Ranging method, device and system

Abstract

The invention discloses a distance measuring method, device and system, which are used for improving the precision of positioning / distance measuring / angle measuring / sensing of a target by equipment. The first device sends a first ranging signal and / or receives a second ranging signal on the at least one first channel, and the second device receives the first ranging signal and / or sends the second ranging signal on the at least one first channel; the first device and the second device execute at least one time of frequency hopping according to the frequency hopping parameter; the first device sends a third ranging signal and / or receives a fourth ranging signal on the at least one second channel, and the second device receives the third ranging signal and / or sends the fourth ranging signal on the at least one second channel. The first device and the second device execute at least one time of frequency hopping according to the same frequency hopping parameter, multiple times of signal measurement can be synchronously executed on different channels according to the preset sequence, then the technical effect of combining multiple channels for large-bandwidth signal measurement is achieved, and the ranging resolution and the ranging accuracy can be improved.

Description

[0001] This application is a divisional application. The application number of the original application is 202280097334.8, and the filing date of the original application is June 22, 2022. The entire content of the original application is incorporated herein by reference. Technical Field

[0002] This application relates to the field of wireless communication technologies, and in particular, to a ranging method, apparatus, and system. Background Art

[0003] With the continuous development of global communication technologies, the development speed and application of wireless communication technologies have exceeded those of wired communication technologies, showing a booming development trend. Intelligent devices such as intelligent transportation devices, smart home devices, and robots are gradually entering people's daily lives. Based on wireless communication technologies, devices can perform functions such as positioning / ranging / angle measurement / sensing on targets. For example, Passive Entry Passive Start (PEPS) is an example of in-vehicle wireless positioning application. Users do not need to use a key, but instead, the vehicle positioning system locates the car key / mobile phone carried by the user, and the car door can be automatically locked or unlocked.

[0004] However, in the prior art, when a device performs positioning / ranging / angle measurement / sensing on a target, the available bandwidth is small, resulting in poor positioning / ranging / angle measurement / sensing accuracy. Summary of the Invention

[0005] This application provides a ranging method, apparatus, and system for improving the accuracy of a device in performing positioning / ranging / angle measurement / sensing on a target.

[0006] In a first aspect, a ranging method is provided. This method can be applied to any wireless communication scenario, such as in-vehicle positioning / ranging / angle measurement / sensing scenarios, indoor positioning / ranging / angle measurement / sensing scenarios, etc. The method includes: a first device sending a first ranging signal and / or receiving a second ranging signal on at least one first channel; the first device performing at least one frequency hop according to frequency hopping parameters; and the first device sending a third ranging signal and / or receiving a fourth ranging signal on at least one second channel.

[0007] In the above solution, the first device performs at least one frequency hopping according to the frequency hopping parameters, and can perform signal measurements multiple times on different channels in a preset order, thereby achieving the technical effect of combining large-bandwidth signal measurements of multiple channels (the bandwidth of the signal measurement is the total bandwidth of at least one first channel and at least one second channel), and can improve the ranging resolution and ranging accuracy. Moreover, as long as the second device performs at least one frequency hopping according to the same frequency hopping parameters, it can ensure that the first device and the second device perform synchronous frequency hopping, avoiding problems such as large differences in frequency hopping parameters between different devices and difficulty in synchronizing frequency hopping due to the lack of a synchronization protocol for frequency hopping.

[0008] It can be understood that when the first device sends and / or measures ranging signals on multiple channels, these multiple channels can be regarded as a channel group. For example, when the number of at least one first channel is multiple, at least one first channel can be called a first channel group, and when the number of at least one second channel is multiple, at least one second channel can be called a second channel group.

[0009] In a possible design, the first ranging signal, the second ranging signal, the third ranging signal, and / or the fourth ranging signal is an Orthogonal Frequency Division Multiplexing (OFDM) signal.

[0010] In other words, in a ranging scenario based on OFDM signals, the embodiments of the present application can achieve the technical effect of combining large-bandwidth OFDM signal measurements of multiple channels through frequency hopping. The two parties of the signal measurement (the first device and the second device) can solve problems such as large differences in frequency hopping parameters between different devices and difficulty in synchronizing frequency hopping due to the lack of a synchronization protocol for frequency hopping by using the same frequency hopping parameters. Therefore, the resolution and accuracy of ranging based on OFDM signals can be improved.

[0011] In a possible design, the OFDM signal includes at least one of the following signals: Channel-State Information-Reference Signal (CSI-RS), Sounding Reference Signal (SRS), First Training Signal (FTS), Second Training Signal (STS), Positioning Reference Signal (PRS).

[0012] It can be understood that the above several signals are only examples and not specific limitations.

[0013] In a possible design, the frequency hopping parameters include one or more of the following: the first frequency hopping stabilization duration; the first Listen-Before-Talk (LBT) maximum window period; the first frequency hopping pattern, which is used to indicate the frequency hopping sequence of the first device and the second device, and the first frequency hopping pattern includes the channel number information of at least one first channel and the channel number information of at least one second channel.

[0014] In this design, by setting the first frequency hopping stabilization duration, the first device and the second device can be synchronized in state during the frequency hopping process (for example, synchronized to enter the LBT stage); by setting the first LBT maximum window period, when the channel is busy for a long time, the first device and the second device can be synchronized to switch to the next hopping channel at the end of the first LBT maximum window period, avoiding repeated idle channel evaluations due to long-term channel competition between the two parties, which can save resources and device power consumption and improve the efficiency of frequency hopping measurement; by setting the first frequency hopping pattern, the first device and the second device can be ensured to perform frequency hopping according to the same frequency hopping sequence to ensure frequency hopping synchronization between the two ranging parties.

[0015] It can be understood that there can be other frequency hopping parameters in practical applications, and the present application does not make any restrictions.

[0016] In a possible design, when the first device performs frequency hopping in different frequency bands (such as 2.1 GHz, 5.1 GHz, 5.8 GHz, etc.), the first frequency hopping stabilization duration can be different. Exemplarily, at least one channel belongs to the first frequency band, and the first frequency hopping stabilization duration is the first duration; or, at least one channel belongs to the second frequency band, and the first frequency hopping stabilization duration is the second duration; wherein, the first frequency band is different from the second frequency band, and there is no overlap in the frequency domain between the first frequency band and the second frequency band, and the first duration is different from the second duration.

[0017] Among them, the value of the first frequency hopping stabilization duration is related to whether the device needs to perform idle channel evaluation when hopping in the corresponding frequency band. For example, when the first device performs frequency hopping in different frequency bands, the first frequency hopping stabilization duration when idle channel evaluation is required is less than the first frequency hopping stabilization duration when directly transmitting a ranging signal (that is, when idle channel evaluation is not required).

[0018] In this way, when the first device performs frequency hopping in different frequency bands, different first frequency hopping stabilization durations can be adopted, which can save the frequency hopping waiting duration of the first device as much as possible, improve the efficiency of frequency hopping ranging, and save power consumption.

[0019] In a possible design, when the first device performs frequency hopping in different channels (groups), the first frequency hopping stabilization duration can be different. Similarly, when the first device performs frequency hopping in different channels (groups), the first frequency hopping stabilization duration when idle channel evaluation is required is less than the first frequency hopping stabilization duration when directly transmitting a ranging signal (that is, when idle channel evaluation is not required).

[0020] In this way, when the first device hops frequencies in different channels (groups), it adopts different first frequency hopping stabilization durations, which can save the frequency hopping waiting duration of the first device as much as possible, improve the efficiency of frequency hopping ranging, and save power consumption.

[0021] In a possible design, the first LBT maximum window period is configured for the first device. For example, if the first device is the master node and the second device is the slave node, the first LBT maximum window period is configured for the first device.

[0022] In this way, the first device can manage the signal measurement processes of the first device and the second device, which can improve the reliability of the solution.

[0023] In a possible design, the first frequency hopping stabilization duration is the maximum value of the frequency hopping stabilization duration of the first device and the frequency hopping stabilization duration of the second device. The frequency hopping stabilization duration is the duration for the device to reach a stable state when performing frequency hopping.

[0024] In this way, it can be ensured that both the first device and the second device enter a stable state at the end of the first frequency hopping stabilization duration, ensuring the reliability of frequency hopping ranging.

[0025] In a possible design, the first frequency hopping pattern is determined through negotiation between the first device and the second device.

[0026] In this way, the first frequency hopping pattern can be supported by the first device and the second device, ensuring the synchronization state of frequency hopping ranging between the first device and the second device, and enhancing the reliability of ranging.

[0027] In a possible design, the number of channels included in at least one second channel is multiple; the channel number information of at least one second channel is: the channel number information of the channel with the lowest or highest frequency in at least one second channel.

[0028] In this way, the amount of information required to transmit the first frequency hopping pattern can be reduced, saving system resources.

[0029] In a possible design, the first device performs at least one frequency hopping according to the frequency hopping parameters, including: the first device switches from at least one first channel to at least one second channel according to the first frequency hopping pattern; after waiting for the first frequency hopping stabilization duration, the first device performs a first idle channel assessment. Correspondingly, the first device sends a third ranging signal and / or receives a fourth ranging signal on at least one second channel, including: when the first device determines that at least one second channel is idle, the first device sends a third ranging signal and / or receives a fourth ranging signal on at least one second channel.

[0030] In other words, the first device can switch to the second channel by performing one frequency hopping.

[0031] In a possible design, the first hopping pattern further includes channel number information of at least one third channel. The first device performs at least one frequency hop according to the hopping parameters, including: the first device switches from at least one first channel to at least one third channel according to the first hopping pattern; after waiting for the first frequency-hop stabilization duration, the first device performs a second idle channel assessment; when the first device determines that the idle channel assessment result obtained within the LBT window corresponding to the second idle channel assessment is that at least one third channel is not idle, after the LBT window corresponding to the second idle channel assessment ends, the first device switches from at least one third channel to at least one second channel according to the first hopping pattern; wherein, the duration of the LBT window corresponding to the second idle channel assessment is equal to the first maximum LBT window period; after waiting for the first frequency-hop stabilization duration, the first device performs a third idle channel assessment. Correspondingly, the first device sends a third ranging signal and / or receives a fourth ranging signal on at least one second channel, including: when the first device determines that at least one second channel is idle, the first device sends a third ranging signal and / or receives a fourth ranging signal on at least one second channel.

[0032] In other words, the first device performs two consecutive frequency hops (where the first handover fails in LBT, resulting in the inability to perform signal measurement on the third channel) before switching to the second channel.

[0033] Of course, in practical applications, the first device may perform more frequency hops before LBT is successful, and then transmit ranging signals on the channel where LBT is successful.

[0034] In a possible design, the method further includes: the first device sends the hopping measurement information of the first device to the second device; and / or, the first device receives the hopping measurement information of the second device.

[0035] In this way, both signal measurement parties can obtain the hopping measurement information of the other party, and then determine the hopping parameters according to the hopping measurement information, ensuring that the finally determined hopping parameters can be supported by both parties, which can improve the reliability of ranging.

[0036] In a possible design, the hopping measurement information of the first device includes one or more of the following:

[0037] The first information, used to indicate whether the first device allows channel overlap;

[0038] The second information, used to indicate the number of overlapping channels allowed by the first device;

[0039] The third information, used to indicate the desired second hopping pattern of the first device;

[0040] The fourth information, used to indicate the frequency-hop stabilization duration of the first device;

[0041] The fifth piece of information, used to indicate the maximum window period of the second LBT expected by the first device;

[0042] The hopping measurement information of the second device includes one or more of the following:

[0043] The sixth piece of information, used to indicate whether the second device allows channel overlap;

[0044] The seventh piece of information, used to indicate the number of overlapping channels allowed by the second device;

[0045] The eighth piece of information, used to indicate the third hopping pattern expected by the second device;

[0046] The ninth piece of information, used to indicate the hopping stability duration of the second device;

[0047] The tenth piece of information, used to indicate the maximum window period of the third LBT expected by the second device.

[0048] Of course, the above information is only an example, not a specific limitation.

[0049] In a possible design, the method further includes: the first device determines the hopping measurement information of the first device, where the hopping measurement information is determined according to the hopping capability information of the first device, the hopping capability information of the second device, or the pre-configured or defined hopping capability information.

[0050] In this way, it can be ensured that the hopping measurement information of the first device used in the hopping parameter negotiation process can be supported by the hopping capability of the first device, and the hopping measurement information of the second device can be supported by the hopping capability of the second device, which can improve the reliability of the ranging scheme.

[0051] In a possible design, the method further includes: the first device sends the hopping capability information of the first device to the second device; and / or, the first device receives the hopping capability information of the second device.

[0052] In this way, it can be ensured that the first device and the second device can accurately obtain the hopping capability information of each other, which can improve the applicability of the scheme.

[0053] In a possible design, the hopping capability information of the first device includes one or more of the following:

[0054] Whether the first device supports hopping;

[0055] The frequency band information supported by the first device for hopping;

[0056] The maximum bandwidth supported by the first device for sending and / or receiving ranging signals;

[0057] The preset stability duration when the first device performs hopping;

[0058] Whether the preset stable duration when the first device performs frequency hopping is different in different frequency bands;

[0059] The frequency hopping capability information of the second device includes one or more of the following:

[0060] Whether the second device supports frequency hopping;

[0061] The frequency band information supported by the second device for frequency hopping;

[0062] The maximum bandwidth supported by the second device for transmitting and / or receiving ranging signals;

[0063] The preset stable duration when the second device performs frequency hopping;

[0064] Whether the preset stable duration when the second device performs frequency hopping is different in different frequency bands.

[0065] Of course, the above information is only an example, not a specific limitation.

[0066] In a possible design, the first frequency hopping pattern further includes the channel number information of the initial working channel; the method further includes: the first device starts frequency hopping from the initial working channel, where the last hopping channel indicated by the first frequency hopping pattern is the initial working channel.

[0067] In this way, on the one hand, it can ensure that the device performs ranging on different channels during the signal measurement process, achieving the measurement effect of large bandwidth. On the other hand, it can ensure that after the ranging is completed, the device returns to the initial working channel to ensure the subsequent communication performance of the device.

[0068] In a second aspect, a ranging method is provided. This method can be applied to any wireless communication scenario, such as vehicle positioning / ranging / angle measurement / sensing scenarios, indoor positioning / ranging / angle measurement / sensing scenarios, etc. The method includes: the second device receives the first ranging signal and / or transmits the second ranging signal on at least one first channel; the second device performs at least one frequency hopping according to the frequency hopping parameters; the second device receives the third ranging signal and / or transmits the fourth ranging signal on at least one second channel.

[0069] In a possible design, the first ranging signal, the second ranging signal, the third ranging signal, and / or the fourth ranging signal is an OFDM signal.

[0070] In a possible design, the OFDM signal includes at least one of the following signals: CSI-RS, SRS, FTS, STS, PRS.

[0071] In a possible design, the frequency hopping parameters include one or more of the following:

[0072] The first frequency hopping stable duration;

[0073] The first LBT maximum window period;

[0074] The first frequency hopping pattern, which is used to indicate the frequency hopping order of the first device and the second device. The first frequency hopping pattern includes the channel number information of at least one first channel and the channel number information of at least one second channel.

[0075] In a possible design, at least one channel belongs to the first frequency band, and the first frequency hopping stable duration is the first duration; or, at least one channel belongs to the second frequency band, and the first frequency hopping stable duration is the second duration; wherein, the first frequency band is different from the second frequency band, and there is no overlap between the first frequency band and the second frequency band in the frequency domain, and the first duration is different from the second duration.

[0076] In a possible design, the first LBT maximum window period is configured for the first device.

[0077] In a possible design, the first frequency hopping stable duration is the maximum value of the frequency hopping stable duration of the first device and the frequency hopping stable duration of the second device. The frequency hopping stable duration is the duration when the device reaches a stable state during frequency hopping.

[0078] In a possible design, the first frequency hopping pattern is determined through negotiation between the first device and the second device.

[0079] In a possible design, the number of channels included in at least one second channel is multiple; the channel number information of at least one second channel is: the channel number information of the channel with the lowest or highest frequency in at least one second channel.

[0080] In a possible design, the first device performs at least one frequency hopping according to the frequency hopping parameters, including: the second device switches from at least one first channel to at least one second channel according to the first frequency hopping pattern; after waiting for the first frequency hopping stable duration, the second device performs a fourth idle channel assessment. Correspondingly, the second device receives a third ranging signal and / or sends a fourth ranging signal on at least one second channel, including: when the second device determines that at least one second channel is idle, the second device receives a third ranging signal and / or sends a fourth ranging signal on at least one second channel.

[0081] In a possible design, the first hopping frequency pattern further includes channel number information of at least one third channel. The second device performs at least one frequency hop according to the hopping frequency parameters, including: the second device switches from at least one first channel to at least one third channel according to the first hopping frequency pattern; after waiting for the first frequency hopping stabilization duration, the second device performs a fifth idle channel assessment; when the second device determines that the idle channel assessment result obtained within the LBT window corresponding to the fifth idle channel assessment is that at least one third channel is not idle, after the end of the LBT window corresponding to the fifth idle channel assessment, the second device switches from at least one third channel to at least one second channel according to the first hopping frequency pattern; wherein, the duration of the LBT window corresponding to the fifth idle channel assessment is equal to the first maximum LBT window period; after waiting for the first frequency hopping stabilization duration, the second device performs a sixth idle channel assessment. Correspondingly, the second device receives a third ranging signal and / or transmits a fourth ranging signal on at least one second channel, including: when the second device determines that at least one second channel is idle, the second device receives a third ranging signal and / or transmits a fourth ranging signal on at least one second channel.

[0082] In a possible design, the method further includes: the second device receives the hopping frequency measurement information of the first device; and / or, the second device sends the hopping frequency measurement information of the second device to the first device.

[0083] In a possible design, the hopping frequency measurement information of the first device includes one or more of the following:

[0084] The first information, used to indicate whether the first device allows channel overlap;

[0085] The second information, used to indicate the number of overlapping channels allowed by the first device;

[0086] The third information, used to indicate the second hopping frequency pattern expected by the first device;

[0087] The fourth information, used to indicate the frequency hopping stabilization duration of the first device;

[0088] The fifth information, used to indicate the second maximum LBT window period expected by the first device;

[0089] The hopping frequency measurement information of the second device includes one or more of the following:

[0090] The sixth information, used to indicate whether the second device allows channel overlap;

[0091] The seventh information, used to indicate the number of overlapping channels allowed by the second device;

[0092] The eighth information, used to indicate the third hopping frequency pattern expected by the second device;

[0093] The ninth piece of information, which is used to indicate the hopping stability duration of the second device;

[0094] The tenth piece of information, which is used to indicate the third maximum LBT window period expected by the second device.

[0095] In a possible design, the method further includes: the second device determines the hopping measurement information of the second device, where the hopping measurement information is determined according to the hopping capability information of the first device, the hopping capability information of the second device, or the pre-configured or defined hopping capability information.

[0096] In a possible design, the method further includes: the second device sends the hopping capability information of the second device to the first device; and / or, the second device receives the hopping capability information of the first device.

[0097] In a possible design, the hopping capability information of the first device includes one or more of the following:

[0098] Whether the first device supports frequency hopping;

[0099] The frequency band information supported by the first device for frequency hopping;

[0100] The maximum bandwidth supported by the first device for sending and / or receiving ranging signals;

[0101] The preset stability duration when the first device performs frequency hopping;

[0102] Whether the preset stability duration when the first device performs frequency hopping is different in different frequency bands;

[0103] The hopping capability information of the second device includes one or more of the following:

[0104] Whether the second device supports frequency hopping;

[0105] The frequency band information supported by the second device for frequency hopping;

[0106] The maximum bandwidth supported by the second device for sending and / or receiving ranging signals;

[0107] The preset stability duration when the second device performs frequency hopping;

[0108] Whether the preset stability duration when the second device performs frequency hopping is different in different frequency bands.

[0109] In a possible design, the first hopping pattern further includes the channel number information of the initial working channel. The method further includes: the second device starts frequency hopping from the initial working channel, where the last hopping channel indicated by the first hopping pattern is the initial working channel.

[0110] In a third aspect, a ranging device is provided. The device may be a first device or a chip in the first device, and the device includes units / modules / technical means for implementing the method described in the first aspect or any possible design of the first aspect.

[0111] Exemplarily, the device may include:

[0112] A transceiver unit, configured to send a first ranging signal and / or receive a second ranging signal on at least one first channel;

[0113] A processing unit, configured to perform at least one frequency hopping according to frequency hopping parameters;

[0114] The transceiver unit is further configured to send a third ranging signal and / or receive a fourth ranging signal on at least one second channel.

[0115] Optionally, the first ranging signal, the second ranging signal, the third ranging signal, and / or the fourth ranging signal is an orthogonal frequency division multiplexing (OFDM) signal.

[0116] Optionally, the OFDM signal includes at least one of the following signals: CSI-RS, SRS, FTS, STS, PRS.

[0117] Optionally, the frequency hopping parameters include one or more of the following:

[0118] The first frequency hopping stable duration;

[0119] The first LBT maximum window period;

[0120] The first frequency hopping pattern, used to indicate the frequency hopping order of the device and the second device, and the first frequency hopping pattern includes channel number information of at least one first channel and channel number information of at least one second channel.

[0121] Optionally, at least one channel belongs to a first frequency band, and the first frequency hopping stable duration is a first duration; or, at least one channel belongs to a second frequency band, and the first frequency hopping stable duration is a second duration; wherein, the first frequency band is different from the second frequency band, and there is no overlap between the first frequency band and the second frequency band in the frequency domain, and the first duration is different from the second duration.

[0122] Optionally, the first LBT maximum window period is configured for the device.

[0123] Optionally, the first frequency hopping stable duration is the maximum value of the frequency hopping stable duration of the device and the frequency hopping stable duration of the second device, and the frequency hopping stable duration is the duration for the device to reach a stable state when performing frequency hopping.

[0124] Optionally, the first frequency hopping pattern is determined through negotiation between the device and the second device.

[0125] Optionally, the number of channels included in at least one second channel is multiple; the channel number information of at least one second channel is: the channel number information of the channel with the lowest or highest frequency among at least one second channel.

[0126] Optionally, the processing unit is specifically configured to: switch from at least one first channel to at least one second channel according to the first frequency hopping pattern; after waiting for the first frequency hopping stabilization duration, perform the first idle channel assessment; when the transceiver unit sends the third ranging signal and / or receives the fourth ranging signal on at least one second channel, it is specifically configured to: when at least one second channel is idle, send the third ranging signal and / or receive the fourth ranging signal on at least one second channel.

[0127] Optionally, the first frequency hopping pattern further includes the channel number information of at least one third channel; the processing unit is specifically configured to: switch from at least one first channel to at least one third channel according to the first frequency hopping pattern; after waiting for the first frequency hopping stabilization duration, perform the second idle channel assessment; when the idle channel assessment result obtained within the LBT window corresponding to the second idle channel assessment indicates that at least one third channel is not idle, after the LBT window corresponding to the second idle channel assessment ends, switch from at least one third channel to at least one second channel according to the first frequency hopping pattern; wherein, the duration of the LBT window corresponding to the second idle channel assessment is equal to the first maximum LBT window period; after waiting for the first frequency hopping stabilization duration, perform the third idle channel assessment. When the transceiver unit sends the third ranging signal and / or receives the fourth ranging signal on at least one second channel, it is specifically configured to: when at least one second channel is idle, send the third ranging signal and / or receive the fourth ranging signal on at least one second channel.

[0128] Optionally, the transceiver unit is further configured to: send the frequency hopping measurement information of the device to the second device; and / or, receive the frequency hopping measurement information of the second device.

[0129] Optionally, the frequency hopping measurement information of the device includes one or more of the following:

[0130] The first information, used to indicate whether the device allows channel overlap;

[0131] The second information, used to indicate the number of overlapping channels allowed by the device;

[0132] The third information, used to indicate the second frequency hopping pattern expected by the device;

[0133] The fourth information, used to indicate the frequency hopping stabilization duration of the device;

[0134] The fifth information, used to indicate the second maximum LBT window period expected by the device;

[0135] The hopping measurement information of the second device includes one or more of the following:

[0136] Sixth information, used to indicate whether the second device allows channel overlap;

[0137] Seventh information, used to indicate the number of overlapping channels allowed by the second device;

[0138] Eighth information, used to indicate the third hopping pattern expected by the second device;

[0139] Ninth information, used to indicate the hopping stability duration of the second device;

[0140] Tenth information, used to indicate the third maximum LBT window period expected by the second device.

[0141] Optionally, the processing unit is further configured to: determine the hopping measurement information of the device, where the hopping measurement information is determined according to the hopping capability information of the device, the hopping capability information of the second device, or the pre-configured or defined hopping capability information.

[0142] Optionally, the transceiver unit is further configured to: send the hopping capability information of the device to the second device; and / or, receive the hopping capability information of the second device.

[0143] Optionally, the hopping capability information of the device includes one or more of the following:

[0144] Whether the device supports hopping;

[0145] The frequency band information supported by the device for hopping;

[0146] The maximum bandwidth supported by the device for sending and / or receiving ranging signals;

[0147] The preset stability duration when the device performs hopping;

[0148] Whether the preset stability duration when the device performs hopping is different in different frequency bands;

[0149] The hopping capability information of the second device includes one or more of the following:

[0150] Whether the second device supports hopping;

[0151] The frequency band information supported by the second device for hopping;

[0152] The maximum bandwidth supported by the second device for sending and / or receiving ranging signals;

[0153] The preset stability duration when the second device performs hopping;

[0154] Whether the preset stability duration when the second device performs hopping is different in different frequency bands.

[0155] Optionally, the first hopping pattern further includes the channel number information of the initial working channel; the processing unit is further configured to: start hopping from the initial working channel, where the last hopping channel indicated by the first hopping pattern is the initial working channel.

[0156] In a fourth aspect, a ranging device is provided. The device may be a second device or a chip in the second device, and the device includes units / modules / technical means for implementing the method described in the second aspect or any possible design of the second aspect.

[0157] Exemplarily, the device may include: a transceiver unit, configured to receive a first ranging signal and / or transmit a second ranging signal on at least one first channel; a processing unit, configured to perform at least one frequency hopping according to frequency hopping parameters; and the transceiver unit is further configured to receive a third ranging signal and / or transmit a fourth ranging signal on at least one second channel.

[0158] Optionally, the first ranging signal, the second ranging signal, the third ranging signal, and / or the fourth ranging signal is an OFDM signal.

[0159] Optionally, the OFDM signal includes at least one of the following signals: CSI-RS, SRS, FTS, STS, PRS.

[0160] Optionally, the frequency hopping parameters include one or more of the following:

[0161] The first frequency hopping stabilization duration;

[0162] The first LBT maximum window period;

[0163] The first frequency hopping pattern, used to indicate the frequency hopping order of the first device and the device, and the first frequency hopping pattern includes the channel number information of at least one first channel and the channel number information of at least one second channel.

[0164] Optionally, at least one channel belongs to a first frequency band, and the first frequency hopping stabilization duration is a first duration; or, at least one channel belongs to a second frequency band, and the first frequency hopping stabilization duration is a second duration; where the first frequency band is different from the second frequency band, the first frequency band and the second frequency band do not overlap in the frequency domain, and the first duration is different from the second duration.

[0165] Optionally, the first LBT maximum window period is configured for the first device.

[0166] Optionally, the first frequency hopping stabilization duration is the maximum value of the frequency hopping stabilization duration of the first device and the frequency hopping stabilization duration of the device, and the frequency hopping stabilization duration is the duration for the device to reach a stable state when performing frequency hopping.

[0167] Optionally, the first frequency hopping pattern is determined through negotiation between the first device and the apparatus.

[0168] Optionally, the number of channels included in at least one second channel is multiple; the channel number information of at least one second channel is: the channel number information of the channel with the lowest frequency or the highest frequency in at least one second channel.

[0169] Optionally, the processing unit is specifically configured to: switch from at least one first channel to at least one second channel according to the first frequency hopping pattern; after waiting for the first frequency hopping stabilization duration, perform the fourth idle channel assessment. Correspondingly, when the transceiver unit receives the third ranging signal and / or sends the fourth ranging signal on at least one second channel, it is specifically configured to: when at least one second channel is idle, receive the third ranging signal and / or send the fourth ranging signal on at least one second channel.

[0170] Optionally, the first frequency hopping pattern further includes the channel number information of at least one third channel. The processing unit is specifically configured to: switch from at least one first channel to at least one third channel according to the first frequency hopping pattern; after waiting for the first frequency hopping stabilization duration, perform the fifth idle channel assessment; when it is determined that the idle channel assessment result obtained within the LBT window corresponding to the fifth idle channel assessment indicates that at least one third channel is not idle, after the LBT window corresponding to the fifth idle channel assessment ends, switch from at least one third channel to at least one second channel according to the first frequency hopping pattern; wherein, the duration of the LBT window corresponding to the fifth idle channel assessment is equal to the first maximum LBT window period; after waiting for the first frequency hopping stabilization duration, perform the sixth idle channel assessment. Correspondingly, when the transceiver unit receives the third ranging signal and / or sends the fourth ranging signal on at least one second channel, it is specifically configured to: when at least one second channel is idle, receive the third ranging signal and / or send the fourth ranging signal on at least one second channel.

[0171] Optionally, the transceiver unit is further configured to: receive the frequency hopping measurement information of the first device; and / or, send the frequency hopping measurement information of the apparatus to the first device.

[0172] Optionally, the frequency hopping measurement information of the first device includes one or more of the following:

[0173] The first information, used to indicate whether the first device allows channel overlap;

[0174] The second information, used to indicate the number of channels that the first device allows to overlap;

[0175] The third information, used to indicate the second frequency hopping pattern expected by the first device;

[0176] The fourth information, used to indicate the frequency hopping stabilization duration of the first device;

[0177] The fifth piece of information, which is used to indicate the maximum LBT window period expected by the first device for the second time;

[0178] The hopping frequency measurement information of the device includes one or more of the following:

[0179] The sixth piece of information, which is used to indicate whether the device allows channel overlap;

[0180] The seventh piece of information, which is used to indicate the number of overlapping channels allowed by the device;

[0181] The eighth piece of information, which is used to indicate the third hopping frequency pattern expected by the device;

[0182] The ninth piece of information, which is used to indicate the stable duration of the hopping frequency of the device;

[0183] The tenth piece of information, which is used to indicate the maximum LBT window period expected by the device for the third time.

[0184] Optionally, the processing unit is further configured to: determine the hopping frequency measurement information of the device, where the hopping frequency measurement information is determined according to the hopping frequency capability information of the first device, the hopping frequency capability information of the device, or the pre-configured or defined hopping frequency capability information.

[0185] Optionally, the transceiver unit is further configured to: send the hopping frequency capability information of the device to the first device; and / or, receive the hopping frequency capability information of the first device.

[0186] Optionally, the hopping frequency capability information of the first device includes one or more of the following:

[0187] Whether the first device supports hopping frequency;

[0188] The frequency band information supported by the first device for hopping frequency;

[0189] The maximum bandwidth supported by the first device for sending and / or receiving ranging signals;

[0190] The preset stable duration when the first device performs hopping frequency;

[0191] Whether the preset stable duration when the first device performs hopping frequency is different in different frequency bands;

[0192] The hopping frequency capability information of the device includes one or more of the following:

[0193] Whether the device supports hopping frequency;

[0194] The frequency band information supported by the device for hopping frequency;

[0195] The maximum bandwidth supported by the device for sending and / or receiving ranging signals;

[0196] The preset stable duration when the device performs hopping frequency;

[0197] Whether the preset stable duration when the device performs frequency hopping is different in different frequency bands.

[0198] Optionally, the first frequency hopping pattern further includes the channel number information of the initial working channel. The transceiver unit is further configured to: start frequency hopping from the initial working channel, where the last hopping channel indicated by the first frequency hopping pattern is the initial working channel.

[0199] In a fifth aspect, a ranging device is provided, including: at least one processor and an interface circuit; the interface circuit is configured to receive signals from other devices outside the device and send or receive them to or from the processor, or send signals from the processor to other devices outside the device, and the processor is configured to implement the method described in the first aspect or any possible design of the first aspect or the second aspect or any possible design of the second aspect through logic circuits or by executing code instructions.

[0200] In a sixth aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored. When the computer program or instruction is executed by a communication device, the method described in the first aspect or any possible design of the first aspect or the second aspect or any possible design of the second aspect is implemented.

[0201] In a seventh aspect, a computer program product is provided, in which an instruction is stored. When it runs on a computer, the computer is caused to execute the method described in the first aspect or any possible design of the first aspect or the second aspect or any possible design of the second aspect.

[0202] In an eighth aspect, a ranging system is provided, including:

[0203] A first device, configured to execute the method described in the first aspect or any possible design of the first aspect;

[0204] A second device, configured to execute the method described in the second aspect or any possible design of the second aspect.

[0205] For the beneficial effects of the second aspect to the eighth aspect above, please specifically refer to the technical effects that can be achieved by the corresponding designs in the first aspect above, and will not be repeated here. Description of the Drawings

[0206] Figure 1 A schematic diagram of a possible application scenario provided by an embodiment of the present application;

[0207] Figure 2 A flowchart of a ranging method provided by an embodiment of the present application;

[0208] Figure 3 A schematic diagram of ranging signal interaction on a channel (group);

[0209] Figure 4A 、 Figure 4B Schematic diagram for negotiating hopping parameters between the first device and the second device;

[0210] Figure 5 A possible hopping schematic diagram provided by an embodiment of the present application;

[0211] Figure 6 Another possible hopping schematic diagram provided by an embodiment of the present application;

[0212] Figure 7 Schematic diagram of the simulation result of hopping ranging for OFDM signals based on a 20 MHz bandwidth;

[0213] Figure 8 Schematic diagram of the structure of a ranging device provided by an embodiment of the present application;

[0214] Figure 9 Schematic diagram of the structure of another ranging device provided by an embodiment of the present application. Detailed implementation manners

[0215] The technical solutions provided by the embodiments of the present application can be applied to various wireless communication scenarios, such as vehicle-mounted positioning / ranging / angle measurement / sensing scenarios, indoor positioning / ranging / angle measurement / sensing scenarios, or other wide-area wireless communication or local-area wireless communication scenarios, which are not limited in the present application. Specific wireless communication technologies include, but are not limited to, Wi-Fi, Bluetooth, Bluetooth Low Energy (BLE), or Ultra Wide Band (UWB), Sparklink, etc.

[0216] It can be understood that in the embodiments of the present application, steps for implementing positioning, ranging, angle measurement, sensing, etc. are similar, so any one of these terms can be used to refer to "positioning", "ranging", "angle measurement", "sensing", etc. simultaneously.

[0217] See Figure 1 , which is a schematic diagram of a possible application scenario provided by an embodiment of the present application. In a vehicle-mounted positioning scenario, 4 positioning stations are deployed at the 4 corners outside the vehicle, and at least one positioning station is deployed inside the vehicle (such as inside the rearview mirror or the roof of the vehicle). The vehicle key is the target to be positioned (i.e., the device to be positioned), and its specific implementation can be a traditional vehicle key with positioning function, or a mobile phone / wearable device with positioning function, etc. The positioning station and / or the vehicle key can send and / or receive ranging signals, and measure the received ranging signals to obtain corresponding measurement quantities. By calculating the measurement quantities obtained by the positioning station and / or the vehicle key, the position information of the vehicle key (such as the distance relative to the vehicle) can be obtained.

[0218] In a wireless communication scenario, a certain communication area or range may include multiple communication domains. A communication domain refers to a system composed of a group of communication nodes with communication relationships and the communication connection relationships (i.e., communication links) between the communication nodes. A communication domain includes a main communication node (which can be simply referred to as the main node or G node) and at least one slave communication node (which can be simply referred to as the slave node or T node). Among them, the main node is also called the management node, which is responsible for managing the time-frequency resources of the communication domain and has the function of scheduling resources for communication or positioning between the communication nodes in the communication domain.

[0219] Taking Figure 1 the scenario shown as an example, a positioning station, a car key, etc. can form a communication domain. Among them, the car key can be the main node (G node), and each positioning station is the slave node (T node); or, one positioning station is the main node, and other positioning stations and the car key are slave nodes. This application does not make any restrictions.

[0220] It can be understood that Figure 1 the scenario shown is only an example. In actual applications, the embodiments of this application can also be applied to other wireless communication scenarios.

[0221] Referring to Figure 2 , which is a flowchart of a ranging method provided by the embodiments of this application. The method includes:

[0222] S201. The first device sends a first ranging signal and / or receives a second ranging signal on at least one first channel. Correspondingly, the second device receives the first ranging signal and / or sends the second ranging signal on at least one first channel.

[0223] In a possible design, among the first device and the second device, one device is a G node and the other device is a T node. Among them, the G node is responsible for scheduling the time-frequency resources for ranging interaction between the G node and the T node, and the T node is used to perform ranging interaction with the G node under the scheduling of the G node (such as sending and / or receiving ranging signals). In specific implementation, the initiator of ranging (i.e., the node that initiates the ranging process between the G node and the T node) can be the G node, and the responder can be the T node, or the initiator is the T node and the responder is the G node. This application does not make any restrictions. Taking Figure 1 the scenario shown as an example, the G node is the car key and the T node is the positioning station, where the first device is the positioning station and the second device is the car key, or the first device is the car key and the second device is the positioning station. For the convenience of description, the following mainly takes the G node and the T node as examples for elaboration. In fact, it does not limit the specific type of the node, as long as the solution of this application can be implemented.

[0224] In the embodiments of this application, the first device and / or the second device can perform signal measurement on the received ranging signal.

[0225] In a possible design, the signal measurement can specifically be a one-way signal measurement (also known as one-sided signal measurement, and in English as One Way Ranging). For example, the second device receives and measures the first ranging signal sent by the first device, or the first device receives and measures the second ranging signal sent by the second device.

[0226] In another possible design, the signal measurement can specifically be a two-way signal measurement (also known as two-sided signal measurement, and in English as Two Way Ranging), that is, the second device receives and measures the first ranging signal sent by the first device, and the first device receives and measures the second ranging signal sent by the second device. The two-way signal measurement can eliminate problems such as the timing deviation and random initial phase between the first device and the second device introduced by frequency hopping, enabling the ranging signals in each frequency band and / or channel to be coherently combined in the frequency domain. The ranging resolution can be improved by measuring with the combined large bandwidth, and thus the ranging accuracy can be enhanced.

[0227] Correspondingly, by performing signal measurement on the first ranging signal, the second device can obtain a first measurement quantity; and / or, by performing signal measurement on the second ranging signal, the first device can obtain a second measurement quantity.

[0228] In some possible embodiments, performing signal measurement on the ranging signal can also be described as measuring the channel carrying the ranging signal. For example, the first ranging signal and / or the second ranging signal is carried on at least one first channel. Therefore, performing signal measurement on the first ranging signal and / or the second ranging signal can also be described as performing measurement on at least one first channel. Correspondingly, the measurement quantity of the ranging signal can also be described as the measurement quantity of the corresponding channel, such as the channel state information in the time domain or frequency domain, that is, the time of arrival (TOA) / time of departure (TOD) in the time domain, or the complex-valued frequency response of the corresponding carrier / sub-carrier in the frequency domain.

[0229] It can be understood that when the number of channels in at least one first channel is multiple, at least one first channel can be regarded as a channel group, such as the first channel group.

[0230] S202A. The first device performs at least one frequency hop according to the frequency hopping parameter; S202B. The second device performs at least one frequency hop according to the frequency hopping parameter.

[0231] Frequency hopping means that the channel used by the device for ranging (i.e., sending and / or receiving the ranging signal) switches from one channel to another channel, and the channels before and after the switch correspond to different carrier frequencies. For example, the first device and the second device switch from at least one first channel to at least one second channel, where the carrier frequencies corresponding to at least one first channel and at least one second channel are different.

[0232] If the number of frequency hopping times is 1, the first device and the second device directly switch from at least one first channel to at least one second channel; if the number of frequency hopping times is more than 1, the first device and the second device start from at least one first channel and go through multiple channel switches before switching to at least one second channel. For example, the first device and the second device first switch from at least one first channel to at least one third channel, and then switch from at least one third channel to at least one second channel.

[0233] In the embodiments of the present application, the first device and the second device perform frequency hopping according to the same frequency hopping parameters, so that the first device and the second device can synchronize frequency hopping. For example, when the first device switches from at least one first channel to at least one second channel, the second device also switches from at least one first channel to at least one second channel.

[0234] The frequency hopping in the embodiments of the present application can be radio frequency (RF) frequency hopping, digital frequency hopping, or frequency hopping based on a phase-locked loop (PLL) circuit, without limitation. Among them, RF frequency hopping or frequency hopping based on a PLL circuit switches the working channel of the device by changing the carrier frequency of the local oscillator signal of the RF channel. This frequency hopping method takes a long time, generally at the millisecond level (for example, 2 - 3 ms). Digital frequency hopping takes a shorter time, generally at the microsecond level (for example, 1 us - 100 us), and is achieved by modulating the signal on different frequencies / channels in the baseband module without changing the carrier frequency of the local oscillator signal.

[0235] Furthermore, the frequency hopping methods of the first device and the second device can be the same (for example, both are RF frequency hopping or digital frequency hopping), or different (for example, the first device is RF frequency hopping and the second device is digital frequency hopping), which is not limited in the present application.

[0236] In specific implementation, when the difference between the center frequency of the next-hop channel measured by a device (such as the first device or the second device) and the center frequency of the currently working channel exceeds the maximum RF bandwidth supported by the device, the device performs RF frequency hopping; otherwise, the device can perform digital frequency hopping.

[0237] S203. The first device sends a third ranging signal and / or receives a fourth ranging signal on at least one second channel. Correspondingly, the second device receives the third ranging signal and / or sends the fourth ranging signal on at least one second channel.

[0238] It can be understood that at least one second channel is the channel where the first device and the second device are located after performing at least one frequency hop. After the first device and the second device switch to at least one second channel, signal measurement is performed again on at least one second channel. Similarly, after the second device receives the fourth ranging signal, the fourth measurement quantity can be obtained by performing measurement on the fourth ranging signal; and / or, after the first device receives the third ranging signal, the third measurement quantity can be obtained by performing measurement on the third ranging signal.

[0239] Similarly, when the number of channels in at least one second channel is multiple, at least one second channel can be regarded as a channel group, such as a second channel group, and the second channel group corresponds to a different carrier frequency from the first channel group.

[0240] For the sake of convenience in description, in this article, the operation of the first device and the second device performing signal measurement on one type of channel can be regarded as one signal measurement process, and the operation of performing signal measurement on different types of channels can be regarded as different signal measurement processes (for example, S201 and S203 are two signal measurement processes).

[0241] After step S203, the computing device can comprehensively calculate the measurement quantities obtained from the two signal measurements (the first measurement quantity and / or the second measurement quantity, and the third measurement quantity and / or the fourth measurement quantity) to calculate the distance between the first device and the second device. For example, in Figure 1 the scenario shown, the distance of the car key relative to the car. Among them, the computing device can be the first device, or the second device, or other devices, which is not limited in this application. In a possible design, the computing device can be the initiator among the first device and the second device. Correspondingly, if the responder receives and measures the ranging signal, the responder needs to feedback the measurement quantity obtained from the signal measurement to the initiator.

[0242] In the above solution, the first device and the second device perform at least one frequency hop according to the same frequency hopping parameter, and can synchronously perform multiple signal measurements on different channels in a preset order, thereby achieving the technical effect of combining large-bandwidth signal measurements of multiple channels (the bandwidth of the signal measurement is the total bandwidth of at least one first channel and at least one second channel), which can improve the ranging resolution and ranging accuracy.

[0243] It should be noted that the above takes the first device and the second device performing two signal measurement processes as an example. In the specific implementation process, the first device and the second device can also perform more frequency hops, and then perform signal measurement processes on more channels. Finally, the computing device can comprehensively determine the distance between the first device and the second device based on the measurement quantities obtained from all signal measurement processes, further improving the ranging resolution and ranging accuracy.

[0244] In addition, in practical applications, the number of devices for ranging interaction (also referred to as measurement interaction) with the same device is not limited to 1 (for example, there is also a third device for ranging interaction with the first device). For example, in Figure 1 the scenario shown, multiple positioning stations can interact with the car key simultaneously to measure the distance of each positioning station relative to the car key, and then the position of the car key relative to the car can be determined based on the distances of the car key relative to each positioning station. When multiple devices interact with the first device for ranging simultaneously, the interaction process of each device with the first device can refer to the interaction process of the first device and the second device described above, which will not be elaborated here.

[0245] In a possible design, the ranging signals involved in the embodiments of the present application, such as the first ranging signal, the second ranging signal, the third ranging signal, and / or the fourth ranging signal, etc., are orthogonal frequency division multiplexing (Orthogonal Frequency Division Multiplexing, OFDM) signals.

[0246] Among them, OFDM is also known as discrete multi-carrier modulation (Discrete Multi Tone modulation, DMT), which can be regarded as a special case of multi-carrier transmission and has the ability of high-rate transmission. OFDM uses a large number of adjacent orthogonal sub-carriers, and each sub-carrier uses a traditional modulation scheme for low-symbol-rate modulation. OFDM can be regarded as the combination of modulation technology and multiplexing technology.

[0247] In the embodiments of the present application, the OFDM signal may include one or more of the following signals: channel state information reference signal (Channel-State Information-Reference Signal, CSI-RS), sounding reference signal (Sounding Reference Signal, SRS), positioning reference signal (Positioning Rreference Signal, PRS), synchronization signal, etc.

[0248] Among them, CSI-RS is the channel state information reference signal sent by the G node in the communication domain, which is used for other nodes to measure the transmission channel characteristics from the G node to the other node. SRS is the channel sounding signal sent by other nodes (T nodes) received by the G node in the communication domain, which is used for the G node to measure the transmission channel characteristics from other nodes to the G node. PRS is other positioning reference signals based on OFDM modulation designed for ranging. The synchronization signal can be a signal used for time and frequency synchronization in a wireless short-range communication system (such as a vehicle-mounted wireless short-range communication system, specifically, for example, the SparkLink Basic (SLB) standard of the StarFlash Alliance), for example, it is the First Training Signal (FTS) and / or the Second Training Signal (STS). It can be understood that in a wireless short-range communication system, the synchronization signals appear in pairs, that is, two synchronization signals form a group of synchronization signals. In a group of synchronization signals, the OFDM symbol that appears first in the time domain is called FTS, and the OFDM symbol that appears first in the time domain is called STS.

[0249] In a wireless short-range communication system, OFDM signals can be used as communication and ranging signals. Among them, an OFDM signal with a physical bandwidth of about 20 MHz is called a carrier (the channel for transmitting the carrier OFDM signal is called a carrier channel), and the center frequency point (i.e., the DC subcarrier) of the 20 MHz OFDM signal is called the carrier frequency. That is, a carrier consists of 39 consecutive subcarriers, and the 39 subcarriers are sequentially numbered as #0, #1, …, #38 in ascending order of the corresponding frequencies, where the #19 subcarrier is the direct current (DC) subcarrier. Except for the DC subcarrier, the other 38 subcarriers are called effective subcarriers. The G node and the T node may operate on multiple carrier channels, and multiple carrier channels form a carrier channel group (corresponding to a channel group). For the convenience of description, the embodiments of this application will simply refer to the carrier channel as a channel.

[0250] The definition of OFDM frequency hopping is that the DC subcarrier of the OFDM symbol switches from the center frequency point of one channel to the center frequency point of another channel. For the frequency hopping switch of a single carrier, it means that the DC subcarrier switches from one channel to another channel; for the frequency hopping switch of multiple carriers, it means that the channel group corresponding to multiple carriers switches to another channel group.

[0251] Correspondingly, when the number of channels of the at least one first channel and the at least one second channel is single, the first device and the second device switching from the at least one first channel to the at least one second channel is a hopping switch of a single carrier (or a switch of a single channel). For example, the first device and the second device originally operate on channel 1 and switch to channel 2 after at least one hopping. When the number of channels of the at least one first channel and the at least one second channel is multiple, the first device and the second device switching from the at least one first channel to the at least one second channel is a hopping switch of multiple carriers (or a switch of multiple channels or a channel group switch). For example, the first device and the second device originally operate on channels 1 to 4 and switch to channels 5 to 8 after at least one hopping.

[0252] Since the OFDM signal is transmitted using multiple subcarriers, the bandwidth supported by the OFDM signal is generally large (for example, greater than or equal to 20 MHz). The operating bandwidths of different devices may be different, and the stable duration of hopping is also different, resulting in the problem of difficult hopping in broadband systems, specifically manifested as large differences in hopping parameters between different devices and difficult synchronization of hopping without a synchronization protocol for hopping.

[0253] In the embodiment of the present application, during the ranging process, the first device and the second device hop using the same hopping parameters, which can achieve synchronous hopping of the first device and the second device. Through hopping, the technical effect of combining and measuring large-bandwidth signals of multiple channels can be achieved, and the ranging resolution and ranging accuracy can be improved.

[0254] In a possible design, the hopping parameters may include one or more of the following:

[0255] 1. The first hopping stable duration (denoted by T RF ).

[0256] It can be understood that the hopping stable duration refers to the duration for the device to reach a stable state when performing hopping, that is, the duration experienced from the moment when the device starts hopping to the moment when the device reaches a stable state. Among them, the device in the stable state can send and / or receive ranging signals, or can perform an idle channel assessment operation before sending. The duration for the first device to reach a stable state when performing hopping is the hopping stable duration of the first device, and the duration for the second device to reach a stable state when performing hopping is the hopping stable duration of the second device.

[0257] It should be noted that when the device performs RF hopping, the stable duration of the device includes the stable duration of the RF channel and some other operations after the RF channel is stable (such as refreshing of baseband configuration, register configuration, etc.). Since the hopping stable duration accounts for most of the device stable duration, in the embodiment of the present application, the "device stable duration" and the "hopping stable duration" are regarded as the same.

[0258] The first frequency hopping stabilization duration can be understood as the duration required for both the first device and the second device to reach a stable state when the first device and the second device in a communication connection perform frequency hopping. The first frequency hopping stabilization duration is greater than or equal to the frequency hopping stabilization duration of the first device and greater than or equal to the frequency hopping stabilization duration of the second device. In other words, either the first device or the second device can reach a stable state before the first frequency hopping stabilization duration arrives.

[0259] Optionally, the first frequency hopping stabilization duration is the maximum value of the frequency hopping stabilization duration of the first device (denoted by T RF,1 ) and the frequency hopping stabilization duration of the second device (denoted by T RF,2 ), that is, T RF = max{T RF,1 , T RF,2}.

[0260] It can be understood that when multiple devices participate in frequency hopping measurement (such as one master node and multiple slave nodes), T RF is the maximum value of the frequency hopping stabilization durations of multiple devices, that is, T RF = max{T RF,1 , T RF,2 , T RF,3 ,...}.

[0261] Optionally, T RF can be indicated by 16 bits (bit), and the change step size can be 0.5 us (that is, when the value of T RF changes by 1 bit, the corresponding duration changes by 0.5 us), and the indication range is 0.5 us to 32.8 ms.

[0262] Optionally, when the device (the first device or the second device) performs frequency hopping on different frequency bands, the duration to reach a stable state can be different, and the first frequency hopping stabilization duration can be different. Exemplarily, at least one channel belongs to the first frequency band, that is, when the first device performs at least one frequency hopping on the first frequency band, the first frequency hopping stabilization duration is the first duration; at least one channel belongs to the second frequency band, that is, when the first device performs at least one frequency hopping on the second frequency band, the first frequency hopping stabilization duration is the second duration; where the first frequency band is different from the second frequency band, and the first duration is different from the second duration.

[0263] It should be noted that there is no overlap in the frequency domain for the different frequency bands here. Further, each frequency band in the different frequency bands can be used to divide channels or channel groups, so there cannot be overlap either.

[0264] It can be understood that the frequency bands described in this article refer to a relatively large frequency range, and multiple channels or channel groups can be divided on each frequency band. For example, T RF,5.1GHz and T RF,5.8GHz, respectively indicating the duration to reach the steady state when performing frequency hopping in the 5.1 GHz band and the duration to reach the steady state when performing frequency hopping in the 5.8 GHz band. The frequency range of the 5.1 GHz band is, for example, 5150 MHz to 5350 MHz (this frequency range is approximate and there may be actual differences), and the frequency range of the 5.8 GHz band is, for example, 5725 MHz to 5850 MHz (this frequency range is approximate and there may be actual differences).

[0265] Among them, when the device performs frequency hopping in different frequency bands, whether the first frequency hopping steady duration is different can be judged according to whether it is necessary to perform an idle channel assessment on the channel (channel group) after frequency hopping.

[0266] Exemplarily, the "Technical Requirements for Interference Avoidance of Radio Transmitting Equipment in the 2400 MHz, 5100 MHz and 5800 MHz Bands" stipulates that the device needs to perform an idle channel assessment before transmitting in the 5100 MHz band (5.1 GHz band) and the 2400 MHz band (2.4 GHz band); the "Catalog and Technical Requirements for Micro-power Short-distance Radio Transmitting Equipment" stipulates that the 5725 - 5850 MHz band (5.8 GHz band) can perform radio transmission in the micro-power short-distance mode, that is, the device can directly send ranging signals without an idle channel assessment. When frequency hopping is required in different frequency bands, performing an idle channel assessment or directly transmitting ranging signals determines the steady duration of the first device during frequency hopping, that is, the frequency hopping steady duration when an idle channel assessment is required is less than the steady duration when directly transmitting ranging signals is required. When the channel 1 after frequency hopping is in a frequency band where ranging signals can be directly sent (such as the 5.8 GHz band), the frequency hopping steady duration T RF,5.8G can be greater than the steady duration T RF,5.1G when jumping to channel 2 that requires an idle channel assessment (for example, located in the 5.1 GHz band). RF,5.8G For example, T RF,5.1G = 2 ms, T

[0267] In another description, when the device performs frequency hopping in different channels (channel groups), the frequency hopping steady duration of the device can be different. Similarly, when the device performs frequency hopping in different channels (channel groups), whether the first frequency hopping steady duration is different can be judged according to whether it is necessary to perform an idle channel assessment on the channel (channel group) after frequency hopping.

[0268] For example, when the channel (channel group) where the device is located after frequency hopping needs to perform an idle channel assessment, the first device configures the frequency hopping steady duration parameter according to the frequency hopping steady duration T RF,1 ; otherwise, the first device configures the frequency hopping steady duration according to the frequency hopping steady duration T RF,2 , where T RF,1 ≤T RF,2 .

[0269] In specific implementation, the first LBT maximum window period can be used to indicate whether a channel (or channel group) needs to perform an idle channel assessment. For example, setting the LBT maximum window period of the 5.8 GHz band to 0 indicates that the channels (or channel group) included in the 5.8 GHz band do not need to perform an idle channel assessment.

[0270] Adopting different hopping stabilization durations for different operations (such as idle channel assessment or transmitting ranging signals) after frequency hopping can save the frequency hopping waiting duration of the device, improve the efficiency of frequency hopping ranging, and save power consumption.

[0271] In a possible design, the first hopping stabilization duration includes the duration for the device to reach a stable state when performing frequency hopping in each frequency band (or channel or channel group). For example, the specific form of the first hopping stabilization duration can be an array, and each element in the array corresponds to the hopping stabilization duration of the device in a frequency band (or channel or channel group), and different elements correspond to the hopping stabilization durations of the device in different frequency bands (or channels or channel groups).

[0272] Optionally, the durations for the device to reach a stable state when performing frequency hopping in different frequency bands (or channels or channel groups) can be different, and the first hopping stabilization duration can be the maximum value among the durations for the device to reach a stable state when performing frequency hopping in each frequency band (or channel or channel group).

[0273] In this way, it can be ensured that no matter which frequency band (or channel or channel group) the device hops to, the device has entered a stable state at the end of the first hopping stabilization duration. At the same time, the amount of information required to transmit the first hopping stabilization duration can be reduced, saving system resources.

[0274] By setting T RF , the first device and the second device can be synchronized in state during the frequency hopping process (for example, synchronously enter the LBT stage later).

[0275] 2. The first LBT maximum window period (denoted by T LBT,max ).

[0276] It can be understood that when the first device and the second device perform frequency hopping, after switching from one channel (or channel group) to another channel (or channel group), if the other channel (or channel group) is a contention-based channel (or channel group), it is necessary to perform Listen-Before-Talk (LBT) or Clear Channel Assess (CCA) or Carrier Sense Multiple Access to monitor the busy / idle state of the switched channel (or channel group), and then access the channel (or channel group) when the channel (or channel group) is idle to start transmitting and / or receiving ranging signals.

[0277] It is understandable that LBT, CCA, carrier sense multiple access, etc. have the same meaning and all include the meaning of listening to the busy or idle state of the channel. For the convenience of description, hereinafter, "idle channel assessment" will be mainly used as an example for description. Related terms can be replaced with each other. For example, LBT can be replaced with CCA.

[0278] The time (denoted by T LBT ) for a device (such as the first device or the second device) to perform idle channel assessment depends on the busy or idle state of the channel (or channel group) being listened to. That is, when the channel (or channel group) is busy, the device continues to monitor the channel (or channel group); when the channel (or channel group) is idle, the device accesses the channel and starts sending ranging signals.

[0279] The first LBT maximum window period, i.e., T LBT,max , represents the maximum value of the pre-configured T LBT such that when the currently listened-to channel (or channel group) is busy and the time for idle channel assessment reaches T LBT,max , the first device and / or the second device stops performing idle channel assessment on the listened-to channel (or channel group) and continues to perform frequency hopping to switch to another channel (or channel group) and perform idle channel assessment on the other channel (or channel group).

[0280] Optionally, T LBT,max is configured by the master node (G node) in the communication domain where the first device and the second device are located.

[0281] For example, if the first device is the master node, the first LBT maximum window period is configured by the first device. Taking the Figure 1 scenario shown as an example, if the car key is the master node, then T LBT,max can be configured by the car key and notified to each positioning station.

[0282] Optionally, the first LBT maximum window period is greater than or equal to a preset value, and the preset value is, for example, 25 us. Exemplarily, T LBT,max = 3 ms (close to T RF ).

[0283] In specific implementation, T LBT,max can be indicated by 16 bits (bit), and the change step size can be 1 us (that is, for each change of 1 bit in the value of T LBT,max , the corresponding duration changes by 1 us), and the indication range is 1 us to 65.5 ms.

[0284] By setting T LBT,max , it can be ensured that when the channel is busy for a long time, the first device and the second device can perform LBT,maxAt the end, synchronously switch to the next-hop channel, which can avoid the two parties from repeatedly performing idle channel assessment due to long-term channel competition, save resources and device power consumption, and improve the efficiency of hopping measurement.

[0285] 3. The first hopping pattern.

[0286] The first hopping pattern is used to indicate the hopping sequence of the first device and the second device. The first hopping pattern includes the channel number information of at least one first channel and the channel number information of at least one second channel.

[0287] Optionally, the first hopping pattern contains a plurality of channel number information arranged in sequence. Based on the arrangement order of the plurality of channel number information, the hopping sequence of the first device and the second device can be indicated.

[0288] Table 1

[0289]

[0290]

[0291] Exemplarily, referring to Table 1, the channel numbers of the 20 MHz carrier and the corresponding carrier center frequencies are shown. The first hopping pattern can be [41, 125, 209,..., 791], then the hopping sequence of the first device and the second device is: channel 41, channel 125, channel 209,..., channel 791.

[0292] Optionally, when the hopping is multi-carrier switching (i.e., channel group switching), in the first hopping pattern, the channel number information of the channels in the preset positions in each channel group can be indicated, such as the channel number information of the channel with the lowest or highest frequency in each channel group. For example, the hopping sequence of the first device and the second device is: channel group 1 (including three channels, the channel numbers are a, b, c respectively), channel group 2 (including three channels, the channel numbers are d, e, f respectively), channel group 3 (including three channels, the channel numbers are g, h, i respectively), then the first hopping pattern can be expressed as [channel number a, channel number d, channel number g]. In this way, the amount of information required to transmit the first hopping pattern can be reduced, saving system resources. Still taking Table 1 as an example, a single channel group corresponds to a carrier with a bandwidth of 80 MHz. If the channel number of the initial working channel indicated by the first hopping pattern is 41, then the minimum channel number corresponding to the next-hop working channel is 291.

[0293] By setting the first hopping pattern, it can be ensured that the first device and the second device perform hopping according to the same hopping sequence to ensure synchronous hopping of the two ranging parties.

[0294] It should be understood that the above three frequency parameters are only examples, and are not limited to this in actual applications.

[0295] In a possible design, the hopping frequency switching duration T0 = T RF +T LBT . That is, starting from the beginning of the hopping frequency, the first device and / or the second device need to wait for T0 before they can send and / or receive ranging signals on the switched channel (or channel group).

[0296] Taking the first device performing one hopping frequency as an example: The first device switches from at least one first channel to at least one second channel according to the first hopping pattern; after waiting for T RF1 , the first device performs the first idle channel assessment. After the first idle channel assessment for a duration of T LBT1 , if the first device determines that at least one second channel is idle, the first device sends a third ranging signal and / or receives a fourth ranging signal on at least one second channel, where T LBT1 <T LBT,max . The process of the second device performing one hopping frequency is similar to that of the first device and will not be elaborated here.

[0297] Taking the first device performing two hopping frequencies as an example: The first device switches from at least one first channel to at least one third channel according to the first hopping pattern; after waiting for the first hopping frequency stabilization duration T RF2 , the first device performs the second idle channel assessment. After the second idle channel assessment for a duration of T LBT2 , if the first device determines that the idle channel assessment result obtained within the LBT window corresponding to the second idle channel assessment is that at least one third channel is not idle, where T LBT2 = T LBT,max ; after the LBT window corresponding to the second idle channel assessment, that is, after the duration of the first device performing the idle channel assessment reaches T LBT2 (i.e., T LBT,max ), the first device switches from at least one third channel to at least one second channel according to the first hopping pattern. After waiting for the first hopping frequency stabilization duration T RF3 , the first device performs the third idle channel assessment. After the third idle channel assessment for a duration of T LBT3 , if the first device determines that at least one second channel is idle, the first device sends a third ranging signal and / or receives a fourth ranging signal on at least one second channel, where T LBT3 <T LBT,max , and T RF2 may be the same as or different from T RF3 . The process of the second device performing two hopping frequencies is similar to that of the first device and will not be elaborated here.

[0298] It can be understood that if the number of channels in at least one second channel is multiple, the at least one second channel being idle includes some or all of the second channels in the at least one second channel being idle. In other words, as long as there is one second channel idle in the at least one second channel, the first device and the second device can access this channel and then send and / or receive ranging signals on this channel.

[0299] Optionally, after each idle channel assessment, the G node (such as the first device) needs to resend the preamble for the T node (such as the second device) to resynchronize the timing and carrier frequency offset (CFO) to the G node, so as to control the timing deviation t res and f CFO within an acceptable threshold range.

[0300] Exemplarily, refer to Figure 3 , which is a schematic diagram of ranging signal interaction on one channel (group). Taking the stabilization duration of the PLL phase-locked loop of T RF as an example, the G node and / or the T node must wait until T RF ends before starting the idle channel assessment. Within the LBT window, if the channel (group) indicates idle, then start the alternating transmission of ranging signals (referred to as ranging interaction / measurement interaction). Among them, after the initiator (such as the G node) sends the preamble signal and the ranging signal, the responder (such as the T node) sends the ranging signal after a gap (GAP). The process of both sides sending the preamble signal and the ranging signal is one ranging interaction.

[0301] In a possible example, the G node and the T node can perform signal measurement based on the SLB technology. The ranging signal can be composed of a positioning reference signal (PRS), and the frame length containing the ranging signal is at least the length of the wireless frame of the SLB.

[0302] In a possible example, as the sender of the preamble and the first wireless frame, the CCA of the G node can start before T RF ends at T pre because the T node will turn into a stable receiving state at the end of T RF . If the CCA indicates that the channel is idle, the G node can start sending the preamble signal at the end of T RF to save time and improve the ranging efficiency.

[0303] In a possible example, if the hopping stabilization duration of the G node is less than that of the T node, the G node can be in a communication / sleep state before the T node reaches the stable state and make itself reach the stable state at the end of T RF so as to make full use of the T RF time resource.

[0304] In a possible design, the frequency hopping parameters are determined through negotiation between the first device and the second device. The negotiation process may include: the first device sending the frequency hopping measurement information of the first device to the second device; and / or, the first device receiving the frequency hopping measurement information of the second device.

[0305] Example 1: Taking the first device as the initiator and the second device as the responder as an example, see Figure 4A : S401A. The first device sends a ranging request message to the second device, and the ranging request message includes the frequency hopping measurement information of the first device; S402A. The second device sends a ranging response message to the first device, and the ranging response message includes the frequency hopping measurement information of the second device; S403A. The first device determines the frequency hopping parameters based on the frequency hopping measurement information of the first device and the frequency hopping measurement information of the second device, and the first device sends a ranging confirmation message to the second device, and the ranging confirmation message includes the frequency hopping parameters.

[0306] It can be understood that the above S403A is an optional step.

[0307] Example 2: Taking the first device as the initiator and the second device as the responder as an example, see Figure 4B : S401B. The first device sends a ranging request message to the second device, and the ranging request message includes the frequency hopping measurement information of the first device; S402B. The second device determines the frequency hopping parameters based on the frequency hopping measurement information of the first device and the frequency hopping measurement information of the second device, and the second device sends a ranging response message to the first device, and the ranging response message includes the frequency hopping parameters.

[0308] The frequency hopping measurement information of the first device may include one or more of the following:

[0309] 1) The first information, which is used to indicate whether the first device allows channel overlap;

[0310] Specifically, whether the first device supports multi-carrier (i.e., channel group) frequency hopping handover.

[0311] For example, taking the above at least one first channel and at least one second channel as an example, the number of channels of both the at least one first channel and the at least one second channel is multiple. In the case of overlap: some channels in the at least one first channel and the at least one second channel are the same; in the case of non-overlap: there are no same channels in the at least one first channel and the at least one second channel.

[0312] 2) The second information, which is used to indicate the number N of overlapping channels allowed by the first device overlap ;

[0313] Specifically, when the first device supports multi-carrier frequency hopping handover, the number of overlapping channels between different channel groups cannot exceed Noverlap 。

[0314] For example, for a multi - carrier with a bandwidth of B, the carrier overlap range is from B - 20 MHz to B, and the change step size is 20 MHz (that is, for each overlapping channel, the corresponding carrier overlap range changes by a bandwidth of 20 MHz).

[0315] For a single - carrier with a bandwidth of 20 MHz, channel overlap is not allowed (N overlap = 0);

[0316] For a multi - carrier with a bandwidth of 40 MHz, only half (20 MHz) of the bandwidth is allowed to overlap (N overlap = 1);

[0317] For a multi - carrier with a bandwidth of 80 MHz, the bandwidth allowed to overlap is from 20 MHz to 60 MHz (N overlap = 1 or 2 or 3).

[0318] For example, refer to Figure 5 , a possible frequency - hopping schematic diagram provided by an embodiment of this application. In Figure 5 the scenario shown, the bandwidth of 20 MHz overlaps between two adjacent channel groups (N overlap = 1).

[0319] 3) The third information, used to indicate the second frequency - hopping pattern expected by the first device;

[0320] For example, the first device can pre - determine the second frequency - hopping pattern according to its own frequency - hopping capability information and use it as the second frequency - hopping pattern expected by the first device.

[0321] 4) The fourth information, used to indicate the frequency - hopping stable duration of the first device;

[0322] That is, the duration from the moment when the first device performs frequency - hopping to the moment when the first device reaches a stable state.

[0323] 5) The fifth information, used to indicate the second maximum LBT window period expected by the first device.

[0324] The frequency - hopping measurement information of the second device may include one or more of the following:

[0325] 1) The sixth information, used to indicate whether the second device allows channel overlap, which can refer to the introduction of the first information.

[0326] 2) The seventh information, used to indicate the number of overlapping channels allowed by the second device, which can refer to the introduction of the second information;

[0327] 3) The eighth information, used to indicate the third frequency - hopping pattern expected by the second device, which can refer to the introduction of the third information;

[0328] 4) The ninth piece of information, which is used to indicate the hopping stability duration of the second device, can refer to the introduction of the fourth piece of information;

[0329] 5) The tenth piece of information, which is used to indicate the third maximum LBT window period expected by the second device.

[0330] It should be understood that the above several pieces of hopping measurement information are only examples rather than limitations, and actually other information may also be included.

[0331] The following list several examples of the first device or the second device determining hopping parameters according to the hopping measurement information of the first device and the hopping measurement information of the second device:

[0332] Example 1: The first device or the second device determines the first hopping pattern according to the first piece of information, the second piece of information, the sixth piece of information and the seventh piece of information.

[0333] For example, when both the first device and the second device allow channel overlap, there may be overlapping channels between the channel groups corresponding to different hopping positions in the first hopping pattern.

[0334] For example, when both the first device and the second device allow channel overlap, the number of overlapping channels in the first hopping pattern cannot exceed the minimum value of the number of overlapping channels allowed by the first device and the number of overlapping channels allowed by the second device.

[0335] Example 2: The first device or the second device determines the hopping stability duration according to the fourth piece of information and the ninth piece of information.

[0336] For example, the first hopping stability duration is the maximum value of the hopping stability duration of the first device and the hopping stability duration of the second device.

[0337] Example 3: The first device or the second device determines the first maximum LBT window period according to the fifth piece of information and / or the tenth piece of information.

[0338] For example, when the first device is a G node, the first maximum LBT window period is the second maximum LBT window period expected by the first device.

[0339] For example, when the second device is a G node, the first maximum LBT window period is the third maximum LBT window period expected by the second device.

[0340] For example, the first maximum LBT window period is the maximum value or the minimum value of the second maximum LBT window period and the third maximum LBT window period.

[0341] Through the above design method, the first device and the second device determine the frequency hopping parameters through negotiation, which can ensure that the determined frequency hopping parameters can be well supported by the first device and the second device, guarantee the synchronization state of frequency hopping ranging between the first device and the second device (such as channel switching, waiting for the same device stabilization duration and the synchronous end of the idle channel evaluation period, etc.), and enhance the reliability of ranging.

[0342] In a possible design, the first device determines the frequency hopping measurement information of the first device, where the frequency hopping measurement information of the first device is determined according to the frequency hopping capability information of the first device, the frequency hopping capability information of the second device, or the pre-configured or defined frequency hopping capability information. The second device determines the frequency hopping measurement information of the second device, where the frequency hopping measurement information of the second device is determined according to the frequency hopping capability information of the first device, the frequency hopping capability information of the second device, or the pre-configured or defined frequency hopping capability information.

[0343] In a possible implementation, the frequency hopping capability information of the first device and the frequency hopping capability information of the second device are pre-configured or defined. For example, the frequency hopping capability information of each device in the same communication domain is pre-configured and informed to other devices in the communication domain, or for example, the frequency hopping capability information of each device in the same communication domain is configured to the same value. Therefore, the first device can directly determine the frequency hopping measurement information of the first device according to the pre-configured or defined frequency hopping capability information, and the second device can directly determine the frequency hopping measurement information of the second device according to the pre-configured or defined frequency hopping capability information. In this way, the efficiency of the first device and the second device to obtain each other's frequency hopping capability information can be improved, and thus the ranging efficiency can be improved.

[0344] In another possible implementation, before the first device and the second device negotiate the frequency hopping parameters (i.e., before exchanging the frequency hopping measurement information), the first device and the second device can also first exchange the frequency hopping capability information, so that the first device and / or the second device can determine its own frequency hopping measurement information according to the frequency hopping capability information of both parties. For example, the first device sends the frequency hopping capability information of the first device to the second device, and the second device receives the frequency hopping capability information of the first device, and then the second device can determine the frequency hopping measurement information of the second device according to the frequency hopping capability information of the first device and the frequency hopping capability information of the second device; and / or, the second device sends the frequency hopping capability information of the second device to the first device, and the first device receives the frequency hopping capability information of the second device, and then the first device can determine the frequency hopping measurement information of the first device according to the frequency hopping capability information of the first device and the frequency hopping capability information of the second device. In this way, it can be ensured that the first device and the second device accurately obtain each other's frequency hopping capability information, and the applicability of the solution can be improved.

[0345] In specific implementation, the first device and the second device can exchange hopping frequency capability information in an associated state or an unassociated state. Among them, in the associated state, for example, after the first device and the second device complete operations such as authentication and association and establish a reliable connection, the first device and the second device can exchange hopping frequency capability information based on a ranging request message and a ranging response message. Among them, in the unassociated state, for example, when the first device and the second device have not performed an association operation and have not established a connection, the first device and the second device can broadcast their own hopping frequency capability information through a system broadcast message, so that devices (including the second device) within the preset range of the first device can receive the hopping frequency capability information of the first device broadcast by the first device. Additionally, the hopping frequency parameters can also be broadcast through the system broadcast message, so as to enable the two devices to complete ranging in the unassociated state.

[0346] The hopping frequency capability information of the first device may include one or more of the following:

[0347] 1) Whether the first device supports hopping frequency;

[0348] 2) The frequency band information supported by the first device for hopping frequency;

[0349] For example, it includes the available frequency bands supported for hopping frequency ranging. For example, if the first device supports the 5.1 GHz frequency band, it can indicate the hopping frequency ranging capability of the 5150 - 5350 MHz frequency band; if the first device supports the 5.8 GHz frequency band, it can indicate the hopping frequency ranging capability of the 5725 - 5850 MHz frequency band.

[0350] 3) The maximum bandwidth supported by the first device for transmitting and / or receiving ranging signals;

[0351] That is, the working bandwidth of the first device, such as 20 MHz to 200 MHz. The change step is 20 MHz, and it can be specifically determined by the maximum bandwidth of the RF chain of the first device.

[0352] 4) The preset stable duration when the first device performs hopping frequency;

[0353] This duration is defined as the duration when the entire device (including the RF chain and the baseband processing unit) reaches a stable transmission state or a receiving state when the RF chain with the maximum bandwidth supported by the first device for transmitting and / or receiving ranging signals needs to switch the working frequency point. This value can be determined according to the design parameters and / or test parameters of the first device.

[0354] It can be understood that the hopping frequency stable duration of the first device indicated by the above fourth piece of information and the preset stable duration when the first device performs hopping frequency here can be the same or different.

[0355] For example, due to the change in the device temperature, the temperature of the first device during the hopping capability information interaction phase is different from the temperature of the first device during the hopping parameter negotiation phase. Therefore, the preset stable duration when the first device performs hopping obtained during the hopping capability information interaction phase can be different from the preset stable duration when the first device performs hopping obtained during the hopping parameter negotiation phase.

[0356] For example, due to the change in the operating frequency band of the device, the operating frequency band of the first device during the hopping capability information interaction phase is different from the operating frequency band of the first device during the hopping parameter negotiation phase. Therefore, the preset stable duration when the first device performs hopping obtained during the hopping capability information interaction phase can be different from the preset stable duration when the first device performs hopping obtained during the hopping parameter negotiation phase.

[0357] 5) Whether the preset stable duration when the first device performs hopping is different in different frequency bands.

[0358] Exemplarily, for the 5.1 GHz frequency band, for example, the stable duration is 1 ms, and for the 5.8 GHz frequency band, the stable duration is 2 ms. This is because the first device needs to perform a clear channel assessment first at 5.1 GHz, while it does not need to perform a clear channel assessment when using micro-power transmission at 5.8 GHz. When the first device needs to perform a clear channel assessment operation on a channel, the first device can adopt a shorter stable duration when hopping to this channel; otherwise, when the first device does not need to perform a clear channel assessment operation on a channel and directly transmits a ranging signal, the first device should adopt a longer stable duration when hopping to this channel.

[0359] Similarly, the hopping capability information of the second device includes one or more of the following:

[0360] 1) Whether the second device supports hopping;

[0361] 2) The frequency band information supported by the second device for hopping;

[0362] 3) The maximum bandwidth supported by the second device for transmitting and / or receiving ranging signals;

[0363] 4) The preset stable duration when the second device performs hopping;

[0364] 5) Whether the preset stable duration when the second device performs hopping is different in different frequency bands.

[0365] The above hopping capability information of the second device can refer to the detailed introduction of the hopping capability information of the first device, which will not be elaborated here.

[0366] Taking the example that the first device determines the hopping measurement information of the first device according to the hopping capability information of the first device and the hopping capability information of the second device: when both the first device and the second device support hopping, the first device can determine the first information (i.e., whether the first device allows channel overlap), the second information (i.e., the number of overlapping channels allowed by the first device), and / or the third information (i.e., the second hopping pattern expected by the first device) according to the frequency band information for hopping supported by the first device and the frequency band information for hopping supported by the second device, the maximum bandwidth supported by the first device for transmitting and / or receiving ranging signals, the maximum bandwidth supported by the second device for transmitting and / or receiving ranging signals, etc.

[0367] Through the above design method, it can be ensured that during the negotiation process, the hopping measurement information of the first device can be supported by the hopping capability of the first device, and the hopping measurement information of the second device can be supported by the hopping capability of the second device, improving the reliability of the solution.

[0368] In a possible design, the first hopping pattern further includes the channel number information of the initial working channel, and the last hopping channel indicated by the first hopping pattern is the initial working channel. The method further includes: the first device and the second device start from the initial working channel and perform one or more hops according to the hopping order indicated by the first hopping pattern, and when performing the last hop, return to the initial working channel.

[0369] Optionally, the initial working channel is the channel (or channel group) with the highest frequency in the first hopping pattern.

[0370] For example, referring to Figure 5 , which is a possible hopping schematic diagram provided by the embodiments of the present application. Figure 5 In it, the G node and the T node perform ranging interactions on channels 3, 2, and 1 in sequence through hopping, and return to channel 3 during the last hop. The responder among the G node and the T node feeds back the channel state information to the initiator on channel 3.

[0371] In this design method, the device starts hopping from the initial working channel and returns to the initial working channel during the last hop, which can not only ensure that the device performs ranging on different channels during the signal measurement process to achieve the measurement effect of large bandwidth, but also ensure that the device returns to the initial working channel after the ranging is completed to ensure the subsequent communication performance of the device.

[0372] In a possible design, the working bandwidth of the device acting as the G node among the first device and the second device is greater than the working bandwidth of the device acting as the T node. In this case, the hopping switching duration T0 can only depend on the hopping capability of the T node and has nothing to do with the G node.

[0373] For example, referring to Figure 6, which is another possible frequency hopping schematic diagram provided by the embodiments of the present application. Figure 6 In it, the G node and the T node perform ranging interactions on channels 3, 2, and 1 in sequence through frequency hopping, and return to channel 3 in the last frequency hopping. The working bandwidth of the G node is 200 MHz, and the working bandwidth of the T node is 80 MHz. After the G node and the T node complete the negotiation of the frequency hopping parameters, the T node (80 MHz) needs to perform at least 2 frequency hops to complete the measurement of the entire 200 MHz bandwidth, while the G node does not need RF frequency hopping and only needs digital frequency hopping to complete the ranging interaction with the T node. Among them, the frequency hopping switching duration T0: depends on the switching ability of the T node and has nothing to do with the G node.

[0374] Since the G node continuously operates on a large bandwidth (such as 200 MHz), it ensures the availability of each small bandwidth (such as each 80 MHz) on the large bandwidth. On the one hand, it can ensure the frequency hopping efficiency of the G node (because the G node does not need to perform RF frequency hopping), and on the other hand, it can also enable the T node to not need to perform channel idle evaluation (because during the access period of the G node, there is no situation of LBT failure in the channel), which can improve the efficiency of the ranging interaction.

[0375] To better illustrate the effects of the technical solutions of the present application, a set of experimental data is listed below.

[0376] See Figure 7 , which is a schematic diagram of the simulation results of frequency hopping ranging for OFDM signals based on a 20 MHz bandwidth. Among them, the G node and the T node use a 20 MHz single carrier and use a ranging signal based on OFDM symbols for frequency hopping ranging. By switching and measuring on multiple carrier channels through the OFDM signal (20 MHz) and feeding back the frequency domain channel state information (CSI) of the measurements of each carrier channel, the measurement results of multiple carriers can be coherently combined, enabling two small bandwidth devices with only a 20 MHz working bandwidth to quickly measure a bandwidth of 200 MHz through multiple frequency hopping measurements, achieving a ranging performance close to that of a 200 MHz large bandwidth, and the accuracy can reach the level of more than 10 centimeters (CDF 80%). In Figure 7 In the given example, "200 MHz" represents the ranging cumulative distribution function (CDF) curve of measuring the 200 MHz bandwidth channel without frequency hopping at one time; "20 MHz x 10" represents the CDF curve of a pair of G node and T node with a 20 MHz working bandwidth completing the 200 MHz bandwidth through 10 frequency hops. The channel model in this simulation uses a 9-path Rayleigh fading model (i.e., Model-B of the 802.11ax channel model), and a total of 1000 simulations are performed.

[0377] It should be understood that the various embodiments in the embodiments of the present application can be combined with each other to achieve different technical effects.

[0378] The method provided by the embodiments of the present application has been introduced above in conjunction with the accompanying drawings. The apparatus provided by the embodiments of the present application will be introduced below in conjunction with the accompanying drawings.

[0379] Based on the same inventive concept, the embodiments of the present application provide a ranging apparatus, which includes modules / units / means for performing the methods executed by the first device and / or the second device in the above method embodiments. These modules / units / means can be implemented by software, or by hardware, or by hardware executing corresponding software.

[0380] Exemplarily, referring to Figure 8 , the apparatus may include a transceiver unit 801 and a processing unit 802.

[0381] When the apparatus is the above-mentioned first device or is located in the above-mentioned first device, the transceiver unit 801 is configured to send a first ranging signal and / or receive a second ranging signal on at least one first channel;

[0382] The processing unit 802 is configured to perform at least one frequency hopping according to the frequency hopping parameters;

[0383] The transceiver unit 801 is further configured to send a third ranging signal and / or receive a fourth ranging signal on at least one second channel.

[0384] When the apparatus is the above-mentioned second device or is located in the above-mentioned second device, the transceiver unit 801 is configured to receive a first ranging signal and / or send a second ranging signal on at least one first channel; the processing unit 802 is configured to perform at least one frequency hopping according to the frequency hopping parameters; the transceiver unit 801 is further configured to receive a third ranging signal and / or send a fourth ranging signal on at least one second channel.

[0385] It should be understood that all relevant contents of the steps involved in the above method embodiments can be cited in the function descriptions of the corresponding functional modules, and will not be elaborated here.

[0386] In specific implementation, the above apparatus may have various product forms. Several possible product forms are introduced below.

[0387] Referring to Figure 9 , the embodiments of the present application further provide a ranging apparatus, which includes at least one processor 901 and an interface circuit 902; the interface circuit 902 is configured to receive signals from other devices outside the apparatus and send or receive them to / from the processor 901 or send the signals from the processor 901 to other communication devices outside the apparatus, and the processor 901 is configured to implement the methods executed by the above-mentioned first device or second device through logic circuits or by executing code instructions.

[0388] It should be understood that the processor mentioned in the embodiments of the present application can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented by software, the processor can be a general-purpose processor that implements by reading software code stored in a memory.

[0389] Exemplarily, the processor can be a Central Processing Unit (CPU), or can also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0390] It should be understood that the memory mentioned in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM) or a flash memory. The volatile memory can be a Random Access Memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and DirectRambus RAM (DR RAM).

[0391] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) can be integrated in the processor.

[0392] It should be noted that the memory described herein is intended to include, but not limited to, these and any other suitable types of memory.

[0393] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium, including a program or instruction, which, when running on a computer, causes the method executed by the second device or the first device as described above to be executed.

[0394] Based on the same inventive concept, an embodiment of the present application further provides a computer program product containing instructions. The computer program product stores instructions, which, when running on a computer, cause the method executed by the second device or the first device as described above to be executed.

[0395] Based on the same inventive concept, an embodiment of the present application further provides a ranging system, including the second device and the first device as described above.

[0396] Based on the same inventive concept, an embodiment of the present application further provides a terminal device, including the second device or the first device described above. Among them, the terminal device can be a vehicle, a drone, a helicopter, an airplane, a ship, an intelligent transportation device, or a smart home device, etc. The specific form of the terminal device in the embodiment of the present application is not limited.

[0397] In the present application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. In the written description of the present application, the character " / " generally represents an "or" relationship between the front and rear associated objects; in the formula of the present application, the character " / " represents a "division" relationship between the front and rear associated objects. "Including at least one of A, B, and C" can represent: including A; including B; including C; including A and B; including A and C; including B and C; including A, B, and C.

[0398] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0399] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks.

[0400] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that realizes the functions specified in Figure 1 one or more of the flows Figure 1 or blocks.

Claims

1. A ranging method, characterized in that, Including: The first device transmits a first ranging signal and / or receives a second ranging signal on at least one first channel; The first device performs at least one frequency hop according to frequency hopping parameters, and switches from the at least one first channel to at least one second channel; The first device transmits a third ranging signal and / or receives a fourth ranging signal on the at least one second channel.

2. The method according to claim 1, wherein The first ranging signal, the second ranging signal, the third ranging signal, and / or the fourth ranging signal is an orthogonal frequency division multiplexing (OFDM) signal.

3. The method according to claim 2, wherein The OFDM signal includes at least one of the following signals: channel state information reference signal (CSI-RS), sounding reference signal (SRS), first training signal (FTS), second training signal (STS), positioning reference signal (PRS).

4. The method according to any one of claims 1 to 3, characterized in that The frequency hopping parameters include one or more of the following: The first frequency hopping stable duration; The first LBT maximum window period; The first frequency hopping pattern, which is used to indicate the frequency hopping order of the first device and the second device, and the first frequency hopping pattern includes the channel number information of the at least one first channel and the channel number information of the at least one second channel.

5. The method according to claim 4, wherein The at least one channel belongs to the first frequency band, and the first frequency hopping stable duration is the first duration; or, The at least one channel belongs to the second frequency band, and the first frequency hopping stable duration is the second duration; Wherein, the first frequency band is different from the second frequency band, there is no overlap between the first frequency band and the second frequency band in the frequency domain, and the first duration is different from the second duration.

6. The method according to claim 4 or 5, characterized in that, The first LBT maximum window period is configured for the first device.

7. The method according to any one of claims 4 to 6, characterized in that, The first frequency hopping stable duration is the maximum value of the frequency hopping stable duration of the first device and the frequency hopping stable duration of the second device, and the frequency hopping stable duration is the duration for the device to reach a stable state when performing frequency hopping.

8. The method according to any one of claims 4 to 7, characterized in that The first frequency hopping pattern is negotiated and determined by the first device and the second device.

9. The method according to any one of claims 4 to 8, characterized in that, The number of channels included in the at least one second channel is multiple; the channel number information of the at least one second channel is: the channel number information of the channel with the lowest or highest frequency in the at least one second channel.

10. The method according to any one of claims 4-9, characterized in that, The first device performs at least one frequency hop according to the frequency hopping parameters, including: The first device switches from the at least one first channel to the at least one second channel according to the first frequency hopping pattern; After waiting for the first frequency hopping stable duration, the first device performs a first idle channel assessment; The first device transmits a third ranging signal and / or receives a fourth ranging signal on at least one second channel, including: When the first device determines that the at least one second channel is idle, the first device transmits the third ranging signal and / or receives the fourth ranging signal on the at least one second channel.

11. The method according to any one of claims 4 to 7, characterized in that, The first frequency hopping pattern further includes the channel number information of at least one third channel; The first device performs at least one frequency hop according to the frequency hopping parameters, including: The first device switches from the at least one first channel to the at least one third channel according to the first frequency hopping pattern; After waiting for the first frequency hopping stabilization duration, the first device performs a second idle channel assessment; When the first device determines that the idle channel assessment result obtained within the LBT window corresponding to the second idle channel assessment is that at least one of the third channels is not idle, after the end of the LBT window corresponding to the second idle channel assessment, the first device switches from at least one of the third channels to at least one of the second channels according to the first frequency hopping pattern; wherein, the duration of the LBT window corresponding to the second idle channel assessment is equal to the first maximum LBT window period; After waiting for the first frequency hopping stabilization duration, the first device performs a third idle channel assessment; The first device sends a third ranging signal and / or receives a fourth ranging signal on at least one of the second channels, including: When the first device determines that at least one of the second channels is idle, the first device sends the third ranging signal and / or receives the fourth ranging signal on at least one of the second channels.

12. The method according to any one of claims 4 to 11, characterized in that, The method further includes: The first device sends the frequency hopping measurement information of the first device to the second device; and / or, The first device receives the frequency hopping measurement information of the second device.

13. The method according to claim 12, wherein The frequency hopping measurement information of the first device includes one or more of the following: The first information, which is used to indicate whether the first device allows channel overlap; The second information, which is used to indicate the number of overlapping channels allowed by the first device; The third information, which is used to indicate the second frequency hopping pattern expected by the first device; The fourth information, which is used to indicate the frequency hopping stabilization duration of the first device; The fifth information, which is used to indicate the second maximum LBT window period expected by the first device; The frequency hopping measurement information of the second device includes one or more of the following: The sixth information, which is used to indicate whether the second device allows channel overlap; The seventh information, which is used to indicate the number of overlapping channels allowed by the second device; The eighth information, which is used to indicate the third frequency hopping pattern expected by the second device; The ninth information, which is used to indicate the frequency hopping stabilization duration of the second device; The tenth information, which is used to indicate the third maximum LBT window period expected by the second device.

14. The method according to claim 12 or 13, characterized in that, The method further includes: The first device determines the frequency hopping measurement information of the first device, where the frequency hopping measurement information is determined according to the frequency hopping capability information of the first device, the frequency hopping capability information of the second device, or pre-configured or defined frequency hopping capability information.

15. The method according to claim 14, wherein The method further includes: The first device sends the frequency hopping capability information of the first device to the second device; and / or, The first device receives the frequency hopping capability information of the second device.

16. The method according to claim 14 or 15, characterized in that The frequency hopping capability information of the first device includes one or more of the following: Whether the first device supports frequency hopping; The frequency band information supported by the first device for frequency hopping; The maximum bandwidth supported by the first device for sending and / or receiving ranging signals; The preset stabilization duration when the first device performs frequency hopping; Whether the preset stabilization duration when the first device performs frequency hopping is different in different frequency bands; The frequency hopping capability information of the second device includes one or more of the following: Whether the second device supports frequency hopping; The frequency band information supported by the second device for frequency hopping; The maximum bandwidth supported by the second device for transmitting and / or receiving ranging signals; The preset stable duration when the second device performs frequency hopping; Whether the preset stable duration when the second device performs frequency hopping is different in different frequency bands.

17. The method according to any one of claims 4 to 16, characterized in that, The first frequency hopping pattern further includes the channel number information of the initial working channel; the method further includes: The first device starts frequency hopping from the initial working channel, where the last hopping channel indicated by the first frequency hopping pattern is the initial working channel.

18. A ranging method, characterized in that, Including: The second device receives the first ranging signal and / or transmits the second ranging signal on at least one first channel; The second device performs at least one frequency hopping according to the frequency hopping parameters and switches from the at least one first channel to at least one second channel; The second device receives the third ranging signal and / or transmits the fourth ranging signal on the at least one second channel.

19. A ranging device, characterized in that, Including: A transceiver unit, configured to transmit the first ranging signal and / or receive the second ranging signal on at least one first channel; A processing unit, configured to perform at least one frequency hopping according to the frequency hopping parameters and switch from the at least one first channel to at least one second channel; The transceiver unit is further configured to transmit the third ranging signal and / or receive the fourth ranging signal on the at least one second channel.

20. A ranging device, characterized in that, Including: A transceiver unit, configured to receive the first ranging signal and / or transmit the second ranging signal on at least one first channel; A processing unit, configured to perform at least one frequency hopping according to the frequency hopping parameters and switch from the at least one first channel to at least one second channel; The transceiver unit is further configured to receive the third ranging signal and / or transmit the fourth ranging signal on the at least one second channel.

21. A ranging device, characterized in that, Including: At least one processor and an interface circuit; The interface circuit is configured to receive signals from other devices outside the device and send or receive signals to or from the processor, or send signals from the processor to other devices outside the device. The processor is configured to implement the method according to any one of claims 1-17 through logic circuits or by executing code instructions, or to implement the method according to claim 18.

22. A computer-readable storage medium, characterized in that A computer program or instruction is stored in the storage medium. When the computer program or instruction is executed by the communication device, the method according to any one of claims 1-17 is implemented, or the method according to claim 18 is implemented.

23. A computer program product, characterized in that, Instructions are stored in the computer program product. When it runs on a computer, the computer is caused to execute the method according to any one of claims 1-17, or to execute the method according to claim 18.

24. A ranging system, characterized in that, Including: A first device, configured to execute the method according to any one of claims 1-17; A second device, configured to execute the method according to claim 18.

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