Measurement method and device

Abstract

The invention provides a measurement method and device. The method comprises the steps that a first device generates a first frequency-modulated continuous wave; the first device sends the first frequency-modulated continuous wave to the second device, the first frequency-modulated continuous wave is used for the second device to determine the target parameter, and the first device and the second device are in time-frequency synchronization. According to the method, the effect that the second device measures a specific target (the first device for instant frequency synchronization) can be achieved.

Description

Technical Field

[0001] This application relates to the field of short-range wireless communication technology, and in particular to a measurement method and apparatus. Background Technology

[0002] Frequency-modulated continuous wave (FMCW) is widely used in radar. Existing FMCW radars are based on a self-transmitting and self-receiving measurement mode, that is: the FMCW radar transmits the modulated FMCW signal through a transmitting antenna (the transmitted FMCW is called the transmitted signal), the FMCW is reflected when it encounters the object being measured, and the receiving antenna receives the reflected FMCW (the reflected FMCW is called the reflected signal); the FMCW radar processes the reflected signal and the transmitted signal generated at the current time (such as mixing, down-conversion, etc.) to obtain the frequency difference and phase difference. By analyzing the frequency difference or phase difference, target parameters such as the distance, velocity, and angle of the measured object can be obtained.

[0003] However, this self-receiving measurement method can only measure objects other than those on the FMCW radar without discrimination, and cannot measure specific targets. Summary of the Invention

[0004] This application provides a measurement method and apparatus that can measure target parameters of a specific target.

[0005] In a first aspect, a measurement method is provided, comprising: a first device generating a first frequency-modulated continuous wave; the first device transmitting the first frequency-modulated continuous wave to a second device, the first frequency-modulated continuous wave being used by the second device to determine target parameters, and the first device and the second device being synchronized in time and frequency.

[0006] In this embodiment of the application, the first device sends a first frequency-modulated continuous wave to a second device that is time-frequency synchronized with the first device, so that the second device can determine the target parameters based on the first frequency-modulated continuous wave, which provides support for the second device to perform measurements on a specific target (i.e., the time-frequency synchronized transmitter, i.e., the first device).

[0007] In one possible design, the target parameters may include at least one of the relative distance, relative velocity, and relative angle between the first and second devices. Of course, this is just an example, and the actual design may not be limited to this.

[0008] In one possible design, the first device may also send time-frequency synchronization information to or receive time-frequency synchronization information from the second device. Correspondingly, the generation of the first frequency-modulated continuous wave by the first device may include: the first device generating the first frequency-modulated continuous wave based on the time-frequency synchronization information.

[0009] Through the above design, the first device and the second device transmit time and frequency synchronization information, thereby achieving time and frequency synchronization between the first device and the second device.

[0010] In one possible design, the first device can also negotiate the frequency-modulated continuous wave waveform and measurement time with the second device. Accordingly, the generation of the first frequency-modulated continuous wave by the first device can include: the first device generating the first frequency-modulated continuous wave based on the frequency-modulated continuous wave waveform and the measurement time.

[0011] Through the above design, the first device and the second device negotiate the frequency-modulated continuous wave waveform and measurement time, so that the first device and the second device can generate the frequency-modulated continuous wave according to the negotiated frequency-modulated continuous wave waveform and measurement time, thereby ensuring that the first frequency-modulated continuous wave and the second frequency-modulated continuous wave waveform are consistent and the generation time is consistent.

[0012] In one possible design, the first device can also send or receive measurement requests.

[0013] The above design enables the measurement of the target parameter to be performed only after the first or second device initiates a measurement request, achieving the effect of on-demand measurement and avoiding the problem of power waste caused by frequent measurements.

[0014] In one possible design, the first device can also establish a communication connection with the second device.

[0015] In this way, the first device and the second device can respectively know the identity of the other. Subsequently, the first device or the second device can initiate negotiation, time and frequency synchronization, measurement and other processes with the known counterpart, providing support conditions for performing measurement on a specific target.

[0016] In one possible design, the first device can also receive target parameters from the second device.

[0017] In this way, the first device can obtain the measurement results of the second device.

[0018] In a second aspect, a measurement method is provided, comprising: a second device generating a second frequency-modulated continuous wave and receiving a first frequency-modulated continuous wave from a first device; wherein the generation time of the second frequency-modulated continuous wave is the same as the generation time of the first frequency-modulated continuous wave, and the reception time of the first frequency-modulated continuous wave is later than the generation time; the second device determines target parameters based on the first frequency-modulated continuous wave and the second frequency-modulated continuous wave, and the second device and the first device are time-frequency synchronized.

[0019] In this embodiment, the second device receives the first frequency-modulated continuous wave sent by the time-frequency synchronized first device, and determines the target parameters based on the first frequency-modulated continuous wave and the second frequency-modulated continuous wave generated by itself, thereby realizing the effect of the second device measuring a specific target (i.e., the time-frequency synchronized transmitter, i.e., the first device).

[0020] In one possible design, the target parameters may include at least one of the relative distance, relative velocity, and relative angle between the first and second devices. Of course, this is just an example, and the actual design may not be limited to this.

[0021] In one possible design, the second device may also send time-frequency synchronization information to or receive time-frequency synchronization information from the first device. Correspondingly, the generation of the second frequency-modulated continuous wave by the second device may include: the second device generating the second frequency-modulated continuous wave based on the time-frequency synchronization information.

[0022] Through the above design, the first device and the second device transmit time and frequency synchronization information, thereby achieving time and frequency synchronization between the first device and the second device.

[0023] In one possible design, the second device can also negotiate the frequency-modulated continuous wave waveform and measurement time with the first device. Accordingly, the generation of the second frequency-modulated continuous wave by the second device can include: the second device generating the second frequency-modulated continuous wave based on the frequency-modulated continuous wave waveform and the measurement time.

[0024] Through the above design, the first device and the second device negotiate the frequency-modulated continuous wave waveform and measurement time, so that the first device and the second device can generate the frequency-modulated continuous wave according to the negotiated frequency-modulated continuous wave waveform and measurement time, thereby ensuring that the first frequency-modulated continuous wave and the second frequency-modulated continuous wave waveform are consistent and the generation time is consistent.

[0025] In one possible design, the second device can also receive or send measurement requests.

[0026] The above design enables the measurement of the target parameter to be performed only after the first or second device initiates a measurement request, achieving the effect of on-demand measurement and avoiding the problem of power waste caused by frequent measurements.

[0027] In one possible design, the second device can also establish a communication connection with the first device.

[0028] In this way, the first device and the second device can respectively know the identity of the other. Subsequently, the first device or the second device can initiate negotiation, time and frequency synchronization, measurement and other processes with the known counterpart, providing support conditions for performing measurement on a specific target.

[0029] In one possible design, the second device can also send target parameters to the first device.

[0030] In this way, the first device can obtain the measurement results of the second device.

[0031] Thirdly, a measuring device is provided, which includes modules, units, or technical means for implementing the methods described in the first aspect or any possible design in the first aspect.

[0032] For example, the device may include:

[0033] The processing module is used to generate the first frequency-modulated continuous wave;

[0034] The transceiver module is used to send a first frequency-modulated continuous wave to the second device. The first frequency-modulated continuous wave is used by the second device to determine the target parameters, and the measuring device and the second device are synchronized in time and frequency.

[0035] Fourthly, a measuring device is provided, comprising modules, units, or technical means for implementing the methods described in the second aspect or any possible design of the second aspect.

[0036] For example, the device may include:

[0037] The processing module is used to generate the second frequency-modulated continuous wave;

[0038] A transceiver module is used to receive a first frequency-modulated continuous wave from a first device; wherein the generation time of the second frequency-modulated continuous wave is the same as the generation time of the first frequency-modulated continuous wave, and the reception time of the first frequency-modulated continuous wave is later than the generation time.

[0039] The processing module is also used to determine target parameters based on the first frequency-modulated continuous wave and the second frequency-modulated continuous wave, and the measuring device and the first device are synchronized in time and frequency.

[0040] Fifthly, a communication device is provided, comprising at least one processor; and a communication interface communicatively connected to said at least one processor; said at least one processor, by executing instructions stored in a memory, causes the method described in the first aspect or any possible design of the first aspect to be executed, or causes the method described in the second aspect or any possible design of the second aspect to be executed.

[0041] A sixth aspect provides a computer-readable storage medium storing a computer program or instructions that, when executed, cause the method described in the first aspect or any possible design of the first aspect to be implemented, or cause the method described in the second aspect or any possible design of the second aspect to be implemented.

[0042] A seventh aspect provides a computer program product including instructions that, when run on a computer, cause the method described in the first aspect or any possible design of the first aspect to be implemented, or cause the method described in the second aspect or any possible design of the second aspect to be implemented.

[0043] Eighthly, a measurement system is provided, comprising:

[0044] A first device for performing the method as described in the first aspect or any possible design of the first aspect;

[0045] The second device is used to perform the method described in the second aspect or any possible design of the second aspect.

[0046] The technical effects of the third to eighth aspects mentioned above are described in the first and second aspects, and will not be repeated here. Attached Figure Description

[0047] Figures 1A to 1C These are example diagrams illustrating several scenarios applicable to the embodiments of this application;

[0048] Figure 2A This is a schematic diagram of the working principle of the FMCW radar.

[0049] Figure 2B This is a schematic diagram illustrating the working principle of a bistatic radar.

[0050] Figure 2C This is a schematic diagram illustrating the working principle of narrow pulse measurement technology.

[0051] Figure 3A , Figure 3B This is a schematic diagram of the structure of a measurement system provided in an embodiment of this application;

[0052] Figure 4 A flowchart of a measurement method provided in an embodiment of this application;

[0053] Figure 5 A schematic diagram illustrating the time-frequency synchronization of the first and second devices;

[0054] Figure 6 Schematic diagrams of the first and second frequency-modulated continuous waves;

[0055] Figure 7 This is a schematic diagram of a possible measurement process;

[0056] Figure 8 This is a schematic diagram of another possible measurement process;

[0057] Figure 9 This is a schematic diagram of the structure of a measuring device provided in an embodiment of this application;

[0058] Figure 10 This is a schematic diagram of another measuring device provided in an embodiment of this application;

[0059] Figure 11 This is a schematic diagram of the structure of a chip provided in an embodiment of this application. Detailed Implementation

[0060] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. In the textual description of this application, the character " / " generally indicates an "or" relationship between the preceding and following related objects; in the formulas of this application, the character " / " indicates a "division" relationship between the preceding and following related objects. "Including at least one of A, B, and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B, and C.

[0061] The technical solutions provided in this application can be applied to various communication systems, such as Internet of Things (IoT) systems, Vehicle-to-X (V2X) systems, and Narrow Band Internet of Things (NB-IoT) systems. For example, the communication method provided in this application can be applied to devices in V2X systems, or to IoT nodes and sensors in IoT systems, or to smart cameras, smart remote controls, smart water and electricity meters in smart homes, and sensors in smart cities. The communication method provided in this application can also be applied to LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Worldwide Interoperability for Microwave Access (WiMAX) systems, Long Term Evolution (LTE) systems, and even 5th-generation (5G) and future communication systems. Furthermore, the communication method provided in this application embodiment can also be applied to wireless local area network systems that support IEEE 802.11ax (mobile hotspot (Wi-Fi) 6) / 802.11be (Wi-Fi 7) / 802.11bn ((Wi-Fi 68) / Wi-Fi (artificial intelligence, AI) / millimeter wave or sensing.

[0062] This application supports IEEE protocols, such as IEEE 802.11be / Wi-Fi 7 / EHT, IEEE 802.11bn / UHR / Wi-Fi 8, IEEE Integrated mmWave / IMMW, IEEE 802.15, or IEEE 802.11bf / sensing; this application may also support Spark Link / NearLink standard protocols.

[0063] The technical solutions provided in this application can be applied to various short-range wireless communication scenarios, such as vehicle positioning / ranging / sensing scenarios, indoor positioning / ranging / sensing scenarios, or other wide-area wireless communication or local wireless communication scenarios. This application does not impose any limitations. It is understood that in the embodiments of this application, the implementation of positioning, ranging, angle measurement, and sensing involves similar steps, and the term "measurement" can be used in the embodiments of this application to refer to "positioning," "ranging," "angle measurement," and "sensing" simultaneously.

[0064] Here are some possible specific scenario examples:

[0065] See Figure 1A This is an example of an indoor item search scenario. A user uses their mobile phone to search for a watch. The phone and watch communicate via short-range wireless communication. The phone can locate the watch's position and guide the user to find it.

[0066] See Figure 1B These are several example diagrams for multi-device collaboration scenarios, including ultra-close-range discovery and connection between devices, identification of device location relationships, multi-device spatial awareness, and "tap-to-transfer" data transmission.

[0067] See Figure 1C This is an example diagram of a smart car key scenario. When a user approaches the vehicle with the car key and the distance between them is less than a threshold, the vehicle automatically unlocks. Alternatively, when a user moves away from the vehicle with the car key and the distance between them exceeds a threshold, the vehicle automatically locks.

[0068] Of course, the above scenarios are just examples. In actual applications, the embodiments of this application can also be applied to other short-range wireless communication scenarios, which will not be listed one by one in this application.

[0069] The following introduces several ranging techniques:

[0070] 1. Frequency-modulated continuous wave (FMCW) radar:

[0071] FMCW is a sinusoidal wave signal whose frequency changes continuously with time. Linear frequency modulation (LFM) is a typical implementation, where the frequency of the sine wave changes linearly with time over a period of time. This waveform is widely used in communications, radar, and other fields. Radar using FMCW technology is called FMCW radar.

[0072] The working principle of FMCW radar is to achieve measurement functions by detecting the reflected waveform of the target object. For example... Figure 2A As shown, an FMCW radar has two simultaneous transmission and reception paths. The FMCW radar transmits the modulated FMCW signal through the transmission path (the transmitted FMCW is called the transmitted signal). When the FMCW encounters the target object, it is reflected. The reception path receives the FMCW reflected back from the object (the reflected FMCW is called the reflected signal). The processing device of the FMCW radar (such as a field-programmable gate array (FPGA) or a digital signal processor (DSP)) processes the reflected signal and the transmitted signal generated at the current time (such as mixing, down-conversion, etc.) to obtain the frequency difference and phase difference. By analyzing the frequency difference or phase difference, the target parameters such as the distance, speed, and angle of the target object can be obtained.

[0073] However, in the measurement method based on FMCW radar, the object being measured is a black box. FMCW radar can only detect physical information such as the relative speed, distance, and angle of the object being measured, but cannot know the identity of the object being measured. Therefore, it is impossible to measure the target parameters of a specific target.

[0074] 2. Bistatic Radar

[0075] Bistatic radar also performs measurements by detecting the reflected waveform of a target object. The difference between it and FMCW radar is that this system has two radars: one station transmits but does not receive, and the other station receives but does not transmit. For example... Figure 2B As shown, one radar (the transmitting radar) emits radio waves, which are reflected by the target object and received by another radar (the receiving radar). Simultaneously, the receiving radar also receives the direct signal transmitted directly from the transmitting radar. The receiving radar processes the received direct and reflected signals (e.g., through mixing or down-conversion) to obtain the frequency difference and phase difference. By analyzing the frequency or phase difference, target parameters such as distance, velocity, and angle of the measured object can be obtained.

[0076] However, in the bistatic radar-based measurement method, the object being measured is also a black box. The radar on the receiving side can only detect physical information such as the relative speed, distance, and angle of the object being measured, but cannot know the identity of the object being measured. Therefore, it is impossible to measure the target parameters of a specific target.

[0077] 3. Narrow pulse measurement technology: The transmitting end sends a narrow pulse signal, and the receiving end measures the time difference between the received signal and the transmitted signal to calculate the distance. Examples include UWB measurement technology or synchronous linkpositioning (SLP) measurement technology.

[0078] Taking UWB measurement technology as an example, a UWB system consists of two devices: a transmitter and a receiver. These two devices are synchronized in advance using some method. The transmitter sends a wideband narrow pulse signal (typically greater than 500MHz) (i.e., the transmitted signal). Because the transmitter and receiver are synchronized, the receiver, upon receiving this pulse signal (i.e., the received signal), can calculate the actual time of flight (ToF) of the signal based on the transmitted and received signals. Figure 2C As shown, the relative distance between the transmitting and receiving ends can be obtained by multiplying the ToF by the electromagnetic wave propagation speed.

[0079] However, this measurement method requires a signal bandwidth of at least 500MHz, necessitating a high-speed, high-precision analog-to-digital converter (ADC) exceeding 1GHz at the receiver. The entire UWB system operates at high frequencies, resulting in high cost, high power consumption, and high complexity. Furthermore, the system's operating frequency is limited to 7163MHz–8812MHz, with other frequency bands restricted by regulations. Additionally, this measurement method cannot directly measure speed; it requires calculating the derivative of the distance difference between two frames with respect to the time difference, making it highly sensitive to noise. In summary, the UWB / SLP-based measurement method suffers from high cost and high complexity.

[0080] To address one or more of the aforementioned problems, this application provides technical solutions based on its embodiments.

[0081] The technical solutions provided in this application can be applied to measurement systems composed of two or more devices. For example... Figure 3A As shown, taking a system comprising two devices as an example, one device (such as the first device) has at least the function of transmitting FMCW, and the other device (such as the second device) has at least the function of receiving FMCW. The first device and the second device also have wireless communication functions.

[0082] The first device includes a first module and a second module. The first module implements wireless communication functionality, and the second module implements FMCW transmission functionality. Optionally, the second module also implements FMCW reception functionality. Specifically, the second module and the first module of the first device can be implemented by two separate chips or by the same chip, without limitation. The second device includes a third module and a fourth module. The third module implements wireless communication functionality, and the fourth module implements FMCW reception functionality. Optionally, the fourth module also implements FMCW transmission functionality. Specifically, the third module and the fourth module of the second device can be implemented by two separate chips or by the same chip, without limitation.

[0083] The wireless communication technologies used in the first and third modules include, but are not limited to, wireless network communication technologies (Wi-Fi), Bluetooth, or Sparklink / Nearlink (specifically, Sparklink-basic (SLB) access technology and Sparklink-low energy (SLE) access technology). Correspondingly, the specific implementations of the first and third modules can be Bluetooth modules, SLB modules, or SLE modules, etc.

[0084] Figure 3B The diagram shows an example of the structure of the second and fourth modules. The second module of the first device may include an FMCW waveform generator, a filter, a mixer, a local oscillator (LO), a power amplifier (PA), and an antenna. The antenna of the first device includes at least a transmitting antenna. Optionally, the antenna of the first device may also include a receiving antenna. Figure 3B The diagram only illustrates the transmitting antenna of the first device. The transmitting and receiving antennas of the first device can be two independent physical antennas, or they can reuse the same physical antenna; there are no restrictions. The fourth module of the second device may include an FMCW waveform generator, a filter, a mixer, a receiver-transmitter (LO), a low-noise amplifier (LNA), an analog-to-digital converter (DAC), and an antenna. The antenna of the second device must at least include a receiving antenna. Optionally, the antenna of the second device may also include a transmitting antenna. Figure 3B The diagram only illustrates the receiving antenna of the second device. The transmitting and receiving antennas of the second device can be two independent physical antennas, or they can reuse the same physical antenna; there are no restrictions. This is understandable. Figure 3BThe structures of the second and fourth modules shown are merely examples; other variations are possible in practice, and this application does not impose any restrictions.

[0085] In specific implementations, the first device can be a terminal device, or a module or chip within a terminal device. The second device can be another terminal device, or a module or chip within another terminal device. Some possible examples include: smart home devices such as televisions, robot vacuums, smart lamps, audio systems, smart lighting systems, appliance control systems, home background music systems, home theater systems, intercom systems, and video surveillance; smart transportation equipment such as automobiles, ships, drones, trains, freight cars, and trucks; smart manufacturing equipment such as robots, industrial equipment, smart logistics, and smart factories; computer equipment such as desktop computers, personal computers, and servers; and portable electronic devices such as mobile phones, tablets, PDAs, headphones, speakers, wearable devices (such as smartwatches), in-vehicle devices, virtual reality devices, and augmented reality devices.

[0086] It should be understood that in scenarios where there are more than two devices in the system, the interaction between any two devices in the system can refer to the interaction between the first device and the second device.

[0087] See Figure 4 This is a flowchart of a measurement method provided in an embodiment of this application, which is applied to... Figure 3A Taking the system shown in 3B as an example, the method includes steps S401 to S403:

[0088] S401, the first device generates a first frequency-modulated continuous wave; and S402, the second device generates a second frequency-modulated continuous wave.

[0089] In this embodiment, the first device and the second device are synchronized in time and frequency (referred to as time-frequency synchronization), and steps S401 and S402 are executed synchronously. Specifically, time synchronization means that the clock values ​​of the first device and the second device are the same (or the degree of conformity exceeds a threshold); frequency synchronization means that the operating frequency values ​​of the first device and the second device are the same (or the degree of conformity exceeds a threshold). In other words, the first device and the second device have the same understanding of time and frequency.

[0090] The first and second devices are synchronized in time and frequency, which can achieve synchronization of the frequency-modulated continuous wave (FM continuous wave) between the first and second devices, that is, to generate FM continuous waves with the same waveform at the same time. For example... Figure 5 As shown, the second frequency-modulated continuous wave is generated at the same time and has the same waveform as the first frequency-modulated continuous wave.

[0091] Optionally, the first device generates a first frequency-modulated continuous wave, specifically including: the second module of the first device generates the first frequency-modulated continuous wave.

[0092] Optionally, the second device generates a second frequency-modulated continuous wave, specifically including: the fourth module of the second device generates the second frequency-modulated continuous wave.

[0093] S403, the first device sends a first frequency-modulated continuous wave to the second device, and correspondingly, the second device receives the first frequency-modulated continuous wave from the first device.

[0094] It is understandable that after the first frequency-modulated continuous wave is emitted from the first device, it takes a certain amount of time to reach the second device. Therefore, the reception time of the first frequency-modulated continuous wave will be later than the generation time of the second frequency-modulated continuous wave (i.e., the generation time of the first frequency-modulated continuous wave). Figure 6 As shown.

[0095] Optionally, the first device sends a first frequency-modulated continuous wave to the second device, specifically including: the second module of the first device sending the first frequency-modulated continuous wave to the fourth module of the second device. The second device receives the first frequency-modulated continuous wave from the first device, specifically including: the fourth module of the second device receiving the first frequency-modulated continuous wave from the second module of the first device.

[0096] S404, The second device determines the target parameters based on the first frequency-modulated continuous wave and the second frequency-modulated continuous wave.

[0097] The target parameter is a physical quantity used to describe the relative spatial position relationship between the first device and the second device, or a physical quantity used to describe the relative motion state of the first device and the second device. For example, the target parameter may include, but is not limited to, at least one of the relative distance, relative speed and relative angle between the first device and the second device.

[0098] Taking the target parameter as the relative distance as an example, the second device can calculate the actual Time of Flight (ToF) of the first frequency-modulated continuous wave from the first device to the second device based on the received first frequency-modulated continuous wave and the locally generated second frequency-modulated continuous wave. Multiplying the ToF by the electromagnetic wave propagation speed will give the relative distance between the first device and the second device.

[0099] Taking the target parameters as relative angle and relative speed as an example, the second device processes the received first frequency-modulated continuous wave and the locally generated second frequency-modulated continuous wave to obtain information such as the frequency difference and phase difference between the two frequency-modulated continuous waves. By analyzing the frequency difference and phase difference, the relative speed and relative angle between the first device and the second device can be calculated.

[0100] Optionally, the second device determines the target parameters based on the first frequency-modulated continuous wave and the second frequency-modulated continuous wave, specifically including: the fourth module of the second device determines the target parameters based on the first frequency-modulated continuous wave and the second frequency-modulated continuous wave.

[0101] It is understandable that the above example uses the sending end as the first device and the receiving end as the second device. In actual applications, the sending end can also be the second device and the receiving end as the first device, without restriction. The method when the sending end is the second device and the receiving end is the first device is similar to S401 to S403 above, only the executing entities of each step need to be changed.

[0102] In this embodiment, the first and second devices maintain time-frequency synchronization, enabling them to generate the same frequency-modulated continuous wave (FM wave) at the same time (i.e., the first FM wave and the second FM wave). The second device can obtain the target parameters by processing the locally generated second FM wave and the first FM wave received from the first device, thus achieving a transceiver separation measurement mode. In this embodiment, the receiving end of the second device can only obtain effective measurement results (i.e., target parameters) by receiving FM waves from a time-frequency synchronized transmitter (such as the first device). For FM waves from other transmitters with out-of-time-frequency synchronization, no effective measurement results will be obtained due to the mismatch in received waveform characteristics, and the second device can thus determine that the received waveform does not originate from the first device. Therefore, this embodiment only measures target parameters for time-frequency synchronized counterparts. Compared to FMCW radar or bistatic radar schemes, this embodiment can achieve the effect of measuring specific targets (i.e., time-frequency synchronized targets), improving the user experience.

[0103] Furthermore, compared to narrow pulse measurement techniques such as UWB and SLP, the second device in this embodiment only needs to process two low-frequency signals (generally at the MHz level) after mixing two frequency-modulated continuous waves to obtain the measurement results. Therefore, it has the advantages of low system complexity, low operating frequency, and simple signal processing, and is easier to implement in both hardware and software.

[0104] Furthermore, the communication and measurement processes involved in the embodiments of this application can directly reuse the underlying technologies of wireless communication systems and FMCW radar systems, as well as related devices and industrial chains, thus possessing the advantages of strong applicability and low cost.

[0105] In one possible design, the first device sends time-frequency synchronization information to the second device, and the second device receives the time-frequency synchronization information. Alternatively, the second device sends time-frequency synchronization information to the first device, and the first device receives the time-frequency synchronization information.

[0106] Time-frequency synchronization information is used for time-frequency synchronization between the first and second devices. In specific implementations, time-frequency synchronization information can be a synchronization sequence known to both communicating parties.

[0107] Accordingly, the first device and the second device each generate a corresponding frequency-modulated continuous wave based on the time-frequency synchronization information. For example, the first device generates a first frequency-modulated continuous wave based on the time-frequency synchronization information, and the second device generates a second frequency-modulated continuous wave based on the time-frequency synchronization information. Optionally, the second module of the first device generates the first frequency-modulated continuous wave based on the time-frequency synchronization information, and the fourth module of the second device generates the second frequency-modulated continuous wave based on the time-frequency synchronization information.

[0108] In a specific implementation, time-frequency synchronization can be performed by a first module of the first device and a third module of the second device. For example, the first module of the first device sends time-frequency synchronization information to the third module of the second device, the third module of the second device receives the time-frequency synchronization information, and then passes the time-frequency synchronization information to a fourth module of the second device; or, the third module of the second device sends time-frequency synchronization information to the first module of the first device, the first module of the first device receives the time-frequency synchronization information, and then passes the time-frequency synchronization information to a second module of the first device.

[0109] Alternatively, time-frequency synchronization can be performed by the second module of the first device and the fourth module of the second device. For example, the second module of the first device sends time-frequency synchronization information to the fourth module of the second device, and the fourth module of the second device receives the time-frequency synchronization information; or, the fourth module of the second device sends time-frequency synchronization information to the second module of the first device, and the second module of the first device receives the time-frequency synchronization information.

[0110] It is understandable that time and frequency synchronization information can be generated by the first or third module, or by the second or fourth module, without restriction.

[0111] Through the above design, the first device and the second device transmit time and frequency synchronization information, thereby achieving time and frequency synchronization between the first device and the second device.

[0112] In one possible design, the first device and the second device negotiate the frequency-modulated continuous wave waveform and the measurement time. Accordingly, the first device generates a first frequency-modulated continuous wave based on the negotiated frequency-modulated continuous wave waveform and the measurement time; the second device generates the first frequency-modulated continuous wave based on the negotiated frequency-modulated continuous wave waveform and the measurement time.

[0113] It is understandable that in order to achieve the same waveform and generation time for the first and second frequency-modulated continuous wave, in addition to ensuring that the first and second devices have the same understanding of time and frequency, the measurement time and frequency-modulated continuous wave waveform of the first and second devices also need to be consistent. Therefore, the first device needs to negotiate with the second device to reach a consistent frequency-modulated continuous wave waveform and measurement time.

[0114] The negotiated frequency modulation continuous wave waveform includes, but is not limited to, one or more of the following: frequency, amplitude, slope, rising edge, falling edge, encryption method, etc.

[0115] Measurement time can refer to the time when the first and second devices begin measuring the target parameter, or the time when the first device begins generating the first frequency-modulated continuous wave, or the time when the second device begins generating the second frequency-modulated continuous wave. It is understood that in some embodiments, the first device transmits the first frequency-modulated continuous wave immediately after generating it; therefore, the generation time of the first frequency-modulated continuous wave can also be equivalent to the transmission time. Measurement time can also refer to the time when the first device begins transmitting the first frequency-modulated continuous wave, or the time when the second device begins receiving the first frequency-modulated continuous wave. It should be understood that the time when the second device begins receiving the first frequency-modulated continuous wave refers to the time when the second device activates its receiving function. When the second device can receive the first frequency-modulated continuous wave depends on the transmission delay of the first frequency-modulated continuous wave.

[0116] Optionally, the first device and the second device negotiate the frequency-modulated continuous wave waveform and measurement time, which may specifically include: the first module of the first device and the third module of the second device negotiating the frequency-modulated continuous wave waveform and measurement time.

[0117] In specific implementation, the first device and the second device can negotiate the frequency-modulated continuous wave waveform first and then negotiate the measurement time, or they can negotiate the measurement time first and then negotiate the frequency-modulated continuous wave waveform, or they can negotiate the frequency-modulated continuous wave waveform and the measurement time simultaneously. This application does not impose any restrictions.

[0118] Through the above design, the first device and the second device negotiate the frequency-modulated continuous wave waveform and measurement time, so that the first device and the second device can generate the frequency-modulated continuous wave according to the negotiated frequency-modulated continuous wave waveform and measurement time, thereby ensuring that the first frequency-modulated continuous wave and the second frequency-modulated continuous wave waveform are consistent and the generation time is consistent.

[0119] In one possible design, the first and second devices can also negotiate the measurement direction, i.e., which device transmits the frequency-modulated continuous wave and which device receives and processes the frequency-modulated continuous wave. The measurement direction can be unidirectional (i.e., only one device transmits the frequency-modulated continuous wave, while the other device only receives and processes it, meaning only one device (the receiver) obtains the measurement result) or bidirectional (i.e., the first device, in addition to transmitting the frequency-modulated continuous wave, also receives and processes the frequency-modulated continuous wave from the second device; the second device, in addition to receiving and processing the frequency-modulated continuous wave from the first device, also transmits the frequency-modulated continuous wave to the first device; the first and second devices obtain their respective measurement results), without limitation.

[0120] It should be understood that this application does not limit the order of the above negotiation process and time-frequency synchronization process. That is, the first device and the second device can perform negotiation first and then time-frequency synchronization, or they can perform time-frequency synchronization first and then negotiation, or they can perform time-frequency synchronization at the same time as negotiation.

[0121] In one possible design, the first device sends a measurement request, and the second device receives the measurement request; or, the second device sends a measurement request, and the first device receives the measurement request. Optionally, the first module of the first device sends a measurement request, and the third module of the second device receives the measurement request; or, the third module of the second device sends a measurement request, and the first module of the first device receives the measurement request.

[0122] After either the first device or the second device initiates a measurement request, the first device and the second device then execute the method steps S401 to S403 described above. Optionally, after either the first device or the second device initiates a measurement request, the first device and the second device then perform negotiation, time-frequency synchronization, and the method steps S401 to S403 described above.

[0123] Optionally, the measurement request can include the target parameters to be measured, such as distance, angle, or speed.

[0124] Optionally, the measurement request may also carry indication information of the measurement direction, such as information of the object being measured, such as indication information of the first device. In this case, the first device will act as the transmitter of the frequency-modulated continuous wave, and the second device will act as the receiver of the frequency-modulated continuous wave and perform the calculation of the target parameters.

[0125] The above design allows for the measurement of target parameters to be performed only after a measurement request is initiated by one of the devices, achieving on-demand measurement and avoiding the problem of power waste caused by frequent measurements.

[0126] In one possible design, the first device also establishes a communication connection with the second device. The communication technologies used to establish the communication connection include, but are not limited to, Wi-Fi, Bluetooth, and satellite navigation (such as SLB or SLE).

[0127] For example, the first device sends a broadcast message to request the establishment of a communication connection, and the broadcast message carries the identification information of the first device (such as address, port, etc.); after receiving the broadcast message, the second device returns a response message, which carries the identification information of the second device (such as address, port, etc.). Alternatively, the second device sends a broadcast message to request the establishment of a communication connection, and the broadcast message carries the identification information of the second device (such as address, port, etc.); after receiving the broadcast message, the first device returns a response message, which carries the identification information of the first device (such as address, port, etc.). The first module of the first device and the third module of the second device respectively save the identification information of the other to complete the establishment of the communication connection.

[0128] Optionally, the first device establishes a communication connection with the second device, specifically including: the first module of the first device establishing a communication connection with the third module of the second device. For example, the first module of the first device sends a broadcast message, the third module of the second device receives the broadcast message and sends a response message, and the first module of the first device receives the response message; or, the third module of the second device sends a broadcast message, the first module of the first device receives the broadcast message and sends a response message, and the third module of the second device receives the response message. The first module of the first device and the third module of the second device respectively store each other's identification information.

[0129] In practical applications, a device (such as the first device) can also establish communication connections with multiple devices (such as the second device and the third device) at the same time. For example, a broadcast message sent by the first device is received by the second device and the third device, and the second device and the third device respectively send back their respective response messages.

[0130] Through the above design, the establishment of a communication connection between the first device and the second device allows the first device and the second device to know each other's identities. Subsequently, the first device or the second device can initiate processes such as negotiation, time and frequency synchronization, and measurement with the known-identified counterpart, providing support conditions for performing measurements on specific targets.

[0131] In one possible design, after obtaining the target parameters, the second device can send the target parameters to the first device, and the first device receives the target parameters from the second device.

[0132] Optionally, the fourth module of the second device sends the target parameters, and the second module of the first device receives the target parameters.

[0133] Optionally, the fourth module of the second device passes the target parameters to the third module of the second device, the third module of the second device sends the target parameters, and the first module of the first device receives the target parameters. Further optionally, the first module of the first device also passes the target parameters to the second module of the first device.

[0134] Similarly, if the first device calculates the target parameters, it can also send the target parameters to the second device.

[0135] With the above design, after calculating the measurement result (i.e., the target parameter), the device on one side can send the measurement result to the device on the other side, so that the device on the other side can obtain the measurement result of the device.

[0136] It is understood that the above embodiments can be implemented individually or in combination, without limitation.

[0137] Here is another specific example of a possible combination implementation.

[0138] like Figure 7 As shown, from the perspective of device interaction, one possible measurement process is as follows:

[0139] S701, the first device and the second device establish a communication connection;

[0140] S702, The first device sends a measurement request to the second device, requesting that the target parameter between the first device and the second device be measured;

[0141] Alternatively, the second device sends a measurement request to the first device, requesting that a target parameter between the first and second devices be measured.

[0142] S703, the first and second devices negotiate the frequency-modulated continuous wave waveform and measurement time;

[0143] S704. The first device and the second device perform time-frequency synchronization, such as the first device sending time-frequency synchronization information to the second device (or the second device sending time-frequency synchronization information to the first device);

[0144] S705, the first device and the second device perform the measurement of the target parameter.

[0145] It is understood that the measurement direction can be unidirectional or bidirectional, without restriction. For example, the first device transmits a first frequency-modulated continuous wave, the second device receives the first frequency-modulated continuous wave, and the second device determines the target parameter based on the first frequency-modulated continuous wave and a locally generated second frequency-modulated continuous wave; and / or, the second device transmits a second frequency-modulated continuous wave, the first device receives the second frequency-modulated continuous wave, and the first device determines the target parameter based on the second frequency-modulated continuous wave and a locally generated first frequency-modulated continuous wave. It is understood that... Figure 7The bidirectional arrows in S705 can also be replaced with unidirectional arrows.

[0146] S706, the first device and the second device interact with target parameters.

[0147] For example, after calculating the first target parameter, the first device sends the first target parameter to the second device, and / or, after calculating the second target parameter, the second device sends the second target parameter to the first device. This is understandable. Figure 7 The bidirectional arrows in S706 can also be replaced with unidirectional arrows.

[0148] like Figure 8 As shown, from the perspective of the interaction between the internal modules of the device (such as the first module, the second module, the third module, and the fourth module), a possible measurement process is as follows:

[0149] S801, the first module of the first device and the third module of the second device establish a communication connection;

[0150] S802, the first module of the first device sends a measurement request to the third module of the second device to request the measurement of the target parameter between the first device and the second device; correspondingly, the third module of the second device receives the measurement request.

[0151] Alternatively, the third module of the second device sends a measurement request to the first module of the first device, and the first module of the first device receives the measurement request.

[0152] S803, the first module of the first device and the third module of the second device negotiate the frequency-modulated continuous wave waveform and measurement time;

[0153] S804. The first module of the first device and the third module of the second device perform time-frequency synchronization, for example: the first module of the first device sends time-frequency synchronization information to the third module of the second device, and the third module of the second device receives the time-frequency synchronization information; or, the third module of the second device sends time-frequency synchronization information to the first module of the first device, and the first module of the first device receives the time-frequency synchronization information.

[0154] S805, the first module of the first device sends time-frequency synchronization information to the second module of the first device; and S806, the third module of the second device sends time-frequency synchronization information to the fourth module of the second device;

[0155] It is understood that the above S804 to S806 can also be replaced by: the second module of the first device and the fourth module of the second device performing time-frequency synchronization, such as: the second module of the first device sending time-frequency synchronization information to the fourth module of the second device, or the fourth module of the second device sending time-frequency synchronization information to the second module of the first device.

[0156] S807, the second module of the first device and the fourth module of the second device perform the measurement of the target parameters;

[0157] For example, the second module of the first device sends a first frequency-modulated continuous wave, the fourth module of the second device receives the first frequency-modulated continuous wave, and the fourth module of the second device determines a first target parameter based on the first frequency-modulated continuous wave and a locally generated second frequency-modulated continuous wave; and / or, the fourth module of the second device sends a second frequency-modulated continuous wave, the second module of the first device receives the second frequency-modulated continuous wave, and the second module of the first device determines a second target parameter based on the second frequency-modulated continuous wave and a locally generated first frequency-modulated continuous wave.

[0158] S808, the second module of the first device sends the first target parameter to the first module of the first device; S809, the first module of the first device sends the first target parameter to the third module of the second device, and the third module of the second device receives the first target parameter; and / or, S810, the fourth module of the second device sends the second target parameter to the third module of the second device; S811, the third module of the second device sends the second target parameter to the first module of the first device, and the first module of the first device receives the second target parameter.

[0159] above Figure 7 or Figure 8 In the given example, the first device and the second device first establish a communication connection, and then complete the negotiation, time and frequency synchronization and other processes based on the communication connection. Finally, the target parameter measurement is performed, which can achieve the effect of measuring the target with a specific identity. Moreover, the measurement process is based on FMCW, so it also has the effects of low cost and low complexity.

[0160] The methods provided by the embodiments of this application have been described above with reference to the accompanying drawings. The apparatus provided by the embodiments of this application will be described below with reference to the accompanying drawings.

[0161] Based on the same technical concept, embodiments of this application provide a measuring device 900, which includes modules / units / means for performing the methods executed by the transmitting device and / or receiving device in the above-described method embodiments. These modules / units / means can be implemented in software, or in hardware, or in hardware executing corresponding software.

[0162] For example, see Figure 9 The device 900 may include a transceiver module 901 and a processing module 902.

[0163] For example, when the device is the first device or when the device is located in the first device:

[0164] Processing module 902 is used to generate a first frequency-modulated continuous wave;

[0165] The transceiver module 901 is used to send a first frequency-modulated continuous wave to the second device. The first frequency-modulated continuous wave is used by the second device to determine the target parameters, and the measuring device and the second device are synchronized in time and frequency.

[0166] In one possible design, the target parameters include at least one of the relative distance, relative speed, and relative angle between the measuring device and the second device.

[0167] In one possible design, the transceiver module 901 can also be used to: send time-frequency synchronization information to the second device or receive time-frequency synchronization information from the second device; correspondingly, the processing module 902 is used to: generate a first frequency-modulated continuous wave based on the time-frequency synchronization information.

[0168] In one possible design, the transceiver module 901 can also be used to: negotiate the frequency-modulated continuous wave waveform and measurement time with the second device; correspondingly, the processing module 902 is used to: generate a first frequency-modulated continuous wave based on the frequency-modulated continuous wave waveform and measurement time.

[0169] In one possible design, the transceiver module 901 can also be used to send or receive measurement requests.

[0170] In one possible design, the transceiver module 901 can also be used to establish a communication connection with a second device.

[0171] In one possible design, the transceiver module 901 can also be used to receive target parameters from the second device.

[0172] For example, when the device 900 is a second device or when the device is located in a second device:

[0173] Processing module 902 is used to generate a second frequency-modulated continuous wave;

[0174] The transceiver module 901 is used to receive a first frequency-modulated continuous wave from the first device; wherein the generation time of the second frequency-modulated continuous wave is the same as the generation time of the first frequency-modulated continuous wave, and the reception time of the first frequency-modulated continuous wave is later than the generation time.

[0175] The processing module 902 is also used to determine the target parameters based on the first frequency-modulated continuous wave and the second frequency-modulated continuous wave, and the measuring device and the first device are synchronized in time and frequency.

[0176] In one possible design, the target parameters include at least one of the relative distance, relative velocity, and relative angle between the first device and the measuring device.

[0177] In one possible design, the transceiver module 901 can also be used for: the measuring device sending time-frequency synchronization information to the first device or receiving time-frequency synchronization information from the first device; correspondingly, the processing module 902 is used for: generating a second frequency-modulated continuous wave based on the time-frequency synchronization information.

[0178] In one possible design, the transceiver module 901 can also be used to: negotiate the frequency-modulated continuous wave waveform and measurement time with the first device; correspondingly, the processing module 902 is used to: generate a second frequency-modulated continuous wave based on the frequency-modulated continuous wave waveform and measurement time.

[0179] In one possible design, the transceiver module 901 can also be used to receive or send measurement requests.

[0180] In one possible design, the transceiver module 901 can also be used to: establish a communication connection with the first device.

[0181] In one possible design, the transceiver module 901 can also be used to send target parameters to the first device.

[0182] It should be understood that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0183] In practical implementation, the above-mentioned device 900 can have various product forms. Several possible product forms are introduced below.

[0184] like Figure 10 As shown, this application embodiment also provides a measuring device 1000, including:

[0185] At least one processor 1001; and a communication interface 1003 communicatively connected to the at least one processor 1001; the at least one processor 1001 causes the device 1000 to perform the method steps in the above method embodiment through the communication interface 1003 by executing instructions stored in the memory 1002.

[0186] Optionally, the memory 1002 is located outside the device 1000.

[0187] Optionally, the device 1000 includes the memory 1002, which is connected to the at least one processor 1001. The memory 1002 stores instructions that can be executed by the at least one processor 1001. (Appendix) Figure 10 The dashed line indicates that memory 1002 is optional for device 1000.

[0188] The processor 1001 and the memory 1002 can be coupled through an interface circuit or integrated together; no restriction is imposed here.

[0189] This application embodiment does not limit the specific connection medium between the processor 1001, memory 1002, and communication interface 1003. This application embodiment... Figure 10The processor 1001, memory 1002, and communication interface 1003 are connected via a bus 1004. Figure 10 The connections between other components are shown in bold and are for illustrative purposes only, not as limiting information. The bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, Figure 10 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0190] Based on the same technical concept, this application also provides a chip, see [link to relevant documentation]. Figure 11 The chip may include logic circuitry and input / output interfaces. Optionally, it may also include a memory. The input / output interfaces can be used to receive code instructions (stored in the memory, which can be read directly from the memory or via other devices) and transmit them to the logic circuitry; the logic circuitry can be used to execute the code instructions to perform the methods described in the above method embodiments.

[0191] It should be understood that the processor mentioned in the embodiments of this application can be implemented in hardware or software. When implemented in hardware, the processor can be a logic circuit, integrated circuit, etc. When implemented in software, the processor can be a general-purpose processor, implemented by reading software code stored in memory.

[0192] For example, the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0193] It should be understood that the memory mentioned in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0194] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) can be integrated into the processor.

[0195] It should be noted that the memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.

[0196] Based on the same technical concept, embodiments of this application also provide a computer-readable storage medium storing a computer program or instructions, which, when executed, implement the method steps described in the above method embodiments.

[0197] Based on the same technical concept, this application also provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are run, the method steps in the above method embodiments are executed.

[0198] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0199] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0200] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0201] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

Claims

1. A measurement method, characterized in that, include: The first device generates a first frequency-modulated continuous wave; The first device sends the first frequency-modulated continuous wave to the second device. The first frequency-modulated continuous wave is used by the second device to determine the target parameters. The first device and the second device are synchronized in time and frequency.

2. The method as described in claim 1, characterized in that, The target parameters include at least one of the relative distance, relative speed, and relative angle between the first device and the second device.

3. The method as described in claim 1 or 2, characterized in that, Also includes: The first device sends time-frequency synchronization information to the second device or receives time-frequency synchronization information from the second device; The first device generates a first frequency-modulated continuous wave, including: The first device generates the first frequency-modulated continuous wave based on the time-frequency synchronization information.

4. The method according to any one of claims 1-3, characterized in that, Also includes: The first device and the second device negotiate the frequency-modulated continuous wave waveform and measurement time; The first device generates a first frequency-modulated continuous wave, including: The first device generates the first frequency-modulated continuous wave based on the frequency-modulated continuous wave waveform and the measurement time.

5. The method according to any one of claims 1-4, characterized in that, Also includes: The first device sends a measurement request or receives a measurement request.

6. The method according to any one of claims 3-5, characterized in that, Also includes: The first device establishes a communication connection with the second device.

7. The method according to any one of claims 1-6, characterized in that, Also includes: The first device receives the target parameters from the second device.

8. A measurement method, characterized in that, include: The second device generates a second frequency-modulated continuous wave and receives a first frequency-modulated continuous wave from the first device; wherein the generation time of the second frequency-modulated continuous wave is the same as the generation time of the first frequency-modulated continuous wave, and the reception time of the first frequency-modulated continuous wave is later than the generation time. The second device determines the target parameters based on the first frequency-modulated continuous wave and the second frequency-modulated continuous wave, and the second device and the first device are synchronized in time and frequency.

9. The method as described in claim 8, characterized in that, The target parameters include at least one of the relative distance, relative speed, and relative angle between the first device and the second device.

10. The method as described in claim 8 or 9, characterized in that, Also includes: The second device sends time-frequency synchronization information to the first device or receives time-frequency synchronization information from the first device; The second device generates a second frequency-modulated continuous wave, including: The second device generates the second frequency-modulated continuous wave based on the time-frequency synchronization information.

11. The method according to any one of claims 8-10, characterized in that, Also includes: The second device negotiates the frequency-modulated continuous wave waveform and measurement time with the first device; The second device generates a second frequency-modulated continuous wave, including: The second device generates the second frequency-modulated continuous wave based on the frequency-modulated continuous wave waveform and the measurement time.

12. The method according to any one of claims 8-11, characterized in that, Also includes: The second device receives or sends a measurement request.

13. The method according to any one of claims 10-12, characterized in that, Also includes: The second device establishes a communication connection with the first device.

14. The method according to any one of claims 8-13, characterized in that, Also includes: The second device sends the target parameters to the first device.

15. A measuring device, characterized in that, include: The processing module is used to generate the first frequency-modulated continuous wave; The transceiver module is used to send the first frequency-modulated continuous wave to the second device. The first frequency-modulated continuous wave is used by the second device to determine the target parameters. The measuring device and the second device are synchronized in time and frequency.

16. The apparatus as claimed in claim 15, characterized in that, The target parameters include at least one of the relative distance, relative speed, and relative angle between the measuring device and the second device.

17. The apparatus as claimed in claim 15 or 16, characterized in that, The transceiver module is also used to: send time-frequency synchronization information to the second device or receive time-frequency synchronization information from the second device; The processing module is used to generate the first frequency-modulated continuous wave based on the time-frequency synchronization information.

18. The apparatus according to any one of claims 15-17, characterized in that, The transceiver module is also used to: negotiate the frequency-modulated continuous wave waveform and measurement time with the second device; The processing module is used to generate the first frequency-modulated continuous wave based on the frequency-modulated continuous wave waveform and the measurement time.

19. The apparatus according to any one of claims 15-18, characterized in that, The transceiver module is also used to: send measurement requests or receive measurement requests.

20. The apparatus according to any one of claims 17-19, characterized in that, The transceiver module is also used to: establish a communication connection with the second device.

21. The apparatus according to any one of claims 15-20, characterized in that, The transceiver module is also used to: receive the target parameters from the second device.

22. A measuring device, characterized in that, include: The processing module is used to generate the second frequency-modulated continuous wave; A transceiver module is used to receive a first frequency-modulated continuous wave from a first device; wherein the generation time of the second frequency-modulated continuous wave is the same as the generation time of the first frequency-modulated continuous wave, and the reception time of the first frequency-modulated continuous wave is later than the generation time. The processing module is further configured to determine target parameters based on the first frequency-modulated continuous wave and the second frequency-modulated continuous wave, wherein the measuring device and the first device are synchronized in time and frequency.

23. The apparatus as claimed in claim 22, characterized in that, The target parameters include at least one of the relative distance, relative speed, and relative angle between the first device and the measuring device.

24. The apparatus as claimed in claim 22 or 23, characterized in that, The transceiver module is also used for: the measuring device sending time-frequency synchronization information to the first device or receiving time-frequency synchronization information from the first device; The processing module is used to generate the second frequency-modulated continuous wave based on the time-frequency synchronization information.

25. The apparatus according to any one of claims 22-24, characterized in that, The transceiver module is also used to: negotiate the frequency-modulated continuous wave waveform and measurement time with the first device; The processing module is used to generate the second frequency-modulated continuous wave based on the frequency-modulated continuous wave waveform and the measurement time.

26. The apparatus according to any one of claims 22-25, characterized in that, The transceiver module is also used to: receive measurement requests or send measurement requests.

27. The apparatus according to any one of claims 24-26, characterized in that, The transceiver module is also used to: establish a communication connection with the first device.

28. The apparatus according to any one of claims 22-27, characterized in that, The transceiver module is also used to send the target parameters to the first device.

29. A communication device, characterized in that, It includes at least one processor; and a communication interface communicatively connected to the at least one processor; the at least one processor executes instructions stored in memory to cause the method as described in any one of claims 1-7 to be executed, or to cause the method as described in any one of claims 8-14 to be executed.

30. A computer-readable storage medium, characterized in that, The storage medium stores a computer program or instructions that, when executed, enable the method described in any one of claims 1-7, or the method described in any one of claims 8-14.

31. A computer program product, characterized in that, Includes instructions that, when executed on a computer, cause the method as described in any one of claims 1-7 to be implemented, or cause the method as described in any one of claims 8-14 to be implemented.

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