Processing method and transmitting method of ultra-wideband signal, device, equipment, circuit, component, terminal equipment and medium

Abstract

A method, transmission method, apparatus, device, circuit, component, terminal device, and medium for processing ultra-wideband (UWB) signals are disclosed. The method includes: selecting at least two first signals from received UWB signals and determining the channel impulse response signal for each first signal; the UWB signals include radio frequency (RF) signals transmitted by a UWB device or echo signals obtained by the reflection of RF signals transmitted by a UWB device by a target; and splicing the frequency bands of the channel impulse response signals of the first signals to obtain a spliced ​​signal. The spliced ​​signal has a larger bandwidth, allowing the UWB device to achieve higher resolution when using the spliced ​​signal for sensing or ranging. Furthermore, acquiring the channel impulse response signals of the first signals before splicing avoids the performance pressure on hardware such as analog-to-digital converters in the UWB device caused by the large bandwidth signal, enabling the UWB device to achieve higher performance without increasing hardware costs.

Description

[0001] This application claims priority to Chinese Patent Application No. CN202411754516.5, filed with the State Intellectual Property Office of China on November 30, 2024, entitled "Synchronization Method, Integrated Circuit, Electromagnetic Wave Device and Terminal Equipment", the contents of which shall be construed as incorporated herein by reference. Technical Field

[0002] This article relates to the field of information processing technology, and in particular to a method for processing and transmitting ultra-wideband signals, a method for transmitting signals, a device, equipment, circuit, component, terminal equipment, and medium. Background Technology

[0003] Ultra-wideband (UWB) technology transmits data by sending very short pulse signals with a very wide bandwidth, typically above 500MHz. Due to its unique technical characteristics, UWB communication has broad application prospects in short-range, high-speed, and low-power wireless communication, such as home networks, personal area networks (PANs), intelligent transportation systems, and military communications. In these scenarios, UWB communication can provide high-speed, low-latency, and highly secure wireless connectivity services. Furthermore, UWB communication can also be applied to radar systems, positioning systems, and medical imaging.

[0004] When using UWB devices for ranging or sensing, the performance of the UWB device is positively correlated with the signal bandwidth; that is, the larger the bandwidth, the higher the sensing or ranging accuracy. However, a larger signal bandwidth also places higher demands on the performance of hardware such as analog-to-digital converters in the UWB device, resulting in a higher hardware cost. Therefore, balancing the hardware cost and performance of UWB devices is a crucial issue. Summary of the Invention

[0005] This application provides a method for processing and transmitting ultra-wideband signals, a device, equipment, circuit, component, terminal equipment, and medium.

[0006] In a first aspect, embodiments of this application provide a method for processing ultra-wideband signals, comprising: selecting at least two first signals from received UWB signals, and determining a channel impulse response signal for each first signal; the UWB signal includes a radio frequency signal transmitted by a UWB device or an echo signal obtained by a target reflecting a radio frequency signal transmitted by a UWB device; splicing the frequency bands of the channel impulse response signals of the first signals to obtain a spliced ​​signal, the spliced ​​signal being used by the UWB device for sensing or ranging.

[0007] Secondly, embodiments of this application provide a signal transmission method, comprising: transmitting at least two first signals for ranging based on a frequency hopping method, wherein the frequency bands of two adjacent first signals have an overlapping region; or, transmitting at least two first signals for ranging and at least one second signal based on a frequency hopping method, wherein each pair of adjacent first signals with non-overlapping frequency bands corresponds to one second signal, and the frequency band of the second signal is located between the frequency bands of the two first signals and simultaneously has an overlapping region with the frequency bands of the two first signals; wherein the overlapping region is used to splice the channel impulse response signals of two adjacent first signals in the time domain to obtain a spliced ​​signal with a larger bandwidth.

[0008] Thirdly, embodiments of this application provide an ultra-wideband signal processing apparatus, including: a memory; a transceiver for acquiring UWB signals; and a processor communicatively coupled to the memory and the transceiver. The processor is configured to splice channel impulse response signals of multiple first signals in the acquired UWB signal using the ultra-wideband signal processing method described in the above embodiments to obtain a spliced ​​signal.

[0009] Fifthly, embodiments of this application provide a communication device for initiating a UWB (communication) session, comprising: a transceiver unit configured to: send control commands to a responding device in the UWB session and receive UWB signals transmitted by the responding device, the UWB signals including at least two or more first signals transmitted by the responding device according to the control commands for ranging or sensing; and receive a spliced ​​signal transmitted by the responding device; and a sensing unit configured to perform sensing or ranging based on the spliced ​​signal output by an ultra-wideband signal processing device.

[0010] In a sixth aspect, embodiments of this application provide a communication device for responding to a UWB session, comprising: a transceiver unit configured to receive control commands and UWB signals sent by the initiating device of the UWB session, and to transmit a UWB spliced ​​signal to the initiating device; the ultra-wideband signal processing device in the above embodiments is configured to splice channel impulse response signals of multiple first signals in the received UWB signal to obtain a spliced ​​signal.

[0011] In a seventh aspect, embodiments of this application provide a signal splicing apparatus, comprising: a signal acquisition unit configured to acquire a signal to be spliced, the signal to be spliced ​​including a reference signal and at least one signal to be processed; an information acquisition unit configured to acquire the phase difference and frequency difference of each signal to be processed relative to the reference signal; an interpolation processing unit configured to perform interpolation processing on the signal to be spliced, upsampling the signal to be spliced ​​to a second preset bandwidth; a filtering unit configured to extract a sub-signal of a third preset bandwidth from each interpolated signal to be spliced; a signal alignment unit configured to multiply the sub-signal corresponding to each signal to be processed by the phase difference and frequency difference of the signal to be processed relative to the reference signal to obtain an aligned signal to be processed; and a signal splicing unit configured to splice the sub-signal corresponding to the reference signal with the aligned signal to be processed.

[0012] Eighthly, embodiments of this application provide a phase difference estimation apparatus, comprising: a signal acquisition unit configured to acquire two signals to be estimated, wherein the frequency bands of the two signals to be estimated have overlapping regions; a filtering unit configured to: extract the overlapping region of the signal to be estimated from each signal to be estimated in the frequency band with the other signal to be estimated, and splice the overlapping regions extracted from the two signals to be estimated to obtain the overlapping region of the two signals to be estimated in the frequency band; and a phase difference estimation unit configured to determine the phase difference of the two signals to be estimated based on the overlapping region of the two signals to be estimated in the frequency band.

[0013] Ninthly, embodiments of this application provide a UWB device, including a demodulation module configured to demodulate a spliced ​​signal, wherein the spliced ​​signal is a signal obtained by any of the ultra-wideband signal processing methods described in the above embodiments.

[0014] In a tenth aspect, embodiments of this application provide an integrated circuit, including a radio frequency module and a signal processing module connected in sequence, wherein the signal processing module is configured to: modulate a signal, and / or demodulate a spliced ​​signal obtained by any of the ultra-wideband signal processing methods in the above embodiments; the radio frequency module is configured to: transmit a radio frequency signal, and / or receive a received signal formed by the radio frequency signal being transmitted and / or scattered by a target, or a radio frequency signal transmitted by another device.

[0015] Eleventhly, embodiments of this application provide an electromagnetic wave device, comprising: a carrier; an integrated circuit of any of the above embodiments disposed on the carrier; an antenna disposed on the carrier, or the antenna and the integrated circuit are integrated into a single device disposed on the carrier; wherein the integrated circuit is connected to the antenna and is used to transmit radio frequency signals and / or receive radio frequency signals.

[0016] In a twelfth aspect, embodiments of this application provide a user terminal device, including: a device body; and an electromagnetic wave device and / or a UWB device as described in the above embodiments disposed on the device body; wherein the electromagnetic wave device and the UWB device are used for target detection and / or communication to provide reference information to the operation of the device body or the device disposed thereon.

[0017] In a thirteenth aspect, embodiments of this application provide a non-transitory computer-readable storage medium storing computer-readable instructions thereon, which, when executed by a processor, cause the processor to perform the ultra-wideband signal processing method described in the above embodiments.

[0018] The ultra-wideband signal processing method in this application embodiment can splice the channel impulse response signals of multiple first signals of the received UWB signal to obtain a spliced ​​signal with a larger bandwidth. On the one hand, since the spliced ​​signal has a larger bandwidth, the UWB device can obtain higher resolution when using the spliced ​​signal for sensing or ranging, thereby improving the performance of the UWB device. On the other hand, obtaining the channel impulse response signals of the first signals before splicing can avoid the performance pressure on hardware such as analog-to-digital converters in the UWB device caused by the large bandwidth signal, so that the UWB device can obtain higher performance without increasing hardware costs.

[0019] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the solutions described in the description and the accompanying drawings. Attached Figure Description

[0020] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0021] Figure 1 This is a flowchart illustrating one embodiment of the ultra-wideband signal processing method of this application; Figure 2 This is a schematic diagram of the signal splicing process in one embodiment of the ultra-wideband signal processing method of this application; Figure 3 This is a schematic flowchart illustrating signal alignment in one embodiment of the ultra-wideband signal processing method of this application. Figure 4 This is a schematic diagram of channel impulse response signals in different frequency bands in one embodiment of the ultra-wideband signal processing method of this application; Figure 5This is a schematic diagram of the process for determining the initial phase difference in one embodiment of the ultra-wideband signal processing method of this application; Figure 6 This is a schematic diagram illustrating the principle of phase difference estimation based on overlapping regions in one embodiment of the ultra-wideband signal processing method of this application. Figure 7 This is a schematic diagram of the frequency shifting process in the frequency domain in one embodiment of the ultra-wideband signal processing method of this application; Figure 8 This is a flowchart illustrating one embodiment of the ultra-wideband signal processing method of this application; Figure 9 This is a schematic diagram illustrating the principle of signal splicing in one embodiment of the ultra-wideband signal processing method of this application; Figure 10 This is a schematic diagram of the structure of one embodiment of the ultra-wideband signal processing apparatus of this application; Figure 11 This is a schematic diagram of the structure of one embodiment of the communication device of this application; Figure 12 This is a schematic diagram of the structure of one embodiment of the communication device of this application; Figure 13 This is a schematic diagram of the structure of one embodiment of the signal splicing device of this application; Figure 14 This is a schematic diagram of one embodiment of the phase difference estimation device of this application. Detailed Implementation

[0022] This application describes several embodiments, but these descriptions are exemplary and not restrictive, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0023] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application can also be combined with any conventional features or elements to form unique inventive solutions. Any feature or element of any embodiment can also be combined with features or elements from other inventive solutions to form another unique inventive solution. Therefore, it should be understood that any feature shown and / or discussed in this application can be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes can be made within the scope of the appended claims.

[0024] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0025] like Figure 1 As shown in the figure, this application provides a method for processing ultra-wideband signals, including the following steps.

[0026] Step 110: Select at least two first signals from the received UWB signals and determine the channel impulse response signal for each first signal.

[0027] The UWB signal includes the radio frequency signal emitted by the UWB device and / or the echo signal obtained by the radio frequency signal emitted by the UWB device being reflected by the target.

[0028] Typically, UWB devices can operate in two modes: sensing mode and ranging mode.

[0029] In perception mode, UWB devices can simultaneously have a transmitter and a receiver. The transmitter is used to transmit radio frequency signals. The echo signal formed after the radio frequency signal is transmitted by the target (such as an object, person, animal or other) is received by the receiver. UWB devices can perform perception processing such as motion detection and gesture recognition by analyzing the echo signal.

[0030] In ranging mode, the UWB device may include a transmitter for transmitting radio frequency (RF) signals and a receiver for receiving the RF signals. The UWB device (e.g., the transmitter) can calculate the distance between the transmitter and receiver based on the time-of-flight of the RF signals. In this case, an apparatus for implementing the ultra-wideband signal processing method of this embodiment (e.g., the ultra-wideband signal processing apparatus described later) can be located in the receiver and acquire the received RF signals from the transceiver at the receiver.

[0031] In this embodiment, the first signal can be distinguished by the center frequency. For example, at least two first signals refer to two or more first signals with different center frequencies.

[0032] After determining the first signal from the received UWB signal, the apparatus for implementing the ultra-wideband signal processing method in this embodiment can measure its channel impulse response (CIR) by means of direct impulse method, correlation method, frequency domain measurement method, etc., to obtain the channel impulse response signal corresponding to the first signal.

[0033] In some optional implementations of this embodiment, the UWB signal may be multiple radio frequency signals transmitted by the UWB device using frequency hopping, or the echo signals of these multiple radio frequency signals. This allows for the generation of multiple UWB signals with different center frequencies, enabling the selection of multiple first signals from among them.

[0034] Step 120: Splice the frequency bands of the channel impulse response signal of the first signal to obtain the spliced ​​signal.

[0035] The spliced ​​signals are used by UWB devices for sensing or ranging.

[0036] For example, UWB devices can use spliced ​​signals to measure distance; or, UWB devices can also acquire phase information of spliced ​​signals, and then obtain the target's speed (in low-speed scenarios, related to the signal period) and micro-Doppler information based on the phase information, thereby sensing the target's movement speed, breathing, heartbeat, pulse and other human physiological characteristic parameters indoors or in a cabin.

[0037] In this embodiment, by splicing the frequency bands of the channel impulse response signals of multiple first signals, a signal with a larger bandwidth, i.e., the spliced ​​signal, can be obtained. Since the center frequencies of each first signal are different, the bandwidth of the spliced ​​signal is greater than the bandwidth of any single first signal, and can be up to the sum of the bandwidths of multiple first signals.

[0038] As an example, assuming there are n first signals and the bandwidth of the channel impulse response signal of each first signal is w (this is just an example; the bandwidth of the channel impulse response signal of each first signal can be different), the frequency bands of the n channel impulse response signals can be spliced ​​together to obtain the spliced ​​signal. When the frequency bands of the n first signals do not overlap, the maximum bandwidth of the spliced ​​signal is n·w. When there is an overlapping region between the frequency bands of the first signals with adjacent center frequencies, the bandwidth of the spliced ​​signal is less than n·w but greater than w. In this case, the bandwidth of the spliced ​​signal is negatively correlated with the size of the overlapping region.

[0039] In some alternative examples, the n channel impulse response signals can be sampled and filtered to extract a sub-band with a bandwidth of m from each channel impulse response signal, and then the n sub-bands can be spliced ​​together to obtain a spliced ​​signal with a bandwidth of n·m, where m can be a rational number.

[0040] The ultra-wideband signal processing method in this embodiment can splice the channel impulse response signals of multiple first signals of the received UWB signal to obtain a spliced ​​signal with a larger bandwidth. On the one hand, since the spliced ​​signal has a larger bandwidth, the UWB device can obtain higher resolution when using the spliced ​​signal for sensing or ranging, thereby improving the performance of the UWB device. On the other hand, acquiring the channel impulse response signals of the first signals before splicing can avoid the performance pressure on hardware such as analog-to-digital converters in the UWB device caused by the large bandwidth signal, allowing the UWB device to obtain higher performance without increasing hardware costs.

[0041] Figure 2 A flowchart illustrating the signal splicing process in one embodiment of the ultra-wideband signal processing method of this application is shown, as follows: Figure 2 As shown, the process may include the following steps: Step 210: Determine a reference signal from the channel impulse response signals of at least two first signals, and use the other channel impulse response signals as signals to be processed.

[0042] As an example, the channel or center frequency of the reference signal can be predetermined, and then the reference signal can be selected from multiple first signals; alternatively, the selection can be based on the signal quality of each first signal, choosing the first signal with better signal quality as the reference signal; for another example, when the bandwidths of the first signals are different, the first signal with the larger bandwidth can be selected as the reference signal. Alternatively, the reference signal can be randomly selected from the first signals.

[0043] Step 220: Align the initial phase of the signal to be processed with the reference signal in the frequency domain.

[0044] In this embodiment, initial phase (also known as initial phase) alignment means that the difference between the initial phases of different signals is zero.

[0045] Step 230: The frequency bands of the aligned signal to be processed are spliced ​​together with those of the reference signal to obtain the spliced ​​signal.

[0046] In practice, the initial phases of the channel impulse response signals of different UWB signals transmitted by the same UWB device may differ. If channel impulse response signals with different initial phases are directly spliced ​​together, it will cause problems such as target position shift and false targets, thereby affecting the normal function of the UWB device.

[0047] In this embodiment, aligning the initial phases of the impulse response signals of each channel before splicing ensures that the spliced ​​signal will not cause problems such as target position shift or false targets when applied to ranging or sensing.

[0048] In some optional embodiments of this example, step 220 can be performed by... Figure 3 The process shown aligns the initial phases of the impulse response signals for each channel, as follows: Figure 3 As shown, the process may include the following steps.

[0049] Step 310: Determine the carrier frequency difference for each signal to be processed.

[0050] In this embodiment, the carrier frequency difference refers to the frequency difference generated when the carrier frequency of the signal to be processed is subjected to carrier frequency uploading and carrier frequency downloading.

[0051] Step 320: Determine the difference between the initial phase of each signal to be processed and the initial phase of the reference signal, and obtain the initial phase difference corresponding to each signal to be processed.

[0052] As an example, the initial phase difference of each signal to be processed relative to the reference signal can be estimated by accumulating the real parts; or, the initial phase difference of each signal to be processed relative to the reference signal can be estimated by using the least squares method.

[0053] Step 330: Based on the initial phase difference and carrier frequency difference corresponding to each signal to be processed, perform frequency shift processing on the signal to be processed so that the initial phase of the signal to be processed in the frequency domain is aligned with the initial phase of the reference signal.

[0054] As an example, the frequency shift processing of the signal to be processed can be achieved by multiplying the carrier frequency difference and the initial phase difference relative to the reference signal.

[0055] In this embodiment, frequency shift processing is performed on the signal to be processed based on the carrier frequency difference and the initial phase difference relative to the reference signal. This can avoid random initial phase caused by the accumulation of carrier frequency difference, thereby improving the accuracy of the alignment processing of the signal to be processed.

[0056] In some embodiments, the frequency bands of two first signals with adjacent center frequencies may have overlapping regions. In this case, step 320 above can determine the initial phase difference corresponding to the signal to be processed by: determining the initial phase difference of each signal pair based on the overlapping region of the frequency bands, and determining the difference between the initial phase of each signal to be processed and the initial phase of the reference signal by accumulating the initial phase difference, thereby obtaining the initial phase difference corresponding to each signal to be processed; wherein, the signal pair includes the channel impulse response signals of two first signals with adjacent center frequencies.

[0057] Combination Figure 4 An example is provided. Figure 4 As shown, sig1, siga, sig2, sigb, and sig3 are all channel impulse response signals of UWB signals (i.e., radio frequency signals transmitted by UWB devices or their echo signals). Assuming sig1, siga, and sig2 are selected as the first signals, where sig1 is the reference signal and siga and sig2 are the signals to be processed. The initial phase difference A of siga relative to sig1 can be determined based on the overlap area between the frequency bands of sig1 and siga; the initial phase difference B of sig2 relative to siga can be determined based on the overlap area between the frequency bands of siga and sig2. Then, adding B to A yields the initial phase difference of sig2 relative to sig1.

[0058] As an example, the initial phase difference between two signals can be determined by the following formula (1).

[0059] (1) In the formula, Indicates the initial phase difference real (·) denotes the real part of a complex number. , These represent the sub-regions of the overlapping region within the frequency bands of the two signals. This is achieved by traversing... ,get The maximum value is the initial phase difference between the two signals.

[0060] In this embodiment, estimating the initial phase difference between two signals based on the overlapping region of their frequency bands can more accurately and efficiently determine the initial phase difference of the signal to be processed relative to the reference signal, and can reduce the computational resource consumption of the initial phase difference calculation process.

[0061] In other embodiments, at least two of the multiple first signals have adjacent center frequencies whose frequency bands do not overlap, such as... Figure 4 sig1 and sig2 in the above. At this time, step 320 above can be achieved by... Figure 5 The flowchart shown determines the initial phase difference corresponding to the signal to be processed, such as... Figure 5 As shown, the process may include the following steps.

[0062] Step 510: Select one or more second signals from the UWB signals and determine the channel impulse response signal for each second signal.

[0063] Each second signal corresponds to two first signals whose center frequencies are adjacent and whose frequency bands do not overlap. The center frequency of the second signal is adjacent to the two first signals, and the frequency bands of the two first signals overlap with the frequency band of the second signal.

[0064] According to the UWB communication protocol, the bandwidth of a UWB channel is 250MHz, while the bandwidth of a UWB signal can be 500MHz (for example, according to the IEEE 802.15.4a standard, the bandwidth of a UWB channel can be 500MHz, but in practice it may vary depending on the frequency band or different standards). This allows for overlap between UWB signals transmitted through adjacent channels. Therefore, a second signal corresponding to the two first signals can be selected based on their center frequencies and frequency bands.

[0065] Step 520: Based on the overlapping area of ​​the frequency band, determine the initial phase difference of each signal pair, and determine the difference between the initial phase of each signal to be processed and the initial phase of the reference signal by accumulating the initial phase differences, so as to obtain the initial phase difference corresponding to each signal to be processed.

[0066] Among them, the signal pair includes the channel impulse response signal of two first signals with adjacent center frequencies or the channel impulse response signal of a first signal and a second signal with adjacent center frequencies.

[0067] Continue to combine Figure 4 For illustrative purposes, assume that sig1, sig2, and sigb are the channel impulse response signals of the first signal, where sig1 is the reference signal, and sig2 and sigb are the signals to be processed. Since there is no overlap between sig1 and sig2, the corresponding second signals can be selected from the UWB signals based on their center frequencies and frequency bands, and their channel impulse response signals can be calculated to obtain sig1. Figure 4As can be seen, the center frequency of siga is located between sig1 and sig2, and the frequency band of siga overlaps with both sig1 and sig2. Then, based on the overlapping areas of the frequency bands, the initial phase difference of each signal pair can be calculated. For example, this could include the initial phase difference C between sig1 and siga, the initial phase difference D between siga and sig2, and the initial phase difference E between sig2 and sigb. Adding C and D gives the initial phase difference of sig2 relative to sig1; adding C, D, and E gives the initial phase difference of sigb relative to sig1.

[0068] In this embodiment, for two first signals with adjacent center frequencies and non-overlapping frequency bands, the channel impulse response signals of the second signals corresponding to the two first signals are first determined, such that the channel impulse response signals of the two first signals and the channel impulse response signals of the second signals form signal pairs respectively. Then, by using the overlapping area of ​​the frequency bands to estimate the initial phase difference of the signal pairs, the initial phase difference of the signal to be processed relative to the reference signal can be determined more accurately and efficiently, and the computational resources consumed by the calculation process of the initial phase difference can be reduced.

[0069] In some optional implementations of this embodiment, the frequency bands of any two first signals with adjacent center frequencies do not overlap, thus ensuring that the frequency bands of the impulse response signals of each channel also do not overlap. For example... Figure 4 In the context of sig1, sig2, and sig3, we can first determine the channel impulse response signal siga corresponding to sig1 and sig2, and the channel impulse response signal sigb corresponding to sig2 and sig3. Then, through step 520, we determine the initial phase difference of sig2 and sig3 relative to sig1. Through step 330, we align the initial phases of sig1, sig2, and sig3. Finally, through step 220, we concatenate sig1, sig2, and sig3 to obtain the concatenated signal. The bandwidth of the concatenated signal can then be the sum of the bandwidths of sig1, sig2, and sig3.

[0070] In this embodiment, non-overlapping UWB signals are selected as the first signal. The spliced ​​signal obtained by splicing can have a larger bandwidth, which helps to further improve the performance of UWB devices.

[0071] In some embodiments, the initial phase difference of a signal pair can be determined based on the overlapping region of the frequency bands in the following manner.

[0072] First, let any real number The initial phase difference between the two signals As parameters for joint estimation, the following formula (2) is obtained: (2) In the formula, ; The overlapping regions represent sub-regions within the frequency bands of the two signals in the signal pair, where... .

[0073] For a given Formula (2) for For convexity, also for It is convex.

[0074] Then, to Differentiating and setting to zero, we get the following formula (3): (3) Then, By setting the modulus to 1, the initial phase difference between the two signals can be obtained.

[0075] In this embodiment, a joint estimation method is used to determine the initial phase difference between the two signals, avoiding the computational overhead caused by traversal operations, which can reduce the amount of computation and help reduce the hardware resource requirements of phase difference estimation.

[0076] In some embodiments, the overlapping region of the frequency bands of the two signals in a signal pair can be obtained by inputting the two signals in the signal pair into a low-pass filter with a preset multiplier, thereby obtaining a sub-region of the spectrum of each signal in the signal pair in the overlapping region; and splicing the two obtained sub-regions together to obtain the overlapping region of the frequency bands of the two signals in the signal pair.

[0077] The following is combined with Figure 6 An example is provided below. Assuming a preset multiplier of 50%, the lower half of the spectrum (lowband time seq sig2) can be extracted from signal sig2 using the LPF (half). After performing group delay processing (Grp delay) on signal sigb, the higher half of the spectrum (highband timeseq sigb) can be extracted from signal sigb using the LPF (half). By concatenating lowband time seq sig2 and highband time seq sigb, the overlapping region of the frequency bands of sig2 and sigb can be obtained. Based on this region, the initial phase difference (Phase gap2) between sig2 and sigb can be obtained.

[0078] The preset multiplier can be set according to needs. For example, 50% can be used to reduce filter resource consumption; or other multipliers can be used.

[0079] In this embodiment, the sub-regions of the signal spectrum in the overlapping region are obtained by using a low-pass filter and then stitched together. This eliminates the need for FFT (Fast Fourier Transform) processing, allowing the acquisition of the overlapping region of the frequency bands of two received signals in the time domain, thus reducing hardware consumption.

[0080] In other embodiments, the overlapping region of the frequency bands of the two signals in a signal pair can be obtained by: performing FFT processing on each signal in the signal pair using a first FFT accelerator to obtain the spectrum of each signal in the signal pair; extracting the spectrum of a first preset bandwidth from the spectrum of each signal in the signal pair, and splicing the extracted spectrum to obtain the overlapping region of the frequency bands of the two signals in the signal pair.

[0081] In this embodiment, the first preset bandwidth can be set according to requirements, for example, it can be 50% or other values. Using an FFT accelerator, the overlapping region in the spectrum of two received signals can be obtained from the frequency domain.

[0082] In some embodiments, step 330 described above can be achieved through... Figure 7 The illustrated process implements frequency shifting of the signal to be processed in the frequency domain, such as... Figure 7 As shown, the process may include the following steps.

[0083] Step 710: Use the second FFT accelerator to perform FFT processing on the signal to be processed to obtain the spectrum of the signal to be processed.

[0084] Step 720: Based on the carrier frequency difference and the initial phase difference relative to the reference signal, perform frequency shift processing on the spectrum of the signal to be processed.

[0085] As an example, after obtaining the spectrum of the signal to be processed, zero-padding can be performed on the spectrum of the signal to be processed according to the carrier frequency difference and the initial phase difference relative to the reference signal, so that the initial phase of the signal to be processed in the frequency domain is aligned with the reference signal.

[0086] Step 730: Perform IFFT (Inverse Fast Fourier Transform) processing on the frequency-shifted spectrum to obtain the aligned signal to be processed.

[0087] In some optional implementations of this embodiment, the overlapping region of two signals can be obtained using a first FFT accelerator, and the frequency shift processing of the signal to be processed can be achieved using a second FFT accelerator. When the first preset bandwidth is 50%, the first FFT and the second FFT can be the same accelerator, thereby reducing hardware consumption.

[0088] In other embodiments, step 330 above can also perform frequency shift processing of the signal to be processed in the time domain in the following manner: based on the initial phase difference and carrier frequency difference corresponding to each signal to be processed, frequency shift processing is performed on each signal to be processed in the time domain so that the initial phase of each signal to be processed in the frequency domain is aligned with the initial phase of the reference signal.

[0089] In this embodiment, frequency shifting of the signal to be processed is performed in the time domain, which can omit FFT processing, thus reducing power consumption and improving processing efficiency.

[0090] Figure 8 A flowchart illustrating one embodiment of the ultra-wideband signal processing method of this application is shown, as follows: Figure 8 As shown, the process may include the following steps.

[0091] Step 810: Select at least two first signals from the received UWB signals and determine the channel impulse response signal for each first signal.

[0092] Step 820: Determine a reference signal from the channel impulse response signals of at least two first signals, and use the other channel impulse response signals as signals to be processed.

[0093] Step 830: Determine the carrier frequency difference for each signal to be processed.

[0094] Step 840: Determine the difference between the initial phase of each signal to be processed and the initial phase of the reference signal, and obtain the initial phase difference corresponding to each signal to be processed.

[0095] Step 850: Perform intermediate interpolation on the signal to be processed, upsampling the signal to be processed to the second preset bandwidth.

[0096] As an example, zero values ​​can be alternately inserted into the spectrum of the signal to be processed to upsample the signal to a second preset bandwidth.

[0097] Step 860: Extract a sub-signal with a third preset bandwidth from the interpolated signal to be processed, and multiply the extracted sub-signal by the initial phase difference and carrier frequency difference corresponding to the signal to be processed to obtain the aligned signal to be processed.

[0098] In this embodiment, the second preset bandwidth and the third preset bandwidth can be reciprocals of each other. The second preset bandwidth can be a multiple of the bandwidth of the first signal or the second signal, and the third preset bandwidth can be the reciprocal of the second preset bandwidth.

[0099] Step 870: Perform intermediate interpolation on the reference signal to upsample the reference signal to the second preset bandwidth.

[0100] Step 880: Extract a sub-signal with a third preset bandwidth from the interpolated reference signal and use it as the reference sub-signal.

[0101] Step 890: Concatenate the reference sub-signal with the aligned signal to be processed to obtain the concatenated signal.

[0102] Further integration Figure 9 Provide an example, such as Figure 9 As shown, the channel impulse response signals of the first signal include sig1, sig2, and sig3. The second preset bandwidth is 3 times the initial bandwidth, and the third preset bandwidth is 1 / 3. After 3 times interleave zero padding (as shown in the figure), the bandwidth of sig1, sig2, and sig3 is upsampled to 3 times the initial bandwidth. Then, a low-pass filter (LPF in the figure, with a filtering factor of 1 / 3) is used to extract a sub-signal of 1 / 3 bandwidth from the interpolated signal. The bandwidth of the obtained sub-signal is the same as the initial bandwidth. After that, the sub-signals of sig2 and sig3 are multiplied by their corresponding initial phase gap and carrier frequency gap, respectively, so that sig2 and sig3 can be aligned with sig1. Then, the aligned sub-signals of sig2 and sig3 are added to the reference sub-signal of sig1 to obtain the spliced ​​signal (i.e., the Stitch CIR in the figure).

[0103] In this embodiment, through steps 850 and 860, frequency shifting processing can be performed on the signal to be processed in the time domain, and through steps 870 to 890, signal splicing can be realized in the time domain. This can avoid the hardware consumption caused by FFT, help reduce the hardware consumption required for splicing processing of ultra-wideband signals, and improve processing efficiency.

[0104] This application also provides a signal transmission method, which may include: transmitting at least two first signals for ranging based on a frequency hopping method, wherein the frequency bands of two adjacent first signals have an overlapping region; or, transmitting at least two first signals for ranging and at least one second signal based on a frequency hopping method, wherein every two adjacent first signals with non-overlapping frequency bands correspond to one second signal, and the frequency band of the second signal is located between the frequency bands of the two first signals and simultaneously has an overlapping region with the frequency bands of the two first signals.

[0105] In this embodiment, the overlapping region is used to splice the frequency bands of the channel impulse response signals of two adjacent first signals in the time domain to obtain a spliced ​​signal with a larger bandwidth, thereby improving the target recognition accuracy of the UWB device.

[0106] like Figure 10As shown in the embodiments of this application, an ultra-wideband signal processing apparatus is also provided, including: a memory 1010; a transceiver 1020 for acquiring UWB signals; and a processor 1030 communicatively coupled to the memory 1010 and the transceiver 1020. The processor 1030 is configured to splice the channel impulse response signals of multiple first signals in the acquired UWB signal using the ultra-wideband signal processing method in any of the above embodiments to obtain a spliced ​​signal.

[0107] like Figure 11 As shown in the embodiment of this application, a communication device is also provided for initiating a UWB session, including: a transceiver unit 1110 configured to: send control commands and UWB signals to a responding device of the UWB session, wherein the UWB signals include at least two first signals for ranging or sensing; and receive a spliced ​​signal sent by the responding device; and a sensing unit 1120 configured to perform sensing or ranging based on the spliced ​​signal.

[0108] like Figure 12 As shown in the embodiments of this application, a communication device is also provided for responding to a UWB session, including: a transceiver unit 1210 configured to receive control commands and UWB signals sent by the initiating device of the UWB session, and to transmit spliced ​​signals to the initiating device; and an ultra-wideband signal processing device 1220 in any of the above embodiments configured to splice the channel impulse response signals of multiple first signals in the received UWB signals to obtain spliced ​​signals.

[0109] like Figure 13 As shown in the figure, this application embodiment also provides a signal splicing device, including: a signal acquisition unit 1310 configured to acquire a signal to be spliced, the signal to be spliced ​​including a reference signal and at least one signal to be processed; an information acquisition unit 1320 configured to acquire the phase difference and frequency difference of each signal to be processed relative to the reference signal; an interpolation processing unit 1330 configured to perform interpolation processing on the signal to be spliced, upsampling the signal to be spliced ​​to a second preset bandwidth; a filtering unit 1340 configured to extract a sub-signal of a third preset bandwidth from each interpolated signal to be spliced; a signal alignment unit 1350 configured to multiply the sub-signal corresponding to each signal to be processed with the phase difference and frequency difference of the signal to be processed relative to the reference signal to obtain an aligned signal to be processed; and a signal splicing unit 1360 configured to splice the sub-signal corresponding to the reference signal with the aligned signal to be processed.

[0110] The signal splicing device in this embodiment can align the initial pairs of signals in the time domain and splice the aligned signals, which can save the hardware and time consumption of FFT processing and can achieve signal splicing in a more economical and efficient way.

[0111] like Figure 14 As shown in the embodiment of this application, a phase difference estimation device is also provided, including: a signal acquisition unit 1410 configured to acquire two signals to be estimated, wherein the frequency bands of the two signals to be estimated have overlapping regions; a filtering unit 1420 configured to: extract the overlapping region of the signal to be estimated from each signal to be estimated and other signals to be estimated in the frequency band, and splice the overlapping regions extracted from the two signals to be estimated to obtain the overlapping region of the two signals to be estimated in the frequency band; and a phase difference estimation unit 1430 configured to determine the phase difference of the two signals to be estimated based on the overlapping region of the two signals to be estimated in the frequency band.

[0112] The phase difference estimation device in this embodiment can estimate the initial phase difference of a signal based on the overlapping area between signal frequency bands, thereby improving the efficiency of phase difference calculation.

[0113] This application also provides a UWB device, including a demodulation module configured to demodulate a spliced ​​signal, wherein the spliced ​​signal is a signal obtained by the ultra-wideband signal processing method in any of the above embodiments.

[0114] This application also provides an integrated circuit, including a radio frequency module and a signal processing module connected in sequence. The signal processing module is configured to: modulate a signal, and / or demodulate the spliced ​​signal obtained by the ultra-wideband signal processing method in any of the above embodiments; the radio frequency module is configured to: transmit a radio frequency signal, and / or receive a received signal formed by the radio frequency signal being transmitted and / or scattered by a target, or a radio frequency signal transmitted by another device.

[0115] The radio frequency transmission signal in this application embodiment can be a centimeter wave band or a millimeter wave band signal, such as signals in the 3.1GHz, 24GHz, 60GHz, 77GHz, 94GHz, 120GHz, 140GHz, 220GHz, and 250GHz bands. Specifically, the 3.1GHz centimeter wave signal can include 3.1GHz to 10.6GHz, such as fixed frequency points like 3.1GHz, 5GHz, 6GHz, 8GHz, and 10.6GHz, or frequency ranges like 7.163-8.812GHz; the 77GHz millimeter wave signal can include signals from 76GHz to 81GHz, such as swept frequency signals like 76GHz to 77GHz, 77GHz to 79GHz, and 79GHz to 81GHz, or fixed frequency point signals like 76GHz, 77GHz, 78GHz, 79GHz, 80GHz, and 81GHz.

[0116] In some optional embodiments, the integrated circuit can be an AiP (Antenna-In-Package) chip structure, an AoP (Antenna-On-Package) chip structure, an AoC (Antenna-On-Chip) chip structure, a RoP (Radiator through Package) chip structure, etc. RoP involves setting a radiating structure on the chip package and surrounding it with solder balls to form an air waveguide structure. That is, the radio frequency (RF) signal generated by the chip can be transmitted through the aforementioned radiating structure, the air cavity waveguide structure surrounded by the solder balls, and the air waveguide built into the PCB board to an external antenna for radiation towards a target area.

[0117] In some embodiments, the integrated circuit further includes a data processing module configured to process digital signals to achieve target detection and / or wireless communication.

[0118] In some embodiments, the integrated circuit is a UWB chip.

[0119] Embodiments of this application also propose an electromagnetic wave device. This electromagnetic wave device may include an antenna and an integrated circuit as described above. The integrated circuit is electrically connected to the antenna and is used to transmit and receive radio frequency signals. For example, the electromagnetic wave device may include: a carrier, an integrated circuit as described in any of the above embodiments, and an antenna, etc. The integrated circuit may be disposed on the carrier; the antenna may be disposed on the carrier, or integrated with the integrated circuit as a single device disposed on the carrier (i.e., the antenna may be an antenna disposed in a structure such as AiP, AoP, AoC, or RoP); wherein the integrated circuit is connected to the antenna (i.e., the sensing chip or integrated circuit does not integrate an antenna, such as a conventional SoC), and is used to transmit and receive radio frequency signals. The carrier may be a printed circuit board (PCB), and the integrated circuit and the antenna are routed through the PCB.

[0120] It should be noted that electromagnetic wave devices can achieve functions such as target detection and / or communication by transmitting and receiving radio frequency signals, so as to provide the device body with target detection information and / or communication information, thereby assisting or even controlling the operation of the device body.

[0121] This application provides a user terminal device, which may include: a device body; and an electromagnetic wave device as described above, and / or a UWB device as described in the above embodiments, disposed on the device body; wherein the electromagnetic wave device and / or UWB device are used for target detection and / or communication, etc., to provide reference information to the operation of the device body or the device disposed thereon.

[0122] Specifically, based on the above embodiments, in one optional embodiment of this application, the electromagnetic wave device can be disposed outside the device body or inside the device body. In other optional embodiments of this application, the electromagnetic wave device can be partially disposed inside the device body and partially disposed outside the device body. This application does not limit the specific implementation; it can be determined according to the circumstances.

[0123] In an optional embodiment, the aforementioned device body can be a component or product applied in fields such as smart cities, smart homes, transportation, smart homes, consumer electronics, security monitoring, industrial automation, in-cabin detection (such as smart cockpits), medical devices, and healthcare. For example, the device body can be intelligent transportation equipment (such as automobiles, bicycles, motorcycles, ships, subways, trains, etc.), security equipment (such as cameras), liquid level / flow rate detection equipment, smart wearable devices (such as wristbands, glasses, etc.), smart home devices (such as robot vacuum cleaners, door locks, televisions, air conditioners, smart lights, etc.), various communication devices (such as mobile phones, tablets, etc.), as well as devices such as barriers, intelligent traffic lights, intelligent signs, traffic cameras, and various industrial robotic arms (or robots). It can also be various instruments for detecting vital signs parameters and various devices equipped with such instruments, such as in-cabin vital sign detection, indoor personnel monitoring, smart medical devices, consumer electronic devices, car digital keys, air mice, etc.

[0124] This application also provides a non-transitory computer-readable storage medium storing computer-readable instructions thereon, which, when executed by a processor, cause the processor to perform the ultra-wideband signal processing method in any of the above embodiments.

[0125] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. The technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, or network device, etc.) to execute the methods described above according to the embodiments of this application.

[0126] Software products may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0127] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0128] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0129] The aforementioned computer-readable medium carries one or more programs, which, when executed by a device, cause the computer-readable medium to perform the aforementioned functions.

[0130] Those skilled in the art will understand that the above modules can be distributed in the device as described in the embodiments, or they can be modified accordingly and placed in one or more devices that are unique to this embodiment. The modules in the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0131] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of the present invention.

[0132] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term "computer storage medium" includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. A method for processing ultra-wideband signals, characterized in that, include: Select at least two first signals from the received UWB signals and determine the channel impulse response signal for each first signal; the UWB signals include radio frequency signals transmitted by the UWB device or echo signals obtained by the reflection of radio frequency signals transmitted by the UWB device by the target; The frequency bands of the channel impulse response signal of the first signal are spliced ​​together to obtain the spliced ​​signal, which is used by the UWB device for sensing or ranging.

2. The method according to claim 1, characterized in that, The frequency bands of the channel impulse response signal of the first signal are spliced ​​together, including: A reference signal is determined from the channel impulse response signals of at least two of the first signals, and the other channel impulse response signals are used as signals to be processed. Align the initial phase of the signal to be processed with the reference signal in the frequency domain; The aligned signal to be processed is spliced ​​with the frequency band of the reference signal to obtain the spliced ​​signal.

3. The method according to claim 2, characterized in that, Aligning the signal to be processed with the initial phase of the reference signal in the frequency domain includes: Determine the carrier frequency difference for each of the signals to be processed; The difference between the initial phase of each of the signals to be processed and the initial phase of the reference signal is determined to obtain the initial phase difference corresponding to each of the signals to be processed; Based on the initial phase difference and carrier frequency difference corresponding to each of the signals to be processed, the signals to be processed are frequency shifted so that the initial phase of the signals to be processed in the frequency domain is aligned with the initial phase of the reference signal.

4. The method according to claim 3, characterized in that, The frequency bands of two first signals with adjacent center frequencies overlap; and, Determining the difference between the initial phase of each signal to be processed and the initial phase of the reference signal to obtain the initial phase difference corresponding to each signal to be processed includes: determining the initial phase difference of each signal pair based on the overlapping region of the frequency band, and determining the difference between the initial phase of each signal to be processed and the initial phase of the reference signal by accumulating the initial phase differences to obtain the initial phase difference corresponding to each signal to be processed; wherein, the signal pair includes the channel impulse response signals of two first signals with adjacent center frequencies.

5. The method according to claim 3, characterized in that, At least two first signals with adjacent center frequencies do not have overlapping frequency bands; Determining the difference between the initial phase of each signal to be processed and the initial phase of the reference signal to obtain the initial phase difference corresponding to each signal to be processed includes: selecting one or more second signals from the UWB signals and determining the channel impulse response signal of each second signal. Each second signal corresponds to two first signals with adjacent center frequencies and non-overlapping frequency bands. The center frequency of the second signal is adjacent to the two first signals, and the frequency bands of the two first signals overlap with the frequency band of the second signal. Based on the overlapping frequency bands, the initial phase difference of each signal pair is determined, and the difference between the initial phase of each signal to be processed and the initial phase of the reference signal is determined by accumulating the initial phase differences to obtain the initial phase difference corresponding to each signal to be processed. The signal pair includes the channel impulse response signals of two first signals with adjacent center frequencies or the channel impulse response signals of the first signal and the second signal with adjacent center frequencies.

6. The method according to claim 4 or 5, characterized in that, Based on the overlapping region of the frequency bands, the initial phase difference of each signal pair is determined, including: any real number The initial phase difference between the two signals in the signal pair As parameters for joint estimation, the following formula is obtained: ； In the formula, ; The overlapping region represents a sub-region within the frequency bands of the two signals in the signal pair, where... ; right Taking the derivative and setting it to zero, we get the following expression: ； Will The modulus is set to 1 to obtain the initial phase difference of the signal pair.

7. The method according to claim 6, characterized in that, The overlapping region of the frequency bands of the two signals in a signal pair is obtained as follows: The two signals in the signal pair are respectively input into a low-pass filter with a preset multiplier to obtain a sub-region of the spectrum of each signal in the signal pair in the overlapping region; the two obtained sub-regions are spliced ​​together to obtain the overlapping region of the frequency bands of the two signals in the signal pair.

8. The method according to claim 6, characterized in that, The overlapping region of the frequency bands of the two signals in a signal pair is obtained as follows: The first FFT accelerator is used to perform FFT processing on each signal in the signal pair to obtain the spectrum of each signal in the signal pair; The spectrum of the first preset bandwidth is extracted from the spectrum of each signal in the signal pair, and the extracted spectra are spliced ​​together to obtain the overlapping region of the frequency bands of the two signals in the signal pair.

9. The method according to claim 3, characterized in that, Based on the initial phase difference and carrier frequency difference corresponding to each of the signals to be processed, frequency shift processing is performed on the signals to be processed so that the initial phase of the signals to be processed in the frequency domain is aligned with the initial phase of the reference signal, including: Based on the initial phase difference and carrier frequency difference corresponding to each of the signals to be processed, frequency shifting is performed on each signal to be processed in the time domain so that the initial phase of each signal to be processed in the frequency domain is aligned with the initial phase of the reference signal; or... The signal to be processed is frequency-shifted in the frequency domain as follows: the signal to be processed is processed by FFT using a second FFT accelerator to obtain the spectrum of the signal to be processed; the spectrum of the signal to be processed is frequency-shifted based on the initial phase difference and carrier frequency difference corresponding to the signal to be processed; the frequency-shifted spectrum is processed by IFFT to obtain the aligned signal to be processed.

10. The method according to claim 9, characterized in that, Based on the initial phase difference and carrier frequency difference corresponding to each of the signals to be processed, frequency shift processing is performed on the signals to be processed so that the initial phase of the signals to be processed in the frequency domain is aligned with the initial phase of the reference signal, including: The signal to be processed is subjected to intermediate interpolation processing, and the signal to be processed is upsampled to the second preset bandwidth; A sub-signal with a third preset bandwidth is extracted from the interpolated signal to be processed, and the extracted sub-signal is multiplied by the initial phase difference and carrier frequency difference corresponding to the signal to be processed to obtain the aligned signal to be processed.

11. The method according to claim 10, characterized in that, The aligned signal to be processed is concatenated with the frequency band of the reference signal to obtain the concatenated signal, including: The reference signal is subjected to intermediate interpolation processing to upsample the reference signal to a second preset bandwidth; A sub-signal with a third preset bandwidth is extracted from the interpolated reference signal and used as the reference sub-signal; The reference sub-signal is concatenated with the aligned signal to be processed to obtain the concatenated signal.

12. A signal transmission method, characterized in that, include: Transmit at least two first signals for ranging using a frequency-hopping method, wherein the frequency bands of two adjacent first signals overlap; or, At least two first signals and at least one second signal for ranging are transmitted using a frequency hopping method. Each pair of adjacent first signals with non-overlapping frequency bands corresponds to one second signal. The frequency band of the second signal is located between the frequency bands of the two first signals and simultaneously overlaps with the frequency bands of the two first signals. The overlapping region is used to splice the channel impulse response signals of two adjacent first signals in the time domain to obtain a spliced ​​signal with a larger bandwidth.

13. A processing apparatus for ultra-wideband signals, characterized in that, include: Memory; A transceiver used to acquire UWB signals; as well as, A processor communicatively coupled to the memory and the transceiver, the processor being configured to splice the channel impulse response signals of a plurality of first signals in the acquired UWB signal using the ultra-wideband signal processing method according to any one of claims 1 to 11, to obtain a spliced ​​signal.

14. A communication device for initiating a UWB session, characterized in that, include: The transceiver unit is configured to: send control commands and UWB signals to a responding device in a UWB session, the UWB signals including at least two first signals for ranging or sensing; and receive a spliced ​​signal sent by the responding device. The sensing unit is configured to sense or measure distances based on the spliced ​​signal.

15. A communication device for responding to a UWB session, characterized in that, include: The transceiver unit is configured to receive control commands and UWB signals sent by the initiating device of the UWB session, and to transmit spliced ​​signals to the initiating device. The ultra-wideband signal processing apparatus of claim 13 is configured to: splice together the channel impulse response signals of multiple first signals in the received UWB signal to obtain a spliced ​​signal.

16. A signal splicing device, comprising: The signal acquisition unit is configured to acquire the signal to be spliced, the signal to be spliced ​​including a reference signal and at least one signal to be processed; The information acquisition unit is configured to acquire the phase difference and frequency difference of each of the signals to be processed relative to the reference signal; An interpolation processing unit is configured to perform interpolation processing on the signal to be spliced, and upsample the signal to be spliced ​​to a second preset bandwidth; The filtering unit is configured to extract a sub-signal with a third preset bandwidth from each interpolated signal to be spliced. The signal alignment unit is configured to multiply the sub-signal corresponding to each of the signals to be processed by the phase difference and frequency difference of the signal to be processed relative to the reference signal to obtain the aligned signal to be processed. The signal splicing unit is configured to splice the sub-signal corresponding to the reference signal with the aligned signal to be processed.

17. A phase difference estimation device, comprising: The signal acquisition unit is configured to acquire two signals to be estimated, the frequency bands of the two signals to be estimated having an overlapping region; The filtering unit is configured to: extract the overlapping region of each signal to be estimated from other signals to be estimated in the frequency band, and splice the overlapping regions extracted from the two signals to be estimated to obtain the overlapping region of the two signals to be estimated in the frequency band; The phase difference estimation unit is configured to determine the phase difference between the two signals to be estimated based on the overlapping region of the two signals to be estimated in the frequency band.

18. A UWB device, comprising a demodulation module configured to demodulate spliced ​​signals, wherein, The spliced ​​signal is the signal obtained by the ultra-wideband signal processing method according to any one of claims 1-11.

19. An integrated circuit, characterized in that, It includes a radio frequency module and a signal processing module connected in sequence, wherein, The signal processing module is configured to: modulate the signal, and / or demodulate the spliced ​​signal obtained by the ultra-wideband signal processing method according to any one of claims 1-11; The radio frequency module is configured to: transmit radio frequency signals, and / or receive received signals formed by the radio frequency signals being transmitted and / or scattered by a target, or radio frequency signals transmitted by another device.

20. The integrated circuit according to claim 19, characterized in that, It also includes a data processing module configured to process the digital signals to achieve target detection and / or wireless communication.

21. The integrated circuit according to claim 19 or 20, characterized in that, The integrated circuit is a UWB chip.

22. An electromagnetic wave device, characterized in that, include: Carrier; The integrated circuit as described in any one of claims 19-21 is disposed on the carrier. An antenna is disposed on the carrier, or the antenna and the integrated circuit are integrated into a single device and disposed on the carrier. The integrated circuit is connected to the antenna and is used to transmit and / or receive radio frequency signals.

23. A user terminal device, characterized in that, include: Equipment body; as well as The electromagnetic wave device as described in claim 22 and / or the UWB device as described in claim 18 are disposed on the device body; The electromagnetic wave device and / or the UWB device are used for target detection and / or communication to provide reference information for the operation of the device body or the device installed thereon.

24. A non-transitory computer-readable storage medium having stored thereon computer-readable instructions that, when executed by a processor, cause the processor to perform a method for processing an ultra-wideband signal as described in any one of claims 1-11.

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