Distance measurement method and related device

Abstract

This application discloses a ranging method and related apparatus, and relates to the field of communication technologies. The ranging method includes steps that a first device sends a first measurement frame to a second device on a first frequency (S301), and receives a second measurement frame sent by the second device on the first frequency (S302); the first device sends a third measurement frame to the second device on a second frequency (S303), and receives a fourth measurement frame sent by the second device on the second frequency (S304), where the second frequency is different from the first frequency; the first device obtains a first measurement result based on the second measurement frame (S305); the first device obtains a third measurement result based on the fourth measurement frame (S306); and the first device sends the first measurement result and the third measurement result to a third device (S307). In this method, the joint measurement results of the first frequency and the joint measurement results of the second frequency are not affected by the random initial phase caused by the frequency switching of the device, and can be coherently combined. As a result, a bandwidth larger than the bandwidth of the measurement frame of a single frequency can be used to calculate the ranging result, and the ranging accuracy is improved.

Description

Technical Field

[0001] This application relates to the field of communication technologies, and more specifically, to a ranging method and related apparatus.

Background Art

[0002] The method by which a communication device transmits a ranging signal to implement ranging is an important means for solving the ranging / positioning problem. The ranging accuracy is closely related to the bandwidth covered by the ranging signals that can be coherently combined. A wider bandwidth covered by the ranging signals indicates higher ranging accuracy.

[0003] Currently, the type of communication device implements communication in a frequency hopping manner in view of factors such as cost, power consumption, and interference prevention, that is, a narrow bandwidth is occupied for each transmission, and frequency hopping is implemented within a large bandwidth range for multiple transmissions.

[0004] When ranging is implemented by the aforementioned ranging method, it is difficult to obtain high accuracy. Since frequency hopping causes a random initial phase of the device clock, the ranging signals transmitted on different frequencies cannot be directly coherently combined, and it is difficult to implement high ranging accuracy. In addition, considering requirements such as cost and power consumption, a communication device generally has low clock accuracy, and the non-ideal timing and non-ideal frequency of the device clock also cause a decrease in ranging accuracy. How to suppress the influence of the non-ideality of the device clock, such as timing offset, frequency offset, and frequency drifted with time, on the ranging result is also an important issue in current research.

[0005] In conclusion, how to implement ranging through a communication device and how to improve ranging accuracy are urgent problems to be solved.

Summary of the Invention

[0006] Embodiments of the present application provide a ranging method and related apparatus for reducing ranging errors and improving ranging accuracy.

[0007] According to a first aspect, embodiments of the present application provide a ranging method. The method includes:

[0008] a first device sending a first measurement frame to a second device on a first frequency, and receiving a second measurement frame sent by the second device on the first frequency; the first device sending a third measurement frame to the second device on a second frequency, and receiving a fourth measurement frame sent by the second device on the second frequency, where the second frequency is different from the first frequency; the first device obtaining a first measurement result based on the second measurement frame; the first device obtaining a third measurement result based on the fourth measurement frame; the first device sending the first measurement result and the third measurement result to a third device, where the first measurement result and the third measurement result are used for ranging; and

[0009] In this embodiment of the present application, a ranging method is provided. The first device and the second device exchange measurement frames on at least two frequencies. For example, the first device sends a first measurement frame to the second device on a first frequency, receives a second measurement frame from the second device on the first frequency, sends a third measurement frame to the second device on a second frequency, and receives a fourth measurement frame from the second device on the second frequency. The second frequency is different from the first frequency, and the first measurement frame and the third measurement frame are used by the second device to obtain a second measurement result and a fourth measurement result, respectively. The first device obtains a first measurement result based on the received second measurement frame, obtains a third measurement result based on the received fourth measurement frame, and sends the first measurement result and the third measurement result to a third device. A computing device for calculating the ranging result calculates the ranging result based on the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result. The third device may be the second device or a device other than the second device. This is not limited in the present application. The third device is a computing device configured to calculate the ranging result, or the third device is a transfer device configured to transfer the first measurement result and the third measurement result to a computing device. This is not limited in the present application. The first device and the second device generate a random initial phase when switching from the first frequency to the second frequency. As a result, the first measurement result and the third measurement result cannot be directly combined coherently, and the second measurement result and the fourth measurement result cannot be directly combined coherently. The joint measurement result of the first frequency is obtained by combining the first measurement result and the second measurement result, and the joint measurement result of the first frequency is not affected by the initial phases of the first device and the second device on the first frequency.The combined measurement result of the second frequency is obtained by combining the third measurement result and the fourth measurement result, and the combined measurement result of the second frequency is not affected by the initial phases of the first device and the second device at the second frequency. Therefore, the combined measurement results of the first frequency and the second frequency are not affected by the random initial phases caused by the frequency switching of the device and can be coherently combined. Thus, when the ranging result is calculated, a bandwidth larger than the bandwidth of a single-frequency measurement frame can be used to calculate the ranging result, a more accurate ranging result can be obtained, and the ranging accuracy is improved.

[0010] In a possible implementation, the first frequency and the second frequency are adjacent frequencies in the order of usage time, the first frequency belongs to the first frequency set, the second frequency belongs to the second frequency set, and the first frequency set includes the first frequency and the second frequency set.

[0011] In this embodiment of the present application, a possible specific implementation for obtaining a first frequency and a second frequency is provided. Specifically, the first frequency and the second frequency are two adjacent frequencies in the order of usage time. Specifically, the first device and the second device first exchange measurement frames on the first frequency, and then exchange measurement frames on the second frequency, and do not exchange measurement frames on frequencies other than the first frequency and the second frequency during the time between the two measurement frame exchanges. The use herein means that the first device and the second device exchange measurement frames, and the fact that the first frequency and the second frequency are adjacent in the order of usage time means that the first device and the second device exchange non-measurement frames on another frequency during the time between the two aforementioned measurement frame exchanges, for example, frames used to transmit service data, measurement results, signaling, etc., but not used for ranging measurements. It should be understood that cases where devices other than the first device and the second device exchange any type of frame on any frequency during the time between the two aforementioned measurement frame exchanges are not excluded. The first frequency is obtained from a first frequency set, and then the second frequency is obtained from a second frequency set. The difference between the first frequency set and the second frequency set is that the first frequency set includes the first frequency and the second frequency set does not include the first frequency. It can be understood that the second frequency set is a frequency set obtained after the first frequency is removed from the first frequency set. According to this embodiment of the present application, the first frequency and the second frequency are two adjacent frequencies in the order of usage time, and thus it is possible to avoid the repeated use of the same frequency during measurement, thereby shortening the measurement time for ranging. When there is relative movement between the first device and the second device, shortening the measurement time for ranging can reduce the amount of change in the relative location between the first device and the second device during measurement, obtain a more accurate ranging result, and improve the ranging accuracy.In addition, due to clock non-ideality, the device clock frequencies of the first device and the second device drift over time. A longer measurement time indicates a more severe drift. Reducing the measurement time for ranging can reduce the range of device clock frequency drift during measurement, suppress the influence of clock drift on the ranging result, and improve the ranging accuracy.

[0012] In a possible implementation, the method

[0013] the step in which the first device determines a first frequency within a first set of frequencies in a pseudo-random manner based on a first random seed, and the step in which the first device determines a second frequency within a second set of frequencies in a pseudo-random manner based on a second random seed and further includes.

[0014] In this embodiment of the present application, a possible specific implementation for determining the first frequency and the second frequency is provided. Specifically, the frequencies used are determined within the corresponding frequency sets in a pseudo-random manner based on random seeds, and the first random seed used to determine the first frequency and the second random seed used to determine the second frequency may be the same random seed or different random seeds. According to this embodiment of the present application, the frequencies are determined in a pseudo-random manner based on random seeds, and thus the determined frequencies are random, thereby reducing the probability of interference when the same time-frequency resources are used when the spectrum is shared with another device and improving the ranging performance.

[0015] In a possible implementation, the method

[0016] the step in which the first device generates and transmits the first random seed and / or the second random seed, or The step in which the first device receives the first random seed and / or the second random seed is further included.

[0017] In this embodiment of the present application, several possible specific implementations for obtaining the first random seed and / or the second random seed are provided. The details are as follows. 1. The first device generates the first random seed and / or the second random seed and sends the first random seed and / or the second random seed to the second device; 2. The first device generates the first random seed and / or the second random seed, sends the first random seed and / or the second random seed to another device, and then the other device transfers the first random seed and / or the second random seed to the second device; 3. The first device receives the first random seed and / or the second random seed from the second device; 4. The first device receives the first random seed and / or the second random seed from another device, where, previously, the first random seed and / or the second random seed of the other device were generated by the second device and sent to the other device; and 5. Another device generates the first random seed and / or the second random seed and sends the first random seed and / or the second random seed to the first device and the second device. In any one of the above-described methods, the first device and the second device use the same first random seed when selecting the first frequency and use the same second random seed when selecting the second frequency. Therefore, the first device and the second device select the same first frequency and second frequency to avoid frequency selection errors.

[0018] In a possible implementation, the first measurement result includes the phase information or the in-phase component and the quadrature component IQ information of the single-frequency sine wave signal included in the second measurement frame at the first time point, or the phase information or the IQ information of the signal obtained by extending the single-frequency sine wave signal included in the second measurement frame according to the single-frequency sine wave model at the first time point.

[0019] In this embodiment of the present application, a possible specific implementation for obtaining the first measurement result is provided. Specifically, the first device measures the second measurement frame to obtain the first measurement result, where the first measurement result includes the phase information or the in-phase component and the quadrature component IQ information of the single-frequency sine wave signal included in the second measurement frame at the first time point, or the first measurement result includes the phase information or the in-phase component and the quadrature component IQ information of the signal obtained by extending the single-frequency sine wave signal included in the second measurement frame according to the single-frequency sine wave model at the first time point. The ranging method based on the phase information or the IQ information including the phase information can achieve higher ranging accuracy than the conventional amplitude-based ranging method.

[0020] In a possible implementation, the method includes

[0021] a step in which the first device determines a first timing offset, where the first timing offset represents the timing offset of the first device with respect to the second measurement frame, a step in which the first device determines the first time point based on the first timing offset and further includes.

[0022] In this embodiment of the present application, a possible specific implementation for determining a first time point is provided. Specifically, the first device determines a first timing offset and determines the first time point based on the first timing offset, where the first timing offset represents the timing offset of the first device with respect to the second measurement frame. According to this embodiment of the present application, the time points corresponding to the phase information or the IQ information are corrected based on the measurement timing offset, and thus, it is possible to suppress the influence of the timing difference and the frequency difference between the first device clock and the second device clock on the ranging result, and it is possible to improve the ranging accuracy.

[0023] In a possible implementation, the first time point satisfies T1 = t0 + t1 / 2, where t0 represents a reference time point, t1 represents the first timing offset, and T1 represents the first time point.

[0024] In this embodiment of the present application, a possible specific implementation for determining a first time point is provided. Specifically, the first time point needs to satisfy t0 + t1 / 2, where t0 represents a reference time point and t1 represents the first timing offset. Correspondingly, the second device also determines the second time point by using a similar method. The difference between the real time corresponding to the first time point of the first device clock and the real time corresponding to the second time point of the second device clock is mainly related to the measurement error between the first timing offset and the second timing offset, and is independent of the timing offset between the first device clock and the second device clock. The joint measurement result of the first frequency obtained by combining the first measurement result and the second measurement result is not affected by the timing offset between the first device clock and the second device clock, and thus, the influence of the timing offset between the first device clock and the second device clock on the ranging result is suppressed, and the ranging accuracy is improved.

[0025] In a possible implementation, the step of determining the first timing offset is

[0026] The first device includes a step of determining a first timing offset by measuring a signal within a second measurement frame.

[0027] In this embodiment of the present application, a possible specific implementation for determining the first timing offset is provided. Specifically, the first device may determine the first timing offset by measuring a signal within a second measurement frame, or the first device may determine the first timing offset by measuring another signal transmitted by a second device, where the other signal may include a signal within another measurement frame or a signal within another non-measurement frame. Based on the first timing offset determined in this embodiment of the present application, the timing offset can be corrected, the timing difference and frequency difference between the first device clock and the second device clock are reduced, the influence on the measurement result of the measurement frame is reduced, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0028] In a possible implementation, the method

[0029] further includes the step of the first device receiving a first message and / or transmitting a first message where the first message indicates a reference time point, or the reference time point is a pre-configured or pre-defined time point.

[0030] In this embodiment of the present application, several possible specific implementations for determining a reference time point are provided. Specifically, the first device receives and / or sends a first message, and determines the reference time point through the information indicated by the first message, or the reference time point is a time point pre-configured for the first device (and the second device) or a time point predefined within a protocol. According to this embodiment of the present application, the first device and the second device determine the measurement time point by using the same agreed reference time point. Therefore, it is possible to suppress the influence of the timing difference and frequency difference between the first device clock and the second device clock on the measurement result of the measurement frame, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0031] In a possible implementation, the method includes

[0032] a step in which the first device receives and / or sends a second message, where the second message indicates a reference value, or the reference value is a pre-configured or predefined value, and a step of determining a reference time point based on the reference value and a first frequency offset, where the first frequency offset represents the frequency offset of the first device with respect to the second measurement frame, and further includes.

[0033] In this embodiment of the present application, several possible specific implementations for determining a reference time point are provided. Specifically, the first device receives and / or transmits a second message, and determines the reference time point based on the first frequency offset and the reference value indicated by the second message, where the first frequency offset represents the frequency offset of the first device with respect to the second measurement frame. According to this embodiment of the present application, the first device and the second device use the same agreed reference value, and the first device determines the reference time point based on the frequency offset and the reference value to correct the influence of the change in the timing offset caused by the frequency offset with respect to the time of the reference time point. Therefore, the measurement time point is determined based on the reference time point, and thus, it is possible to suppress the influence of the timing difference and the frequency difference between the first device clock and the second device clock on the measurement result of the measurement frame, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0034] In a possible implementation, the reference time points corresponding to different frequencies are the same or different, and / or the reference values corresponding to different frequencies are the same or different.

[0035] In a possible implementation, when the first device and / or the second device uses a plurality of antennas, the reference time points used by different antenna combinations of the same frequency are the same or different, and / or the reference values used by different antenna combinations of the same frequency are the same or different.

[0036] The different antenna combinations include, but are not limited to, antenna combination 1 (transmission antenna 1 of the first device and reception antenna 2 of the second device), antenna combination 2 (reception antenna 1 of the first device and transmission antenna 2 of the second device), etc. This is not limited in the embodiments of the present application.

[0037] In a possible implementation, the first measurement frame does not include measurement result data and does not include service data either.

[0038] According to this embodiment of the present application, the time length of the signal used for the measurement within the first measurement frame, for example, the length of a single-frequency sine wave signal, may be shortened or may be extended. The length of the measurement frame is shortened, and thus, the interval during which the single-frequency sine wave signal is transmitted between the first device and the second device, and the total measurement time for ranging can be shortened. In view of the non-ideality of the clock, the ranging result error caused by the clock frequency offset between the first device and the second device is related to the interval during which the single-frequency sine wave signal is transmitted between the first device and the second device. For the same frequency offset, a larger interval indicates a larger error. The interval during which the single-frequency sine wave signal is transmitted between the first device and the second device is shortened, and thus, the influence of the clock frequency offset between the first device and the second device on the ranging result can be suppressed. When there is relative movement between the first device and the second device, shortening the total measurement time for ranging can reduce the amount of change in the relative location between the first device and the second device during the measurement, obtain a more accurate ranging result, and improve the ranging accuracy. In addition, due to the non-ideality of the clock, the device clock frequency drifts over time for the first device and the second device. A longer measurement time indicates a more serious drift. Shortening the total measurement time for ranging can reduce the range of the device clock frequency drift during the measurement, suppress the influence of the clock drift on the ranging result, and improve the ranging accuracy. Extending the time length of the signal used for the measurement within the first measurement frame can improve the accuracy of obtaining the second measurement result by the second device based on the first measurement frame, thereby improving the ranging accuracy.

[0039] In a possible implementation, the single - frequency sine - wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained through modulation based on a first sequence by using a first constellation diagram. The first sequence is a sequence including N bits, and the value of N corresponds to the modulation scheme of the first constellation diagram.

[0040] In this embodiment of the present application, a possible specific implementation for obtaining a first measurement frame is provided. Specifically, the single-frequency sine wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained through modulation based on a first sequence by using a first constellation diagram. The first sequence is a sequence including N bits, and the value of N corresponds to the modulation scheme of the first constellation diagram. For example, the value of N corresponding to the binary phase shift keying (BPSK) modulation scheme is 1, the value of N corresponding to the quadrature phase shift keying (QPSK) modulation scheme is 2, and the value of N corresponding to the eight-phase shift keying (8PSK) modulation scheme is 3. In this embodiment of the present application, in order to avoid the additional implementation complexity and additional time overhead caused by modulation scheme switching, and to shorten or extend the time length of the signal used for measurement in the first measurement frame, for example, the length of the single-frequency sine wave signal, the same modulation scheme is used for the single-frequency sine wave signal and another signal in the first measurement frame. The length of the measurement frame is shortened, and thus the interval at which the single-frequency sine wave signal is transmitted between the first device and the second device, and the total measurement time for ranging can be shortened. In view of the non-ideality of the clock, the ranging result error caused by the clock frequency offset between the first device and the second device is related to the interval at which the single-frequency sine wave signal is transmitted between the first device and the second device. For the same frequency offset, a larger interval indicates a larger error. The interval at which the single-frequency sine wave signal is transmitted between the first device and the second device is shortened, and thus the influence of the clock frequency offset between the first device and the second device on the ranging result can be suppressed. When there is relative movement between the first device and the second device, shortening the total measurement time for ranging can reduce the amount of change in the relative location between the first device and the second device during measurement, obtain a more accurate ranging result, and improve the ranging accuracy.In addition, for the first device and the second device, due to the non-ideality of the clock, the device clock frequency drifts over time. A longer measurement time indicates a more severe drift. Reducing the total measurement time for ranging can reduce the range of the device clock frequency drift during the measurement, suppress the influence of clock drift on the ranging result, and improve the ranging accuracy. Extending the time duration of the signal used for the measurement within the first measurement frame can improve the accuracy of obtaining the second measurement result by the second device based on the first measurement frame, thereby improving the ranging accuracy.

[0041] In a possible implementation, the first symbol is obtained through modulation based on the first sequence by using the first constellation diagram.

[0042] The first symbol is located adjacent to and before the single-frequency sine wave signal, and includes the symbol within the first measurement frame and / or the first symbol located after the single-frequency sine wave signal and within the first measurement frame.

[0043] In this embodiment of the present application, a possible specific implementation for obtaining a first measurement frame is provided. Specifically, the first symbol included in the first measurement frame, such as at least two symbols included in a single-frequency sine wave signal within the first measurement frame, is obtained through modulation based on a first sequence by using a first constellation diagram. The first symbol is located adjacent to and before the single-frequency sine wave signal and includes symbols within the first measurement frame and / or symbols located after the single-frequency sine wave signal and within the first measurement frame. According to this embodiment of the present application, the single-frequency sine wave signal and the adjacent symbols on both sides of the boundary of the single-frequency sine wave signal have the same mapping sequence and use the same constellation diagram. Therefore, it is possible to prevent the measurement frame from being suddenly changed at the boundary, thereby suppressing signal distortion caused by the boundary, improving the accuracy of the measurement result of the measurement frame, and improving the ranging accuracy.

[0044] In a possible implementation, the single-frequency sine wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained through Gaussian frequency shift keying modulation (GFSK modulation) based on a first bit.

[0045] The second symbol is obtained through GFSK modulation based on a first bit.

[0046] The second symbol is located adjacent to and before the single-frequency sine wave signal and includes symbols within the first measurement frame and / or symbols located after the single-frequency sine wave signal and within the first measurement frame.

[0047] In this embodiment of the present application, a possible specific implementation for obtaining a first measurement frame is provided. Specifically, the single-frequency sine wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained through Gaussian frequency shift keying (GFSK) modulation based on a first bit. Similar to the at least two symbols included in the single-frequency sine wave signal within the first measurement frame, the second symbol included in the first measurement frame is also obtained through GFSK modulation based on the first bit. The second symbol is located adjacent to and before the single-frequency sine wave signal and includes a symbol within the first measurement frame and / or a first symbol located after the single-frequency sine wave signal and within the first measurement frame. According to this embodiment of the present application, the single-frequency sine wave signal and the adjacent symbols on both sides of the boundary of the single-frequency sine wave signal have the same mapping bits and use the same modulation scheme. Therefore, it is possible to prevent the measurement frame from being suddenly changed at the boundary, thereby suppressing the signal distortion caused by the boundary, improving the accuracy of the measurement result of the measurement frame, and improving the ranging accuracy.

[0048] In a possible implementation, the method further includes

[0049] a step in which a first device receives a ranging result, where the ranging result includes information regarding the distance between the first device and the second device.

[0050] In this embodiment of the present application, a possible specific implementation for ranging is provided. Specifically, the first device receiving the ranging result may be the first device receiving the ranging result sent by a third device. The third device may be the second device, and is configured to obtain the ranging result through calculations based on the received first measurement result and send the ranging result to the first device. Alternatively, the third device may be another device having ranging calculation capabilities and send the ranging result obtained through calculations to the first device configured as follows。The ranging result includes information regarding the distance between the first device and the second device.

[0051] According to a second aspect, embodiments of the present application further provide a ranging method. The method includes

[0052] a step in which the second device receives a first measurement frame transmitted by the first device on a first frequency, and transmits a second measurement frame to the first device on the first frequency; and a step in which the second device receives a third measurement frame transmitted by the first device on a second frequency, and transmits a fourth measurement frame to the first device on the second frequency, where the second frequency is different from the first frequency; and a step in which the second device obtains a second measurement result based on the first measurement frame; and a step in which the second device obtains a fourth measurement result based on the third measurement frame; and a step in which the second device receives the first measurement result and the third measurement result from a fourth device, where the first measurement result is the measurement result of the first device on the second measurement frame, and the third measurement result is the measurement result of the first device on the fourth measurement frame; and a step in which the second device determines the distance between the first device and the second device based on the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result and includes.

[0053] In this embodiment of the present application, a ranging method is provided. The first device and the second device exchange measurement frames on at least two frequencies. For example, the second device receives the first measurement frame sent by the first device on the first frequency, sends the second measurement frame to the first device on the first frequency, receives the third measurement frame sent by the first device on the second frequency, and sends the fourth measurement frame to the first device on the second frequency. The second frequency is different from the first frequency, and the second measurement frame and the fourth measurement frame are used by the first device to obtain the first measurement result and the third measurement result, respectively. The second device obtains a second measurement result based on the received first measurement frame, obtains a fourth measurement result based on the received third measurement frame, and receives the first measurement result and the third measurement result from the fourth device. The second device obtains a ranging result through calculation based on the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result, and determines the distance between the first device and the second device. The fourth device may be the first device or a device other than the first device. This is not limited in the present application. The fourth device is the first device, configured to obtain the first measurement result and the third measurement result and transmit the first measurement result and the third measurement result to the second device or a transfer device, or the fourth device is a transfer device, configured to transfer the first measurement result and the third measurement result to the second device. This is not limited in the present application. When switching from the first frequency to the second frequency, the first device and the second device generate a random initial phase. As a result, the first measurement result and the third measurement result cannot be directly coherently combined, and the second measurement result and the fourth measurement result cannot be directly coherently combined. The joint measurement result of the first frequency is obtained by combining the first measurement result and the second measurement result, and the joint measurement result of the first frequency is not affected by the initial phases of the first device and the second device on the first frequency.The combined measurement result of the second frequency is obtained by combining the third measurement result and the fourth measurement result, and the combined measurement result of the second frequency is not affected by the initial phases of the first device and the second device on the second frequency. Therefore, the combined measurement results of the first frequency and the second frequency are not affected by the random initial phases caused by the frequency switching of the device, can be coherently combined, and thus, when the ranging result is calculated, a bandwidth larger than the bandwidth of the measurement frame of a single frequency can be used to calculate the ranging result, a more accurate ranging result can be obtained, and the ranging accuracy is improved.

[0054] In a possible implementation, the first frequency and the second frequency are adjacent frequencies in the order of usage time, the first frequency belongs to the first frequency set, the second frequency belongs to the second frequency set, and the first frequency set includes the first frequency and the second frequency set.

[0055] In this embodiment of the present application, a possible specific implementation for acquiring a first frequency and a second frequency is provided. Specifically, the first frequency and the second frequency are two adjacent frequencies in the order of usage time. Specifically, the first device and the second device first exchange measurement frames on the first frequency, and then exchange measurement frames on the second frequency, and do not exchange measurement frames on frequencies other than the first frequency and the second frequency during the time between the two measurement frame exchanges. The usage herein means that the first device and the second device exchange measurement frames, and the fact that the first frequency and the second frequency are adjacent in the order of usage time means that the first device and the second device exchange non-measurement frames on another frequency during the time between the two aforementioned measurement frame exchanges, for example, frames used to transmit service data, measurement results, signaling, etc., but not used for ranging measurements. It should be understood that cases where devices other than the first device and the second device exchange any type of frame on any frequency during the time between the two aforementioned measurement frame exchanges are not excluded. The first frequency is acquired from a first frequency set, and then the second frequency is acquired from a second frequency set. The difference between the first frequency set and the second frequency set is that the first frequency set includes the first frequency and the second frequency set does not include the first frequency. It can be understood that the second frequency set is a frequency set acquired after the first frequency is removed from the first frequency set. According to this embodiment of the present application, the first frequency and the second frequency are two adjacent frequencies in the order of usage time, and thus it is possible to avoid the repeated use of the same frequency during measurement, thereby shortening the measurement time for ranging. When there is relative movement between the first device and the second device, shortening the measurement time for ranging can reduce the amount of change in the relative location between the first device and the second device during measurement, obtain a more accurate ranging result, and improve the ranging accuracy.In addition, due to clock non-ideality in the first device and the second device, the device clock frequency drifts over time. A longer measurement time indicates a more serious drift. Reducing the measurement time for ranging can reduce the range of the device clock frequency drift during measurement, suppress the influence of clock drift on the ranging result, and improve the ranging accuracy.

[0056] In a possible implementation, the method

[0057] a step in which the second device determines a first frequency within a first set of frequencies in a pseudo-random manner based on a first random seed; a step in which the second device determines a second frequency within a second set of frequencies in a pseudo-random manner based on a second random seed and further includes.

[0058] In this embodiment of the present application, a possible specific implementation for determining the first frequency and the second frequency is provided. Specifically, the frequencies used are determined within the corresponding frequency sets in a pseudo-random manner based on random seeds, and the first random seed used to determine the first frequency and the second random seed used to determine the second frequency may be the same random seed or different random seeds. According to this embodiment of the present application, the frequencies are determined in a pseudo-random manner based on random seeds, and thus the determined frequencies are random, thereby reducing the probability of interference when the same time-frequency resources are used when the spectrum is shared with another device and improving the ranging performance.

[0059] In a possible implementation, the method

[0060] a step in which the second device generates and transmits a first random seed and / or a second random seed, or The step in which the second device receives the first random seed and / or the second random seed is further included.

[0061] In this embodiment of the present application, several possible specific implementations for obtaining the first random seed and / or the second random seed are provided. The details are as follows. 1. The second device generates the first random seed and / or the second random seed and sends the first random seed and / or the second random seed to the first device; 2. The second device generates the first random seed and / or the second random seed, sends the first random seed and / or the second random seed to another device, and then the other device transfers the first random seed and / or the second random seed to the first device; 3. The second device receives the first random seed and / or the second random seed from the first device; 4. The second device receives the first random seed and / or the second random seed from another device, where, previously, the first random seed and / or the second random seed of the other device was generated by the first device and sent to the other device; and 5. Another device generates the first random seed and / or the second random seed and sends the first random seed and / or the second random seed to the first device and the second device. In any one of the foregoing methods, the first device and the second device use the same first random seed when selecting the first frequency and use the same second random seed when selecting the second frequency. Therefore, the first device and the second device select the same first frequency and second frequency to avoid frequency selection errors.

[0062] In a possible implementation, the method is

[0063] The step in which the second device obtains a second measurement result based on the first measurement frame, where the second measurement result is the phase information or in-phase component and quadrature component IQ information of a single-frequency sine wave signal included in the first measurement frame at a second time point, or the phase information or IQ information of a signal obtained by extending the single-frequency sine wave signal included in the first measurement frame according to a single-frequency sine wave model, and the second measurement result includes phase information or IQ information at the second time point and is used for ranging. It further includes.

[0064] In this embodiment of the present application, a possible specific implementation for obtaining the second measurement result is provided. Specifically, the second device measures the first measurement frame to obtain the second measurement result, where the second measurement result includes the phase information or in-phase component and quadrature component IQ information of a single-frequency sine wave signal included in the first measurement frame at a second time point, or the second measurement result includes the phase information or in-phase component and quadrature component IQ information at the second time point of a signal obtained by extending the single-frequency sine wave signal included in the first measurement frame according to a single-frequency sine wave model. The ranging method based on phase information or IQ information including phase information can achieve higher ranging accuracy than the conventional amplitude-based ranging method.

[0065] In a possible implementation, the method

[0066] The step in which the second device determines a second timing offset, where the second timing offset represents the timing offset of the second device with respect to the first measurement frame, and The step in which the second device determines a second time point based on the second timing offset It further includes.

[0067] In this embodiment of the present application, a possible specific implementation for determining the second time point is provided. Specifically, the second device determines a second timing offset and determines the second time point based on the second timing offset, where the second timing offset represents the timing offset of the second device relative to the first measurement frame. According to this embodiment of the present application, the time points corresponding to the phase information or IQ information are corrected based on the measurement timing offset, and thus, it is possible to suppress the influence of the timing difference and frequency difference between the first device clock and the second device clock on the ranging result, and it is possible to improve the ranging accuracy.

[0068] In a possible implementation, the second time point satisfies T2 = t0 + t2 / 2, where t0 represents the reference time point, t2 represents the second timing offset, and T2 represents the second time point.

[0069] In this embodiment of the present application, a possible specific implementation for determining the second time point is provided. Specifically, the second time point needs to satisfy t0 + t2 / 2, where t0 represents the reference time point and t2 represents the second timing offset. Correspondingly, the first device also determines the first time point by using a similar method. The difference between the real time corresponding to the first time point of the first device clock and the real time corresponding to the second time point of the second device clock is mainly related to the measurement error between the first timing offset and the second timing offset, and is independent of the timing offset between the first device clock and the second device clock. The joint measurement result of the first frequency obtained by combining the first measurement result and the second measurement result is not affected by the timing offset between the first device clock and the second device clock. Therefore, the influence of the timing offset between the first device clock and the second device clock on the ranging result is suppressed, and the ranging accuracy is improved.

[0070] In a possible implementation, the step of determining the second timing offset is

[0071] The second device includes the step of determining a second timing offset by measuring a signal within the first measurement frame.

[0072] In this embodiment of the present application, a possible specific implementation for determining the second timing offset is provided. Specifically, the second device can determine the second timing offset by measuring a signal within the first measurement frame, or the second device can determine the second timing offset by measuring another signal sent by the first device, where the other signal can include a signal within another measurement frame or a signal within another non-measurement frame. Based on the second timing offset determined in this embodiment of the present application, the timing offset can be corrected, the timing difference and frequency difference between the first device clock and the second device clock are reduced, the influence on the measurement result of the measurement frame is reduced, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0073] In a possible implementation, the method

[0074] further includes the step of the second device sending a first message and / or receiving a first message where the first message indicates a reference time point, or the reference time point is a pre-configured or pre-defined time point.

[0075] In this embodiment of the present application, several possible specific implementations for determining a reference time point are provided. Specifically, the second device receives and / or transmits a first message, determines a reference time point via the information indicated by the first message, or the reference time point is a time point pre-configured for the second device (and the first device) or a time point pre-defined within a protocol. According to this embodiment of the present application, the first device and the second device determine a measurement time point by using the same agreed reference time point. Therefore, it is possible to suppress the influence of the timing difference and frequency difference between the first device clock and the second device clock on the measurement result of the measurement frame, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0076] In a possible implementation, the method is

[0077] a step in which the second device sends and / or receives a second message, where the second message indicates a reference value, or the reference value is a pre-configured or pre-defined value, and a step of determining a reference time point based on the reference value and a second frequency offset, where the second frequency offset represents the frequency offset of the second device with respect to the first measurement frame, and further includes.

[0078] In this embodiment of the present application, several possible specific implementations for determining a reference time point are provided. Specifically, the second device receives and / or transmits a second message, and determines a reference time point based on a second frequency offset and a reference value indicated by the second message, where the second frequency offset represents the frequency offset of the second device with respect to the first measurement frame. According to this embodiment of the present application, the first device and the second device use the same agreed reference value, and the second device determines a reference time point based on the frequency offset and the reference value to correct the influence of the change in the timing offset caused by the frequency offset with respect to the time of the reference time point. Therefore, the measurement time point is determined based on the reference time point, and thus, it is possible to suppress the influence of the timing difference and the frequency difference between the first device clock and the second device clock on the measurement result of the measurement frame, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0079] In a possible implementation, the reference time points corresponding to different frequencies are the same or different, and / or the reference values corresponding to different frequencies are the same or different.

[0080] In a possible implementation, when the first device and / or the second device uses a plurality of antennas, the reference time points used by different antenna combinations of the same frequency are the same or different, and / or the reference values used by different antenna combinations of the same frequency are the same or different.

[0081] The different antenna combinations include, but are not limited to, antenna combination 1 (transmission antenna 1 of the first device and reception antenna 2 of the second device), antenna combination 2 (reception antenna 1 of the first device and transmission antenna 2 of the second device), etc. This is not limited in the embodiments of the present application.

[0082] In a possible implementation, the single - frequency sine - wave signal included in the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained through modulation based on a second sequence by using a second constellation diagram. The second sequence is a sequence including M bits, and the value of M corresponds to the modulation scheme of the second constellation diagram.

[0083] In this embodiment of the present application, a possible specific implementation for obtaining a second measurement frame is provided. Specifically, the single-frequency sine wave signal included in the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained through modulation based on a second sequence by using a second constellation diagram. The second sequence is a sequence including M bits, and the value of M corresponds to the modulation scheme of the second constellation diagram. For example, the value of M corresponding to the binary phase shift keying (BPSK) modulation scheme is 1, the value of M corresponding to the quadrature phase shift keying (QPSK) modulation scheme is 2, and the value of M corresponding to the octal phase shift keying (8PSK) modulation scheme is 3. In this embodiment of the present application, to avoid the additional implementation complexity and additional time overhead caused by modulation scheme switching, the same modulation scheme is used for the single-frequency sine wave signal and another signal in the second measurement frame to shorten or extend the time length of the signal used for measurement in the second measurement frame, for example, the length of the single-frequency sine wave signal. The length of the measurement frame is shortened, and thus the interval at which the single-frequency sine wave signal is transmitted between the first device and the second device, and the total measurement time for ranging can be shortened. In view of the non-ideality of the clock, the ranging result error caused by the clock frequency offset between the first device and the second device is related to the interval at which the single-frequency sine wave signal is transmitted between the first device and the second device. For the same frequency offset, a larger interval indicates a larger error. The interval at which the single-frequency sine wave signal is transmitted between the first device and the second device is shortened, and thus the influence of the clock frequency offset between the first device and the second device on the ranging result can be suppressed. When there is relative movement between the first device and the second device, shortening the total measurement time for ranging can reduce the amount of change in the relative location between the first device and the second device during measurement, obtain a more accurate ranging result, and improve the ranging accuracy.In addition, due to clock non-ideality, for the first device and the second device, the device clock frequency drifts over time. A longer measurement time indicates a more significant drift. Reducing the total measurement time for ranging can reduce the range of the device clock frequency drift during measurement, suppress the influence of clock drift on the ranging result, and improve the ranging accuracy. Extending the time duration of the signal used for the measurement within the second measurement frame can improve the accuracy of obtaining the second measurement result by the second device based on the first measurement frame, thereby improving the ranging accuracy.

[0084] In a possible implementation, the third symbol is obtained through modulation based on the second sequence by using the second constellation diagram.

[0085] The third symbol is located adjacent to and before a single-frequency sine wave signal, and includes a symbol within the second measurement frame and / or a first symbol within the second measurement frame that is located after the single-frequency sine wave signal.

[0086] In this embodiment of the present application, a possible specific implementation for obtaining a second measurement frame is provided. Specifically, a third symbol included in the second measurement frame, such as at least two symbols included in a single-frequency sine wave signal within the second measurement frame, is obtained through modulation based on a second sequence by using a second constellation diagram. The third symbol is located adjacent to and before the single-frequency sine wave signal and includes symbols within the second measurement frame and / or a first symbol located after the single-frequency sine wave signal and within the second measurement frame. According to this embodiment of the present application, the single-frequency sine wave signal and the adjacent symbols on both sides of the boundary of the single-frequency sine wave signal have the same mapping sequence and use the same constellation diagram. Therefore, it is possible to prevent the measurement frame from being suddenly changed at the boundary, thereby suppressing signal distortion caused by the boundary, improving the accuracy of the measurement result of the measurement frame, and improving the ranging accuracy.

[0087] In a possible implementation, the single-frequency sine wave signal included in the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained through Gaussian frequency shift keying modulation (GFSK modulation) based on a second bit.

[0088] The fourth symbol is obtained through GFSK modulation based on a second bit.

[0089] The fourth symbol is located adjacent to and before the single-frequency sine wave signal and includes symbols within the second measurement frame and / or a first symbol located after the single-frequency sine wave signal and within the second measurement frame.

[0090] In this embodiment of the present application, a possible specific implementation for obtaining a second measurement frame is provided. Specifically, the single-frequency sine wave signal included in the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained through Gaussian frequency shift keying (GFSK) modulation based on a second bit. Compared with the frame structure design of "preamble sequence + synchronization sequence + data + single-frequency sine wave" in the prior art that is still used for the current measurement frame, the second measurement frame obtained in this embodiment of the present application does not include measurement result data or service data. Therefore, it is possible to shorten the interval during which the single-frequency sine wave signal is transmitted between the first device and the second device, or it is possible to extend the length of the single-frequency sine wave used for measurement, thereby reducing the measurement result error of the measurement frame caused by the timing difference and frequency difference between the first device clock and the second device clock. In this way, the error of the ranging result is reduced and the ranging accuracy is improved. Similar to the at least two symbols included in the single-frequency sine wave signal within the second measurement frame, the fourth symbol included in the second measurement frame is also obtained through Gaussian frequency shift keying (GFSK) modulation based on a second bit. The fourth symbol is located adjacent to and before the single-frequency sine wave signal and includes a symbol within the second measurement frame and / or a first symbol located after the single-frequency sine wave signal and within the second measurement frame. According to this embodiment of the present application, the single-frequency sine wave signal and the adjacent symbols on both sides of the boundary of the single-frequency sine wave signal have the same mapping bits and use the same modulation scheme. Therefore, it is possible to prevent the measurement frame from being suddenly changed at the boundary, thereby suppressing the signal distortion caused by the boundary, improving the accuracy of the measurement result of the measurement frame, and improving the ranging accuracy.

[0091] In a possible implementation, the method includes

[0092] the step of the second device sending out the ranging result further includes, wherein the ranging result includes information regarding the distance between the first device and the second device.

[0093] In this embodiment of the present application, a possible specific implementation for determining the second time point is provided. Specifically, After performing a ranging calculation based on the received first measurement result to obtain a ranging result, the second device may send the ranging result to a fourth device. The fourth device may be the first device, configured to measure the received second measurement frame to obtain a first measurement result and send the first measurement result to the second device. Alternatively, the fourth device may be another device having no ranging calculation ability. The ranging result includes information regarding the distance between the first device and the second device.

[0094] According to a third aspect, an embodiment of the present application provides a communication device. The communication device includes a module or unit configured to implement the method according to any one of the first aspect or the second aspect.

[0095] In a possible implementation, the present communication device includes a transceiver unit configured to send a first measurement frame to a second device on a first frequency and receive a second measurement frame sent by the second device on the first frequency, wherein the transceiver unit is further configured to send a third measurement frame to the second device on a second frequency and receive a fourth measurement frame sent by the second device on the second frequency, where the second frequency is different from the first frequency, further includes a processing unit configured to obtain a first measurement result based on the second measurement frame, wherein the processing unit is further configured to obtain a third measurement result based on the fourth measurement frame, The transceiver unit is further configured to send the first measurement result and the third measurement result to a third device, where the first measurement result and the third measurement result are used for distance measurement.

[0096] In a possible implementation, the first frequency and the second frequency are adjacent frequencies in the order of usage time, the first frequency belongs to a first frequency set, the second frequency belongs to a second frequency set, and the first frequency set includes the first frequency and the second frequency set.

[0097] In a possible implementation, the processing unit is further configured to determine the first frequency within the first frequency set in a pseudo-random manner based on a first random seed.

[0098] The processing unit is further configured to determine the second frequency within the second frequency set in a pseudo-random manner based on a second random seed.

[0099] In a possible implementation, the processing unit is further configured to generate the first random seed and / or the second random seed and send them via the transceiver unit, or The transceiver unit is further configured to receive the first random seed and / or the second random seed.

[0100] In a possible implementation, the first measurement result includes the phase information or the in-phase component and quadrature component IQ information of a single-frequency sine wave signal included in the second measurement frame at a first time point, or the phase information or IQ information of the signal obtained by expanding the single-frequency sine wave signal included in the second measurement frame according to a single-frequency sine wave model, at the first time point.

[0101] In a possible implementation, the processing unit is further configured to determine a first timing offset, where the first timing offset represents the timing offset of the communication device with respect to the second measurement frame.

[0102] The processing unit is further configured to determine a first time point based on a first timing offset.

[0103] In a possible implementation, the first time point satisfies T1 = t0 + t1 / 2, where t0 represents a reference time point, t1 represents the first timing offset, and T1 represents the first time point.

[0104] In a possible implementation, the processing unit is specifically configured to determine the first timing offset by measuring a signal within a second measurement frame.

[0105] In a possible implementation, the transceiver unit is further configured to receive a first message and / or transmit a first message, where the first message indicates a reference time point, or the reference time point is a pre-configured or pre-defined time point.

[0106] In a possible implementation, the transceiver unit is further configured to receive a second message and / or transmit a second message, where the second message indicates a reference value, or the reference value is a pre-configured or pre-defined value.

[0107] The processing unit is further configured to determine a reference time point based on the reference value and a first frequency offset, where the first frequency offset represents the frequency offset of the communication device with respect to the second measurement frame.

[0108] In a possible implementation, the single-frequency sine wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained through modulation based on a first sequence using a first constellation diagram. The first sequence is a sequence including N bits, and the value of N corresponds to the modulation scheme of the first constellation diagram.

[0109] In a possible implementation, the first symbol is obtained through modulation based on a first sequence by using a first constellation diagram.

[0110] The first symbol is located adjacent to and before a single - frequency sine - wave signal, and includes symbols within the first measurement frame that are located adjacent to and after the single - frequency sine - wave signal and the first symbol within the first measurement frame.

[0111] In a possible implementation, the single - frequency sine - wave signal included within the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained through Gaussian frequency - shift keying (GFSK) modulation based on a first bit.

[0112] The second symbol is obtained through GFSK modulation based on a first bit.

[0113] The second symbol is located adjacent to and before a single - frequency sine - wave signal, and includes symbols within the first measurement frame that are located adjacent to and after the single - frequency sine - wave signal and the first symbol within the first measurement frame.

[0114] In a possible implementation, the transceiver unit is further configured to receive a ranging result, where the ranging result includes information regarding the distance between the communication device and a second device.

[0115] Regarding the technical effect brought about by the third aspect or any possible implementation, please refer to the description of the technical effect corresponding to the first aspect or the corresponding implementation.

[0116] In another possible implementation, the present communication device includes a transceiver unit configured to receive a first measurement frame transmitted by a first device on a first frequency and transmit a second measurement frame to the first device on the first frequency, where The transceiver unit is further configured to receive a third measurement frame transmitted by a first device on a second frequency and to transmit a fourth measurement frame to the first device on the second frequency, where the second frequency is different from the first frequency, and further includes a processing unit configured to obtain a second measurement result based on the first measurement frame, where the processing unit is further configured to obtain a fourth measurement result based on the third measurement frame and includes The transceiver unit is further configured to receive the first measurement result and the third measurement result from a fourth device, where the first measurement result is the measurement result of the first device on the second measurement frame, and the third measurement result is the measurement result of the first device on the fourth measurement frame, The processing unit is further configured to determine the distance between the first device and the communication device based on the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result.

[0117] In a possible implementation, the first frequency and the second frequency are adjacent frequencies in the order of usage time, the first frequency belongs to a first frequency set, the second frequency belongs to a second frequency set, and the first frequency set includes the first frequency and the second frequency set.

[0118] In a possible implementation, the processing unit is further configured to determine the first frequency within the first frequency set in a pseudo-random manner based on a first random seed.

[0119] The processing unit is further configured to determine the second frequency within the second frequency set in a pseudo-random manner based on a second random seed.

[0120] In a possible implementation, the processing unit is further configured to generate the first random seed and / or the second random seed and transmit them via the transceiver unit, or The transceiver unit is further configured to receive a first random seed and / or a second random seed.

[0121] In a possible implementation, the processing unit is further configured to obtain a second measurement result based on a first measurement frame, where the second measurement result includes phase information or in-phase components and quadrature components IQ information of a single-frequency sine wave signal included in the first measurement frame at a second time point, or phase information or IQ information of a signal obtained by extending the single-frequency sine wave signal included in the first measurement frame according to a single-frequency sine wave model, and the second measurement result is used for ranging.

[0122] In a possible implementation, the processing unit is further configured to determine a second timing offset, where the second timing offset represents the timing offset of the communication device with respect to the first measurement frame.

[0123] The processing unit is further configured to determine a second time point based on the second timing offset.

[0124] In a possible implementation, the second time point satisfies T2 = t0 + t2 / 2, where t0 represents a reference time point, t2 represents the second timing offset, and T2 represents the second time point.

[0125] In a possible implementation, the processing unit is specifically configured to determine the second timing offset by measuring a signal in the first measurement frame.

[0126] In a possible implementation, the transceiver unit is further configured to send a first message and / or receive a first message, where the first message indicates a reference time point, or The reference time point is a pre-configured or pre-defined time point.

[0127] In a possible implementation, the transceiver unit is further configured to send a second message and / or receive a second message, where the second message indicates a reference value, or the reference value is a pre-configured or pre-defined value.

[0128] The processing unit is further configured to determine a reference time based on the reference value and a second frequency offset, where the second frequency offset represents the frequency offset of the communication device with respect to the first measurement frame.

[0129] In a possible implementation, the single-frequency sine wave signal included in the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained through modulation based on a second sequence by using a second constellation diagram, where the second sequence is a sequence including M bits, and the value of M corresponds to the modulation scheme of the second constellation diagram.

[0130] In a possible implementation, the third symbol is obtained through modulation based on a second sequence by using a second constellation diagram.

[0131] The third symbol is located adjacent to and before the single-frequency sine wave signal, and includes a symbol within the second measurement frame and / or a first symbol located after the single-frequency sine wave signal and within the second measurement frame.

[0132] In a possible implementation, the single-frequency sine wave signal included in the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained through Gaussian frequency shift keying (GFSK) modulation based on a second bit.

[0133] The fourth symbol is obtained through GFSK modulation based on a second bit.

[0134] The fourth symbol is located adjacent to and before the single - frequency sine - wave signal, and is a symbol within the second measurement frame and / or is a first symbol located after the single - frequency sine - wave signal and within the second measurement frame.

[0135] In a possible implementation, the transceiver unit is further configured to send out a ranging result, where the ranging result includes information regarding the distance between the first device and communication device ...

[0136] For the technical effects brought about by the third aspect or any possible implementation, reference may be made to the description of the technical effects corresponding to the second aspect or the corresponding implementation.

[0137] According to a fourth aspect, an embodiment of the present application provides a communication device including a processor. The processor is coupled to a memory and is configured to execute instructions in the memory to implement the method according to the first aspect or the second aspect, and any possible implementation of the first aspect or the second aspect. Optionally, the communication device further includes a memory. Optionally, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0138] According to a fifth aspect, an embodiment of the present application provides a communication device including a logic circuit and a communication interface. The communication interface is configured to receive information or send out information. The logic circuit receives or sends out information via the communication interface, and thus the communication device the implements the first aspect or the second aspect, and any possible implementation of the first aspect or the second aspect this method according to is configured to be implemented.

[0139] According to a sixth aspect, an embodiment of the present application provides a computer-readable storage medium. The computer-readable storage medium is configured to store a computer program (which may also be referred to as code or instructions). When the computer program is executed on a computer the either the first aspect or the second aspect and any possible implementation of the first aspect or the second aspect this method according to is implemented.

[0140] According to a seventh aspect, an embodiment of the present application provides a computer program product. The computer program product includes a computer program (which may also be referred to as code or instructions). When the computer program is executed, the computer the either the first aspect or the second aspect and any possible implementation of the first aspect or the second aspect this method according to is enabled to implement.

[0141] According to an eighth aspect, an embodiment of the present application provides a chip. The chip includes a processor, and the processor is configured to execute instructions. When the processor executes the instructions, the chip the either the first aspect or the second aspect and any possible implementation of the first aspect or the second aspect this method according to is enabled to implement. Optionally, the chip further includes a communication interface, and the communication interface is configured to receive signals or transmit signals.

[0142] According to a ninth aspect, an embodiment of the present application provides a vehicle-end device. The vehicle-end device includes at least one of the communication devices of the third aspect, the communication devices of the fourth aspect, the communication devices of the fifth aspect, or the chip of the eighth aspect.

[0143] According to the tenth aspect, an embodiment of the present application provides a system. The system includes a vehicle end device and at least one of the communication device according to the third aspect, the communication device according to the fourth aspect, the communication device according to the fifth aspect, or the chip according to the eighth aspect.

[0144] In addition, in the process of implementing the method according to the first aspect and any possible implementation, or the method according to the second aspect or any possible implementation, the process of sending and / or receiving information in the aforementioned method can be understood as the process of outputting information by the processor and / or the process of receiving input information by the processor. When outputting information, the processor can output the information to a transceiver (or a communication interface or a transmitting module), and thus the transceiver transmits the information. After the information is output by the processor and before it arrives at the transceiver, other processing may further need to be performed on the information. Similarly, when the processor receives input information, the transceiver (or a communication interface or a transmitting module) receives the information and inputs the information to the processor. Furthermore, after the transceiver receives the information and before the information is input to the processor, other processing may need to be performed on the information.

[0145] Based on the foregoing principle, for example, sending information in the aforementioned method can be understood as outputting information by the processor. In another example, receiving information can be understood as receiving input information by the processor.

[0146] Optionally, operations related to the processor, such as transmitting, sending, and receiving, can be more generally understood as operations such as outputting, receiving, and inputting of the processor, provided that there is no separate regulation or the operation does not conflict with the actual function or internal logic of the operation in the related description.

[0147] Optionally, in a process of implementing the method according to the first aspect and any possible implementation, or the method according to the second aspect and any possible implementation, the processor may be a processor specifically configured to implement these methods, or a processor that executes these methods by executing computer instructions in a memory, for example, a general-purpose processor. The memory may be a non-transitory memory, for example, a read-only memory (ROM). The memory and the processor may be integrated on the same chip or separately disposed on different chips. The type of the memory and the manner of disposing the memory and the processor are not limited in the embodiments of the present application.

[0148] In a possible implementation, at least one memory is disposed outside the device.

[0149] In another possible implementation, at least one memory is disposed inside the device.

[0150] In yet another possible implementation, some memories in at least one memory may be disposed inside the device, and other memories may be disposed outside the device.

[0151] In the present application, the processor and the memory may alternatively be integrated into one component. In other words, the processor and the memory may alternatively be integrated together.

[0152] In the embodiments of the present application, the co-measurement results of the first frequency and the co-measurement results of the second frequency are not affected by the random initial phase caused by the frequency switching of the device and can be coherently combined. Therefore, when the ranging result is calculated, a bandwidth larger than the bandwidth of the measurement frame of a single frequency can be used to calculate the ranging result, and a more accurate ranging result can be obtained, and the ranging accuracy is improved.

Brief Description of the Drawings

[0153] To more clearly explain the technical solutions of the embodiments of the present invention, the following briefly describes the accompanying drawings for the purpose of explaining the embodiments. It is obvious that the accompanying drawings in the following description only show some embodiments of this application, and those skilled in the art can derive other drawings from these accompanying drawings without creative efforts.

[0154]

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Embodiments for Carrying Out the Invention

[0155] To clarify the objectives, technical solutions, and advantages of this application, the following describes the embodiments of this application with reference to the accompanying drawings in the embodiments of this application.

[0156] In the specification, claims, and appended drawings of this application, terms such as "first," "second," etc. are used to distinguish different objects, but not to describe a specific order. Additionally, terms such as "comprising" and "having," and any other variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units is not limited to the recited steps or units, but may optionally further include steps or units not recited, or may optionally further include other steps or units specific to these processes, methods, products, or devices.

[0157] As used herein, "embodiments" means that the specific features, structures, or characteristics described in connection with the embodiments may be included in at least one embodiment of this application. The phrases shown at various locations in this specification do not necessarily refer to the same embodiment, nor are they exclusive alternative embodiments from another embodiment. In the embodiments of this application, unless otherwise specified or there is no logical contradiction, the conditions and / or descriptions in the embodiments are consistent and may be cross-referenced. Those skilled in the art can explicitly and implicitly understand that the technical features in different embodiments are combined based on their internal logical relationships to form new embodiments.

[0158] In this specification, "at least one (item)" means one or more, "a plurality of" means two or more, "at least two (items)" means two, three, or more, and "and / or" is used to describe the relationship between related objects, and it should be understood that three relationships can exist. For example, "A and / or B" may indicate that only A exists, only B exists, and both A and B exist, where A and B may be singular or plural. The character " / " generally indicates an "or" relationship between related objects. "At least one of the following items (pieces)" or a similar expression means any combination of these items, including a single item (piece) or any combination of multiple items (pieces). For example, at least one of a, b, or c may indicate a, b, c, a and b, a and c, b and c, or a, b, and c, where a, b, and c may be singular or plural.

[0159] This application provides a ranging method. To more clearly explain the solution of this application, the following first describes some knowledge related to ranging.

[0160] The frequency is the center frequency of the transmitted signal. A device with a frequency hopping function may use the same frequency or different frequencies in two different signal transmission processes. The frequency may be indicated in an absolute frequency mode or may be a number representing the absolute frequency.

[0161] The method by which a communication device transmits a ranging signal to implement ranging is an important means for solving the ranging / positioning problem. The ranging accuracy is closely related to the bandwidth covered by the ranging signals that can be coherently combined. A wider bandwidth covered by the ranging signals indicates higher ranging accuracy.

[0162] When ranging is performed in a frequency hopping manner, the bandwidth occupied by a single transmission is small. However, if only a single transmission is used for ranging, the ranging accuracy cannot meet the requirements. The bandwidth covered by the ranging signal can be extended in a frequency hopping communication system. However, each time frequency hopping is performed, the device clock generates a random phase. As a result, the ranging signals received by the device at different frequencies cannot be directly combined coherently.

[0163] To solve the aforementioned random phase problem caused by frequency hopping, which is that of the device clock, the random phase caused by frequency hopping can be eliminated through two-way measurement. Thus, the ranging signals for different frequencies can be combined coherently to obtain higher ranging accuracy.

[0164] For a specific two-way measurement process, refer to FIG. 1. FIG. 1 is a diagram of a possible two-way measurement according to an embodiment of the present application.

[0165] As shown in FIG. 1, in two-way measurement, a first device transmits a first measurement frame on each frequency hopping frequency, where the first measurement frame includes a single-frequency sine wave signal, and a second device receives the first measurement frame and measures the in-phase and quadrature phase (IQ) values (or amplitude values or phase information) of the single-frequency sine wave signal in the first measurement frame at a second time point, or the IQ values (or amplitude values or phase information) of the signal obtained by extending the single-frequency sine wave signal in the first measurement frame according to a single-frequency sine wave model. In actual processing, the IQ values can be obtained through calculation by using an algorithm, for example, a parameter estimation value, instead. The single-frequency sine wave signal is not extended. Then, the second device sends a second measurement frame, where the second measurement frame includes a single-frequency sine wave signal, and the first device receives the second measurement frame and measures the IQ values (or amplitude and phase information) of the single-frequency sine wave signal in the second measurement frame at a first time point, or the IQ values (or amplitude and phase information) of the signal obtained by extending the single-frequency sine wave signal in the second measurement frame according to a single-frequency sine wave model. In actual processing, the IQ values can be obtained through calculation by using an algorithm, for example, a parameter estimation value, instead. The single-frequency sine wave signal is not extended. After a device (the first device, the second device, or another device) obtains two measurement values (for example, in a wired and / or wireless communication manner), the two measurement values are combined (for example, simply multiplied) to obtain a reference value of the frequency hopping frequency. The reference values of multiple frequency hopping frequencies can be coherently combined for ranging to obtain information about the distance between the first device and the second device.

[0166] However, in actual measurement, there are timing differences and frequency differences between the clocks of different devices, and these differences cause ranging errors. In addition, in actual measurement, relative movement usually exists between devices, and changes in the relative location between devices during measurement also cause ranging errors.

[0167] Regarding the technical problem in the aforementioned ranging method that the ranging error is large and the ranging accuracy needs to be improved, the embodiments of the present application provide a communication architecture used for ranging, and correspondingly, propose a new ranging method based on that architecture. The co-measurement results of the first frequency and the co-measurement results of the second frequency are not affected by the random initial phase caused by the frequency switching of the device and can be coherently combined. Therefore, when the ranging result is calculated, a bandwidth larger than the bandwidth of the measurement frame of a single frequency can be used to calculate the ranging result, and a more accurate ranging result can be obtained, and the ranging accuracy is improved.

[0168] The following describes the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application.

[0169] The method provided in the present application can be applied to various communication systems, such as the Internet of Things (IoT) system, the narrowband Internet of Things (NB-IoT) system, the Long Term Evolution (LTE) system, short-range wireless communication systems, such as the SparkLink communication network system, the 5th generation (5G) communication system, and new communication systems (such as 6G) emerging in future communication development.

[0170] The technical solution provided in this application can be further applied to machine type communication (MTC), long term evolution-machine (LTE-M), device-to-device (D2D) network, machine-to-machine (M2M) network, internet-of-things (IoT) network, or another network. The IoT network may include, for example, the internet of vehicles. The communication mode in the internet of vehicles system is collectively called vehicle-to-everything (V2X, where X can represent any thing). For example, V2X may include vehicle to vehicle (V2V) communication, vehicle to infrastructure (V2I) communication, vehicle to pedestrian (V2P) communication, or vehicle to network (V2N) communication.

[0171] In the various communication systems described above, a device having communication capabilities may sometimes be called a node or a communication node. For example, a node may include an independent device such as a handheld terminal, a vehicle, an in-vehicle device, a network-side device, a user equipment, an access terminal, a subscriber unit, a subscriber station, a mobile station, a mobile console, a remote station, a remote terminal, a wireless communication device, a user agent, or a user device, or may be a part (for example, a chip or an integrated circuit) included in an independent device. A node may be any possible smart terminal device (for example, a mobile phone), a smart transportation device (for example, a vehicle or a drone), a smart manufacturing device, a smart home device (for example, a large screen or a speaker), etc.

[0172] The nodes in the embodiments of this application can be applied to multiple application scenarios, such as the following application scenarios: mobile internet (MI), industrial control, self-driving, transportation safety, internet of things (IoT), smart city, or smart home.

[0173] In some application scenarios or some network types, the names of devices with similar communication capabilities may not be called nodes. This is not limited in this application.

[0174] For example, in FIG. 2 shown below, the nodes can communicate with each other by using technologies such as D2D technology, M2M technology, and V2X technology.

[0175] FIG. 2 is a diagram of the architecture of a possible communication system according to an embodiment of this application.

[0176] As shown in FIG. 2, the communication system may include at least one first node (for example, a base station) and at least one second node (for example, a UE).

[0177] The first node and the second node are described as follows.

[0178] For example, the first node may be a master device, specifically, a next generation NodeB (gNB), a next generation evolved NodeB (ng-eNB), a node in a short-range wireless communication network system (e.g., a master node or a G node in a SparkLink communication network system), an access network device in future 6G communication, etc. The master device may be any device having a wireless transceiver function. The master device may be an access node, a wireless relay node, a wireless backhaul node, etc. in a wireless local area network (Wireless Fidelity, Wi-Fi) system. The master device may be a wireless controller in a cloud radio access network (CRAN) scenario. The master device may be a wearable device, an in-vehicle device, etc. The master device may be a small cell, a transmission reception point (TRP) (sometimes also called a transmission point).

[0179] For example, the second node may be a terminal device, which may also be referred to as a user equipment (UE), a terminal, etc. The terminal device is a device having a wireless transceiver function. The terminal device can be deployed on the ground and includes indoor devices, outdoor devices, handheld devices, wearable devices, or in-vehicle devices. Alternatively, the terminal device can be deployed on water, for example, on a ship. Alternatively, the terminal device can be deployed in the air, for example, on an aircraft, a balloon, or a satellite. The terminal device may be a mobile phone, a tablet computer (Pad), a computer equipped with a wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medicine, 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, etc. Alternatively, it can be understood that the terminal device may be a node in a short-range wireless communication network system (for example, a slave node or a T node in a SparkLink communication network system), a terminal device in a future 6G network, a terminal device in a future evolved PLMN, etc.

[0180] It can be understood that the terminal device shown in this application may not only include a vehicle (for example, the entire vehicle) in the vehicle Internet, but may also include in-vehicle devices, in-vehicle terminals, etc. in the vehicle Internet. The specific form of the terminal device when applied to the vehicle Internet is not limited in this application.

[0181] It should be understood that FIG. 2 shows an example of communication links between one base station and six UEs and between communication devices. Optionally, the communication system may include a plurality of base stations, and the coverage of each base station may include a different number of UEs, for example, a greater or fewer number of UEs. This is not limited in the present application.

[0182] Optionally, the communication links between communication devices may include various types of connection media, including wired links (e.g., optical fibers), wireless links, combinations of wired and wireless links, etc. For example, the communication link may be a short-distance connection technology including SparkLink, 802.11b / g, Bluetooth, Zigbee, radio frequency identification (RFID) technology, ultra-wideband (UWB) technology, or a wireless short-distance communication system (e.g., an in-vehicle wireless short-distance communication system).

[0183] A plurality of antennas may be configured for each of the aforementioned communication devices, for example, the base station and UEs 1 to 6 in FIG. 2. The plurality of antennas may include at least one transmitting antenna configured to send signals, at least one receiving antenna configured to receive signals, etc. The specific structure of each communication device is not limited in the embodiments of the present application. Optionally, the communication system may further include another network entity, such as a network controller or a mobility management entity. This is not limited in the embodiments of the present application.

[0184] It can be understood that the diagram of the communication architecture shown in FIG. 2 is only an example. For diagrams of other forms of communication architectures, refer to the relevant standards or protocols. Details will not be described again herein.

[0185] The ranging method provided in this application can be applied not only to the communication system shown in FIG. 2, but also to other forms of communication systems, which can be understood. The following embodiments can be applicable to the communication system shown in FIG. 2. Details will not be described below.

[0186] Correspondingly, this application proposes a new ranging method based on the architecture of the aforementioned communication system. The following will describe in detail the ranging method provided in this application with reference to FIGS. 3 to 8.

[0187] FIG. 3 is a schematic flowchart of the ranging method according to an embodiment of this application. This ranging method includes the following steps, but is not limited thereto.

[0188] S301: The first device sends a first measurement frame to the second device on a first frequency. Correspondingly, the second device receives the first measurement frame sent by the first device on the first frequency.

[0189] S302: The second device sends a second measurement frame to the first device on the first frequency. Correspondingly, the first device receives the second measurement frame sent by the second device on the first frequency.

[0190] S303: The first device sends a third measurement frame to the second device on a second frequency. Correspondingly, the second device receives the third measurement frame sent by the first device on the second frequency.

[0191] S304: The second device sends a fourth measurement frame to the first device on the second frequency. Correspondingly, the first device receives the fourth measurement frame sent by the second device on the second frequency.

[0192] The sequence of performing steps S301, S302, S303, and S304 is not limited in the embodiments of the present application, and it can be understood that iteration is a condition in the actual scenario.

[0193] It can be understood that the foregoing steps S301 to S304 are for the first device and the second device to exchange measurement frames at at least two frequencies in the measurement process. For example, the first device sends a first measurement frame to the second device on a first frequency, receives a second measurement frame sent by the second device on the first frequency, the first device sends a third measurement frame to the second device on a second frequency, and receives a fourth measurement frame sent by the second device on the second frequency. The second frequency is different from the first frequency. The first measurement frame and the third measurement frame are used by the second device to obtain the second measurement result and the fourth measurement result respectively. The second measurement frame and the fourth measurement frame are used by the first device to obtain the first measurement result and the third measurement result respectively.

[0194] The first device (and / or the second device) in this embodiment of the present application is a device equipped with a processor that can be configured to execute computer-executable instructions, and can be a terminal device (for example, an in-vehicle terminal), and can be understood to be a network device (for example, a serving base station), etc. Specifically, the first device (and / or the second device) can be the second node in FIG. 2 (for example, any device from UE1 to UE6) configured to implement the ranging method in this embodiment of the present application to reduce the ranging error and improve the ranging accuracy, or can be the first node in FIG. 2.

[0195] In a possible embodiment, the first frequency and the second frequency can be determined in a manner including but not limited to the following methods.

[0196] The first frequency is obtained from the first set of frequencies, and then the second frequency is obtained from the second set of frequencies.

[0197] The difference between the first set of frequencies and the second set of frequencies is that the first set of frequencies includes the first frequency and the second set of frequencies does not include the first frequency. It can be understood that the second set of frequencies is the set of frequencies obtained after the first frequency is removed from the first set of frequencies.

[0198] In addition, the first frequency and the second frequency are two adjacent frequencies in the order of usage time. Here, the fact that the first frequency and the second frequency are adjacent in the order of usage time can be understood as follows.

[0199] The first device and the second device first exchange measurement frames on the first frequency, then exchange measurement frames on the second frequency, and do not exchange measurement frames on frequencies other than the first frequency and the second frequency during the time between the two measurement frame exchanges. The use in this specification means that the first device and the second device exchange measurement frames, and the fact that the first frequency and the second frequency are adjacent in the order of usage time means that the first device and the second device exchange non-measurement frames on another frequency during the time between the two aforementioned measurement frame exchanges, for example, frames used to transmit service data, measurement results, signaling, etc., but not used for ranging measurements. It should be understood that cases where devices other than the first device and the second device exchange any type of frame on any frequency during the time between the two aforementioned measurement frame exchanges are not excluded.

[0200] According to this embodiment of the present application, the first frequency and the second frequency are two adjacent frequencies in the order of use time. Therefore, it is possible to avoid the repeated use of the same frequency during measurement, thereby shortening the measurement time for ranging. When there is relative movement between the first device and the second device, shortening the measurement time for ranging can reduce the amount of change in the relative location between the first device and the second device during measurement, obtain a more accurate ranging result, and improve the ranging accuracy. In addition, for the first device and the second device, due to the non-ideality of the clock, the device clock frequency drifts over time. A longer measurement time indicates a more serious drift. Shortening the measurement time for ranging can reduce the range of device clock frequency drift during measurement, suppress the influence of clock drift on the ranging result, and improve the ranging accuracy.

[0201] Optionally, the frequencies used may be determined within a corresponding set of frequencies in a pseudo-random manner based on a random seed.

[0202] For example, the first frequency is determined within the first set of frequencies in a pseudo-random manner based on the first random seed, and the second frequency is determined within the second set of frequencies in a pseudo-random manner based on the second random seed.

[0203] The first random seed used to determine the first frequency and the second random seed used to determine the second frequency may be the same random seed or different random seeds.

[0204] According to this embodiment of the present application, the frequencies are determined in a pseudo-random manner based on a random seed. Therefore, the determined frequencies are random. Thereby, when the same time-frequency resource is used when the spectrum is shared with another device, the probability of causing mutual interference is reduced, and the ranging performance is improved.

[0205] Optionally, the first device may obtain a random seed required to determine a frequency in one of a plurality of ways. For example, in Method 1, the first device generates a first random seed and / or a second random seed and sends the first random seed and / or the second random seed to the second device; in Method 2, the first device generates a first random seed and / or a second random seed, sends the first random seed and / or the second random seed to another device, and then the other device transfers the first random seed and / or the second random seed to the second device; in Method 3, the first device receives a first random seed and / or a second random seed from the second device; in Method 4, the first device receives a first random seed and / or a second random seed from another device, where previously the first random seed and / or the second random seed of the other device were generated by the second device and sent to the other device; in Method 5, another device generates a first random seed and / or a second random seed and sends the first random seed and / or the second random seed to the first device.

[0206] Correspondingly, the second device may also obtain a random seed required to determine a frequency in one of a plurality of ways. For example, in Method 1, the second device generates a first random seed and / or a second random seed, and sends the first random seed and / or the second random seed to the first device; in Method 2, the second device generates a first random seed and / or a second random seed, sends the first random seed and / or the second random seed to another device, and then the another device transfers the first random seed and / or the second random seed to the first device; in Method 3, the second device receives the first random seed and / or the second random seed from the first device; in Method 4, the second device receives the first random seed and / or the second random seed from another device, where, previously, the first random seed and / or the second random seed of the another device are generated by the first device and sent to the another device; in Method 5, another device generates a first random seed and / or a second random seed, and sends the first random seed and / or the second random seed to the second device.

[0207] According to this embodiment of the present application, when selecting the first frequency, the first device and the second device use the same first random seed, and when selecting the second frequency, the first device and the second device use the same second random seed. Therefore, the first device and the second device select the same first frequency and second frequency to avoid frequency selection errors.

[0208] S305: The first device obtains a first measurement result based on the second measurement frame.

[0209] S306: The first device obtains a third measurement result based on the fourth measurement frame.

[0210] Since step S305 is the same as step S306, S305 is used as an example for explanation below. For the execution process of S306, please refer to S305. Details will not be described again in this specification.

[0211] The first device measures the second measurement frame to obtain a first measurement result.

[0212] The first measurement result includes the phase information or the in-phase component and quadrature component IQ information of the single-frequency sine wave signal included in the second measurement frame at the first time point, or the first measurement result is the phase information or the in-phase component and quadrature component IQ information of the signal obtained by extending the single-frequency sine wave signal included in the second measurement frame according to the single-frequency sine wave model at the first time point. In actual processing, the IQ information can be obtained through calculation by using an alternative algorithm, for example, a parameter estimation value, and the single-frequency sine wave signal is not extended.

[0213] According to this embodiment of the present application, the ranging method based on the phase information or the IQ information including the phase information can achieve higher ranging accuracy than the conventional amplitude-based ranging method.

[0214] In a possible implementation, in order to obtain the first measurement result, it is necessary to determine the first time point, and the first time point can be determined in a manner including, but not limited to, the following methods.

[0215] The first device determines a first timing offset and determines the first time point based on the first timing offset.

[0216] The first timing offset represents the timing offset of the first device with respect to the second measurement frame.

[0217] According to this embodiment of the present application, the time point corresponding to the phase information or the IQ information is corrected based on the measurement timing offset. Therefore, it is possible to suppress the influence of the timing difference and frequency difference between the first device clock and the second device clock on the ranging result, and it is possible to improve the ranging accuracy.

[0218] Optionally, the first device determines a first timing offset by measuring a signal within a second measurement frame.

[0219] Optionally, the first device may alternatively determine the first timing offset by measuring another signal transmitted by the second device, where the other signal may include a signal within another measurement frame or a signal within another non-measurement frame.

[0220] Based on the first timing offset determined in this embodiment of the present application, the timing offset can be corrected, the timing difference and frequency difference between the first device clock and the second device clock are reduced, the influence on the measurement result of the measurement frame is reduced, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0221] For example, the first time point satisfies T1 = t0 + t1 / 2, where t0 represents a reference time point, t1 represents a first timing offset, and T1 represents a first time point.

[0222] In this embodiment of the present application, the first time point is determined. Correspondingly, the second device also determines the second time point by using a similar method. The difference between the actual time corresponding to the first time point of the first device clock and the actual time corresponding to the second time point of the second device clock is mainly related to the measurement error between the first timing offset and the second timing offset, and is independent of the timing offset between the first device clock and the second device clock. The first common measurement result of the frequency obtained by combining the first measurement result and the second measurement result is not affected by the timing offset between the first device clock and the second device clock. Therefore, the influence of the timing offset between the first device clock and the second device clock on the ranging result is suppressed, and the ranging accuracy is improved.

[0223] Optionally, the reference time can be obtained in ways including, but not limited to, the following ways.

[0224] Way 1: The first device receives and / or sends a first message, and determines the reference time through the information indicated by the first message.

[0225] Way 2: The first device receives and / or sends a second message, and determines the reference time based on the first frequency offset and the reference value indicated by the second message. The first frequency offset represents the frequency offset of the first device with respect to the second measurement frame.

[0226] Way 3: The reference time is a pre-configured or pre-defined time point. Specifically, the reference time may be a time point pre-configured by the first device, or a time point pre-configured by another device, or a time point specified within the protocol. This is not limited in the embodiments of this application.

[0227] Way 4: The reference value is a pre-configured or pre-defined value. Specifically, the reference value may be a reference value pre-configured by the first device, or a reference value pre-configured by another device, or a reference value specified within the protocol. This is not limited in the embodiments of this application. The first device determines the reference time based on the first frequency offset and the pre-configured or pre-defined reference value.

[0228] Correspondingly, the second time point satisfies T2 = t0 + t2 / 2, where t0 represents the reference time, t2 represents the second timing offset, that is, the timing offset of the second device with respect to the first measurement frame, and T2 represents the second time point.

[0229] The second time point is used to obtain a second measurement result based on the first measurement frame. The second measurement result includes the phase information or in-phase component and quadrature component IQ information of a single-frequency sine wave signal included in the first measurement frame at the second time point, or the second measurement result includes the phase information or in-phase component and quadrature component IQ information of a signal obtained by expanding the single-frequency sine wave signal included in the first measurement frame according to a single-frequency sine wave model, at the second time point. In actual processing, the IQ information can be obtained through calculation by using an alternative algorithm, for example, a parameter estimation value, and the single-frequency sine wave signal is not expanded.

[0230] According to this embodiment of the present application, the first device and the second device use the same agreed reference value, and the first device determines a reference time point based on the frequency offset and the reference value, and corrects the influence of the change in the timing offset caused by the frequency offset with respect to the time from the reference time point. Therefore, the measurement time point is determined based on the reference time point, and thus, it is possible to suppress the influence of the timing difference and frequency difference between the first device clock and the second device clock on the measurement result of the measurement frame, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0231] In a possible implementation, the reference time points corresponding to different frequencies are the same or different, and / or the reference values corresponding to different frequencies are the same or different.

[0232] In a possible implementation, when the first device and / or the second device exchanges a measurement frame via a plurality of antennas, when different antenna combinations are used to exchange the measurement frame on the same frequency, the reference time points used are the same or different, and / or when different antenna combinations are used to exchange the measurement frame on the same frequency, the reference values used are the same or different.

[0233] For example, the first device exchanges a measurement frame with the second device via antenna 1, and the second device exchanges a measurement frame with the first device via antenna 2. In this case, antenna 1 of the first device and antenna 2 of the second device form one antenna combination. The first device sends out a measurement frame via transmission antenna 3 and receives a measurement frame via reception antenna 4. The second device sends out a measurement frame via transmission antenna 5 and receives a measurement frame via reception antenna 6. In this case, transmission antenna 3 and reception antenna 4 of the first device, and transmission antenna 5 and reception antenna 6 of the second device form one antenna combination. This is not limited in the embodiments of the present application.

[0234] S307: The first device sends the first measurement result and the third measurement result to the third device, and correspondingly, the third device receives the first measurement result and the third measurement result sent by the first device.

[0235] The first measurement result and the third measurement result can be used to obtain information regarding the distance between the first device and the second device through calculation.

[0236] Optionally, the first device receives a ranging result.

[0237] Specifically, the first device receiving a ranging result may be the first device receiving a ranging result sent by the third device. The third device may be the second device, and obtains a ranging result through calculation based on the received first measurement result, the received third measurement result, the second measurement result and the fourth measurement result obtained through the measurement by the third device, and is configured to send the ranging result to the first device. Alternatively, the third device may be another device having ranging calculation ability, and sends the ranging result obtained through calculation to the first device. configured as follows。The ranging result includes information regarding the distance between the first device and the second device.

[0238] The third device in this embodiment of the present application is a device equipped with a processor that can be configured to execute computer-executable instructions, which may be a terminal device (e.g., an in-vehicle terminal), and can be understood to be a network device (e.g., a serving base station), etc. Specifically, the third device may be the second node in FIG. 2 (e.g., any one of the devices from UE1 to UE6) or the first node in FIG. 2, which is configured to implement the ranging method in this embodiment of the present application to reduce the ranging error and improve the ranging accuracy.

[0239] It can be understood that the third device in this embodiment of the present application may be the second device or another device. The following describes different cases of the third device.

[0240] Case 1:

[0241] When the third device and the second device are the same device, it corresponds to the first device obtaining a first measurement result based on the second measurement frame sent by the second device on the first frequency, sending the first measurement result to the second device (i.e., the third device), the first device obtaining a third measurement result based on the fourth measurement frame sent by the second device on the second frequency, and sending the third measurement result to the second device (i.e., the third device). Correspondingly, the second device receives the first measurement result and the third measurement result sent by the first device, where the first measurement result and the third measurement result are used by the second device to perform ranging calculations.

[0242] Optionally, the second device (i.e., the third device) obtains a ranging result based on the received first measurement result, the received third measurement result, and / or another measurement result.

[0243] The ranging result includes information regarding the distance between the first device and the second device. Another measurement result may include a second measurement result obtained by the second device based on a first measurement frame transmitted by the first device on a first frequency, or a fourth measurement result obtained by the second device based on a third measurement frame transmitted by the first device on a second frequency, may include a measurement result obtained by the second device based on a measurement frame transmitted by the first device on another frequency, or may include a measurement result obtained by the first device based on a measurement frame transmitted by the second device on another frequency. This is not limited in the embodiments of the present application.

[0244] Optionally, after obtaining the ranging result, the second device (i.e., the third device) transmits the ranging result to the first device.

[0245] In Case 1, it can be understood that the second device is a device having signal frame measurement ability and ranging calculation ability, and can perform ranging calculations based on the measurement results obtained by measuring the signal frame of the second device and the received measurement results transmitted by the first device to obtain information regarding the distance between the first device and the second device. The first device is a device having signal frame measurement ability but no ranging calculation ability, can measure the signal frame to obtain measurement results, and can transmit the measurement results to the second device. The first device needs to rely on the second device to perform ranging calculations to obtain information regarding the distance between the first device and the second device.

[0246] Case 2:

[0247] When the third device and the second device are different devices, it corresponds to the first device obtaining a first measurement result based on a second measurement frame transmitted by the second device on a first frequency, sending the first measurement result to the third device, the first device obtaining a third measurement result based on a fourth measurement frame transmitted by the second device on a second frequency, and sending the third measurement result to the third device. Correspondingly, the third device receives the first measurement result and the third measurement result transmitted by the first device, where the first measurement result and the third measurement result are used by the third device to perform ranging calculations.

[0248] Optionally, the third device obtains a ranging result based on the received first measurement result, the received third measurement result, and / or another measurement result.

[0249] The ranging result includes information regarding the distance between the first device and the second device. Another measurement result may include a second measurement result obtained by the second device based on a first measurement frame transmitted by the first device on a first frequency, or a fourth measurement result obtained by the second device based on a third measurement frame transmitted by the first device on a second frequency, may include a measurement result obtained by the second device based on a measurement frame transmitted by the first device on another frequency, or may include a measurement result obtained by the first device based on a measurement frame transmitted by the second device on another frequency. This is not limited in the embodiments of the present application.

[0250] Optionally, after obtaining the ranging result, the third device sends the ranging result to the first device and / or the second device.

[0251] In Case 2, it can be understood that, unlike the second device, the third device is a device having ranging calculation capabilities. The third device does not participate in signal frame exchange and signal frame measurement between the first device and the second device. The third device performs ranging based on the measurement results sent by the first device and received, and / or the measurement results sent by the second device and received, to obtain information regarding the distance between the first device and the second device, and may send the information to the first device and / or the second device. The first device is a device having signal frame measurement capabilities but not any ranging calculation capabilities, measures the signal frame to obtain measurement results, and may send the measurement results to the third device. The first device needs to rely on the third device to perform ranging calculation to obtain information regarding the distance between the first device and the second device. The second device is a device having signal frame measurement capabilities but not any ranging calculation capabilities, measures the signal frame to obtain measurement results, and may send the measurement results to the third device. The second device needs to rely on the third device to perform ranging calculation to obtain information regarding the distance between the first device and the second device.

[0252] In this embodiment of the present application, the combined measurement result of the first frequency is obtained by combining the first measurement result and the second measurement result, and the combined measurement result of the first frequency is not affected by the initial phases of the first device and the second device on the first frequency. The combined measurement result of the second frequency is obtained by combining the third measurement result and the fourth measurement result, and the combined measurement result of the second frequency is not affected by the initial phases of the first device and the second device on the second frequency. Therefore, the combined measurement results of the first frequency and the second frequency are not affected by the random initial phases caused by the frequency switching of the device, can be coherently combined, and thus, when calculating the ranging result, a bandwidth larger than the bandwidth of the measurement frame of a single frequency can be used to calculate the ranging result, a more accurate ranging result can be obtained, and the ranging accuracy is improved.

[0253] In addition, in this embodiment of the present application, the measurement process (for example, the aforementioned steps S301 to S304) is separate from the measurement result interaction process (for example, the aforementioned steps S305 to S307), and thus, the measurement time can be shortened, the amount of change in the relative location between the first device and the second device during the measurement is reduced, a more accurate ranging result is obtained, the ranging accuracy is improved, and it is possible to more flexibly support a plurality of different communication architectures used for ranging.

[0254] In a possible embodiment, the measurement frames (such as the first measurement frame, the second measurement frame, the third measurement frame, and the fourth measurement frame) received and transmitted by the first device and the second device in the measurement interaction process can be implemented in a manner including, but not limited to, the following manner (for the sake of simplicity of explanation, the following uses the first measurement frame as an example for explanation).

[0255] Method 1: The single-frequency sine wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained through modulation based on a first sequence by using a first constellation diagram.

[0256] The first sequence is a sequence including N bits, and the value of N corresponds to the modulation scheme of the first constellation diagram.

[0257] For example, the value of N corresponding to the binary phase shift keying (BPSK) modulation scheme is 1, the value of N corresponding to the quadrature phase shift keying (QPSK) modulation scheme is 2, and the value of N corresponding to the 8 phase shift keying (8PSK) modulation scheme is 3.

[0258] Optionally, like at least two symbols included in the single-frequency sine wave signal in the first measurement frame, the first symbol included in the first measurement frame is obtained through modulation based on a first sequence by using a first constellation diagram.

[0259] The first symbol is located adjacent to and before the single-frequency sine wave signal, and includes the symbol in the first measurement frame and / or the first symbol located after the single-frequency sine wave signal and in the first measurement frame.

[0260] Method 2: The single-frequency sine wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained through Gaussian frequency shift keying (GFSK) modulation based on a first bit.

[0261] In addition, a second symbol included in the first measurement frame, like at least two symbols included in a single-frequency sine wave signal within the first measurement frame, is also obtained through Gaussian frequency shift keying modulation GFSK modulation based on the first bit.

[0262] The second symbol is located adjacent to and before the single-frequency sine wave signal, and includes a symbol within the first measurement frame and / or a first symbol within the first measurement frame located after the single-frequency sine wave signal.

[0263] In this embodiment of the present application, in order to avoid the additional implementation complexity and additional time overhead caused by modulation scheme switching, and to shorten or extend the time length of the signal used for measurements within the first measurement frame, for example, the length of a single-frequency sine wave signal, the same modulation scheme is used for the single-frequency sine wave signal and another signal within the first measurement frame. The length of the measurement frame is shortened, and thus, the interval during which the single-frequency sine wave signal is transmitted between the first device and the second device, and the total measurement time for ranging can be shortened. In view of the non-ideality of the clock, the ranging result error caused by the clock frequency offset between the first device and the second device is related to the interval during which the single-frequency sine wave signal is transmitted between the first device and the second device. For the same frequency offset, a larger interval indicates a larger error. The interval during which the single-frequency sine wave signal is transmitted between the first device and the second device is shortened, and thus, the influence of the clock frequency offset between the first device and the second device on the ranging result can be suppressed. When there is relative movement between the first device and the second device, shortening the total measurement time for ranging can reduce the amount of change in the relative location between the first device and the second device during the measurement, obtain a more accurate ranging result, and improve the ranging accuracy. In addition, due to the non-ideality of the clock, the device clock frequency drifts over time for the first device and the second device. A longer measurement time indicates a more serious drift. Shortening the total measurement time for ranging can reduce the range of the device clock frequency drift during the measurement, suppress the influence of the clock drift on the ranging result, and improve the ranging accuracy. Extending the time length of the signal used for measurements within the first measurement frame can improve the accuracy of obtaining the second measurement result by the second device based on the first measurement frame, thereby improving the ranging accuracy.

[0264] In addition, according to this embodiment of the present application, the single - frequency sine - wave signal and the adjacent symbols above both sides of the boundary of the single - frequency sine - wave signal have the same mapping bits and use the same modulation scheme. Therefore, it is possible to prevent the measurement frame from being suddenly changed at the boundary, thereby suppressing the signal distortion caused by the boundary, improving the accuracy of the measurement result of the measurement frame, and improving the ranging accuracy.

[0265] Figure 4 is a schematic flowchart of another ranging method according to an embodiment of the present application. This ranging method includes the following steps, but is not limited thereto.

[0266] S401: The first device sends a first measurement frame to the second device on a first frequency. Correspondingly, the second device receives the first measurement frame sent by the first device on the first frequency.

[0267] S402: The second device sends a second measurement frame to the first device on the first frequency. Correspondingly, the first device receives the second measurement frame sent by the second device on the first frequency.

[0268] S403: The first device sends a third measurement frame to the second device on a second frequency. Correspondingly, the second device receives the third measurement frame sent by the first device on the second frequency.

[0269] S404: The second device sends a fourth measurement frame to the first device on the second frequency. Correspondingly, the first device receives the fourth measurement frame sent by the second device on the second frequency.

[0270] It can be understood that the sequence of performing steps S401, S402, S403, and S404 is not limited in the embodiment of the present application.

[0271] It can be understood that steps S401 to S404 described above involve the first device and the second device exchanging measurement frames at at least two frequencies in the measurement process. For example, the first device sends a first measurement frame to the second device on a first frequency, receives a second measurement frame sent by the second device on the first frequency, the first device sends a third measurement frame to the second device on a second frequency, and receives a fourth measurement frame sent by the second device on the second frequency. The second frequency is different from the first frequency. The first measurement frame and the third measurement frame are used by the second device to obtain the second measurement result and the fourth measurement result respectively, and the second measurement frame and the fourth measurement frame are used by the first device to obtain the first measurement result and the third measurement result respectively.

[0272] The first device (and / or the second device) in this embodiment of the present application is a device equipped with a processor capable of being configured to execute computer-executable instructions, and can be a terminal device (such as an in-vehicle terminal), and can be understood to be a network device (such as a serving base station), etc. Specifically, the first device (and / or the second device) can be the second node in FIG. 2 (for example, any device from UE1 to UE6) or the first node in FIG. 2, which is configured to implement the ranging method in this embodiment of the present application to reduce ranging errors and improve ranging accuracy.

[0273] In a possible embodiment, for the method of determining the first frequency and the second frequency, please refer to the relevant descriptions in steps S301 to S304 above. Details will not be described again in this specification.

[0274] S405: The second device obtains a second measurement result based on the first measurement frame.

[0275] S406: The second device acquires a fourth measurement result based on the third measurement frame.

[0276] Steps S405 and S406 are the same as steps S305 and S306 described above. For the execution processes of steps S405 and S406, please refer to the related descriptions above. Details will not be described again in this specification.

[0277] S407: The second device receives the first measurement result and the third measurement result from the fourth device, and correspondingly, the fourth device sends the first measurement result and the third measurement result to the second device.

[0278] The first measurement result includes the phase information or in-phase component and quadrature component IQ information of the single-frequency sine wave signal included in the second measurement frame at the first time point, or the first measurement result is the phase information or in-phase component and quadrature component IQ information of the signal obtained by expanding the single-frequency sine wave signal included in the second measurement frame according to the single-frequency sine wave model at the first time point. In actual processing, the IQ information can be obtained through calculation by using an alternative algorithm, for example, a parameter estimation value, and the single-frequency sine wave signal is not expanded.

[0279] According to this embodiment of the present application, the ranging method based on phase information or IQ information including phase information can achieve higher ranging accuracy than the conventional amplitude-based ranging method.

[0280] Correspondingly, the second measurement result includes the phase information or the in-phase component and the quadrature component IQ information of the single-frequency sine wave signal included in the first measurement frame at the second time point, or the second measurement result includes the phase information or the in-phase component and the quadrature component IQ information of the signal obtained by expanding the single-frequency sine wave signal included in the first measurement frame according to the single-frequency sine wave model at the second time point. In actual processing, the IQ information can be obtained through calculation by using an alternative algorithm, for example, a parameter estimation value, and the single-frequency sine wave signal is not expanded.

[0281] In a possible embodiment, in order to obtain the second measurement result, it is necessary to determine the second time point. For the method of determining the second time point, please refer to the related description in step S305. Details will not be described again in this specification.

[0282] According to this embodiment of the present application, the first device and the second device use the same agreed reference value, and the first device determines a reference time point based on the frequency offset and the reference value, and corrects the influence of the change in the timing offset caused by the frequency offset with respect to the time from the reference time point. Therefore, the measurement time point is determined based on the reference time point, and thus, it is possible to suppress the influence of the timing difference and the frequency difference between the first device clock and the second device clock on the measurement result of the measurement frame, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0283] S408: The second device determines the distance between the first device and the second device based on the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result.

[0284] Optionally, the second device sends out the ranging result.

[0285] Specifically, the second device sending the ranging result may be the second device sending the ranging result to the fourth device. The fourth device may be the first device, and obtains the first measurement result and the third measurement result through measurements based on the received second measurement frame and the received fourth measurement frame, and is configured to send the first measurement result and the third measurement result to the second device for the second device to perform ranging calculations. Alternatively, the fourth device may be another device having ranging calculation capabilities, and sends the ranging result obtained through the calculation to the second device. configured as follows . The ranging result includes information regarding the distance between the first device and the second device.

[0286] The fourth device in this embodiment of the present application is a device equipped with a processor that can be configured to execute computer-executable instructions, and can be a terminal device (for example, an in-vehicle terminal), and can be understood to be a network device (for example, a serving base station), etc. Specifically, the fourth device may be the second node in FIG. 2 (for example, any device among UE1 to UE6) or the first node in FIG. 2, which is configured to implement the ranging method in this embodiment of the present application to reduce ranging errors and improve ranging accuracy.

[0287] It can be understood that the fourth device in this embodiment of the present application may be the first device or another device. The following describes different cases of the fourth device.

[0288] Case 1:

[0289] When the fourth device and the first device are the same device, it corresponds to the first device (i.e., the fourth device) obtaining a first measurement result based on a second measurement frame transmitted by the second device on a first frequency, sending the first measurement result to the second device, the first device (i.e., the fourth device) obtaining a third measurement result based on a fourth measurement frame transmitted by the second device on a second frequency, and sending the third measurement result to the second device. Correspondingly, the second device receives the first measurement result and the third measurement result sent by the first device, where the first measurement result and the third measurement result are used by the second device to perform ranging calculations.

[0290] Optionally, the second device obtains a ranging result based on the received first measurement result, the received third measurement result, and / or another measurement result.

[0291] The ranging result includes information regarding the distance between the first device and the second device. Another measurement result may include a second measurement result obtained by the second device based on a first measurement frame transmitted by the first device on a first frequency, or a fourth measurement result obtained by the second device based on a third measurement frame transmitted by the first device on a second frequency, may include a measurement result obtained by the second device based on a measurement frame transmitted by the first device on another frequency, or may include a measurement result obtained by the first device based on a measurement frame transmitted by the second device on another frequency. This is not limited in the embodiments of the present application.

[0292] Optionally, after obtaining the ranging result, the second device sends the ranging result to the first device (i.e., the fourth device).

[0293] In Case 1, the second device is a device having signal frame measurement capability and ranging calculation capability. It can be understood that by measuring the signal frame of the second device, obtaining the measurement results, and performing ranging calculations based on the received measurement results sent by the first device (i.e., the fourth device), information regarding the distance between the first device and the second device can be obtained. The first device (i.e., the fourth device) is a device having signal frame measurement capability but no ranging calculation capability. It can measure the signal frame to obtain measurement results and send the measurement results to the second device. The first device needs to rely on the second device to perform ranging calculations to obtain information regarding the distance between the first device and the second device.

[0294] Case 2:

[0295] When the fourth device and the first device are different devices, it corresponds to the first device obtaining the first measurement result based on the second measurement frame sent by the second device on the first frequency, sending the first measurement result to the fourth device, the first device obtaining the third measurement result based on the fourth measurement frame sent by the second device on the second frequency, and sending the third measurement result to the fourth device. Correspondingly, the fourth device receives the first measurement result and the third measurement result sent by the first device, and transfers the first measurement result and the third measurement result to the second device, where the first measurement result and the third measurement result are used by the second device to perform ranging calculations.

[0296] Optionally, the second device obtains ranging results based on the received first measurement result, the received third measurement result, and / or another measurement result.

[0297] The ranging result includes information regarding the distance between the first device and the second device. Another measurement result may include a second measurement result obtained by the second device based on a first measurement frame transmitted by the first device on a first frequency, or a fourth measurement result obtained by the second device based on a third measurement frame transmitted by the first device on a second frequency, may include a measurement result obtained by the second device based on a measurement frame transmitted by the first device on another frequency, or may include a measurement result obtained by the first device based on a measurement frame transmitted by the second device on another frequency. This is not limited in the embodiments of the present application.

[0298] Optionally, after obtaining the ranging result, the second device transmits the ranging result to the fourth device and / or the first device.

[0299] In Case 2, it can be understood that the fourth device is different from the first device. The fourth device is a device without any ranging calculation ability, and the fourth device does not participate in the signal frame exchange and signal frame measurement between the first device and the second device. The fourth device can receive the measurement results sent by the first device and / or the measurement results sent by another device, and transfer the measurement results to the second device. The first device is a device with signal frame measurement ability but without any ranging calculation ability. It can measure the signal frame to obtain measurement results and send the measurement results to the fourth device. The measurement results need to be transferred to the second device by the fourth device. The first device needs to rely on the second device to perform ranging calculations to obtain information about the distance between the first device and the second device. The second device is a device with signal frame measurement ability and ranging calculation ability. It measures the signal frame to obtain measurement results and performs ranging calculations based on the received measurement results sent by the fourth device and / or the measurement results obtained by the second device through measurement, to obtain information about the distance between the first device and the second device, and can send the information about the distance to the fourth device and / or the first device.

[0300] In this embodiment of the present application, the combined measurement result of the first frequency is obtained by combining the first measurement result and the second measurement result, and the combined measurement result of the first frequency is not affected by the initial phases of the first device and the second device on the first frequency. The combined measurement result of the second frequency is obtained by combining the third measurement result and the fourth measurement result, and the combined measurement result of the second frequency is not affected by the initial phases of the first device and the second device on the second frequency. Therefore, the combined measurement results of the first frequency and the second frequency are not affected by the random initial phases caused by the frequency switching of the devices, can be coherently combined, and thus, when the ranging result is calculated, a bandwidth larger than the bandwidth of the measurement frame of a single frequency can be used to calculate the ranging result, a more accurate ranging result can be obtained, and the ranging accuracy is improved.

[0301] In addition, in this embodiment of the present application, the measurement process (for example, the aforementioned steps S401 to S404) is separate from the measurement result interaction process (for example, the aforementioned steps S405 to S408), and thus, the measurement time can be shortened, the amount of change in the relative location between the first device and the second device during the measurement is reduced, a more accurate ranging result is obtained, the ranging accuracy is improved, and it is possible to more flexibly support a plurality of different communication architectures used for ranging.

[0302] In a possible embodiment, regarding the method of obtaining the measurement frames (such as the first measurement frame, the second measurement frame, the third measurement frame, and the fourth measurement frame, etc.) transmitted and received by the first device and the second device in the measurement interaction process, refer to the related description in step S307. Details will not be described again in this specification.

[0303] Steps S401 to S404 in this embodiment of the present application are the same as steps S301 to S304 in FIG. 3. It should be understood that steps S405 to S408 in this embodiment of the present application are modifications or supplements to steps S305 to S307 in FIG. 3.

[0304] FIG. 5 is a schematic flowchart of yet another ranging method according to an embodiment of the present application. The ranging method is applied in the field of communication technology, and the ranging method includes the following steps, but is not limited thereto.

[0305] S501: The first device and the second device exchange measurement frames on at least two frequencies, perform measurements, and obtain measurement results.

[0306] It can be understood that the first device and the second device exchange measurement frames on at least two frequencies in the measurement process. In other words, the first device sends a first measurement frame to the second device on a first frequency, receives a second measurement frame sent by the second device on the first frequency, the first device sends a third measurement frame to the second device on a second frequency, and receives a fourth measurement frame sent by the second device on the second frequency. The second frequency is different from the first frequency. The first measurement frame and the third measurement frame are used by the second device to obtain second measurement results and fourth measurement results respectively. The second measurement frame and the fourth measurement frame are used by the first device to obtain first measurement results and third measurement results respectively.

[0307] The first device (and / or the second device) in this embodiment of the present application is a device comprising a processor capable of being configured to execute computer-executable instructions, which may be a terminal device (e.g., an in-vehicle terminal), and may be understood to be a network device (e.g., a serving base station), etc. Specifically, the first device (and / or the second device) may be the second node in FIG. 2 (e.g., any device from UE1 to UE6) or the first node in FIG. 2, which is configured to implement the ranging method in this embodiment of the present application to reduce ranging errors and improve ranging accuracy.

[0308] In a possible embodiment, for the method of determining the first frequency and the second frequency, please refer to the relevant descriptions in steps S301 to S304 above. Details will not be described again in this specification.

[0309] In a possible embodiment, in order to obtain the measurement result, the first device needs to determine the measurement time point. For the method of determining the measurement time point, please refer to the relevant description in step S305. Details will not be described again in this specification.

[0310] In a possible embodiment, in order to obtain the measurement result, the second device needs to determine the measurement time point. For the method of determining the measurement time point, please refer to the relevant description in step S305. Details will not be described again in this specification.

[0311] In a possible embodiment, for the relationship that needs to be satisfied between the measurement time point determined by the first device and the measurement time point determined by the second device, please refer to the relevant description in step S305. Details will not be described again in this specification.

[0312] S502: The first device reports the measurement results of each frequency to the G node.

[0313] S503: The second device reports the measurement results of each frequency to the G node.

[0314] It can be understood that the sequence of performing steps S502 and S503 is not limited in the embodiments of the present application.

[0315] The G node may also be called a master node, a management node, or a control node. The G node and the T node are two types of nodes distinguished in terms of logical functions. The T node may also be called a slave node or a terminal. The G node manages the T node, has a resource allocation function, and is responsible for allocating resources to the T node. The T node uses the resources allocated by the G node for communication, ranging, etc. on the condition of the scheduling of the G node. The node may be various devices. For example, the G node is a mobile phone, and the T node is a headset. The mobile phone establishes a communication connection with the headset and implements data exchange. The mobile phone manages the headset. The mobile phone has a resource allocation function and can allocate resources to the headset. In another example, the G node is a positioning server, and the T nodes are positioning base stations and positioning tags. The positioning server manages the positioning base stations and positioning tags and allocates the resources used for measurement frame exchange to the measurement base stations and positioning tags.

[0316] S504: The G node obtains a ranging result through calculations based on the measurement results of each frequency reported by the first device and the measurement results of each frequency reported by the second device.

[0317] The ranging result includes information regarding the distance between the first device and the second device.

[0318] The G node in this embodiment of the present application is a device equipped with a processor that can be configured to execute computer-executable instructions, which may be a terminal device (e.g., an in-vehicle terminal), and can be understood to be a network device (e.g., a serving base station), etc. Specifically, the G node may be the second node in FIG. 2 (e.g., any device among UE1 to UE6) or the first node in FIG. 2 (e.g., a base station), which is configured to implement the ranging method in this embodiment of the present application to reduce ranging errors and improve ranging accuracy.

[0319] It can be understood that the G node is different from the first device and the second device.

[0320] The G node is a device with ranging calculation capabilities. The G node does not participate in signal frame exchange and signal frame measurement between the first device and the second device. The G node can perform ranging based on the received measurement results sent by the first device and / or the received measurement results sent by the second device to obtain information regarding the distance between the first device and the second device.

[0321] Optionally, in S505: The G node distributes the ranging result to the first device.

[0322] Optionally, in S506: The G node distributes the ranging result to the second device.

[0323] It can be understood that the sequence of performing steps S505 and S506 is not limited in the embodiments of the present application.

[0324] In this embodiment of the present application, the first device and the second device exchange measurement frames at at least two frequencies in the measurement process, and the at least two frequencies are different. The co-measurement results of the frequencies are not affected by the random initial phase caused by the frequency switching of the devices and can be coherently combined. Therefore, when calculating the ranging result, a bandwidth larger than the bandwidth of the measurement frame of a single frequency can be used to calculate the ranging result, and a more accurate ranging result can be obtained, and the ranging accuracy is improved.

[0325] In addition, in this embodiment of the present application, the measurement process (for example, the aforementioned step S501) is separate from the measurement result interaction process (for example, the aforementioned steps S502 to S503). Therefore, the measurement time can be shortened, the change amount of the relative location between the first device and the second device during the measurement is reduced, a more accurate ranging result is obtained, the ranging accuracy is improved, and it is possible to more flexibly support a plurality of different communication architectures used for ranging.

[0326] In a possible embodiment, for the method of obtaining the measurement frames transmitted and received by the first device and the second device in the measurement interaction process, refer to the related description of step S307. Details will not be described again in this specification.

[0327] It should be understood that step S501 in this embodiment of the present application is the same as steps S301 to S304 in FIG. 3 and steps S401 to S404 in FIG. 4. Steps S502 to S506 in this embodiment of the present application are variations or supplements to steps S305 to S307 in FIG. 3, or variations or supplements to steps S405 to S408 in FIG. 4.

[0328] FIG. 6 is a schematic flowchart of a frequency hopping algorithm according to an embodiment of the present application. Specifically, it can be understood as a variation or supplement to the content related to "Implementation for Determining the First Frequency and the Second Frequency" in FIGS. 3 to 5.

[0329] As shown in FIG. 6, the synchronization sequence and the slot count are input into a pseudo-random number generator to obtain a random number, and then the random number is remapped to obtain available frequencies. The above-described process is performed multiple times to obtain an available frequency hopping list including a plurality of available frequencies. The frequency can be selected from the available frequency hopping list and output as a frequency hopping frequency.

[0330] For example, a first random seed is generated or a first random seed sent by another device is received, and the first frequency is determined in a pseudo-random manner based on the first random seed within a first set of frequencies (i.e., the available frequency hopping list described above), and the first frequency is output as the frequency hopping frequency.

[0331] A second random seed is generated or a second random seed sent by another device is received, and the second frequency is determined in a pseudo-random manner based on the second random seed within a second set of frequencies (i.e., the available frequency hopping list obtained after the first frequency is removed), and the second frequency is output as the next frequency hopping frequency.

[0332] The first random seed used to determine the first frequency and the second random seed used to determine the second frequency may be the same random seed or different random seeds.

[0333] According to this embodiment of the present application, the frequency is determined in a pseudo-random manner based on a random seed. Therefore, the determined frequency is random, thereby reducing the probability of causing mutual interference and improving the ranging performance when the same time-frequency resource is used when the spectrum is shared with another device. In addition, when the first device and the second device select the first frequency, they use the same first random seed, and when they select the second frequency, they use the same second random seed. Therefore, the first device and the second device select the same first frequency and the same second frequency to avoid frequency selection errors.

[0334] FIG. 7 is a diagram of bidirectional measurement according to an embodiment of the present application. Specifically, it can be understood as a variation or supplement to the content related to "Implementation for determining the measurement time point (the first time point and / or the second time point)" in FIGS. 3 to 5.

[0335] As shown in FIG. 7, the first device sends a first measurement frame to the second device at time t1. Correspondingly, the second device receives the first measurement frame sent by the first device at time t'1. The second device measures the first measurement frame and determines the phase value or IQ value at the first time point. The second device sends a second measurement frame to the first device at time t2. Correspondingly, the first device receives the second measurement frame sent by the second device at time t'2. The first device measures the second measurement frame and determines the phase value or IQ value at the second time point.

[0336] When two devices exchange measurement frames, there is a propagation delay t (which can be understood as an ideal average value) between the transmission of the measurement frame by one device and the reception of the measurement frame by the other device. It can be understood from FIG. 7 that both the timing difference and the frequency difference between the first device clock and the second device clock affect the measurement result of the measurement frame. As a result, the error of the ranging result is large and the ranging accuracy is low.

[0337] Therefore, in order to suppress the influence of the timing difference and the frequency difference between the first device clock and the second device clock on the measurement result of the measurement frame, reduce the error of the ranging result, and improve the ranging accuracy, this embodiment of the present application provides a relationship that needs to be satisfied between the measurement time point (the first time point) when the first device measures the second measurement frame and the measurement time point (the second time point) when the second device measures the first measurement frame.

[0338] For example, the relationship satisfied between the first time point and the second time point may specifically be as follows.

[0339] The first device uses t0+(t’2 - t2) / 2 as the second time point. In this case, the second time point on the ideal clock corresponds to the following.

[0340]

Number

[0341] The second device uses t0+(t’1 - t1) / 2 as the first time point. In this case, the first time point on the ideal clock corresponds to the following.

[0342]

Number

[0343] First time point - Second time point =

[0344] [Numerical]

[0345] Therefore, when the frequency offset of the device clock is ignored, dt0 = dt1 = dt2. The first time point is equal to the second time point, that is, the measurement time points of the first device and the second device are the same. This avoids the ranging error caused by the different measurement time points of the two devices.

[0346] The time point t1 of the second device clock corresponds to the real time (i.e., the ideal clock time in FIG. 7)

[0347] [Numerical]

[0348] and the time point t1 of the first device clock corresponds to the real time (i.e., the ideal clock time in FIG. 7)

[0349] [Numerical]

[0350] and the time point t’1 of the second device clock corresponds to the real time (i.e., the ideal clock time in FIG. 7)

[0351] [Numerical]

[0352] and the time point t0 of the second device clock corresponds to the real time (i.e., the ideal clock time in FIG. 7)

[0353] [Numerical]

[0354] corresponds, and the time point t0 of the first device clock is the actual time (i.e., the ideal clock in FIG. 7)

[0355]

Number

[0356] corresponds, and the time point t2 of the second device clock is the actual time (i.e., the ideal clock time in FIG. 7)

[0357]

Number

[0358] corresponds, and the time point t2 of the first device clock is the actual time (i.e., the ideal clock time in FIG. 7)

[0359]

Number

[0360] corresponds, and the time point t’2 of the first device clock is the actual time (i.e., the ideal clock time in FIG. 7)

[0361]

Number

[0362] corresponds to.

[0363] In addition, when the frequency offset of the device clock is not ignored,[[]]

[0364]

Number

[0365] , and

[0366]

Number

[0367] is.

[0368] When two formulas are subtracted, the left side of the equal sign is

[0369]

Number

[0370] and the right side of the equal sign is

[0371]

Number

[0372] is.

[0373] Therefore, the following can be obtained.

[0374]

Number

[0375] Similarly, the following can be obtained.

[0376]

Number

[0377] The first point in time - the second point in time =

[0378]

Number

[0379] For example, the following lists three methods for correcting the reference time point based on the frequency offset so that the first point in time is approximately equal to the second point in time.

[0380] Method 1:

[0381] The second node does not correct the reference time point, i.e., the reference time point = reference value t0.

[0382] The first node additionally corrects the reference time point. Specifically, the reference time point = reference value

[0383]

Number

[0384] , (shown as formula 1).

[0385] f, t0, t1, and t2 are all configured values (configuration includes receiving the corresponding configuration message, determining the parameter by the node, and sending the configuration message to configure another node, and the node generating the parameter can be the first node, the second node, or another node), pre-configured values, or values specified in the protocol. f 2 -f 1 is that of the second device with respect to the first device, and is the frequency offset determined by the first node by measuring the signal (which may be a measurement frame or another signal) sent by the second device.

[0386] Method 2:

[0387] The first node does not correct the reference time point, i.e., the reference time point = reference value t0.

[0388] The second node additionally corrects the reference time point. Specifically, the reference time point = reference value

[0389]

Number

[0390] (shown as formula 2).

[0391] f 1 -f 2 is the one of the first device with respect to the second device, and is the frequency offset determined by the second node by measuring a signal (which may be a measurement frame or another signal) sent by the first device.

[0392] Method 3:

[0393] The first node additionally corrects the reference time point. Specifically, reference time point = reference value

[0394]

Number

[0395] (shown as formula 3).

[0396] The second node additionally corrects the reference time point. Specifically, reference time point = reference value

[0397]

Number

[0398] (shown as formula 4).

[0399] f 2 -f 1 is the one of the second device with respect to the first device, and is the frequency offset determined by the first node by measuring a signal (which may be a measurement frame or another signal) sent by the second device, and f 1 -f 2It is for the first device with respect to the second device, and is the frequency offset determined by the second node by measuring a signal (which may be a measurement frame or another signal) sent by the first device.

[0400] Optionally, in Formulas 1, 2, 3, and 4 in the foregoing manner, t1 may be replaced with t1', and t2 may be replaced with t2'.

[0401] The aforementioned t1' represents the time point when the first timing offset t1 is determined. In other words, the first device measures the signal in the second measurement frame at time point t1', or measures another signal sent by the second device to determine the first timing offset t1. The other signal may include a signal in another measurement frame or a signal in another non-measurement frame. The aforementioned t2' represents the time point when the second timing offset t2 is determined. In other words, the second device measures the signal in the first measurement frame at time point t2', or measures another signal sent by the first device to determine the second timing offset t2. The other signal may include a signal in another measurement frame or a signal in another non-measurement frame.

[0402] It should be understood that the relationship between the first time point and the second time point is only used as an optional implementation or a possible implementation, and it is not excluded that there may be another relationship between the first time point and the second time point. Therefore, this should not be regarded as a limitation to this application.

[0403] According to this embodiment of the present application, the first time point is determined based on the timing offset of the first device with respect to the second measurement frame, and the second time point is determined based on the timing offset of the second device with respect to the first measurement frame. Therefore, the timing offset can be corrected, and the timing difference and frequency difference between the first device clock and the second device clock can be reduced. In addition, the first device and the second device determine the measurement time point by using the same agreed reference time point. Therefore, the influence of the timing difference and frequency difference between the first device clock and the second device clock on the measurement result of the measurement frame can be suppressed, thereby reducing the error of the ranging result and improving the ranging accuracy.

[0404] The foregoing describes in detail the method in the embodiment of the present application. The following provides an apparatus for implementing any method in the embodiment of the present application. For example, an apparatus is provided that includes a unit (or means) configured to implement the steps performed by a device in any one of the foregoing methods.

[0405] FIG. 8 is a diagram of the structure of a communication device according to an embodiment of the present application.

[0406] As shown in FIG. 8, the communication device 80 may include a transceiver unit 801 and a processing unit 802. The transceiver unit 801 and the processing unit 802 may be software, hardware, or a combination of software and hardware.

[0407] The transceiver unit 801 may implement a function of transmitting and / or receiving, and the transceiver unit 801 may be described as a communication unit. Alternatively, the transceiver unit 801 may be a unit that integrates an acquiring unit and a transmitting unit. The acquiring unit is configured to implement a receiving function, and the transmitting unit is configured to implement a transmitting function. Optionally, the transceiver unit 801 may be configured to receive information transmitted by another device and may be further configured to transmit the information to another device.

[0408] In a possible implementation, the communication device 80 may correspond to the first device in the method embodiment of FIG. 3. The communication device 80 may be the first device or a chip within the first device. The communication device 80 may include a unit configured to perform the operations performed by the first device in the method embodiment shown in FIG. 3, and the units within the communication device 80 are separately configured to implement the operations performed by the first device in the method embodiment shown in FIG. 3. The units are described as follows.

[0409] The transceiver unit 801 is configured to transmit a first measurement frame to a second device on a first frequency and receive a second measurement frame transmitted by the second device on the first frequency.

[0410] The transceiver unit 801 is further configured to transmit a third measurement frame to the second device on a second frequency and receive a fourth measurement frame transmitted by the second device on the second frequency, where the second frequency is different from the first frequency.

[0411] The processing unit 802 is configured to obtain a first measurement result based on the second measurement frame.

[0412] The processing unit 802 is further configured to obtain a third measurement result based on the fourth measurement frame.

[0413] The transceiver unit 801 is further configured to send the first measurement result and the third measurement result to a third device, where the first measurement result and the third measurement result are used for distance measurement.

[0414] In a possible implementation, the first frequency and the second frequency are adjacent frequencies in the order of usage time, the first frequency belongs to a first frequency set, the second frequency belongs to a second frequency set, and the first frequency set includes the first frequency and the second frequency set.

[0415] In a possible implementation, the processing unit 802 is further configured to determine the first frequency within the first frequency set in a pseudo-random manner based on a first random seed.

[0416] The processing unit 802 is further configured to determine the second frequency within the second frequency set in a pseudo-random manner based on a second random seed.

[0417] In a possible implementation, the processing unit 802 is further configured to generate and send the first random seed and / or the second random seed via the transceiver unit 801, or The transceiver unit 801 is further configured to receive the first random seed and / or the second random seed.

[0418] In a possible implementation, the first measurement result includes the phase information or the in-phase component and quadrature component IQ information of a single-frequency sine wave signal included in a second measurement frame at a first time point, or the phase information or IQ information of a signal obtained by extending a single-frequency sine wave signal included in the second measurement frame according to a single-frequency sine wave model, at the first time point.

[0419] In a possible implementation, the processing unit 802 is further configured to determine a first timing offset, where the first timing offset represents the timing offset of the communication device with respect to the second measurement frame.

[0420] The processing unit 802 is further configured to determine a first time point based on the first timing offset.

[0421] In a possible implementation, the first time point satisfies T1 = t0 + t1 / 2, where t0 represents a reference time point, t1 represents the first timing offset, and T1 represents the first time point.

[0422] In a possible implementation, the processing unit 802 is specifically configured to determine the first timing offset by measuring a signal within the second measurement frame.

[0423] In a possible implementation, the transceiver unit 801 is further configured to receive and / or transmit a first message, where the first message indicates a reference time point, or the reference time point is a pre-configured or pre-defined time point.

[0424] In a possible implementation, the transceiver unit 801 is further configured to receive and / or transmit a second message, where the second message indicates a reference value, or the reference value is a pre-configured or pre-defined value.

[0425] The processing unit 802 is further configured to determine a reference time point based on the reference value and a first frequency offset, where the first frequency offset represents the frequency offset of the communication device with respect to the second measurement frame.

[0426] In a possible implementation, the single - frequency sine - wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained through modulation based on a first sequence by using a first constellation diagram. The first sequence is a sequence including N bits, and the value of N corresponds to the modulation scheme of the first constellation diagram.

[0427] In a possible implementation, the first symbol is obtained through modulation based on a first sequence by using a first constellation diagram.

[0428] The first symbol is located adjacent to and before the single - frequency sine - wave signal, and includes the symbol within the first measurement frame and / or the first symbol located within the first measurement frame and after the single - frequency sine - wave signal.

[0429] In a possible implementation, the single - frequency sine - wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained through Gaussian frequency - shift keying (GFSK) modulation based on a first bit.

[0430] The second symbol is obtained through GFSK modulation based on a first bit.

[0431] The second symbol is located adjacent to and before the single - frequency sine - wave signal, and includes the symbol within the first measurement frame and / or the first symbol located within the first measurement frame and after the single - frequency sine - wave signal.

[0432] In a possible implementation, the transceiver unit 801 is further configured to receive a ranging result, where the ranging result includes information regarding the distance between the communication device and the second device.

[0433] In another possible implementation, the communication device 80 may correspond to the second device in the method embodiment of FIG. 4. The communication device 80 may be the second device or a chip within the second device. The communication device 80 may include a unit configured to perform the operations performed by the second device in the method embodiment shown in FIG. 4, and the unit within the communication device 80 is separately configured to implement the operations performed by the second device in the method embodiment shown in FIG. 4. The unit is described as follows.

[0434] The transceiver unit 801 is configured to receive a first measurement frame transmitted by the first device on a first frequency and transmit a second measurement frame to the first device on the first frequency.

[0435] The transceiver unit 801 is further configured to receive a third measurement frame transmitted by the first device on a second frequency and transmit a fourth measurement frame to the first device on the second frequency, where the second frequency is different from the first frequency.

[0436] The processing unit 802 is configured to obtain a second measurement result based on the first measurement frame.

[0437] The processing unit 802 is further configured to obtain a fourth measurement result based on the third measurement frame.

[0438] The transceiver unit 801 is further configured to receive a first measurement result from a fourth device, where the first measurement result is the measurement result of the first device on the second measurement frame.

[0439] The processing unit 802 is further configured to determine the distance between the first device and the communication device based on the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result.

[0440] In a possible implementation, the first frequency and the second frequency are adjacent frequencies in the order of usage time, the first frequency belongs to a first frequency set, the second frequency belongs to a second frequency set, and the first frequency set includes the first frequency and the second frequency set.

[0441] In a possible implementation, the processing unit 802 is further configured to determine the first frequency within the first frequency set in a pseudo-random manner based on a first random seed.

[0442] The processing unit 802 is further configured to determine the second frequency within the second frequency set in a pseudo-random manner based on a second random seed.

[0443] In a possible implementation, the processing unit 802 is further configured to generate and transmit the first random seed and / or the second random seed via the transceiver unit 801, or the transceiver unit 801 is further configured to receive the first random seed and / or the second random seed.

[0444] In a possible implementation, the processing unit 802 is further configured to obtain a second measurement result based on a first measurement frame, where the second measurement result includes phase information or in-phase components and quadrature components IQ information of a single-frequency sine wave signal included in the first measurement frame at a second time point, or phase information or IQ information of a signal obtained by extending the single-frequency sine wave signal included in the first measurement frame according to a single-frequency sine wave model, and the second measurement result is used for ranging.

[0445] In a possible implementation, the processing unit 802 is further configured to determine a second timing offset, where the second timing offset represents the timing offset of the communication device with respect to the first measurement frame.

[0446] The processing unit 802 is further configured to determine a second time point based on a second timing offset.

[0447] In a possible implementation, the second time point satisfies T2 = t0 + t2 / 2, where t0 represents a reference time point, t2 represents a second timing offset, and T2 represents the second time point.

[0448] In a possible implementation, the processing unit 802 is specifically configured to determine a second timing offset by measuring a signal within a first measurement frame.

[0449] In a possible implementation, the transceiver unit 801 is further configured to send and / or receive a first message, where the first message indicates a reference time point, or the reference time point is a pre-configured or pre-defined time point.

[0450] In a possible implementation, the transceiver unit 801 is further configured to send and / or receive a second message, where the second message indicates a reference value, or the reference value is a pre-configured or pre-defined value.

[0451] The processing unit 802 is further configured to determine a reference time point based on a reference value and a second frequency offset, where the second frequency offset represents a frequency offset of the communication device with respect to a first measurement frame.

[0452] In a possible implementation, a single-frequency sine wave signal included in a second measurement frame includes at least two symbols, and each of the at least two symbols is obtained through modulation based on a second sequence using a second constellation diagram, where the second sequence is a sequence including M bits, and the value of M corresponds to a modulation scheme of the second constellation diagram.

[0453] In a possible implementation, the third symbol is obtained through modulation based on the second sequence by using the second constellation diagram.

[0454] The third symbol is located adjacent to and before a single - frequency sine - wave signal, and includes a symbol within the second measurement frame and / or a first symbol within the second measurement frame that is located after the single - frequency sine - wave signal.

[0455] In a possible implementation, the single - frequency sine - wave signal included within the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained through Gaussian frequency - shift keying (GFSK) modulation based on the second bit.

[0456] The fourth symbol is obtained through GFSK modulation based on the second bit.

[0457] The fourth symbol is located adjacent to and before a single - frequency sine - wave signal, and includes a symbol within the second measurement frame and / or a first symbol within the second measurement frame that is located after the single - frequency sine - wave signal.

[0458] In a possible implementation, the transceiver unit 801 is further configured to send out a ranging result, where the ranging result includes information regarding the distance between the first device and the second device.

[0459] According to this embodiment of the present application, the units in the apparatus shown in FIG. 8 may be separate from one or more other units, or may all be combined into one or more units, or one or more units in the apparatus may be further split into a plurality of units with more detailed functions. This can implement the same operation without affecting the implementation of the technical effects of this embodiment of the present application. The aforementioned units are obtained through division based on logical functions. In actual applications, the functions of one unit may be implemented by a plurality of units, or the functions of a plurality of units may be implemented by one unit. In another embodiment of the present application, the device may alternatively include another unit. In actual applications, the functions may be implemented with the assistance of another unit and may be implemented cooperatively by a plurality of units.

[0460] It should be noted that for the implementation of each unit, reference should be made to the corresponding descriptions in the method embodiments shown in FIGS. 3, 4, and 5.

[0461] In the communication device 80 described with reference to FIG. 8, the co-measurement results of the first frequency and the co-measurement results of the second frequency are not affected by the random initial phase caused by the frequency switching of the device and can be coherently combined. Therefore, when the ranging result is calculated, a bandwidth larger than the bandwidth of the measurement frame of a single frequency can be used to calculate the ranging result, and a more accurate ranging result can be obtained, improving the ranging accuracy.

[0462] FIG. 9 is a structural diagram of a communication device according to an embodiment of the present application.

[0463] It should be understood that the communication device 90 shown in FIG. 9 is only an example. The communication device of this embodiment of the present application may further include other components, may include components having the same functions as those of the components in FIG. 9, or may not necessarily include all the components in FIG. 9.

[0464] The communication device 90 includes a communication interface 901 and at least one processor 902.

[0465] The communication device 90 may correspond to a first device, a second device, a third device, a fourth device, or any network element or device within a G node. The communication interface 901 is configured to receive and transmit signals, and the at least one processor 902 executes program instructions to enable the communication device 90 to implement corresponding procedures of the method executed by the device corresponding thereto in the foregoing method embodiments.

[0466] In a possible implementation, the communication device 90 may correspond to the first device in the method embodiment of FIG. 3. The communication device 90 may be the first device or a chip within the first device. The communication device 90 may include components configured to perform the operations performed by the first device in the method embodiment, and the components within the communication device 90 are separately configured to implement the operations performed by the first device in the method embodiment. The details may be as follows.

[0467] The first device sends a first measurement frame to the second device on a first frequency, and receives a second measurement frame sent by the second device on the first frequency. The first device sends a third measurement frame to the second device on a second frequency, and receives a fourth measurement frame sent by the second device on the second frequency, where the second frequency is different from the first frequency. The first device obtains a first measurement result based on the second measurement frame. The first device obtains a third measurement result based on the fourth measurement frame. The first device sends the first measurement result and the third measurement result to the third device, where the first measurement result and the third measurement result are used for distance measurement.

[0468] In a possible implementation, the first frequency and the second frequency are adjacent frequencies in the order of usage time, the first frequency belongs to a first frequency set, the second frequency belongs to a second frequency set, and the first frequency set includes the first frequency and the second frequency set.

[0469] In a possible implementation, the method

[0470] a step in which a first device determines a first frequency within a first frequency set in a pseudo-random manner based on a first random seed; a step in which the first device determines a second frequency within a second frequency set in a pseudo-random manner based on a second random seed further includes.

[0471] In a possible implementation, the method

[0472] a step in which the first device generates and transmits a first random seed and / or a second random seed, or a step in which the first device receives a first random seed and / or a second random seed further includes.

[0473] In a possible implementation, the first measurement result includes phase information or in-phase components and quadrature component IQ information of a single-frequency sine wave signal included in a second measurement frame at a first time point, or phase information or IQ information of a signal obtained by extending a single-frequency sine wave signal included in the second measurement frame according to a single-frequency sine wave model, at the first time point.

[0474] In a possible implementation, the method

[0475] a step in which the first device determines a first timing offset, where the first timing offset represents the timing offset of the first device with respect to the second measurement frame; The step in which the first device determines a first time point based on a first timing offset further includes.

[0476] In a possible implementation, the first time point satisfies T1 = t0 + t1 / 2, where t0 represents a reference time point, t1 represents a first timing offset, and T1 represents the first time point.

[0477] In a possible implementation, the step of determining the first timing offset

[0478] includes the step in which the first device determines the first timing offset by measuring a signal within a second measurement frame.

[0479] In a possible implementation, the method

[0480] further includes the step in which the first device receives a first message and / or sends a first message, where the first message indicates a reference time point, or the reference time point is a preconfigured or predefined time point.

[0481] In a possible implementation, the method

[0482] includes the step in which the first device receives a second message and / or sends a second message, where the second message indicates a reference value, or the reference value is a preconfigured or predefined value, and the step of determining a reference time point based on the reference value and a first frequency offset, where the first frequency offset represents the frequency offset of the first device with respect to the second measurement frame, further includes.

[0483] ​In a possible implementation, the single-frequency sine wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained through modulation based on a first sequence using a first constellation diagram. The first sequence is a sequence including N bits, and the value of N corresponds to the modulation scheme of the first constellation diagram.

[0484] In a possible implementation, the first symbol is obtained through modulation based on a first sequence using a first constellation diagram.

[0485] The first symbol is located adjacent to and before the single-frequency sine wave signal, and includes symbols within the first measurement frame and / or the first symbol located within the first measurement frame after the single-frequency sine wave signal.

[0486] In a possible implementation, the single-frequency sine wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained through Gaussian frequency shift keying (GFSK) modulation based on a first bit.

[0487] The second symbol is obtained through GFSK modulation based on a first bit.

[0488] The second symbol is located adjacent to and before the single-frequency sine wave signal, and includes symbols within the first measurement frame and / or the first symbol located within the first measurement frame after the single-frequency sine wave signal.

[0489] In a possible implementation, the method further includes

[0490] the step of the first device receiving a ranging result where the ranging result includes information regarding the distance between the first device and the second device.

[0491] In another possible implementation, communication device 90 may correspond to the second device in the method embodiment of FIG. 4. Communication device 90 may be the second device or a chip within the second device. Communication device 90 may include components configured to perform the operations performed by the second device in the method embodiment, and the components within communication device 90 are separately configured to implement the operations performed by the second device in the method embodiment. The details may be as follows.

[0492] The second device receives the first measurement frame transmitted by the first device on the first frequency and transmits the second measurement frame to the first device on the first frequency. The second device receives the third measurement frame transmitted by the first device on the second frequency and transmits the fourth measurement frame to the first device on the second frequency, where the second frequency is different from the first frequency. The second device obtains a second measurement result based on the first measurement frame. The second device obtains a fourth measurement result based on the third measurement frame. The second device receives the first measurement result and the third measurement result from the fourth device, where the first measurement result is the measurement result of the first device on the second measurement frame and the third measurement result is the measurement result of the first device on the fourth measurement frame. The second device determines the distance between the first device and the second device based on the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result.

[0493] In a possible implementation, the first frequency and the second frequency are adjacent frequencies in the order of usage time, the first frequency belongs to the first frequency set, the second frequency belongs to the second frequency set, and the first frequency set includes the first frequency and the second frequency set.

[0494] In a possible implementation, the method is

[0495] The second device determines a first frequency within a first set of frequencies in a pseudo-random manner based on a first random seed; The second device determines a second frequency within a second set of frequencies in a pseudo-random manner based on a second random seed; and further includes:

[0496] In a possible implementation, the method includes:

[0497] The second device generates and transmits a first random seed and / or a second random seed, or The second device receives a first random seed and / or a second random seed; and further includes:

[0498] In a possible implementation, the method includes:

[0499] The second device obtains a second measurement result based on a first measurement frame, where the second measurement result includes phase information or in-phase components and quadrature components IQ information of a single-frequency sine wave signal included in the first measurement frame at a second time point, or phase information or IQ information of a signal obtained by extending a single-frequency sine wave signal included in the first measurement frame according to a single-frequency sine wave model, and the second measurement result is used for ranging; and further includes:

[0500] In a possible implementation, the method includes:

[0501] The second device determines a second timing offset, where the second timing offset represents the timing offset of the second device with respect to the first measurement frame; and The second device determines a second time point based on the second timing offset; and further includes:

[0502] In a possible implementation, the second time point satisfies T2 = t0 + t2 / 2, where t0 represents the reference time point, t2 represents the second timing offset, and T2 represents the second time point.

[0503] In a possible implementation, the step of determining the second timing offset is

[0504] the step of the second device determining the second timing offset by measuring a signal within the first measurement frame and includes.

[0505] In a possible implementation, the method is

[0506] the step of the second device sending the first message and / or receiving the first message, where the first message indicates the reference time point, or the reference time point is a pre-configured or pre-defined time point.

[0507] In a possible implementation, the method is

[0508] the step of the second device sending the second message and / or receiving the second message, where the second message indicates the reference value, or the reference value is a pre-configured or pre-defined value, and the step of determining the reference time point based on the reference value and the second frequency offset, where the second frequency offset represents the frequency offset of the second device with respect to the first measurement frame, and and further includes.

[0509] ​In a possible implementation, the single - frequency sine - wave signal included in the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained through modulation based on a second sequence by using a second constellation diagram. The second sequence is a sequence including M bits, and the value of M corresponds to the modulation scheme of the second constellation diagram.

[0510] In a possible implementation, the third symbol is obtained through modulation based on a second sequence by using a second constellation diagram.

[0511] The third symbol is located adjacent to and before the single - frequency sine - wave signal and includes symbols within the second measurement frame and / or symbols located after the single - frequency sine - wave signal and within the second measurement frame, and the first symbol within the second measurement frame.

[0512] In a possible implementation, the single - frequency sine - wave signal included in the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained through Gaussian frequency - shift keying (GFSK) modulation based on a second bit.

[0513] The fourth symbol is obtained through GFSK modulation based on a second bit.

[0514] The fourth symbol is located adjacent to and before the single - frequency sine - wave signal and includes symbols within the second measurement frame and / or symbols located after the single - frequency sine - wave signal and within the second measurement frame, and the first symbol within the second measurement frame.

[0515] In a possible implementation, the method

[0516] further includes the step of the second device sending out the ranging result where the ranging result includes information regarding the distance between the first device and the second device.

[0517] Within the communication device 90 described with reference to FIG. 9, the co-measurement results at the first frequency and the co-measurement results at the second frequency are not affected by the random initial phases caused by the frequency switching of the device and can be coherently combined. Therefore, when calculating the ranging result, a bandwidth larger than the bandwidth of the measurement frame of a single frequency can be used to calculate the ranging result, enabling a more accurate ranging result to be obtained and improving the ranging accuracy.

[0518] Regarding the case where the communication device is a chip or a chip system, refer to the diagram of the chip structure shown in FIG. 10.

[0519] As shown in FIG. 10, the chip 100 includes a processor 1001 and an interface 1002. One or more processors 1001 may be present, and a plurality of interfaces 1002 may be present. Note that the functions corresponding to each of the processor 1001 and the interface 1002 may be implemented by using hardware design, or may be implemented by using software design, or may be implemented by combining software and hardware. This is not limited in this specification.

[0520] Optionally, the chip 100 may further include a memory 1003, and the memory 1003 is configured to store necessary program instructions and necessary data.

[0521] In the present application, the processor 1001 may be configured to start, from the memory 1003, an implementation program of a communication method provided in one or more embodiments of the present application for one or more devices of the first device, the second device, the third device, the fourth device, or the G node, or network elements, and execute instructions included in the program. The interface 1002 may be configured to output the execution result of the processor 1001. In the present application, the interface 1002 may be specifically configured to output each message or information of the processor 1001.

[0522] Regarding the communication method provided in one or more embodiments of the present application, refer to the embodiments shown in FIGS. 3, 4, and 5. Details will not be described again in this specification.

[0523] The processor in the embodiment of the present application may be a central processing unit (CPU), and the processor may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), another programmable logic device, an individual gate or transistor logic device, an individual hardware component, etc. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc.

[0524] The memory in the embodiments of this application is configured to provide a storage space, which can store data such as an operating system and computer programs. The memory includes, but is not limited to, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a compact disc read-only memory (CD-ROM).

[0525] According to the method provided in the embodiments of this application, the embodiments of this application further provide a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed on one or more processors, the methods shown in FIGS. 3, 4, and 5 can be implemented.

[0526] According to the method provided in the embodiments of this application, the embodiments of this application further provide a computer program product. The computer program product includes a computer program. When the computer program is executed on a processor, the methods shown in FIGS. 3, 4, and 5 can be implemented.

[0527] The embodiments of this application provide a vehicle end device. The vehicle end device includes at least one of a communication device 80, a communication device 90, or a chip 100.

[0528] The embodiments of this application further provide a system. The system includes a vehicle end device and at least one of a communication device 80, a communication device 90, or a chip 100, and is configured to perform the steps implemented by the corresponding device in any one of the embodiments of FIGS. 3, 4, and 5.

[0529] Embodiments of the present application further provide a processing device including a processor and an interface. The processor is configured to implement the method in any one of the foregoing method embodiments.

[0530] It should be understood that the processing device may be a chip. For example, the processing device may be a field programmable gate array (FPGA), or a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or another programmable logic device, an individual gate or transistor logic device, an individual hardware component, may be a system on chip (SoC), may be a central processor unit (CPU), may be a network processor (NP), may be a digital signal processing circuit (DSP), may be a microcontroller unit (MCU), may be a programmable logic device (PLD) or another integrated chip. It can implement or carry out the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor or the like. The steps of the method disclosed with reference to the embodiments of this application can be directly implemented or completed by a hardware decoding processor, or can be implemented and completed by using a combination of hardware and software modules in the decoding processor. The software module may be located in a complete storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or a register. The storage medium is located in the memory, and the processor reads the information in the memory and combines it with the hardware of the processor to complete the steps of the foregoing method.

[0531] The memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include a volatile memory and a non-volatile memory. It can be understood that the non-volatile memory may be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM) used as an external cache. By way of illustrative, but not limiting, description, many forms of RAM may be used, such as static random access memory (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein includes any of these and other suitable types of memory, but is not limited to these.

[0532] All or some of the foregoing embodiments may be implemented by using software, hardware, firmware, or any combination thereof. When software is used to implement an embodiment, all or some 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, all or part of the procedures or functions according to the embodiments of the present application are generated. The computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, a computer, a server, or a data center to another website, a computer, a server, or a data center in a wired (e.g., coaxial cable, optical fiber, or digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, or microwave) manner. The computer-readable storage medium may be any usable medium accessible by a computer or a data storage device, such as a server or a data center, that integrates one or more usable media. The usable media may be a magnetic medium (e.g., a floppy disk, a hard disk drive, or a magnetic tape), an optical medium (e.g., a high-density digital video disc (DVD)), a semiconductor medium (e.g., a solid-state disc (SSD)), etc.

[0533] The units in the foregoing device embodiments fully correspond to the electronic devices in the method embodiments, and the corresponding modules or units perform the corresponding steps. For example, the communication unit (transceiver) performs the steps of receiving or transmitting in the method embodiments, and the steps other than the steps of transmitting and receiving can be performed by the processing unit (processor). For the functions of specific units, refer to the corresponding method embodiments. There may be one or more processors.

[0534] In the embodiments of the present application, it can be understood that the electronic device can perform some or all of the steps in the embodiments of the present application. These steps or operations are only examples. In the embodiments of the present application, other operations or various modifications of the operations can be performed. In addition, the steps may be performed in an order different from the order presented in the embodiments of the present application, and not all the operations of the embodiments of the present application need to be performed.

[0535] Those skilled in the art can realize that the units and algorithm steps can be implemented by electronic hardware or computer software and a combination of electronic hardware in combination with the examples described in the embodiments disclosed herein. Whether the function is implemented by hardware or by software depends on the specific application example and the design constraints of the technical solution. Those skilled in the art may use different methods to implement the functions described for each specific application example, but the implementation forms should not be regarded as exceeding the scope of the present application.

[0536] For the sake of convenient and simple description, those skilled in the art can clearly understand that for the detailed working processes of the above system, device, and unit, reference should be made to the corresponding processes in the foregoing method embodiments. Details will not be described again herein.

[0537] In some embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the described device embodiments are merely examples. For example, the division into units is only a logical function division, and in actual implementation forms, it can be other divisions. For example, multiple units or components can be combined or integrated into another system, or some features may be ignored or not implemented. Furthermore, the shown or discussed couplings, direct couplings, or communication connections can be implemented via some interfaces. The indirect couplings or communication connections between devices or units can be implemented in electronic forms, mechanical forms, or other forms.

[0538] The units described as separate parts may or may not be physically separate, and the parts shown as units may or may not be physical units. They can be located in one position or dispersed over multiple network units. Some or all of the units can be selected based on actual requirements to achieve the objectives of the embodiment's solution.

[0539] In addition, the functional units in the embodiments of this application may be integrated into one processing unit, or each of the units may physically exist alone, or two or more units may be integrated into one unit.

[0540] When the function is implemented in the form of a software function unit and sold or used as an independent product, the function can be stored in a computer-readable storage medium. Based on such an understanding, the essential part of the technical solution of the present application, or the part that contributes to the prior art, or a part of the technical solution can be implemented in the form of a software product. The software product is stored in a storage medium and contains several instructions for instructing a computer device (which can be a personal computer, a server, or a network device) to perform all or some of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes any medium that can store program codes, such as a USB flash drive, a removable hard disk, a read-only memory ROM, a random access memory RAM, a magnetic disk, or an optical disk.

[0541] The foregoing description is only a specific implementation form of the present application and is not intended to limit the protection scope of the present application. Any deformation or substitution form that can be easily conceived by those skilled in the art within the technical scope disclosed in the present application falls within the protection scope of the present application.

Claims

**Claim 1** A ranging method, comprising: sending, by a first device, a first measurement frame to a second device on a first frequency, and receiving, on the first frequency, a second measurement frame sent by the second device; sending, by the first device, a third measurement frame to the second device on a second frequency, and receiving, on the second frequency, a fourth measurement frame sent by the second device, wherein the second frequency is different from the first frequency; obtaining, by the first device, a first measurement result based on the second measurement frame; obtaining, by the first device, a third measurement result based on the fourth measurement frame; sending, by the first device, the first measurement result and the third measurement result to a third device, wherein the first measurement result and the third measurement result are used for ranging. A method comprising the above steps. **Claim 2** The method according to claim 1, wherein the first frequency and the second frequency are adjacent frequencies in the order of usage time, the first frequency belongs to a first frequency set, the second frequency belongs to a second frequency set, and the first frequency set includes the first frequency and the second frequency set. **Claim 3** The method further comprises: determining, by the first device, the first frequency in the first frequency set in a pseudo-random manner based on a first random seed; determining, by the first device, the second frequency in the second frequency set in a pseudo-random manner based on a second random seed. The method according to claim 1 or 2, further comprising the above steps. **Claim 4** The method further comprises: generating and sending, by the first device, the first random seed and / or the second random seed, or receiving, by the first device, the first random seed and / or the second random seed. The method according to claim 3, further comprising the above steps. **Claim 5** The method according to any one of claims 1 to 4, wherein the first measurement result is phase information or in-phase and quadrature component IQ information of a single-frequency sine wave signal included in the second measurement frame at a first time point, or phase information or IQ information of a signal obtained by expanding the single-frequency sine wave signal included in the second measurement frame according to a single-frequency sine wave model, at the first time point.

6. The method comprises a step of determining, by the first device, a first timing offset, wherein the first timing offset represents a timing offset of the first device with respect to the second measurement frame. and a step of determining, by the first device, the first time point based on the first timing offset. The method according to claim 5, further comprising the above steps.

7. The method according to claim 6, wherein the first time point satisfies T1 = t0 + t1 / 2, where t0 represents a reference time point, t1 represents the first timing offset, and T1 represents the first time point.

8. The step of determining the first timing offset comprises a step of determining, by the first device, the first timing offset by measuring a signal within the second measurement frame. The method according to claim 6 or 7, comprising the above step.

9. The method further comprises a step of receiving, by the first device, a first message and / or transmitting the first message, wherein the first message indicates the reference time point, or the reference time point is a pre-configured or pre-defined time point. The method according to claim 7 or 8.

10. The method further comprises a step of receiving, by the first device, a second message and / or transmitting the second message, wherein the second message indicates a reference value, or the reference value is a pre-configured or pre-defined value, and a step of determining the reference time point based on the reference value and a first frequency offset, wherein the first frequency offset represents a frequency offset of the first device with respect to the second measurement frame. The method according to claim 7 or 8, further comprising the above steps.

11. ​ The single - frequency sine - wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained through modulation based on a first sequence using a first constellation diagram. The first sequence is a sequence including N bits, and the value of N corresponds to the modulation scheme of the first constellation diagram. The method according to any one of claims 1 to 10. Claim 12 The first symbol is obtained through modulation based on the first sequence by using the first constellation diagram. The first symbol is located adjacent to and before the single - frequency sine - wave signal and is a symbol within the first measurement frame, and / or is located after the single - frequency sine - wave signal and includes the first symbol within the first measurement frame. The method according to claim 11. Claim 13 The single - frequency sine - wave signal included in the first measurement frame includes at least two symbols, and each of the at least two symbols is obtained through Gaussian frequency - shift keying (GFSK) modulation based on a first bit. The second symbol is obtained through GFSK modulation based on the first bit. The second symbol is located adjacent to and before the single - frequency sine - wave signal and is a symbol within the first measurement frame, and / or is located after the single - frequency sine - wave signal and includes the first symbol within the first measurement frame. The method according to any one of claims 1 to 10. Claim 14 The method further includes: receiving, by the first device, a ranging result wherein the ranging result includes information regarding the distance between the first device and the second device. The method according to any one of claims 1 to 13. Claim 15 A ranging method, comprising: receiving, by a second device, a first measurement frame transmitted by a first device at a first frequency, and transmitting a second measurement frame to the first device at the first frequency; receiving, by the second device at a second frequency, a third measurement frame transmitted by the first device, and transmitting a fourth measurement frame to the first device at the second frequency, wherein the second frequency is different from the first frequency. obtaining, by the second device, a second measurement result based on the first measurement frame; obtaining, by the second device, a fourth measurement result based on the third measurement frame; receiving, by the second device, the first measurement result and the third measurement result from a fourth device, wherein the first measurement result is a measurement result of the first device on the second measurement frame, and the third measurement result is a measurement result of the first device on the fourth measurement frame; determining, by the second device, a distance between the first device and the second device based on the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result; A method comprising the steps of:

16. The method according to claim 15, wherein the first frequency and the second frequency are adjacent frequencies in the order of usage time, the first frequency belongs to a first frequency set, the second frequency belongs to a second frequency set, and the first frequency set includes the first frequency and the second frequency set.

17. The method further comprises: determining, by the second device, the first frequency in the first frequency set in a pseudo-random manner based on a first random seed; determining, by the second device, the second frequency in the second frequency set in a pseudo-random manner based on a second random seed. The method according to claim 15 or 16.

18. The method further comprises: generating and transmitting, by the second device, the first random seed and / or the second random seed, or receiving, by the second device, the first random seed and / or the second random seed. The method according to claim 17.

19. The method further comprises: A step of obtaining the second measurement result based on the first measurement frame by the second device, wherein the second measurement result is phase information or in-phase components and quadrature components IQ information of a single-frequency sine wave signal included in the first measurement frame at a second time point, or phase information or IQ information at the second time point of a signal obtained by expanding the single-frequency sine wave signal included in the first measurement frame according to a single-frequency sine wave model, and the second measurement result is used for distance measurement. The method according to any one of claims 15 to 18, further comprising.

20. The method includes A step of determining a second timing offset by the second device, wherein the second timing offset represents the timing offset of the second device with respect to the first measurement frame. A step of determining the second time point by the second device based on the second timing offset The method according to claim 19, further comprising.

21. The second time point satisfies T2 = t0 + t2 / 2, where t0 represents a reference time point, t2 represents the second timing offset, and T2 represents the second time point. The method according to claim 20.

22. The step of determining the second timing offset is A step of determining the second timing offset by measuring a signal in the first measurement frame by the second device The method according to claim 20 or 21, comprising.

23. The method includes A step of sending and / or receiving a first message by the second device, wherein the first message indicates the reference time point, or The reference time point is a pre-configured or pre-defined time point. The method according to claim 21 or 22.

24. The method includes A step of sending and / or receiving a second message by the second device, wherein the second message indicates a reference value, or the reference value is a pre-configured or pre-defined value. ​ A step of determining the reference time point based on the reference value and the second frequency offset, wherein the second frequency offset represents the frequency offset of the second device with respect to the first measurement frame, and The method according to claim 21 or 22, further comprising.

25. The single-frequency sine wave signal included in the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained through modulation based on a second sequence by using a second constellation diagram. The second sequence is a sequence including M bits, and the value of M corresponds to the modulation scheme of the second constellation diagram. The method according to any one of claims 15 to 24.

26. The third symbol is obtained through modulation based on the second sequence by using the second constellation diagram, The third symbol is located adjacent to and before the single-frequency sine wave signal, and includes a symbol within the second measurement frame and / or a first symbol located after the single-frequency sine wave signal and within the second measurement frame. The method according to claim 25.

27. The single-frequency sine wave signal included in the second measurement frame includes at least two symbols, and each of the at least two symbols is obtained through Gaussian frequency shift keying modulation (GFSK modulation) based on a second bit, The fourth symbol is obtained through GFSK modulation based on the second bit, The fourth symbol is located adjacent to and before the single-frequency sine wave signal, and includes a symbol within the second measurement frame and / or a first symbol located after the single-frequency sine wave signal and within the second measurement frame. The method according to any one of claims 15 to 24.

28. The method includes A step of sending a ranging result by the second device And further includes, wherein the ranging result includes information regarding the distance between the first device and the second device. The method according to any one of claims 15 to 27.

29. A communication device comprising a module or unit configured to implement the method according to any one of claims 1 to 14 or any one of claims 15 to 28.

30. A communication device comprising a processor, When the processor starts a computer program or instruction in a memory, the method according to any one of claims 1 to 14 is implemented, or the method according to any one of claims 15 to 28 is implemented, a communication device.

31. A communication device comprising a logic circuit and a communication interface, The communication interface is configured to receive information or transmit information, The logic circuit is configured to receive the information or transmit the information through the communication interface, as a result, the method according to any one of claims 1 to 14 is implemented, or the method according to any one of claims 15 to 28 is implemented, a communication device.

32. A computer-readable storage medium, Configured to store instructions or a computer program, when the instructions or the computer program are executed, the method according to any one of claims 1 to 14 is implemented, or the method according to any one of claims 15 to 28 is implemented, a computer-readable storage medium.

33. A computer program product comprising instructions or a computer program, When the instructions or the computer program are executed, the method according to any one of claims 1 to 14 is implemented, or the method according to any one of claims 15 to 28 is implemented, a computer program product.

34. A terminal device comprising the communication device according to claim 29, the communication device according to claim 30, or the communication device according to claim 31.

35. A vehicle, and a system comprising the communication device according to claim 29, or the communication device according to claim 30, or the communication device according to claim 31.

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