Ranging method and related device

Abstract

A ranging method, the method comprising: a first node determining a first security parameter according to a plurality of input parameters (S1301), obtaining a second measurement sequence according to the first security parameter and a first measurement sequence (S1302), and transmitting a first security measurement signal (S1303); the second node determines a first security parameter according to the plurality of input parameters (S1304), and obtains a first measurement sequence through the first security parameter and the first security measurement signal (S1305). Therefore, a measurement signal is not easy to be intercepted by an attacker. The invention further discloses a distance measuring device, a communication device, a chip, a communication system, a terminal, a computer readable storage medium and a computer program product.

Description

[0001] This application is a divisional application, the original application number is 202280102334.2, the original application date is December 9, 2022, and the entire contents of the original application are incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of communication technology, especially the field of short-range communication technology, such as communication in scenarios such as smart cars, smart homes, smart terminals, and smart manufacturing. Specifically, it relates to a ranging method and related devices. BACKGROUND

[0003] With the continuous development of communication technology, smart home, smart cabin, smart driving, smart manufacturing, smart transportation and other smart application scenarios have emerged. In the communication scenario, whether it is for the realization of communication and network connection stability, or for a specific application scenario, it may involve the process of determining the distance and / or location of a certain communication device in the network.

[0004] The way of transmitting measurement signals between communication devices to realize ranging and / or positioning is an important means to solve the problem of ranging and positioning. For example, two nodes in a vehicle can send measurement signals to each other, obtain measurement results through the measurement signals, and thus obtain the distance between the two nodes. However, while people enjoy the convenience brought by communication ranging, they also face the threat of security vulnerabilities and privacy leaks. For example, an attacker may communicate with a node by sending measurement signals, threatening the security of the node. For another example, an attacker may send or listen to measurement signals to obtain the measurement signals and calculate the distance of the opposite end.

[0005] In summary, how to realize secure ranging is a problem to be solved. SUMMARY

[0006] Embodiments of the present application provide a ranging method and related devices, which can realize secure location information measurement and improve communication security.

[0007] In a first aspect, embodiments of the present application provide a ranging method, comprising:

[0008] determining a first security parameter according to a plurality of input parameters, the plurality of input parameters including a first random value and a first communication parameter;

[0009] obtaining a second measurement sequence according to the first security parameter and a first measurement sequence;

[0010] sending a first security measurement signal, the first security measurement signal being associated with the second measurement sequence, the first security measurement signal being used for location information measurement.

[0011] The position information measurement can include one or more of ranging, angle measurement, or positioning. Optionally, the method is applied to the first node, for example, by a chip or a software unit in the first node.

[0012] In the embodiments of the present application, when the measurement signal is transmitted, the measurement signal is processed based on a random number and a communication parameter to obtain a secure measurement signal, and the secure measurement signal is transmitted to complete the position information measurement (or simply referred to as position measurement) process. On the one hand, the random number has randomness and is difficult to be cracked; on the other hand, the communication parameter changes in real time in the process of communication, for example, the time unit and the frequency unit change with the transmission, and it is also difficult to be cracked. By processing the measurement signal based on the random number and the communication parameter, the cracking difficulty of the measurement signal is greatly increased, the secure position measurement is realized, and the communication security is improved.

[0013] In addition, the communication parameter can be consistently changed without the communication connection (i.e., the communication connection for transmitting service data) between the first node and the second node, thereby reducing the connection establishment step in the position measurement process, reducing the complexity of the position measurement, and improving the universality of the position measurement process. The method is also applicable to position measurement in various non-direct connection cases.

[0014] In another possible implementation of the first aspect, the first communication parameter is related to one or more of the following information:

[0015] The sequence number of the first OFDM symbol, the number of the first time unit, or the number of the first frequency unit, wherein the first OFDM symbol is used to carry the first secure measurement signal, the first time unit includes the first OFDM symbol, and the first frequency unit includes a frequency resource used to transmit the first secure measurement signal.

[0016] In the above implementation, the communication parameter is related to the sequence number of the symbol, the number of the time unit, and the number of the frequency unit. Since the above information changes with the change of the communication, the first communication parameter can be updated with the change of the communication parameter, greatly improving the cracking difficulty of the first communication parameter and improving the security of the position measurement process.

[0017] In another possible implementation of the first aspect, the first time unit is included in a plurality of consecutive time units, the signals carried by the plurality of consecutive time units are frequency-hopped transmitted according to a preset frequency unit number sequence when transmitted, and the number of the first frequency unit belongs to the preset frequency unit number sequence.

[0018] In the above embodiments, the signal can be frequency-hopped during transmission, thereby increasing the transmission bandwidth and improving the transmission efficiency. Since the first communication parameter is related to the number of the frequency unit, the frequency-hopping transmission can increase the frequency of the change of the frequency number, improve the cracking difficulty of the first communication parameter, and improve the security. The scheme of the present application is applicable to frequency-hopping transmission, that is, not only can the security be improved, but also the accuracy of the position measurement can be improved through frequency-hopping transmission.

[0019] In a further possible implementation form of the first aspect, the first communication parameter is associated with a position of a first OFDM symbol relative to a second OFDM symbol, wherein the first OFDM symbol carries the first security measurement signal, and the second OFDM symbol is configured to carry a second security measurement signal, and the first communication parameter corresponding to the second security measurement signal is a preset value.

[0020] In this implementation form, the first communication parameter has different values in different symbols, and the values have a correlation. Therefore, if a certain first communication parameter needs to be cracked, the preset value of the first communication parameter needs to be obtained first. Since the past parameters are difficult to crack, the cracking difficulty of the first communication parameter can be improved, and the security can be improved.

[0021] In a further possible implementation form of the first aspect, the second measurement sequence is obtained according to the first security parameter and a first measurement sequence, and the obtaining comprises:

[0022] scrambling the first measurement sequence by using the first security parameter to obtain the second measurement sequence.

[0023] In a further possible implementation form of the first aspect, the second measurement sequence is obtained according to the first security parameter and a first measurement sequence, and the obtaining comprises:

[0024] performing an exclusive-OR operation on the first security parameter and the first measurement sequence to obtain the second measurement sequence.

[0025] In a further possible implementation form of the first aspect, the first security parameter is determined according to a plurality of input parameters, and the determining comprises:

[0026] obtaining an N-bit sequence according to the plurality of input parameters, wherein the N-bit sequence comprises the first security parameter, and N is an integer and N≥1.

[0027] In this implementation form, the first security parameter is obtained based on one or more bit sequences, which can improve the flexibility of the bit length of the first security parameter, and is applicable to the security processing, such as encryption or scrambling, of the measurement signal under various modulation modes and various carrier widths.

[0028] As a possible implementation, when the length of the first security parameter required is relatively short, the first security parameter can be obtained by cutting part of the bit sequence; when the length of the first security parameter required is relatively long, the first security parameter can be obtained by splicing multiple sequences.

[0029] In a further possible implementation of the first aspect, when the N is greater than 1, the plurality of input parameters further comprises a freshness parameter; and the obtaining the N bit sequences according to the plurality of input parameters comprises:

[0030] The N bit sequences are obtained according to the first random number value, the first communication parameter and the freshness parameter, wherein the freshness parameter is updated after each of the N bit sequences is obtained.

[0031] In this implementation, by updating the freshness parameter, the input parameters used when different bit sequences are generated are not the same, so that the security parameter generated is more difficult to be cracked, and the security is improved.

[0032] In a further possible implementation of the first aspect, a first bit sequence of the N bit sequences corresponds to a preset value of the freshness parameter, and a second bit sequence of the N bit sequences corresponds to a freshness parameter associated with the preset value and a sequence number of the second bit sequence, wherein the second bit sequence is different from the first bit sequence.

[0033] In a further possible implementation of the first aspect, when the N is greater than 1, the obtaining the N bit sequences according to the plurality of input parameters comprises:

[0034] A first bit sequence of the N bit sequences is obtained according to the plurality of input parameters;

[0035] An Ith bit sequence of the N bit sequences is obtained according to the plurality of input parameters and an (I-1)th bit sequence, where I is an integer and N≥I≥2.

[0036] This implementation can realize that the input parameters of the N bit sequences are different, so that different bit sequences are obtained, and the security is improved.

[0037] In a further possible implementation of the first aspect, the first security measurement signal comprises a plurality of sub-measurement signals, and the plurality of sub-measurement signals are sent by a plurality of antennas.

[0038] The first measurement sequence comprises a plurality of first sub-sequences, and the plurality of first sub-sequences are used to generate a plurality of second sub-sequences, and the plurality of second sub-sequences belong to the second measurement sequence.

[0039] Each of the sub-measurement signals corresponds to one of the second sub-sequences.

[0040] In this implementation, the multiple antennas respectively send multiple measurement signals, the multiple measurement signals collectively use the first security parameter, but each measurement signal can use a different part of the first security parameter. For example, the measurement signal sent by antenna 1 uses 0-76 bits, antenna 2 uses 77-152 bits, and the rest follow the same pattern.

[0041] Of course, the multiple measurement signals sent by the multiple antennas can also use the same part of the security parameter, or the different parts used by the multiple measurement signals can overlap. This application is also applicable to these cases.

[0042] This implementation is applicable to the first node with multiple antennas, can realize secure position measurement under the multiple-input multiple-output (MIMO) technology, improve the utilization of spatial resources, and improve the efficiency of position measurement.

[0043] In another possible implementation of the first aspect, the method is applied to the first node, and the method further includes:

[0044] Sending the first security measurement signal to the second node, the first security measurement signal being used to measure the distance between the first node and the second node.

[0045] In another possible implementation of the first aspect, the first random number is determined by the first node, and the method further includes:

[0046] Sending the first random number to the second node.

[0047] In another possible implementation of the first aspect, the method further includes:

[0048] Receiving the first random number from the second node.

[0049] In another possible implementation of the first aspect, the first random number is determined by the first node, and the method further includes:

[0050] Sending the first random number to a third node.

[0051] In another possible implementation of the first aspect, the method further includes:

[0052] Receiving the communication address of the second node from the third node.

[0053] In a further possible implementation form of the first aspect, the third node is a node transmitting data scheduling information, and the first node is a node receiving and / or transmitting data based on the data scheduling information.

[0054] In a further possible implementation form of the first aspect, the first communication parameter is from a management node, which is a node transmitting data scheduling information.

[0055] Optionally, the first node is the management node, or the third node is the management node, or the second node is the management node.

[0056] In a further possible implementation form of the first aspect, the first measurement sequence is a pseudo-random sequence.

[0057] In a further possible implementation form of the first aspect, the plurality of input parameters further comprise indication information indicating at least one of the plurality of antennas;

[0058] The first secure measurement signal is transmitted through the at least one antenna.

[0059] In this implementation form, the first node with multiple antennas can implement secure position measurement in a Multiple-Input Multiple-Output (MIMO) manner, improve utilization of spatial resources, and improve position measurement efficiency.

[0060] In a second aspect, an embodiment of the present application provides a ranging method, comprising:

[0061] Determining a first secure parameter according to a plurality of input parameters, the plurality of input parameters comprising a first random value and a first communication parameter;

[0062] Receiving a first secure measurement signal, the first secure measurement signal being associated with the second measurement sequence, and the first secure measurement signal being used for position information measurement;

[0063] Obtaining a first measurement sequence through the first secure parameter and the first secure measurement signal.

[0064] In a possible implementation form of the second aspect, the first communication parameter is related to one or more of the following information:

[0065] A sequence number of a first OFDM symbol, a number of a first time unit, or a number of a first frequency unit, wherein the first OFDM symbol is used to carry the first secure measurement signal, the first time unit comprises the first OFDM symbol, and the first frequency unit comprises a frequency resource used to transmit the first secure measurement signal.

[0066] In a further possible implementation form of the second aspect, the first time unit is comprised in a plurality of consecutive time units, signals carried by the plurality of consecutive time units are frequency-hopped in transmission according to a preset frequency unit number sequence, and a number of the first frequency unit belongs to the preset frequency unit number sequence.

[0067] In a further possible implementation form of the second aspect, the first communication parameter is associated with a position of a first OFDM symbol relative to a second OFDM symbol, wherein the first OFDM symbol carries the first safety measurement signal and the second OFDM symbol is used to carry a second safety measurement signal, and a first communication parameter corresponding to the second safety measurement signal is a preset value.

[0068] In a further possible implementation form of the second aspect, the obtaining the first measurement sequence by using the first security parameter and the first safety measurement signal comprises:

[0069] despreading the second measurement sequence by using the first security parameter to obtain the first measurement sequence.

[0070] In a further possible implementation form of the second aspect, the obtaining the first measurement sequence by using the first security parameter and the first safety measurement signal comprises:

[0071] XORing the first security parameter and the second measurement sequence to obtain the first measurement sequence.

[0072] In a further possible implementation form of the second aspect, the determining the first security parameter according to a plurality of input parameters comprises:

[0073] obtaining an N-bit sequence according to the plurality of input parameters, the N-bit sequence comprising the first security parameter, N being an integer and N≥1.

[0074] In a further possible implementation form of the second aspect, when the N is greater than 1, the plurality of input parameters further comprises a freshness parameter, and the obtaining the N-bit sequence according to the plurality of input parameters comprises:

[0075] obtaining the N-bit sequence according to the first random number value, the first communication parameter and the freshness parameter, wherein the freshness parameter is updated after each of the N-bit sequences is obtained.

[0076] In a further possible implementation form of the second aspect, a first bit sequence of the N bit sequences corresponds to a preset value, and a second bit sequence of the N bit sequences corresponds to a freshness parameter associated with the preset value and a sequence number of the second bit sequence, wherein the second bit sequence is different from the first bit sequence.

[0077] In a further possible implementation form of the second aspect, when the N is greater than 1, the obtaining the N bit sequences according to the plurality of input parameters comprises:

[0078] obtaining a first bit sequence of the N bit sequences according to the plurality of input parameters;

[0079] obtaining an Ith bit sequence of the N bit sequences according to the plurality of input parameters and an (I-1)th bit sequence, where I is an integer and N≥I≥2.

[0080] In a further possible implementation form of the second aspect, the first security measurement signal comprises a plurality of sub-measurement signals, the plurality of sub-measurement signals are transmitted by a plurality of antennas of the first node and received by a plurality of antennas of the second node respectively;

[0081] the first measurement sequence comprises a plurality of first sub-sequences, the plurality of first sub-sequences are used to generate a plurality of second sub-sequences using different parts of the first security parameter, and the plurality of second sub-sequences belong to the second measurement sequence;

[0082] Each sub-measurement signal corresponds to one sequence of the plurality of second sub-sequences.

[0083] In a further possible implementation form of the second aspect, the method further comprises:

[0084] receiving a first random number from the first node.

[0085] In a further possible implementation form of the second aspect, the method further comprises:

[0086] determining a first random number;

[0087] sending the first random number to the first node.

[0088] In a further possible implementation form of the second aspect, the method further comprises:

[0089] receiving the first random number sent by a third node, the first random number being from the first node.

[0090] In a further possible implementation form of the second aspect, the method further comprises:

[0091] receiving a communication address of the first node from the third node.

[0092] In a further possible implementation form of the second aspect, the third node is a node transmitting data scheduling information, and the first node is a node receiving and / or transmitting data based on the data scheduling information.

[0093] In a further possible implementation form of the second aspect, the first communication parameter is from a management node, the management node being a node transmitting data scheduling information.

[0094] In a further possible implementation form of the second aspect, the first measurement sequence is a pseudo-random sequence.

[0095] In a further possible implementation form of the second aspect, the plurality of input parameters further comprise indication information indicating at least one antenna of the plurality of antennas; the first safety measurement signal is transmitted via the at least one antenna.

[0096] In a third aspect, an embodiment of the present application provides a communication apparatus, comprising a processing unit and a communication unit. The communication apparatus is configured to implement the ranging method described in any of the first aspect.

[0097] Optionally, the communication apparatus can be comprised in the first node.

[0098] In a possible implementation form of the third aspect, the processing unit is configured to determine a first security parameter according to a plurality of input parameters, the plurality of input parameters comprising a first random value and a first communication parameter.

[0099] The processing unit is further configured to obtain a second measurement sequence according to the first security parameter and a first measurement sequence.

[0100] The communication unit is configured to transmit a first safety measurement signal, the first safety measurement signal being associated with the second measurement sequence, the first safety measurement signal being used for position information measurement.

[0101] In a further possible implementation form of the third aspect, the first communication parameter is related to one or more of the following information:

[0102] a sequence number of a first OFDM symbol, a number of a first time unit or a number of a first frequency unit, wherein the first OFDM symbol is used to carry the first safety measurement signal, the first time unit comprises the first OFDM symbol, and the first frequency unit comprises a frequency resource used to transmit the first safety measurement signal.

[0103] In a further possible implementation form of the third aspect, the first time unit is included in a plurality of consecutive time units, and signals carried by the plurality of consecutive time units are frequency-hopped in transmission according to a preset frequency unit number sequence, and a number of the first frequency unit belongs to the preset frequency unit number sequence.

[0104] In a further possible implementation form of the third aspect, the first communication parameter is associated with a position of a first OFDM symbol relative to a second OFDM symbol, wherein the first OFDM symbol carries the first safety measurement signal, and the second OFDM symbol is used to carry a second safety measurement signal, and a first communication parameter corresponding to the second safety measurement signal is a preset value.

[0105] In a further possible implementation form of the third aspect, the processing unit is further configured to scramble the first measurement sequence by the first security parameter to obtain the second measurement sequence.

[0106] In a further possible implementation form of the third aspect, the processing unit is further configured to perform an exclusive-OR operation on the first security parameter and the first measurement sequence to obtain the second measurement sequence.

[0107] In a further possible implementation form of the third aspect, the processing unit is further configured to:

[0108] obtain N bit sequences according to the plurality of input parameters, wherein the N bit sequences include the first security parameter, and N is an integer and N≥1.

[0109] In a further possible implementation form of the third aspect, when the N is greater than 1, the plurality of input parameters further include a freshness parameter, and the processing unit is further configured to:

[0110] obtain the N bit sequences according to the first random number value, the first communication parameter, and the freshness parameter, wherein the freshness parameter is updated after each of the N bit sequences is obtained.

[0111] In a further possible implementation form of the third aspect, a first bit sequence of the N bit sequences corresponds to a preset value of the freshness parameter, and a second bit sequence of the N bit sequences corresponds to a freshness parameter associated with the preset value and a sequence number of the second bit sequence, wherein the second bit sequence is different from the first bit sequence.

[0112] In a further possible implementation form of the third aspect, when the N is greater than 1, the processing unit is further configured to:

[0113] obtain a first bit sequence of the N bit sequences according to the plurality of input parameters.

[0114] The first bit sequence is obtained according to the plurality of input parameters and the I-1th bit sequence, I being an integer and N≥I≥2.

[0115] In a further possible implementation form of the third aspect, the first safety measurement signal comprises a plurality of sub-measurement signals, the plurality of sub-measurement signals being transmitted by a plurality of antennas.

[0116] The first measurement sequence comprises a plurality of first sub-sequences, the plurality of first sub-sequences being used to generate a plurality of second sub-sequences using different parts of the first safety parameter, the plurality of second sub-sequences belonging to the second measurement sequence.

[0117] Each sub-measurement signal corresponds to one of the plurality of second sub-sequences.

[0118] In a further possible implementation form of the third aspect, the communication unit is further configured to transmit the first safety measurement signal to a second node, the first safety measurement signal being used to measure a distance between the first node and the second node.

[0119] In a further possible implementation form of the third aspect, the first random number is determined by the first node, and the communication unit is further configured to transmit the first random number to the second node.

[0120] In a further possible implementation form of the third aspect, the communication unit is further configured to receive the first random number from the second node.

[0121] In a further possible implementation form of the third aspect, the first random number is determined by the first node, and the communication unit is further configured to transmit the first random number to a third node.

[0122] In a further possible implementation form of the third aspect, the communication unit is further configured to receive a communication address of the second node from the third node.

[0123] In a further possible implementation form of the third aspect, the third node is a node transmitting data scheduling information, and the first node is a node receiving and / or transmitting data based on the data scheduling information.

[0124] In a further possible implementation form of the third aspect, the first communication parameter is from a management node, the management node being a node transmitting data scheduling information.

[0125] Optionally, the first node is the management node, or the third node is the management node, or the second node is the management node.

[0126] In a further possible implementation form of the third aspect, the first measurement sequence is a pseudo-random sequence.

[0127] In a further possible implementation form of the third aspect, the plurality of input parameters further comprises indication information, the indication information indicating at least one of the plurality of antennas; the first safety measurement signal is transmitted via the at least one antenna.

[0128] In a fourth aspect, an embodiment of the present application provides a communication apparatus, comprising a processing unit and a communication unit. The communication apparatus is configured to implement the ranging method described in any one of the second aspect.

[0129] Optionally, the communication apparatus can be comprised in the second node.

[0130] In a possible implementation form of the fourth aspect, the processing unit is configured to determine the first safety parameter according to a plurality of input parameters, the plurality of input parameters comprising a first random value and a first communication parameter.

[0131] The communication unit is configured to receive a first safety measurement signal, the first safety measurement signal being associated with the second measurement sequence, the first safety measurement signal being used for position information measurement.

[0132] The processing unit is further configured to obtain a first measurement sequence according to the first safety parameter and the first safety measurement signal.

[0133] In a further possible implementation form of the fourth aspect, the first communication parameter is associated with one or more of the following information:

[0134] a sequence number of a first OFDM symbol, a number of a first time unit or a number of a first frequency unit, wherein the first OFDM symbol is used to carry the first safety measurement signal, the first time unit comprises the first OFDM symbol, and the first frequency unit comprises a frequency resource used to transmit the first safety measurement signal.

[0135] In a further possible implementation form of the fourth aspect, the first time unit is comprised in a plurality of consecutive time units, signals carried by the plurality of consecutive time units are frequency-hopped according to a preset frequency unit number sequence when transmitted, and the number of the first frequency unit belongs to the preset frequency unit number sequence.

[0136] In a further possible implementation form of the fourth aspect, the first communication parameter is associated with a position of a first OFDM symbol relative to a second OFDM symbol, wherein the first OFDM symbol carries the first safety measurement signal, and the second OFDM symbol is used to carry a second safety measurement signal, a first communication parameter corresponding to the second safety measurement signal being a preset value.

[0137] In a further possible implementation form of the fourth aspect, the processing unit is further configured to descramble the second measurement sequence by the first security parameter to obtain the first measurement sequence.

[0138] In a further possible implementation form of the fourth aspect, the processing unit is further configured to XOR the first security parameter and the second measurement sequence to obtain the first measurement sequence.

[0139] In a further possible implementation form of the fourth aspect, the processing unit is further configured to:

[0140] obtain N bit sequences from the plurality of input parameters, the N bit sequences comprising the first security parameter, N being an integer and N≥1.

[0141] In a further possible implementation form of the fourth aspect, when the N is greater than 1, the plurality of input parameters further comprises a freshness parameter; and the processing unit is further configured to obtain the N bit sequences from the first random number value, the first communication parameter and the freshness parameter, wherein the freshness parameter is updated after each of the N bit sequences is obtained.

[0142] In a further possible implementation form of the fourth aspect, a first bit sequence of the N bit sequences corresponds to a preset value of the freshness parameter, and a second bit sequence of the N bit sequences corresponds to a freshness parameter associated with the preset value and a sequence number of the second bit sequence, wherein the second bit sequence is different from the first bit sequence.

[0143] In a further possible implementation form of the fourth aspect, when the N is greater than 1, the processing unit is further configured to:

[0144] obtain a first bit sequence of the N bit sequences from the plurality of input parameters;

[0145] obtain an Ith bit sequence of the N bit sequences from the plurality of input parameters and an (I-1)th bit sequence, I being an integer and N≥I≥2.

[0146] In a further possible implementation form of the fourth aspect, the first security measurement signal comprises a plurality of sub-measurement signals, the plurality of sub-measurement signals being transmitted by a plurality of antennas of the first node and received by a plurality of antennas of the second node respectively;

[0147] the first measurement sequence comprises a plurality of first sub-sequences, the plurality of first sub-sequences being used to generate a plurality of second sub-sequences using different parts of the first security parameter, the plurality of second sub-sequences belonging to the second measurement sequence;

[0148] Each of the sub-measurement signals corresponds to one of a plurality of second sub-sequences.

[0149] In a further possible implementation form of the fourth aspect, the communication unit is further configured to receive a first random number from the first node.

[0150] In a further possible implementation form of the fourth aspect, the processing unit is further configured to determine a first random number.

[0151] The communication unit is further configured to transmit the first random number to the first node.

[0152] In a further possible implementation form of the fourth aspect, the communication unit is further configured to receive the first random number transmitted by a third node, the first random number being from the first node.

[0153] In a further possible implementation form of the fourth aspect, the communication unit is further configured to receive a communication address of the first node from the third node.

[0154] In a further possible implementation form of the fourth aspect, the third node is a node transmitting data scheduling information, and the first node is a node receiving and / or transmitting data based on the data scheduling information.

[0155] In a further possible implementation form of the fourth aspect, the first communication parameter is from a management node, the management node being a node transmitting data scheduling information.

[0156] In a further possible implementation form of the fourth aspect, the first measurement sequence is a pseudo-random sequence.

[0157] In a further possible implementation form of the fourth aspect, the plurality of input parameters further comprise indication information, the indication information indicating at least one of the plurality of antennas, and the first security measurement signal is transmitted through the at least one antenna.

[0158] In a fifth aspect, an embodiment of the present application provides a communication apparatus, comprising a processor; when the processor invokes a computer program or instruction in a memory, the method described in any one of the foregoing first aspect is executed, or the method described in any one of the foregoing second aspect is executed.

[0159] Optionally, the computing device further comprises a communication interface, the communication interface being configured to receive and / or transmit data, and / or the communication interface being configured to provide input and / or output for the processor.

[0160] It should be noted that the above embodiments are described by taking the processor (or general-purpose processor) which executes the method by calling the computer specification as an example. In the specific implementation process, the processor can also be a special-purpose processor, at which time the computer instructions have been preloaded in the processor. Alternatively, the processor can include both special-purpose processors and general-purpose processors.

[0161] Optionally, the communication device can further include a memory, which can be used to store computer programs or instructions. Further, the memory can be located outside the processor, or integrated with the memory.

[0162] In a sixth aspect, the embodiments of the present application provide a chip, which includes a processor; when the processor calls computer programs or instructions in the memory, the method described in any one of the first aspect is executed, or the method described in any one of the second aspect is executed.

[0163] Optionally, the chip further includes a communication interface, which is used to receive and / or send data, and / or, the communication interface is used to provide input and / or output for the processor.

[0164] Optionally, the chip can further include a memory, which can be used to store computer programs or instructions. Further, the memory can be located outside the processor, or integrated with the memory.

[0165] In a seventh aspect, the embodiments of the present application provide a communication system, which includes a first node and a second node, the first node includes the communication device described in any one of the third aspect. The second node includes the communication device described in any one of the fourth aspect.

[0166] Optionally, the communication system further includes a management node, which has a communication connection with the first node and the second node.

[0167] In an eighth aspect, the embodiments of the present application provide a terminal, which includes the communication device described in any one of the third aspect, or includes the communication device described in any one of the fourth aspect, or includes the communication device described in any one of the fifth aspect, or includes the chip described in any one of the sixth aspect, or includes the communication system described in any one of the seventh aspect.

[0168] Optionally, the terminal can be a smart terminal or a vehicle, such as a vehicle, a drone, a robot, etc.

[0169] In a ninth aspect, the embodiments of the present application provide a computer readable storage medium, which is used to store instructions or a computer program, when the instructions or the computer program are executed, the method described in any one of the first aspect is implemented, or the method described in any one of the second aspect is implemented.

[0170] In a tenth aspect, the present application provides a computer program product, which includes computer instructions or a computer program, when the instructions or the computer program are executed, the method described in any one of the first aspect is implemented, or the method described in any one of the second aspect is implemented.

[0171] Optionally, the computer program product can be a software installation package or an image package, and when the method described above is needed, the computer program product can be downloaded and executed on a computing device.

[0172] The technical solutions provided in the second to tenth aspects of the present application have the beneficial effects of the technical solutions of the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0173] The drawings used in the embodiments described below will be briefly introduced.

[0174] Figure 1 is a schematic diagram of a time unit provided by the embodiments of the present application;

[0175] Figure 2 is a schematic diagram of a carrier signal and a subcarrier provided by the embodiments of the present application;

[0176] Figure 3 is a schematic diagram of another time unit provided by the embodiments of the present application;

[0177] Figure 4 is a schematic diagram of frequency hopping provided by the embodiments of the present application;

[0178] Figure 5 is a schematic diagram of a vehicle positioning scene provided by the embodiments of the present application;

[0179] Figure 6 is a schematic diagram of a communication architecture provided by the embodiments of the present application;

[0180] Figure 7 is a schematic diagram of another communication architecture provided by the embodiments of the present application;

[0181] Figure 8 is a schematic diagram of a communication system provided by the embodiments of the present application;

[0182] Figure 9is a schematic diagram of another communication system provided by an embodiment of the present application;

[0183] Figure 10 is a schematic diagram of a ranging interaction provided by an embodiment of the present application;

[0184] Figure 11 is a schematic diagram of another communication system provided by an embodiment of the present application;

[0185] Figure 12 is a schematic diagram of a ranging interaction provided by an embodiment of the present application;

[0186] Figure 13 is a schematic diagram of a ranging method provided by an embodiment of the present application;

[0187] Figure 14 is a schematic diagram of a change of a first communication parameter provided by an embodiment of the present application;

[0188] Figure 15 is a schematic diagram of an allocation of a bit sequence provided by an embodiment of the present application;

[0189] Figure 16 is a schematic diagram of another ranging method provided by an embodiment of the present application;

[0190] Figure 17 is a schematic diagram of another ranging method provided by an embodiment of the present application;

[0191] Figure 18 is a schematic diagram of another ranging method provided by an embodiment of the present application;

[0192] Figure 19 is a schematic diagram of another ranging method provided by an embodiment of the present application;

[0193] Figure 20 is a schematic diagram of another ranging method provided by an embodiment of the present application;

[0194] Figure 21 is a schematic diagram of another ranging method provided by an embodiment of the present application;

[0195] Figure 22 is a schematic diagram of another ranging method provided by an embodiment of the present application;

[0196] Figure 23 is a schematic diagram of another ranging method provided by an embodiment of the present application;

[0197] Figure 24 is a schematic diagram of another ranging method provided by an embodiment of the present application;

[0198] Figure 25is a flowchart of another ranging method provided by an embodiment of the present application;

[0199] Figure 26 is a structural diagram of a communication device provided by an embodiment of the present application;

[0200] Figure 27 is a structural diagram of another communication device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0201] In order to facilitate understanding of the detailed implementation of the embodiments of the present application, the technical terms involved in the embodiments of the present application are described first.

[0202] 1. node

[0203] A node is a device with communication capability, including but not limited to one or more of a terminal device, a network device, an industrial device, or an entertainment device, etc.

[0204] Among them, the terminal device includes a handheld terminal, a wearable terminal, a vehicle, a vehicle-mounted device, a sensing device, a smart home device, etc., the handheld terminal includes but is not limited to a mobile phone, a tablet, or a notebook computer, etc., the wearable device includes but is not limited to a headset, a smart bracelet, a smart watch, or smart glasses, etc., the vehicle includes but is not limited to a vehicle, a ship, an aircraft, rail transit (such as a subway, a high-speed rail, etc.), or a logistics robot (such as an automated guided vehicle (AGV), etc.), etc., the vehicle-mounted device includes but is not limited to a domain controller (DC), a screen, a microphone, a sound, an electronic key, a keyless entry, a start system controller, a battery management system (BMS), a battery pack, or a battery cell, etc., the sensing device includes but is not limited to a camera, a radar, a laser radar, an illumination sensor, a temperature sensor, or a humidity sensor, etc., the smart home device includes but is not limited to a projector, a smart TV, a smart refrigerator, a smart home gateway, or a security device, etc.

[0205] The network device includes but is not limited to a router, a switch, or a base station, etc. The industrial device is, for example, an industrial robot, a mechanical arm, etc. The leisure and entertainment device is, for example, a virtual reality (VR) device, a mixed reality (MR) device, a massage chair, a home theater, a game control device, or a 4D cinema cabin, etc.

[0206] The node in the embodiment can be applied to various scenarios such as intelligent vehicles, smart homes, intelligent terminals, intelligent manufacturing, or intelligent exhibition halls. In some application scenarios or some network types, the name of a device with similar communication capabilities may not be called a node, but for the convenience of description, the device with communication capabilities is collectively referred to as a node in the embodiments of the present application.

[0207] 2. Terminal (T) node and grant (G) node

[0208] In a communication system, a node includes a G node and a T node. The G node manages a certain number of T nodes, and the G node is connected with the T nodes to jointly complete a communication function. The management of the T nodes by the G node can be reflected from multiple dimensions, for example, the G node can allocate transmission resources for the T nodes, configure communication domain parameters, and the like. As a possible implementation, the G node can send data scheduling information, and the T node can receive the data scheduling information and transmit / receive data according to the data scheduling information. Wherein, the link through which the G node sends signals to other nodes (such as T nodes) is referred to as a G link, and the link through which the T node sends signals to other nodes (such as G nodes) is referred to as a T link.

[0209] In some possible implementations, the G node and the T nodes connected therewith belong to one communication domain. Optionally, the number of G nodes in the communication domain can be one or multiple. Exemplarily, a single G node and the T nodes connected therewith jointly constitute a communication domain.

[0210] 3. Solving node

[0211] The node for calculating position information (including ranging or angle measurement, positioning) according to the measurement results reported by the node. The result of the ranging calculation includes one or more of the distance between the measured node and the anchor node, the position of the measured node, or the angle of the measured node.

[0212] 4. Fresh parameter

[0213] The fresh parameter is a parameter in the field of information security, which is used to generate secret values, authentication codes, and the like, and can also be referred to as freshness. The fresh parameter includes one or more of a random number, a counter, a serial number, a sequence number, and the like. Among them, the number once (NONCE) is a random number that is used only once (non-repetitive).

[0214] The fresh parameter generated at different time is usually different. In some scenarios, the value of the fresh parameter changes every time the fresh parameter is generated, so that the fresh parameter used for generating the secret value this time is different from the fresh parameter used for generating the secret value last time, thereby improving the security of the generated secret value.

[0215] 5. Derivation algorithm

[0216] The derivation algorithm (or called derivation algorithm) is used to obtain one or more derived values from one or more secret values, thereby implementing derivation of the secret value. The derivation algorithm can include one or more of a hash algorithm, a message authentication code, a key derivation function (KDF), an algorithm, etc. Some embodiments of the present application take the KDF as an example to illustrate the derivation algorithm, and are not intended to limit the use of which derivation algorithm.

[0217] Exemplarily, the derivation algorithm includes but is not limited to a Hash-based Message Authentication Code-SM3 (HMAC-SM3) algorithm, a Hash-based Message Authentication Code-Secure Hash Algorithm (HMAC-SHA), a password-based key derivation function (PBKDF), a scrypt algorithm, etc. Optionally, the secure hash algorithm can be SHA-224, SHA-256, SHA-384, SHA-512. When the secure hash algorithm is SHA-256, the HMAC-SHA can also be called HMAC-SHA256, and similarly, when the secure hash algorithm is SHA-224, the HMAC-SHA can also be called HMAC-SHA224, and the rest of the hash algorithms can also be similarly named, which will not be exemplified one by one here. Optionally, the PBKDF algorithm includes a first generation PBKDF1 and a second generation PBKDF2.

[0218] 6. Time unit

[0219] The time unit is a concept in the time domain. The unit of the time unit can be a superframe, a radio frame, a symbol, a mini-slot, a slot, a subframe, or a symbol, etc. Among them, the superframe is a time unit composed of multiple radio frames, the radio frame is a smaller time unit than the superframe, and the symbol is a smaller time unit than the radio frame.

[0220] A superframe comprises a plurality of radio frames, and a radio frame comprises one or more symbols. A symbol can be, for example, an orthogonal frequency-division multiplexing (OFDM) symbol. Exemplarily, the SparkLink basic (SLB) standard involved in the SparkLink alliance specifies the frame structure of the superframe and the radio frame. The superframe period is 1 millisecond (ms), that is, the duration of a superframe is 1 ms, and a superframe comprises 48 radio frames, and the duration of each radio frame is 1 / 48 = 20.833 microseconds (us).

[0221] Please refer to Figure 1 , Figure 1 is a schematic diagram of a time unit provided by an embodiment of the present application. One superframe comprises 48 radio frames, and the numbers of the 48 radio frames are radio frame #0 to radio frame #47 in sequence. Each radio frame comprises one or more of a plurality of downlink symbols, a plurality of uplink symbols, overhead symbols, and a gap (GAP), etc. The downlink symbols are used for downlink transmission, and the uplink symbols are used for uplink transmission. The overhead symbols can also be described as flexible symbols or specific symbols, etc., and are used for synchronization, channel sounding, downlink control information (DCI) transmission, etc. The overhead symbols can be divided into downlink overhead symbols and uplink overhead symbols. The gap is used for performing uplink-downlink switching, and the duration of one gap in a radio frame is, for example, the duration of one symbol in the radio frame. The duration of one downlink symbol = the duration of one uplink symbol = the duration of one overhead symbol.

[0222] In a vehicle-mounted (or non-vehicle-mounted) wireless short-range communication system, uplink generally refers to the direction in which a T node sends data or information to a G node, and can be represented by “T”. Downlink generally refers to the direction in which a G node sends data or information to a T node, and can be represented by “G”. Figure 1 In the figure, the downlink symbol is represented as a G symbol, and the G symbol can also be described as a G link symbol, etc. The uplink symbol is represented as a T symbol, and the T symbol can also be described as a T link symbol, etc.

[0223] In a vehicle-mounted wireless short-range communication system, there is usually also a communication demand between different T nodes or between different G nodes. The communication between different T nodes or between different G nodes can occupy the overhead symbol described above, or the signal sent by the G node occupies the G symbol, and the signal sent by the T node occupies the T symbol.

[0224] Figure 1 In the figure, the downlink overhead symbol is represented as a special grant (SG) symbol, and the uplink overhead symbol is represented as a special terminal (ST) symbol.

[0225] 7. sequence number of time unit

[0226] The sequence number of time unit can be changed (e.g. accumulated) from a preset value (e.g. 0), and the sequence number of next time unit is different from the sequence number of current time unit. Further, when the sequence number of time unit reaches a threshold value (e.g. equal to the threshold value), the sequence number is reversed and starts counting from the preset value again. The preset value can be pre-configured, indicated by high layer signaling, or specified by protocol. For example, according to the protocol, the sequence number of time unit starts from 0 and increases sequentially, and when it reaches the maximum value, it is reversed and starts from 0 again.

[0227] Optionally, when the time unit is symbol, radio frame, or hyper frame, the sequence number of time unit can be represented by multiple bits.

[0228] 8. frequency unit

[0229] The frequency unit is a concept in frequency domain. The unit of frequency unit can be subcarrier, carrier channel, carrier channel group, etc.

[0230] Please refer to Figure 2 , Figure 2 is a schematic diagram of carrier signal and subcarrier provided by an embodiment of the present application. As a possible example, the physical bandwidth of carrier channel (or simply carrier) can be pre-defined, such as 20MHz, 40MHz, etc. A carrier channel contains multiple subcarriers. As shown in Figure 2 , a carrier channel contains 39 continuous subcarriers, which are numbered as #0, #1, …, #38 in order of corresponding frequency from low to high, wherein the #19 subcarrier is direct current (DC) subcarrier, and the other 38 subcarriers are called effective subcarriers.

[0231] The node can work on multiple carrier channels, which can be aggregated to form a carrier channel group. For example, the carrier channel group can contain carrier channel 1, carrier channel 2 and carrier channel 3 as shown in Figure 2 . When the bandwidth of original carrier channel is 20MHz, the bandwidth of carrier channel group formed by the three can be 60MHz.

[0232] In this paper, for the convenience of description, part of the embodiments will refer to the carrier channel as channel, and the terms of "channel" and "carrier channel" are interchangeable.

[0233] In addition, the number of the frequency unit is an identifier of the frequency unit, and can be replaced by a center frequency, a start frequency, etc. of the frequency unit. For example, when the frequency unit is a carrier, the number of the frequency unit can be a carrier channel number.

[0234] 9. OFDM

[0235] OFDM is a multi-carrier frequency division multiplexing (FDM) technology, and multiple carriers work simultaneously. These carriers can be referred to as subcarriers in the FDM technology. OFDM is also known as discrete multitone modulation (DMT) technology, has the ability of high-speed transmission, and can effectively resist frequency selective fading. In OFDM, multiple subcarriers are orthogonal, and therefore it is called orthogonal frequency division multiplexing. From the frequency spectrum, each subcarrier has a respective frequency point as a center frequency and occupies a certain frequency bandwidth.

[0236] By adjusting the number of subcarriers, OFDM can flexibly change the working bandwidth to meet the demand of large bandwidth and has better expansion effect.

[0237] 10. Frequency hopping

[0238] Frequency hopping refers to that a device changes the center frequency of a radio frequency channel of a node (for example, changes the carrier frequency of a local oscillator signal) or changes the center frequency of a generated transmission signal in a digital manner to switch the center frequency of the transmission signal. Frequency hopping can refer to frequency hopping based on an OFDM signal.

[0239] The definition of OFDM frequency hopping is that the DC subcarrier of an OFDM symbol is switched from the center frequency point of one carrier channel to the center frequency point of another carrier channel. For single-carrier frequency hopping switching, it refers to that the DC subcarrier is switched from one carrier channel to another carrier channel; for multi-carrier frequency hopping switching, it refers to that a carrier channel group corresponding to multiple carriers is switched to another carrier channel group. For example, the G node and the T node originally work on carrier channel groups 1-3, and are switched to carrier channel groups 4-6 after frequency hopping. The carrier channel groups 1-3 are referred to as an initial carrier channel group or an initial channel group, and the carrier channel groups 4-6 are referred to as a frequency hopping carrier channel group or a frequency hopping channel group.

[0240] In the present application, the frequency hopping modes of different nodes can be the same (for example, both are radio frequency hopping or digital frequency hopping), or different (for example, the frequency hopping mode of a first node is radio frequency hopping, and the frequency hopping mode of a second node is digital frequency hopping), which is not limited in the present application.

[0241] 11. Ranging

[0242] The ranging is achieved by sending measurement signals between at least two nodes to measure the distance between each other. For example, the G node and the T node send measurement signals to measure the distance between the G node and the T node. For another example, the G node and the T node 1 send measurement signals to measure the distance between the G node and the T node 1; the G node and the T node 2 send measurement signals to measure the distance between the G node and the T node 2; and the T node 1 and the T node 2 send measurement signals to each other to measure the distance between the T node 1 and the T node 2.

[0243] The measurement signal is carried in a measurement symbol, and the measurement symbol occupies a certain time length on a time unit.

[0244] Please refer to Figure 3 , Figure 3 is another schematic diagram of a time unit provided by the embodiments of the present application. The measurement signal is carried in a G ranging symbol or a T ranging symbol, the G ranging symbol is transmitted in a ranging frame 1, and the T ranging symbol is transmitted in a ranging frame 2. The ranging frame 1 and the ranging frame 2 occupy a certain time length in the time domain, the ranging frame 1 contains one or more G ranging symbols, the ranging frame 2 contains one or more T ranging symbols, and the GAP indicates the switching of the G ranging frame and the T ranging frame.

[0245] Please refer to Figure 3 (a) part, the ranging frame 1 and the ranging frame 2 contain switching intervals (GAPs) respectively, and the switching intervals are used to perform the switching of the transmission and the reception. Please refer to Figure 3 (b) part, there is a switching interval (GAP) between the ranging frame 1 (such as the G node ranging frame) and the ranging frame 2 (such as the T node ranging frame), but the GAP does not occupy the time length of the radio frame 1, nor the time length of the radio frame 2.

[0246] In some possible implementation manners, the G node ranging frame and the T node ranging frame can be contained in a ranging interaction, and the ranging interaction is also a possible time unit. One ranging interaction can contain one or more ranging frames.

[0247] In some possible implementation manners, the ranging interaction can hop on multiple carrier channels or multiple carrier channel groups. For example, Figure 4 is a hopping schematic diagram provided by the embodiments of the present application. The initial channel of the hopping ranging is channel 3, after the ranging interaction 1 is completed on the channel 3, the ranging interaction 2 is performed on the channel 2; and after the ranging interaction 2 is completed on the channel 2, the ranging interaction 3 is performed on the channel 1. That is, the hopping channel sequence of the ranging interaction is {channel 3, channel 2, channel 1}.

[0248] Optionally, after the ranging interaction 1, 2, 3 is completed, the first node and the second node can perform measurement result feedback on the channel 3. The measurement result feedback on the channel 3 can be based on the channel state information of the channel 3, the channel 2 and the channel 1.

[0249] Of course, Figure 4 The frequency hopping is taken as an example in the ranging interaction unit. In the implementation process, the frequency hopping can also be in the wireless frame, the ranging frame or the super frame unit. It should be understood that for the multi-carrier frequency hopping, the signal can be transmitted only on part of the frequency included in the multi-carrier, such as 40MHz of 80MHz. At this time, the corresponding carrier channel number of the frequency hopping transmission can be only for the 40MHz used for transmission.

[0250] In addition, Figure 4 The frequency hopping process shown is taken as an example of multi-carrier frequency hopping (the frequency hopping channel is a carrier group obtained by aggregating multiple single carriers). For the single-carrier frequency hopping, the frequency hopping of Figure 4 can also be applied.

[0251] It can be understood that the position information measurement in the embodiments of the present application includes ranging, angle measurement, positioning, sensing and the like, and the implementation of the ranging, positioning, angle measurement and sensing has similar steps. The embodiments of the present application take ranging as an example to illustrate the position information measurement process. In the implementation process, the "ranging" can be replaced by "positioning", "angle measurement" and "sensing".

[0252] 12. Anchor, tag

[0253] The anchor, also known as the position anchor or the measurement node, refers to a node that serves as a reference position for ranging (or angle measurement, positioning) among the nodes participating in the ranging (or angle measurement, positioning). The tag, also known as the measurement node, refers to a node that serves as a measured object among the nodes participating in the ranging (or angle measurement, positioning).

[0254] 13. Measurement signal

[0255] The measurement signal is also called measurement information. In some scenarios, the measurement signal can include a positioning reference signal (PRS), or a demodulation reference signal (DMRS), etc. Among them, the PRS includes but is not limited to a channel state information reference signal (CSI-RS), a sounding reference signal (SRS), a first training signal (FTS), or a second training signal (STS), etc. Among them, the CSI-RS is usually a channel state information reference signal sent by a G node, which is used by other nodes to measure the transmission channel characteristics (i.e., channel state information) of the G node to the other nodes; the SRS is usually a channel sounding signal sent by a T node, which is used to measure the transmission channel characteristics (i.e., channel state information) of the T node to other nodes; the FTS is a signal used for time and frequency synchronization, for example, a signal used for time and frequency synchronization in the SparkLink Basic (SLB) standard, and the FTS can also be used for transmission channel characteristics (i.e., channel state information); the STS is a signal used for time and frequency synchronization, for example, a signal used for time and frequency synchronization in the SLB standard, and the STS can also be used for transmission channel characteristics (i.e., channel state information).

[0256] The symbol carrying the CSI-RS is called the CSI-RS symbol, the symbol carrying the DMRS is called the DMRS symbol, the symbol carrying the SRS is called the SRS symbol, the symbol carrying the FTS is called the FTS symbol, and the symbol carrying the STS is called the STS symbol. It is reasonable, Figure 3 The G symbol or T symbol shown in the middle includes one or more of the following symbols: CSI-RS symbol, DMRS symbol, SRS symbol, FTS symbol, and STS symbol.

[0257] It can be understood that in a wireless short-range communication system, the measurement signals appear in pairs, that is, two measurement signals are understood as a group of measurement signals. In the OFDM symbol carrying a group of measurement signals, the OFDM symbol appearing first in the time domain is called FTS, and the OFDM symbol appearing first in the time domain is called STS.

[0258] 14. Multiple-Input Multiple-Output (MIMO)

[0259] MIMO refers to a technology of using multiple antennas to transmit and receive signals in the field of wireless communication. Multiple transmitting antennas and receiving antennas are used at the transmitting end and the receiving end respectively, so that signals are transmitted and received through multiple antennas of the transmitting end and the receiving end. It can make full use of space resources, and multiple transmission and multiple reception are realized through multiple antennas. Without increasing spectrum resources and antenna transmitting power, the system channel capacity can be doubled, which shows obvious advantages.

[0260] AxB MIMO means that the transmitting end has A antennas and the receiving end has B antennas. In a MIMO system, if the number of transmitting and receiving antennas is not equal, the number of space streams that can be transmitted between them is less than or equal to the number of antennas in the smaller one of the transmitting and receiving ends. For example, a 4x4 MIMO system can transmit 4 or fewer space streams, and a 3x2 MIMO system can transmit 2 or 1 space stream.

[0261] The above exemplary explanations of the terms can be used in the embodiments below.

[0262] The system architecture and business scenarios of the present application are described below. It should be noted that the system architecture and business scenarios described in the present application are used to more clearly illustrate the technical solutions of the present application, and do not constitute a limitation on the technical solutions provided by the present application. With the evolution of system architecture and the appearance of new business scenarios, the technical solutions provided by the present application are also applicable to similar technical problems.

[0263] In a communication scenario, it is often necessary to determine the distance and / or position of a node in a network. Figure 5 FIG. 1 is a schematic diagram of a vehicle positioning scenario provided by an embodiment of the present application. Four measurement nodes are deployed at the corners of the vehicle, and PEPS measurement nodes are deployed in the vehicle (such as the center console, rearview mirror, or ceiling (inside the roof, etc.)). The display screen, microphone, speaker, camera, or T-BOX in the vehicle can also be used as measurement nodes. The measurement nodes and / or PEPS measurement nodes can be used to locate a measured node. For example, the measured node can be a vehicle key, mobile phone, earphone, or special equipment, etc.

[0264] Those skilled in the art should understand that, Figure 5 The application scenarios shown are only one exemplary scenario in which the solutions of the present application can be applied. In addition to Figure 5 In addition to the application scenarios shown, the solutions of the present application can also be applied to any other suitable application scenarios, such as but not limited to home, office, exhibition hall, production, etc.

[0265] In the foregoing embodiments, the PEPS measurement node can be a G node, and the rest of the devices can be T nodes; or the measured node can be a G node, and the rest of the devices can be T nodes. The position measurement architecture between the G node and the T node can include the following two:

[0266] Architecture 1, Figure 6 is a schematic diagram of a communication architecture provided by an embodiment of the present application. The G node can transmit service data to multiple connected T nodes, and the G node and the T node (G-T) and the T node and the T node (T-T) can transmit measurement signals. The service data can optionally include ranging-related signaling, parameters, or indication information, etc. Exemplarily, Figure 6 The architecture shown can include a SparkLink Basic (SLB) access layer architecture.

[0267] Architecture 2, Figure 7 is a schematic diagram of another communication architecture provided by an embodiment of the present application. The G-T and the T-T can transmit service data, and the G-T and the T-T can transmit measurement signals. Exemplarily, the architecture can be a SparkLink Basic (SLB) access layer architecture. Exemplarily, Figure 7 The architecture shown can include a Sparklink Low Energy (SLE) access layer architecture.

[0268] The structure of the communication system of an embodiment of the present application is described below.

[0269] Please refer to Figure 8 , Figure 8 is a schematic diagram of a communication system provided by an embodiment of the present application. The communication system 80 can be a communication system based on Figure 6 the architecture shown, or a communication system based on Figure 7 the architecture shown. The first node can be a G node or a T node, and the second node can be a G node or a T node.

[0270] Specifically, the communication system 80 includes a first node 801 and a second node 802. The first node 801 transmits a measurement signal to the second node 802 to measure the distance between the two nodes.

[0271] As an example of a ranging process, the first node 801 obtains a measurement result (conveniently distinguished as measurement result M1) when transmitting a measurement signal, and the second node 802 obtains a measurement result (conveniently distinguished as measurement result M2) when receiving the measurement signal, which can be used to obtain the distance between the T1 node and the G node. For example, the measurement result M1 and the measurement result M2 can be provided to a resolving node, which computes the distance between the first node 801 and the second node 802 based on the measurement result M1 and the measurement result M2.

[0272] As another example of a ranging process, the first node 801 and the second node 802 complete a ranging interaction (i.e., transmitting a measurement signal to the other and receiving a measurement signal transmitted from the other), and obtain a measurement result based on the ranging interaction, which is used to obtain the distance between the first node 801 and the second node 802.

[0273] It should be understood that the link between the first node 801 and the second node 802 for the aforementioned communication can include one or more types of connection media, such as including a wired link, a wireless link, or a combination of wired and wireless links, etc.

[0274] As an example of a wired link, the wired link includes but is not limited to one or more of in-vehicle wired communication technologies, Controller Area Network (CAN), Local Interconnect Network (LIN), CAN Flexible Data-Rate (CAN FD), or in-vehicle Ethernet, etc.

[0275] As an example of a wireless link, the wireless link includes, but is not limited to, short-range connection technologies such as SparkLink, 802.11b / g, Bluetooth, Zigbee, radio frequency identification (RFID), ultra-wideband (UWB) technology, or wireless short-range communication systems (such as vehicle-mounted wireless short-range communication systems), or can also be long-range connection technologies such as Long Term Evolution (LTE) based communication technology, 5th generation mobile networks or 5th generation wireless systems (5th-Generation, 5G or 5G technology), global system for mobile communications (GSM), general packet radio service (GPRS), universal mobile telecommunications system (UMTS), and other wireless access type technologies.

[0276] When communication between the first node 801 and the second node 802 is supported through a wireless link, the first node 801 includes multiple antennas, and the first node can send / receive measurement signals through the multiple antennas. Similarly, the second node 802 includes multiple antennas, and sends / receives measurement signals through the multiple antennas.

[0277] The above Figure 8 The above is an example of ranging between the first node 801 and the second node 802. In actual scenarios, ranging can be performed between multiple nodes. When multiple anchor points measure the same node, not only the distance can be measured, but also the angle, position, etc.

[0278] As an example of multi-node ranging, please refer to Figure 9 , Figure 9is a schematic diagram of another communication system provided by an embodiment of the present application. Taking the measured node as the G node for example, a possible angle measurement process is as follows: the T1 node (anchor 1) and the T2 node (anchor 2) can measure the distance between the G node and the T1 node and the T2 node respectively, so as to obtain the angle (for example, the pointing angle) between the G node and the T1 node and / or the angle between the G node and the T2 node based on the distances of the G node to the two nodes. Further, a possible positioning process is as follows: the T3 node can also measure the distance to the G node, so as to obtain the position of the G node based on the distances of the G node to the three nodes.

[0279] As a possible implementation, one distance measurement interaction needs to be completed between the measurement node and the distance measurement node. Figure 10 is a schematic diagram of a distance measurement interaction provided by an embodiment of the present application. The G node can send a measurement signal (for the convenience of distinction, referred to as measurement signal S1). The T1 node can also send a measurement signal (for the convenience of distinction, referred to as measurement signal S2), and receive the measurement signal S1 from the G node. The measurement result of the measurement signal S1 and the measurement signal S2 are used to calculate the distance between the T1 node and the G node. It needs to be noted that the sending sequence and the sending mode of S1 and S2 are not limited here, and the sending mode can be, for example, sent in the form of unicast, multicast or broadcast.

[0280] Similarly, S1 and S3 (the measurement signal sent by the T2 node) are used to calculate the distance between the T2 node and the G node; S1 and S4 (the measurement signal sent by the T3 node) are used to calculate the distance between the T3 node and the G node.

[0281] Further, the angle and the position of the G node can be calculated based on the distances between the G node and multiple anchors. Optionally, the calculated distance is a possible intermediate result provided for the convenience of description, and the intermediate result can not be obtained in the specific implementation process. For example, the measurement signal S1, the measurement signal S2 and the measurement signal S3 are used to calculate the angle of the G node. For another example, the measurement signal S1, the measurement signal S2, the measurement signal S3 and the measurement signal S4 are used to calculate the angle of the G node. The measurement signals S1-S4 above can be sent in the form of unicast, multicast or broadcast.

[0282] As another example of multi-node distance measurement, please refer to Figure 11 , Figure 11is a schematic diagram of another communication system provided by an embodiment of the present application. Taking the measured node as the T1 node as an example, a possible angle measurement process is as follows: the G node (anchor 1) and the T2 node (anchor 2) can measure the distance between the T1 node and the G node and the T2 node respectively, so as to obtain the angle (for example, the pointing angle) between the T1 node and the G node and / or the angle between the T1 node and the T2 node based on the distances of the T1 node to the two nodes. Further, a possible positioning process is as follows: the T3 node can also measure the distance to the T1 node, so as to obtain the position of the T1 node based on the distances of the T1 node to the three nodes.

[0283] Figure 12 is a schematic diagram of a distance measurement interaction provided by an embodiment of the present application. The T1 node can send a measurement signal (S5). The G node can also send a measurement signal (S6) and receive the measurement signal S5 from the T1 node. The measurement result of the measurement signal S5 and the measurement signal S6 are used to calculate the distance between the G node and the T1 node. Similarly, S5 and S7 (a measurement signal sent by the T2 node) are used to calculate the distance between the T2 node and the T1 node; S5 and S8 (a measurement signal sent by the T3 node) are used to calculate the distance between the T3 node and the T1 node. The measurement signals S5-S8 can be sent through unicast, multicast or broadcast and the like.

[0284] Further, the distance between the multiple anchors and the G node can be used to calculate the angle, position and the like of the G node. Optionally, the distance calculation is a possible intermediate result provided for the convenience of description, and the angle, position and the like can also be directly calculated without the intermediate result in the specific implementation process.

[0285] The method of the embodiment of the present application is introduced below.

[0286] Please refer to Figure 13 , Figure 13 is a flowchart of a distance measurement method provided by an embodiment of the present application. Optionally, the method can be implemented based on the system shown in Figure 8 , Figure 9 or Figure 11 .

[0287] The distance measurement method shown in Figure 13 may include one or more steps of steps S1301 to S1305. It should be understood that, for the convenience of description, the steps are described in the order of S1301 to S1305, and it is not intended to limit the execution of the steps in the above order. The embodiment of the present application does not limit the execution order, execution time and execution times of the one or more steps. S1301 to S1305 are as follows:

[0288] Step S1301: The first node determines a first security parameter according to a plurality of input parameters.

[0289] The plurality of input parameters comprise one or more of a first random number, or a first communication parameter, etc. The first security parameter is used for security processing of the first measurement sequence, wherein the security processing can comprise scrambling / descrambling, encryption / decryption, XOR, etc. For details, refer to step S1302, step S1304, etc. It should be noted that the input parameters herein are not limited to the above-mentioned parameters input by the user through the input device, but are used to illustrate the parameters involved in the process of determining the first security parameter.

[0290] The first random number is a random number, which can be NONCE. Optionally, the first random number can be determined by the first node, received by the first node from another node (e.g. G node or second node), input by the user, or assigned by another device.

[0291] The first communication parameter is a parameter related to communication. Optionally, the communication parameter can change with signal transmission.

[0292] As a possible implementation, the first communication parameter is related to one or more of the following information: sequence number of OFDM symbol, number of time unit, number of frequency unit, frequency hopping channel sequence, etc. The time unit comprises but is not limited to superframe, radio frame, or subframe, etc. The frequency unit comprises but is not limited to carrier channel, carrier signal group, or subcarrier, etc.

[0293] Here, “related” comprises that the first communication parameter can be the above-mentioned information, or the first communication parameter has a mapping relationship with the above-mentioned information, or the first communication parameter is updated based on the above-mentioned information.

[0294] The possible cases of the first communication parameter are described below by way of example:

[0295] Case 1: The first communication parameter is determined based on the sequence number of the symbol (e.g. OFDM symbol). For example, the first communication parameter is the sequence number of the symbol. For another example, the first communication parameter has a mapping relationship with the sequence number of the symbol.

[0296] As a possible implementation, the first measurement sequence is carried in the first symbol (or the first measurement sequence can modulate the first symbol), the first communication parameter is the sequence number of the first symbol, or has a mapping relationship with the sequence number of the first symbol. For example, the sequence number of the first symbol is N1, and the first communication parameter is N1.

[0297] As a possible implementation, the first communication parameter is transmitted in a symbol numbered N2, and the first communication parameter is N2 or has a mapping relationship with N2.

[0298] As another possible implementation, the value of the first communication parameter can be updated, and the initial value is a preset value, and the value of the first communication parameter is updated every one or more symbols. For example, in the ranging interaction, the value of the first communication parameter is the serial number of the ranging symbol, and for the first ranging symbol, COUNTERr is 0, and for each additional transmitted ranging symbol, the value of COUNTERr is increased by 1.

[0299] As another possible implementation, the preset value of the first communication parameter is transmitted in a symbol numbered N3, and the first communication parameter is N3 or has a mapping relationship with N3.

[0300] In a possible implementation, the first communication parameter is associated with the position of a first OFDM symbol relative to a second OFDM symbol. The first OFDM symbol carries a first safety measurement signal, and the second OFDM symbol carries a second safety measurement signal. The first communication parameter corresponding to the second safety measurement signal is a preset value.

[0301] See Figure 14 , Figure 14 is a schematic diagram of the change of the first communication parameter provided by the embodiment of the application. When the second safety measurement signal is carried in G#0, the value of the first communication parameter is 0x00000 (which can be regarded as an initial value). The value of the communication parameter is increased by 1 every symbol. If the first safety measurement signal is carried in G#9, the value of the first communication parameter is 0x01001 when the first safety parameter is generated. At this time, since the position of G#9 relative to G#0 is offset by 8 symbols, the value of the first communication parameter can also be understood as the value obtained after 0x00000 is updated for 8 times.

[0302] Case 2: The first communication parameter is determined based on the serial number of a radio frame (referred to as a radio frame number). For example, the first communication parameter is the radio frame number. For another example, the first communication parameter has a mapping relationship with the radio frame number.

[0303] As a possible implementation, the first communication parameter includes the serial number of a radio frame carrying the first safety measurement signal. Alternatively, the first communication parameter has a mapping relationship with the serial number of the radio frame carrying the first safety measurement signal.

[0304] As a possible implementation, the first communication parameter starts from a preset value and is updated based on the radio frame number. For example, the first communication parameter is updated every radio frame, so that the first communication parameter used by each radio frame is different.

[0305] As one possible implementation, the preset value of the first communication parameter is the sequence number of the wireless frame that sends the first communication parameter, or it has a mapping relationship with the sequence number of the wireless frame that sends the first communication parameter.

[0306] For further details, please refer to the description in Case 1.

[0307] Case 3: The first communication parameter is determined based on the superframe sequence number (referred to as the superframe number). For example, the first communication parameter is the superframe number. Alternatively, the first communication parameter may have a mapping relationship with the superframe number.

[0308] In one possible implementation, the first communication parameter includes the sequence number of the superframe carrying the first security measurement signal. Alternatively, the first communication parameter has a mapping relationship with the sequence number of the superframe carrying the first security measurement signal.

[0309] As one possible implementation, the first communication parameter starts from a preset value and is updated based on the superframe number. For example, the first communication parameter is updated once every superframe number, so that the first communication parameter used for each superframe number is different.

[0310] As one possible implementation, the preset value of the first communication parameter is the sequence number of the superframe that sends the first communication parameter, or it has a mapping relationship with the sequence number of the superframe that sends the first communication parameter.

[0311] For further details, please refer to the description in Case 1.

[0312] Case 4: The first communication parameter is determined based on the frequency unit number. For example, the first communication parameter is the frequency unit number, or the first communication parameter has a mapping relationship with the frequency unit number. A frequency unit includes carrier channels, carrier channel groups, subcarriers, etc.

[0313] Optionally, the first communication parameters are determined based on the number of the first frequency unit. The first security measurement signal is carried in a first time unit, which is comprised of multiple consecutive time units. The signals carried in the multiple consecutive time units are transmitted via frequency hopping according to a preset frequency unit number sequence, and the number of the first frequency unit belongs to the preset frequency unit number sequence. Figure 8 For example, multiple consecutive ranging interactions are transmitted via frequency hopping. When the first security measurement signal is transmitted in carrier channel 3, the first communication parameter can be determined based on the carrier channel number of carrier channel 3. It should be noted that the time unit in "multiple consecutive time units" here refers to the frequency hopping time unit during frequency hopping transmission. The granularity of the time unit used to determine the first communication parameter may be the same as or different from that used in the previous method.

[0314] Optionally, in the case that the first node and the second node perform ranging by using the frequency hopping mode, the number of the frequency unit can be used in the process of determining the first security parameter. Of course, in the case that the first node and the second node do not perform ranging by using the frequency hopping mode, the number of the frequency unit can also be used in the process of determining the first security parameter.

[0315] It should be noted that the above multiple cases can be combined.

[0316] As an example of combination, the first communication parameter can be determined according to the superframe number, the radio frame number, the symbol sequence number and the channel number. For example, when the first security measurement signal is carried in G#9, the number of G#9 is 0x01 for example, G#9 is included in the radio frame with the sequence number of 0x001, the radio frame is included in the superframe with the number of 0x1001, and the number of the carrier channel transmitting the radio frame is 0x11, then the first communication parameter is obtained by connecting the symbol sequence number, the radio frame number, the superframe number and the channel number, that is: 01||001||1001||11, wherein "||" represents connection.

[0317] In some possible embodiments, the first communication parameter can be obtained in the following ways, but is not limited to: determined by the first node, received by the first node from other nodes (such as G node or second node, etc.), input by the user, or assigned by other devices.

[0318] In yet other possible embodiments, the first communication parameter does not need to be generated by a certain node, but is determined according to a pre-set rule. For example, the first communication parameter is updated from a pre-set value, and the communication parameter is updated every time unit and / or every frequency unit (such as a symbol). Therefore, when the first node and the second node update the value of the first communication parameter according to the consistent rule, the consistent communication parameter can be obtained.

[0319] Optionally, the first node (or management node, second node) can set the communication parameter to a pre-set value at a certain time; or optionally, the first communication parameter is set to a pre-set value when each measurement starts.

[0320] As a possible embodiment, COUNTERr is updated from 0 every time measurement, and is updated once every symbol. That is, the communication parameter COUNTERr corresponding to the current symbol is x, when the next measurement symbol is performed, COUNTERr = x + 1.

[0321] Optionally, the first random number and the first communication parameter are part of the parameters for determining the first security parameter, and the plurality of input parameters can further include other parameters. For example, the other parameters include, but are not limited to, a freshness parameter, antenna indication information, an identity of the first node, or an identity of the second node.

[0322] The antenna indication information is used to indicate at least one antenna. For example, the first node includes six antennas, which are referred to as antenna 1, antenna 2, antenna 3, antenna 4, antenna 5, and antenna 6. The first security measurement signal is transmitted via at least one of the six antennas. Optionally, the antenna indication information includes, but is not limited to, an antenna number, an antenna ID, an antenna name, or the like. For example, when the antenna indication information is 0x000, it indicates antenna 1, and when the antenna indication information is 0x001, it indicates antenna 2.

[0323] As a possible implementation, when the first security measurement signal is sent by antenna 1, the input parameters for determining the first security parameter include the antenna indication information, which indicates antenna 1.

[0324] In the foregoing, it is mentioned that the first security parameter is a parameter used for security processing for the first measurement sequence. Optionally, the first security parameter can include a plurality of bits. Hereinafter, an example in which the first security parameter includes E1 (E1 is an integer and E1 > 1) bits is described. Further, the information bit length of the first security parameter is the same as the information bit length of the first measurement sequence, or has a mapping relationship. For example, when the information bit length of the first measurement sequence is 78 bits, the information bit length of the first security parameter is 78 bits.

[0325] As a possible implementation, the first node derives the first security parameter based on a plurality of input parameters according to a derivation algorithm. The derivation algorithm includes, but is not limited to, a key derivation function, a digest algorithm, a message authentication code algorithm, or the like.

[0326] For example, the first security parameter = KDF (rand, COUNTERr), where rand is the first random number and COUNTERr is the first communication parameter. For another example, the first security parameter = KDF (rand, COUNTERr || frequency hopping carrier channel number).

[0327] Of course, in various embodiments of the present application, KDF can be replaced by a derivation algorithm such as HMAC-SM3 or HMAC-SHA256.

[0328] In some scenarios, the first security parameter can be contained in multiple derived values (e.g. KDF output results). For example, in scenario 1, the bit length of the first measurement sequence can be long, and the length of the information bits of one derived value can not meet the security processing requirement of the first measurement sequence. In scenario 2, in order to improve security, the first node obtains multiple derived values based on multiple input parameters, and then obtains the first security parameter based on one or more derived values, further increasing the cracking difficulty of the first security parameter. In scenario 3, the first node uses the first security parameter to perform encryption or scrambling processing on multiple measurement signals transmitted in one frequency hopping period (e.g. three ranging interactions shown in FIG. 3 are regarded as one frequency hopping period). The first node needs to generate a security parameter with a large number of bits to meet the scrambling requirement of the data carried by the multiple measurement signals. Figure 4

[0329] As a possible implementation, the first node obtains N bit sequences based on multiple input parameters, and the N bit sequences include the first security parameter, where N is an integer and N≥1. The bit sequence is a sequence including multiple bits, and the lengths of the N bit sequences can be the same or different. For example, the information bit length of the bit sequence is 128 bits, 224 bits, 256 bits, etc.

[0330] For example, the bit sequence = KDF (rand, COUNTERr, [counter]), where rand is the first random number, COUNTERr is the first communication parameter, and [counter] represents an optional fresh parameter (described below).

[0331] For another example, in the frequency hopping mode, the bit sequence = KDF (rand, COUNTERr || carrier channel number, [counter]). Where || represents concatenation.

[0332] The carrier channel number can be used to distinguish different carrier channels. The carrier channel number can be the number of the carrier channel (e.g. the starting frequency, the center frequency point, etc.). Alternatively, the carrier channel number can also be the serial number of the carrier channel in a time period, for example, in one superframe, the first carrier channel used for transmission corresponds to the carrier channel number 0, and the second carrier channel corresponds to the carrier channel number 1. In addition, the carrier channel number can be replaced by other parameters representing the frequency hopping channel.

[0333] Of course, in the case of not using the frequency hopping mode, the number of the frequency hopping channel can also be used in the process of generating the bit sequence.

[0334] ​For example, the first node obtains a bit sequence of 256 bits based on the plurality of input parameters. The first security parameter (E1=76) is 76 bits in the bit sequence. For example, the first node takes the first 76 bits of the bit sequence as the first security parameter. For another example, the first node selects 76 bits from the bit sequence as the first security parameter.

[0335] For another example, the first node obtains two bit sequences of 256 bits based on the plurality of input parameters, and obtains the first security parameter (E1=304) of 304 bits based on the two bit sequences. For example, the first node takes the first 256 bits of the first bit sequence and the first 48 bits of the second bit sequence as the first security parameter. For another example, the first node selects 304 bits from the two bit sequences as the first security parameter.

[0336] In some possible implementation, when N is greater than 1, the values of any two bit sequences in the N bit sequences are different. In this way, the difficulty of cracking the security parameter is increased, and the security is improved.

[0337] The following describes several implementation manners of generating N (N>1) bit sequences:

[0338] Implementation manner one: the input parameters further include fresh parameters, and the values of the fresh parameters used in generating each bit sequence in the N bit sequences are different.

[0339] As a possible implementation, the fresh parameter is updated after each bit sequence in the N bit sequences is obtained.

[0340] For example, the bit sequence = KDF (rand, COUNTERr, counter). When the first bit sequence is generated, counter = counter1; when the second bit sequence is generated, counter = counter2, and counter1 and counter2 are different. This implementation manner can realize that the input parameters of the N bit sequences are different, and thus different bit sequences are obtained.

[0341] For example, the first security parameter required by one security measurement symbol has an information bit length greater than 256 bits but less than (or equal to) 512 bits. In this case, counter takes values 0 and 1 in turn (refreshed twice), and two bit sequences of 256 bits are generated. The security parameter is part or all of the bits in the two bit sequences.

[0342] For example, the freshness parameter is determined by a pre-defined rule. For example, the freshness parameter is determined by π, the first value of the freshness parameter is the 1st-10th digit of π, the second value of the freshness parameter is the 11th-20th digit of π after the first update, and the rest is determined in the same way. For another example, the freshness parameter is determined by a pseudo-random sequence.

[0343] As a possible implementation, the freshness parameter corresponding to the first bit sequence of the N bit sequences is a pre-defined value, and the freshness parameter corresponding to the second bit sequence of the N bit sequences is associated with the pre-defined value and the serial number of the second bit sequence, wherein the second bit sequence is different from the first bit sequence.

[0344] For example, the freshness parameter is increased by 1 after each bit sequence. In the case where the pre-defined value of the freshness parameter is x, when the second bit sequence is the 1st bit sequence of the N bit sequences, the freshness parameter is x; when the second bit sequence is the 2nd bit sequence of the N bit sequences, the freshness parameter is x+1, and the rest is determined in the same way, the freshness parameter corresponding to the Ith bit sequence is x+(I-1). This implementation can realize that the input parameters of the N bit sequences are different, thereby obtaining different bit sequences.

[0345] Implementation two: the first node obtains the first bit sequence of the N bit sequences according to the plurality of input parameters, and obtains the Ith bit sequence according to the plurality of input parameters and the (I-1)th bit sequence, I is an integer and N≥I≥2. That is, from the second bit sequence, the previous bit sequence is used as one of the input parameters when determining the current bit sequence.

[0346] For example, the N bit sequences are represented as B1, B2, B3, etc., and the determination method can be as follows:

[0347] B1=KDF(rand,COUNTERr),

[0348] B2=KDF(rand,COUNTERr,B1),

[0349] B3=KDF(rand,COUNTERr,B2),

[0350] ...

[0351] This implementation can realize that the input parameters of the N bit sequences are different, thereby obtaining different bit sequences. It should be noted that this is a possible determination method for representing parameters, and does not limit the order and input method of the parameters.

[0352] The above two implementation manners are exemplary descriptions of how to generate the N-bit sequence, and other manners can be used in actual implementation. In addition, the above two implementation manners can be combined, for example:

[0353] B1 = KDF (rand, COUNTERr, counter1),

[0354] B2 = KDF (rand, COUNTERr, B1, counter2),

[0355] B3 = KDF (rand, COUNTERr, B2, counter3), where counter1, counter2 and counter3 are different, and the design of counter can refer to the first implementation manner.

[0356] Optionally, in the case where N is equal to 1, the counter can be omitted or a first value. The first value is a predefined value, for example, 0 or 1.

[0357] Step S1302: The first node obtains a second measurement sequence according to the first security parameter and the first measurement sequence.

[0358] The first measurement sequence is a sequence containing a plurality of bits. In a possible implementation manner, the first node can generate a pseudo-random sequence, and the pseudo-random sequence is carried on an OFDM symbol (such as a CSI-RS symbol, an SRS symbol, or a DMRS symbol) after processing to perform position information measurement. At this time, the first measurement sequence is the pseudo-random sequence. Optionally, the pseudo-random sequence is a Gold sequence.

[0359] Optionally, the first node obtains the second measurement sequence according to the first security parameter and the first measurement sequence can include the following manners:

[0360] Manner one, the first node scrambles the first measurement sequence by using the first security parameter to obtain the second measurement sequence.

[0361] As a possible implementation manner, the first measurement sequence contains M information bits, denoted as C(i), i = 1, 2, …, M. The first security parameter contains E1 information bits, denoted as K(j), j = 1, 2, …, E1. Wherein, M is usually equal to E1, or has a mapping relationship.

[0362] For example, the first node can scramble the first measurement sequence by corresponding bits using a first security parameter to obtain a second measurement sequence. The second measurement sequence (also called a frequency domain scrambling sequence) can be represented as D(j), j = 1, 2, ..., M. It should be understood that the "corresponding bit scrambling" described herein is an optional scrambling method, and in specific embodiments, this application embodiment is also applicable to cases where other scrambling methods are used.

[0363] Here, scrambling of corresponding bits refers to scrambling one or more bits of the first security parameter with one or more bits of the first measurement sequence. For example, scrambling C(1) with K(1) yields D(1), scrambling C(2) with K(2) yields D(2), and so on for the remaining bits to obtain the second measurement sequence.

[0364] For example, the first measurement sequence contains 76 bits, represented as C(i), i = 1, 2, ..., 76. The first security parameter contains 76 bits, represented as K(j), j = 1, 2, ..., 76. The first measurement sequence is scrambled using the first security parameter to obtain D(j), j = 1, 2, ..., 76.

[0365] For example, the first measurement sequence contains 76 bits, represented as C(i), i = 1, 2, ..., 76. The first security parameter contains 38 bits, represented as K1(j), j = 1, 2, ..., 38. The first node repeats the first security parameter bit by bit to obtain K2(j), j = 1, 2, ..., 76. K2(j) is used to scramble the first measurement sequence to obtain D(j), j = 1, 2, ..., 76.

[0366] Optionally, bit repetition can be achieved by expanding some bits in multiple bits to obtain a longer bit sequence. For example, taking a first security parameter of 4 bits, such as 0x1010, expanding each 1-bit bit in the 4 bits to 2 bits will result in an 8-bit sequence, i.e., 0x11001100.

[0367] Alternatively, bit repetition can be achieved by repeating some or all of the original bits and concatenating them to the beginning or end of the original bits to obtain a longer bit sequence. For example, taking a first security parameter of 4 bits, such as 0x1010, repeating all of the 4 bits and concatenating the repeated bits to the end of the original bits results in an 8-bit bit stream, i.e., 0x11001100.

[0368] Method 2: The first node XORs the first security parameter and the first measurement sequence to obtain the second measurement sequence.

[0369] For example, the first measurement sequence contains M information bits, denoted as C(i), i = 1, 2, …, M. The first security parameter contains M information bits, denoted as K(j), j = 1, 2, …, M. The first security parameter and the first measurement sequence are XORed to obtain the second measurement sequence, denoted as D(j), j = 1, 2, …, M.

[0370] The relevant description can refer to the foregoing.

[0371] In a third mode, the first node encrypts the first measurement sequence using the first security parameter to obtain the second measurement sequence.

[0372] For example, the first security parameter and the first measurement sequence are input into an encryption algorithm, and the second measurement sequence is output. The first security parameter can be used as a key.

[0373] The above modes are exemplary descriptions made for the convenience of understanding. In the specific implementation process, the second measurement sequence can also be obtained based on the first security parameter and the first measurement sequence through other modes.

[0374] As a possible implementation, the information bit length of the first measurement sequence is related to the modulation mode, the number of effective subcarriers, etc. For example, the first node uses at least one OFDM symbol to perform channel measurement (such as CSI-RS, SRS, or DMRS, etc.), and each carrier channel contains 38 effective subcarriers and one DC subcarrier. At this time, the object of the first security parameter is a pseudo-random sequence used for pseudo-random quadrature phase-shift keying (QPSK) modulation. The first node can take part of the bits in one or more bit sequences (each bit sequence contains 128 bits or 256 bits) to process the measurement signal. Since the pseudo-random QPSK modulation ignores the DC subcarrier, the OFDM symbol obtained by modulation carries 76 bits of information bits. That is, the first measurement sequence is 76 bits or less than 76 bits.

[0375] In some scenarios, multiple OFDM symbols are aggregated in the frequency domain in a carrier aggregation manner to form an OFDM symbol occupying a larger bandwidth, at this time, the information bit length of the measurement signal carried by the OFDM symbol also increases accordingly. For example, 3 OFDM symbols of 20MHz are aggregated in the frequency domain in a carrier aggregation manner to form an OFDM symbol of 60MHz.

[0376] Similar to the scrambling and modulation mode of the single carrier, in the carrier aggregation scenario, the 38 effective subcarriers in each carrier are pseudo-randomly modulated, and the DC subcarrier and the 3 interval subcarriers between adjacent carriers are not modulated.

[0377] For example, in a 60MHz OFDM, carrier channels 1 / 2 / 3 contain subcarriers 0 to 38, plus the three subcarriers between carrier channels 1 and 2, and 2 and 3, totaling 39*3 + 3*2 = 123 subcarriers. The number of effective subcarriers is 114. The measurement signal corresponding to the second measurement sequence is carried in the 60MHz OFDM symbol. When the modulation method of the second measurement sequence is QPSK modulation, the number of bits in the measurement signal is 228 (not considering bit repetition). Furthermore, in this case, the first node can determine the security parameters based on one or more bit sequences to obtain 228-bit security parameters for processing the first measurement sequence.

[0378] In some scenarios, the first node contains Ntx antennas, where Ntx is an integer and Ntx > 1. The first node generates a first security parameter based on a first random number. The information bit length of the first security parameter is greater than or equal to (M × Ntx). Taking the first security parameter containing M × Ntx bits as an example, the first security parameter can be represented as D(i,j), i = 1, 2, ..., M; j = 1, 2, 3, ..., Ntx. M bits are used for the measurement signal of a spatial stream (or spatial layer).

[0379] For example, the bandwidth of the measurement symbol (such as CSI-RS symbol, SRS symbol, DMRS symbol) corresponding to each spatial stream can be 20 to 320 MHz, of which the bandwidth of a single carrier is 20 MHz.

[0380] As a possible example, taking 4x4 MIMO as an example, the number of transmit antennas and spatial streams of the transmitting device are both 4 (i.e., Ntx = 4), and the measurement symbol bandwidth is 20MHz per carrier. When using QPSK modulation with 38 effective subcarriers, each spatial stream requires 76 bits of security parameters to generate the modulation sequence required for 38 effective subcarriers. When using QPSK modulation with 38 effective subcarriers, the 4 spatial streams require 304 bits of security parameters.

[0381] As another possible example, taking 4x4 MIMO as an example, when the number of transmit antennas and the number of spatial streams of the transmitting device are both Ntx = 4, and the symbol bandwidth is 20MHz for a single carrier, each spatial stream requires a different 76-bit KDF sequence to generate the random QPSK sequence required for 38 subcarriers. The first node needs to generate two 256-bit bit sequences, which are concatenated to obtain a 512-bit bit sequence, which is used to scramble the four symbols of spatial streams 1 to 4 in sequence.

[0382] At this time, the first node can generate a plurality of bit sequences, and obtain the first security parameter based on the plurality of bit sequences. For example, the first node generates 2 bit sequences, each of which contains 256 bits, and splices the two bit sequences to obtain a sequence of 512 bits. The first node selects part of the 512 bits, processes (such as scrambling, XOR or encryption, etc.) the first measurement sequence to obtain the first security measurement signal.

[0383] Figure 15 FIG. 1 is a schematic diagram of allocation of a bit sequence provided by an embodiment of the present application. One or more bit sequences are spliced to obtain data of at least 152 bits, wherein bits 1-76 are used to scramble a measurement signal carried on a spatial stream 1; and bits 77-152 are used to scramble a measurement signal carried on a spatial stream 2.

[0384] Optionally, when the plurality of carriers and the plurality of ports exist simultaneously, the low-bit of D(i,j) is first used for scrambling of a multicarrier ranging symbol of a first spatial stream, and then is used in turn for scrambling of multicarrier ranging symbols of high-bit spatial streams.

[0385] Step S1303: The first node transmits the first security measurement signal.

[0386] For example, the first security measurement signal can be carried on a CSI-RS symbol, an SRS symbol or a DMRS symbol.

[0387] The first security measurement signal is associated with the second measurement sequence.

[0388] As a possible implementation, the first security measurement signal is modulated from the second measurement sequence. For example, a random QPSK sequence is generated using a frequency domain scrambling sequence D(j) to modulate each valid subcarrier to obtain the first security measurement signal. QPSK symbols generated by D(1) and D(2) are used to modulate #1 valid subcarrier, and QPSK symbols generated by D(3) and D(4) are used to modulate #2 valid subcarrier.

[0389] The first security measurement signal is used for ranging. For example, the first security measurement signal can be transmitted in ranging interaction between the first node and the second node. Alternatively, through the first security measurement signal, the first node can obtain a measurement result, which can be used to calculate a distance between the first node and other nodes.

[0390] Understandably, the first node transmits the first security measurement signal, which can be received by other nodes. Here, taking the receiving end as the second node as an example, the second node receives the first security measurement signal from the first node. Optionally, the first node can transmit the first security measurement signal in a unicast, broadcast or multicast manner.

[0391] In a possible implementation, the first node can receive a destination address (e.g. the address of the second node) sent by the third node. In some scenarios, through the destination address, the first node can obtain which node the receiving end of the first security measurement signal is.

[0392] In yet another possible implementation, the first node can also receive a source address (i.e. the address of the first node) from the third node. In some scenarios, through the source address, the first node can be instructed to perform channel measurement.

[0393] Similarly, the second node can also receive the destination address and / or the source address from the third node.

[0394] As a possible implementation, the third node can be a management node. For example, the G node in the Starlink communication system.

[0395] It should be noted that when there is no communication connection between the first node and the second node, the management node can send the source address and / or the destination address to the first node and / or the second node.

[0396] Step S1304: The second node determines the first security parameter according to a plurality of input parameters.

[0397] The plurality of input parameters can include, but are not limited to, one or more of the following: the first random value, the first communication parameter, the freshness parameter, the antenna indication information, the identity of the first node, or the identity of the second node.

[0398] The relevant description can refer to the relevant description in step S1301.

[0399] As a possible implementation, the first node uses a certain way to generate the first security parameter, and the second node also uses the same way to generate the first security parameter, so that the first node and the second node have consistent security parameters.

[0400] Step S1305: The second node obtains the first measurement sequence through the first security parameter and the first security measurement signal.

[0401] It can be understood that the first node performs an operation on the first security measurement signal, and the second node performs the inverse operation of the operation to obtain the first measurement sequence.

[0402] For example, the second node demodulates the first security measurement signal to obtain a second measurement sequence, and obtains the first measurement sequence according to the second measurement sequence.

[0403] Exemplarily, the way in which the second node obtains the first measurement sequence can include the following:

[0404] In Method 1, the second node descrambles the second measurement sequence using the first security parameter to obtain the first measurement sequence.

[0405] The second measurement sequence contains M information bits, which can be represented as D(j), j = 1, 2, ..., M. The first security parameter contains E1 information bits, represented as K(j), j = 1, 2, ..., E1. The first security parameter is used to descramble the corresponding bits of the second measurement sequence to obtain the first measurement sequence, represented as C(i), i = 1, 2, ..., M.

[0406] Method 2: The second node XORs the first security parameter and the second measurement sequence to obtain the first measurement sequence.

[0407] Method 3: The second node uses the first security parameter to decrypt the second measurement sequence to obtain the first measurement sequence.

[0408] For related descriptions, please refer to step S1302; they will not be explained in detail here.

[0409] exist Figure 13 In the illustrated embodiment, when the first node sends a measurement signal, it processes the measurement signal using random numbers and communication parameters to obtain a secure measurement signal, and then sends the secure measurement signal to complete the ranging process. On the one hand, random numbers are inherently random and difficult to crack; on the other hand, communication parameters change constantly during communication, such as time units and frequency units, which also become difficult to crack. By processing the measurement signal using random numbers and communication parameters, the difficulty of cracking the measurement signal is greatly increased, achieving secure ranging and improving communication security.

[0410] Furthermore, communication parameters can be consistently changed without requiring a communication connection (i.e., a communication connection for transmitting service data) between the first and second nodes. This reduces the connection establishment steps in the ranging process, lowers the complexity of ranging, and improves the versatility of the ranging process. This method is also applicable to ranging in various non-directly connected scenarios, such as ranging between two T nodes.

[0411] above Figure 13 The transmission and reception of measurement signals are introduced using the first and second nodes as examples. Since there are multiple possible ways to determine the input parameters, the following is based on... Figure 16 , Figure 17 , Figure 18 and Figure 19 This section introduces several possible ways to determine input parameters. It should be noted that any concepts or logic not explained below can be found in [reference needed]. Figure 13 Related information.

[0412]

Design 1

[0413] In a possible design, the first random number and the first communication parameter are determined by a sending end of the measurement signal, the sending end sends the first random number and the first communication parameter to a receiving end, and the sending end and the receiving end obtain the first security parameter based on the first random number and the first communication parameter, and implement secure transmission of the measurement signal based on the first security parameter.

[0414] Optionally, the sending end and the receiving end have a communication connection, and support transmission of service data based on the communication connection, and the service data comprises the first random number and the first communication parameter. For example, as shown in Figure 6 The design can be applied to G-T ranging. Figure 7 The design can be applied to G-T ranging, or T-T ranging.

[0415] As a possible implementation, the sending end of the measurement signal is a management node, and / or the receiving end of the measurement signal is a management node.

[0416] Please refer to Figure 16 , Figure 16 is a flow diagram of another ranging method provided by an embodiment of the present application. It should be understood that, for the convenience of description, the flow is described in the order of S1601 to S1606, and is not intended to limit the execution in the above order. The embodiment of the present application does not limit the order, time, and number of execution of one or more steps.

[0417] Step S1601: The first node determines a first random number and a first communication parameter.

[0418] Optionally, the first communication parameter can be determined according to one or more of the following: superframe number, radio frame number, channel number, or symbol sequence number, etc.

[0419] Optionally, in determining the first communication parameter, the determination can include generation, or updating based on the original communication parameter to obtain the first communication parameter.

[0420] In some scenarios, the first node does not need to generate a new first communication parameter before each transmission of the measurement signal. For example, after the first node generates the communication parameter, the communication parameter is updated, so that the first communication parameter can be updated based on the original communication parameter in multiple measurement signals.

[0421] Step S1602: The first node sends the first random number and the first communication parameter.

[0422] Correspondingly, the second node receives the first communication parameter and the first random number sent by the first node.

[0423] Optionally, the first node does not need to send the first communication parameter before sending the measurement signal each time. That is, the step of sending the first communication parameter by the first node is an optional step when sending the measurement signal.

[0424] As a possible implementation, the first node only determines a preset value of the first communication parameter, and the first node and the second node can obtain a new communication parameter based on the preset value of the first communication parameter.

[0425] Optionally, the first node can send the first communication parameter in the form of broadcast, multicast or unicast. Optionally, the first node can send the first random number in the form of broadcast, multicast or unicast.

[0426] Step S1603: The first node determines the first security parameter.

[0427] In the process of determining the first security parameter, the first communication parameter and the first random number are used.

[0428] For example, bit sequence 1 = KDF (rand, COUNTERr || carrier channel number), where rand is the first random number, COUNTERr is the first communication parameter, and the carrier channel number is the number or sequence number of the carrier channel to which the transmission signal is applicable. The first security parameter contains part or all of the bits in bit sequence 1.

[0429] For example, bit sequence 1 = KDF (rand, COUNTERr), where rand is the first random number and COUNTERr is the first communication parameter. The first security parameter contains part or all of the bits in bit sequence 1.

[0430] For another example, N bit sequences are represented as B(1), B(2), B(3), etc. B(d) = KDF (rand, COUNTERr, [counter]), where N ≥ d ≥ 1, and [counter] represents a fresh parameter. Counter is an optional parameter.

[0431] As a possible design, when N is 1, counter is not needed when determining the bit sequence, or counter is a preset value, and the preset value of counter is, for example, 0, 1 or default. When N is greater than 1, counter + 1 after each bit sequence is obtained.

[0432] Optionally, when the information bit length of the security parameter required by a symbol is less than 256 bits, counter is not needed (or counter is a preset value), and one bit sequence is used to process the data carried by one symbol. That is, one KDF output corresponds to one symbol.

[0433] Optionally, when the information bit length of the security parameter required by one symbol is greater than 256 bits, a plurality of bit sequences are obtained through the counter; and the plurality of bit sequences are segmented or spliced to obtain the security parameter according to the information bit length of the security parameter required by one symbol.

[0434] In a possible implementation, the first communication parameter corresponding to different symbols is different.

[0435] In a possible implementation, the communication parameter is updated from a preset value each time the measurement interaction is performed, and the communication parameter is updated each time a symbol is passed. For example, COUNTERr is updated from 0 each time the measurement interaction is performed; the communication parameter COUNTERr corresponding to the current symbol is x, and when the next measurement symbol is reached, COUNTERr = x + 1.

[0436] The related description can also refer to the related description of step S1301.

[0437] Step S1604: The second node determines the first security parameter.

[0438] For the related description of the first node side in step S1603.

[0439] Step S1605: The first node sends the first security measurement signal. Correspondingly, the second node receives the first security measurement signal from the first node.

[0440] The first security measurement signal corresponds to the second measurement sequence. For the related description, refer to steps S1302 and S1303.

[0441] Step S1606: The second node obtains the first measurement sequence through the first security parameter and the first security measurement signal.

[0442] For example, the first node obtains the first security measurement signal through a certain processing, and correspondingly, the second node receives the first security measurement signal and then performs inverse processing to obtain the first measurement sequence.

[0443] In some scenarios, the first node updates the first communication parameter to obtain the second communication parameter. The first node determines the second random number, obtains the second security parameter based on the second communication parameter and the second random number, and the second security parameter is used to send or receive the second measurement signal.

[0444] For example, the first node performs scrambling on the third measurement sequence based on the second security parameter to obtain the fourth measurement sequence, and obtains the second security measurement signal based on the fourth measurement sequence and sends it to the third node.

[0445] For another example, the first node receives a second security measurement signal from other nodes, and obtains a measurement sequence carried in the second security measurement signal according to the second security parameter and the second security measurement signal.

[0446] In Figure 16 In the embodiment shown, the first node determines a random number and a communication parameter and sends them to the second node. When sending the measurement signal, the first node processes the measurement signal based on the random number and the communication parameter to obtain a security measurement signal, and sends the security measurement signal to complete the ranging process. Correspondingly, the second node receives the measurement signal based on the random number and the communication parameter.

[0447] On one hand, the random number has randomness and is difficult to be cracked; on the other hand, the communication parameter changes in time during the communication, for example, the serial number of the time unit and the number of the frequency unit change with the transmission, and is also difficult to be cracked. The measurement signal is processed based on the random number and the communication parameter, so that the cracking difficulty of the measurement signal is greatly increased, the secure position measurement is achieved, and the communication security is improved.

[0448]

Design 2

[0449] In a possible design, the first random number and the first communication parameter are determined by a receiving end of the measurement signal, the receiving end sends the first random number and the first communication parameter to a sending end, the sending end and the receiving end obtain the first security parameter based on the first random number and the first communication parameter, and implement the secure transmission of the measurement signal based on the first security parameter. Optionally, the receiving end is a management node.

[0450] Optionally, the sending end and the receiving end have a communication connection and support the transmission of service data based on the communication connection, and the service data contains the first random number and the first communication parameter. For example, as shown in Figure 6 This design can be applied to G-T ranging. For example, as shown in Figure 7 This design can be applied to G-T ranging, or T-T ranging.

[0451] Please refer to Figure 17 , Figure 17 is a flowchart of another ranging method provided by the embodiments of the present application. It should be understood that, for the convenience of description, the sequence of S1701 to S1706 is described herein, and it is not intended to limit the execution of the sequence. The embodiments of the present application do not limit the sequence, time and number of execution of the one or more steps. S1701 to S1706 are specifically as follows:

[0452] Step S1701: The second node determines a first communication parameter and a first random number.

[0453] Referring to the description of the first node side in step S1601, this step is applicable to the second node side.

[0454] Step S1702: The second node sends the first random number and the first communication parameter.

[0455] Referring to the description of the first node side in step S1602, this step is applicable to the second node side.

[0456] Step S1703: The first node determines the first security parameter.

[0457] Step S1704: The second node determines the first security parameter.

[0458] Step S1705: The first node sends the first security measurement signal. Correspondingly, the second node receives the first security measurement signal from the first node.

[0459] Step S1706: The second node obtains the first measurement sequence through the first security parameter and the first security measurement signal.

[0460] Steps S1703 to S1706 refer to steps S1603 to S1606.

[0461] In the embodiment shown in Figure 17 In the embodiment shown in the figure, the second node determines the random number and the communication parameter and sends them to the first node. When sending the measurement signal, the first node uses the random number and the communication parameter to process the measurement signal to obtain a security measurement signal, and sends the security measurement signal to complete the ranging process, thereby realizing secure ranging and improving communication security.

[0462] Design 3

[0463] In a possible design, the first communication parameter is determined by a third node, and the third node sends the first communication parameter to the sending end and the receiving end. The first random number is determined by the sending end and sent to the receiving end through the third node. The sending end and the receiving end obtain the first security parameter based on the first random number and the first communication parameter, and realize secure transmission of the measurement signal based on the first security parameter.

[0464] Optionally, the third node is a management node.

[0465] Alternatively, the third node is a node that has a communication connection with the first node and has a communication connection with the second node.

[0466] Optionally, the sending end and the receiving end do not have a communication connection, or do not support transmission of service data therebetween. For example, Figure 6 As shown in the figure, this design can be applied to T-T ranging, and the third node is a G node.

[0467] Please refer to Figure 18 , Figure 18 is a flowchart of another ranging method provided by the embodiments of the present application. It should be understood that, for the convenience of description, the sequence of S1801 to S1809 is described herein, and it is not intended to limit the execution of the sequence. The embodiments of the present application do not limit the sequence, time, and number of execution of one or more steps described above. S1801 to S1809 are as follows:

[0468] Step S1801: The first node determines a first random number.

[0469] Step S1802: The first node sends the first random number to the third node.

[0470] Step S1803: The third node determines a first communication parameter.

[0471] Step S1803 is an optional step, i.e., the third node can not execute this step S1803.

[0472] As a possible implementation, the third node does not need to generate a new first communication parameter before each time of sending a measurement signal. For example, after the first node generates a communication parameter, the communication parameter is updated. The first node and the second node can update the original communication parameter to determine the first communication parameter.

[0473] Optionally, the third node can determine a preset value of the communication parameter and send it to the first node and the second node. The first node and the second node update the preset value of the communication parameter to determine the security parameter based on a new communication parameter in the process of sending / receiving the measurement signal multiple times.

[0474] Step S1804: The third node sends the first random number and the first communication parameter to the second node. Correspondingly, the second node receives the first random number and the first communication parameter from the third node.

[0475] Optionally, the first communication parameter is an optional parameter.

[0476] Step S1805: The third node sends the first communication parameter to the first node. Correspondingly, the first node receives the first communication parameter from the third node.

[0477] Step S1805 is an optional step, i.e., the third node can not execute this step S1805.

[0478] Step S1806: The first node determines a first security parameter.

[0479] Step S1807: The second node determines the first security parameter.

[0480] Step S1808: The first node sends the first security measurement signal.

[0481] Step S1809: The second node obtains the first measurement sequence through the first security parameter and the first security measurement signal.

[0482] Steps S1806 to S1809 refer to steps S1603 to S1606.

[0483] In the embodiment shown in Figure 18 In the embodiment shown in the figure, the first node determines the random number and sends the random number to the third node, which forwards the random number to the second node. The third node can also determine the communication parameter and send it to the first node and the second node.

[0484] In the embodiment shown in the figure, the first node determines the random number and sends the random number to the third node, which forwards the random number to the second node. The third node can also determine the communication parameter and send it to the first node and the second node.

[0485] In addition, in the embodiment shown in Figure 18 In the embodiment shown in the figure, the first node determines the random number and sends the random number to the third node, which forwards the random number to the second node. The third node can also determine the communication parameter and send it to the first node and the second node.

[0486]

Design 4

[0487] In a possible design, the first communication parameter is determined by the third node, which sends the first communication parameter to the sending end and the receiving end. The first random number is determined by the receiving end and sent to the sending end through the third node. The sending end and the receiving end obtain the first security parameter based on the first random number and the first communication parameter, and implement secure transmission of the measurement signal based on the first security parameter.

[0488] The relevant description can refer to the relevant description of the embodiment shown in Figure 18 In the embodiment shown in the figure, the first node determines the random number and sends the random number to the third node, which forwards the random number to the second node. The third node can also determine the communication parameter and send it to the first node and the second node.

[0489]

Design 5

[0490] In a possible design, the first random number and the first communication parameter are determined by the third node, and the third node sends the first random number and the first communication parameter to the sending end and the receiving end. The sending end and the receiving end obtain the first security parameter based on the first random number and the first communication parameter, and implement the secure transmission of the measurement signal based on the first security parameter.

[0491] Optionally, the third node is a management node.

[0492] Alternatively, the third node is a node that has a communication connection with the first node and has a communication connection with the second node.

[0493] Optionally, the sending end and the receiving end do not have a communication connection, or transmission of service data is not supported between the sending end and the receiving end. For example, as shown in FIG. 8, the design can be applied to T-T ranging, and the third node is a G node. Figure 6

[0494] Please refer to Figure 19 , Figure 19 is a flow diagram of another ranging method provided by the embodiments of the present application. It should be understood that, for the convenience of description, the sequence from S1901 to S1906 is described herein, and the sequence is not intended to limit the execution of the sequence. The embodiments of the present application do not limit the sequence, time, and number of execution of one or more steps. The steps S1901 to S1906 are as follows.

[0495] Step S1901: The third node determines a first communication parameter.

[0496] Further, the third node provides the first random number to the first node and the second node. It should be understood that step S1901 is an optional step, that is, the third node can not perform step S1901.

[0497] In the case where the third node sends the first communication parameter to the second node, correspondingly, the second node receives the first communication parameter from the third node.

[0498] In the case where the third node sends the first communication parameter to the first node, correspondingly, the first node receives the first communication parameter from the third node.

[0499] Step S1902: The third node determines a first random number.

[0500] Further, the third node provides the first random number to the first node and the second node.

[0501] Step S1903: The first node determines a first security parameter.

[0502] Step S1904: The second node determines a first security parameter.​

[0503] Step S1905: The first node sends the first security measurement signal.

[0504] Step S1906: The second node obtains the first measurement sequence through the first security parameter and the first security measurement signal.

[0505] Steps S1903 to S1906 are the same as steps S1603 to S1606.

[0506] exist Figure 19 In the illustrated embodiment, ranging can be achieved without a communication connection (i.e., a communication connection for transmitting business data) between the first and second nodes. A third node sends random numbers to both ends of the measurement, ensuring consistency between the random numbers from the first and second nodes. Furthermore, the communication parameters can be consistently varied based on preset values. In summary, the above embodiment reduces the steps in the ranging process, lowers the complexity of ranging, and improves the versatility of ranging.

[0507] The above illustrates the process of sending and receiving a single measurement signal. The following illustrates the distance measurement interaction process involving multiple nodes.

[0508] As a possible example, Figure 10 Based on the distance measurement process shown, combined with Figure 20 and Figure 21 The ranging process for multiple nodes is described. Optionally, the measured node G and the measuring nodes T1, T2, and T3 are connected. The connection method can be a star-flash connection, such as a connection based on SLB or SLE.

[0509] The following is combined first Figure 20 The transmission process of measurement signal S1 is illustrated by way of example.

[0510] Please see Figure 20 , Figure 20 This is a flowchart illustrating another ranging method provided in this application embodiment. It should be understood that, for ease of description, the method is described in the order of S2001 to S2007, and is not intended to limit the execution to this specific order. This application embodiment does not limit the order of execution, the execution time, or the number of executions of one or more of the above steps. Steps S2001 to S2007 are as follows:

[0511] Step S2001: The node under test G determines communication parameter 1.

[0512] Furthermore, the node under test, G, provides communication parameter 1 (e.g., denoted as COUNTERr) to the measurement nodes, such as measurement node T1, measurement node T2, and measurement node T3.

[0513] Optionally, when frequency hopping is needed, the first node determines the channel order of frequency hopping, and sends the channel order to the measurement node T1, the measurement node T2 and the measurement node T3.

[0514] Step S2002: The measured node G determines a random number 1.

[0515] Further, the measured node G provides the random number 1 (for example, denoted as rand1) to the measurement nodes, such as the measurement node T1, the measurement node T2 and the measurement node T3.

[0516] Optionally, the measured node G also provides the source address and / or the destination address of the measurement signal S1 to the measurement nodes.

[0517] Step S2003: The measured node G determines a security parameter 1.

[0518] The security parameter contains part or all of the bits in a bit sequence (for convenience, referred to as bit sequence 1). There can be one or more bit sequences.

[0519] As an example, bit sequence 1 = KDF (rand1, COUNTERr, [counter]). Wherein, COUNTERr is the first communication parameter, and rand1 is the random number 1. For example, the information bit length of bit sequence 1 is 256 bits or 128 bits.

[0520] As a possible implementation, COUNTERr can be determined according to one or more of the following: superframe number, radio frame number, channel number (when frequency hopping is needed), or symbol sequence number, etc. Optionally, COUNTERr is different for different symbols. For example, COUNTERr corresponding to symbol #1 is 1, and COUNTERr corresponding to symbol #2 is 2.

[0521] As another possible implementation, COUNTERr starts from 0 and increases by 1 in symbol units for each positioning measurement. When the next measurement symbol is reached, COUNTERr + 1.

[0522] Optionally, when the length of the security parameter required for a symbol is less than 256 bits, the counter is not needed (or the counter is a preset value, such as 0, 1 or default), and one KDF output result (referring to a bit sequence) corresponds to one symbol. When the length of the security parameter required for a symbol is greater than 256 bits, the counter + 1, and multiple KDF output results are obtained, which are truncated or spliced into a security parameter according to the length required for one symbol.

[0523] Step S2004: The measurement node T1 determines the security parameter 1. See step S2003.

[0524] Step S2005: The measurement node T2 determines the security parameter 1. See step S2003.

[0525] Step S2006: The measurement node T3 determines the security parameter 1. See step S2003.

[0526] Step S2007: The measured node G sends the measurement signal S1.

[0527] The measurement signal S1 is a scrambled measurement signal based on the security parameter 1. Correspondingly, the measurement node T1, the measurement node T2 and the measurement node T3 receive the scrambled measurement signal S1 based on the security parameter 1.

[0528] The following is combined Figure 21 The sending processes of the measurement signal S2, the measurement signal S3 and the measurement signal S4 are exemplarily described.

[0529] Please see Figure 21 , Figure 21 is a flow diagram of another ranging method provided by the embodiments of the present application. It should be understood that, for the convenience of description, the sequence from S2101 to S2113 is described herein, and it is not intended to limit the execution of the sequence. The embodiments of the present application do not limit the sequence, the time and the number of execution of one or more steps described above. S2101 to S2113 are as follows:

[0530] Step S2101: The measured node G determines the communication parameter 2.

[0531] Further, the measured node G provides the communication parameter 2 to the measurement nodes, such as the measurement node T1, the measurement node T2 and the measurement node T3.

[0532] Optionally, when frequency hopping is needed, the measured node G determines the channel sequence of frequency hopping, and sends the channel sequence to the measurement node T1, the measurement node T2 and the measurement node T3.

[0533] Step S2102: The measurement node T1 determines the random number 2.

[0534] The random number 2 is denoted as rand2. Further, the measurement node T1 provides the random number 2 to the measured node G.

[0535] Step S2103: The measured node G determines the security parameter 2.

[0536] For example, the security parameter 2 is determined based on a bit sequence (for convenience, referred to as bit sequence 2). Bit sequence 2 = KDF (rand2, COUNTERr, [counter]). For example, the bit sequence 2 has a length of 256 bits or 128 bits.

[0537] The related description can be referred to step S2003.

[0538] Step S2104: The measurement node T1 determines the security parameter 2. Refer to step S2103.

[0539] Step S2105: The measurement node T1 sends the measurement signal S2 to the measured node G.

[0540] The measurement signal S2 is a scrambled measurement signal based on the security parameter 2. Correspondingly, the measured node G receives the scrambled measurement signal S2 based on the security parameter 2.

[0541] Step S2106: The measurement node T2 determines the random number 3.

[0542] The random number 3 is represented as rand3. Further, the measurement node T2 provides the random number 3 to the measured node G.

[0543] Step S2107: The measured node G determines the security parameter 3.

[0544] For example, the security parameter 3 is determined based on a bit sequence (for convenience, referred to as bit sequence 3). Bit sequence 3 = KDF (rand3, COUNTERr, [counter]). For example, the bit sequence 3 has a length of 256 bits or 128 bits.

[0545] The related description can be referred to step S2003.

[0546] Step S2108: The measurement node T2 determines the security parameter 3. Refer to step S2107.

[0547] Step S2109: The measurement node T2 sends the measurement signal S3 to the measured node G.

[0548] The measurement signal S3 is a scrambled measurement signal based on the security parameter 3. Correspondingly, the measured node G receives the scrambled measurement signal S3 based on the security parameter 3.

[0549] Step S2110: The measurement node T3 determines the random number 4.

[0550] The random number 4 is represented as rand4. Further, the measurement node T3 provides the random number 4 to the measured node G.

[0551] Step S2111: The measured node G determines the security parameter 4.

[0552] For example, the security parameter 4 is determined based on a bit sequence (referred to as bit sequence 4 for convenience). Bit sequence 4 = KDF (rand4, COUNTERr, [counter]). For example, the information bit length of bit sequence 4 is 256 bits or 128 bits.

[0553] For details, see step S2003.

[0554] Step S2112: The measured node T3 determines the security parameter 4. For details, see step S2111.

[0555] Step S2113: The measured node T3 sends the measurement signal S4 to the measured node G.

[0556] The measurement signal S4 is a scrambled measurement signal obtained based on the security parameter 4. Correspondingly, the measured node G receives the scrambled measurement signal S4 based on the security parameter 4.

[0557] In combination with Figure 20 and Figure 21 , one ranging interaction (measurement signal S1 and measurement signal S2) is completed between the measured node G and the measurement node T1, so that the distance between the measured node G and the measurement node T1 can be calculated. Similarly, one ranging interaction (measurement signal S1 and measurement signal S3) is completed between the measured node G and the measurement node T2, so that the distance between the measured node G and the measurement node T2 can be calculated. Similarly, one ranging interaction (measurement signal S1 and measurement signal S4) is completed between the measured node G and the measurement node T3, so that the distance between the measured node G and the measurement node T3 can be calculated.

[0558] Based on the measurement signals S1, S2, S3 and S4, the angle and position of the measured node G can be determined, so as to realize the positioning of the measured node G.

[0559] Next, taking the ranging process shown in Figure 12 as an example, in combination with Figure 22 and Figure 23 , a possible case of multi-node ranging is described.

[0560] First, the sending process of the measurement signal S5 is described exemplarily.

[0561] For details, see Figure 22 , Figure 22is a flowchart of another ranging method provided by the embodiments of the present application. It should be understood that, for the convenience of description, the sequence from S2201 to S2207 is described herein, and it is not intended to limit the execution sequence. The embodiments of the present application do not limit the execution sequence, execution time, execution times, etc. of one or more steps described above. S2201 to S2207 are as follows:

[0562] Step S2201: The measurement node G determines the communication parameter 3.

[0563] Further, the measurement node G provides the communication parameter 3 (for example, represented as COUNTERr) to the measured node T1, the measurement node T2 and the measurement node T3.

[0564] Optionally, the measurement node G also provides the source address and / or the destination address of the measurement signal S4 to the measured node T1, the measurement node T2 and the measurement node T3.

[0565] Optionally, when frequency hopping is required, the first node determines the channel sequence of frequency hopping, and sends the channel sequence to the measurement node T1, the measurement node T2 and the measurement node T3.

[0566] Step S2202: The measured node T1 determines the random number 5.

[0567] The random number 5 is represented as rand5. Further, the measured node T1 provides the random number 5 (for example, represented as rand5) to the measurement node G, which forwards the random number 5 to other measurement nodes, such as the measurement node T2 and the measurement node T3.

[0568] Step S2203: The measured node T1 determines the security parameter 5.

[0569] For example, the security parameter 5 is determined based on a bit sequence (for the convenience of description, referred to as bit sequence 5). The bit sequence 5 = KDF (rand5, COUNTERr, [counter]). For example, the information bit length of the bit sequence 5 is 256 bits or 128 bits.

[0570] For relevant description, refer to step S2003.

[0571] Step S2204: The measurement node G determines the security parameter 5. Refer to step S2203.

[0572] Step S2205: The measurement node T2 determines the security parameter 5. Refer to step S2203.

[0573] Step S2206: The measurement node T3 determines the security parameter 5. Refer to step S2203.

[0574] Step S2207: The measured node T1 sends the measurement signal S5.

[0575] The measurement signal S5 is a scrambled measurement signal based on the security parameter 5. Accordingly, the measurement node G, the measurement node T2 and the measurement node T3 receive the scrambled measurement signal S5 based on the security parameter 5.

[0576] The sending processes of the measurement signal S6, the measurement signal S7 and the measurement signal S8 are described exemplarily as follows.

[0577] Please refer to Figure 23 , Figure 23 is a flow diagram of another ranging method provided by the embodiments of the present application. It should be understood that, for the convenience of description, the sequence from S2301 to S2313 is described herein, and it is not intended to limit the execution of the sequence. The embodiments of the present application do not limit the sequence, the time and the number of execution of one or more steps described above. S2301 to S2313 are as follows.

[0578] Step S2301: The measurement node G determines the communication parameter 4.

[0579] Further, the measurement node G provides the communication parameter 4 to the measured node T1, the measurement node T2 and the measurement node T3.

[0580] Optionally, when frequency hopping is needed, the measurement node G determines the channel sequence of frequency hopping, and sends the channel sequence to the measured node T1, the measurement node T2 and the measurement node T3.

[0581] Step S2302: The measurement node G determines the random number 6.

[0582] The random number 6 is denoted as rand6. Further, the measurement node G provides the random number 6 to the measurement node T1.

[0583] Step S2303: The measured node T1 determines the security parameter 6.

[0584] For example, the security parameter 6 is determined based on a bit sequence (referred to as bit sequence 6 for the convenience of description). The bit sequence 6 = KDF (rand6, COUNTERr, [counter]). Exemplarily, the information bit length of the bit sequence 6 is 256bit or 128bit.

[0585] The related description can be referred to step S2003.

[0586] Step S2304: The measurement node G determines the security parameter 6. Refer to step S2303.

[0587] Step S2305: The measurement node G sends a measurement signal S6 to the measured node T1.

[0588] The measurement signal S6 is a scrambled measurement signal based on the security parameter 6. Accordingly, the measured node T1 receives the scrambled measurement signal S6 based on the security parameter 6.

[0589] Step S2306: The measurement node T2 determines a random number 7.

[0590] The random number 7 is denoted as rand7. Further, the measurement node T2 provides the random number 7 to the measurement node G, which forwards the random number 7 to the measured node T1.

[0591] Step S2307: The measured node T1 determines a security parameter 7.

[0592] For example, the security parameter 7 is determined based on a bit sequence, which is referred to as bit sequence 7. The bit sequence 7 = KDF(rand3, COUNTERr, [counter]). Exemplarily, the bit sequence 7 has a length of 256 bit or 128 bit.

[0593] The related description can be referred to step S2003.

[0594] Step S2308: The measurement node T2 determines a security parameter 7. See step S2307.

[0595] Step S2309: The measurement node T2 sends a measurement signal S7 to the measured node T1.

[0596] The measurement signal S7 is a scrambled measurement signal based on the security parameter 7. Accordingly, the measured node T1 receives the scrambled measurement signal S7 based on the security parameter 7.

[0597] Step S2310: The measurement node T3 determines a random number 8.

[0598] The random number 8 is denoted as rand8. Further, the measurement node T3 provides the random number 8 to the measurement node G, which forwards the random number to the measured node T1.

[0599] Step S2311: The measured node T1 determines a security parameter 8.

[0600] For example, the security parameter 8 is determined based on a bit sequence, which is referred to as bit sequence 8. The bit sequence 8 = KDF(rand4, COUNTERr, [counter]). Exemplarily, the bit sequence 8 has a length of 256 bit or 128 bit.

[0601] The related description can be referred to step S2003.

[0602] Step S2312: The measurement node T3 determines the security parameter 8. Refer to step S2310.

[0603] Step S2313: The measurement node T3 sends the measurement signal S8 to the measured node T1.

[0604] The measurement signal S8 is a scrambled measurement signal based on the security parameter 8. Correspondingly, the measured node T1 receives the scrambled measurement signal S8 based on the security parameter 8.

[0605] In combination with Figure 22 and Figure 23 , one ranging interaction (the measurement signal S5 and the measurement signal S6) is completed between the measured node T1 and the measurement node G, so that the distance between the measured node T1 and the measurement node G can be calculated. Similarly, one ranging interaction (the measurement signal S5 and the measurement signal S7) is completed between the measured node T1 and the measurement node T2, so that the distance between the measured node T1 and the measurement node T2 can be calculated. Similarly, one ranging interaction (the measurement signal S5 and the measurement signal S8) is completed between the measured node T1 and the measurement node T3, so that the distance between the measured node T1 and the measurement node T2 can be calculated.

[0606] Based on the measurement signals S5, S6, S7 and S8, the angle and position of the measured node T1 can be determined, so as to realize the positioning of the measured node T1.

[0607] Next, taking the ranging process shown in Figure 12 as an example, in combination with Figure 24 and Figure 25 , one possible case of multi-node ranging is described.

[0608] First, the sending process of the measurement signal S5 is described exemplarily.

[0609] Please refer to Figure 24 , Figure 24 is a flow diagram of another ranging method provided by the embodiment of the present application. It should be understood that, here, for the convenience of description, the description is performed in the order of S2401 to S2407, and is not intended to limit the execution in the above order. The embodiment of the present application does not limit the order of execution, the time of execution, the number of execution, etc. of the above one or more steps. S2401 to step S2407 are as follows:

[0610] Step S2401: The measurement node G determines the communication parameter 3. Refer to step S2201.

[0611] Step S2402: The measurement node G determines the random number 5.

[0612] wherein the random number 5 is denoted as rand5. Further, the measurement node G provides the random number 5 to the measured node T1, the measurement node T2 and the measurement node T3.

[0613] Step S2403: The measured node T1 determines the security parameter 5.

[0614] Step S2404: The measurement node G determines the security parameter 5.

[0615] Step S2405: The measurement node T2 determines the security parameter 5.

[0616] Step S2406: The measurement node T3 determines the security parameter 5.

[0617] Step S2407: The measured node T1 sends the measurement signal S5. The steps S2403-S2407 refer to the steps S2203-S2207.

[0618] The sending processes of the measurement signal S6, the measurement signal S7 and the measurement signal S8 are described exemplarily as follows.

[0619] Please refer to Figure 25 , Figure 25 is a flow diagram of another ranging method provided by the embodiments of the present application. It should be understood that, for the convenience of description, the sequence from S2501 to S2513 is described herein, and it is not intended to limit the execution of the sequence. The embodiments of the present application do not limit the sequence, the time and the number of execution of one or more steps described above. The steps S2501-S2513 are as follows:

[0620] Step S2501: The measurement node G determines the communication parameter 4.

[0621] Step S2502: The measurement node G determines the random number 6.

[0622] Step S2503: The measured node T1 determines the security parameter 6.

[0623] Step S2504: The measurement node G determines the security parameter 6.

[0624] Step S2505: The measurement node G sends the measurement signal S6 to the measured node T1. The steps S2501-S2505 refer to the steps S2301-S2305.

[0625] Step S2506: The measurement node G determines the random number 7.

[0626] The random number 7 is denoted as rand7. Further, the measurement node G provides the random number 7 to the measurement node T2 and the measured node T1.

[0627] Step S2507: The measured node T1 determines the security parameter 7.

[0628] Step S2508: The measurement node T2 determines the security parameter 7.

[0629] Step S2509: The measurement node T2 sends a measurement signal S7 to the measured node T1. Steps S2507-S2509 refer to steps S2307-S2309.

[0630] Step S2510: The measurement node G determines a random number 8.

[0631] The random number 8 is denoted as rand8. Further, the measurement node G provides the random number 8 to the measurement node T3 and the measured node T1.

[0632] Step S2511: The measured node T1 determines the security parameter 8.

[0633] Step S2512: The measurement node T3 determines the security parameter 8.

[0634] Step S2513: The measurement node T3 sends a measurement signal S8 to the measured node T1. Steps S2511-S2513 refer to steps S2311-S2313.

[0635] In combination with Figure 24 and Figure 25 , a ranging interaction (measurement signal S5 and measurement signal S6) is completed between the measured node T1 and the measurement node G, so that the distance between the measured node T1 and the measurement node G can be calculated. Similarly, a ranging interaction (measurement signal S5 and measurement signal S7) is completed between the measured node T1 and the measurement node T2, so that the distance between the measured node T1 and the measurement node T2 can be calculated. Similarly, a ranging interaction (measurement signal S5 and measurement signal S8) is completed between the measured node T1 and the measurement node T3, so that the distance between the measured node T1 and the measurement node T2 can be calculated.

[0636] Based on the measurement signals S5, S6, S7 and S8, the angle and position of the measured node T1 can be determined, so as to realize the positioning of the measured node T1.

[0637] The above describes the method of the embodiments of the present application in detail, and the apparatus of the embodiments of the present application is provided below.

[0638] It should be understood that the division of units in the apparatus provided in the embodiments of the present application is only a logical functional division, and all or part of the units can be integrated into a physical entity or physically separated in actual implementation. In addition, the units in the apparatus can be implemented in the form of processor calling software; for example, the apparatus includes a processor, the processor is connected with a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to implement any one of the above methods or to implement the functions of each unit of the apparatus, wherein the processor is, for example, a general processor such as a central processing unit (CPU) or a microprocessor, and the memory is an internal memory of the apparatus or an external memory of the apparatus. Alternatively, the units in the apparatus can be implemented in the form of hardware circuit, and the functions of part or all of the units can be implemented through the design of the hardware circuit, which can be understood as one or more processors; for example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), and the functions of part or all of the units are implemented through the design of the logical relationship between elements in the circuit; for example, in another implementation, the hardware circuit is a programmable logic device (PLD), and a field programmable gate array (FPGA) is taken as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured through a configuration file, so as to implement the functions of part or all of the units. All units of the above apparatus can be implemented in the form of processor calling software, or all units can be implemented in the form of hardware circuit, or part of the units are implemented in the form of processor calling software, and the remaining part is implemented in the form of hardware circuit.

[0639] In embodiments of the present application, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), a digital signal processor (DSP), etc. In another implementation, the processor can implement certain functions through a logical relationship of hardware circuit, which is fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the processor loads a configuration document to implement the configuration of the hardware circuit. It can be understood that the processor loads instructions to implement the functions of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0640] It can be seen that each unit in the above apparatus can be one or more processors (or processing circuits) configured to implement the above methods, such as a CPU, a GPU, an NPU, a TPU, a DPU, a microprocessor, a DSP, an ASIC, an FPGA, or a combination of at least two of these processor forms.

[0641] In addition, each unit in the above apparatus can be integrated together or can be independently implemented. In one implementation, the units are integrated together to form a system-on-a-chip (SOC). The SOC can include at least one processor for implementing any of the above methods or functions of the units of the apparatus. The at least one processor can be of different types, such as a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0642] The following are several possible apparatuses.

[0643] See Figure 26 , Figure 26FIG. 1 is a schematic diagram of a communication device according to an embodiment of the present application. Optionally, the communication device 260 can be a standalone device, such as a node or the like. Alternatively, the communication device 260 can be a component, such as a chip or an integrated circuit, in a standalone device, such as a node. The communication device 260 is configured to implement the ranging method described above, such as the ranging method described in the embodiments of Figure 13 、 Figure 16 、 Figure 17 、 Figure 18 、 Figure 19 、 Figure 20 、 Figure 21 、 Figure 22 、 Figure 23 、 Figure 24 , or Figure 25 .

[0644] In one possible design, the communication device 260 includes a processing unit 2601 and a communication unit 2602, and the communication device 260 is configured to implement the method of measuring the side of the sending end of the signal in the ranging method described above. For example, the communication device 260 can be the first node in the embodiments of Figure 13 、 Figure 16 、 Figure 17 、 Figure 18 , or Figure 19 , and the like.

[0645] In one possible implementation, the processing unit 2601 is configured to determine a first security parameter based on a plurality of input parameters, and the plurality of input parameters include a first random value and a first communication parameter.

[0646] The processing unit 2601 is further configured to obtain a second measurement sequence based on the first security parameter and a first measurement sequence.

[0647] The communication unit 2602 is configured to send a first security measurement signal, and the first security measurement signal is associated with the second measurement sequence, and the first security measurement signal is used for position information measurement.

[0648] In another possible implementation, the first communication parameter is related to one or more of the following information:

[0649] The serial number of a first OFDM symbol, the number of a first time unit, or the number of a first frequency unit, wherein the first OFDM symbol is used to carry the first security measurement signal, the first time unit includes the first OFDM symbol, and the first frequency unit includes a frequency resource used to transmit the first security measurement signal.

[0650] In a further possible implementation, the first time unit is included in a plurality of continuous time units, and signals carried by the plurality of continuous time units are frequency-hopped in transmission according to a preset frequency unit number sequence, and the number of the first frequency unit belongs to the preset frequency unit number sequence.

[0651] In a further possible implementation, the first communication parameter is associated with a position of a first OFDM symbol relative to a second OFDM symbol, where the first OFDM symbol carries the first safety measurement signal, and the second OFDM symbol is used to carry a second safety measurement signal, and a first communication parameter corresponding to the second safety measurement signal is a preset value.

[0652] In a further possible implementation, the processing unit 2601 is further configured to scramble the first measurement sequence by using the first security parameter to obtain the second measurement sequence.

[0653] In a further possible implementation, the processing unit 2601 is further configured to perform exclusive OR operation between the first security parameter and the first measurement sequence to obtain the second measurement sequence.

[0654] In a further possible implementation, the processing unit 2601 is further configured to:

[0655] According to the plurality of input parameters, obtain N bit sequences, the N bit sequences including the first security parameter, N being an integer and N≥1.

[0656] In a further possible implementation, when the N is greater than 1, the plurality of input parameters further include a freshness parameter; and the processing unit 2601 is further configured to:

[0657] According to the first random number value, the first communication parameter, and the freshness parameter, obtain the N bit sequences, where the freshness parameter is updated after each of the N bit sequences is obtained.

[0658] In a further possible implementation, a first bit sequence of the N bit sequences corresponds to a preset value of the freshness parameter, and a second bit sequence of the N bit sequences corresponds to a freshness parameter associated with the preset value and a sequence number of the second bit sequence, where the second bit sequence is different from the first bit sequence.

[0659] In a further possible implementation, when the N is greater than 1, the processing unit 2601 is further configured to:

[0660] According to the plurality of input parameters, obtain a first bit sequence of the N bit sequences;

[0661] The first bit sequence is obtained according to the plurality of input parameters and the I-1th bit sequence, where I is an integer and N≥I≥2.

[0662] In yet another possible implementation, the first safety measurement signal comprises a plurality of sub-measurement signals, and the plurality of sub-measurement signals are sent by a plurality of antennas.

[0663] The first measurement sequence comprises a plurality of first sub-sequences, and the plurality of first sub-sequences are used to generate a plurality of second sub-sequences using different parts of the first safety parameter, and the plurality of second sub-sequences belong to the second measurement sequence.

[0664] Each sub-measurement signal corresponds to one sequence of the plurality of second sub-sequences.

[0665] In yet another possible implementation, the communication unit 2602 is further configured to send the first safety measurement signal to a second node, and the first safety measurement signal is used to measure a distance between the first node and the second node.

[0666] In yet another possible implementation, the first random number is determined by the first node, and the communication unit 2602 is further configured to send the first random number to the second node.

[0667] In yet another possible implementation, the communication unit 2602 is further configured to receive the first random number from the second node.

[0668] In yet another possible implementation, the first random number is determined by the first node, and the communication unit 2602 is further configured to send the first random number to a third node.

[0669] In yet another possible implementation, the communication unit 2602 is further configured to receive a communication address of the second node from the third node.

[0670] In yet another possible implementation, the third node is a node that sends data scheduling information, and the first node is a node that receives and / or sends data based on the data scheduling information.

[0671] In yet another possible implementation, the first communication parameter is from a management node, and the management node is a node that sends data scheduling information.

[0672] Optionally, the first node is the management node, or the third node is the management node, or the second node is the management node.

[0673] In yet another possible implementation, the first measurement sequence is a pseudo-random sequence.

[0674] In yet another possible implementation, the plurality of input parameters further include indication information, the indication information indicating at least one of the plurality of antennas; the first security measurement signal is transmitted through the at least one antenna.

[0675] In yet another possible design, the communication device 260 includes a processing unit 2601 and a communication unit 2602, and is configured to implement the method on the side of the receiving end of the measurement signal in the aforementioned ranging method. For example, the communication device 260 is configured to implement the method in the second node in any of the embodiments described above. Figure 13 、 Figure 16 、 Figure 17 、 Figure 18 or Figure 19 and the like.

[0676] In a possible implementation, the processing unit 2601 is configured to determine the first security parameter according to a plurality of input parameters, the plurality of input parameters including a first random value and a first communication parameter.

[0677] The communication unit 2602 is configured to receive a first security measurement signal, the first security measurement signal being associated with the second measurement sequence, and the first security measurement signal being used for position information measurement.

[0678] The processing unit 2601 is further configured to obtain a first measurement sequence through the first security parameter and the first security measurement signal.

[0679] In yet another possible implementation, the first communication parameter is associated with one or more of the following information:

[0680] a sequence number of a first OFDM symbol, a number of a first time unit, or a number of a first frequency unit, wherein the first OFDM symbol is used to carry the first security measurement signal, the first time unit includes the first OFDM symbol, and the first frequency unit includes a frequency resource used to transmit the first security measurement signal.

[0681] In yet another possible implementation, the first time unit is included in a plurality of consecutive time units, signals carried by the plurality of consecutive time units are frequency-hopped when transmitted according to a preset frequency unit number sequence, and the number of the first frequency unit belongs to the preset frequency unit number sequence.

[0682] In yet another possible implementation, the first communication parameter is associated with a position of a first OFDM symbol relative to a second OFDM symbol, wherein the first OFDM symbol carries the first security measurement signal, and the second OFDM symbol is used to carry a second security measurement signal, and a first communication parameter corresponding to the second security measurement signal is a preset value.

[0683] In yet another possible implementation, the processing unit 2601 is further configured to obtain the first measurement sequence by XORing the second measurement sequence with the first security parameter.

[0684] In yet another possible implementation, the processing unit 2601 is further configured to obtain the first measurement sequence by XORing the second measurement sequence with the first security parameter.

[0685] In yet another possible implementation, the processing unit 2601 is further configured to:

[0686] obtain N bit sequences according to the plurality of input parameters, the N bit sequences comprising the first security parameter, N being an integer and N≥1.

[0687] In yet another possible implementation, when the N is greater than 1, the plurality of input parameters further comprises a freshness parameter; and the processing unit 2601 is further configured to obtain the N bit sequences according to the first random number value, the first communication parameter and the freshness parameter, wherein the freshness parameter is updated after each of the N bit sequences is obtained.

[0688] In yet another possible implementation, a first bit sequence of the N bit sequences corresponds to a preset value of the freshness parameter, and a second bit sequence of the N bit sequences corresponds to a freshness parameter associated with the preset value and a sequence number of the second bit sequence, wherein the second bit sequence is different from the first bit sequence.

[0689] In yet another possible implementation, when the N is greater than 1, the processing unit 2601 is further configured to:

[0690] obtain a first bit sequence of the N bit sequences according to the plurality of input parameters;

[0691] obtain an Ith bit sequence of the N bit sequences according to the plurality of input parameters and an (I-1)th bit sequence, I being an integer and N≥I≥2.

[0692] In yet another possible implementation, the first security measurement signal comprises a plurality of sub-measurement signals, the plurality of sub-measurement signals being transmitted by a plurality of antennas of the first node and received by a plurality of antennas of the second node respectively;

[0693] the first measurement sequence comprises a plurality of first sub-sequences, the plurality of first sub-sequences being used to generate a plurality of second sub-sequences using different parts of the first security parameter, the plurality of second sub-sequences belonging to the second measurement sequence;

[0694] Each of the sub-measurement signals corresponds to one of the second sub-sequences.

[0695] In yet another possible implementation, the communication unit 2602 is further configured to receive a first random number from the first node.

[0696] In yet another possible implementation, the processing unit 2601 is further configured to determine a first random number.

[0697] The communication unit 2602 is further configured to send the first random number to the first node.

[0698] In yet another possible implementation, the communication unit 2602 is further configured to receive the first random number sent by a third node, wherein the first random number is from the first node.

[0699] In yet another possible implementation, the communication unit 2602 is further configured to receive a communication address of the first node from the third node.

[0700] In yet another possible implementation, the third node is a node that sends data scheduling information, and the first node is a node that receives and / or sends data based on the data scheduling information.

[0701] In yet another possible implementation, the first communication parameter is from a management node, wherein the management node is a node that sends data scheduling information.

[0702] In yet another possible implementation, the first measurement sequence is a pseudo-random sequence.

[0703] In yet another possible implementation, the plurality of input parameters further include indication information, wherein the indication information indicates at least one of the plurality of antennas, and the first security measurement signal is transmitted through the at least one antenna.

[0704] Please refer to Figure 27 , Figure 27 is a structural schematic diagram of another communication apparatus provided by the embodiments of the present application.

[0705] The communication apparatus 270 can be a standalone device, such as a node, or a component included in a standalone device, such as a chip, a software module, or an integrated circuit, etc. The communication apparatus 270 can include at least one processor 2701 and a communication interface 2702. Optionally, it can further include at least one memory 2703. Further optionally, it can further include a connection line 2704, wherein the processor 2701, the communication interface 2702, and / or the memory 2703 are connected through the connection line 2704, and / or communicate with each other through the connection line 2704 to transfer control signals and / or data signals.

[0706] wherein:

[0707] (1) The processor 2701 is a module for performing arithmetic operations and / or logical operations, and can specifically include one or more of the following modules: a filter, a modem, a power amplifier, a low noise amplifier (LNA), a baseband processor, a radio frequency processor, a radio frequency circuit, a central processing unit (CPU), an application processor (AP), a microcontroller unit (MCU), an electronic control unit (ECU), a graphics processing unit (GPU), a microprocessor unit (MPU), an application specific integrated circuit (ASIC), an image signal processor (ISP), a digital signal processor (DSP), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), or a co-processor, etc.

[0708] (2) The communication interface 2702 can be used to provide information input or output for the at least one processor, or to receive externally transmitted signals and / or transmit signals to the outside.

[0709] For example, the communication interface 2702 can include interface circuitry.

[0710] For example, the communication interface 2702 can include a wired link interface such as an Ethernet cable, and can also be a wireless link (Wi-Fi, Bluetooth, universal wireless transmission, vehicle-mounted short-range communication technology, and other short-range wireless communication technologies, etc.) interface.

[0711] Optionally, the communication interface 2702 can also include a radio frequency transmitter, an antenna, etc. In the case where the communication interface 2702 includes an antenna, the number of antennas can be one or more.

[0712] As a possible design, when the communication device 270 is a standalone device, the communication interface 2702 can include a receiver and a transmitter. The receiver and the transmitter can be the same component or different components. When the receiver and the transmitter are the same component, the component can be referred to as a transceiver.

[0713] As another possible design, when the communication device 270 is a chip or a circuit, the communication interface 2702 can include an input interface and an output interface. The input interface and the output interface can be the same interface or different interfaces.

[0714] Optionally, the functions of the communication interface 2702 can be implemented by a transceiver circuit or a dedicated chip of the transceiver.

[0715] (3) The memory 2703 is configured to provide a storage space in which data such as an operating system and a computer program can be stored. The memory 2703 can be one or a combination of a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a compact disc read-only memory (CD-ROM).

[0716] It should be noted that the functions and actions of the modules or units in the communication device 270 listed above are only exemplary.

[0717] The functional units in the communication device 270 can be used to implement the ranging method described above, for example, the ranging method described in the following embodiments. Figure 13 、 Figure 16 、 Figure 17 、 Figure 18 、 Figure 19 、 Figure 20 、 Figure 21 、 Figure 22 、 Figure 23 、 Figure 24 , or Figure 25 .

[0718] Optionally, the processor 2701 can be a processor specially configured to execute the above-described methods (for the sake of distinction, referred to as a special-purpose processor), or a processor configured to execute the above-described methods by calling a computer program (for the sake of distinction, referred to as a special-purpose processor). Optionally, the at least one processor can include both a special-purpose processor and a general-purpose processor.

[0719] Optionally, in the case where the communication apparatus 270 comprises at least one memory 2703, if the processor 2701 implements the aforementioned ranging method by invoking a computer program, the computer program can be stored in the memory 2703.

[0720] The embodiments of the present application further provide a chip, which comprises a logic circuit and a communication interface. The communication interface is configured to receive a signal or send a signal. The logic circuit is configured to receive the signal or send the signal through the communication interface. The chip is configured to implement the aforementioned ranging method, for example, the ranging method shown in Figure 13 、 Figure 16 、 Figure 17 、 Figure 18 、 Figure 19 、 Figure 20 、 Figure 21 、 Figure 22 、 Figure 23 、 Figure 24 、 or Figure 25 .

[0721] The embodiments of the present application further provide a computer readable storage medium, which stores instructions. When the instructions are run on at least one processor (or a communication apparatus), the aforementioned ranging method, for example, the ranging method shown in Figure 13 、 Figure 16 、 Figure 17 、 Figure 18 、 Figure 19 、 Figure 20 、 Figure 21 、 Figure 22 、 Figure 23 、 Figure 24 、 or Figure 25 is implemented.

[0722] The embodiments of the present application further provide a computer program product, which comprises computer instructions. The computer instructions are configured to implement the aforementioned ranging method, for example, the ranging method shown in Figure 13 、 Figure 16 、 Figure 17 、 Figure 18 、 Figure 19 、 Figure 20 、 Figure 21 、 Figure 22 、 Figure 23 、 Figure 24 、 or Figure 25 .

[0723] The embodiments of the present application further provide a terminal, which comprises the aforementioned communication apparatus 260 and / or the communication apparatus 270.

[0724] As a possible implementation, the terminal comprises the first node and / or the second node. The first node comprises the aforementioned communication device 260, and the second node comprises the aforementioned communication device 260.

[0725] The terminal can be a smart terminal or a transport tool such as a vehicle, a drone, or a robot.

[0726] It should be noted that in the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the word "exemplary" or "for example" is used to present concepts in a concrete manner.

[0727] In the embodiments of the present application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following (one)" or the like means any combination of the items, including any combination of single item (one) or multiple items.

[0728] For example, at least one of a, b, or c can mean a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, and c can be single or multiple. "And / or" describes the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects.

[0729] In addition, unless otherwise stated, the ordinal numbers "first", "second", etc. used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, time sequence, priority, or importance of the multiple objects. For example, the first node and the second node are only used to facilitate the description of fresh parameters in different embodiments, and do not mean that their operation, importance, structure, etc. are different.

[0730] In the above embodiments, according to the context, the term "when" can be interpreted as meaning "if", "after", or "in response to determining" or "in response to detecting". The above is only an optional embodiment of the present application, and does not limit the present application. Any modification, equivalent replacement, improvement, etc. within the concept and principle of the present application should be included in the protection scope of the present application.

[0731] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by program instructing relevant hardware to complete, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk.

Claims

1. A method of ranging, characterized by, The method comprises: obtaining a second measurement sequence according to a first security parameter and a first measurement sequence, wherein the first security parameter is determined by a first random number and a first communication parameter; sending a first security measurement signal, wherein the first security measurement signal is associated with the second measurement sequence, and the first security measurement signal is used for position information measurement.

2. The method of claim 1, wherein, The first communication parameter is associated with one or more of the following information: a sequence number of a first OFDM symbol, a number of a first time unit, or a number of a first frequency unit, wherein the first OFDM symbol is used to carry the first security measurement signal, the first time unit includes the first OFDM symbol, and the first frequency unit includes a frequency resource used to transmit the first security measurement signal.

3. The method of claim 2, wherein, The first time unit is included in a plurality of continuous time units, signals carried by the plurality of continuous time units are frequency-hopped when transmitted according to a preset frequency unit number sequence, and the number of the first frequency unit belongs to the preset frequency unit number sequence.

4. The method of claim 1, wherein, The first communication parameter is associated with a position of a first OFDM symbol relative to a second OFDM symbol, wherein the first OFDM symbol carries the first security measurement signal, and the second OFDM symbol is used to carry a second security measurement signal, and a first communication parameter corresponding to the second security measurement signal is a preset value.

5. The method according to any one of claims 1 to 4, characterized in that, The method further comprises: scrambling the first measurement sequence by using the first security parameter to obtain the second measurement sequence, or, performing exclusive-OR operation on the first security parameter and the first measurement sequence to obtain the second measurement sequence.

6. The method according to any one of claims 1 to 5, characterized in that, The method further comprises: obtaining N bit sequences according to the first random number and the first communication parameter, wherein the N bit sequences include the first security parameter, N is an integer and N≥1.

7. The method of claim 6, wherein, The N is greater than 1, and the obtaining of the N bit sequences according to the first random number and the first communication parameter comprises: obtaining the N bit sequences according to the first random number, the first communication parameter, and a freshness parameter, wherein the freshness parameter is refreshed after each of the N bit sequences is obtained.

8. The method of claim 7, wherein: a freshness parameter corresponding to a first bit sequence in the N bit sequences is a preset value, and a freshness parameter corresponding to a second bit sequence in the N bit sequences is associated with the preset value and a sequence number of the second bit sequence, wherein the second bit sequence is different from the first bit sequence.

9. The method according to any one of claims 6-8, characterized in that, The first security measurement signal includes a plurality of sub-measurement signals, and the plurality of sub-measurement signals are sent by a plurality of antennas. The first measurement sequence includes a plurality of first sub-sequences, and the plurality of first sub-sequences are used to generate a plurality of second sub-sequences by using different parts of the first security parameter, wherein the plurality of second sub-sequences belong to the second measurement sequence. Each sub-measurement signal corresponds to one sequence in the plurality of second sub-sequences.

10. The method according to any one of claims 1 to 9, characterized in that, The method is applied to a first node, and the method further comprises: sending the first security measurement signal to a second node, the first security measurement signal being used for measuring a distance between the first node and the second node.

11. The method of claim 10, wherein, The first random number is determined by the first node; the method further comprises: sending the first random number to the second node.

12. The method according to any one of claims 1 to 11, characterized in that, The first communication parameter is from a management node, and the management node is a node that sends data scheduling information.

13. A method of ranging, the method comprising: The method comprises: receiving a first security measurement signal, the first security measurement signal being associated with the second measurement sequence, the first security measurement signal being used for position information measurement; obtaining a first measurement sequence through a first security parameter and the first security measurement signal, the first security parameter being determined through a first random number and a first communication parameter.

14. The method of claim 13, wherein, The first communication parameter is related to one or more of the following information: a sequence number of a first OFDM symbol, a number of a first time unit, or a number of a first frequency unit, wherein the first OFDM symbol is used to carry the first security measurement signal, the first time unit includes the first OFDM symbol, and the first frequency unit includes a frequency resource used to transmit the first security measurement signal.

15. The method of claim 14, wherein, The first time unit is included in a plurality of consecutive time units, signals carried by the plurality of consecutive time units are frequency-hopped transmitted according to a preset frequency unit number sequence during transmission, and the number of the first frequency unit belongs to the preset frequency unit number sequence.

16. The method according to any one of claims 13-15, characterized in that, The first communication parameter is associated with a position of a first OFDM symbol relative to a second OFDM symbol, wherein the first OFDM symbol carries the first security measurement signal, and the second OFDM symbol is used to carry a second security measurement signal, and a first communication parameter corresponding to the second security measurement signal is a preset value.

17. The method according to any one of claims 13-16, characterized by, The obtaining a first measurement sequence through the first security parameter and the first security measurement signal comprises: despread the second measurement sequence through the first security parameter to obtain the first measurement sequence, or, exclusive-OR the first security parameter and the second measurement sequence to obtain the first measurement sequence.

18. The method according to any one of claims 13-17, characterized by, The method further comprises: obtaining N bit sequences according to the first random number and the first communication parameter, the N bit sequences including the first security parameter, N being an integer and N≥1.

19. The method of claim 18, wherein, The N is greater than 1. The obtaining N bit sequences according to the first random number and the first communication parameter comprises: obtaining the N bit sequences according to the first random number, the first communication parameter, and a freshness parameter, wherein the freshness parameter is refreshed after each bit sequence in the N bit sequences is obtained.

20. The method of claim 19, wherein, A freshness parameter corresponding to a first bit sequence in the N bit sequences is a preset value, and a freshness parameter corresponding to a second bit sequence in the N bit sequences is associated with the preset value and a sequence number of the second bit sequence, wherein the second bit sequence is different from the first bit sequence.

21. The method according to any one of claims 18-20, characterized by, The first safety measurement signal comprises a plurality of sub-measurement signals, which are transmitted by a plurality of antennas of the first node and received by a plurality of antennas of the second node respectively; The first measurement sequence comprises a plurality of first sub-sequences, and the plurality of first sub-sequences are used to generate a plurality of second sub-sequences using different parts of the first safety parameter, and the plurality of second sub-sequences belong to the second measurement sequence; Each sub-measurement signal corresponds to one of the plurality of second sub-sequences.

22. The method according to any one of claims 13-21, characterized by, The method further comprises: receiving the first random number from the first node.

23. The method according to any one of claims 13-22, characterized in that, The first communication parameter is from a management node, which is a node for sending data scheduling information.

24. A communications device, characterized by The communication device comprises a processing unit and a communication unit, and is used to implement the ranging method of any one of claims 1-12.

25. A communications device, characterized by The communication device comprises an acquisition unit and a transmission unit, and is used to implement the ranging method of any one of claims 13-23.

26. A communications device, characterized by The communication device comprises a processor; When the processor invokes a computer program or an instruction in the memory, the method of any one of claims 1-12 is executed, or the method of any one of claims 13-23 is executed.

27. A chip, characterized by The chip comprises a processor; When the processor invokes a computer program or an instruction in the memory, the method of any one of claims 1-12 is executed, or the method of any one of claims 13-23 is executed.

28. A communication system, characterized by The communication system comprises a first node and a second node, The first node comprises the communication device of claim 24; The second node comprises the communication device of claim 25.

29. The communication system of claim 28, wherein, The communication system further comprises a management node, which has a communication connection with the first node and the second node.

30. A terminal, characterized by The terminal comprises the communication device of claim 22, or the communication device of claim 25, or the communication device of claim 26, or the chip of claim 27, or the communication system of claim 28.

31. A computer readable storage medium, characterized in that, The computer readable storage medium is used to store an instruction or a computer program; When the instruction or the computer program is executed, the method of any one of claims 1-12 is implemented, or the method of any one of claims 13-23 is implemented.

32. A computer program product, characterised in that, comprise: an instruction or a computer program; When the instruction or the computer program is executed, the method of any one of claims 1-12 is implemented, or the method of any one of claims 13-23 is implemented.

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