anchors) is greater than or equal to a predetermined number, the user equipment may use the first method because the first method may provide fast computation processing and convergence compared to the second and third methods.

[0325] For example, when the number of UWB anchors (or the number of UWB messages received from the UWB anchors) is less than a predetermined number, the user equipment may use the second method or the third method. When the number of UWB anchors (or the number of UWB messages received from the UWB anchors) is relatively small, the second method and the third method are more conducive to obtaining the best message combination (or UWB anchor combination) than the first method.

[0326] In addition, unless they are contradictory, various embodiments of performing DL-TDoA positioning or a combination of the above-mentioned various methods (eg, the first method, the second method, the third method) may be available.

[0327] Fig.13 is a diagram showing a structure of an electronic device according to an embodiment of the present disclosure.

[0328] exist Fig.13 In the embodiment of the present invention, the electronic device may be an electronic device of a user (user device / terminal).

[0329] refer to Fig.13 , the electronic device may include a transceiver 1310, a controller 1320, and a storage device 1330. In the present disclosure, the controller may be defined as a circuit or an application specific integrated circuit or at least one processor.

[0330] The transceiver 1310 may perform signal transmission or reception with another network entity. For example, the transceiver 1310 may perform data transmission or reception for debugging.

[0331] According to an embodiment of the present disclosure, the controller 1320 can control the overall operation of the electronic device. For example, the controller 1320 can control the inter-block signal flow so as to perform operations according to the described flowchart. Specifically, the controller 1320 can control the referenced Figure 1 to Figure 1 2 describes the operation of the electronic device.

[0332] According to an embodiment, based on a line-of-sight (LOS) probability of the plurality of received ultra-wideband (UWB) signals, the controller 1320 may identify a predetermined number of UWB signals from among the plurality of received UWB signals.

[0333] According to an embodiment, the controller 1320 may obtain the location of the electronic device by using the recognized UWB signal.

[0334] According to an embodiment, the controller 1320 may determine whether the acquired position is within an area where a cluster of UWB anchors transmitting the identified UWB signal is configured.

[0335] According to an embodiment, when the obtained location is within the area of ​​the cluster, the controller 1320 may determine the obtained location as the final location of the electronic device.

[0336] According to an embodiment, each of the plurality of received UWB signals may include a UWB message for downlink-time difference of arrival (DL-TDoA) positioning.

[0337] According to an embodiment, the controller 1320 may identify UWB signals having the first four LOS probabilities as a predetermined number of UWB signals.

[0338] According to an embodiment, when the obtained position is outside the area of ​​the cluster, the controller 1320 may additionally identify a UWB signal with the highest LOS probability from the remaining UWB signals after excluding the UWB signals with the top four LOS probabilities from the multiple received UWB signals, and may obtain the position of the electronic device by using the UWB signals with the top four LOS probabilities and the additionally identified UWB signals.

[0339] According to an embodiment, when the obtained position is outside the area of ​​the cluster, the controller 1320 may additionally identify a UWB signal with the highest LOS probability from the UWB signals remaining after excluding the UWB signals with the first four LOS probabilities from the multiple received UWB signals, and may exclude the UWB signal with the lowest LOS probability from the UWB signals with the first four LOS probabilities, and may obtain the position of the electronic device by using the three UWB signals remaining after excluding the UWB signal with the lowest LOS probability from the UWB signals with the first four LOS probabilities and the additionally identified UWB signals.

[0340] According to an embodiment, based on the LOS probability, the controller 1320 may calculate an average LOS probability of all UWB anchor combinations configurable based on a plurality of received UWB signals, and may identify a UWB signal received from a UWB anchor included in a UWB anchor combination having a highest average LOS probability as a predetermined number of UWB signals. Here, each UWB anchor combination may include four UWB anchors, and the average LOS probability of each UWB anchor combination is an average value of the LOS probabilities of the four UWB anchors included in the corresponding UWB anchor combination.

[0341] According to an embodiment, when the obtained position is outside the area of ​​the cluster, the controller 1320 may identify the UWB signals received from the UWB anchors included in the UWB anchor combination with the second highest average LOS probability as a predetermined number of UWB signals, and may obtain the position of the electronic device by using the identified UWB signals.

[0342] According to an embodiment, LOS probabilities of a plurality of received UWB signals may be obtained based on effective channel impulse response (CIR) data corresponding to the respective UWB signals by using a trained convolutional neural network (CNN) model.

[0343] According to an embodiment, the UWB message may be a polling DTM message sent by an initiator anchor, a response downlink DTM sent by a responder anchor, or a final DTM sent by an initiator anchor.

[0344] The storage device 1330 may store at least one of information transmitted or received via the transceiver 1310 and information generated by the controller 1320. For example, the storage device 1330 may store information and data required for determining a location, which has been described with reference to FIG. Figure 1 to Figure 1 2 is described.

[0345] In the above detailed embodiments of the present disclosure, the elements included in the present disclosure are expressed in the singular or plural, depending on the detailed embodiments presented. However, for the convenience of description, the singular form or the plural form is appropriately selected as the presented situation, and the present disclosure is not limited to the elements expressed in the singular or plural. Therefore, the elements expressed in the plural may also include a single element, or the elements expressed in the singular may also include multiple elements.

[0346] Although specific embodiments have been described in the detailed description of the present disclosure, it is apparent that various modifications and changes may be made thereto without departing from the scope of the present disclosure. Therefore, the scope of the present disclosure should not be defined as being limited to the embodiments set forth herein, but should be defined by the appended claims and their equivalents.

Claims

1. A method of an electronic device, the method comprising: identifying a predetermined number of UWB signals from the plurality of received UWB signals based on line-of-sight LOS probabilities of the plurality of received ultra-wideband UWB signals; obtaining a location of the electronic device by using the identified UWB signal; determining whether the obtained location is within an area of ​​a cluster configured with a UWB anchor transmitting the identified UWB signal; as well as In the case where the obtained position is within the area of ​​the cluster, determining the obtained position as the final position of the electronic device, Each of the plurality of received UWB signals comprises a UWB message for downlink time difference of arrival (DL-TDoA) positioning.

2. The method according to claim 1, wherein: Identifying the predetermined number of UWB signals includes: UWB signals having the first four LOS probabilities are identified as the predetermined number of UWB signals.

3. The method according to claim 2, further comprising: additionally identifying a UWB signal having a highest LOS probability among the remaining UWB signals after excluding the UWB signals having first four LOS probabilities from the plurality of received UWB signals in the event that the obtained position is outside the area of ​​the cluster; as well as The location of the electronic device is obtained by using the UWB signals having the first four LOS probabilities and additionally identified UWB signals.

4. The method according to claim 2, further comprising: In a case where the obtained position is outside the area of ​​the cluster, additionally identifying a UWB signal having a highest LOS probability among the remaining UWB signals after excluding the UWB signals having top four LOS probabilities from the plurality of received UWB signals, and excluding a UWB signal having a lowest LOS probability from the UWB signals having the top four LOS probabilities; as well as The position of the electronic device is obtained by using three UWB signals remaining after excluding the UWB signal having the lowest LOS probability from the UWB signals having the first four LOS probabilities and the additionally identified UWB signals.

5. The method according to claim 1, wherein: The identifying a predetermined number of UWB signals comprises: Based on the LOS probability, calculating an average LOS probability of all UWB anchor combinations configurable based on the plurality of received UWB signals; and identifying UWB signals received from UWB anchors included in the UWB anchor combination having the highest average LOS probability as the predetermined number of UWB signals, Each UWB anchor combination includes four UWB anchors, and the average LOS probability is an average value of the LOS probabilities of the four UWB anchors included in the corresponding UWB anchor combination.

6. The method according to claim 4, further comprising: identifying, in a case where the obtained position is outside an area of ​​the cluster, a UWB signal received from a UWB anchor included in a combination of UWB anchors having a second highest average LOS probability as the predetermined number of UWB signals; and The location of the electronic device is obtained by using the identified UWB signal.

7. The method according to claim 1, wherein: By using a trained convolutional neural network (CNN) model, the LOS probabilities of the plurality of received UWB signals are obtained based on effective channel impulse response (CIR) data corresponding to the corresponding UWB signals.

8. The method according to claim 1, wherein: The UWB message is a polling message DTM sent by an initiator anchor, a response downlink arrival time difference DTM message sent by a responder anchor, or a final DTM sent by the initiator anchor.

9. An electronic device, comprising: Transceiver; as well as at least one processor, connected to the transceiver, Wherein, the at least one processor is configured to: identifying a predetermined number of UWB signals from the plurality of received UWB signals based on line-of-sight LOS probabilities of the plurality of received ultra-wideband UWB signals; obtaining a location of the electronic device by using the identified UWB signal; determining whether the obtained location is within an area of ​​a cluster configured with a UWB anchor transmitting the identified UWB signal; and In the case where the obtained position is within the area of ​​the cluster, determining the obtained position as the final position of the electronic device, Each of the plurality of received UWB signals comprises a UWB message for downlink time difference of arrival (DL-TDoA) positioning.

10. The electronic device according to claim 9, wherein: The at least one processor is further configured to identify UWB signals having the first four LOS probabilities as the predetermined number of UWB signals.

11. The electronic device according to claim 10, wherein: The at least one processor is further configured to: additionally identifying a UWB signal having a highest LOS probability among the remaining UWB signals after excluding the UWB signals having first four LOS probabilities from the plurality of received UWB signals in the event that the obtained position is outside the area of ​​the cluster; as well as The location of the electronic device is obtained by using the UWB signals having the first four LOS probabilities and additionally identified UWB signals.

12. The electronic device according to claim 10, wherein: The at least one processor is further configured to: In a case where the obtained position is outside the area of ​​the cluster, additionally identifying a UWB signal having a highest LOS probability among the remaining UWB signals after excluding the UWB signals having top four LOS probabilities from the plurality of received UWB signals, and excluding a UWB signal having a lowest LOS probability from the UWB signals having the top four LOS probabilities; as well as The position of the electronic device is obtained by using three UWB signals remaining after excluding the UWB signal having the lowest LOS probability from the UWB signals having the first four LOS probabilities and the additionally identified UWB signals.

13. The electronic device according to claim 9, wherein: The at least one processor is further configured to: Based on the LOS probability, calculating an average LOS probability of all UWB anchor combinations configurable based on the plurality of received UWB signals; and identifying UWB signals received from UWB anchors included in the UWB anchor combination having the highest average LOS probability as a predetermined number of UWB signals, Each UWB anchor combination includes four UWB anchors, and the average LOS probability is an average value of the LOS probabilities of the four UWB anchors included in the corresponding UWB anchor combination.

14. The electronic device according to claim 13, wherein: The at least one processor is further configured to: identifying, in a case where the obtained position is outside an area of ​​the cluster, a UWB signal received from a UWB anchor included in a combination of UWB anchors having a second highest average LOS probability as the predetermined number of UWB signals; and The location of the electronic device is obtained by using the identified UWB signal.

15. The electronic device according to claim 9, wherein: By using a trained convolutional neural network (CNN) model, based on effective channel impulse response (CIR) data corresponding to the corresponding UWB signals, the LOS probabilities of the plurality of received UWB signals are obtained, and The UWB message is a polling downlink arrival time difference message DTM sent by an initiator anchor, a response DTM message sent by a responder anchor, or a final DTM sent by the initiator anchor.

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