Signal transmission method and related device

Abstract

This application provides a signal transmission method and related apparatus. In the method, a first initiating device transmits a polling frame. The polling frame includes time-frequency location information of N first ultra-wideband (UWB) segment signals and first delay information for each of M second responding devices to reply with a response frame to the first initiating device. The first initiating device receives multiple response frames based on a timestamp of the polling frame and the first delay information for each of M second responding devices to reply with a response frame to the first initiating device. The polling frame transmitted by the first initiating device includes first delay information for each of M second responding devices to reply with a response frame, so that some or all of M second responding devices can reply with a response frame at different times determined based on different first delays to participate in the ranging round of the first initiating device. Moreover, this helps the first initiating device to perform ranging for multiple second responding devices in a short time, and helps improve ranging efficiency.

Description

[Technical field]

[0001] This application claims priority to Chinese Patent Application No. 202210225959.X, entitled “Signal Transmission Method and Related Apparatus,” filed with the State Intellectual Property Office of the People's Republic of China on March 7, 2022, which application is hereby incorporated by reference in its entirety.

[0002] This application relates to the field of communication technologies, and in particular to signal transmission methods and related devices. [Background technology]

[0003] Ultra-wideband (UWB) technology is a wireless carrier communication technology in which data transmission is achieved by sending and receiving extremely narrow pulses of a nanosecond or less. Therefore, UWB technology occupies a wide spectrum range.

[0004] In ranging, the accuracy of measurement or sensing is related to the signal bandwidth. A larger signal bandwidth indicates a higher accuracy of sensing or ranging. Therefore, it has been proposed to perform ranging using UWB systems to improve the accuracy of ranging.

[0005] Currently, when an initiator uses a UWB system to measure distance to one responder, the initiator needs to complete the measurement of distance to the responder within several milliseconds. In this case, if the initiator uses the process of measuring distance to one responder to measure distance to several responders, the initiator can only complete the measurement of distance to several responders in a long time, resulting in low measuring efficiency of the initiator. Summary of the Invention

[0006] SUMMARY OF THE PRESENT APPLICATION The embodiments of this application provide a signal transmission method and related apparatus that helps improve ranging efficiency.

[0007] According to a first aspect, an embodiment of the present application provides a signal transmission method, in which a first initiating device transmits a polling frame, the polling frame including time-frequency location information of N first ultra-wideband (UWB) segment signals and first delay information for each of M second responding devices to reply with a response frame to the first initiating device. The first initiating device receives a plurality of response frames based on a timestamp of the polling frame and the first delay information for each second responding device to reply with a response frame to the first initiating device, where N and M are integers equal to or greater than 2.

[0008] It can be seen that in this embodiment of the application, the polling frame sent by the first initiating device includes first delay information for each of the M second responding devices to reply with a response frame, so that some or all of the M second responding devices can reply with a response frame at different times determined based on different first delays to participate in the ranging round of the first initiating device. Moreover, this helps the first initiating device to perform ranging on multiple second responding devices in a short time, and helps improve ranging efficiency.

[0009] In one optional implementation, the polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device. Thus, the first initiating device can further transmit the N first UWB segment signals separately based on the time-frequency location information of the N first UWB segment signals. The first initiating device receives the second UWB segment signals separately based on the second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device.

[0010] It can be seen that the first initiating device initiates a ranging round by transmitting a first UWB segment signal, and the first initiating device can receive second UWB segment signals returned by multiple second responding devices for all the first UWB segment signals at different times determined based on different second delay information. Thus, the first initiating device performs ranging to multiple second initiating devices based on the multiple transmitted first UWB signals and the multiple received second UWB segment signals.

[0011] In another optional implementation, the polling frame further includes the same third delay information for the M second responding devices to reply to the first UWB segment signal from the first initiating device and an orthogonal sequence index of each second responding device. Thus, the first initiating device can further transmit the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals. The first initiating device receives the multiple first orthogonal UWB segment signals separately based on the third delay information and the orthogonal sequence index of each second responding device.

[0012] It can be seen that the first initiating device initiates a ranging round by transmitting a first UWB segment signal, and the first initiating device can receive the first orthogonal UWB segment signals returned by the multiple second responding devices to the first UWB segment signal at the same time determined based on the third delay information. The multiple first orthogonal UWB segment signals are orthogonal to each other. This manner also helps the first initiating device to perform ranging to the multiple second initiating devices based on the multiple transmitted first UWB signals and the multiple received first orthogonal UWB segment signals.

[0013] In one optional implementation, when the polling frame further includes identical third delay information for the M second responding devices to respond to the first UWB segment signals from the first initiating device and an orthogonal sequence index for each second responding device, the first initiating device is in an active state when transmitting the N first UWB segment signals and receiving the multiple first orthogonal UWB segment signals, and the first initiating device is in an idle state during interval times of the N first UWB segment signals other than the time when transmitting the N first UWB segment signals and the time when receiving the multiple first orthogonal UWB segment signals.

[0014] It can be seen that, in this way, the first initiating device can be in an active state when transmitting the N first UWB segment signals and receiving a plurality of first orthogonal UWB segment signals, and can be in an idle state during the remaining time in the interval time of the N first UWB segment signals. Thus, the active time of the first initiating device can be reduced, thereby reducing the power consumption of the first initiating device.

[0015] In yet another optional implementation, the polling frame further includes fourth delay information for each second response device to transmit a data frame to the first initiating device. Thus, the first initiating device can further receive a plurality of data frames based on the fourth delay information for each second response device to transmit a data frame to the first initiating device. Each of the plurality of data frames includes a time difference between receiving the N first UWB segment signals at the first response device and transmitting the N second UWB segment signals at the first response device or transmitting the N first orthogonal UWB segment signals at the first response device. The first response device is any one of the M second response devices.

[0016] It can be seen that the first initiating device can further receive a time difference between receiving and transmitting UWB segment signals reported by the multiple second responding devices via the data frame at different times determined based on the fourth delay information for each second responding device. Thus, the first initiating device determines ranging results for the multiple second responding devices based on the time difference between receiving and transmitting UWB segment signals for the first initiating device and the time difference between receiving and transmitting UWB segment signals reported by the multiple second responding devices.

[0017] In one optional implementation, the first initiating device separately transmitting the N first UWB segment signals based on the time-frequency location information of the N first UWB segment signals includes the first initiating device separately transmitting the N first UWB segment signals based on the time-frequency location information of the N first UWB segment signals when the first timer does not expire and M response frames are received, or the first initiating device separately transmitting the N first UWB segment signals based on the time-frequency location information of the N first UWB segment signals when S response frames are received and the first timer expires. The first timer is triggered when the first initiating device transmits a polling frame. S is an integer greater than or equal to 1 and less than M.

[0018] It can be seen that the first initiating device triggers a first timer when transmitting a polling frame. When the first initiating device receives the response frames returned by all the second response devices among the M second response devices, the first initiating device transmits N first UWB segment signals separately, or when the first initiating device receives the response frames from some of the M second response devices and the first timer expires, the first initiating device also transmits N first UWB segment signals separately. Specifically, when not all the response frames are received and the first timer expires, the first initiating device no longer waits for the replies from other second response devices to the polling frame, but directly transmits N first UWB segment signals to start a ranging round. This approach can avoid ranging failure caused by the first initiating device waiting forever for the replies to the polling frame by the second response devices.

[0019] According to a second aspect, the present application further provides a signal transmission method. The signal transmission method in this aspect corresponds to the signal transmission method in the first aspect. The signal transmission method in this aspect is described from the perspective of a first response device. In this method, the first response device receives a polling frame. The polling frame includes time-frequency location information of N first ultra-wideband (UWB) segment signals and first delay information for each of M second response devices to reply to the first initiator device with a response frame, where N and M are integers equal to or greater than 2. The first response device is any one of the M second response devices. The first response device transmits a response frame to the first initiator device based on a timestamp of the polling frame and the first delay information for the first response device to reply to the first initiator device with a response frame.

[0020] It can be seen that in this embodiment of the application, the polling frame received by any second responding device includes first delay information for the second responding device to reply to the polling frame from the first initiating device, so that any second responding device can reply to the first initiating device with a reply frame at a time determined based on the first delay information for the second responding device. Thus, any second responding device can participate in the ranging round initiated by the first initiating device, thereby helping the first initiating device to perform ranging for multiple second responding devices in a short time, i.e., helping to improve ranging efficiency.

[0021] In one optional implementation, the polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device. Thus, the first responding device can further receive the N first UWB segment signals separately based on the time-frequency location information of the N first UWB segment signals. The first responding device transmits the N second UWB segment signals separately to the first initiating device based on the second delay information for the first responding device to reply to the first UWB segment signal from the first initiating device.

[0022] It can be seen that when the polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device, any second responding device can further reply to the first initiating device with N second UWB segment signals based on the second delay information separately at different times, so that the first initiating device obtains the UWB segment signals used for ranging.

[0023] In another optional implementation, the polling frame further includes the same third delay information for the M second response devices to reply to the first UWB segment signal from the first initiating device, and an orthogonal sequence index of each second response device. Thus, the first response device can further receive the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals. The first response device transmits the N first orthogonal UWB segment signals separately to the first initiating device based on the third delay information. The first orthogonal UWB segment signals are determined based on the orthogonal sequence index of the first response device.

[0024] It can be seen that any second responding device can reply to the first initiating device with the N first orthogonal UWB segment signals at different times based on the third delay information, so that different second responding devices reply to the first initiating device with different first orthogonal UWB segment signals at the same time within the interval time of the N first UWB segment signals.

[0025] In yet another optional implementation, the polling frame further includes fourth delay information for each second responding device to transmit a data frame to the first initiating device. Thus, the first responding device can further transmit a data frame to the first initiating device based on the fourth delay information for the first responding device to transmit the data frame to the first initiating device. The data frame includes a time difference between receiving the N first UWB segment signals at the first responding device and transmitting the N second UWB segment signals at the first responding device or transmitting the N first orthogonal UWB segment signals at the first responding device.

[0026] It can be seen that any second response device can further report to the first initiating device a time difference between receiving and transmitting the UWB segment signal at a time determined based on the fourth delay information. Thus, different second response devices can transmit data frames to the first initiating device at different times determined based on different fourth delay information, which can help the first initiating device to perform ranging to the multiple second response devices based on the time difference between receiving and transmitting the UWB segment signal for the first initiating device and the time difference between receiving and transmitting the UWB segment signal reported by the multiple second response devices.

[0027] According to a third aspect, the application further provides a signal transmission method, in which a first initiating device transmits a polling frame, the polling frame including time-frequency location information of N first ultra-wideband (UWB) segment signals, an identical response time for M second responding devices to reply to the first initiating device with the response frame, and a subcarrier set for all of the M second responding devices to reply to the first initiating device with the response frame. The narrowband signal transmitted at the response time includes a plurality of subcarriers, where N and M are integers equal to or greater than 2. The first initiating device receives the response frame based on the response time and the subcarrier set for all of the second responding devices to reply to the first initiating device with the response frame, the response frame including a plurality of response signals.

[0028] It can be seen that in this embodiment of the application, the polling frame sent by the first initiating device includes the same response time for the M second responding devices to reply to the first initiating device with the response frame, and a subcarrier set for all of the M second responding devices to reply to the first initiating device with the response frame. Thus, some or all of the M second responding devices can reply to the first initiating device with response signals on different subcarrier sets at the response time. Furthermore, some or all of the M second responding devices can participate in the ranging round of the first initiating device, thereby helping the first initiating device to perform ranging on multiple second responding devices in a short time, and helping to improve ranging efficiency.

[0029] In one optional implementation, the polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device. Thus, the first initiating device can further transmit the N first UWB segment signals separately based on the time-frequency location information of the N first UWB segment signals. The first initiating device receives the second UWB segment signals separately based on the second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device.

[0030] It can be seen that the first initiating device initiates a ranging round by transmitting a first UWB segment signal, and the first initiating device can receive second UWB segment signals returned by multiple second responding devices for all the first UWB segment signals at different times determined based on different second delay information. Thus, the first initiating device performs ranging to multiple second initiating devices based on the multiple transmitted first UWB signals and the multiple received second UWB segment signals.

[0031] In another optional implementation, the polling frame further includes the same third delay information for the M second responding devices to reply to the first UWB segment signal from the first initiating device and an orthogonal sequence index of each second responding device. Thus, the first initiating device can further transmit the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals. The first initiating device receives the multiple first orthogonal UWB segment signals separately based on the third delay information and the orthogonal sequence index of each second responding device.

[0032] It can be seen that the first initiating device initiates a ranging round by transmitting a first UWB segment signal, and the first initiating device can receive the first orthogonal UWB segment signals returned by the multiple second responding devices to the first UWB segment signal at the same time determined based on the third delay information. The multiple first orthogonal UWB segment signals are orthogonal to each other. This manner also helps the first initiating device to perform ranging to the multiple second initiating devices based on the multiple transmitted first UWB signals and the multiple received first orthogonal UWB segment signals.

[0033] In one optional implementation, when the polling frame further includes identical third delay information for the M second response devices to respond to the first UWB segment signal from the first initiating device and an orthogonal sequence index for each second response device, the first initiating device is in an active state when transmitting N first UWB segment signals and receiving a plurality of first orthogonal UWB segment signals, and is in an idle state during interval times of the N first UWB segment signals other than the time for transmitting the N first UWB segment signals and the time for receiving the plurality of first orthogonal UWB segment signals.

[0034] It can be seen that, in this way, the first initiating device can be in an active state when transmitting the N first UWB segment signals and receiving a plurality of first orthogonal UWB segment signals, and can be in an idle state during the remaining time in the interval time of the N first UWB segment signals. Thus, the active time of the first initiating device can be reduced, thereby reducing the power consumption of the first initiating device.

[0035] In yet another optional implementation, the polling frame further includes the same data frame time for all second response devices to transmit data frames to the first initiating device, and a subcarrier set for all second response devices to transmit data frames to the first initiating device. Thus, the first initiating device can further receive the data frame based on the data frame time and the subcarrier set for all second response devices to transmit data frames to the first initiating device. The data frame includes a plurality of data signals. Each of the plurality of data signals includes a time difference between receiving the N first UWB segment signals at the first response device and transmitting the N second UWB segment signals at the first response device or transmitting the N first orthogonal UWB segment signals at the first response device. The first response device is any one of the M second response devices.

[0036] It can be seen that the first initiating device can further receive a time difference between receiving and transmitting the UWB segment signal reported by the multiple second responding devices through the data frame at different times determined based on the fourth delay information for each second responding device. This approach helps the first initiating device to determine ranging results for the multiple second responding devices based on the time difference between receiving and transmitting the UWB segment signal for the first initiating device and the receiving time and transmitting time reported by the multiple second responding devices.

[0037] According to a fourth aspect, the present application further provides a signal transmission method. The signal transmission method in this aspect corresponds to the signal transmission method in the third aspect. The signal transmission method in this aspect is described from the perspective of a first response device. In this method, a first response device receives a polling frame. The polling frame includes time-frequency location information of N first ultra-wideband (UWB) segment signals, an identical response time for M second response devices to reply to the first initiator device in the response frame, and a subcarrier set for all first response devices among the M second response devices to reply to the first initiator device in the response frame. The narrowband signal transmitted at the response time includes a plurality of subcarriers, where N and M are integers equal to or greater than 2. The first response device transmits a response signal to the first initiator device based on the response time and the subcarrier set for the first response device to reply to the first initiator device in the response frame. The first response device is any one of the M second response devices.

[0038] It can be seen that in this embodiment of the present application, any second response device can reply to the first initiator with a response frame on a subcarrier set for the second response device at the response time, thus allowing any second response device to participate in the ranging round of the first initiating device, thereby helping the first initiating device to perform ranging on multiple second response devices, and improving ranging efficiency.

[0039] In one optional implementation, the polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device. Thus, the first responding device can further receive the N first UWB segment signals separately based on the time-frequency location information of the N first UWB segment signals. The first responding device transmits the N second UWB segment signals separately to the first initiating device based on the second delay information for the first responding device to reply to the first UWB segment signal from the first initiating device.

[0040] It can be seen that if the polling frame further includes second delay information for each second response device to reply to the first UWB segment signal from the first initiating device, any second response device can further reply to the first initiating device with N second UWB segment signals based on the second delay information at different times separately, so that the first initiating device obtains a UWB segment signal used for ranging. In another optional implementation, the polling frame further includes the same third delay information for the M second response devices to reply to the first UWB segment signal from the first initiating device and an orthogonal sequence index of each second response device. Thus, the first response device can further receive the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals. The first response device transmits the N first orthogonal UWB segment signals separately to the first initiating device based on the third delay information. A first orthogonal UWB segment signal is determined based on the orthogonal sequence index of the first responding device.

[0041] It can be seen that any second responding device can reply to the first initiating device with the N first orthogonal UWB segment signals at different times based on the third delay information, so that different second responding devices reply to the first initiating device with different first orthogonal UWB segment signals at the same time within the interval time of the N first UWB segment signals.

[0042] In one optional implementation, the polling frame further includes the same data frame time for all second responding devices to transmit data frames to the first initiating device, and a subcarrier set for all second responding devices to transmit data frames to the first initiating device. Thus, the first responding device further transmits a data signal to the first initiating device based on the data frame time and the subcarrier set for the first responding device to transmit the data frame to the first initiating device. The data signal includes a time difference between receiving the N first UWB segment signals at the first responding device and transmitting the N second UWB segment signals at the first responding device or transmitting the N first orthogonal UWB segment signals at the first responding device.

[0043] It can be seen that any second response device can further report to the first initiating device a time difference between receiving and transmitting the UWB segment signal at a time determined based on the fourth delay information. Thus, different second response devices can transmit data frames to the first initiating device at different times determined based on different fourth delay information, which can help the first initiating device to perform ranging to the multiple second response devices based on the time difference between receiving and transmitting the UWB segment signal for the first initiating device and the time difference between receiving and transmitting the UWB segment signal reported by the multiple second response devices.

[0044] According to a fifth aspect, the application further provides a signal transmission method, in which a control device transmits a polling frame, the polling frame including time-frequency location information of N ultra-wideband (UWB) segment signal groups, first delay information for each of M second responding devices to reply in a response frame to the control device, and fifth delay information for each of X second initiating devices to reply in a response frame to the control device, where N, M, and X are integers equal to or greater than 2. The control device receives the response frames based on the plurality of first delay information, the plurality of fifth delay information, and a timestamp of the polling frame.

[0045] It can be seen that in this embodiment of the application, the control device transmits a polling frame, and through the polling frame configures the fifth delay information for each of the X second initiating devices to reply to the control device with a response frame and the first delay information for each of the M second responding devices to reply to the control device with a response frame, so that some or all of the X second initiating devices can reply to the control device with a response frame at different times, and some or all of the M second responding devices can reply to the control device with a response frame at different times. Thus, the multiple second initiating devices that reply with a response frame and the multiple second responding devices that reply with a response frame participate in the same ranging round, thereby helping to implement ranging performed by the multiple second initiating devices to the multiple second responding devices, i.e. helping to improve ranging efficiency.

[0046] In one optional implementation, the polling frame further includes an orthogonal sequence index for each second initiating device, an orthogonal sequence index for each of the M second responding devices, and identical third delay information for all second responding devices to reply to the first initiating device with a third orthogonal UWB segment signal.

[0047] Thus, any second initiating device can transmit N second orthogonal UWB segment signals separately based on the time-frequency location information of the N UWB segment signal groups and the orthogonal sequence index of the second initiating device. Thus, any second responding device receives multiple second orthogonal UWB segment signals separately based on the time-frequency location information of the N UWB segment signal groups and the orthogonal sequence index of each second initiating device. Also, any second responding device can transmit N third orthogonal UWB segment signals based on the third delay information and the orthogonal sequence index of the second responding device. Thus, any second initiating device can receive multiple third orthogonal UWB segment signals based on the third delay information and the orthogonal sequence index of each second responding device.

[0048] In another optional implementation, the polling frame further includes fourth delay information for each second response device to transmit a data frame to the second initiation device, so that any second response device can transmit a data frame based on the fourth delay information for the second response device. The data frame includes the time at which the second response device receives the second orthogonal UWB segment signal and the time at which the second response device transmits the third orthogonal UWB segment signal. Correspondingly, any first initiation device participating in the ranging round can receive multiple data frames based on the fourth delay information for each second response device, and further perform ranging on multiple second response devices based on the time information carried in the data frames.

[0049] According to a sixth aspect, the present application further provides a signal transmission method. The signal transmission method in this aspect corresponds to the signal transmission method in the fifth aspect. The signal transmission method in this aspect is described from the perspective of a first initiating device. In this method, the first initiating device receives a polling frame, the polling frame including time-frequency location information of N ultra-wideband (UWB) segment signal groups and fifth delay information for each of X second initiating devices to reply to the control device in a response frame, the first initiating device being any one of the X second initiating devices, where N and X are integers equal to or greater than 2. The first initiating device transmits a response frame based on a timestamp of the polling frame and the fifth delay information for the first initiating device to reply to the control device in the response frame.

[0050] It can be seen that in this embodiment of the present application, the polling frame received by any second initiating device includes the fifth delay information for the initiating device to reply to the control device in a response frame, so that any second initiating device can reply to the control device in a response frame based on the fifth delay information. Thus, any second initiating device can participate in a ranging round, so that multiple initiating devices can participate in the same ranging round, thereby helping to improve ranging efficiency.

[0051] In one optional implementation, the polling frame further includes an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each of the M second responding devices, and the same third delay information for all the second responding devices to reply to the first UWB segment signal from the first initiating device, where M is an integer equal to or greater than 1. Thus, the first initiating device can further transmit the N second orthogonal UWB segment signals separately based on the time-frequency location information of the N UWB segment signal groups and the orthogonal sequence index of the first initiating device. The first initiating device can transmit the third delay information and the orthogonal sequence index of each of the second responding devices. Sequence Indexand separately receiving a plurality of third orthogonal UWB segment signals based on the first and second orthogonal UWB segment signals.

[0052] It can be seen that any second initiating device can further transmit N second orthogonal UWB segment signals according to the orthogonal sequence index of the second initiating device and the time-frequency position information of the N UWB segment signal groups separately, and obtain third delay information and the orthogonal sequence index of each second responding device. Sequence Index and can separately receive a plurality of third orthogonal UWB segment signals based on the third orthogonal UWB segment signals. Specifically, any second starting device can perform ranging by transmitting the second orthogonal UWB segment signals and receiving the third orthogonal UWB segment signals.

[0053] In another optional implementation, the polling frame further includes fourth delay information for each second response device to transmit a data frame to the second initiating device. Thus, the first initiating device can further receive a plurality of data frames based on the fourth delay information for each second response device to transmit a data frame to the second initiating device. Each of the plurality of data frames includes a time when the first response device receives the plurality of second orthogonal UWB segment signals and a time when the first response device transmits the plurality of third orthogonal UWB segment signals. The first response device is any one of the M second response devices.

[0054] It can be seen that any second initiating device can further separately receive the orthogonal UWB segment signal reception times and transmission times reported by the multiple second responding devices based on the fourth delay information for each responding device, so that each second initiating device can perform ranging to the multiple second responding devices that have reported their reception times and transmission times based on the orthogonal UWB segment signal reception times and transmission times.

[0055] According to a seventh aspect, the present application further provides a signal transmission method. The signal transmission method in this aspect corresponds to the signal transmission method in the fifth and sixth aspects. The signal transmission method in this aspect is described from the perspective of a first response device. In this method, the first response device receives a polling frame, and the polling frame includes time-frequency location information of N ultra-wideband (UWB) segment signal groups and first delay information for each of M second response devices to reply to the control device in a response frame. The first response device is any one of the M second response devices. N and X are integers equal to or greater than 2. The first response device transmits a response frame based on a timestamp of the polling frame and the first delay information for the first response device to reply to the control device in the response frame.

[0056] It can be seen that in this embodiment of the present application, the polling frame received by any second response device includes first delay information for the second response device to reply to the control device in a response frame, so that any second response device can reply to the control device in a response frame at different times, thereby helping multiple second response devices participate in the same ranging round and helping to improve ranging efficiency.

[0057] In one optional implementation, the polling frame further includes an orthogonal sequence index of each of the X second initiating devices, an orthogonal sequence index of each of the second responding devices, and the same third delay information for all the second responding devices to reply to the first UWB segment signal from the first initiating device, where X is an integer equal to or greater than 1. Thus, the second responding device can further separately receive the multiple second orthogonal UWB segment signals based on the time-frequency location information of the N UWB segment signal groups and the orthogonal sequence indexes of the X second initiating devices. The first responding device can receive the third delay information and the orthogonal sequence indexes of the first responding devices. Sequence Indexand separately transmit a plurality of third orthogonal UWB segment signals based on the third orthogonal UWB segment signals.

[0058] In one optional implementation, the polling frame further includes fourth delay information for each second responding device to transmit a data frame to the second initiating device. Thus, the first responding device can further transmit a data frame based on the fourth delay information for the first responding device to transmit a data frame to the second initiating device. The data frame includes a time when the first responding device receives the plurality of second orthogonal UWB segment signals and a time when the first responding device transmits the plurality of third orthogonal UWB segment signals.

[0059] According to an eighth aspect, the application further provides a signal transmission method, in which a control device transmits a polling frame, the polling frame including time-frequency location information of N ultra-wideband (UWB) segment signal groups, a first response time at which X second initiating devices reply to the control device in a response frame, a subcarrier set for all of the X second initiating devices to reply to the control device in a response frame, a second response time at which M second responding devices reply to the control device in a response frame, and a subcarrier set for all of the M second responding devices to reply to the control device in a response frame, where N, M, and X are integers equal to or greater than 2. The control device receives a second response frame based on the same second response time at which the M second responding devices reply to the control device in a response frame and the subcarrier set for all of the second responding devices to reply to the control device in a response frame, the second response frame including a plurality of second response signals. The control device receives a first response frame based on the same first response time at which the X second initiating devices reply to the control device in the response frame and a subcarrier set for all the second initiating devices to reply to the control device in the response frame, and the first response frame includes a plurality of first response signals.

[0060] It can be seen that in this embodiment of the application, the control device transmits a polling frame, and through the polling frame, configures a first response time for X second initiating devices to reply to the control device with a response frame, and a subcarrier set for all of the X second initiating devices to reply to the control device with a response frame, and a second response time for M second responding devices to reply to the control device with a response frame, and a subcarrier set for all of the M second responding devices to reply to the control device with a response frame. Thus, a plurality of second initiating devices among the X second initiating devices can reply to the control device with a first response signal at the first response time, and a plurality of second responding devices among the M second responding devices can reply to the control device with a second response signal at the second response time. The first response signals replied by the plurality of second initiating devices are orthogonal to each other, and the second response signals replied by the plurality of second responding devices are orthogonal to each other. Therefore, multiple second initiating devices that reply with a response frame and multiple second responding devices that reply with a response frame can participate in the same ranging round, thereby helping to implement ranging performed by multiple second initiating devices to multiple second responding devices, i.e., helping to improve ranging efficiency.

[0061] In one optional implementation, the polling frame further includes an orthogonal sequence index for each second initiating device, an orthogonal sequence index for each of the M second responding devices, and identical third delay information for all second responding devices to reply to the first UWB segment signal from the first initiating device.

[0062] In another optional implementation, the polling frame further includes a data frame time during which the M second responding devices transmit data frames to the second initiating device, and a subcarrier set for all of the M second responding devices to transmit data frames to the second initiating device. Thus, different second responding devices can transmit data signals to the second initiating device on different subcarrier sets during the same data frame time, and multiple data signals from the data frame, each data signal including a time difference between receiving and transmitting a UWB segment signal for the first responding device, such that any second initiating device can perform ranging to multiple second responding devices based on the time carried in each data signal.

[0063] According to a ninth aspect, the present application further provides a signal transmission method. The signal transmission method in this aspect corresponds to the signal transmission method in the eighth aspect. The signal transmission method in this aspect is described from the perspective of a first initiating device. In this method, the first initiating device receives a polling frame, the polling frame including time-frequency location information of N ultra-wideband (UWB) segment signal groups, the same first response time for X second initiating devices to reply to the control device in the response frame, and a subcarrier set for all of the X second initiating devices to reply to the control device in the response frame, and the first initiating device is any one of the X second initiating devices. N and X are integers equal to or greater than 2. The second initiating device transmits a first response signal based on the first response time and the subcarrier set for the first initiating device to reply to the control device in the response frame.

[0064] It can be seen that in this embodiment of the present application, the polling frame received by any second initiating device includes a time and subcarrier set for the second initiating device to reply to the control device with a first response signal, so that multiple second initiating devices can participate in the same ranging round, thereby helping to perform ranging for multiple second initiating devices and helping to improve ranging efficiency.

[0065] In one optional implementation, the polling frame further includes an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each of the M second responding devices, and the same third delay information for all the second responding devices to reply to the first UWB segment signal from the second initiating device, where M is an integer equal to or greater than 2. Thus, the first initiating device can further transmit N second orthogonal UWB segment signals separately based on the time-frequency location information of the N first UWB segment signal groups and the orthogonal sequence index of the first initiating device. The first initiating device can transmit the third delay information and the orthogonal sequence index of each of the second responding devices. Sequence Index and separately receiving a plurality of third orthogonal UWB segment signals based on the first and second orthogonal UWB segment signals.

[0066] In one optional implementation, the polling frame further includes the same data frame time during which all the second response devices transmit data frames to the first initiating device, and a subcarrier set for all the second response devices to transmit data frames to the first initiating device. Thus, the first initiating device can further receive a data frame based on the data frame time and the subcarrier set for all the second response devices to transmit data frames to the first initiating device. The data frame includes a plurality of data signals, each of which includes a time during which the first response device receives a plurality of second orthogonal UWB segment signals, and a time during which the first response device transmits a plurality of third orthogonal UWB segment signals. The first response device is any one of the M second response devices.

[0067] According to a tenth aspect, the present application further provides a signal transmission method. The signal transmission method in this aspect corresponds to the signal transmission method in the eighth and ninth aspects. The signal transmission method in this aspect is described from the perspective of a first response device. In this method, the first response device receives a polling frame, and the polling frame includes time-frequency location information of N ultra-wideband (UWB) segment signal groups, the same second response time for M second response devices to reply to the control device in the response frame, and a subcarrier set for all of the M second response devices to reply to the control device in the response frame. N and M are integers equal to or greater than 2. The first response device is any one of the M second response devices. The first response device transmits a second response signal based on the second response time and the subcarrier set for the first response device to reply to the control device in the response frame.

[0068] It can be seen that in this embodiment of the present application, the polling frame received by any second response device includes a time and subcarrier set for the second response device to reply to the control device with a second response signal, so that multiple second response devices can participate in the same ranging round, thereby helping to perform ranging for multiple second response devices and helping to improve ranging efficiency.

[0069] In one optional implementation, the polling frame further includes an orthogonal sequence index of each of the X second initiating devices, an orthogonal sequence index of each of the second responding devices, and the same third delay information for all the second responding devices to reply to the first UWB segment signal from the first initiating device. The first initiating device is any one of the X second initiating devices, where X is an integer equal to or greater than 2. Thus, the first responding device can further receive the second orthogonal UWB segment signals based on the time-frequency location information of the N UWB segment signal groups and the orthogonal sequence index of each of the second initiating devices. The first responding device transmits the third orthogonal UWB segment signals separately based on the third delay information and the orthogonal sequence index of the first responding device.

[0070] In another optional implementation, the polling frame further includes the same data frame time during which all the second responding devices transmit their data frames to the first initiating device, and a subcarrier set for all the second responding devices to transmit their data frames to the first initiating device. Thus, the first responding device can further transmit a data signal based on the data frame time and the subcarrier set for the first responding device to transmit its data frames to the first initiating device, the data signal including a time during which the first responding device receives a plurality of second orthogonal UWB segment signals and a time during which the first responding device transmits a plurality of third orthogonal UWB segment signals.

[0071] According to an eleventh aspect, the application further provides a communication device, the communication device having some or all of the functionality of implementing a first initiating device according to the first, third, sixth or ninth aspects, or having some or all of the functionality of implementing a first responding device according to the second, fourth, seventh or tenth aspects, or having some or all of the functionality of implementing a control device according to the fifth or eighth aspects. For example, the functionality of the communication device may include some or all of the functionality of the first initiating device according to the first aspect of the application, or may have the functionality of independently implementing any of the embodiments of the application. The functionality may be implemented using hardware or by using hardware executing corresponding software. The hardware or the software includes one or more units or modules corresponding to the aforementioned functions.

[0072] In one possible design, the communication device may include a processing unit and a communication unit. The processing unit is configured to support the communication device in performing corresponding functions in the aforementioned methods. The communication unit is configured to support communication between the communication device and other communication devices. The communication device may further include a storage unit. The storage unit is configured to be coupled to the processing unit and the communication unit and stores program instructions and data required for the communication device.

[0073] In one implementation, the communication apparatus includes a processing unit and a communication unit. The processing unit is configured to control the communication unit to receive and transmit data / signaling. The communication unit is configured to transmit a polling frame, the polling frame including time-frequency location information of N first ultra-wideband (UWB) segment signals and first delay information for each of M second responding devices to reply in the response frame to the first initiating device, where N and M are integers equal to or greater than 2. The communication unit is further configured to receive a plurality of response frames based on a timestamp of the polling frame and the first delay information for each second responding device to reply in the response frame to the first initiating device.

[0074] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the first aspect, and the details will not be described again here.

[0075] In another implementation, the communication apparatus includes a processing unit and a communication unit. The processing unit is configured to control the communication unit to receive and transmit data / signaling. The communication unit is configured to receive a polling frame, the polling frame having time-frequency location information of N first ultra-wideband (UWB) segment signals and first delay information for each of M second response devices to reply in the response frame to the first initiator device, where N and M are integers equal to or greater than 2, and the first response device is any one of the M second response devices. The communication unit is further configured to transmit the response frame to the first initiator device based on a timestamp of the polling frame and the first delay information for the first response device to reply in the response frame to the first initiator device.

[0076] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the second aspect, and the details will not be described again here.

[0077] In yet another implementation, the communication device includes a processing unit and a communication unit. The processing unit is configured to control the communication unit to receive and transmit data / signaling. The communication unit is configured to transmit a polling frame, the polling frame including time-frequency location information of N first ultra-wideband (UWB) segment signals, an identical response time for M second response devices to reply to the first initiating device in the response frame, and a subcarrier set for all M second response devices to reply to the first initiating device in the response frame, the narrowband signal transmitted at the response time includes multiple subcarriers, and N and M are integers equal to or greater than 2. The communication unit is further configured to receive a response frame based on the response time and the subcarrier set for all second response devices to reply to the first initiating device in the response frame, the response frame including multiple response signals.

[0078] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the third aspect, and the details will not be described again here.

[0079] In yet another implementation, the communication apparatus includes a processing unit and a communication unit. The processing unit is configured to control the communication unit to perform data / signaling reception and transmission. The communication unit is configured to receive a polling frame, the polling frame including time-frequency location information of N first ultra-wideband (UWB) segment signals, an identical response time for M second response devices to reply to the first initiator device in the response frame, and a subcarrier set for all of the first response devices among the M second response devices to reply to the first initiator device in the response frame, the narrowband signal transmitted at the response time includes a plurality of subcarriers, and N and M are integers equal to or greater than 2. The communication unit is further configured to transmit a response signal to the first initiator device based on the response time and the subcarrier set for the first response device to reply to the first initiator device in the response frame, the first response device being any one of the M second response devices.

[0080] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the fourth aspect, and the details will not be described again here.

[0081] In yet another implementation, the communication device includes a processing unit and a communication unit. The processing unit is configured to control the communication unit to receive and transmit data / signaling. The communication unit transmits a polling frame. The polling frame includes time-frequency location information of N ultra-wideband (UWB) segment signal groups, first delay information for each of M second response devices to reply to the control device with a response frame, and fifth delay information for each of X second initiation devices to reply to the control device with a response frame, where N, M, and X are integers equal to or greater than 2. The communication unit is further configured to receive a plurality of response frames based on the plurality of first delay information, the plurality of fifth delay information, and a timestamp of the polling frame.

[0082] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the fifth aspect, and the details will not be described again here.

[0083] In yet another implementation, the communication apparatus includes a processing unit and a communication unit. The processing unit is configured to control the communication unit to receive and transmit data / signaling. The communication unit is configured to receive a polling frame. The polling frame includes time-frequency location information of N ultra-wideband (UWB) segment signal groups and fifth delay information for each of X second initiating devices to reply in a response frame to the control device, and the first initiating device is any one of the X second initiating devices, where N and X are integers equal to or greater than 2. The communication unit is further configured to transmit the response frame based on a timestamp of the polling frame and the fifth delay information for the first initiating device to reply in the response frame to the control device.

[0084] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the sixth aspect, and the details will not be described again here.

[0085] In yet another implementation, the communication device includes a processing unit and a communication unit, the processing unit is configured to control the communication unit to receive and transmit data / signaling, and the communication unit is configured to receive a polling frame, the polling frame including time-frequency location information of N ultra-wideband (UWB) segment signal groups and first delay information for each of M second response devices to reply in the response frame to the control device, the first response device being any one of the M second response devices, and N and M is an integer equal to or greater than 2. The communication unit is further configured to send a response frame based on the timestamp of the polling frame and first delay information for the first response device to reply to the control device in the response frame.

[0086] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the seventh aspect, and the details will not be described again here.

[0087] In yet another implementation, the communication device includes a processing unit and a communication unit, the processing unit is configured to control the communication unit to receive and transmit data / signaling, and the communication unit is configured to transmit a polling frame, the polling frame including time-frequency location information of N ultra-wideband (UWB) segment signal groups, an identical second response time for M second responding devices to reply to the control device in the response frame, a subcarrier set for all of the M second responding devices to reply to the control device in the response frame, an identical first response time for X second initiating devices to reply to the control device in the response frame, and a subcarrier set for all of the X second initiating devices to reply to the control device in the response frame, where the narrowband signal transmitted at the response time includes a plurality of subcarriers, and N, M, and X are integers equal to or greater than 2.

[0088] The communication unit is further configured to receive a second response frame based on the same second response times at which the M second response devices reply to the control device in the response frame and a subcarrier set for all the second response devices to reply to the control device in the response frame, the second response frame including a plurality of second response signals. The communication unit is further configured to receive a first response frame based on the same first response times at which the X second initiating devices reply to the control device in the response frame and a subcarrier set for all the second initiating devices to reply to the control device in the response frame, the first response frame including a plurality of first response signals.

[0089] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the eighth aspect, and the details will not be described again here.

[0090] In yet another implementation, the communication apparatus includes a processing unit and a communication unit, the processing unit is configured to control the communication unit to receive and transmit data / signaling, and the communication unit is configured to receive a polling frame, the polling frame including time-frequency location information of N ultra-wideband (UWB) segment signal groups, an identical first response time for X second initiating devices to reply to the control device in the response frame, and a subcarrier set for all of the X second initiating devices to reply to the control device in the response frame, the first initiating device being any one of the X second initiating devices, where N and X are integers equal to or greater than 2.

[0091] The communication unit is further configured to transmit a first response signal based on the first response time and a subcarrier set for the first initiating device to reply to the control device in the response frame.

[0092] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the ninth aspect, and the details will not be described again here.

[0093] In yet another implementation, the communication apparatus includes a processing unit and a communication unit. The processing unit is configured to control the communication unit to receive and transmit data / signaling. The communication unit is configured to receive a polling frame. The polling frame includes time-frequency location information of N ultra-wideband (UWB) segment signal groups, an identical second response time for M second response devices to reply to the control device in the response frame, and a subcarrier set for all of the M second response devices to reply to the control device in the response frame, where N and M are integers equal to or greater than 2, and the first response device is any one of the M second response devices. The communication unit is further configured to transmit a second response signal based on the second response time and the subcarrier set for the first response device to reply to the control device in the response frame.

[0094] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the tenth aspect, and the details will not be described again here.

[0095] In one example, the communication unit may be a transceiver or a communication interface, the storage unit may be a memory, and the processing unit may be a processor.

[0096] In one implementation, the communication device includes a processor and a transceiver. The processor is configured to control the transceiver to receive and transmit data / signaling. The transceiver is configured to transmit a polling frame, the polling frame including time-frequency location information of N first ultra-wideband (UWB) segment signals and first delay information for each of M second responding devices to reply with a response frame to the first initiating device, where N and M are integers equal to or greater than 2. The transceiver is further configured to receive a plurality of response frames based on a timestamp of the polling frame and the first delay information for each second responding device to reply with a response frame to the first initiating device.

[0097] In addition, in this embodiment Ru For other optional implementations of the receiving device, please refer to the relevant contents of the first aspect, and the details will not be described again here.

[0098] In another implementation, the communication device includes a processor and a transceiver. The processor is configured to control the transceiver to receive and transmit data / signaling. The transceiver receives a polling frame, the polling frame having time-frequency location information of N first ultra-wideband (UWB) segment signals and first delay information for each of M second responding devices to reply with a response frame to the first initiating device, where N and M are integers equal to or greater than 2, and the first responding device is any one of the M second responding devices. The transceiver is further configured to transmit the response frame to the first initiating device based on a timestamp of the polling frame and the first delay information for the first responding device to reply with a response frame to the first initiating device.

[0099] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the second aspect, and the details will not be described again here.

[0100] In yet another implementation, the communication device includes a processor and a transceiver. The processor is configured to control the transceiver to receive and transmit data / signaling. The transceiver is configured to transmit a polling frame, the polling frame including time-frequency location information of N first ultra-wideband (UWB) segment signals, an identical response time for M second responding devices to reply to the first initiating device with the response frame, and a subcarrier set for all M second responding devices to reply to the first initiating device with the response frame, the narrowband signal transmitted at the response time includes a plurality of subcarriers, and N and M are integers equal to or greater than 2. The transceiver is further configured to receive a response frame based on the response time and the subcarrier set for all second responding devices to reply to the first initiating device with the response frame, the response frame including a plurality of response signals.

[0101] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the third aspect, and the details will not be described again here.

[0102] In yet another implementation, the communication device includes a processor and a transceiver. The processor is configured to control the transceiver to receive and transmit data / signaling. The transceiver is configured to receive a polling frame, the polling frame including time-frequency location information of N first ultra-wideband (UWB) segment signals, an identical response time for M second response devices to reply to the first initiator device in the response frame, and a subcarrier set for all of the first response devices among the M second response devices to reply to the first initiator device in the response frame, the narrowband signal transmitted at the response time includes a plurality of subcarriers, and N and M are integers equal to or greater than 2. The transceiver is further configured to transmit a response signal to the first initiator device based on the response time and the subcarrier set for the first response device to reply to the first initiator device in the response frame, the first response device being any one of the M second response devices.

[0103] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the fourth aspect, and the details will not be described again here.

[0104] In yet another implementation, the communication device includes a processor and a transceiver. The processor is configured to control the transceiver to receive and transmit data / signaling. The transceiver is configured to transmit a polling frame. The polling frame includes time-frequency location information of N ultra-wideband (UWB) segment signal groups, first delay information for each of M second responding devices to reply in a response frame to the control device, and fifth delay information for each of X second initiating devices to reply in a response frame to the control device, where N, M, and X are integers equal to or greater than 2. The transceiver is further configured to receive a plurality of response frames based on the plurality of first delay information, the plurality of fifth delay information, and a timestamp of the polling frame.

[0105] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the fifth aspect, and the details will not be described again here.

[0106] In yet another implementation, the communication apparatus includes a processor and a transceiver. The processor is configured to control the transceiver to receive and transmit data / signaling. The transceiver is configured to receive a polling frame, the polling frame including time-frequency location information of N ultra-wideband (UWB) segment signal groups and fifth delay information for each of X second initiating devices to reply in a response frame to the control device, and the first initiating device is any one of the X second initiating devices, where N and X are integers equal to or greater than 2. The transceiver is further configured to transmit the response frame based on a timestamp of the polling frame and the fifth delay information for the first initiating device to reply in the response frame to the control device.

[0107] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the sixth aspect, and the details will not be described again here.

[0108] In yet another implementation, the communication device includes a processor and a transceiver, the processor is configured to control the transceiver to receive and transmit data / signaling, the transceiver is configured to receive a polling frame, the polling frame including time-frequency location information of N ultra-wideband (UWB) segment signal groups and first delay information for each of M second response devices to reply in the response frame to the control device, the first response device being any one of the M second response devices, and N and M is an integer equal to or greater than 2. The transceiver is further configured to transmit a response frame based on a timestamp of the polling frame and first delay information for the first response device to reply to the control device in the response frame.

[0109] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the seventh aspect, and the details will not be described again here.

[0110] In yet another implementation, the communication apparatus includes a processor and a transceiver, the processor is configured to control the transceiver to receive and transmit data / signaling, and the transceiver is configured to transmit a polling frame, the polling frame including time-frequency location information of N ultra-wideband (UWB) segment signal groups, identical second response times for M second responding devices to reply to the control device in the response frames, a subcarrier set for all of the M second responding devices to reply to the control device in the response frames, identical first response times for X second initiating devices to reply to the control device in the response frames, and a subcarrier set for all of the X second initiating devices to reply to the control device in the response frames. ,Response The narrowband signal transmitted at the response time includes a plurality of subcarriers, where N, M, and X are integers greater than or equal to two.

[0111] The transceiver is further configured to receive a second response frame based on the same second response times at which the M second response devices reply to the control device in the response frame and a subcarrier set for all the second response devices to reply to the control device in the response frame, the second response frame including a plurality of second response signals. The transceiver is further configured to receive a first response frame based on the same first response times at which the X second initiating devices reply to the control device in the response frame and a subcarrier set for all the second initiating devices to reply to the control device in the response frame, the first response frame including a plurality of first response signals.

[0112] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the eighth aspect, and the details will not be described again here.

[0113] In yet another implementation, the communication device includes a processor and a transceiver. The processor is configured to control the transceiver to receive and transmit data / signaling. The transceiver is configured to receive a polling frame. The polling frame includes time-frequency location information of N ultra-wideband (UWB) segment signal groups, an identical first response time for X second initiating devices to reply to the control device in the response frame, and a subcarrier set for all of the X second initiating devices to reply to the control device in the response frame, where the first initiating device is any one of the X second initiating devices, and N and X are integers equal to or greater than 2. The transceiver is further configured to transmit a first response signal based on the first response time and the subcarrier set for the first initiating device to reply to the control device in the response frame.

[0114] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the ninth aspect, and the details will not be described again here.

[0115] In yet another implementation, the communication apparatus includes a processor and a transceiver. The processor is configured to control the transceiver to receive and transmit data / signaling. The transceiver is configured to receive a polling frame. The polling frame includes time-frequency location information of N ultra-wideband (UWB) segment signal groups, an identical second response time for M second response devices to reply to the control device in the response frame, and a subcarrier set for all of the M second response devices to reply to the control device in the response frame, where N and M are integers equal to or greater than 2, and the first response device is any one of the M second response devices. The transceiver is further configured to transmit a second response signal based on the second response time and the subcarrier set for the first response device to reply to the control device in the response frame.

[0116] Also, for other optional implementations of the communication device in this aspect, please refer to the relevant contents of the tenth aspect, and the details will not be described again here.

[0117] In another implementation, the communication device is a chip or a chip system. The processing unit may also be represented as a processing circuit or a logic circuit. communication A unit may be an input / output interface, an interface circuit, an output circuit, an input circuit, a pin, associated circuitry, or the like on a chip or on a chip system.

[0118] In the implementation process, the processor may be configured to perform, for example, but not limited to, baseband-related processing, and the transceiver may be configured to perform, for example, but not limited to, radio frequency reception and transmission. The above-mentioned components may be separately arranged on multiple chips independent of each other, or at least some or all of the components may be arranged on the same chip. For example, the processor may be further divided into an analog baseband processor and a digital baseband processor. The analog baseband processor and the transceiver may be integrated on the same chip, and the digital baseband processor may be arranged on an independent chip. With the continuous development of integrated circuit technology, more components may be integrated on the same chip. For example, a digital baseband processor and multiple application processors (for example, but not limited to, a graphics processing unit and a multimedia processor) may be integrated on the same chip. Such a chip may be called a System-on-a-Chip (SoC). Whether the components are separately arranged on different chips or integrated on one or more chips usually depends on the requirements of the product design. The implementation form of the above-mentioned components is not limited in the embodiments of this application.

[0119] According to a twelfth aspect, the application further provides a processor configured to perform the above-mentioned methods. In the processes of performing these methods, the processes of transmitting the above-mentioned information and receiving the above-mentioned information in the above-mentioned methods may be understood as the processes of outputting the above-mentioned information by the processor and receiving the above-mentioned input information by the processor. When outputting the above-mentioned information, the processor outputs the above-mentioned information to the transceiver, so that the transceiver transmits the information. After the above-mentioned information is output by the processor, other processing may need to be performed on the information before the information arrives at the transceiver. Similarly, in receiving the above-mentioned input information by the processor, the transceiver receives the above-mentioned information and inputs the above-mentioned information to the processor. Also, after the transceiver receives the above-mentioned information, other processing may need to be performed on the information before the information is input to the processor.

[0120] Based on the above principle, for example, transmitting a polling frame mentioned in the above method may be understood as outputting the polling frame by the processor.

[0121] Unless otherwise specified, or where operations such as transmitting and receiving related to a processor are not inconsistent with the actual functionality or internal logic of the operations in the relevant description, all operations may be more generally understood as operations such as output, reception, and input of a processor, rather than operations such as transmitting and receiving performed directly by radio frequency circuits and antennas.

[0122] In the implementation process, the processor may be a processor specially configured to execute these methods, or may be a processor, such as a general-purpose processor, that executes these methods by executing computer instructions in a memory. The memory may be a non-transitory memory, such as a Read-Only Memory (ROM). The memory and the processor may be integrated on the same chip, or may be separately located on different chips. The type of memory and the manner in which the memory and the processor are located are not limited in the embodiments of this application.

[0123] According to a thirteenth aspect, the present application further provides a communication system, the system including at least one first initiating device and at least two first responding devices according to the above aspects. In another possible design, the system may further include another device that interacts with the first initiating device and the first responding device in the solution provided in the present application.

[0124] According to a fourteenth aspect, the application provides a computer-readable storage medium configured to store instructions which, when executed by a computer, perform a method according to any of the first to tenth aspects.

[0125] According to a fifteenth aspect, the present application further provides a computer program product comprising instructions, which, when executed on a computer, perform a method according to any of the first to tenth aspects.

[0126] According to a sixteenth aspect, the present application provides a chip system, the chip system including a processor and an interface, the interface configured to receive a program or instruction, the processor configured to call the program or instruction and implement or support a second communication device in performing the functions of any of the first to tenth aspects, such as determining or processing at least one of the data and information in the above-mentioned method. In one possible design, the chip system further includes a memory. The memory is configured to store the program instructions and data required for the terminal. The chip system may include a chip or may include a chip and another discrete component. [Brief description of the drawings]

[0127] [Figure 1(a)] FIG. 1 is a diagram of a system architecture configuration according to one embodiment of the present application. [Figure 1(b)] FIG. 2 is a diagram of another system architecture configuration according to an embodiment of the present application. [Figure 2(a)] FIG. 2 is a diagram of a ranging procedure for one-sided two-way ranging according to one embodiment of the present application. [Figure 2(b)] FIG. 2 is a diagram of a ranging procedure for two-sided two-way ranging according to one embodiment of the present application. [Diagram 3] FIG. 2 is a diagram of a configuration of a UWB segment signal according to one embodiment of the present application. [Figure 4] FIG. 2 is a diagram of a ranging procedure for one-to-one ranging according to an embodiment of the present application. [Diagram 5] 1 is a schematic interaction flowchart of a signal transmission method according to an embodiment of the present application; [Figure 6] FIG. 2 is a diagram of a ranging procedure according to an embodiment of the present application. [Figure 7] FIG. 13 is a diagram of another ranging procedure according to an embodiment of the present application. [Figure 8]4 is a schematic interaction flowchart of another signal transmission method according to an embodiment of the present application. [Figure 9] FIG. 13 is a diagram of yet another ranging procedure according to an embodiment of the present application. [Figure 10] FIG. 13 is a diagram of yet another ranging procedure according to an embodiment of the present application. [Figure 11] 1 is a schematic interaction flowchart of yet another signal transmission method according to an embodiment of the present application. [Figure 12] FIG. 13 is a diagram of yet another ranging procedure according to an embodiment of the present application. [Figure 13A] 13A and 13B are schematic interaction flowcharts of yet another signal transmission method according to an embodiment of the present application. [Figure 13B] 13A and 13B are schematic interaction flowcharts of yet another signal transmission method according to an embodiment of the present application. [Figure 14] FIG. 13 is a diagram of yet another ranging procedure according to an embodiment of the present application. [Figure 15] FIG. 1 is a diagram of a configuration of a communication device according to one embodiment of the present application. [Figure 16] FIG. 2 is a diagram of another communication device configuration according to an embodiment of the present application. [Figure 17] FIG. 1 is a diagram of a chip configuration according to one embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0128] Hereinafter, the technical solutions in the embodiments of this application will be clearly and completely described with reference to the accompanying drawings in the embodiments of this application.

[0129] 1. System Architecture

[0130] In order to better understand the signal transmission method disclosed in the embodiments of this application, a system architecture to which the embodiments of this application are applicable will be described.

[0131] System architectures to which the embodiments of this application are applicable are shown in Figures 1(a) and 1(b). Both Figures 1(a) and 1(b) include full-function devices and reduced-function devices. Figure 1(a) shows a system architecture with a star topology, in which a central control node communicates data with one or more other nodes. Figure 1(b) shows a system configuration with a peer-to-peer topology, in which a central control node can communicate data with one or more other nodes, and different other nodes can also communicate data with each other.

[0132] In embodiments of this application, the nodes in Figures 1(a) and 1(b) include, but are not limited to, central control points, personal area networks (PANs), and PAN coordinators, such as communication servers, routers, switches, network bridges, computers, mobile phones, other network devices, and other terminal devices.

[0133] It may be understood that the wireless communication system in the embodiments of this application includes, but is not limited to, a narrowband internet of things (NB-IoT) system, a long term evolution (LTE) system, three application scenarios of a 5G mobile communication system, namely enhanced mobile broadband (eMBB), ultra-reliable low-latency communication (URLLC), and massive machine-type communications (mMTC), wireless fidelity (Wi-Fi) system, or a 5G and beyond mobile communication system.

[0134] The network device in the embodiments of this application is a device having a radio transceiver function and configured to communicate with a terminal device, and may be an evolved NodeB (eNB or eNodeB) in LTE, a base station in a 5G network, a base station in a future evolved public land mobile network (PLMN), a broadband network gateway (BNG), an aggregation switch, a non-3rd generation partnership project (3GPP) access device, or the like. Optionally, the network device in the embodiment of this application may include various forms of base stations, such as macro base stations, micro base stations (also called small cells), relay stations, access points, devices for implementing the functions of base stations in the future, access nodes in Wi-Fi systems, transmitting and receiving points (TRP), transmitting points (TP), mobile switching centers, and devices that function as base stations in communications such as device-to-device (D2D), vehicle-to-everything (V2X), and machine-to-machine (M2M). This is not particularly limited in the embodiment of this application.

[0135] The terminal devices in the embodiments of this application may include various handheld devices, in-vehicle devices, wearable devices, or computing devices with wireless communication capabilities or other processing devices connected to a wireless modem. The terminal device may also be a user equipment (UE), an access terminal, a subscriber unit, a user agent, a cellular phone, a smartphone, a wireless data card, a personal digital assistant (PDA) computer, a tablet computer, a wireless modem, a handheld device, a laptop computer, a machine type communication (MTC) terminal, a communication device carried on a high altitude aircraft, a wearable device, an unmanned aerial vehicle, a robot, a terminal in device-to-device (D2D) communication, a terminal in vehicle-to-everything (V2X), a terminal device in virtual reality (VR), a terminal device in augmented reality (AR), a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical, a smart grid, a wireless terminal in self driving, a wireless terminal in remote medical ... It may refer to a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, a terminal device in a future communication network, or the like, without this being a limitation in this application.

[0136] To facilitate understanding of the embodiments disclosed in this application, the following two points are provided.

[0137] (1) In the embodiments disclosed in this application, a scenario of a 5G new radio (NR) network in a wireless communication network is used as an example for explanation. Note that the solutions in the embodiments disclosed in this application can also be applied to other wireless communication networks, and the corresponding names can also be replaced with the names of corresponding functions in other wireless communication networks.

[0138] (2) Any aspect, embodiment, or feature of this application is presented by describing a system that includes a number of devices, components, modules, etc., in the embodiments disclosed in this application. It should be recognized and understood that each system may include other devices, components, modules, etc., and / or may not include all of the devices, components, modules, etc., described with reference to the accompanying drawings, and a combination of these solutions may be used instead.

[0139] Ultra-wideband (UWB) technology is a wireless carrier communication technology. In this technology, data transmission is performed through non-sinusoidal narrow pulses at the nanosecond level so that a wide spectrum range is occupied. In ranging, the measurement or sensing accuracy is related to the signal bandwidth. A larger signal bandwidth indicates a higher accuracy of sensing or ranging. Therefore, it has been proposed to perform ranging using UWB solutions to increase the accuracy of ranging and sensing.

[0140] Currently, methods for performing ranging by one node to multiple nodes include single-sided two way ranging (SS-TWR) and double-sided two way ranging (DS-TWR). The procedure for performing SS-TWR ranging by one node to multiple nodes is shown in Fig. 2(a). An initiator broadcasts a UWB signal #a used for ranging. Responders 1 to n receive the UWB signal #a, and responders 1 to n reply to the UWB signal #a from the initiator through scheduling or contention, i.e., responders 1 to n reply to the initiator with UWB signals #1 to #n, respectively. The UWB signal replied by each responder carries the time when the responder received the UWB signal #a and the time when the responder replied with the UWB signal. For example, in the case of responder #1, the UWB signal #1 returned by responder #1 carries the time when responder #1 received UWB signal #a and the time when responder #1 transmitted UWB signal #1. Therefore, based on the receive and transmit times carried in the UWB signals returned by each responder and the UWB signal receive and transmit times for the initiator, the initiator can determine: initiator The time of flight (TOF) between the target and each responder may be calculated to complete ranging for multiple responders.

[0141] The procedure for performing DS-TWR ranging to multiple nodes by one node is shown in Fig. 2(b). It can be seen through comparison with Fig. 2(a) that the difference between the DS-TWR ranging procedure and the SS-TWR ranging procedure is that after receiving the UWB signal returned by each responder, the initiator broadcasts the UWB signal #a again, which carries the time when the initiator received the UWB signal returned by each responder and the time when the initiator transmitted the UWB signal #a. Thus, after receiving the UWB signal #a, each responder can calculate the TOF between the responder and the initiator based on the UWB signal receiving time and transmitting time for the responder. Therefore, not only the initiator can complete ranging to each responder, but also each responder can complete ranging to the initiator, that is, two-sided ranging is implemented.

[0142] However, since the bandwidth of the UWB system is excessively large, in order to suppress the interference caused by the operating UWB system to other narrowband devices, the Federal Communications Commission imposes strict limitations on the power spectral density of the UWB signal. In one aspect, the total energy of the UWB signal transmitted within 1 millisecond in a 500 MHz bandwidth is limited to 37 nJ, which reduces the coverage of the UWB signal. In other words, when ranging is performed by using the UWB signal shown in Figures 2(a) and 2(b), the coverage of the UWB signal is small. As a result, the signal-to-noise ratio of the UWB signal received at the receiving end is low, which further affects the ranging performance.

[0143] Therefore, in order to improve the instantaneous power of the transmitted signal, increase the coverage of the UWB signal, and increase the signal-to-noise ratio of the UWB signal received at the receiving end, it is proposed that the energy of the UWB signal is transmitted together in a shorter time. Based on this, in some scenarios where the transmission power needs to be increased, the transmitting end divides the UWB signal to be transmitted into multiple segments, and the time length of each UWB segment signal is less than 1 millisecond. For example, in FIG. 3, the divided UWB segment signal includes UWB segment signal 1, UWB segment signal 2, and UWB segment signal 3, and the transmitting end transmits only one of these UWB segment signals in each millisecond.

[0144] Currently, the procedure of performing ranging between one node and another node based on UWB segment signals is shown in Figure 4. When an initiator performs ranging to a responder, multiple ranging blocks are included, and one ranging block includes an active ranging round.

[0145] In an active ranging round, the initiator transmits a polling frame by using a narrowband signal, and the polling frame indicates the time-frequency location information of multiple UWB segment signals #1. When the responder receives the polling frame and decides to participate in the ranging round of the initiator, the responder replies to the initiator with a response frame, which carries the time-frequency location information for replying to the initiator with multiple UWB segment signals #2. The process of the initiator transmitting a polling frame and the responder replying with a response frame is the negotiation stage in the ranging round, that is, the initiator and the responder negotiate the time-frequency location information for transmitting multiple UWB segment signals #1 and the time-frequency location information for replying with multiple UWB segment signals #2. The initiator transmits multiple UWB segment signals #1 separately based on the time-frequency location information of multiple UWB segment signals #1. The responder receives the multiple UWB segment signals #1 separately based on the time-frequency location information of the multiple UWB segment signals #1. The responder returns the multiple UWB segment signals #2 separately based on the time-frequency location information of the multiple UWB segment signals #2. The initiator receives the multiple UWB segment signals #2 separately based on the time-frequency location information of the multiple UWB segment signals #2. Finally, the responder reports the time of receiving the multiple UWB segment signals #1 and the time of transmitting the multiple UWB segment signals #2 to the initiator through a data frame. Thus, the initiator calculates the TOF based on the time of transmitting the multiple UWB segment signals #1, the time of receiving the multiple UWB segment signals #2, the time the responder received the multiple UWB segment signals #1, and the time the responder transmitted the multiple UWB segment signals #2, and completes ranging for the responder.

[0146] However, in the above process in which the initiator uses UWB segment signals to perform one-to-one ranging to the responder, the initiator needs to complete ranging to the responder within several milliseconds, resulting in low ranging efficiency. If the initiator performs one-to-many ranging to multiple responders and the initiator still schedules all the responders one by one in the above method, the process of scheduling multiple responders is complicated, the ranging time is long, and the ranging efficiency is low.

[0147] In an embodiment of this application, the first starting device is any one of a plurality of second starting devices. Each of the plurality of second starting devices is a ranging round. Do The first responding device is an initiating device, and each second initiating device may initiate a ranging request to another device by transmitting a polling frame. The first responding device is any one of the plurality of second responding devices. Each of the plurality of second responding devices may receive the polling frame transmitted by the first initiating device. If the second responding device decides to participate in the ranging round of the first initiating device, the second responding device notifies the second responding device that the second responding device will participate in the ranging round of the first initiating device. Should I? To make the determination, it may reply to the first initiating device in a response frame.

[0148] 2. Signal transmission method 100

[0149] An embodiment of this application provides a signal transmission method 100. Figure 5 is a schematic interaction flowchart of the signal transmission method 100. The signal transmission method 100 is described in terms of the interaction between a first initiating device and a first responding device. The signal transmission method 100 includes, but is not limited to, the following steps:

[0150] S101: A first initiating device transmits a polling frame, the polling frame including time-frequency location information of N first ultra-wideband (UWB) segment signals and first delay information for each of M second responding devices to reply in the response frame to the first initiating device.

[0151] N and M are integers equal to or greater than 2. The N first UWB segment signals are N parts in the UWB signal used for ranging by the first initiating device, i.e., the first initiating device divides the UWB signal used for ranging into N first UWB segment signals. This approach can increase the temporal power of the transmitted signal, increase the coverage of the signal, and increase the signal-to-noise ratio of the signal received at the receiving end.

[0152] The time length of each of the N first UWB segment signals is less than 1 ms, and the time interval between each two first UWB segment signals is equal to or greater than 1 ms. The time length of each first UWB segment signal and the time interval between each two first UWB segment signals are not limited in the embodiment of this application. In this embodiment of this application, an example in which the time interval between each two first UWB segment signals is 1 ms is used for explanation. For example, the time-frequency position information of each of the N first ultra-wideband UWB segment signals is shown in FIG. 6, and the time interval between each two first UWB segment signals in FIG. 6 is 1 ms.

[0153] Moreover, the delay in the first delay information is a delay for the first initiating device to send a polling frame, i.e., a delay for the timestamp of the polling frame. Different second responding devices have different first delay information, i.e., the delays for all second responding devices to reply to the first initiating device with a response frame are different. Thus, all second responding devices reply to the first initiating device with a response frame after different delays from the time when the first device sends the polling frame. It can be seen that the first initiating device configures one first delay information for each second responding device for it to reply to the first initiating device with a response frame, so that all second responding devices can reply to the first initiating device with a response frame at different times and thereby participate in the ranging round of the first initiating device.

[0154] For example, the delay in the first delay information for the responding device #1 to reply with a response frame to the first initiating device is 5 μs, the delay in the first delay information for the responding device #2 to reply with a response frame to the first initiating device is 8 μs, and the time when the first initiating device transmits a polling frame is time #A. If both the responding device #1 and the responding device #2 decide to participate in the ranging initiated by the first initiating device, the responding device #1 will reply with a response frame to the first initiating device at a time 5 μs after time #A, and the responding device #2 will reply with a response frame to the first initiating device at a time 8 μs after time #A. Furthermore, both the responding device #1 and the responding device #2 will participate in the ranging round of the first initiating device.

[0155] The timestamp of the polling frame may be carried within the polling frame or may be distributed by the first initiating device to the M second responding devices by using other signaling, for example, the first initiating device informs the M second responding devices of the timestamp of the polling frame based on downlink control information (DCI).

[0156] The polling frame includes the time-frequency location information of the N first UWB segment signals, so as to broadcast the time-frequency location information of the N first UWB segment signals to the M second responding devices, which are used when the first initiating device performs ranging. Thus, each of the M second responding devices can subsequently receive the N first UWB segment signals based on the time-frequency location information of the N first UWB segment signals.

[0157] The polling frame includes first delay information for each of the M second response devices to reply in a response frame to the first initiating device, which indicates that the first initiating device initiates a ranging request for the M second response devices. Each of the M second response devices has one first delay information for replying in a response frame to the first initiating device, which indicates that the first initiating device schedules narrowband signals to the M second response devices in a time-division manner. Thus, all of the M second response devices can reply in a response frame to the first device at different times to participate in the ranging round of the first initiating device. This approach also helps the ranging performed by the first initiating device to be performed on multiple second response devices, i.e., helps improve ranging efficiency.

[0158] It can be understood that the first initiating device may transmit a polling frame to the M second responding devices in a broadcast manner to reduce signaling overhead.

[0159] In one optional implementation, the polling frame may further include second delay information for each of the M second response devices to reply to the first UWB segment signal from the first initiating device. The delay in the second delay information is a delay for all of the N first UWB segment signals. In other words, the first initiating device configures a delay for each second response device to reply to the N first UWB segment signals from the first initiating device. This approach helps all second response devices to reply to the first UWB segment signal at different times.

[0160] In another optional implementation, the polling frame further includes the same third delay information for the M second response devices to reply to the first UWB segment signal from the first initiation device, and an orthogonal sequence index for each second response device. The orthogonal sequence of each second response device is used by the second response device to generate an orthogonal UWB segment signal. In other words, the first initiation device configures the same delay information for the M second response devices to reply to the N first UWB segment signals, and different orthogonal sequence indexes for generating the orthogonal UWB segment signals by all the second response devices. In this way, all the second response devices can simultaneously reply to the first orthogonal UWB signal from the first initiation device, and the orthogonal UWB segment signal is determined based on the orthogonal sequence index of the second response device.

[0161] In this way, the first initiating device configures a polling frame so that all of the M second responding devices reply to the first orthogonal UWB segment signal at the same time, and therefore the first initiating device also receives the first orthogonal UWB segment signals replied by all the second responding devices at the same time. It can be seen that the first initiating device does not need to frequently receive the orthogonal UWB segment signals from the multiple second responding devices within each time interval of the first UWB segment signal, but only needs to receive the orthogonal UWB segment signals from the multiple second responding devices at a fixed time, thereby reducing the power consumption of the first initiating device.

[0162] Specifically, the first initiating device is in an active state when transmitting N first UWB segment signals and receiving a plurality of first orthogonal UWB segment signals. The first initiating device is in an idle state during an interval time of the N first UWB segment signals other than the time when transmitting the N first UWB segment signals and the time when receiving a plurality of first orthogonal UWB segment signals. It can be seen that this approach can significantly reduce the time when the first initiating device is in an active state and reduce the power consumption of the first initiating device.

[0163] In yet another optional implementation, the polling frame further includes fourth delay information for each second response device to transmit a data frame to the first initiating device. The delay in the fourth delay information is a delay relative to the last time interval of the N first UWB segment signal time intervals. The data frame includes a time difference between receiving and transmitting a UWB segment signal for the second response device. Specifically, the first initiating device configures a report time difference between receiving and transmitting a UWB segment signal for each second response device through the polling frame. Different second response devices have different fourth delay information, so that different second response devices transmit a data frame to the first initiating device at different times. This approach helps the first initiating device to obtain the time difference between receiving and transmitting a UWB segment signal for multiple second response devices, and further helps the first initiating device to calculate TOFs for multiple response devices and perform ranging for multiple response devices.

[0164] Optionally, the polling frame further includes addresses of M second responding devices. Thus, after receiving the polling frame, each second responding device determines whether it can participate in the ranging round of the first initiating device based on the address information in the polling frame.

[0165] It can be seen from the above that, in addition to the time-frequency location information of the N first UWB segment signals, the polling frame further includes one or more items in Table 1 below. [Table 1]

[0166] S102: A first responding device receives a polling frame.

[0167] S103: The first responding device sends a response frame to the first initiating device based on a timestamp of the polling frame and first delay information for the first responding device to reply in the response frame to the first initiating device.

[0168] The first response device is any one of the M second response devices. The response frame is a time-frequency response of the N first UWB segment signals in the polling frame. Location information If any of the M second response devices decides to participate in the ranging round of the first initiating device, the second response device can transmit a response frame to the first initiating device.

[0169] The polling frame received by any second responding device includes first delay information for the second responding device to reply in a response frame to the first initiating device. Thus, any second responding device can transmit a response frame to the first initiating device based on the delay in the first delay information for the second responding device and the timestamp of the polling frame. It can be understood that any second responding device determines the time at which the second responding device transmits the response frame based on the delay in the first delay information for the second responding device and the timestamp of the polling frame, and then transmits the response frame to the first initiating device at that time.

[0170] For example, as shown in Fig. 6, the second response device #1 determines the transmission time as time #1 based on the first delay information about the second response device #1 and the timestamp of the polling frame, and the second response device #M determines the transmission time as time #M based on the first delay information about the second response device #M and the timestamp of the polling frame. In this case, the second response device #1 transmits a response frame 1 to the first initiator device at time #1, and the second response device #M transmits a response frame M to the first initiator device at time #M.

[0171] Specifically, any of the M second response devices can send a response frame to the first initiating device based on the first delay information for the response device, and different second response devices send response frames to the first initiating device at different times. In other words, different response devices can send response frames to the first initiating device at different times to participate in the ranging round of the first initiating device. In this way, multiple second response devices can participate in the ranging round of the first initiating device, such that the first initiating device performs ranging on multiple second response devices.

[0172] S104: The first initiating device receives a plurality of response frames based on a timestamp of the polling frame and first delay information for each second responding device to reply in a response frame to the first initiating device.

[0173] Correspondingly, the first initiating device can determine the time at which each second responding device transmits a response frame based on the timestamp of the polling frame and the first delay information for each second responding device to reply to the first initiating device with a response frame, so that the first initiating device can receive response frames from multiple second responding devices at different times at which the response frames are received.

[0174] Based on the received response frame, the first initiating device can determine which of the M second response devices has decided to participate in the ranging round, and can then perform ranging by using the UWB segment signal returned by the second response device that transmitted the response frame.

[0175] S105: A first initiating device transmits the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals.

[0176] The first initiating device transmits N first UWB segment signals at different time-frequency positions of the N first UWB segment signals, respectively. For example, as shown in FIG. 6, the first initiating device transmits N first UWB segment signals at different time-frequency positions, respectively.

[0177] In one optional implementation, the first initiating device separately transmitting the N first UWB segment signals based on the time-frequency location information of the N first UWB segment signals includes the first initiating device separately transmitting the N first UWB segment signals based on the time-frequency location information of the N first UWB segment signals when the first timer does not expire and M response frames are received, or the first initiating device separately transmitting the N first UWB segment signals based on the time-frequency location information of the N first UWB segment signals when S response frames are received and the first timer expires, where the first timer is triggered when a polling frame is transmitted, and S is an integer greater than or equal to 1 and less than M.

[0178] It can be seen that the first initiating device starts a first timer when sending a polling frame. The time of the first timer is startThe first initiating device is self-defined by the device. When the first timer does not expire and the response frames returned by all of the M second response devices are received, the first initiating device transmits N first UWB segment signals separately based on the time-frequency location information of the N first UWB segment signals. When the response frames from some of the M second response devices are received and the first timer expires, the first initiating device no longer waits for replies from other second response devices, but transmits N first UWB segment signals separately based on the time-frequency location information of the N first UWB segment signals. This approach can avoid ranging failures caused by the first initiating device waiting forever for replies in response frames from the second response devices.

[0179] Optionally, when the first timer expires, the first initiating device does not receive a response frame returned by any of the second responding devices, i.e., S is equal to 0. Thus, the first initiating device retransmits the polling frame, i.e., rebroadcasts the polling frame to the M second responding devices, to re-request the M second responding devices to participate in the ranging round.

[0180] S106: A first responding device receives the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals.

[0181] The polling frame received by any second response device includes time-frequency location information of the N first UWB segment signals, so that any second response device can receive the N first UWB segment signals at different time-frequency locations based on the time-frequency location information of the N first UWB segment signals.

[0182] S107: First Response The devices separately transmit UWB segment signals to a first initiating device.

[0183] Optional Response device Each time the first initiating device receives a first UWB segment signal, the first initiating device sends an arbitrary response frame in reply to the first UWB segment signal from the first initiating device, i.e., sends a UWB segment signal to the first initiating device.

[0184] In one optional implementation, if the polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device, any second responding device separately transmits N second UWB segment signals to the first initiating device based on the second delay information for the second responding device to reply to the first UWB segment signal from the first initiating device.

[0185] In other words, each second response device can thus determine a time for transmitting the N second UWB segment signals to the first initiating device based on the second delay information for the second response device, and transmit the N second UWB segment signals separately to the first initiating device at the determined times. Every second response device has different second delay information. Thus, within each time interval of the first UWB segment signal, every second response device transmits the second UWB segment signals to the first initiating device at different times.

[0186] For example, as shown in FIG. 6, all second response devices transmit second UWB segment signals to the first initiating device at different times within each time interval of the first UWB segment signal, and each second response device transmits N second UWB segment signals separately.

[0187] In another optional implementation, when the polling frame further includes identical third delay information for the M second response devices to reply to the first UWB segment signal from the first initiating device and an orthogonal sequence index of each second response device, any second response device transmits N first orthogonal UWB segment signals separately to the first initiating device based on the third delay information, where the first orthogonal UWB segment signals are determined based on the orthogonal sequence index of the first response device.

[0188] Specifically, within each time interval of the first UWB segment signal, different second responding devices simultaneously transmit first orthogonal UWB segment signals to the first initiating device, i.e., multiple second responding devices simultaneously transmit first orthogonal UWB segment signals that are orthogonal in a code division manner. The time at which the first orthogonal UWB segment signal is transmitted within each time interval of the first UWB segment signal is determined based on the third delay information and the time at which the first UWB segment signal is transmitted within the time interval of the first UWB segment signal.

[0189] The first orthogonal UWB segment signal from each second response device is determined based on the orthogonal sequence index of the second response device. The implementation of each second response device generating the first orthogonal UWB segment signal based on the orthogonal sequence index is not limited in the embodiment of this application. For example, different first orthogonal UWB The segment signal may be realized based on M sequences of different parameters or repetition of M sequences of different parameters. The formula for generating the M sequences is as follows: d(n)=1-2x(m) (1) m=[n+43N ID ] mod L (2)

[0190] where 0≦n≦L, x(i+7)=[x(i+4)+x(i)] mod 2, L is the length of the M-sequence, and N IDis the orthogonal sequence index assigned in the polling frame, and the number of pulses of the first orthogonal UWB segment signal is ZL, where Z is a positive integer. Furthermore, [x(6) x(5) x(4) x(3) x(2) x(1) x(0)]=[1 1 1 0 1 1 0]. In this case, the first orthogonal UWB segment signal is obtained by encoding the M-sequence whose length is L by binary phase shift keying (BPSK) and performing the encoding with Z repetitions.

[0191] For example, as shown in FIG. 7, within each time interval of the first UWB segment signal, all second responding devices simultaneously transmit different first orthogonal UWB segment signals to the first initiating device, and each second responding device transmits N first orthogonal UWB segment signals separately.

[0192] Thus, within each time interval of the first UWB segment signal, different second responding devices simultaneously transmit different first orthogonal UWB segment signals to the first device, so that the first initiating device also simultaneously receives different first orthogonal UWB segment signals from the multiple second responding devices. Also, the first initiating device is in an active state when transmitting N first UWB segment signals and receiving the multiple first orthogonal UWB segment signals. The first initiating device is in an idle state during the interval times of the N first UWB segment signals other than the time when transmitting the N first UWB segment signals and the time when receiving the multiple first orthogonal UWB segment signals.

[0193] Compared with the above case where all the second responding devices transmit the second UWB segment signals at different times, the first initiating device does not need to receive the second UWB segment signals frequently. This method can reduce the active time of the first initiating device, thereby reducing the power consumption of the first initiating device.

[0194] Further, in this way, within each time interval of the first UWB segment signal, the number of turnarounds between the time for transmitting the first UWB signal by the first initiating device and the time for receiving the first orthogonal UWB segment signals returned by the multiple second responding devices by the first initiating device can be 1, thereby reducing the risk of occupying the turnaround time. Also, the idle time within each time interval of the first UWB segment signal is increased, and the idle time of the multiple second responding devices is reduced. S A second responding device may reply with a response frame at a different time during the idle time, thereby participating in ranging of the first initiating device. number can be increased, and the ranging efficiency can be improved.

[0195] S108: First start A device receives the multiple UWB segment signals separately.

[0196] Correspondingly, when the polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device, the first initiating device receives the multiple second UWB segment signals separately based on the second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device.

[0197] Optionally, when the polling frame further includes identical third delay information for the M second response devices to respond to the first UWB segment signals from the first initiating device and an orthogonal sequence index of each second response device, the first initiating device receives the multiple first orthogonal UWB segment signals separately based on the third delay information and the orthogonal sequence index of each second response device.

[0198] It can be understood that the implementation of the first initiating device receiving multiple UWB segment signals separately is similar to the implementation of each second responding device transmitting UWB segment signals separately.For details, please refer to the above-mentioned implementation of each second responding device transmitting UWB segment signals separately.The details will not be described again.

[0199] In one optional implementation, the polling frame may further include fourth delay information for each second responding device to transmit a data frame to the first initiating device. Thus, the first responding device can transmit a data frame to the first initiating device based on the fourth delay information for the first responding device to transmit a data frame to the first initiating device, the data frame including a time for the first responding device to receive the N first UWB segment signals and a time for transmitting the N second UWB segment signals or the N first orthogonal UWB segment signals.

[0200] Specifically, any second response device can further determine a time for transmitting a data frame to the first initiating device based on the fourth delay information for the second response device, so that the second response device transmits a data frame to the first initiating device at the determined time, and reports to the first initiating device a time difference between receiving and transmitting a UWB segment signal for the second response device. And the first initiating device performs ranging based on the time difference between receiving and transmitting a UWB segment signal.

[0201] Therefore, the first initiating device can receive multiple data frames based on fourth delay information for each second responding device to transmit a data frame to the first initiating device, obtain from the multiple data frames a time difference between receiving and transmitting a UWB segment signal for the multiple second responding devices, and further perform ranging for the multiple second responding devices.

[0202] For example, as shown in Figures 6 and 7, different second responding devices transmit data frames to the first initiating device at different times determined based on the fourth delay information, and the M second responding devices transmit a total of M data frames to the first initiating device, and the first initiating device receives the multiple data frames at different times.

[0203] In this embodiment of the application, the time when each second response device transmits a UWB segment signal and the time when the first initiation device transmits a first UWB segment signal need to be turned around, that is, the time when each second response device transmits a UWB segment signal alternates with the time when the first initiation device transmits a first UWB segment signal. For example, in Fig. 6 and Fig. 7, there is a turnaround time after the first initiation device completes transmitting the first UWB segment signal and before the first initiation device starts transmitting the first UWB segment signal. In this way, the first device can distinguish the time for transmitting the first UWB segment signal and the time for receiving UWB segment signals from multiple second response devices, thereby facilitating ranging based on these two times.

[0204] As can be understood, this embodiment of the application further includes a procedure for performing ranging to multiple response devices by multiple initiating devices, which is obtained based on the procedure for performing ranging to multiple response devices by one initiating device in Figures 6 and 7.

[0205] It can be seen that in this embodiment of the application, the polling frame sent by the first initiating device includes first delay information for each of the multiple second responding devices to reply to the first initiating device with a response frame, i.e. includes time-division scheduling for the multiple second responding devices. Thus, the response frames from the multiple second responding devices can be received at different times, and thus the multiple second responding devices participate in the ranging or sensing process initiated by the first initiating device. Furthermore, the first initiating device transmits N first UWB segment signals to initiate a ranging round. The multiple second responding devices reply to the first initiating device with UWB segment signals to participate in the ranging round of the first initiating device. This approach helps the first initiating device to perform ranging for the multiple second responders in a short time, and helps improve ranging efficiency.

[0206] 3. Signal transmission method 200

[0207] An embodiment of this application further provides a signal transmission method 200. Figure 8 is a schematic interaction flowchart of the signal transmission method 200. The signal transmission method 200 is described in terms of the interaction between a first initiating device and a first responding device. The signal transmission method 200 includes, but is not limited to, the following steps:

[0208] S201: A first initiating device transmits a polling frame, the polling frame including time-frequency location information of N first ultra-wideband (UWB) segment signals, an identical response time for M second responding devices to reply to the first initiating device with the response frame, and a subcarrier set for all of the M second responding devices to reply to the first initiating device with the response frame, and the narrowband signal transmitted at the response time includes multiple subcarriers.

[0209] N and M are integers of 2 or more.

[0210] For the N first UWB segment signals and the time-frequency position information of the N first UWB segment signals, please refer to the description in S101, and the details will not be described again.

[0211] It can be seen that the first initiating device configures, through a polling frame, the same response time for the M second responding devices to reply to the first initiating device with a response frame and a subcarrier set for all the second responding devices to reply to the first initiating device with a response frame. Specifically, the first initiating device performs narrowband scheduling for the M second responding devices in a frequency division manner, so that the M second responding devices can reply to the first initiating device with a response frame on different subcarrier sets at the same response time. That is, in this way, the M second responding devices can participate in the ranging round of the first initiating device in a frequency division manner, which helps the first initiating device to perform sensing or measurement on multiple second responding devices and improves ranging efficiency.

[0212] In this embodiment of the application, for other implementations of the polling frame, please refer to the description in S101, and the details will not be described again.

[0213] Referring to the implementation of the polling frame in S101, it can be seen that the polling frame may include the information in Table 2. [Table 2]

[0214] S202: A first responding device receives a polling frame.

[0215] S203: The first responding device sends a response signal based on the response time and a subcarrier set for the first responding device to reply to the first initiating device in a response frame.

[0216] Since the polling frame includes the response times of the M second response devices and the subcarrier sets for all the second response devices, any second response device can transmit a response signal to the first initiator device on the subcarrier set for the first response device at the response time when it decides to participate in ranging of the first initiator device. For example, as shown in FIG. 9, multiple second response devices transmit response signals to the first initiator device on different subcarrier sets at time #a, and the multiple response signals form a response frame.

[0217] S204: The first initiating device receives a response frame based on the response time and a subcarrier set for all second responding devices to reply to the first initiating device in the response frame, where the response frame includes a plurality of response signals.

[0218] Correspondingly, the first initiating device receives a response frame at the response time, the response frame including a response signal on a different subcarrier set, the response signal on the different subcarrier set coming from a different second responding device.

[0219] In this embodiment of the application, the first initiating device receives response signals from multiple second responding devices at the same response time. Compared with S104 in which the first initiating device receives response frames from different second responding devices at different times, in this implementation, when receiving the response frames, the first initiating device is in an active state only at the response time, so that the active time of the first initiating device can be reduced, thereby reducing the power consumption of the first initiating device.

[0220] S205: A first initiating device separately transmits the N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals.

[0221] S206: A first responding device receives the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals.

[0222] For the implementation of S205 and S206, please refer to the above implementation of S105 and S106, and the details will not be described again.

[0223] S207: The first responding device separately transmits a UWB segment signal to the first initiating device.

[0224] The UWB signal transmitted by any second responding device to the first initiating device is a reply signal to the first UWB segment signal transmitted by the first initiating device.

[0225] In one optional implementation, if the polling frame further includes second delay information for each second response device to reply to the first UWB segment signal from the first initiating device, the first response device separately transmits N second UWB segment signals to the first initiating device based on the second delay information for the first response device to reply to the first UWB segment signal from the first initiating device. For specific implementation, please refer to the description in S107.

[0226] For example, as shown in Fig. 9, after receiving the first UWB segment signal from the first initiating device within each time interval of the first UWB segment signal, all the second responding devices transmit second UWB segment signals to the first initiating device at different times based on the respective second delay information for the second responding devices, and each second responding device transmits a total of N second UWB segment signals separately.

[0227] In another implementation option, when the polling frame further includes the same third delay information for the M second response devices to respond to the first UWB segment signal from the first initiation device and the orthogonal sequence index of each second response device, the first response device transmits the first orthogonal UWB segment signal to the first initiation device according to the third delay information and the orthogonal sequence index of the first response device. For the specific implementation, please refer to the description in S107.

[0228] For example, as shown in Fig. 10, after receiving the first UWB segment signal within each time interval of the first UWB segment signal, all the second responding devices transmit a first orthogonal UWB segment signal determined based on the orthogonal sequence index of each second responding device at the same time determined based on the third delay information, and within the time interval of the N first UWB segment signals, each responding device transmits a total of N first orthogonal UWB segment signals to the first initiating device.

[0229] Furthermore, in this way, within each time interval of the first UWB segment signal, the number of turnarounds between the time for transmitting the first UWB signal by the first initiating device and the time for receiving the first orthogonal UWB segment signals returned by the multiple second responding devices by the first initiating device can be one, thereby reducing the risk of occupying the turnaround time. This enhances the robustness of the system. Also, the idle time within each time interval of the first UWB segment signal is increased, and the idle time for receiving the first orthogonal UWB segment signals returned by the multiple second responding devices is reduced. S It can reply with a response frame at different times during the idle time, thereby participating in the ranging of the first initiating device. Second response device The number of sensors can be increased, which in turn improves the efficiency of ranging.

[0230] S208: A first initiating device receives multiple UWB segment signals separately.

[0231] In one optional implementation, if the polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device, the first initiating device receives multiple second UWB segment signals based on the second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device.

[0232] In another optional implementation, when the polling frame further includes identical third delay information for M second response devices to respond to the first UWB segment signal from the first initiating device and an orthogonal sequence index of each second response device, the first initiating device receives multiple first orthogonal UWB segment signals based on the third delay information and the orthogonal sequence index of each second response device.

[0233] For detailed implementation of the first initiating device receiving multiple UWB segment signals separately, please refer to the description in S108, and the details will not be described again.

[0234] In yet another optional implementation, the polling frame further includes the same data frame time for all second response devices to transmit data frames to the first initiating device, and a subcarrier set for all second response devices to transmit data frames to the first initiating device. Thus, the first response device can further transmit a data signal based on the data frame time and the subcarrier set for the first response device to transmit a data frame to the first initiating device. The data signal includes a time difference between receiving the N first UWB segment signals at the first response device and transmitting the N second UWB segment signals at the first response device or transmitting the N first orthogonal UWB segment signals at the first response device.

[0235] Correspondingly, the first initiating device can receive data frames on different subcarrier sets at the data frame times, the data frames including data signals from multiple second responding devices. In this way, the first initiating device does not need to receive data frames from different second responding devices at different times, but only needs to receive data frames at one data frame time, thereby reducing the power consumption of the first initiating device.

[0236] It can be seen that this embodiment of the application further includes a procedure of performing ranging on multiple response devices by multiple initiating devices, which is obtained based on the procedure of performing ranging on multiple response devices by one initiating device in Figure 9 and Figure 10. It can be seen that in this embodiment of the application, the first initiating device configures, through a polling frame, the same response time for M second response devices to reply in a response frame and a subcarrier set for all second response devices to reply in a response frame, that is, configures frequency division scheduling for M second response devices. Thus, the M second response devices transmit response signals to the first initiating device on different subcarrier sets at the same response time. Therefore, some or all of the M second response devices can participate in the ranging round of the first initiating device, thereby improving ranging efficiency.

[0237] Signal transmission method 300

[0238] An embodiment of this application further provides a signal transmission method 300. Figure 11 is a schematic interaction flowchart of the signal transmission method 300. The signal transmission method 300 is described in terms of interactions between a control device, a first initiating device, and a first responding device. The signal transmission method 300 includes, but is not limited to, the following steps:

[0239] S301: A control device transmits a polling frame, the polling frame including time-frequency location information of N ultra-wideband (UWB) segment signal groups, first delay information for each of M second response devices to reply to the control device in a response frame, and fifth delay information for each of X second initiation devices to reply to the control device in a response frame.

[0240] N, M, and X are integers equal to or greater than 2. The control device may be an independent device or any one of the X second initiating devices. The UWB segment signal group includes a plurality of second orthogonal UWB segment signals. The delay in the first delay information and the delay in the fifth delay information are both delays relative to the timestamp of the polling frame.

[0241] It can be seen that the control device configures delay information for each of the M second responding devices and each of the X second initiating devices to transmit a response frame to the first initiating device through a polling frame to implement time-sharing scheduling for the M second responding devices and the X second initiating devices. In this way, multiple devices among the M second responding devices and multiple devices among the X second initiating devices can participate in the same ranging round, thereby helping to improve ranging efficiency.

[0242] In one optional implementation, the polling frame further includes an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each of the M second responding devices, and the same third delay information for all second responding devices to reply to the second orthogonal UWB segment signal from the first initiating device. Thus, any second initiating device can separately transmit N second orthogonal UWB segment signals based on the time-frequency location information of the N UWB segment signal groups and the orthogonal sequence index of the second initiating device. Thus, any second responding device receives multiple second orthogonal UWB segment signals based on the time-frequency location information of the N UWB segment signal groups and the orthogonal sequence index of each second initiating device.

[0243] Also, any second responding device can transmit N third orthogonal UWB segment signals based on the third delay information and the orthogonal sequence index of the second responding device, and therefore any second initiating device can receive multiple third orthogonal UWB segment signals based on the third delay information and the orthogonal sequence index of each second responding device.

[0244] In another optional implementation, the polling frame further includes fourth delay information for each second response device to transmit a data frame to the second initiation device, so that any second response device can transmit a data frame based on the fourth delay information for the second response device. The data frame includes the time at which the second response device receives the second orthogonal UWB segment signal and the time at which the second response device transmits the third orthogonal UWB segment signal. Correspondingly, any first initiation device participating in the ranging round can receive multiple data frames based on the fourth delay information for each second response device, and further perform ranging on multiple second response devices based on the time information carried in the data frames.

[0245] Optionally, the polling frame may further include addresses of M second responding devices and addresses of X second initiating devices to request devices containing address information to participate in the same ranging round.

[0246] S302: A first initiating device receives a polling frame.

[0247] S303: The first responding device receives the polling frame.

[0248] The order of performing S302 and S303 is not limited in the embodiment of this application. S302 may be performed after S303, or S303 may be performed after S302.

[0249] Any one of the X second initiating devices may receive the polling frame. Any one of the M second responding devices may receive the polling frame.

[0250] S304: The first initiating device sends a response frame to the control device based on the timestamp of the polling frame and fifth delay information for the first initiating device to reply to the control device in the response frame.

[0251] Any second initiating device transmits a response frame to the control device at a time determined based on a timestamp of the polling frame and the fifth delay information for that second initiating device, and different second initiating devices transmit the response frame to the control device at different times based on different fifth delay information.

[0252] For example, as shown in FIG. 12, the response frame sent by the second initiating device 1 is response frame i1, the response frame sent by the second initiating device X is ix, and the X second initiating devices send response frames at different times.

[0253] S305: The first response device sends a response frame to the control device based on the timestamp of the polling frame and first delay information for the first response device to reply to the control device in the response frame.

[0254] Any second responding device transmits a response frame to the control device at a time determined based on a timestamp of the polling frame and the first delay information for that second responding device, and different second responding devices transmit response frames to the control device at different times based on different first delay information.

[0255] For example, as shown in FIG. 12, the response frame sent by the second response device 1 is the response frame r1; M The response frame sent by rm and M A second responding device transmits a response frame at a different time.

[0256] The order of performing S304 and S305 is not limited in the embodiment of this application. S304 may be performed after S305, or S305 may be performed after S304.

[0257] S306: The control device receives a plurality of response frames based on the plurality of first delay information, the plurality of fifth delay information, and a timestamp of the polling frame.

[0258] Correspondingly, the control device can determine times at which the multiple second initiating devices transmit response frames based on the multiple fifth delay information and the timestamp of the polling frame, so that the control device can receive response frames from different second initiating devices at the determined different times. The control device can further determine times at which the multiple second responding devices transmit response frames based on the multiple first delay information and the timestamp of the polling frame, so that the control device receives response frames from different second responding devices at the determined different times.

[0259] S307: The first initiating device transmits N second orthogonal UWB segment signals separately.

[0260] In one optional implementation, the polling frame further includes an orthogonal sequence index of each second initiating device. Thus, any second initiating device can transmit N second orthogonal UWB segment signals based on the time-frequency location information of the N UWB segment signal groups and the orthogonal sequence index of the second initiating device. Specifically, each second initiating device that replies with the response frame can transmit second orthogonal UWB segment signals determined based on the orthogonal sequence of the second initiating device at N transmission times determined based on the time-frequency location information of the N UWB segment signal groups.

[0261] Thus, within each time interval of the UWB segment signal group, multiple second initiating devices simultaneously transmit different second orthogonal UWB segment signals, and each second orthogonal UWB segment signal is an orthogonal UWB segment signal determined by a corresponding second initiating device based on an orthogonal sequence index of the corresponding second initiating device. By multiple second initiating devices transmitting second orthogonal UWB segment signals at once within each time interval of the UWB segment signal group, the risk of occupying the turnaround time from reception to transmission of any second initiating device is reduced.

[0262] For example, as shown in Fig. 12, any one of the X second starting devices separately transmits N second orthogonal UWB segment signals at N times determined based on the time-frequency position information of the N UWB segment signal groups. The second orthogonal UWB segment signals transmitted by the multiple second starting devices are included in the position of each UWB segment signal group.

[0263] S308: A first responding device separately receives a plurality of second orthogonal UWB segment signals.

[0264] Correspondingly, any second responding device separately receives a plurality of second orthogonal UWB segment signals based on the orthogonal sequence index of each second initiating device at N times determined based on the time-frequency position information of the N UWB segment signal groups.

[0265] S309: The first responding device separately transmits a plurality of third orthogonal UWB segment signals.

[0266] In one optional implementation, the polling frame further includes an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each of the M second responding devices, and the same third delay information for all the second responding devices to respond to the second orthogonal UWB segment signal from the first initiating device. Thus, any second responding device can transmit a third orthogonal UWB segment signal determined based on the orthogonal sequence index of the second responding device at N times determined based on the third delay information. All the second responding devices reply to the first initiating device with different third orthogonal UWB segment signals at the same times determined based on the third delay information.

[0267] For example, as shown in FIG. 12, all of the different second responding devices simultaneously reply with a third orthogonal UWB segment signal.

[0268] In this manner, each second response device can be in an active state when receiving the second orthogonal UWB segment signal and when transmitting the third orthogonal UWB segment signal, and can be in an idle state at other times, thereby reducing the active time of each second response device and reducing the power consumption of each second response device.

[0269] S310: A first initiating device separately receives a plurality of third orthogonal UWB segment signals.

[0270] Correspondingly, any second initiating device receives different third orthogonal UWB segment signals from the multiple second responding devices at the same time determined based on the third delay information within each time interval of the UWB segment signal group.

[0271] In one optional implementation, the polling frame further includes fourth delay information for each second response device to transmit a data frame to the second initiating device. Thus, any second response device can transmit a data frame based on the fourth delay information for that second response device. The data frame includes a time at which the second response device receives the plurality of second orthogonal UWB segment signals and a time at which the second response device transmits the plurality of third orthogonal UWB segment signals. In other words, different second response devices transmit different data frames at different times determined based on different fourth delay information.

[0272] Correspondingly, any second initiating device can receive multiple data frames at different times determined based on multiple fourth delay information, obtain the times at which multiple second responding devices received multiple second orthogonal UWB segment signals and transmitted multiple third orthogonal UWB segment signals, and further perform ranging based on the obtained times.

[0273] For example, as shown in Fig. 12, M second responding devices separately transmit data frames at different times determined based on different fourth delay information. The data frames transmitted by the M second responding devices are data frame 1 to data frame M, respectively.

[0274] In this embodiment of the application, the control device transmits a polling frame, and through the polling frame configures the fifth delay information for each of the X second initiating devices to reply to the control device with a response frame and the first delay information for each of the M second responding devices to reply to the control device with a response frame, so that some or all of the X second initiating devices can reply to the control device with a response frame at different times, and some or all of the M second responding devices can reply to the control device with a response frame at different times. Thus, multiple second initiating devices that reply with a response frame and multiple second responding devices that reply with a response frame participate in the same ranging round, thereby helping to implement ranging performed by multiple second initiating devices to multiple second responding devices, i.e. helping to improve ranging efficiency.

[0275] 5. Signal transmission method 400

[0276] An embodiment of this application further provides a signal transmission method 400. Figures 13A and 13B are schematic interaction flowcharts of the signal transmission method 400. The signal transmission method 400 is also described in terms of interactions between a control device, a first initiating device, and a first responding device. The signal transmission method 400 includes, but is not limited to, the following steps:

[0277] S401: A control device transmits a polling frame, the polling frame including time-frequency location information of N ultra-wideband (UWB) segment signal groups, a first response time for X second initiating devices to reply to the control device in a response frame, a subcarrier set for all of the X second initiating devices to reply to the control device in a response frame, a second response time for M second responding devices to reply to the control device in a response frame, and a subcarrier set for all of the M second responding devices to reply to the control device in a response frame.

[0278] N, M, and X are integers equal to or greater than 2. The control device may be an independent device or any one of the X second initiating devices. The UWB segment signal group includes a plurality of second orthogonal UWB segment signals.

[0279] The polling frame includes a first response time at which the X second initiating devices reply to the control device with a response frame and a subcarrier set for all of the X second initiating devices to reply to the control device with a response frame, such that all of the X second initiating devices can reply to the control device with a first response signal on the different subcarrier set at the first response time. The polling frame includes a second response time at which the M second responding devices reply to the control device with a response frame and a subcarrier set for all of the M second responding devices to reply to the control device with a response frame, such that all of the M second responding devices can reply to the control device with a second response signal on the different subcarrier set at the second response time. signal In particular, the control device can implement frequency division scheduling for the M second responding devices and frequency division scheduling for the X second initiating devices. Thus, multiple devices among the M second responding devices and multiple devices among the X second initiating devices can participate in the same ranging round, thereby helping to improve ranging efficiency.

[0280] Also, all of the M second response devices reply to the control device with the second response signal at the same time, and all of the X second initiation devices also reply to the control device with the first response signal at the same time, and the control device receives the first response frame at the same time and the second response frame at the same time. This can reduce the active time of the control device, i.e., reduce the power consumption of the control device. Also, in this way, multiple groups of second response devices and multiple groups of second initiation devices can participate in the same ranging round, thereby implementing ranging performed by more second initiation devices to more second response devices, and further improving ranging efficiency.

[0281] For other implementations of the polling frame, please refer to the description in S301, and the details will not be described again.

[0282] S402: A first initiating device receives a polling frame.

[0283] S403: The first responding device receives a polling frame.

[0284] The order of performing S402 and S403 is not limited in the embodiment of this application. S402 may be performed after S403, or S403 may be performed after S402.

[0285] S404: The first initiating device sends a first response signal to the control device based on the first response time and a subcarrier set for the first initiating device to reply to the control device in the response frame.

[0286] Any second initiating device can transmit back to the control device a first response signal on the subcarrier set for that second initiating device at the first response time, and different second initiating devices transmit different first response signals to the control device on different subcarrier sets at the first response time.

[0287] For example, as shown in FIG. 14, a plurality of second initiating devices transmit different first response signals at a first response time, and the plurality of first response signals form a first response frame (response frame i), and a plurality of second response devices transmit different second response signals at a second response time, and the plurality of second response signals form a second response frame (response frame r).

[0288] S405: The first response device sends a second response signal to the control device based on the second response time and the subcarrier set for the first response device to reply to the control device in the response frame.

[0289] The order of performing S404 and S405 is not limited in the embodiment of this application. S404 may be performed after S405, or S405 may be performed after S404.

[0290] S406: The control device receives a first response frame based on the first response time and a subcarrier set for all second initiating devices to reply to the control device in the response frame, where the first response frame includes a plurality of first response signals.

[0291] S407: The control device receives a second response frame based on a second response time and a subcarrier set for all second response devices to reply to the control device in the response frame, where the second response frame includes a plurality of second response signals.

[0292] The order of performing S406 and S407 is not limited in the embodiment of this application. S406 may be performed after S407, or S407 may be performed after S406.

[0293] S408: The first initiating device transmits N second orthogonal UWB segment signals separately.

[0294] S409: A first response device separately receives a plurality of second orthogonal UWB segment signals.

[0295] S410: A first responding device separately transmits a plurality of third orthogonal UWB segment signals.

[0296] S411: A first initiating device separately receives a plurality of third orthogonal UWB segment signals.

[0297] For the implementation of S408 to S411, please refer to the above implementation of S307 to S310, and the details will not be described again.

[0298] In another optional implementation, the polling frame further includes a data frame time during which the M second responding devices transmit data frames to the second initiating device, and a subcarrier set for all of the M second responding devices to transmit data frames to the second initiating device. Thus, different second responding devices can transmit data signals to the second initiating device on different subcarrier sets during the same data frame time, with the multiple data signals forming a data frame.

[0299] Correspondingly, any second initiating device can receive a data frame at the data frame time, the data frame including a plurality of data signals, all of the data signals being carried on different subcarrier sets. Each data signal is associated with a first responding device. UWB This includes the time difference between receiving and transmitting the segment signals, so that any second initiating device can perform ranging based on the time carried in each data signal.

[0300] It can be seen that in this embodiment of the application, the control device transmits a polling frame, and configures, for X second initiating devices through the polling frame, a first response time for the X second initiating devices to reply to the control device with a response frame and a subcarrier set for all of the X second initiating devices to reply to the control device with a response frame, and configures, for M second responding devices through the polling frame, a second response time for the M second responding devices to reply to the control device with a response frame and a subcarrier set for all of the M second responding devices to reply to the control device with a response frame, so that a plurality of second initiating devices among the X second initiating devices can reply to the control device with a first response signal at the first response time, and a plurality of second responding devices among the M second responding devices can reply to the control device with a second response signal at the second response time. Thus, a plurality of second initiating devices that reply with a response frame and a plurality of second responding devices that reply with a response frame participate in the same ranging round. Also, multiple second initiating devices can perform ranging to multiple second responding devices, thereby improving ranging efficiency.

[0301] As can be understood, this embodiment of the application further includes a procedure for performing two-sided ranging to multiple response devices by multiple initiating devices, which is obtained based on the procedure for performing one-sided ranging to multiple response devices by multiple initiating devices in Figures 12 and 14.

[0302] It can be understood that in the above-mentioned signal transmission method 100, all the second response devices may also simultaneously transmit data signals to the first initiating device on different subcarrier sets, and each data signal includes the time when the second response device receives the first UWB segment signal and the time when the second response device transmits the second UWB segment signal or the first orthogonal UWB segment signal. In other words, the implementation of each second response device transmitting a data frame to the first initiating device in the signal transmission method 100 is not limited to the embodiment of this application.

[0303] Similarly, in the above-mentioned signal transmission method 200, all the second response devices may further transmit data frames to the first initiating device at different times. In other words, the implementation of the signal transmission method 200 in which each second response device transmits a data frame to the first initiating device is not limited in the embodiment of this application.

[0304] Similarly, the implementation in which each second responding device transmits a data frame to the first initiating device in the signal transmission method 300 and the signal transmission method 400 is not limited to the embodiments of this application.

[0305] It can be understood that in the above-mentioned signal transmission method 400, all second response devices and all second initiation devices can reply to the control device with response signals on different subcarrier sets at the same time, and a response frame is formed with multiple response signals. Optionally, some of the X second initiation devices and some of the M second response devices reply to the control device with response signals on different subcarrier sets at the same time, and other devices of the X second initiation devices and other devices of the M second response devices reply to the control device with response signals of different subcarrier sets at another same time. In other words, the frequency division scheduling scheme of the control device for the X second initiation devices and the M second response devices in the signal transmission method 400 is not limited in the embodiment of this application. Therefore, it helps support more second initiation devices and second response devices to participate in the same ranging round.

[0306] 6. Attire Place embodiment

[0307] To implement all the functions in the methods provided in the embodiments of this application, the control device, the first initiating device, or the first responding device may include a hardware structure and / or a software module to implement the above-mentioned functions in the form of a hardware structure, a software module, or a combination of a hardware structure and a software module. Whether the functions among the above-mentioned functions are implemented by a hardware structure, a software module, or a combination of a hardware structure and a software module depends on the specific application and design constraints of the technical solution.

[0308] As shown in FIG. 15, an embodiment of this application provides a communication device 1500. The communication device 1500 can be a component (e.g., an integrated circuit or chip) of a first initiating device, or a component (e.g., an integrated circuit or chip) of a first responding device, or a component (e.g., an integrated circuit or chip) of a control device. Alternatively, the communication device 1500 can be another communication unit configured to implement the method in the method embodiment of this application. The communication device 1500 can include a communication unit 1501 and a processing unit 1502. Optionally, the communication device 1500 can include a storage unit 1503.

[0309] In one possible design, one or more units in FIG. 15 can be implemented by one or more processors, one or more processors and memories, one or more processors and transceivers, or one or more processors, memories, and transceivers. This is not limited to the embodiments of this application. The processor, memory, and transceiver may be located separately or integrated.

[0310] The communication device 1500 has a function of implementing a first initiating device described in the embodiments of this application. Optionally, the communication device 1500 has a function of implementing a first responding device described in the embodiments of this application. Optionally, the communication device 1500 has a function of implementing a control device described in the embodiments of this application. For example, the communication device 1500 includes corresponding modules, units, or means for the first initiating device to execute steps related to the first initiating device described in the embodiments of this application. The functions, units, or means can be implemented by software or hardware, can be implemented by hardware executing corresponding software, or can be implemented by a combination of software and hardware. For details, please refer to the corresponding descriptions in the corresponding method embodiments above.

[0311] In one possible design, the communications device 1500 may include a processing unit 1502 and a communications unit 1501. The processing unit 1502 is configured to control the communications unit 1501 to perform reception and transmission of data / signaling.

[0312] In one implementation, the communication unit 1501 is configured to transmit a polling frame, the polling frame including time-frequency location information of the N first ultra-wideband (UWB) segment signals and first delay information for each of the M second responding devices to reply in the response frame to the first initiating device, where N and M are integers equal to or greater than 2. The communication unit 1501 is further configured to receive a plurality of response frames based on a timestamp of the polling frame and the first delay information for each of the second responding devices to reply in the response frame to the first initiating device.

[0313] In one optional implementation, the polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device. The communication unit 1501 is further configured to transmit the N first UWB segment signals separately based on the time-frequency location information of the N first UWB segment signals, and to receive the second UWB segment signals separately based on the second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device.

[0314] In one optional implementation, the polling frame further includes identical third delay information for the M second responding devices to reply to the first UWB segment signal from the first initiating device and an orthogonal sequence index of each second responding device. The communication unit 1501 is further configured to transmit the N first UWB segment signals separately by the first initiating device based on the time-frequency position information of the N first UWB segment signals, and receive the multiple first orthogonal UWB segment signals separately based on the third delay information and the orthogonal sequence index of each second responding device.

[0315] In one optional implementation, the communication device 1500 is in an active state when transmitting the N first UWB segment signals and receiving the first plurality of orthogonal UWB segment signals, and is in an idle state during interval times of the N first UWB segment signals other than the time for transmitting the N first UWB segment signals and the time for receiving the first plurality of orthogonal UWB segment signals.

[0316] In an optional implementation, the polling frame further includes fourth delay information for each second response device to transmit a data frame to the first initiating device. The communication unit 1501 is further configured to receive a plurality of data frames based on the fourth delay information for each second response device to transmit a data frame to the first initiating device, each of the plurality of data frames including a time difference between receiving the N first UWB segment signals at the first response device and transmitting the N second UWB segment signals at the first response device or transmitting the N first orthogonal UWB segment signals at the first response device, and the first response device is any one of the M second response devices.

[0317] In one optional implementation, the communication unit 1501 separately transmits N first UWB segment signals based on the time-frequency location information of the N first UWB segment signals, specifically, when the first timer does not expire and M response frames are received, the communication unit 1501 is used to separately transmit N first UWB segment signals based on the time-frequency location information of the N first UWB segment signals, or when S response frames are received and the first timer expires, the communication unit 1501 is used to separately transmit N first UWB segment signals based on the time-frequency location information of the N first UWB segment signals, the first timer is triggered when a polling frame is transmitted, and S is an integer greater than or equal to 1 and less than M.

[0318] This embodiment of the application and the above-mentioned method embodiment are based on the same concept and achieve the same technical effect. For the specific principle, please refer to the description of the above-mentioned embodiment. The details will not be described again.

[0319] In another possible design, the communication apparatus 1500 includes a processing unit 1502 and a communication unit 1501. The processing unit 1502 is configured to control the communication unit 1501 to perform data / signaling reception and transmission. The communication unit 1501 is configured to receive a polling frame. The polling frame includes time-frequency location information of the N first ultra-wideband (UWB) segment signals and first delay information for each of the M second response devices to reply in the response frame to the first initiator device, where N and M are integers equal to or greater than 2, and the first response device is any one of the M second response devices. The communication unit 1501 is further configured to transmit the response frame to the first initiator device based on a timestamp of the polling frame and the first delay information for the first response device to reply in the response frame to the first initiator device.

[0320] In one optional implementation, the polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device. The communication unit 1501 is further configured to receive the N first UWB segment signals separately based on the time-frequency location information of the N first UWB segment signals, and transmit the N second UWB segment signals separately to the first initiating device based on the second delay information for the first responding device to reply to the first UWB segment signal from the first initiating device.

[0321] In another optional implementation, the polling frame further includes the same third delay information for the M second response devices to reply to the first UWB segment signal from the first initiating device, and an orthogonal sequence index of each second response device. The communication unit 1501 is further configured to receive the N first UWB segment signals separately by the first response device based on the time-frequency position information of the N first UWB segment signals, and transmit the N first orthogonal UWB segment signals separately to the first initiating device based on the third delay information, the first orthogonal UWB segment signals being determined based on the orthogonal sequence index of the first response device.

[0322] In yet another optional implementation, the polling frame further includes fourth delay information for each second responding device to transmit a data frame to the first initiating device. The communication unit 1501 is further configured to transmit a data frame to the first initiating device based on the fourth delay information for the first responding device to transmit a data frame to the first initiating device, the data frame including a time difference between receiving the N first UWB segment signals at the first responding device and transmitting the N second UWB segment signals at the first responding device or transmitting the N first orthogonal UWB segment signals at the first responding device.

[0323] This embodiment of the application and the above-mentioned method embodiment are based on the same concept and achieve the same technical effect. For the specific principle, please refer to the description of the above-mentioned embodiment. The details will not be described again.

[0324] In yet another possible design, the communication apparatus 1500 includes a processing unit 1502 and a communication unit 1501. The processing unit 1502 is configured to control the communication unit 1501 to perform data / signaling reception and transmission. The communication unit 1501 is configured to transmit a polling frame, the polling frame including time-frequency location information of N first ultra-wideband (UWB) segment signals, an identical response time for M second response devices to reply to the first initiating device in the response frame, and a subcarrier set for all of the M second response devices to reply to the first initiating device in the response frame, where the narrowband signal transmitted at the response time includes multiple subcarriers, and N and M are integers equal to or greater than 2. The communication unit 1501 is further configured to receive a response frame based on the response time and the subcarrier set for all of the second response devices to reply to the first initiating device in the response frame, the response frame including multiple response signals. In one optional implementation, the polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device. The communication unit 1501 is further configured to transmit the N first UWB segment signals separately based on the time-frequency location information of the N first UWB segment signals, and to receive the second UWB segment signals separately based on the second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device.

[0325] In one optional implementation, the polling frame further includes identical third delay information for the M second response devices to reply to the first UWB segment signal from the first initiating device and an orthogonal sequence index of each second response device. The communication unit 1501 is further configured to transmit the N first UWB segment signals separately based on the time-frequency location information of the N first UWB segment signals, and receive the multiple first orthogonal UWB segment signals separately based on the third delay information and the orthogonal sequence index of each second response device.

[0326] In one optional implementation, the communication device 1500 is in an active state when transmitting the N first UWB segment signals and receiving the first plurality of orthogonal UWB segment signals. The communication device 1500 is in an active state when transmitting the N first UWB segment signals and receiving the first plurality of orthogonal UWB segment signals other than the time for transmitting the N first UWB segment signals and the time for receiving the first plurality of orthogonal UWB segment signals. 1. During the interval time of the UWB segment signal, it is in an idle state.

[0327] In one optional implementation, the polling frame further includes the same data frame time for all second response devices to transmit data frames to the first initiating device, and a subcarrier set for all second response devices to transmit data frames to the first initiating device. The communication unit 1501 is further configured to receive a data frame based on the data frame time and the subcarrier set for all second response devices to transmit data frames to the first initiating device, the data frame includes a plurality of data signals, each of the plurality of data signals includes a time difference between receiving the N first UWB segment signals at the first response device and transmitting the N second UWB segment signals at the first response device or transmitting the N first orthogonal UWB segment signals at the first response device, and the first response device is any one of the M second response devices.

[0328] This embodiment of the application and the above-mentioned method embodiment are based on the same concept and achieve the same technical effect. For the specific principle, please refer to the description of the above-mentioned embodiment. The details will not be described again.

[0329] In yet another possible design, the communication apparatus 1500 includes a processing unit 1502 and a communication unit 1501. The processing unit 1502 is configured to control the communication unit 1501 to receive and transmit data / signaling. The polling frame includes time-frequency location information of the N first ultra-wideband (UWB) segment signals, an identical response time for the M second response devices to reply to the first initiating device in the response frame, and a subcarrier set for all of the first response devices among the M second response devices to reply to the first initiating device in the response frame, where the narrowband signal transmitted at the response time includes multiple subcarriers, and N and M are integers equal to or greater than 2. The communication unit 1501 is further configured to transmit a response signal to the first initiating device based on the response time and the subcarrier set for the first response device to reply to the first initiating device in the response frame, where the first response device is any one of the M second response devices.

[0330] In one optional implementation, the polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device. The communication unit 1501 is further configured to receive, by the first responding device, the N first UWB segment signals separately based on the time-frequency location information of the N first UWB segment signals, and transmit, to the first initiating device, the N second UWB segment signals separately based on the second delay information for the first responding device to reply to the first UWB segment signal from the first initiating device.

[0331] In one optional implementation, the polling frame further includes the same third delay information for the M second response devices to reply to the first UWB segment signal from the first initiating device, and an orthogonal sequence index of each second response device. The communication unit 1501 is further configured to receive the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals, and transmit the N first orthogonal UWB segment signals separately to the first initiating device based on the third delay information, the first orthogonal UWB segment signals being determined based on the orthogonal sequence index of the first response device.

[0332] In one optional implementation, the polling frame further includes the same data frame time for all second response devices to transmit data frames to the first initiating device, and a subcarrier set for all second response devices to transmit data frames to the first initiating device. The communication unit 1501 is further configured to transmit a data signal to the first initiating device based on the data frame time and the subcarrier set for the first response device to transmit the data frame to the first initiating device, the data signal including a time difference between receiving the N first UWB segment signals at the first response device and transmitting the N second UWB segment signals at the first response device or transmitting the N first orthogonal UWB segment signals at the first response device.

[0333] This embodiment of the application and the above-mentioned method embodiment are based on the same concept and achieve the same technical effect. For the specific principle, please refer to the description of the above-mentioned embodiment. The details will not be described again.

[0334] In yet another possible design, the communications device 1500 includes a processing unit 1502 and a communications unit 1501. The processing unit 1502 is configured to control the communications unit 1501 to perform reception and transmission of data / signaling.

[0335] The communication unit 1501 is configured to transmit a polling frame, the polling frame including time-frequency location information of the N ultra-wideband (UWB) segment signal groups, first delay information for each of the M second responding devices to reply to the control device with a response frame, and fifth delay information for each of the X second initiating devices to reply to the control device with a response frame, where N, M, and X are integers equal to or greater than 2. The communication unit 1501 is further configured to receive a plurality of response frames based on the plurality of first delay information, the plurality of fifth delay information, and a timestamp of the polling frame.

[0336] In one optional implementation, the polling frame further includes an orthogonal sequence index for each second initiating device, an orthogonal sequence index for each of the M second responding devices, and identical third delay information for all second responding devices to reply to the first initiating device with a third orthogonal UWB segment signal.

[0337] In another optional implementation, the polling frame further includes fourth delay information for each second responding device to transmit a data frame to the second initiating device.

[0338] This embodiment of the application and the above-mentioned method embodiment are based on the same concept and achieve the same technical effect. For the specific principle, please refer to the description of the above-mentioned embodiment. The details will not be described again.

[0339] In yet another possible design, the communication apparatus 1500 includes a processing unit 1502 and a communication unit 1501. The processing unit 1502 is configured to control the communication unit 1501 to perform data / signaling reception and transmission. The communication unit 1501 is configured to receive a polling frame. The polling frame includes time-frequency location information of the N ultra-wideband (UWB) segment signal groups and fifth delay information for each of the X second initiating devices to reply in the response frame to the control device, where the first initiating device is any one of the X second initiating devices, and N and X are integers equal to or greater than 2. The communication unit 1501 is further configured to transmit the response frame based on a timestamp of the polling frame and the fifth delay information for the first initiating device to reply in the response frame to the control device.

[0340] In one optional implementation, the polling frame further includes an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each of the M second responding devices, and identical third delay information for all the second responding devices to reply to the first UWB segment signal from the first initiating device, where M is an integer equal to or greater than 2. The communication unit 1501 further transmits the N second orthogonal UWB segment signals separately based on the time-frequency location information of the N UWB segment signal groups and the orthogonal sequence index of the first initiating device, and transmits the third delay information and the orthogonal sequence index of each second responding device. Sequence Index and configured to separately receive a plurality of third orthogonal UWB segment signals based on the third orthogonal UWB segment signals.

[0341] In another optional implementation, the polling frame further includes fourth delay information for each second response device to transmit a data frame to the second initiating device. The communication unit 1501 is further configured to receive a plurality of data frames based on the fourth delay information for each second response device to transmit a data frame to the second initiating device, each of the plurality of data frames including a time when the first response device receives the plurality of second orthogonal UWB segment signals and a time when the first response device transmits the plurality of third orthogonal UWB segment signals, and the first response device is any one of the M second response devices.

[0342] This embodiment of the application and the above-mentioned method embodiment are based on the same concept and achieve the same technical effect. For the specific principle, please refer to the description of the above-mentioned embodiment. The details will not be described again.

[0343] In yet another possible design, the communication apparatus 1500 includes a processing unit 1502 and a communication unit 1501. The processing unit 1502 is configured to control the communication unit 1501 to receive and transmit data / signaling. The communication unit 1501 is configured to receive a polling frame, the polling frame including time-frequency location information of N ultra-wideband (UWB) segment signal groups and first delay information for each of M second response devices to reply in the response frame to the control device, where the first response device is any one of the M second response devices, and N and M are integers equal to or greater than 2. The communication unit 1501 is further configured to transmit the response frame based on a timestamp of the polling frame and the first delay information for the first response device to reply in the response frame to the control device.

[0344] In one optional implementation, the polling frame further includes an orthogonal sequence index of each of the X second initiating devices, an orthogonal sequence index of each of the second responding devices, and the same third delay information for all the second responding devices to reply to the first UWB segment signal from the first initiating device, where X is an integer equal to or greater than 2. The communication unit 1501 further receives the multiple second orthogonal UWB segment signals separately based on the time-frequency location information of the N UWB segment signal groups and the orthogonal sequence indexes of the X second initiating devices, and receives the third delay information and the orthogonal sequence indexes of the first responding devices. Sequence Index and configured to separately transmit a plurality of third orthogonal UWB segment signals based on the third orthogonal UWB segment signals.

[0345] In one optional implementation, the polling frame further includes fourth delay information for each second responding device to transmit a data frame to the second initiating device. The communication unit 1501 is further configured to transmit a data frame based on the fourth delay information for the first responding device to transmit a data frame to the second initiating device, the data frame including a time when the first responding device receives the plurality of second orthogonal UWB segment signals and a time when the first responding device transmits the plurality of third orthogonal UWB segment signals.

[0346] In yet another possible design, the communications apparatus 1500 includes a processing unit 1502 and a communications unit 1501. The processing unit 1502 is configured to control the communications unit 1501 to receive and transmit data / signaling. The communications unit 1501 is configured to transmit a polling frame. The polling frame includes time-frequency location information of N ultra-wideband (UWB) segment signal groups. The polling frame includes the time-frequency location information of the N ultra-wideband (UWB) segment signal groups, a first response time for the X second initiating devices to reply to the control device in a response frame, a subcarrier set for all of the X second initiating devices to reply to the control device in a response frame, a second response time for the M second responding devices to reply to the control device in a response frame, and a subcarrier set for all of the M second responding devices to reply to the control device in a response frame, where N, M, and X are integers equal to or greater than 1.

[0347] The communication unit 1501 is further configured to receive a second response frame based on an identical second response time at which the M second response devices reply to the control device in the response frame and a subcarrier set for all the second response devices to reply to the control device in the response frame, where the second response frame includes a plurality of second response signals, and to receive a first response frame based on an identical first response time at which the X second initiating devices reply to the control device in the response frame and a subcarrier set for all the second initiating devices to reply to the control device in the response frame, where the first response frame includes a plurality of first response signals.

[0348] In one optional implementation, the polling frame further includes an orthogonal sequence index for each second initiating device, an orthogonal sequence index for each of the M second responding devices, and identical third delay information for all second responding devices to reply to the first UWB segment signal from the first initiating device.

[0349] In another optional implementation, the polling frame further includes a data frame time during which the M second responding devices transmit data frames to the second initiating device, and a subcarrier set for all M second responding devices to transmit data frames to the second initiating device.

[0350] This embodiment of the application and the above-mentioned method embodiment are based on the same concept and achieve the same technical effect. For the specific principle, please refer to the description of the above-mentioned embodiment. The details will not be described again.

[0351] In yet another possible design, the communication apparatus 1500 includes a processing unit 1502 and a communication unit 1501. The processing unit 1502 is configured to control the communication unit 1501 to perform data / signaling reception and transmission. The communication unit 1501 is configured to receive a polling frame. The polling frame includes time-frequency location information of the N ultra-wideband (UWB) segment signal groups, an identical first response time for the X second initiating devices to reply to the control device in the response frame, and a subcarrier set for all of the X second initiating devices to reply to the control device in the response frame, where the first initiating device is any one of the X second initiating devices, and N and X are integers equal to or greater than 2. The communication unit 1501 is further configured to transmit a first response signal based on the first response time and the subcarrier set for the first initiating device to reply to the control device in the response frame.

[0352] In one optional implementation, the polling frame further includes an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each of the M second responding devices, and identical third delay information for all second responding devices to reply to the first UWB segment signal from the second initiating device, where M is an integer equal to or greater than 2. The communication unit 1501 further transmits the N second orthogonal UWB segment signals separately based on the time-frequency location information of the N first UWB segment signal groups and the orthogonal sequence index of the first initiating device, and transmits the third delay information and the orthogonal sequence index of each second responding device. Sequence Index and configured to separately receive a plurality of third orthogonal UWB segment signals based on the third orthogonal UWB segment signals.

[0353] In one optional implementation, the polling frame further includes the same data frame time for all second response devices to transmit data frames to the first initiating device, and a subcarrier set for all second response devices to transmit data frames to the first initiating device. The communication unit 1501 is further configured to receive a data frame based on the data frame time and the subcarrier set for all second response devices to transmit data frames to the first initiating device, the data frame including a plurality of data signals, each of the plurality of data signals including a time for the first response device to receive a plurality of second orthogonal UWB segment signals and a time for the first response device to transmit a plurality of third orthogonal UWB segment signals, and the first response device is any one of the M second response devices.

[0354] This embodiment of the application and the above-mentioned method embodiment are based on the same concept and achieve the same technical effect. For the specific principle, please refer to the description of the above-mentioned embodiment. The details will not be described again.

[0355] In yet another possible design, the communication apparatus 1500 includes a processing unit 1502 and a communication unit 1501. The processing unit 1502 is configured to control the communication unit 1501 to receive and transmit data / signaling. The communication unit 1501 is configured to receive a polling frame. The polling frame includes time-frequency location information of the N ultra-wideband (UWB) segment signal groups, an identical second response time for the M second response devices to reply to the control device in the response frame, and a subcarrier set for all of the M second response devices to reply to the control device in the response frame, where N and M are integers equal to or greater than 2, and the first response device is any one of the M second response devices. The communication unit 1501 is further configured to transmit a second response signal based on the second response time and the subcarrier set for the first response device to reply to the control device in the response frame.

[0356] In one optional implementation, the polling frame further includes an orthogonal sequence index of each of the X second initiating devices, an orthogonal sequence index of each of the second responding devices, and the same third delay information for all the second responding devices to reply to the first UWB segment signal from the first initiating device, where the first initiating device is any one of the X second initiating devices, and M is an integer equal to or greater than 2. The communication unit 1501 is further configured to receive a plurality of second orthogonal UWB segment signals based on the time-frequency position information of the N UWB segment signal groups and the orthogonal sequence index of each second initiating device, and separately transmit a plurality of third orthogonal UWB segment signals based on the third delay information and the orthogonal sequence index of the first responding device.

[0357] In another optional implementation, the polling frame further includes the same data frame time during which all the second responding devices transmit data frames to the first initiating device, and a subcarrier set for all the second responding devices to transmit data frames to the first initiating device. The communication unit 1501 is further configured to transmit a data signal based on the data frame time and the subcarrier set for the first responding device to transmit data frames to the first initiating device, the data signal including a time during which the first responding device receives a plurality of second orthogonal UWB segment signals, and a time during which the first responding device transmits a plurality of third orthogonal UWB segment signals.

[0358] This embodiment of the application and the above-mentioned method embodiment are based on the same concept and achieve the same technical effect. For the specific principle, please refer to the description of the above-mentioned embodiment. The details will not be described again.

[0359] An embodiment of this application further provides a communication device 1600. Figure 16 is a diagram of the configuration of the communication device 1600. The communication device 1600 can be a first initiating device, a first responding device, or a control device, or can be a chip, a chip system, a processor, etc. that supports the first initiating device, the first responding device, or the control device in implementing the above-mentioned method. The device can be configured to implement the method described in the above-mentioned method embodiment. For details, please refer to the description in the above-mentioned method embodiment.

[0360] The communication device 1600 may include one or more processors 1601. The processor 1601 may be a general-purpose processor, a special-purpose processor, or the like. For example, the processor may be a baseband processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or a central processing unit (CPU). The baseband processor may be configured to process communication protocols and communication data. The central processing unit may be configured to control the communication device (e.g., a base station, a baseband chip, a terminal, a terminal chip, a distributed unit (DU), or a central unit (CU)), execute software programs, and process data of the software programs.

[0361] Optionally, the communications device 1600 may include one or more memories 1602. The memories 1602 may store instructions 1604 that, when executed on the processor 1601, may enable the communications device 1600 to perform the methods described in the method embodiments above. Optionally, the memory 1602 may further store data. The processor 1601 and the memory 1602 may be located separately or integrated together.

[0362] The memory 1602 may include, but is not limited to, non-volatile memory, such as a hard disk drive (HDD) or solid-state drive (SSD), Random Access Memory (RAM), Erasable Programmable Read-Only Memory (EPROM), ROM, or Compact Disc Read-Only Memory (CD-ROM).

[0363] Optionally, the communication device 1600 may further include a transceiver 1605 and an antenna 1606. The transceiver 1605 may also be referred to as a transceiver unit, transceiver machine, or transceiver circuit, etc., and is configured to implement a transceiver function. The transceiver 1605 may include a receiver and a transmitter. The receiver may also be referred to as a receiving machine, or receiver circuit, etc., and is configured to implement a receiving function. The transmitter may also be referred to as a transmitting machine, or transmitter circuit, etc., and is configured to implement a transmitting function.

[0364] When the communication device 1600 is a first initiating device, the transceiver 1605 is configured to perform S101, S104, S105, and S108 in the signal transmission method 100, perform S201, S204, S205, and S208 in the signal transmission method 200, perform S302, S304, S307, and S310 in the signal transmission method 300, and perform S402, S404, S408, and S411 in the signal transmission method 400.

[0365] When the communication device 1600 is a first response device, the transceiver 1605 is configured to perform S102, S103, S106, and S107 in the signal transmission method 100, perform S202, S203, S206, and S207 in the signal transmission method 200, perform S303, S305, S308, and S309 in the signal transmission method 300, and perform S403, S405, S409, and S410 in the signal transmission method 400.

[0366] When the communication device 1600 is a control device, the transceiver 1605 receives a signal transmission It is configured to perform S301 and S306 in the method 300, and to perform S401, S406, and S407 in the signal transmission method 300.

[0367] In another possible design, the processor 1601 may include a transceiver configured to implement receiving and transmitting functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, the interface, or the interface circuit configured to implement the receiving and transmitting functions may be separate or integrated together. The transceiver circuit, the interface, or the interface circuit may be configured to read or write code / data, or the transceiver circuit, the interface, or the interface circuit may be configured to perform signal transmission or forwarding.

[0368] In yet another possible design, the processor 1601 may optionally store instructions 1603, which, when executed on the processor 1601, may cause the communications device 1600 to perform the methods described in the method embodiments above. The instructions 1603 may be fixed to the processor 1601, in which case the processor 1601 may be implemented using hardware.

[0369] In yet another possible design, the communication device 1600 may include circuitry that may implement the transmit, receive, or communicate functions in the method embodiments described above. The processor and transceiver described in the embodiments of this application may be implemented in an integrated circuit (IC), an analog IC, a radio frequency integrated circuit (RFIC), a mixed signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), or an electronic device, etc. The processor and transceiver may alternatively be implemented in various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (NMOS), or MOS-based semiconductor (Semiconductor). N-type metal oxide semiconductor ,NMOS), P-type metal oxide semiconductor ( P-type It may be fabricated by using metal oxide semiconductor (PMOS), bipolar junction transistor (BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), and gallium arsenide (GaAs).

[0370] The communication device described in the above embodiment can be a first communication device or a second communication device. However, the scope of the communication device described in the embodiment of this application is not limited thereto, and the configuration of the communication device may not be limited by FIG. 16. The communication device may be an independent device or a part of a larger device. For example, the communication device may: (1) A stand-alone integrated circuit (IC), chip, or chip system or subsystem; (2) a set having one or more ICs, which may alternatively include a storage component configured to store data and instructions; (3) ASICs such as modems (modulators); (4) A module that can be incorporated into other devices; (5) A receiver, terminal, intelligent terminal, cellular telephone, wireless device, handheld device, mobile unit, vehicle-mounted device, network device, cloud device, artificial intelligence device, or the like; or (6)Other It can be.

[0371] For a case where the communication device can be a chip or a chip system, please refer to the diagram of the chip configuration shown in Figure 17. The chip 1700 shown in Figure 17 includes a processor 1701 and an interface 1702. There may be one or more processors 1701 and there may be multiple interfaces 1702. The processor 1701 can be a logic circuit, and the interface 1702 can be an input / output interface, an input interface, or an output interface. The chip 1700 can further include a memory 1703.

[0372] In one design, when the chip is configured to implement the functionality of the first initiating device in the embodiment of this application, the details are as follows: The processor 1701 is configured to control the interface 1702 to output or receive.

[0373] The interface 1702 is configured to transmit a polling frame, the polling frame including time-frequency location information of the N first ultra-wideband (UWB) segment signals and first delay information for each of the M second responding devices to reply with a response frame to the first initiating device, where N and M are integers equal to or greater than 2. The interface 1702 is further configured to receive a plurality of response frames based on a timestamp of the polling frame and the first delay information for each second responding device to reply with a response frame to the first initiating device.

[0374] In another design, when the chip is configured to implement the function of the first response device in the embodiment of this application, the details are as follows: The interface 1702 is configured to receive a polling frame, which has time-frequency location information of N first ultra-wideband (UWB) segment signals and first delay information for each of M second response devices to reply in the response frame to the first initiator device, where N and M are integers equal to or greater than 2, and the first response device is any one of the M second response devices. The interface 1702 is further configured to send a response frame to the first initiator device based on a timestamp of the polling frame and the first delay information for the first response device to reply in the response frame to the first initiator device.

[0375] In yet another design, when the chip is configured to implement the functionality of the first initiating device in the embodiment of this application, the details are as follows.

[0376] The interface 1702 is configured to transmit a polling frame, the polling frame including time-frequency location information of the N first ultra-wideband (UWB) segment signals, an identical response time for the M second response devices to reply to the first initiating device with a response frame, and a subcarrier set for all of the M second response devices to reply to the first initiating device with a response frame, the narrowband signal transmitted at the response time includes a plurality of subcarriers, and N and M are integers equal to or greater than 2. The interface 1702 is further configured to receive a response frame based on the response time and the subcarrier set for all of the second response devices to reply to the first initiating device with a response frame, the response frame including a plurality of response signals.

[0377] In yet another design, when a chip is configured to implement the functionality of the first response device in the embodiment of this application, the details are as follows.

[0378] The interface 1702 is configured to receive a polling frame, the polling frame including time-frequency location information of the N first ultra-wideband (UWB) segment signals, the same response time for the M second response devices to reply to the first initiating device in the response frame, and a subcarrier set for all of the first response devices among the M second response devices to reply to the first initiating device in the response frame, the narrowband signal transmitted at the response time includes a plurality of subcarriers, and N and M are integers equal to or greater than 2. The interface 1702 is further configured to transmit a response signal to the first initiating device based on the response time and the subcarrier set for the first response device to reply to the first initiating device in the response frame, the first response device being any one of the M second response devices.

[0379] In another design, when a chip is configured to implement the functions of the control device in the embodiment of this application, the details are as follows.

[0380] The interface 1702 is configured to transmit a polling frame, the polling frame including time-frequency location information of the N ultra-wideband (UWB) segment signal groups, first delay information for each of the M second responding devices to reply in a response frame to the control device, and fifth delay information for each of the X second initiating devices to reply in a response frame to the control device, where N, M, and X are integers equal to or greater than 1. The interface 1702 is further configured to receive a plurality of response frames based on the plurality of first delay information, the plurality of fifth delay information, and a timestamp of the polling frame.

[0381] In yet another design, when the chip is configured to implement the functionality of the first initiating device in the embodiment of this application, the details are as follows.

[0382] The interface 1702 is configured to receive a polling frame, the polling frame including time-frequency location information of the N ultra-wideband (UWB) segment signal groups and fifth delay information for each of the X second initiating devices to reply in a response frame to the control device, where the first initiating device is any one of the X second initiating devices, and N and X are integers equal to or greater than 2. The interface 1702 is further configured to transmit a response frame based on a timestamp of the polling frame and the fifth delay information for the first initiating device to reply in the response frame to the control device.

[0383] In yet another design, when a chip is configured to implement the functionality of the first response device in the embodiment of this application, the details are as follows.

[0384] The interface 1702 is configured to receive a polling frame, the polling frame including time-frequency location information of N ultra-wideband (UWB) segment signal groups and first delay information for each of M second response devices to reply in the response frame to the control device, the first response device being any one of the M second response devices, and N and M is an integer equal to or greater than 2. The interface 1702 is further configured to transmit a response frame based on the timestamp of the polling frame and the first delay information for the first response device to reply in the response frame to the control device.

[0385] In yet another design, when a chip is configured to implement the functions of the control device in the embodiment of this application, the details are as follows.

[0386] The interface 1702 is configured to transmit a polling frame, the polling frame including time-frequency location information of N ultra-wideband (UWB) segment signal groups, the polling frame including the time-frequency location information of N ultra-wideband (UWB) segment signal groups, an identical second response time for M second response devices to reply to the control device with a response frame, a subcarrier set for all of M second response devices to reply to the control device with a response frame, an identical first response time for X second initiation devices to reply to the control device with a response frame, and a subcarrier set for all of X second initiation devices to reply to the control device with a response frame, the narrowband signal transmitted at the response time includes a plurality of subcarriers, and N, M, and X are integers equal to or greater than 2.

[0387] The interface 1702 is further configured to receive a second response frame based on the same second response time at which the M second response devices reply to the control device in the response frame and a subcarrier set for all of the second response devices to reply to the control device in the response frame, where the second response frame includes a plurality of second response signals, and to receive a first response frame based on the same first response time at which the X second initiating devices reply to the control device in the response frame and a subcarrier set for all of the second initiating devices to reply to the control device in the response frame, where the first response frame includes a plurality of first response signals.

[0388] In yet another design, when the chip is configured to implement the functionality of the first initiating device in the embodiment of this application, the details are as follows.

[0389] The interface 1702 is configured to receive a polling frame, the polling frame including time-frequency location information of the N ultra-wideband (UWB) segment signal groups, an identical first response time for the X second initiating devices to reply to the control device in the response frame, and a subcarrier set for all of the X second initiating devices to reply to the control device in the response frame, the first initiating device being any one of the X second initiating devices, where N and X are integers equal to or greater than 2. The interface 1702 further selects a second initiating device based on the first response time and the subcarrier set for the first initiating device to reply to the control device in the response frame. 1 The response signal is configured to transmit a response signal to the

[0390] In yet another design, when a chip is configured to implement the functionality of the first response device in the embodiment of this application, the details are as follows.

[0391] The interface 1702 is configured to receive a polling frame, the polling frame including time-frequency location information of the N ultra-wideband (UWB) segment signal groups, an identical second response time for the M second response devices to reply to the control device in the response frame, and a subcarrier set for all of the M second response devices to reply to the control device in the response frame, where N and M are integers equal to or greater than 2, and the first response device is any one of the M second response devices. The interface 1702 further selects a second response device based on the second response time and the subcarrier set for the first response device to reply to the control device in the response frame. 2 The response signal is configured to transmit a response signal to the

[0392] In the embodiment of this application, the communication device 1600 and the chip 1700 may further implement the communication device 1500. Those skilled in the art may further understand that various illustrative logical blocks and steps enumerated in the embodiment of this application may be implemented by using electronic hardware, computer software, or a combination thereof. Whether a function is implemented by using hardware or software depends on a specific application and the design requirements of the entire system. Those skilled in the art may implement the described functions using various methods for each specific application, and the implementation should not be considered to go beyond the scope of the embodiment of this application.

[0393] This embodiment of the present application and the method embodiments shown in the signal transmission method 100 to the signal transmission method 400 are based on the same concept and achieve the same technical effect. For the specific principle, please refer to the description of the embodiments shown in the signal transmission method 100 to the signal transmission method 400. The details will not be described again.

[0394] This application further provides a computer readable storage medium configured to store computer software instructions which, when executed by a communications device, perform the functions of any of the method embodiments described above.

[0395] The application further provides a computer program product configured to store computer software instructions which, when executed by a communications device, perform the functions of any of the method embodiments described above.

[0396] This application further provides a computer program, which when run on a computer performs the functions of any of the method embodiments described above.

[0397] The present application further provides a communication system, the system including at least one first initiating device and at least two first responding devices in the above-mentioned aspects. In another possible design, the system may further include another device that interacts with the first initiating device and the first responding device in the solution provided in the present application.

[0398] All or part of the above-described embodiments may be implemented by using software, hardware, firmware, or any combination thereof. When software is used to implement the embodiments, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the procedures or functions according to the embodiments of this application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or may be transmitted from a computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, server, or data center to another website, computer, server, or data center in a wired (e.g., coaxial cable, optical fiber, or digital subscriber line (DSL)) or wireless (e.g., infrared, radio wave, or microwave) manner. A computer readable storage medium may be any available medium accessible by a computer, or may be a data storage device that aggregates one or more available media, such as a server or a data center. The available media may be magnetic media (e.g., floppy disks, hard disks, or magnetic tapes), optical media (e.g., high density digital video discs (DVDs)), semiconductor media (e.g., SSDs), or the like.

[0399] The above description is merely a specific implementation of this application and is not intended to limit the scope of protection of this application. Any modifications or replacements that a person skilled in the art can easily think of within the technical scope disclosed in this application shall fall within the scope of protection of this application. Therefore, the scope of protection of this application shall be subject to the scope of protection of the claims.

Claims

1. 1. A signal transmission method, the method being applied to a first initiating device, the method comprising: Transmitting a polling frame, the polling frame having time-frequency location information of N first ultra-wideband (UWB) segment signals and first delay information for each of M second responding devices to reply in a response frame to the first initiating device, N and M being integers equal to or greater than 2; receiving a plurality of response frames based on a timestamp of the polling frame and the first delay information for each second responding device to reply to the first initiating device with the response frame; The method comprises:

2. The polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device, and the method further includes: separately transmitting the N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals; each second responding device separately receives a plurality of second UWB segment signals based on the second delay information for replying to the first UWB segment signal from the first initiating device; The method of claim 1 comprising:

3. The polling frame further includes the same third delay information for the M second response devices to reply to the first UWB segment signal from the first initiation device, and an orthogonal sequence index of each second response device, and the method further includes: separately transmitting the N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals; receiving a plurality of first orthogonal UWB segment signals separately based on the third delay information and the orthogonal sequence index of each second responding device; The method of claim 1 comprising:

4. the first initiator device is in an active state when transmitting the N first UWB segment signals and receiving the plurality of first orthogonal UWB segment signals; the first initiator device is in an idle state during an interval time of the N first UWB segment signals other than a time for transmitting the N first UWB segment signals and a time for receiving the plurality of first orthogonal UWB segment signals; The method according to claim 3.

5. The polling frame further includes fourth delay information for each second responding device to transmit a data frame to the first initiating device, and the method further includes: each second responding device receiving a plurality of data frames based on the fourth delay information for transmitting the data frames to the first initiating device; Having said that, Each of the plurality of data frames has a time difference between receiving the N first UWB segment signals at a first responding device and transmitting the N second UWB segment signals at the first responding device or transmitting the N first orthogonal UWB segment signals at the first responding device; the first response device is any one of the M second response devices; 5. The method according to any one of claims 2 to 4.

6. Separately transmitting the N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals includes: when a first timer does not expire and M response frames are received, transmitting the N first UWB segment signals separately based on the time-frequency location information of the N first UWB segment signals; or when the S response frames are received and a first timer expires, separately transmitting the N first UWB segment signals based on the time-frequency location information of the N first UWB segment signals; having the first timer is triggered when the polling frame is transmitted, and S is an integer greater than or equal to 1 and less than M; 6. The method according to any one of claims 2 to 5.

7. 1. A signal transmission method, the method being applied to a first responding device, the method comprising: receiving a polling frame, the polling frame having time-frequency location information of N first ultra-wideband (UWB) segment signals and first delay information for each of M second response devices to reply in a response frame to the first initiator device, N and M being integers equal to or greater than 2, the first response device being any one of the M second response devices; sending a response frame to the first initiator device based on a timestamp of the polling frame and the first delay information for the first responding device to reply to the first initiator device in the response frame; The method comprises:

8. The polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device, and the method further includes: receiving the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals; transmitting N second UWB segment signals separately to the first initiator device based on the second delay information for the first responding device to reply to the first UWB segment signal from the first initiator device; The method of claim 7 comprising:

9. The polling frame further includes the same third delay information for the M second response devices to reply to the first UWB segment signal from the first initiation device, and an orthogonal sequence index of each second response device, and the method further includes: receiving the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals; transmit N first orthogonal UWB segment signals separately to the first initiator device based on the third delay information, the first orthogonal UWB segment signals being determined based on the orthogonal sequence index of the first responder device; The method of claim 7 comprising:

10. The polling frame further includes fourth delay information for each second responding device to transmit a data frame to the first initiating device, and the method further includes: transmitting a data frame to the first initiating device based on the fourth delay information for the first responding device to transmit the data frame to the first initiating device; Having said that, The data frame has a time difference between receiving the N first UWB segment signals at a first responding device and transmitting the N second UWB segment signals at the first responding device or transmitting the N first orthogonal UWB segment signals at the first responding device.

10. The method according to claim 8 or 9.

11. 1. A signal transmission method, the method being applied to a first initiating device, the method comprising: Transmitting a polling frame, the polling frame having time-frequency location information of N first ultra-wideband (UWB) segment signals, an identical response time for M second response devices to reply to the first initiator device with a response frame, and a subcarrier set for all of the M second response devices to reply to the first initiator device with the response frame, the narrowband signal transmitted at the response time having a plurality of subcarriers, N and M being integers equal to or greater than 2; receiving the response frame based on the response time and the subcarrier set for all the second response devices to reply to the first initiating device in the response frame, the response frame having a plurality of response signals; The method comprises:

12. The polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device, and the method further includes: separately transmitting the N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals; each second responding device separately receives a plurality of second UWB segment signals based on the second delay information for replying to the first UWB segment signal from the first initiating device; The method of claim 11 comprising:

13. The polling frame further includes the same third delay information for the M second response devices to reply to the first UWB segment signal from the first initiation device, and an orthogonal sequence index of each second response device, and the method further includes: separately transmitting the N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals; receiving a plurality of first orthogonal UWB segment signals separately based on the third delay information and the orthogonal sequence index of each second responding device; The method of claim 11 comprising:

14. the first initiator device is in an active state when transmitting the N first UWB segment signals and receiving the plurality of first orthogonal UWB segment signals; the first initiator device is in an idle state during an interval time of the N first UWB segment signals other than a time for transmitting the N first UWB segment signals and a time for receiving the plurality of first orthogonal UWB segment signals; The method of claim 13.

15. The polling frame further includes a same data frame time for all second responding devices to transmit data frames to the first initiating device, and a subcarrier set for all second responding devices to transmit the data frames to the first initiating device, and the method further includes: receiving the data frame based on the data frame time and the subcarrier set for all the second responding devices to transmit the data frame to the first initiating device, the data frame having a plurality of data signals; Each of the plurality of data signals includes a time during which a first responding device receives the N first UWB segment signals and a time during which the first responding device transmits the N second UWB segment signals or the N first orthogonal UWB segment signals; the first response device is any one of the M second response devices; 15. The method according to any one of claims 12 to 14.

16. 1. A signal transmission method, the method being applied to a first responding device, the method comprising: receiving a polling frame, the polling frame having time-frequency location information of N first ultra-wideband (UWB) segment signals, an identical response time for M second response devices to reply to the first initiator device with a response frame, and a subcarrier set for all first response devices among the M second response devices to reply to the first initiator device with the response frame, the narrowband signal transmitted at the response time having a plurality of subcarriers, N and M being integers equal to or greater than 2; transmitting a response signal to the first initiating device based on the response time and a subcarrier set for the first responding device to reply to the first initiating device in the response frame; the first response device is any one of the M second response devices; method.

17. The polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device, and the method further includes: receiving the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals; transmitting N second UWB segment signals separately to the first initiator device based on the second delay information for the first responding device to reply to the first UWB segment signal from the first initiator device; 20. The method of claim 16, comprising:

18. The polling frame further includes the same third delay information for the M second response devices to reply to the first UWB segment signal from the first initiation device, and an orthogonal sequence index of each second response device, and the method further includes: receiving the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals; transmit N first orthogonal UWB segment signals separately to the first initiator device based on the third delay information, the first orthogonal UWB segment signals being determined based on the orthogonal sequence index of the first responder device; 20. The method of claim 16, comprising:

19. The polling frame further includes a same data frame time for all second responding devices to transmit data frames to the first initiating device, and a subcarrier set for all second responding devices to transmit the data frames to the first initiating device, and the method further includes: transmitting a data signal to the first initiator device based on the data frame time and the subcarrier set for the first responding device to transmit the data frame to the first initiator device; Having said that, The data signal includes a time when the first responding device receives the N first UWB segment signals and a time when the first responding device transmits the N second UWB segment signals or the N first orthogonal UWB segment signals.

19. The method according to claim 17 or 18.

20. 1. A signal transmission method, the method being applied to a first initiating device, the method comprising: Send a polling frame, Separately transmitting the N first UWB segment signals based on time-frequency position information of the N first UWB segment signals; each of the M second response devices separately receives a plurality of second UWB segment signals based on second delay information for returning the first UWB segment signal from the first initiation device; Having said that, N and M are integers of 2 or more; method.

21. 1. A signal transmission method, the method being applied to a first initiating device, the method comprising: Send a polling frame, Separately transmitting the N first UWB segment signals based on time-frequency position information of the N first UWB segment signals; receiving a plurality of first orthogonal UWB segment signals separately based on the same third delay information for M second response devices to reply to the first UWB segment signal from the first initiator device and an orthogonal sequence index of each of the M second response devices; Having said that, N and M are integers of 2 or more; method.

22. 21. The method of claim 20, wherein the polling frame comprises the time-frequency location information of the N first UWB segment signals and the second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device.

23. 22. The method of claim 21, wherein the polling frame comprises the time-frequency location information of the N first UWB segment signals, the same third delay information for the M second responding devices to reply to the first UWB segment signal from the first initiating device, and the orthogonal sequence index of each second responding device.

24. The polling frame includes first delay information for each second responding device to reply in a response frame to the first initiating device, and the method further includes: receiving a plurality of response frames based on a timestamp of the polling frame and the first delay information for each second responding device to reply to the first initiating device with the response frame; Having that, 24. A method according to any one of claims 20 to 23.

25. The polling frame has the same response time for the M second responding devices to reply to the first initiating device with a response frame, and a subcarrier set for all the second responding devices to reply to the first initiating device with the response frame, and a narrowband signal transmitted at the response time has a plurality of subcarriers, and the method further comprises: receiving the response frame based on the response time and the subcarrier set for all the second response devices to reply to the first initiating device in the response frame, the response frame having a plurality of response signals; Having that, 24. A method according to any one of claims 20 to 23.

26. 1. A signal transmission method, the method being applied to a first responding device, the method comprising: Receives a polling frame, Separately receiving the N first UWB segment signals based on time-frequency position information of the N first UWB segment signals; transmitting N second UWB segment signals separately to the first initiating device based on second delay information for the first responding device to reply to the first UWB segment signal from the first initiating device; Having said that, The first response device is any one of M second response devices, N and M being integers equal to or greater than 2; within each time interval of all of the N first UWB segment signals, different second response devices among the M second response devices transmit second UWB segment signals to the first initiator device at different times. method.

27. 1. A signal transmission method, the method being applied to a first responding device, the method comprising: Receives a polling frame, Separately receiving the N first UWB segment signals based on time-frequency position information of the N first UWB segment signals; M second responding devices transmit N first orthogonal UWB segment signals to the first initiating device separately based on the same third delay information for replying to the first UWB segment signal from the first initiating device, and the first orthogonal UWB segment signals are determined based on the orthogonal sequence index of the first responding device; Having said that, the first response device is any one of the M second response devices, N and M being integers equal to or greater than 2; Within each time interval of all of the N first UWB segment signals, different second response devices among the M second response devices simultaneously transmit first orthogonal UWB segment signals to the first initiator device. method.

28. 27. The method of claim 26, wherein the polling frame comprises the time-frequency location information of the N first UWB segment signals and second delay information for each of the M second responding devices to reply to the first UWB segment signal from the first initiating device.

29. 28. The method of claim 27, wherein the polling frame comprises the time-frequency location information of the N first UWB segment signals, the same third delay information for the M second responding devices to reply to the first UWB segment signal from the first initiating device, and an orthogonal sequence index for each second responding device.

30. The polling frame includes first delay information for each of the M second responding devices to reply in a response frame to the first initiating device, and the method further includes: transmitting a response frame to the first initiator device based on a timestamp of the polling frame and the first delay information for each second responding device to reply to the first initiator device in the response frame; Having that, 30. The method of any one of claims 26 to 29.

31. The polling frame has the same response time for the M second responding devices to reply to the first initiating device with a response frame, and a subcarrier set for all the second responding devices to reply to the first initiating device with the response frame, and a narrowband signal transmitted at the response time has a plurality of subcarriers, and the method further comprises: transmitting a response signal to the first initiating device based on the response time and the set of subcarriers for the first responding device to reply to the first initiating device in the response frame; Having said that, the first response device is any one of the M second response devices; 30. The method of any one of claims 26 to 29.

32. 1. A signal transmission method, the method being applied to a control device, the method comprising: Transmit a polling frame, the polling frame having time-frequency location information of N ultra-wideband (UWB) segment signal groups, first delay information for each of M second responding devices to reply in a response frame to the control device, and fifth delay information for each of X second initiating devices to reply in a response frame to the control device, where N, M, and X are integers equal to or greater than 2; receiving a plurality of response frames based on a timestamp of the polling frame, the first delay information for each of the M second response devices to reply to the control device with the response frame, and the fifth delay information for each of the X second initiating devices to reply to the control device with the response frame; The method comprises:

33. the polling frame further comprises an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each second responding device, and the same third delay information for all second responding devices to reply to the first initiating device with a third orthogonal UWB segment signal; the first initiating device is any one of the X second initiating devices; 33. The method of claim 32.

34. 34. The method of claim 33, wherein the polling frame further comprises fourth delay information for each second responding device to transmit a data frame to the first initiating device.

35. 1. A signal transmission method, the method being applied to a first initiating device, the method comprising: receiving a polling frame, the polling frame having time-frequency location information of N ultra-wideband (UWB) segment signal groups and fifth delay information for each of X second initiating devices to reply in a response frame to the control device, the first initiating device being any one of the X second initiating devices, N and X being integers equal to or greater than 2; transmitting a response frame based on a timestamp of the polling frame and the fifth delay information for the first initiator device to reply to the control device in the response frame; The method comprises:

36. The polling frame further includes an orthogonal sequence index for each second initiating device, an orthogonal sequence index for each of the M second responding devices, and the same third delay information for all second responding devices to reply to the first UWB segment signal from the first initiating device; M is an integer of 2 or more; 36. The method of claim 35.

37. The polling frame further includes fourth delay information for each second responding device to transmit a data frame to the first initiating device, and the method further includes: receiving a plurality of data frames based on the fourth delay information; Having said that, each of the plurality of data frames having a time during which a first responding device receives a plurality of second orthogonal UWB segment signals and a time during which the first responding device transmits a plurality of third orthogonal UWB segment signals; the first response device is any one of the M second response devices; 37. The method of claim 36.

38. 1. A signal transmission method, the method being applied to a first responding device, the method comprising: receiving a polling frame, the polling frame having time-frequency location information of N ultra-wideband (UWB) segment signal groups and first delay information for each of M second response devices to reply in a response frame to the control device, the first response device being any one of the M second response devices, N and M being integers equal to or greater than 2; transmitting a response frame based on a timestamp of the polling frame and the first delay information for the first responding device to reply to the control device in the response frame; The method comprises:

39. The polling frame further includes an orthogonal sequence index for each of the X second initiating devices, an orthogonal sequence index for each of the second responding devices, and the same third delay information for all the second responding devices to reply to the first UWB segment signal from the first initiating device, where X is an integer equal to or greater than 2; the first initiating device is any one of the X second initiating devices; 39. The method of claim 38.

40. The polling frame further includes fourth delay information for each second responding device to transmit a data frame to the first initiating device, and the method further includes: transmitting a data frame based on the fourth delay information for the first responding device to transmit the data frame to the first initiating device; Having said that, the data frame includes a time during which the first responding device receives a plurality of second orthogonal UWB segment signals and a time during which the first responding device transmits a plurality of third orthogonal UWB segment signals.

40. The method of claim 39.

41. 1. A signal transmission method, the method being applied to a control device, the method comprising: Transmit a polling frame, the polling frame having time-frequency location information of N ultra-wideband (UWB) segment signal groups, a first response time for X second initiating devices to reply to the control device in a response frame, a subcarrier set for all of the X second initiating devices to reply to the control device in the response frame, a second response time for M second responding devices to reply to the control device in a response frame, and a subcarrier set for all of the M second responding devices to reply to the control device in the response frame, where N, M, and X are integers equal to or greater than 2; receiving a second response frame based on the same second response time at which the M second response devices reply to the control device in the response frame and the subcarrier set for all the second response devices to reply to the control device in the response frame, the second response frame having a plurality of second response signals; receiving a first response frame based on the same first response time at which the X second initiating devices reply to the control device in the response frame and the subcarrier set for all the second initiating devices to reply to the control device in the response frame, the first response frame having a plurality of first response signals; The method comprises:

42. the polling frame further includes an orthogonal sequence index for each second initiating device, an orthogonal sequence index for each of the M second responding devices, and the same third delay information for all second responding devices to reply to the first UWB segment signal from the first initiating device; the first initiating device is any one of the X second initiating devices; 42. The method of claim 41.

43. 43. The method of claim 42, wherein the polling frame further comprises a data frame time during which the M second responding devices transmit data frames to the first initiating device, and a subcarrier set for all of the M second responding devices to transmit the data frames to the first initiating device.

44. 1. A signal transmission method, the method being applied to a first initiating device, the method comprising: receiving a polling frame, the polling frame having time-frequency location information of N ultra-wideband (UWB) segment signal groups, an identical first response time for X second initiating devices to reply to the control device in a response frame, and a subcarrier set for all of the X second initiating devices to reply to the control device in the response frame, the first initiating device being any one of the X second initiating devices, N and X being integers equal to or greater than 2; transmitting a first response signal based on the first response time and a subcarrier set for the first initiator device to reply to the control device in the response frame; The method comprises:

45. The polling frame further includes an orthogonal sequence index for each second initiating device, an orthogonal sequence index for each of M second responding devices, and identical third delay information for all second responding devices to reply to the first UWB segment signal from the first initiating device, where M is an integer equal to or greater than 2, and the method further includes: separately transmitting N second orthogonal UWB segment signals based on the time-frequency location information of the N first UWB segment signal groups and the orthogonal sequence index of the first initiator device; receiving a plurality of third orthogonal UWB segment signals separately based on the third delay information and the orthogonal index sequence of each second responding device; Having that, 45. The method of claim 44.

46. The polling frame further includes a same data frame time during which all the second responding devices transmit data frames to the first initiating device, and a subcarrier set for all the second responding devices to transmit the data frames to the first initiating device, and the method further includes: receiving the data frame based on the data frame time and the subcarrier set for all the second responding devices to transmit the data frame to the first initiating device; Having said that, the data frame includes a plurality of data signals, each of the plurality of data signals including a time period during which a first responding device receives a plurality of second orthogonal UWB segment signals and a time period during which the first responding device transmits a plurality of third orthogonal UWB segment signals; the first response device is any one of the M second response devices; 46. ​​The method of claim 45.

47. 1. A signal transmission method, the method being applied to a first responding device, the method comprising: receiving a polling frame, the polling frame having time-frequency location information of N ultra-wideband (UWB) segment signal groups, identical second response times for M second response devices to reply to the control device in response frames, and subcarrier sets for all of the M second response devices to reply to the control device in the response frames, where N and M are integers equal to or greater than 2, and the first response device is any one of the M second response devices; transmitting a second response signal based on the second response time and a subcarrier set for the first response device to transmit back to the control device in the response frame; The method comprises:

48. The polling frame further includes an orthogonal sequence index for each of the X second initiating devices, an orthogonal sequence index for each of the second responding devices, and the same third delay information for all the second responding devices to reply to the first UWB segment signal from the first initiating device, the first initiating device being any one of the X second initiating devices, X being an integer equal to or greater than 2, and the method further includes: receiving a plurality of second orthogonal UWB segment signals based on the time-frequency location information of the N UWB segment signal groups and the orthogonal sequence index of each second initiating device; separately transmitting a plurality of third orthogonal UWB segment signals based on the third delay information and the orthogonal sequence index of the first responding device. Having that, 48. The method of claim 47.

49. The polling frame further includes a same data frame time during which all the second responding devices transmit data frames to the first initiating device, and a subcarrier set for all the second responding devices to transmit the data frames to the first initiating device, and the method further includes: Transmitting a data signal based on the data frame time and the subcarrier set. Having said that, the data signal includes a time when the first responding device receives the second plurality of orthogonal UWB segment signals and a time when the first responding device transmits the third plurality of orthogonal UWB segment signals.

49. The method of claim 48.

50. A communications apparatus for use with a first initiating device, the apparatus comprising: a communication unit configured to transmit a polling frame, the polling frame having time-frequency location information of N first Ultra Wide Bandwidth (UWB) segment signals and first delay information for each of M second responding devices to reply in a response frame to the first initiating device, N and M being integers equal to or greater than 2; having The communication unit is further configured to receive a plurality of response frames based on a timestamp of the polling frame and the first delay information for each second response device to reply to the first initiating device with the response frame. Device.

51. The polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device, and the communication unit further includes: separately transmitting the N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals; each second responding device separately receives a plurality of second UWB segment signals based on the second delay information for replying to the first UWB segment signal from the first initiating device; 51. The apparatus of claim 50 configured to:

52. The polling frame further includes the same third delay information for the M second response devices to reply to the first UWB segment signal from the first initiation device, and an orthogonal sequence index of each second response device, and the communication unit further includes: separately transmitting the N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals; receiving a plurality of first orthogonal UWB segment signals separately based on the third delay information and the orthogonal sequence index of each second responding device; 51. The apparatus of claim 50 configured to:

53. the first initiator device is in an active state when transmitting the N first UWB segment signals and receiving the plurality of first orthogonal UWB segment signals; the first initiator device is in an idle state during an interval time of the N first UWB segment signals other than a time for transmitting the N first UWB segment signals and a time for receiving the plurality of first orthogonal UWB segment signals; 53. The apparatus of claim 52.

54. The polling frame further includes fourth delay information for each second responding device to transmit a data frame to the first initiating device, and the communication unit further includes: each second responding device receiving a plurality of data frames based on the fourth delay information for transmitting the data frames to the first initiating device; It is configured as follows: Each of the plurality of data frames has a time difference between receiving the N first UWB segment signals at a first responding device and transmitting the N second UWB segment signals at the first responding device or transmitting the N first orthogonal UWB segment signals at the first responding device; the first response device is any one of the M second response devices; 54. Apparatus according to any one of claims 51 to 53.

55. Specifically, separately transmitting the N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals includes: when a first timer does not expire and M response frames are received, separately transmitting the N first UWB segment signals based on the time-frequency location information of the N first UWB segment signals; or when the S response frames are received and a first timer expires, separately transmitting the N first UWB segment signals based on the time-frequency location information of the N first UWB segment signals; Used for the first timer is triggered when the polling frame is transmitted, and S is an integer greater than or equal to 1 and less than M; 54. Apparatus according to any one of claims 51 to 53.

56. 1. A communications apparatus for use with a first response device, the apparatus comprising: A communication unit configured to receive a polling frame, the polling frame having time-frequency location information of N first ultra-wideband (UWB) segment signals and first delay information for each of M second responding devices to reply in a response frame to a first initiating device, N and M being integers equal to or greater than 2, the first responding device being any one of the M second responding devices; having the communication unit is further configured to transmit a response frame to the first initiator device based on a timestamp of the polling frame and the first delay information for the first responding device to reply to the first initiator device in the response frame. Device.

57. The polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device, and the communication unit further includes: receiving the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals; transmitting N second UWB segment signals separately to the first initiator device based on the second delay information for the first responding device to reply to the first UWB segment signal from the first initiator device; 57. The apparatus of claim 56 configured to:

58. The polling frame further includes the same third delay information for the M second response devices to reply to the first UWB segment signal from the first initiation device, and an orthogonal sequence index of each second response device, and the communication unit further includes: receiving the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals; transmit N first orthogonal UWB segment signals separately to the first initiator device based on the third delay information, the first orthogonal UWB segment signals being determined based on the orthogonal sequence index of the first responder device; 57. The apparatus of claim 56 configured to:

59. The polling frame further includes fourth delay information for each second responding device to transmit a data frame to the first initiating device, and the communication unit further includes: transmitting a data frame to the first initiating device based on the fourth delay information for the first responding device to transmit the data frame to the first initiating device; It is configured as follows: The data frame has a time difference between receiving the N first UWB segment signals at a first responding device and transmitting the N second UWB segment signals at the first responding device or transmitting the N first orthogonal UWB segment signals at the first responding device.

59. Apparatus according to claim 57 or 58.

60. A communications apparatus for use with a first initiating device, the apparatus comprising: A communication unit configured to transmit a polling frame, the polling frame having time-frequency location information of N first ultra-wideband (UWB) segment signals, an identical response time for M second responding devices to reply to the first initiating device with a response frame, and a subcarrier set for all of the M second responding devices to reply to the first initiating device with the response frame, the narrowband signal transmitted at the response time having a plurality of subcarriers, N and M being integers equal to or greater than 2; having The communication unit is further configured to receive the response frame based on the response time and the subcarrier set for all the second response devices to reply to the first initiating device in the response frame, the response frame having a plurality of response signals. Device.

61. The polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device, and the communication unit further includes: separately transmitting the N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals; each second responding device separately receives a plurality of second UWB segment signals based on the second delay information for replying to the first UWB segment signal from the first initiating device; 61. The apparatus of claim 60 configured to:

62. The polling frame further includes the same third delay information for the M second response devices to reply to the first UWB segment signal from the first initiation device, and an orthogonal sequence index of each second response device, and the communication unit further includes: separately transmitting the N first UWB segment signals based on the time-frequency position information of the N first UWB segment signals; receiving a plurality of first orthogonal UWB segment signals separately based on the third delay information and the orthogonal sequence index of each second responding device; 61. The apparatus of claim 60 configured to:

63. the first initiator device is in an active state when transmitting the N first UWB segment signals and receiving the plurality of first orthogonal UWB segment signals; the first initiator device is in an idle state during an interval time of the N first UWB segment signals other than a time for transmitting the N first UWB segment signals and a time for receiving the plurality of first orthogonal UWB segment signals; 63. The apparatus of claim 62.

64. The polling frame further includes a same data frame time for all the second responding devices to transmit data frames to the first initiating device, and a subcarrier set for all the second responding devices to transmit the data frames to the first initiating device, and the communication unit further includes: receiving the data frame according to the data frame time and the subcarrier set for all the second responding devices to transmit the data frame to the first initiating device, the data frame having a plurality of data signals; It is configured as follows: Each of the plurality of data signals includes a time during which a first responding device receives the N first UWB segment signals and a time during which the first responding device transmits the N second UWB segment signals or the N first orthogonal UWB segment signals; the first response device is any one of the M second response devices; 64. Apparatus according to any one of claims 61 to 63.

65. 1. A communications apparatus for use with a first response device, the apparatus comprising: A communication unit configured to receive a polling frame, the polling frame having time-frequency location information of N first ultra-wideband (UWB) segment signals, an identical response time for M second response devices to reply to a first initiator device with a response frame, and a subcarrier set for all first responding devices among the M second response devices to reply to the first initiator device with the response frame, a narrowband signal transmitted at the response time having a plurality of subcarriers, N and M being integers equal to or greater than 2; having The communication unit is further configured to transmit a response signal to the first initiator device based on the response time and a subcarrier set for the first responding device to reply to the first initiator device in the response frame, the first responding device being any one of the M second responding devices. Device.

66. The polling frame further includes second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device, and the communication unit further includes: receiving the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals; transmitting N second UWB segment signals separately to the first initiator device based on the second delay information for the first responding device to reply to the first UWB segment signal from the first initiator device; 66. The apparatus of claim 65 configured to:

67. The polling frame further includes the same third delay information for the M second response devices to reply to the first UWB segment signal from the first initiation device, and an orthogonal sequence index of each second response device, and the communication unit further includes: receiving the N first UWB segment signals separately based on the time-frequency position information of the N first UWB segment signals; transmit N first orthogonal UWB segment signals separately to the first initiator device based on the third delay information, the first orthogonal UWB segment signals being determined based on the orthogonal sequence index of the first responder device; 66. The apparatus of claim 65 configured to:

68. The polling frame further includes a same data frame time for all the second responding devices to transmit data frames to the first initiating device, and a subcarrier set for all the second responding devices to transmit the data frames to the first initiating device, and the communication unit further includes: transmitting a data signal to the first initiator device based on the data frame time and the subcarrier set for the first responding device to transmit the data frame to the first initiator device; It is configured as follows: The data signal includes a time when the first responding device receives the N first UWB segment signals and a time when the first responding device transmits the N second UWB segment signals or the N first orthogonal UWB segment signals.

68. Apparatus according to claim 66 or 67.

69. A communications apparatus for use with a first initiating device, the apparatus comprising: a communication unit configured to transmit a polling frame; a processing unit configured to transmit the N first UWB segment signals separately based on time-frequency location information of the N first UWB segment signals; having The communication unit is configured to separately receive a plurality of second UWB segment signals based on second delay information for each of M second response devices to reply to the first UWB segment signal from the first initiator device; N and M are integers of 2 or more; Device.

70. A communications apparatus for use with a first initiating device, the apparatus comprising: a communication unit configured to transmit a polling frame; a processing unit configured to transmit the N first UWB segment signals separately based on time-frequency location information of the N first UWB segment signals; having The communication unit is configured to separately receive a plurality of first orthogonal UWB segment signals based on identical third delay information for M second response devices to reply to the first UWB segment signal from the first initiator device and an orthogonal sequence index of each of the M second response devices; N and M are integers of 2 or more; Device.

71. 70. The apparatus of claim 69, wherein the polling frame comprises the time-frequency location information of the N first UWB segment signals and second delay information for each second responding device to reply to the first UWB segment signal from the first initiating device.

72. 71. The apparatus of claim 70, wherein the polling frame comprises the time-frequency location information of the N first UWB segment signals, the same third delay information for the M second responding devices to reply to the first UWB segment signal from the first initiating device, and the orthogonal sequence index of each second responding device.

73. The polling frame includes first delay information for each second responding device to reply to the first initiating device in a response frame, and the processing unit further comprises: receiving a plurality of response frames based on a timestamp of the polling frame and the first delay information for each second responding device to reply to the first initiating device with the response frame; 73. Apparatus according to any one of claims 69 to 72, configured to:

74. The polling frame has the same response time for the M second responding devices to reply to the first initiating device with a response frame, and a subcarrier set for all the second responding devices to reply to the first initiating device with the response frame, and a narrowband signal transmitted at the response time has a plurality of subcarriers, and the processing unit further: receiving the response frame based on the response time and the subcarrier set for all the second response devices to reply to the first initiating device in the response frame, the response frame having a plurality of response signals; 73. Apparatus according to any one of claims 69 to 72, configured to:

75. 1. A communications apparatus for use with a first response device, the apparatus comprising: a communication unit configured to receive a polling frame; a processing unit configured to separately receive the N first UWB segment signals based on time-frequency location information of the N first UWB segment signals; having The processing unit is further configured to transmit N second UWB segment signals separately to the first initiating device based on second delay information for the first responding device to reply to the first UWB segment signal from the first initiating device; The first response device is any one of M second response devices, N and M being integers equal to or greater than 2; within each time interval of all of the N first UWB segment signals, different second response devices among the M second response devices transmit second UWB segment signals to the first initiator device at different times. Device.

76. 1. A communications apparatus for use with a first response device, the apparatus comprising: a communication unit configured to receive a polling frame; a processing unit configured to separately receive the N first UWB segment signals based on time-frequency location information of the N first UWB segment signals; having The processing unit is further configured to transmit N first orthogonal UWB segment signals to the first initiator device separately based on the same third delay information for M second responding devices to reply to the first UWB segment signal from the first initiator device, the first orthogonal UWB segment signals being determined based on the orthogonal sequence index of the first responding device; the first response device is any one of the M second response devices, N and M being integers equal to or greater than 2; Within each time interval of all of the N first UWB segment signals, different second response devices among the M second response devices simultaneously transmit first orthogonal UWB segment signals to the first initiator device. Device.

77. 76. The apparatus of claim 75, wherein the polling frame comprises the time-frequency location information of the N first UWB segment signals and second delay information for each of the M second responding devices to reply to the first UWB segment signal from the first initiating device.

78. 77. The apparatus of claim 76, wherein the polling frame comprises the time-frequency location information of the N first UWB segment signals, the same third delay information for the M second responding devices to reply to the first UWB segment signal from the first initiating device, and an orthogonal sequence index for each second responding device.

79. The polling frame includes first delay information for each of the M second responding devices to reply in a response frame to the first initiating device, and the processing unit further comprises: transmitting a response frame to the first initiator device based on a timestamp of the polling frame and the first delay information for each second responding device to reply to the first initiator device in the response frame; 79. Apparatus according to any one of claims 75 to 78, configured to:

80. The polling frame has the same response time for the M second responding devices to reply to the first initiating device with a response frame, and a subcarrier set for all the second responding devices to reply to the first initiating device with the response frame, and a narrowband signal transmitted at the response time has a plurality of subcarriers, and the processing unit further: transmitting a response signal to the first initiating device based on the response time and the set of subcarriers for the first responding device to reply to the first initiating device in the response frame; It is configured as follows: the first response device is any one of the M second response devices; 79. Apparatus according to any one of claims 75 to 78.

81. A communications apparatus for use in a control device, the apparatus comprising: a communication unit configured to transmit a polling frame, the polling frame having time-frequency location information of N Ultra Wideband (UWB) segment signal groups, first delay information for each of M second responding devices to reply in a response frame to the control device, and fifth delay information for each of X second initiating devices to reply in a response frame to the control device, where N, M, and X are integers equal to or greater than 2; having The communication unit is further configured to receive a plurality of response frames based on a timestamp of the polling frame, the first delay information for each of the M second response devices to reply to the control device with the response frame, and the fifth delay information for each of the X second initiation devices to reply to the control device with the response frame. Device.

82. the polling frame further comprises an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each second responding device, and the same third delay information for all second responding devices to reply to the first initiating device with a third orthogonal UWB segment signal; the first initiating device is any one of the X second initiating devices; 82. The apparatus of claim 81.

83. 83. The apparatus of claim 82, wherein the polling frame further comprises fourth delay information for each second responding device to transmit a data frame to the first initiating device.

84. A communications apparatus for use with a first initiating device, the apparatus comprising: a communication unit configured to receive a polling frame, the polling frame having time-frequency location information of N Ultra Wideband (UWB) segment signal groups and fifth delay information for each of X second initiating devices to reply in a response frame to a control device, the first initiating device being any one of the X second initiating devices, N and X being integers equal to or greater than 2; having the communication unit is further configured to transmit a response frame based on a timestamp of the polling frame and the fifth delay information for the first initiator device to reply to the control device in the response frame. Device.

85. The polling frame further includes an orthogonal sequence index for each second initiating device, an orthogonal sequence index for each of the M second responding devices, and the same third delay information for all second responding devices to reply to the first UWB segment signal from the first initiating device; M is an integer of 2 or more; 85. The apparatus of claim 84.

86. The polling frame further includes fourth delay information for each second responding device to transmit a data frame to the first initiating device, and the communication unit further includes: receiving a plurality of data frames based on the fourth delay information; It is configured as follows: each of the plurality of data frames having a time during which a first responding device receives a plurality of second orthogonal UWB segment signals and a time during which the first responding device transmits a plurality of third orthogonal UWB segment signals; the first response device is any one of the M second response devices; 86. The apparatus of claim 85.

87. 1. A communications apparatus for use with a first response device, the apparatus comprising: A communication unit configured to receive a polling frame, the polling frame having time-frequency location information of N Ultra Wideband (UWB) segment signal groups and first delay information for each of M second response devices to reply in a response frame to a control device, the first response device being any one of the M second response devices, N and M being integers equal to or greater than 2; having the communication unit is further configured to transmit a response frame based on a timestamp of the polling frame and the first delay information for the first response device to reply to the control device in the response frame. Device.

88. The polling frame further includes an orthogonal sequence index for each of the X second initiating devices, an orthogonal sequence index for each of the second responding devices, and the same third delay information for all the second responding devices to reply to the first UWB segment signal from the first initiating device, where X is an integer equal to or greater than 2; the first initiating device is any one of the X second initiating devices; 88. The apparatus of claim 87.

89. The polling frame further includes fourth delay information for each second responding device to transmit a data frame to the first initiating device, and the communication unit further includes: transmitting a data frame based on the fourth delay information for the first responding device to transmit the data frame to the first initiating device; It is configured as follows: the data frame includes a time during which the first responding device receives a plurality of second orthogonal UWB segment signals and a time during which the first responding device transmits a plurality of third orthogonal UWB segment signals.

89. The apparatus of claim 88.

90. A communications apparatus for use in a control device, the apparatus comprising: a communication unit configured to transmit a polling frame, the polling frame having time-frequency location information of N ultra-wideband (UWB) segment signal groups, a first response time for X second initiating devices to reply to the control device in a response frame, a subcarrier set for all of the X second initiating devices to reply to the control device in the response frame, a second response time for M second responding devices to reply to the control device in a response frame, and a subcarrier set for all of the M second responding devices to reply to the control device in the response frame, where N, M, and X are integers equal to or greater than 2; having The communication unit is further configured to receive a second response frame based on the same second response time at which the M second response devices reply to the control device in the response frame and the subcarrier set for all the second response devices to reply to the control device in the response frame, the second response frame having a plurality of second response signals; The communication unit is further configured to receive a first response frame based on the same first response time for the X second initiating devices to reply to the control device in the response frame and the subcarrier set for all the second initiating devices to reply to the control device in the response frame, the first response frame having a plurality of first response signals. Device.

91. the polling frame further includes an orthogonal sequence index for each second initiating device, an orthogonal sequence index for each of the M second responding devices, and the same third delay information for all second responding devices to reply to the first UWB segment signal from the first initiating device; the first initiating device is any one of the X second initiating devices; 91. The apparatus of claim 90.

92. 92. The apparatus of claim 91 , wherein the polling frame further comprises a data frame time during which the M second responding devices transmit data frames to the first initiating device, and a subcarrier set for all of the M second responding devices to transmit the data frames to the first initiating device.

93. A communications apparatus for use with a first initiating device, the apparatus comprising: A communication unit configured to receive a polling frame, the polling frame having time-frequency location information of N Ultra Wideband (UWB) segment signal groups, an identical first response time for X second initiating devices to reply in a response frame to a control device, and a subcarrier set for all of the X second initiating devices to reply in the response frame to the control device, the first initiating device being any one of the X second initiating devices, where N and X are integers equal to or greater than 2; having The communication unit is further configured to transmit a first response signal based on the first response time and a subcarrier set for the first initiator device to reply to the control device in the response frame. Device.

94. The polling frame further includes an orthogonal sequence index of each second initiating device, an orthogonal sequence index of each of M second responding devices, and the same third delay information for all second responding devices to reply to the first UWB segment signal from the first initiating device, where M is an integer equal to or greater than 2, and the communication unit further includes: separately transmitting N second orthogonal UWB segment signals based on the time-frequency location information of the N first UWB segment signal groups and the orthogonal sequence index of the first initiator device; receiving a plurality of third orthogonal UWB segment signals separately based on the third delay information and the orthogonal index sequence of each second responding device; 94. The apparatus of claim 93, configured to:

95. The polling frame further includes a same data frame time for all the second response devices to transmit a data frame to the first initiating device, and a subcarrier set for all the second response devices to transmit the data frame to the first initiating device, and the communication unit further includes: receiving the data frame based on the data frame time and the subcarrier set for all the second responding devices to transmit the data frame to the first initiating device; It is configured as follows: the data frame includes a plurality of data signals, each of the plurality of data signals including a time period during which a first responding device receives a plurality of second orthogonal UWB segment signals and a time period during which the first responding device transmits a plurality of third orthogonal UWB segment signals; the first response device is any one of the M second response devices; 95. The apparatus of claim 94.

96. 1. A communications apparatus for use with a first response device, the apparatus comprising: A communication unit configured to receive a polling frame, the polling frame having time-frequency location information of N ultra-wideband (UWB) segment signal groups, identical second response times for M second response devices to reply in response frames to a control device, and a subcarrier set for all of the M second response devices to reply in the response frames to the control device, where N and M are integers equal to or greater than 2, and the first response device is any one of the M second response devices; having the communication unit is further configured to transmit a second response signal based on the second response time and a subcarrier set for the first response device to reply to the control device in the response frame. Device.

97. The polling frame further includes an orthogonal sequence index for each of the X second initiating devices, an orthogonal sequence index for each of the second responding devices, and the same third delay information for all the second responding devices to reply to the first UWB segment signal from the first initiating device, the first initiating device being any one of the X second initiating devices, X being an integer equal to or greater than 2, and the communication unit further includes: receiving a plurality of second orthogonal UWB segment signals based on the time-frequency location information of the N UWB segment signal groups and the orthogonal sequence index of each second initiating device; separately transmitting a plurality of third orthogonal UWB segment signals based on the third delay information and the orthogonal sequence index of the first responding device.

97. The apparatus of claim 96, configured to:

98. The polling frame further includes a same data frame time for all the second response devices to transmit a data frame to the first initiating device, and a subcarrier set for all the second response devices to transmit the data frame to the first initiating device, and the communication unit further includes: Transmitting a data signal based on the data frame time and the subcarrier set. It is configured as follows: the data signal includes a time when the first responding device receives the second plurality of orthogonal UWB segment signals and a time when the first responding device transmits the third plurality of orthogonal UWB segment signals.

98. The apparatus of claim 97.

99. 1. A communications device comprising a processor and a transceiver, the transceiver configured to communicate with another communications device, the processor configured to execute a program such that the communications device performs a method as claimed in any one of claims 1 to 6, or such that the communications device performs a method as claimed in any one of claims 7 to 10, or such that the communications device performs a method as claimed in any one of claims 11 to 15, or such that the communications device performs a method as claimed in any one of claims 16 to 19, or such that the communications device performs a method as claimed in any one of claims 20 to 25, or such that the communications device performs a method as claimed in any one of claims 26 to 31, or such that the communications device performs a method as claimed in any one of claims 32 to 34, or such that the communications device performs a method as claimed in any one of claims 35 to 37, or such that the communications device performs a method as claimed in any one of claims 38 to 40, or such that the communications device performs a method as claimed in any one of claims 41 to 43, or such that the communications device performs a method as claimed in any one of claims 44 to 46, or such that the communications device performs a method as claimed in any one of claims 47 to 49.

100. 50. A computer readable storage medium configured to store instructions which, when executed on a computer, cause a method as claimed in any one of claims 1 to 6 to be performed, or a method as claimed in any one of claims 7 to 10, or a method as claimed in any one of claims 11 to 15, or a method as claimed in any one of claims 16 to 19, or a method as claimed in any one of claims 20 to 25, or a method as claimed in any one of claims 26 to 31, or a method as claimed in any one of claims 32 to 34, or a method as claimed in any one of claims 35 to 37, or a method as claimed in any one of claims 38 to 40, or a method as claimed in any one of claims 41 to 43, or a method as claimed in any one of claims 44 to 46, or a method as claimed in any one of claims 47 to 49.

101. A computer program product comprising instructions which, when the computer program product is run on a computer, causes the method of any one of claims 1 to 6 to be performed, or the method of any one of claims 7 to 10 to be performed, or the method of any one of claims 11 to 15 to be performed, or the method of any one of claims 16 to 19 to be performed, or the method of any one of claims 20 to 25 to be performed, or the method of any one of claims 26 to 31 to be performed, or the method of any one of claims 32 to 34 to be performed, or the method of any one of claims 35 to 37 to be performed, or the method of any one of claims 38 to 40 to be performed, or the method of any one of claims 41 to 43 to be performed, or the method of any one of claims 44 to 46 to be performed, or the method of any one of claims 47 to 49 to be performed.

102. A communication device having a logic circuit and an interface, the logic circuit being coupled to the interface; 50. A communications device, wherein the interface is configured to input and / or output code instructions and the logic circuitry is configured to execute the code instructions to cause a method as claimed in any one of claims 1 to 6 to be performed, or a method as claimed in any one of claims 7 to 10, or a method as claimed in any one of claims 11 to 15, or a method as claimed in any one of claims 16 to 19, or a method as claimed in any one of claims 20 to 25, or a method as claimed in any one of claims 26 to 31, or a method as claimed in any one of claims 32 to 34, or a method as claimed in any one of claims 35 to 37, or a method as claimed in any one of claims 38 to 40, or a method as claimed in any one of claims 41 to 43, or a method as claimed in any one of claims 44 to 46, or a method as claimed in any one of claims 47 to 49.

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