Measuring method and measuring device

Abstract

The invention provides a method for measuring distance in the communication field and a related device. In the technical scheme provided by the invention, the two devices respectively acquire the interval between the time when the two devices send the ranging symbols and the time when the two devices receive the ranging symbols sent by the opposite side, and the distance between the two devices is determined based on the difference value between the two time intervals. In the technical scheme of the invention, the obtained time interval is determined according to the receiving time and the sending time of the ranging symbol, so that the accuracy of the time interval can be improved, and the accuracy of the measured distance can be improved.

Description

[0001] This application is a divisional application, the original application number is 202280095480.7, the original application date is October 11, 2022, the original application name is "measurement method and measurement device", and the entire contents of the original application are incorporated herein by reference. TECHNICAL FIELD

[0002] Embodiments of the present application relate to the field of communication, in particular to a measurement method and a measurement device. BACKGROUND

[0003] In many scenarios in the field of communication, there is a need to measure the distance between communication devices to determine the distance between objects associated with the communication devices. For example, in an indoor positioning scenario, the distance between communication devices needs to be measured to realize the positioning of devices associated with the devices; for another example, in a keyless entry and start scenario, the distance between a car key and a vehicle needs to be measured; for yet another example, in asset management, logistics and other scenarios, the distance between objects also needs to be measured.

[0004] In existing measurement methods, the distance between devices is determined based on the transmission time and reception time of subframes transmitted between devices. The length of a subframe is 1 millisecond. In many scenarios, this measurement method cannot meet the requirements of measurement accuracy in many scenarios. SUMMARY

[0005] To solve the technical problem of inaccurate distance measurement between devices, the present application proposes a measurement method, a measurement device, a measurement device, a computer readable storage medium and a computer program product, etc. to improve the measurement accuracy of the distance between devices.

[0006] In a first aspect, the present application proposes a measurement method. The method comprises: a first device sending a first symbol; the first device receiving a second symbol from a second device, the first symbol and the second symbol being carried in the same radio frame or different radio frames; the first device determining a first time difference, the first time difference being the time interval between a first time when the first device sends the first symbol and a second time when the first device receives the second symbol, the first time difference being used to determine the distance between the first device and the second device.

[0007] In the method, the first symbol and the second symbol can be referred to as ranging symbols.

[0008] The first symbol sent by the first device can be one or more, and the second symbol sent by the second device can be one or more.

[0009] The first device can be a master node, and the second device can be a slave node; or the first device can be a slave node, and the second device can be a master node. The master node can also be referred to as a management node, which can be referred to as a G node; the slave node can be managed by the management node, which can be referred to as a T node.

[0010] When the first device is a master node and the second device is a slave node, the first symbol can be referred to as a G-link ranging symbol, and the second symbol can be referred to as a T-link ranging symbol. When the first device is a slave node and the second device is a master node, the first symbol can be referred to as a T-link ranging symbol, and the second symbol can be referred to as a G-link ranging symbol.

[0011] In the method, the order of the first device sending the first symbol and the first device receiving the second symbol is not limited, that is, the order of the first time and the second time is not limited. In other words, the first device can first send the first symbol and then receive the second symbol, or the first device can first receive the second symbol and then send the first symbol.

[0012] In the method, compared with the interval between the sending time and the receiving time of a wireless frame, because the first time difference is the interval between the sending time and the receiving time of a ranging symbol, the first time difference can more accurately indicate the transmission time of signals between devices, and therefore a more accurate distance between devices can be determined based on the first time difference.

[0013] In some implementations, the method can further include that the first device receives first time information from the second device, the first time information being used to determine a second time difference, the second time difference being a time interval between a third time at which the second device receives the first symbol and a fourth time at which the second device sends the second symbol; and the first device determines a distance between the first device and the second device according to the first time difference and the second time difference.

[0014] That is, after the second device determines the third time at which the second device receives the first symbol and the fourth time at which the second device sends the second symbol, the second device sends the second time information to the first device so that the first device can learn the third time and the fourth time and determine the second time difference, and the first device determines the distance between the first device and the second device based on the first time difference and the second time difference.

[0015] In the implementation, the order of the first device receiving the second time information and the first device determining the first time difference is not limited.

[0016] In some implementations, the method can further include that the first device sends time information to the second device, the time information being used to determine the first time difference, the first time difference being a time interval between a first time at which the first device sends the first symbol and a second time at which the first device receives the second symbol.

[0017] In the method, the first device sends the time information used to determine the first time difference to the second device, so that the second device can determine the distance between the first device and the second device based on the first time difference and the second time difference.

[0018] The implementation manner does not limit the order of receiving the second time information by the first device and determining the first time difference by the first device.

[0019] In some possible implementation manners, the first symbol and / or the second symbol are generated based on a ZC sequence, and the ZC sequence is generated in the following manner:

[0020]

[0021] wherein n represents a subcarrier sequence number, u is a preset value, and d(n) represents a ZC sequence on the nth subcarrier.

[0022] In the implementation manner, u is optionally any integer in a to b, wherein a is a positive integer greater than 1, b is a positive integer less than 39, and a is less than b.

[0023] In some possible implementation manners, the first symbol can be carried in resources in a radio frame for transmitting G-link symbols and / or SG symbols, and the second symbol can be carried in resources in the radio frame for transmitting ST symbols and / or T-link symbols.

[0024] For example, when the first device is a master node and the second device is a slave node, the first symbol can be carried in resources in a radio frame for transmitting G-link symbols and / or SG symbols, and the second symbol can be carried in resources in the radio frame for transmitting ST symbols and / or T-link symbols.

[0025] Optionally, the first symbol can be carried in all or part of resources in a radio frame for transmitting G-link symbols. If the first symbol is carried in part of the resources in the radio frame for transmitting G-link symbols, the radio frame can also include G-link symbols.

[0026] Optionally, the second symbol can be carried in all or part of resources in a radio frame for transmitting T-link symbols. If the second symbol is carried in part of the resources in the radio frame for transmitting T-link symbols, the radio frame can also include T-link symbols.

[0027] In some other possible implementation manners, the second symbol can be carried in resources in a radio frame for transmitting G-link symbols and / or SG symbols, and the first symbol can be carried in resources in the radio frame for transmitting ST symbols and / or T-link symbols.

[0028] For example, when the second device is a master node and the first device is a slave node, the second symbol can be carried in resources in a radio frame for transmitting G-link symbols and / or SG symbols, and the first symbol can be carried in resources in the radio frame for transmitting ST symbols and / or T-link symbols.

[0029] Optionally, the second symbol can be carried in all or part of the resources in the radio frame for transmitting the G-link symbol. If the second symbol is carried in part of the resources in the radio frame for transmitting the G-link symbol, the radio frame can also contain the T-link symbol.

[0030] Optionally, the first symbol can be carried in all or part of the resources in the radio frame for transmitting the T-link symbol. If the first symbol is carried in part of the resources in the radio frame for transmitting the T-link symbol, the radio frame can also contain the G-link symbol.

[0031] In some implementations, there can be a GAP between the first symbol and the second symbol.

[0032] For example, when the first symbol and the second symbol are carried in the same radio frame, the first symbol is carried in the resources in the radio frame for transmitting the G-link symbol and / or the SG symbol, and the second symbol is carried in the resources in the radio frame for transmitting the T-link symbol, there is a GAP between the first symbol and the second symbol.

[0033] For another example, when the first symbol and the second symbol are carried in the same radio frame, the first symbol is carried in the resources in the radio frame for transmitting the T-link symbol and / or the ST symbol, and the second symbol is carried in the resources in the radio frame for transmitting the SG symbol and / or the G-link symbol, there is a GAP between the first symbol and the second symbol.

[0034] For another example, when the first symbol is carried in the resources in the first radio frame for transmitting the T-link symbol, the second symbol is carried in the resources in the second radio frame for transmitting the G-link symbol, and the second radio frame is adjacent to and after the first radio frame, there is a GAP between the first symbol and the second symbol.

[0035] For another example, when the second symbol is carried in the resources in the first radio frame for transmitting the T-link symbol, the first symbol is carried in the resources in the second radio frame for transmitting the G-link symbol, and the second radio frame is adjacent to and after the first radio frame, there is a GAP between the first symbol and the second symbol.

[0036] In some possible implementations, when the first device receives the first time information for determining the second time difference from the second device and determines the distance between the first device and the second device based on the first time difference and the second time difference, the method further includes that the first device receives measurement information from the second device, the measurement information being used to indicate a measurement interaction serial number corresponding to the first time information.

[0037] The measurement interaction sequence number is used to indicate the sequence number of the operation of the first device and the second device in the interaction of the first time information in this interaction.

[0038] In this way, the first device can accurately associate the time information obtained from the second device with the time difference measured by the first device with the same measurement sequence number, so as to obtain an accurate distance.

[0039] In some possible implementations, when the first device sends the first time information used to determine the first time difference to the second device to facilitate the second device to determine the distance between the first device and the second device based on the first time difference and the second time difference, the method further includes: the first device sends measurement information to the second device, the measurement information being used to indicate a measurement sequence number corresponding to the first time information.

[0040] The measurement sequence number is used to indicate the sequence number of the operation of the first device and the second device in the interaction of the first time information in this interaction.

[0041] In this way, the second device can accurately associate the time information obtained from the second device with the time difference measured by the second device with the same measurement sequence number, so as to obtain an accurate distance.

[0042] In some implementations, the first symbol can be the Sth one of one or more ranging symbols sent by the first device in a distance measurement process, and the second symbol can be the Sth one of one or more ranging symbols received by the first device in the distance measurement process.

[0043] As an example, S is 1. Alternatively, the first device can send N first symbols in a distance measurement process, the first time being the sending time of the first first symbol in the N first symbols, and N being a positive integer; the first device can receive M second symbols in the distance measurement process, the second time being the receiving time of the first received second symbol in the M second symbols, and M being a positive integer. Correspondingly, the third time can be the time when the second device receives the first symbol in the N first symbols, and the fourth time can be the time when the second device sends the first second symbol in the M second symbols.

[0044] In some possible implementations, if the first symbol contains a cyclic prefix (CP), the first time can be a time of sending a start of the CP of the first symbol; similarly, the third time can be a time of receiving, by the second device, the start of the CP of the first symbol.

[0045] If the first symbol does not contain the CP, the first time is a time of sending a start of the first symbol; similarly, the third time can be a time of receiving, by the second device, the start of the first symbol.

[0046] If the second symbol contains the CP, the second time can be a time of receiving a start of the CP of the second symbol, and similarly, the fourth time can be a time of sending, by the second device, the start of the CP of the second symbol.

[0047] If the second symbol does not contain the CP, the second time is a time of receiving, by the first device, a start of the second symbol. Similarly, the fourth time can be a time of sending, by the second device, a start of the second symbol.

[0048] In some possible implementations, the first time can be a time of arrival of a start of the first symbol at a first antenna connector of the first device, and the second time can be a time of arrival of a start of the second symbol at the first antenna connector.

[0049] For example, if the first symbol does not contain the CP and the second symbol does not contain the CP, the first time is a time of arrival of a start of the first symbol at a first antenna connector of the first device, and the second time can be a time of arrival of a start of the second symbol at the first antenna connector.

[0050] Similarly, the third time can be a time of arrival of a start of the first symbol at a second antenna connector of the second device, and the fourth time can be a time of arrival of a start of the second symbol at the second antenna connector of the second device.

[0051] For example, if the first symbol does not contain the CP and the second symbol does not contain the CP, the third time is a time of arrival of a start of the first symbol at a second antenna connector of the second device, and the fourth time can be a time of arrival of a start of the second symbol at the second antenna connector.

[0052] In some possible implementations, if the first symbol and the second symbol each contain a CP, the first time can be a time of arrival of a start of the CP of the first symbol at a first antenna connector of the first device, and the second time can be a time of arrival of a start of the CP of the second symbol at the first antenna connector.

[0053] Similarly, the third time can be a time of arrival of a start of the CP of the first symbol at a second antenna connector of the second device, and the fourth time can be a time of arrival of a start of the CP of the second symbol at the second antenna connector of the second device.

[0054] In some possible implementation manners, the method further includes: the first device sending first configuration information to the second device, the first configuration information being used to indicate the time-frequency resource of the first symbol and the time-frequency resource of the second symbol.

[0055] That is, the first device configures the time-frequency resource of the first symbol and the time-frequency resource of the second symbol for the second device, so that the second device receives the first symbol based on the time-frequency resource information of the first symbol and transmits the second symbol based on the time-frequency resource information of the second symbol.

[0056] In some possible implementation manners, the method further includes: the first device receiving first configuration information from the second device, the first configuration information being used to indicate the time-frequency resource of the first symbol and the time-frequency resource of the second symbol.

[0057] That is, the second device configures the time-frequency resource of the first symbol and the time-frequency resource of the second symbol for the first device, so that the first device transmits the first symbol based on the time-frequency resource information of the first symbol and receives the second symbol based on the time-frequency resource information of the second symbol.

[0058] Optionally, the first configuration information further includes one or more of the following information: a Transaction ID corresponding to the measurement, an identifier of a radio frame used to transmit the first symbol and / or the second symbol, first indication information of a first resource in a radio frame used to transmit the first symbol and used to carry the first symbol, and second indication information of a second resource in a radio frame used to transmit the second symbol and used to carry the second symbol.

[0059] Optionally, when the first configuration information includes the first indication information, the first indication information is a first bitmap. For example, the first bitmap includes R bits, the R bits one-to-one correspond to R transmission resources allocated for the first device in a radio frame used to transmit the first symbol, and a value of a bit in the R bits corresponding to a first resource in the R transmission resources used to transmit the first symbol is a first preset value, R being a positive integer.

[0060] For example, values of some bits in the R bits are “1”, and the resources corresponding to these bits are used to transmit the first symbol; values of some bits in the R bits are “0”, and the resources corresponding to these bits are not used to transmit the first symbol.

[0061] Optionally, when the first configuration information includes the second indication information, the second indication information is a bitmap. For example, the second indication information is K bits, the K bits one-to-one correspond to K reception resources allocated for the first device in a radio frame used to transmit the second symbol, and a value of a bit in the K bits corresponding to a second resource in the K transmission resources used to transmit the second symbol is the first preset value, K being a positive integer.

[0062] For example, the values of some of the K bits are "1", and the resources corresponding to these bits are used to transmit the second symbol; the values of some of the K bits are "0", and the resources corresponding to these bits are not used to transmit the second symbol.

[0063] In some possible implementation manners, the method further includes: the first device sending a third symbol; and the first device determining a third time difference, the third time difference being a time interval between the second time at which the first device receives the second symbol and a fifth time at which the first device sends the third symbol.

[0064] In this implementation manner, as an example, the first device receives second time information from the second device, the second time information being used to determine a fourth time difference, the fourth time difference being a time interval between a third time at which the second device sends the second symbol and a sixth time at which the second device receives the third symbol.

[0065] Correspondingly, the first device determines the distance between the first device and the second device based on the first time difference and the second time difference, including: the first device determines the distance between the first device and the second device based on the first time difference, the second time difference, the third time difference, and the fourth time difference.

[0066] In this implementation manner, as another example, the first device sends second time information to the second device, the second time information being used to determine the third time difference.

[0067] Correspondingly, the second device determines the distance between the first device and the second device based on the first time difference and the second time difference, including: the second device determines the distance between the first device and the second device based on the first time difference, the second time difference, the third time difference, and the fourth time difference.

[0068] That is, in this implementation manner, the distance between the first device and the second device is determined based on more transmission time differences of more symbols between the first device and the second device, so as to improve the accuracy of the obtained distance.

[0069] Optionally, when the first symbol and the second symbol are carried in a first radio frame, the third symbol is carried in a second radio frame, and the second radio frame is located after the first radio frame.

[0070] For example, when the first device is a master node and the second device is a slave node, the first symbol can be carried on resources in the first radio frame used to transmit G-link symbols and / or SG symbols, the second symbol is carried on resources in the first radio frame used to transmit T-link symbols and / or ST symbols, and the third symbol is carried on resources in the second radio frame used to transmit G-link symbols and / or SG symbols.

[0071] Optionally, the first symbol is carried in a first radio frame, the second symbol and the third symbol are carried in a second radio frame, and the radio frame of the second symbol is located after the first radio frame.

[0072] For example, the second device is a master node and the first device is a slave node, the first symbol can be carried on resources for transmitting T-link symbols and / or ST symbols in the first radio frame, the second symbol is carried on resources for transmitting G-link symbols and / or SG symbols in the second radio frame, and the third symbol is carried on resources for transmitting T-link symbols and / or ST symbols in the second radio frame.

[0073] In some possible implementation manners, the method further includes: receiving, by the first device, the third symbol; determining, by the first device, a third time difference, the third time difference being a time interval between a fifth time when the first device receives the third symbol and the first time when the first device transmits the first symbol.

[0074] In this implementation manner, as an example, the first device receives second time information from the second device, the second time information being used to determine a fourth time difference, the fourth time difference being a time interval between a sixth time when the second device transmits the third symbol and a third time when the second device receives the first symbol.

[0075] Correspondingly, the first device determines the distance between the first device and the second device based on the first time difference and the second time difference, including: the first device determines the distance between the first device and the second device based on the first time difference, the second time difference, the third time difference, and the fourth time difference.

[0076] In this implementation manner, as another example, the first device transmits second time information to the second device, the second time information being used to determine the third time difference.

[0077] Correspondingly, the second device determines the distance between the first device and the second device based on the first time difference and the second time difference, including: the second device determines the distance between the first device and the second device based on the first time difference, the second time difference, the third time difference, and the fourth time difference.

[0078] That is, in this implementation manner, the distance between the first device and the second device is determined based on more time differences of symbol transmission between the first device and the second device, so as to improve the accuracy of the obtained distance.

[0079] Optionally, the first symbol and the second symbol are carried in a first radio frame, and the third symbol is carried in a second radio frame, and the second radio frame is located before the first radio frame.

[0080] For example, when the first device is the master node and the second device is the slave node, the first symbol can be carried on resources in the first radio frame for transmitting G-link symbols and / or SG symbols, the second symbol is carried on resources in the first radio frame for transmitting T-link symbols and / or ST symbols, and the third symbol is carried on resources in the second radio frame for transmitting T-link symbols and / or ST symbols.

[0081] Optionally, the first symbol is carried in the first radio frame, and the second symbol and the third symbol are carried in the second radio frame, and the radio frame of the second symbol is located before the first radio frame.

[0082] For example, when the first device is the master node and the second device is the slave node, the first symbol can be carried on resources in the first radio frame for transmitting G-link symbols and / or SG symbols, the second symbol is carried on resources in the second radio frame for transmitting T-link symbols and / or ST symbols, and the third symbol is carried on resources in the second radio frame for transmitting G-link symbols and / or SG symbols.

[0083] In some possible implementation manners, the ranging symbols sent by the same device to other multiple devices can be carried on resources in the same radio frame, so as to measure the distance between the same device and each of the other multiple devices.

[0084] In other words, the radio frame further includes a ranging symbol for measuring the distance between the first device and the third device, or includes a ranging symbol for measuring the distance between the second device and the third device.

[0085] For example, when the first symbol is carried on the first resource in the radio frame for transmitting T-link symbols, the fourth symbol sent by the fourth device to the second device can be carried on the third resource in the radio frame carrying the first symbol for transmitting T-link symbols, and the fourth symbol is used to determine the distance between the fourth device and the second device.

[0086] For another example, when the second symbol is carried on the second resource in the radio frame for transmitting T-link symbols, the fourth symbol sent by the fourth device to the first device can be carried on the fourth resource in the radio frame carrying the second symbol for transmitting G-link symbols, and the fourth symbol is used to determine the distance between the fourth device and the first device.

[0087] In a second aspect, the present application provides a measuring device, which can include various modules for implementing the method in any of the implementation manners of the first aspect. Each module can be implemented by software and / or hardware.

[0088] In some possible implementation manners, the apparatus can include a sending module, a receiving module and a processing module. The sending module can be configured to implement the steps related to the sending operation in the first aspect, the receiving module can be configured to implement the steps related to the receiving operation in the first aspect, and the processing module can be configured to implement the steps related to the operations such as obtaining and determining in the first aspect.

[0089] In some possible implementation manners, the apparatus can include a processor and a memory. The memory is configured to store computer executable program code, and the program code includes instructions. When the processor executes the instructions, the instructions cause the apparatus to perform the method in the first aspect.

[0090] In this implementation manner, the apparatus can be a device or a chip applied to a device.

[0091] In a third aspect, the present application provides a computer program product including instructions, which, when executed on a computer, cause the computer to perform the method in the first aspect.

[0092] In a fourth aspect, the present application provides a computer readable storage medium, which stores instructions. When the instructions are executed on an electronic device or a computer, the electronic device or the computer performs the method in the first aspect.

[0093] In a fifth aspect, the present application provides a communication system, which includes the measuring apparatus in the second aspect.

[0094] The possible implementation manners of the second aspect to the fifth aspect have the beneficial effects as described above with respect to the first aspect, and thus are not described here. BRIEF DESCRIPTION OF DRAWINGS

[0095] Figure 1 A schematic structural diagram of a communication system according to an embodiment of the present application;

[0096] Figure 2 A schematic structural diagram of a vehicle ranging system according to an embodiment of the present application;

[0097] Figure 3 An exemplary flowchart of a ranging method according to an embodiment of the present application;

[0098] Figure 4 A schematic structural diagram of a radio frame and a superframe according to an embodiment of the present application;

[0099] Figure 5 A schematic transmission diagram of a ranging symbol according to an embodiment of the present application;

[0100] Figure 6 A schematic transmission diagram of a ranging symbol according to another embodiment of the present application;

[0101] Figure 7 An exemplary timing diagram of ranging symbols for another embodiment of the application;

[0102] Figure 8 An exemplary timing diagram of ranging symbols for another embodiment of the application;

[0103] Figure 9 An exemplary timing diagram of ranging symbols for another embodiment of the application;

[0104] Figure 10 An exemplary timing diagram of ranging symbols for another embodiment of the application;

[0105] Figure 11 An exemplary flowchart of a measurement method for another embodiment of the application;

[0106] Figure 12 An exemplary timing diagram of ranging symbols for another embodiment of the application;

[0107] Figure 13 An exemplary timing diagram of ranging symbols for another embodiment of the application;

[0108] Figure 14 An exemplary flowchart of a measurement method for another embodiment of the application;

[0109] Figure 15 An exemplary timing diagram of ranging symbols for another embodiment of the application;

[0110] Figure 16 An exemplary timing diagram of ranging symbols for another embodiment of the application;

[0111] Figure 17 An exemplary structural diagram of a measurement apparatus for another embodiment of the application;

[0112] Figure 18 An exemplary structural diagram of a measurement apparatus for another embodiment of the application. DETAILED DESCRIPTION

[0113] Figure 1 An exemplary structural diagram of a ranging system for another embodiment of the application. The ranging system can include device 101 and device 102.

[0114] Device 101 and device 102 can communicate with each other through a communication link. In some communication scenarios, device 101, device 102 and the communication link therebetween can be collectively referred to as a communication domain.

[0115] It can be appreciated that,Figure 1 Only one communication domain is shown, but the number of communication domains is not limited in the ranging system of the present application, and the system of the present application can contain one or more communication domains.

[0116] In addition, although Figure 1 Only one communication domain containing two devices is shown, but the number of devices in the communication domain is not limited in the present application.

[0117] Each communication domain can contain one master node and at least one slave node. The master node can also be referred to as a management node, abbreviated as G node (Grant Node), which manages and allocates time-frequency resources of the communication domain to the slave nodes, and schedules time-frequency resources for communication or measurement between nodes in the communication domain; the slave node can also be referred to as a terminal node, abbreviated as T node (Terminal Node).

[0118] As an example, the device 101 can be a management node in the SparkLink Basic (SLB) standard / SparkLink Low Energy (SLE) standard; the device 102 can be a terminal node in the SLB / SLE. Among them, the device 101 is a G node, and the device 102 is a T node.

[0119] As another example, the device 101 can be a master in the Bluetooth Low Energy (BLE) standard; the device 102 can be a slave in the BLE standard. Among them, the device 101 is a G node, and the device 102 is a T node.

[0120] As yet another example, the device 101 can be an access point (AP) in the Wi-Fi standard; the device 102 can be a station (STA) in the Wi-Fi standard. Among them, the device 101 is a G node, and the device 102 is a T node.

[0121] Figure 1 The system shown can be applied to various scenarios, for example, it can be applied to a vehicle-mounted wireless positioning scenario, an indoor positioning scenario, an indoor navigation scenario, or an indoor ranging scenario, or it can also be used in other wide-area wireless communication scenarios or local-area wireless communication scenarios.

[0122] The following describes the system shown in Figure 1 The system shown contains multiple slave nodes, and is taken as an example of application in a vehicle-mounted positioning scenario, combined with Figure 2 for introduction.

[0123] As Figure 2As shown, in a vehicle positioning scenario, four corners of the vehicle can be deployed with positioning anchors, and the center console, rearview mirror or ceiling (i.e. the top of the vehicle) of the vehicle can be deployed with positioning anchors for positioning the vehicle key as a positioned node. The vehicle key can include a traditional vehicle key with positioning function, or a mobile phone or wearable device that can be used to unlock the vehicle and act as a vehicle key; the positioning anchor can also be referred to as a positioning node or a positioning base station or a positioning beacon, which can be referred to as an anchor; the positioned node can be referred to as a positioning tag or a measured node, which can be referred to as a tag.

[0124] It can be understood that the positioning anchors deployed at the corners, the center console, the rearview mirror or the ceiling are only examples, and other vehicle-mounted wireless devices such as the display screen, the microphone, the speaker, the camera, the T-BOX and the camera of the 360-degree surround view application outside the vehicle can also be reused as positioning anchors.

[0125] Figure 2 In the scenario shown, any node can act as a G node. For example, the G node can be assumed by the vehicle key, and all anchors on the vehicle are T nodes; for another example, the G node is assumed by any anchor on the vehicle, and the other anchors and the vehicle key are T nodes.

[0126] Figure 2 In the scenario shown, the distance between each of the multiple anchors and the positioned node (i.e. the vehicle key) can be measured, and the positioned node (the vehicle key) can be positioned based on the measured distances.

[0127] The method of positioning the positioned node based on the measured distances can refer to the related methods of positioning based on distances in the existing communication field, such as the trilateration method or the multilateration method, which will not be described here. The distance / angle (such as the angle of arrival) measurement method between the anchor and the positioned node will be introduced below. In the distance measurement method of the present application, both the anchor and the positioned node are referred to as devices.

[0128] Figure 3 The schematic flowchart of the measurement method of an embodiment of the present application is shown. It can be understood that, Figure 3 This is only an example, and the measurement method of the present application can include more or similar steps.

[0129] The first device can be the device 101 in the Figure 1 , and the second device can be the device 102 in the Figure 1 ; or the first device can be any anchor in the Figure 2 , and the second device can be the positioned node in the Figure 2 .

[0130] S310, the first device transmits the first symbol. Correspondingly, the second device receives the first symbol.

[0131] In this embodiment, as an example, the wireless frame carrying the first symbol is a wireless frame in the Starlink wireless communication technology.

[0132] The Starlink wireless communication standard includes a transmission frame structure of superframes and wireless frames in the basic version (SLB). The period of a superframe is 1 millisecond (ms), and each superframe contains 48 wireless frames. The length of each wireless frame can be 20.833 microseconds, and a wireless frame can contain a downlink data symbol, an uplink data symbol, a system overhead symbol (system overhead G symbol or system overhead T symbol), and an uplink-downlink switching interval. The downlink data symbol can also be referred to as a G-link symbol, abbreviated as a G symbol, and the G symbol is transmitted on a G link. The uplink data symbol can also be referred to as a T-link symbol, abbreviated as a T symbol, and the T symbol is transmitted on a T link. The system overhead G symbol can also be referred to as an SG symbol, and the system overhead T symbol can also be referred to as an ST symbol. The uplink-downlink switching interval can also be referred to as a GAP.

[0133] As an example, the downlink data symbol and / or the uplink data symbol of the wireless frame can be an orthogonal frequency-division multiplexing (OFDM) symbol.

[0134] A schematic diagram of one structure of a superframe and a wireless frame is shown in Figure 4 Figure 4 In the frame structure shown, one superframe contains 48 wireless frames, and the wireless frames are numbered from 0. One wireless frame contains four G symbol resources, one SG symbol resource or one ST symbol resource, three T symbol resources, and two GAPs. The G symbol resource is used for a device acting as a management node to transmit a data symbol, which can be referred to as a G symbol. The SG symbol resource is used for a device acting as a management node to transmit a system overhead symbol, which is referred to as an SG symbol. The ST symbol resource is used for a device acting as a slave node to transmit a system overhead symbol, which is referred to as an ST symbol. The T symbol resource is used for a device acting as a slave node to transmit a data symbol, which is referred to as a T symbol. The GAP is used for the switching of the transceiver of the device.

[0135] Figure 4 In the above table, the examples of wireless frames containing SG symbol resources are frame 0 and frame 1, and the examples of wireless frames containing ST symbol resources are frame 46 and frame 47.

[0136] It can be understood that, Figure 4 ​The structure shown is only an example, and the number of wireless frames contained in one superframe, the number of G symbol resources, SG symbol resources, ST symbol resources, T symbol resources and GAP contained in one wireless frame can not be limited to this.

[0137] In one example of the embodiment, the wireless frame carrying the first symbol can be Figure 4 Any wireless frame in the superframe shown.

[0138] In the embodiment, the symbol for carrying the ranging signal is called a ranging symbol, and the resource for carrying the ranging symbol is called a ranging symbol resource, wherein the ranging symbol can also be called a measurement symbol, and is used for ranging and / or angle measurement. In the embodiment, the ranging symbol sent by the first device is called a first ranging symbol, which can be referred to as a first symbol for short.

[0139] In the star flash wireless communication technology, an OFDM signal with a physical bandwidth of about 20 megahertz (MHz) is called a carrier, and the working bandwidth is one or more carriers, for example, the working bandwidth after carrier aggregation is 20 MHz, 40 MHz, 80 MHz, 160 MHz, 200 MHz or 320 MHz.

[0140] S320, the second device sends a second symbol, and the first symbol and the second symbol are carried in the same wireless frame or in different wireless frames. Correspondingly, the second symbol received by the first device.

[0141] The wireless frame carrying the second symbol can be a wireless frame in the star flash wireless communication technology. As an example, the wireless frame carrying the second symbol can be Figure 4 Any wireless frame in the superframe shown.

[0142] In the embodiment, the ranging symbol sent by the second device is called a second ranging symbol, which can be referred to as a second symbol for short.

[0143] Figure 5 The schematic transmission diagram of the ranging symbol provided for one embodiment of the application. Figure 5 In the wireless frame shown, the first symbol and the second symbol are carried in the same wireless frame, that is, in wireless frame #1. Among them, the first symbol is carried in all or part of the resources of wireless frame #1 for transmitting G link symbols, and the second symbol is carried in all or part of the resources of wireless frame #1 for transmitting T link symbols.

[0144] Figure 6 The schematic transmission diagram of the ranging symbol provided for another embodiment of the application. Figure 6 In the wireless frame shown, the first symbol and the second symbol are carried in the same wireless frame.

[0145] For example, the first symbol is carried in all or part of the resources for transmitting G-link symbols in radio frame #1, and is carried in the resources for transmitting SG symbols, and the second symbol is carried in all or part of the resources for transmitting T-link symbols in radio frame #1.

[0146] For example, the first symbol is carried in all or part of the resources for transmitting G-link symbols in radio frame #46, the second symbol is carried in all or part of the resources for transmitting T-link symbols in radio frame #46 and is carried in the resources for transmitting ST symbols.

[0147] In the embodiments of the present application, when the first symbol and the second symbol are carried in the same radio frame, the measurement can be completed within a single radio frame, and in the fastest case, the ranging / angle measurement can be completed in one radio frame duration (20.83us), with extremely low measurement delay. The present application makes full use of the frame structure of a radio frame which contains both G symbols and T symbols, thereby providing extremely low latency performance, or providing more measurement results within a certain measurement time, thereby providing more sampling data for subsequent positioning post-processing such as extended Kalman filtering.

[0148] Figure 7 Schematic transmission diagram of the ranging symbol of another embodiment of the present application. Figure 7 In the example shown, the first symbol is carried in radio frame #K+1, and the second symbol is carried in radio frame #K, K being an integer less than 48. Among them, the first symbol is carried in all or part of the resources for transmitting G-link symbols and / or SG symbols in radio frame #K+1, and the second symbol is carried in all or part of the resources for transmitting T-link symbols in radio frame #K. Among them, radio frame #K and radio frame #K+1 are examples, and the radio frames carrying the first symbol and the second symbol can be continuous or discontinuous.

[0149] Figure 4 to Figure 7 , the frame structure of the superframe, the abscissa is time.

[0150] When the first symbol and the second symbol are carried in the same radio frame, in some implementations, the G symbol resources and the T symbol resources can be used in different radio frames (i.e., different radio frame structures) for ranging based on the number of devices.

[0151] S330, the first device determines a first time difference, the first time difference being a time interval between a first time at which the first device transmits the first symbol and a second time at which the first device receives the second symbol, and the first time difference being used to determine the distance between the first device and the second device.

[0152] For example, the first device obtains the time when the first symbol is sent, recorded as the first moment; obtains the time when the second symbol is received, recorded as the second moment; and calculates the difference between the first moment t1 and the second moment t2 to obtain the first time difference. The first time difference should be a positive number, that is, the first time difference is t2-t1, where the second time is later than the first time.

[0153] S340, the second device obtains first time information, the first time information is used to determine a second time difference, the second time difference is the time interval between a third moment when the second device receives the first symbol and a fourth moment when the second device sends the second symbol.

[0154] As an example, the second device obtains the time when the first symbol is received, which is recorded as the third moment; and obtains the time when the second symbol is sent, which is recorded as the fourth moment.

[0155] In this embodiment, the order between S310 and S320 is not limited, and the order between S330 and S340 is not limited.

[0156] S350: The second device sends the first time information to the first device. Correspondingly, the first device receives the first time information from the second device.

[0157] As an example, the second device calculates the difference between the third time t3 and the fourth time t4 to obtain a second time difference. After obtaining the second time difference, the second device sends first time information to the first device, where the first time information includes the second time difference. The second time difference should also be a positive number, that is, the second time difference is t4-t3, where the fourth time is after the third time.

[0158] As another example, the second device sends first time information to the first device, where the first time information includes indication information of the third moment and the fourth moment, so that the first device can determine the third moment and the fourth moment based on the first time information and determine the second time difference based on the third moment and the fourth moment.

[0159] S360: The first device determines a distance between the first device and the second device based on the first time difference and the second time difference.

[0160] As an example, the first device determines the second time difference based on the first time information, and determines the distance between the first device and the second device based on the first time difference and the second time difference.

[0161] An example diagram of the time relationship between the first moment, the second moment, the third moment and the fourth moment is shown in FIG. Figure 8 As shown. Figure 8 As can be seen, as an example, the first device may determine the distance between the first device and the second device based on the following relationship:

[0162]

[0163] wherein t1 represents the first time, t2 represents the second time, t3 represents the third time, t4 represents the fourth time, C represents the speed of light, and D represents the distance between the first device and the second device.

[0164] wherein when t2>t1 and t4>t3, the above formula can be transformed into

[0165] In Figure 5 to Figure 8 the ranging interaction shown in FIG. 1, the first symbol and the second symbol correspond to the first message and the second message respectively, and thus can also be referred to as a two-way 2 message mode.

[0166] In the embodiments of the present application, in some implementation manners, the first time is the time when the first symbol leaves the antenna connector of the first device, the second time is the time when the second symbol arrives at the antenna connector of the first device, the third time is the time when the first symbol arrives at the antenna connector of the second device, and the fourth time is the time when the second symbol leaves the antenna connector of the second device. These times can be collectively referred to as antenna connector times.

[0167] In this implementation manner, if the sending time t1 ′ of the first symbol and the receiving time t2 ′ of the second symbol recorded by the first device are baseband times determined by the first device based on baseband sending times, the first device can estimate the first time difference based on t1 ′ , t2 ′ and T cali,G . Wherein T cali,G represents a calibration time parameter of the first device, which can be the sum of the time delay introduced by the radio frequency (RF) transmitting channel and the RF receiving channel of the first device and the baseband processing time delay when the first device receives the second symbol. As an example, t round1 =t2-t1=t1 ′ -t2 ′ -T cali,G , t round1 represents the first time difference.

[0168] Similarly, if the receiving time t3 ′ of the first symbol and the sending time t4 ′ of the second symbol recorded by the second device are baseband times determined by the second device based on baseband sending times, the second device can estimate the second time difference based on t3 ′ , t4 ′ and T cali,T . Wherein T cali,TThe calibration time parameter of the second device can be the sum of the time delay introduced for the radio frequency (RF) transmitting channel and the RF receiving channel of the second device, and the baseband processing time delay when the second device receives the first symbol. As an example, t reply1 = t4 - t3 = t4 ′ ′ cali,T reply1 The second time difference is represented by t

[0169] For T cali,G , it can be determined by the first device by measuring the sum of the time delay of the RF transmitting channel and the RF receiving channel; for T cali,T , it can be determined by the second device by measuring the sum of the time delay of the RF transmitting channel and the RF receiving channel. The operation of measuring the sum of the time delay of the RF transmitting channel and the RF receiving channel by the device can also be referred to as loopback measurement.

[0170] T cali,G and T cali,T may both be referred to as T cali , T cali may also be referred to as time delay calibration parameter. The structural diagram among the baseband processor, the RF transmitting channel, the RF receiving channel, and the antenna receiver is shown in Figure 9 As shown in Figure 9 , the device can calculate T cali according to the following formula: T cali = T cali,TX + T cali,RX , where T cali,TX represents the time delay of the RF transmitting channel, and T cali,RX represents the time delay of the RF receiving channel. In the embodiments of the present application, the baseband processing time delay of the device can also be included in T cali .

[0171] In some implementation manners of the embodiments of the present application, if M first symbols are carried in a wireless frame, and N second symbols are carried in the wireless frame, the first time can be the time at which the first device starts to send the Sth first symbol, the second time can be the time at which the first device starts to receive the Sth second symbol, the third time can be the time at which the second device starts to receive the Sth first symbol, and the fourth time can be the time at which the second device starts to send the Sth second symbol, M and N are positive integers, S is a positive integer and less than or equal to the minimum value of M and N. As an example, S is 1.

[0172] ​​​For example, the first time instant can be the time at which the first device's antenna connector transmits the start of the first first symbol, the second time instant can be the time at which the first device's antenna connector receives the start of the first second symbol, the third time instant can be the time at which the second device's antenna connector receives the start of the first first symbol, and the fourth time instant can be the time at which the second device's antenna connector transmits the start of the first second symbol.

[0173] If the first symbol includes a cyclic prefix (CP), the first time instant can be the time at which the start of the CP of the first first symbol reaches the first device's antenna connector, and the third time instant can be the time at which the start of the CP of the first first symbol reaches the second device's antenna connector.

[0174] If the second symbol includes a CP, the second time instant can be the time at which the start of the CP of the first second symbol reaches the first device's antenna connector, and the fourth time instant can be the time at which the start of the CP of the first second symbol reaches the second device's antenna connector.

[0175] In some implementation manners of the embodiments of the present application, optionally, the ranging symbol can be generated based on a ZC (Zadoff-Chu) sequence. Because the ZC sequence can still apply a simple and reliable time-domain correlation detection algorithm in a multipath case, the implementation manner can guarantee the time-domain autocorrelation of the ranging symbol in a multipath environment, thereby guaranteeing the detection performance of the first path (line of sight).

[0176] As an example, the ZC sequence used to generate the ranging symbol can be generated in the following manner:

[0177]

[0178] wherein n represents a subcarrier sequence number, and u is a preset value.

[0179] u is any integer in the range of a to b, a is an integer greater than or equal to 2, and b is an integer less than or equal to 39.

[0180] An example method of determining u is as follows: within a certain time range, a positive integer is randomly selected as the value of u in the closed interval [a, b], so as to generate the ZC sequence of the RTT ranging interaction according to the above formula. The G node and the T node determine the value of u in advance through the interaction message in the ranging negotiation phase, so that u is a preset value known to both the G node and the T node in the RTT ranging process.

[0181] To enhance the security of the RTT ranging interaction, the value of u can be adjusted in a time period T, i.e., a positive integer value in [a, b] is randomly selected as a new value of u every T time, so that other devices cannot continuously detect the existence of the ZC sequence with random changes. In addition, by randomly selecting the value of u, a random ZC sequence can be obtained, and different ZC sequences can also avoid large measurement signal interference between adjacent devices.

[0182] Because the value of u is different from the value of u involved in the first training signal (FTS) or the second training signal (STS) symbol, a positioning reference signal different from the first training signal and the second training signal can be obtained, and the same waveform as the FTS and the STS can be avoided.

[0183] The ranging symbol carrying the above ZC sequence can be referred to as a positioning reference signal (PRS). In addition to the PRS carrying the ZC sequence, the existing channel state information reference signal (CSI-RS) or sounding reference signal (SRS) in the SLB can also be used as a ranging symbol.

[0184] In some implementation manners of the embodiments of the present application, the unit of each measurement time can be picoseconds (ps). For example, the units of the first time, the second time, the third time, and the fourth time can be ps. Similarly, the units of the first time difference and the second time difference can be ps.

[0185] As an example, the first device can send the first configuration information to the second device, and the first configuration information can contain one or more of the following information: the number of measurements, the identification of the first radio frame in each measurement, the time-frequency resource of the first symbol in each measurement, the identification of the second radio frame in each measurement, and the time-frequency resource of the second symbol in each measurement. An example format of the first configuration information is shown in the following table.

[0186]

[0187]

[0188] Figure 10 The schematic transmission diagram of the ranging symbol of another embodiment of the present application. Figure 10 In the illustrated radio frame, different T symbol resources can be used to measure the distance for different devices, i.e., T1 symbol resources, T2 symbol resources, and T3 symbol resources are used for devices 1, 2, and 3 to send the second symbol, respectively.

[0189] It can be understood that, Figure 10The T symbol resources are used for the three devices to respectively send the T ranging symbols are only an example, and the number of devices in the embodiment is three, which does not limit the number of ranging devices associated with the T symbol resources. For example, the T symbol resources of the same radio frame can be used for W devices to send respective T ranging symbols, where W is a positive integer greater than 1.

[0190] In other words, the T symbol resources of a radio frame can be used not only for distance measurement between one G node and one T node, but also for distance measurement between the G node and each T node in multiple T nodes, that is, multi-user distance measurement or multi-device distance measurement.

[0191] In multi-user distance measurement, the first device as the G node can divide the multiple T nodes into a group of nodes, and send group configuration information to the group of T nodes. The group configuration information can include time-frequency resources used by the G node to send a G ranging symbol (for example, a first symbol) and T symbol resources used by each T node in the group of nodes to send a T ranging symbol (for example, a second symbol). After each T node receives the group configuration information, the T node can obtain a related time difference based on the resources indicated by the group configuration information, to achieve distance measurement between the T node and the G node.

[0192] In the embodiment of the application, the time information used to determine the time difference is collectively referred to as time feedback information. For example, the first time information is time feedback information.

[0193] In the embodiment of the application, when the time difference is directly included in the time feedback information sent by the device, in some implementation manners, the second device can send the time difference in the format shown in the following table.

[0194]

[0195]

[0196] Figure 11 The schematic flowchart of the ranging method of another embodiment of the application is shown. The method can include S310, S320, S330, S340, S325, S350, S341, S342, S351 and S370. It can be understood that, Figure 11 The execution order in the implementation manners shown is only an example, and the embodiment of the application does not limit this.

[0197] S325, the first device sends a third symbol.

[0198] In the embodiment, the third symbol can also be referred to as a ranging symbol.

[0199] In some implementations of the embodiment, the first symbol and the second symbol are carried in a first wireless frame, and the third symbol is carried in a second wireless frame, the second wireless frame being after the first wireless frame.

[0200] S341, the first device determines a third time difference, the third time difference being a time interval between a second time when the first device receives the second symbol and a fifth time when the first device transmits the third symbol.

[0201] As an example, the first time is before the fourth time, and the fourth time is before the fifth time.

[0202] S342, the second device obtains second time information, the second time information being used to determine a fourth time difference, the fourth time difference being a time interval between a third time when the second device transmits the second symbol and a sixth time when the second device receives the third symbol.

[0203] S351, the second device transmits the second time information. Correspondingly, the first device receives the second time information.

[0204] S370, the first device and the second device determine a distance between the first device and the second device based on the first time difference, the second time difference, the third time difference and the fourth time difference.

[0205] Figure 12 A schematic diagram of transmission of ranging symbols is provided for an embodiment of the application. As shown in Figure 12 , the ranging symbols are carried in G symbol resources in a wireless frame #K, T symbol resources in the wireless frame #K and G symbol resources in a wireless frame #K+1.

[0206] As an example, the first symbol is carried in the G symbol resources in the wireless frame #K, the second symbol is carried in the T symbol resources in the wireless frame #K, and the third symbol is carried in the G symbol resources in the wireless frame #K+1. The interactive transmission diagram of the first symbol, the second symbol and the third symbol in this example is shown in Figure 13 .

[0207] Figure 14 A schematic flow chart of a ranging method for another embodiment of the application is provided. The method can include S305, S310, S320, S321, S322, S330, S340, S350, S351 and S370. It can be understood that, Figure 14 the execution sequence in the implementation shown is only an example, and the embodiment of the application is not limited in this regard.

[0208] S305, the second device transmits the third symbol.

[0209] In the embodiment, the third symbol can also be referred to as a ranging symbol.

[0210] S321, the first device determines a third time difference, the third time difference being a time interval between a sixth time point at which the first device receives the third symbol and the first time point at which the first device transmits the first symbol.

[0211] S322, the second device acquires second time information, the second time information being used to determine a fourth time difference, the fourth time difference being a time interval between a fifth time point at which the second device transmits the third symbol and a third time point at which the second device receives the first symbol.

[0212] As an example, the first time point is located before the fourth time point, and the fifth time point is located before the first time point.

[0213] In some implementation manners of the embodiment, the first symbol and the second symbol are carried in a first wireless frame, the third symbol is carried in a second wireless frame, and the second wireless frame is located before the first wireless frame.

[0214] Figure 15 A transmission schematic diagram of ranging symbols provided by the embodiment is shown in FIG. 3. As shown in FIG. 3, the T symbol resources in the wireless frame #K and the G symbol resources and the T symbol resources in the wireless frame #K+1 carry ranging symbols. Figure 15

[0215] As an example, the third symbol is carried in the T symbol resources in the wireless frame #K, the first symbol is carried in the G symbol resources in the wireless frame #K+1, and the second symbol is carried in the T symbol resources in the wireless frame #K+1. In this example, the interactive transmission diagram of the first symbol, the second symbol and the third symbol constitutes a two-way ranging three-message (Two way ranging 3 Messages) measurement interaction, as shown in FIG. 4. Figure 16

[0216] Figure 11 Figure 14 In the method, when the first device or the second device determines the distance between the first device and the second device based on the first time difference, the second time difference, the third time difference and the fourth time difference, as an example, the first device can determine the distance between the first device and the second device based on a relationship formula D = C * sqrt (t round1 t reply1 t reply2 t round2 t

[0217] Figure 11 Figure 14 ​​​​In the method shown, since the ranging devices of both sides send the first symbol, the second symbol and the third symbol (corresponding to the first message, the second message and the third message respectively), it is called a two-way 3 message ranging mode. The time-of-flight measurement error of the two-way 3 message can be derived as where T f represents the one-way time-of-flight of the signal, k G and k T represent the multiples of the clock (clock) of the G node and the T node relative to the ideal real clock frequency, for example, k G = 1.00002 indicates that the clock of the G node has a frequency deviation of 20ppm relative to the ideal clock. The two-way 3 message mode can largely eliminate the measurement error caused by the drift of the clock and other non-ideal factors compared to the two-way 2 message mode, thereby improving the accuracy of the ranging.

[0218] Figure 11 or Figure 14 In the method shown, the first device can send configuration information to the second device. As an example, the configuration information can contain one or more of the following information: the number of measurements, the identification of the first radio frame in each measurement, the time-frequency resource of the first symbol in each measurement, the identification of the second radio frame in each measurement, the time-frequency resource of the second symbol in each measurement, the identification of the third radio frame in each measurement, and the time-frequency resource of the third symbol in each measurement. An exemplary format of the resource configuration information is shown in the following table.

[0219]

[0220]

[0221] Figure 11 or Figure 14 In the method shown, the implementation of the second device sending each time information can refer to the transmission mode of the feedback time information described above.

[0222] For resource scheduling of two-way 2 message and two-way 3 message using dynamic scheduling data control information of SLB, some examples of scheduling signaling can be as follows for different cases of multiple antennas and single antennas:

[0223] 1. For the two-way 2 message ranging mode of multiple antenna ports, the G node schedules resources through multiplexing dynamic scheduling data control information of 69 bits, and the exemplary definition of each bit of information is as follows:

[0224] 1 bit: cross-superframe scheduling indication. A value of 0 indicates that the control information and the resource scheduled by the control information are located in the same superframe; a value of 1 indicates that the resource scheduled by the control information is located in the adjacent superframe after the superframe where the control information is located.

[0225] 2 bits: extended resource configuration indication. Value 00 indicates the indication information of the following field.

[0226] 2 bits: reserved bits.

[0227] 1 bit: G-link resource ranging signal transceiving indication information. Value 0 indicates a signal transmission, and value 1 indicates a signal reception.

[0228] 3 bits: G-link resource starting radio frame indication information. In the scheduled superframe, the frame number of the starting radio frame is # (3-bit value x 6).

[0229] 4 bits: G-link resource antenna port number N G,ss,rang , value 0 indicates no resource configuration.

[0230] 3 bits: G-link resource antenna port ranging repetition number N G,ss,rang,rep . If the value of the field is v, then N G,ss,rang,rep = 2^v, where "^" represents the power operation.

[0231] 5 bits: G-link resource beam enhancement ranging beam number. If the value of the field is v, then the beam number is 2v, and value 0 indicates no resource configuration.

[0232] 3 bits: G-link resource beam enhancement ranging repetition number N G,bf,rang,rep . If the value of the field is v, then N G,bf,rang,rep = 2^v, where "^" represents the power operation.

[0233] 1 bit: G-link resource beam enhancement ranging switching interval indication information. Value 0 indicates no switching interval symbol is needed, and value 1 indicates a switching interval symbol is needed.

[0234] 2 bits: T-link resource ranging type indication information. Value 00 indicates antenna port ranging, value 01 indicates beamforming enhancement ranging, value 11 indicates antenna port ranging and beamforming enhancement ranging, and value 11 indicates no resource configuration.

[0235] 1 bit: T-link resource ranging signal transceiving indication information. Value 0 indicates a signal transmission, and value 1 indicates a signal reception.

[0236] 3 bits: T-link resource starting radio frame indication information. In the scheduled superframe, the frame number of the starting radio frame is # (3-bit value x 6).

[0237] 4 bits: T-link resource antenna port number N T,ss,rang , value 0 indicates no resource configuration.

[0238] 3 bits: T-link resource antenna port ranging repetition number NT,ss,rang,rep If the field value is v, then N T,ss,rang,rep = 2^v, where "^" denotes the power operation.

[0239] 5 bits: T-link resource beam enhancement ranging beam number. If the field value is v, then the beam number is 2v, and the value 0 indicates no resource configuration.

[0240] 3 bits: T-link resource beam enhancement ranging repetition number N T,bf,rang,rep If the field value is v, then N T,bf,rang,rep = 2^v, where "^" denotes the power operation.

[0241] 1 bit: T-link resource beam enhancement ranging switching interval indication information. The value 0 indicates that no switching interval symbol is needed, and the value 1 indicates that a switching interval symbol is needed.

[0242] 24 bits: Calculate the cyclic redundancy check sequence using the cyclic redundancy check generation polynomial g_CRC24B(D) according to the processing method in section 6.10.1 of this standard, and add a 24-bit multi-antenna ranging control information identification mask. The 24-bit multi-antenna ranging control information identification mask is configured by the higher layer.

[0243] 2. For the single-antenna port two-way three-message (Two way 3messages) ranging mode, the G node indicates the resource by multiplexing the dynamic scheduling data control information for a total of 69 bits. Among them, the antenna port is defined based on the following characteristics: The transmission channel of one symbol on the antenna port can infer the transmission channel of another symbol on the same antenna port; The antenna port that transmits broadcast information and G-link control information is the same as the antenna port that transmits the synchronization signal; The antenna port that transmits the synchronization signal at different times is the same. The 69-bit dynamic scheduling data control information of the single-antenna port two-way three-message is defined as follows:

[0244] 1 bit: Cross-superframe scheduling indication. The value 0 indicates that the control information and the resource scheduled by the control information are located in the same superframe, and the value 1 indicates that the resource scheduled by the control information is located in the adjacent superframe after the superframe where the control information is located.

[0245] 2 bits: Extended resource configuration indication. The value 01 indicates the indication information of the subsequent field.

[0246] 2 bits: Reserved bits.

[0247] 1 bit: Three-message resource receive-transmit indication, value 0 indicates transmit-receive-transmit, and value 1 indicates receive-transmit-receive.

[0248] 1 bit: First message resource G / T-link indication information, value 0 indicates G-link resource, and value 1 indicates T-link resource.

[0249] 3 bits: First message (i.e., first ranging symbol) resource starting radio frame indication information. In the scheduled superframe, the frame number of the starting radio frame is # (3-bit value x 6).

[0250] 5 bits: First message resource single-port beam number. If the field value is v, then the beam number is 2v, and a value of 0 indicates no resource configuration.

[0251] 3 bits: First message resource single-port beam repetition number N G,bf,rang,rep . If the field value is v, then N G,bf,rang,rep = 2^v, where "^" denotes the power operation.

[0252] 1 bit: First message switching interval indication information. A value of 0 indicates that no switching interval symbol is needed, and a value of 1 indicates that a switching interval symbol is needed.

[0253] 1 bit: Second message (i.e., second ranging symbol) resource G / T link indication information, a value of 0 indicates G link resource, and a value of 1 indicates T link resource

[0254] 3 bits: Second message resource starting radio frame indication information. In the scheduled superframe, the frame number of the starting radio frame is # (3-bit value x 6).

[0255] 5 bits: Second message resource single-port beam number. If the field value is v, then the beam number is 2v, and a value of 0 indicates no resource configuration.

[0256] 3 bits: Second message resource single-port beam repetition number N G,bf,rang,rep . If the field value is v, then N G,bf,rang,rep = 2^v, where "^" denotes the power operation.

[0257] 1 bit: Second message switching interval indication information. A value of 0 indicates that no switching interval symbol is needed, and a value of 1 indicates that a switching interval symbol is needed.

[0258] 1 bit: Third message (i.e., third ranging symbol) resource G / T link indication information, a value of 0 indicates G link resource, and a value of 1 indicates T link resource.

[0259] 3 bits: Third message resource starting radio frame indication information. In the scheduled superframe, the frame number of the starting radio frame is # (3-bit value x 6).

[0260] 5 bits: Third message resource single-port beam number. If the field value is v, then the beam number is 2v, and a value of 0 indicates no resource configuration.

[0261] 3 bits: Third message resource single-port beam repetition number NG,bf,rang,rep If the value of this field is v, then N G,bf,rang,rep = 2^v, where "^" denotes exponentiation.

[0262] 1 bit: Third message switching interval indication information. Value 0 indicates no switching interval symbol is needed, and value 1 indicates a switching interval symbol is needed.

[0263] 24 bits: Calculate the cyclic redundancy check sequence using the cyclic redundancy check generator polynomial g_CRC24B(D) according to the method in clause 6.10.1 of this Standard, and add the 24-bit multi-antenna ranging control information identification mask. The 24-bit multi-antenna ranging control information identification mask is configured by higher layers.

[0264] 3. For the multi-antenna port two-way 3-message ranging mode, the Gnode performs resource indication by multiplexing the dynamic scheduling data control information, a total of 69 bits, and each bit of information is defined as:

[0265] 1 bit: Cross-superframe scheduling indication. Value 0 indicates that the control information and the resource scheduled by the control information are located in the same superframe, and value 1 indicates that the resource scheduled by the control information is located in the adjacent superframe after the superframe where the control information is located.

[0266] 2 bits: Extended resource configuration indication. Value 10 indicates the indication information of the subsequent field.

[0267] 2 bits: Reserved bits.

[0268] 1 bit: Three-message resource receive-transmit indication. Value 0 indicates transmit-receive-transmit, and value 1 indicates receive-transmit-receive.

[0269] 1 bit: Reserved bit.

[0270] 1 bit: First message resource G / T link indication information. Value 0 indicates G link resource, and value 1 indicates T link resource.

[0271] 3 bits: First message resource starting radio frame indication information. In the scheduled superframe, the frame number of the starting radio frame is # (3-bit value x 6).

[0272] 4 bits: First message resource antenna port number N G,ss,rang , value 0 indicates no resource configuration.

[0273] 2 bits: First message resource antenna port ranging repetition number N G,ss,rang,rep . If the value of this field is v, then N G,ss,rang,rep = 2^(v+1), where "^" denotes exponentiation.

[0274] 4 bits: The number of ranging beams for the first message resource beam enhancement. If the value of this field is v, then the number of beams is 4v, and a value of 0 indicates no resource configuration.

[0275] 2 bits: The number of ranging repetitions N for the first message resource beam enhancement G,bf,rang,rep . If the value of this field is v, then N G,bf,rang,rep = 2^(v+1), where "^" denotes exponentiation.

[0276] 1 bit: The first message switching interval indication information. A value of 0 indicates that no switching interval symbol is needed, and a value of 1 indicates that a switching interval symbol is needed.

[0277] 1 bit: The second message resource G / T link indication information. A value of 0 indicates a G-link resource, and a value of 1 indicates a T-link resource.

[0278] 3 bits: The second message resource starting radio frame indication information. In the superframe being scheduled, the frame number of the starting radio frame is # (3-bit value x 6).

[0279] 4 bits: The number of antenna ports N G,ss,rang for the second message resource, and a value of 0 indicates no resource configuration.

[0280] 2 bits: The number of ranging repetitions N G,ss,rang,rep for the second message resource antenna port. If the value of this field is v, then N G,ss,rang,rep = 2^(v+1), where "^" denotes exponentiation.

[0281] 4 bits: The number of ranging beams for the second message resource beam enhancement. If the value of this field is v, then the number of beams is 4v, and a value of 0 indicates no resource configuration.

[0282] 2 bits: The number of ranging repetitions N G,bf,rang,rep for the second message resource beam enhancement. If the value of this field is v, then N G,bf,rang,rep = 2^(v+1), where "^" denotes exponentiation.

[0283] 1 bit: The second message switching interval indication information. A value of 0 indicates that no switching interval symbol is needed, and a value of 1 indicates that a switching interval symbol is needed.

[0284] 1 bit: The third message resource G / T link indication information. A value of 0 indicates a G-link resource, and a value of 1 indicates a T-link resource.

[0285] 3 bits: The third message resource starting radio frame indication information. In the superframe being scheduled, the frame number of the starting radio frame is # (3-bit value x 6).

[0286] 24 bits: Calculates the cyclic redundancy check sequence using the cyclic redundancy check generator polynomial g_CRC24B(D) according to the processing method in section 6.10.1 of this standard, and adds a 24-bit multi-antenna ranging control information identification mask. The 24-bit multi-antenna ranging control information identification mask is configured by higher layers.

[0287] Figure 17 This is a structural diagram of a measuring device provided in one embodiment of the present application. Figure 17 As shown, the device 1700 includes: a transceiver module 1701 and a processing module 1702.

[0288] In one example, the apparatus 1700 can be applied to a first device. In this example, the apparatus 1700 can be used to implement the operations performed by the first device in any of the aforementioned methods. The transceiver module 1701 can be used to implement receiving and sending operations, and the processing module 1702 can be used to implement operations such as obtaining, determining, and configuring.

[0289] For example, the transceiver module 1701 can be used to implement Figure 3 In the illustrated embodiment, the operations in S310, S320, and S350 implemented by the first device may be implemented by the processing module 1702. Figure 3 S330 and S360 in the illustrated embodiment.

[0290] For example, the transceiver module 1701 can be used to implement Figure 11 In the illustrated embodiment, the operations in S310, S320, S325, S350 and S351 are implemented by the first device, and the processing module 1702 can be used to implement Figure 11 S330, S341 and S370 in the illustrated embodiment.

[0291] For example, the transceiver module 1701 can be used to implement Figure 14 In the illustrated embodiment, the operations in S310, S320, S305, S350 and S351 are implemented by the first device, and the processing module 1702 can be used to implement Figure 14 S330, S321 and S370 in the illustrated embodiment.

[0292] In another example, the apparatus 1700 can be applied to a second device. In this example, the apparatus 1700 can be used to implement the operations performed by the second device in any of the aforementioned methods. The transceiver module 1701 can be used to implement receiving and sending operations, and the processing module 1702 can be used to implement operations such as obtaining, determining, recording, and configuring.

[0293] For example, the transceiver module 1701 can be used to implement Figure 3In the illustrated embodiment, the operations in S310, S320, and S350 implemented by the second device may be implemented by the processing module 1702. Figure 3 S340 in the illustrated embodiment.

[0294] For example, the transceiver module 1701 can be used to implement Figure 11 In the illustrated embodiment, the operations in S310, S320, S325, S350 and S351 implemented by the second device, the processing module 1702 may be used to implement Figure 11 S340 and S342 in the illustrated embodiment.

[0295] For example, the transceiver module 1701 can be used to implement Figure 14 In the illustrated embodiment, the operations in S310, S320, S305, S350 and S351 implemented by the second device, the processing module 1702 may be used to implement Figure 14 S322 and S340 in the illustrated embodiment.

[0296] Figure 18 A structural schematic diagram of a measuring device provided in another embodiment of the present application. Figure 18 The apparatus 1800 shown may be used to execute any of the aforementioned methods executed by a first device or to execute any of the aforementioned methods executed by a second device.

[0297] like Figure 18 As shown, the apparatus 1800 of this embodiment includes: a memory 1801, a processor 1802, a communication interface 1803, and a bus 1804. The memory 1801, the processor 1802, and the communication interface 1803 are communicatively connected to each other via the bus 1804.

[0298] The memory 1801 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1801 may store a program. When the program stored in the memory 1801 is executed by the processor 1802, the processor 1802 is configured to execute the steps of any of the aforementioned methods performed by the first device, or the processor 1802 is configured to execute the steps of any of the aforementioned methods performed by the second device.

[0299] The processor 1802 can be a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits to execute related programs.

[0300] The processor 1802 can also be an integrated circuit chip on which one or more of the above described processes are implemented as software in the form of one or more sets of instructions. The set of instructions resides on the processor 1802 or is carried on a carrier medium which is readable by the processor 1802.

[0301] The processor 1802 described above can also be a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The disclosed methods, steps and logic block diagrams in the embodiments of the present application can be implemented or executed by the processor 1802. The general processor can be a microprocessor or the processor can also be any conventional processor.

[0302] The steps of the method disclosed in the embodiments of the present application can be directly embodied as hardware code processing executed by the processor, or executed by a combination of hardware and software modules in the code processing. The software module can be located in the random access memory, the flash memory, the read-only memory, the programmable read-only memory or the electrically erasable programmable memory, the register or other mature storage medium in the art. The storage medium is located in the storage memory 1801, and the processor 1802 reads the information in the storage memory 1801 to combine the hardware to complete the functions required by the units included in the device of the present application.

[0303] The communication interface 1803 can use, but is not limited to, a transceiver such as a transceiver to realize the communication between the device 1800 and other devices or communication networks.

[0304] The bus 1804 can include a path for transmitting information between the various components (for example, the storage memory 1801, the processor 1802, the communication interface 1803) of the device 1800.

[0305] It should be understood that the device 1800 shown in the embodiments of the present application can be a communication device, or can also be a chip configured in the communication device.

[0306] Some embodiments of the present application further provide a computer program product, for example, a distance measurement application, which, when run on a processor, can implement the method implemented by the first device or the second device in any of the above embodiments. Some embodiments of the present application further provide a computer readable storage medium, which contains computer instructions, which, when run on a processor, can implement the method implemented by the first device or the second device in any of the above embodiments. Some embodiments of the present application further provide a communication system, which contains the first device and the second device in any of the above methods.

[0307] It should be noted that the modules or components described in the above embodiments can be one or more integrated circuits configured to implement the above methods, for example, one or more application specific integrated circuits (ASICs), or one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs), etc. For another example, when a certain module above is implemented in the form of a processing element scheduling code, the processing element can be a general purpose processor, such as a central processing unit (CPU) or other processor that can invoke code, such as a controller. For another example, these modules can be integrated together to implement a system-on-a-chip (SOC).

[0308] In the above embodiments, all or part can be implemented by software, hardware, firmware, software modules or any combination thereof. When implemented by software, all or part can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. containing one or more available media sets. The available media can be magnetic media (such as floppy disk, hard disk, magnetic tape), optical media (such as DVD), or semiconductor media (such as solid state disk (SSD)) and the like.

[0309] The term "multiple" herein refers to two or more. The term "and / or" herein is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the associated objects before and after are an "or" relationship; in the formula, the character " / " represents that the associated objects before and after are a "division" relationship. In addition, it should be understood that in the description of the present application, the words "first", "second", etc. are only used for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can it be understood as indicating or implying order.

[0310] It can be understood that the various numerical numbers involved in the embodiments of the present application are only for the convenience of differentiation, and do not limit the scope of the embodiments of the present application.

[0311] It can be understood that in the embodiments of the present application, the size of the serial number of the above processes does not mean the order of execution, and the execution order of the processes should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

Claims

1. A measurement method, characterized in that: include: A first device sends a first symbol, where the first device is a G-node or a T-node; The first device receives a second symbol from the second device, where the first symbol and the second symbol are carried in the same radio frame or different radio frames; The first device determines a first time difference, where the first time difference is the time interval between a first moment when the first device sends the first symbol and a second moment when the first device receives the second symbol. The first time difference is used to determine a distance between the first device and the second device.

2. The method according to claim 1, characterized in that The method further comprises: The first device receives a second time difference from the second device, where the second time difference is a time interval between a third moment when the second device receives the first symbol and a fourth moment when the second device sends the second symbol; The first device determines the distance between the first device and the second device according to the first time difference and the second time difference.

3. The method according to claim 1 or 2, characterized in that The first symbol and / or the second symbol are generated as follows: Where n represents the subcarrier number, u is a preset value, and d(n) represents the sequence on the nth subcarrier.

4. The method according to claim 3, characterized in that u is any integer from a to b, where a is a positive integer greater than 1, b is a positive integer less than 39, and a is smaller than b.

5. The method according to any one of claims 1 to 4, characterized in that The radio frame includes a G link symbol, a system overhead G symbol, and a T link symbol, or the radio frame includes a G link symbol, a T link symbol, and a system overhead T symbol; The first symbol is a G link ranging symbol and the second symbol is a T link ranging symbol, or the first symbol is a T link ranging symbol and the second symbol is a G link ranging symbol, wherein the G link ranging symbol is carried on resources used to transmit G link symbols and / or resources of system overhead G symbols, and the T link ranging symbol is carried on resources used to transmit T link symbols and / or resources of system overhead T symbols.

6. The method according to any one of claims 1 to 5, characterized in that When the first symbol and the second symbol are carried in the same radio frame, there is a switching interval GAP between the first symbol and the second symbol.

7. The method according to any one of claims 1 to 5, characterized in that When the first symbol and the second symbol are carried in different radio frames, the first symbol is carried in a first radio frame, and the second symbol is carried in a second radio frame; When the first symbol is carried on resources used to transmit G link symbols and / or resources of system overhead G symbols, and the second symbol is carried on resources used to transmit T link symbols and / or resources of system overhead T symbols, the first radio frame further includes T link symbols, and the second radio frame further includes G link symbols; When the first symbol is carried on resources used to transmit T link symbols and / or resources of system overhead T symbols, and the second symbol is carried on resources used to transmit G link symbols and / or resources of system overhead G symbols, the first wireless frame also includes G link symbols, and the second wireless frame also includes T link symbols.

8. The method according to any one of claims 1 to 7, characterized in that The method further comprises: The first device receives first time information from the second device, where the first time information is used to determine a second time difference, where the second time difference is a time interval between a third time instant at which the second device receives the first symbol and a fourth time instant at which the second device sends the second symbol; The first device receives first measurement information from the second device, where the first measurement information is used to indicate a measurement interaction sequence number corresponding to the first time information.

9. The method according to any one of claims 1 to 8, characterized in that The first symbol is the first of M ranging symbols sent by the first device in the wireless frame, and the second symbol is the first of N ranging symbols received by the first device in the wireless frame, where N is a positive integer and M is a positive integer.

10. The method according to any one of claims 1 to 9, characterized in that The first moment is the moment when the beginning of the first symbol reaches the first antenna connector of the first device, and the second moment is the moment when the beginning of the second symbol reaches the first antenna connector; or The first moment is the moment when the beginning of the cyclic prefix CP of the first symbol reaches the first antenna connector of the first device, and the second moment is the moment when the beginning of the CP of the second symbol reaches the first antenna connector.

11. The method according to any one of claims 1 to 10, characterized in that The method further comprises: The first device sends first configuration information to the second device, or the first device receives first configuration information from the second device; The first configuration information is used to indicate at least one of the following: a Transaction ID corresponding to the measurement, an identifier of the radio frame, a first resource in the radio frame that carries the first symbol, and a second resource in the radio frame that is used to carry the second symbol.

12. The method according to claim 11, characterized in that The first configuration information indicates the first resource and / or the second resource through a bitmap.

13. The method according to any one of claims 2 to 12, characterized in that The method further comprises: The first device sends a third symbol; determining, by the first device, a third time difference, where the third time difference is a time interval between a second moment at which the first device receives the second symbol and a fifth moment at which the first device sends the third symbol; The first device receives a fourth time difference from the second device, where the fourth time difference is a time interval between a third moment when the second device sends the second symbol and a sixth moment when the second device receives the third symbol; The first device determines, based on the first time difference and the second time difference, a distance between the first device and the second device, including: The first device determines a distance between the first device and the second device based on the first time difference, the second time difference, the third time difference, and the fourth time difference.

14. The method according to claim 13, characterized in that When the first symbol and the second symbol are carried in a first radio frame, the third symbol is carried in a second radio frame; or, the first symbol is carried in a first radio frame, and the second symbol and the third symbol are carried in a second radio frame; The second radio frame is located after the first radio frame.

15. The method according to any one of claims 1 to 14, characterized in that The radio frame further includes a ranging symbol for measuring the distance between the first device and the third device, or includes a ranging symbol for measuring the distance between the second device and the third device.

16. A measuring device, characterized in that: The measuring device is applied to a first device, where the first device is a G-node or a T-node, and the device includes: A sending module, configured to send a first symbol; a receiving module, configured to receive a second symbol from a second device, where the first symbol and the second symbol are carried in the same radio frame or in different radio frames; A processing module is used to determine a first time difference, where the first time difference is the time interval between the first moment when the first device sends the first symbol and the second moment when the first device receives the second symbol, and the first time difference is used to determine the distance between the first device and the second device.

17. The device according to claim 16, characterized in that The receiving module is further configured to: receive a second time difference from the second device, where the second time difference is a time interval between a third moment when the second device receives the first symbol and a fourth moment when the second device sends the second symbol; The processing module is further configured to determine a distance between the first device and the second device according to the first time difference and the second time difference.

18. The device according to claim 16 or 17, characterized in that The first symbol and / or the second symbol is generated based on a ZC sequence, and the ZC sequence is generated as follows: Wherein, n represents the subcarrier number, u is a preset value, and d(n) represents the ZC sequence on the n-th subcarrier.

19. The device according to claim 18, characterized in that u is any integer from a to b, where a is a positive integer greater than 1, b is a positive integer less than 39, and a is smaller than b.

20. The device according to any one of claims 16 to 19, characterized in that The radio frame includes a G link symbol, a system overhead G symbol, and a T link symbol, or the radio frame includes a G link symbol, a T link symbol, and a system overhead T symbol; The first symbol is a G link ranging symbol and the second symbol is a T link ranging symbol, or the first symbol is a T link ranging symbol and the second symbol is a G link ranging symbol, wherein the G link ranging symbol is carried on resources used to transmit G link symbols and / or resources of system overhead G symbols, and the T link ranging symbol is carried on resources used to transmit T link symbols and / or resources of system overhead T symbols.

21. The device according to any one of claims 16 to 20, characterized in that When the first symbol and the second symbol are carried in the same radio frame, there is a switching interval GAP between the first symbol and the second symbol.

22. The device according to any one of claims 16 to 20, characterized in that When the first symbol and the second symbol are carried in different radio frames, the first symbol is carried in a first radio frame, and the second symbol is carried in a second radio frame; When the first symbol is carried on resources used to transmit G link symbols and / or resources of system overhead G symbols, and the second symbol is carried on resources used to transmit T link symbols and / or resources of system overhead T symbols, the first radio frame further includes T link symbols, and the second radio frame further includes G link symbols; When the first symbol is carried on resources used to transmit T link symbols and / or resources of system overhead T symbols, and the second symbol is carried on resources used to transmit G link symbols and / or resources of system overhead G symbols, the first wireless frame also includes G link symbols, and the second wireless frame also includes T link symbols.

23. The device according to any one of claims 16 to 22, characterized in that The receiving module is further configured to: receive first time information, where the first time information is used to determine a second time difference, where the second time difference is a time interval between a third moment when the second device receives the first symbol and a fourth moment when the second device sends the second symbol; The receiving module is further configured to receive first measurement information, where the first measurement information is configured to indicate a measurement interaction sequence number corresponding to the first time information.

24. The device according to any one of claims 16 to 23, characterized in that The first symbol is the first of M ranging symbols sent by the first device in the wireless frame, and the second symbol is the first of N ranging symbols received by the first device in the wireless frame, where N is a positive integer and M is a positive integer.

25. The device according to any one of claims 16 to 24, characterized in that The first moment is the moment when the beginning of the first symbol reaches the first antenna connector of the first device, and the second moment is the moment when the beginning of the second symbol reaches the first antenna connector; or The first moment is the moment when the beginning of the cyclic prefix CP of the first symbol reaches the first antenna connector of the first device, and the second moment is the moment when the beginning of the CP of the second symbol reaches the first antenna connector.

26. The device according to any one of claims 16 to 25, characterized in that The sending module is further configured to send the first configuration information to the second device, or the receiving module is further configured to receive the first configuration information from the second device; The first configuration information is used to indicate at least one of the following: a Transaction ID corresponding to the measurement, an identifier of the radio frame, a first resource in the radio frame that carries the first symbol, and a second resource in the radio frame that is used to carry the second symbol.

27. The device according to claim 26, characterized in that The first configuration information indicates the first resource and / or the second resource through a bitmap.

28. The device according to any one of claims 17 to 27, characterized in that The sending module is further configured to send a third symbol; The processing module is further configured to determine a third time difference, where the third time difference is a time interval between a second moment when the first device receives the second symbol and a fifth moment when the first device sends the third symbol; The receiving module is further configured to receive second time information from the second device, where the second time information is used to determine a fourth time difference, where the fourth time difference is a time interval between a third time instant at which the second device sends the second symbol and a sixth time instant at which the second device receives the third symbol; When the processing module is used to determine the distance between the first device and the second device based on the first time difference and the second time difference, it is specifically used to: determine the distance between the first device and the second device based on the first time difference, the second time difference, the third time difference and the fourth time difference.

29. The device according to claim 28, characterized in that When the first symbol and the second symbol are carried in a first wireless frame, the third symbol is carried in a second wireless frame; or, the first symbol is carried in a first wireless frame, and the second symbol and the third symbol are carried in a second wireless frame; wherein the second wireless frame is located after the first wireless frame.

30. The device according to any one of claims 16 to 29, characterized in that The radio frame further includes a ranging symbol for measuring the distance between the first device and the third device, or includes a ranging symbol for measuring the distance between the second device and the third device.

31. A measuring device, characterized in that include: processor and memory; The memory stores computer instructions; The processor executes the computer instructions stored in the memory, so that the measuring device performs the method according to any one of claims 1 to 15.

32. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program or instructions, and when the computer program or instructions are executed, the method according to any one of claims 1 to 15 is implemented.

33. A computer program product, characterized in that The method comprises a computer program or instructions, which, when executed by a processor, implements the method according to any one of claims 1 to 15.

Images