Measurement method and measuring device

Abstract

A distance measurement method and apparatus in the field of communications are provided. Two devices separately obtain an interval between a time when one of the two devices transmits a ranging symbol and a time when the device receives a ranging symbol transmitted by the other device, and an interval between a time when the other device transmits the ranging symbol and a time when the other device receives a ranging symbol transmitted by the one device, and determine a distance between the two devices based on a difference between the two time intervals. Since the obtained time intervals are determined based on the reception time and transmission time of the ranging symbol, the accuracy of the time intervals can be improved, and as a result, the accuracy of the distance obtained through measurement can be improved.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of communications, and in particular, to a measurement method and a measurement device.

Background Art

[0002] Many scenarios in the field of communications have the requirement of measuring the distance between communication devices to determine the distance between objects associated with the communication devices. For example, in an indoor positioning scenario, it is necessary to measure the distance between communication devices to implement the positioning of devices associated with the device. As another example, in a keyless entry and start scenario, it is necessary to measure the distance between the vehicle key and the vehicle. As yet another example, in scenarios such as asset management or logistics, it is also necessary to measure the distance between objects.

[0003] In existing measurement methods, the distance between devices is determined based on the transmission time and reception time of subframes transmitted between the devices. The time length of one subframe is 1 millisecond. In many scenarios, this measurement method cannot meet the requirements of measurement accuracy in many scenarios.

Summary of the Invention

Means for Solving the Problems

[0004] Regarding the technical problem of inaccurate measurement of the distance between devices, the present application provides a measurement method, a measurement device, a measurement device, a computer-readable storage medium, a computer program product, etc. for improving the accuracy of measuring the distance between devices.

[0005] According to a first aspect, the present application provides a measurement method. The method includes the following: a first device transmits a first symbol; the first device receives a second symbol from a second device, and the first symbol and the second symbol are carried on the same radio frame or different radio frames; the first device determines a first time difference, where the first time difference is the time interval between a first time when the first device transmits the first symbol and a second time when the first device receives the second symbol, and the first time difference is used to determine the distance between the first device and the second device.

[0006] In this method, both the first symbol and the second symbol may be called ranging symbols.

[0007] The first device may send one or more first symbols, and the second device may send one or more second symbols.

[0008] The first device may be a master node, and the second device may be a slave node; or, the first device may be a slave node, and the second device may be a master node. The master node may also be called a management node, or may be abbreviated as a G node for short. The slave node may also be called a managed node, or may be abbreviated as a T node for short.

[0009] When the first device is a master node and the second device is a slave node, the first symbol may be called a G-link ranging symbol, and the second symbol may be called a T-link ranging symbol. When the first device is a slave node and the second device is a master node, the first symbol may be called a T-link ranging symbol, and the second symbol may be called a G-link ranging symbol.

[0010] In this method, the sequence in which the first device transmits the first symbol and receives the second symbol by the first device is not limited, that is, the sequence at the first time point and the second time point is not limited. In other words, the first device may first transmit the first symbol and then receive the second symbol, or the first device may first receive the second symbol and then transmit the first symbol.

[0011] In this method, compared with the interval between the transmission time and the reception time of the wireless frame, the first time difference is the interval between the transmission time and the reception time of the ranging symbol, and since it can more accurately indicate the signal transmission duration between devices, based on the first time difference, a more accurate distance between devices can be determined.

[0012] In some implementations, this method may further include the following. The first device receives first time information from the second device, and the first time information is used to determine a second time difference, where the second time difference is the time interval between a third time point when the second device receives the first symbol and a fourth time point when the second device transmits the second symbol. The first device determines the distance between the first device and the second device based on the first time difference and the second time difference.

[0013] In other words, after determining the third time point when the second device receives the first symbol and the fourth time point when the second device transmits the second symbol, the second device transmits the second time information to the first device, whereby the first device knows the third time point and the fourth time point and determines the second time difference. The first device determines the distance between the first device and the second device based on the first time difference and the second time difference.

[0014] In this implementation, the sequence in which the first device receives the second time information and determines the first time difference by the first device is not limited.

[0015] In some implementations, this method may further include the following. The first device transmits time information to the second device, and the time information is used to determine a first time difference, which is the time interval between a first time point when the first device transmits a first symbol and a second time point when the first device receives a second symbol.

[0016] In this method, the first device transmits to the second device the time information used to determine the first time difference, whereby the second device can determine the distance between the first device and the second device based on the first time difference and a second time difference.

[0017] In this implementation, the sequence in which the first device receives the second time information and the first device determines the first time difference is not limited.

[0018] In relation to the first aspect or any one of the possible implementations described above, in some possible implementations, the first symbol and / or the second symbol are generated based on a ZC sequence, and the ZC sequence is generated in the following manner

Number

[0019] In this implementation, optionally, u is any integer from a to b, where a is a positive integer greater than 1, b is a positive integer less than 39, and a is less than b.

[0020] In some possible implementations, the first symbol may be carried on resources that are within the wireless frame and used to transmit a G-link symbol and / or on resources that are within the wireless frame and used to transmit an SG symbol, and the second symbol may be carried on resources that are within the wireless frame and used to transmit an ST symbol and / or on resources that are within the wireless frame and used to transmit a T-link symbol.

[0021] For example, when the first device is a master node and the second device is a slave node, the first symbol may be carried on resources that are within the wireless frame and used to transmit a G-link symbol and / or on resources that are within the wireless frame and used to transmit an SG symbol, and the second symbol may be carried on resources that are within the wireless frame and used to transmit an ST symbol and / or on resources that are within the wireless frame and used to transmit a T-link symbol.

[0022] Optionally, the first symbol may be carried on all or some of the resources that are within the wireless frame and used to transmit a G-link symbol. If the first symbol is carried on some of the resources that are within the wireless frame and used to transmit a G-link symbol, the wireless frame may further include a G-link symbol.

[0023] Optionally, the second symbol may be carried on all or some of the resources that are within the wireless frame and used to transmit a T-link symbol. If the second symbol is carried on some of the resources that are within the wireless frame and used to transmit a T-link symbol, the wireless frame may further include a T-link symbol.

[0024] In some other possible implementations, the second symbol may be carried on resources within the wireless frame that are used to transmit the G - link symbol and / or on resources within the wireless frame that are used to transmit the SG symbol, and the first symbol may be carried on resources within the wireless frame that are used to transmit the ST symbol and / or on resources within the wireless frame that are used to transmit the T - link symbol.

[0025] For example, when the second device is the master node and the first device is the slave node, the second symbol may be carried on resources within the wireless frame that are used to transmit the G - link symbol and / or on resources within the wireless frame that are used to transmit the SG symbol, and the first symbol may be carried on resources within the wireless frame that are used to transmit the ST symbol and / or on resources within the wireless frame that are used to transmit the T - link symbol.

[0026] Optionally, the second symbol may be carried on all or some of the resources within the wireless frame that are used to transmit the G - link symbol. If the second symbol is carried on some of the resources within the wireless frame that are used to transmit the G - link symbol, the wireless frame may further include a T - link symbol.

[0027] Optionally, the first symbol may be carried on all or some of the resources within the wireless frame that are used to transmit the T - link symbol. If the first symbol is carried on some of the resources within the wireless frame that are used to transmit the T - link symbol, the wireless frame may further include a G - link symbol.

[0028] In some implementations, there may be a GAP between the first symbol and the second symbol.

[0029] For example, when the first symbol and the second symbol are carried on the same radio frame, the first symbol is carried on resources that are within the radio frame and used for transmitting a G link symbol and / or resources that are within the radio frame and used for transmitting an SG symbol, and the second symbol is carried on resources that are within the radio frame and used for transmitting a T link symbol, there is a GAP between the first symbol and the second symbol.

[0030] In another example, when the first symbol and the second symbol are carried on the same radio frame, the first symbol is carried on resources that are within the radio frame and used for transmitting a T link symbol and / or resources that are within the radio frame and used for transmitting an ST symbol, and the second symbol is carried on resources that are within the radio frame and used for transmitting an SG symbol and / or resources that are within the radio frame and used for transmitting a G link symbol, there is a GAP between the first symbol and the second symbol.

[0031] In another example, when the first symbol is carried on resources that are within the first radio frame and used for transmitting a T link symbol, and the second symbol is carried on resources that are within the second radio frame and used for transmitting a G link symbol, and the second radio frame is adjacent to the first radio frame and located after the first radio frame, there is a GAP between the first symbol and the second symbol.

[0032] In another example, the second symbol is carried on resources that are within the first radio frame and used for transmitting a T link symbol, and the first symbol is carried on resources that are within the second radio frame and used for transmitting a G link symbol; when the second radio frame is adjacent to the first radio frame and located after the first radio frame, there is a GAP between the first symbol and the second symbol.

[0033] In some possible implementations, when the first device receives the first time information used to determine the second time difference from the second device and determines the distance between the first device and the second device based on the first time difference and the second time difference, this method further includes the following. The first device receives measurement information from the second device, and the measurement information indicates a measurement exchange sequence number corresponding to the first time information.

[0034] The measurement exchange sequence number is the sequence number of the current operation of exchanging the first time information between the first device and the second device, and indicates the sequence number in all exchange operations of all the time information exchanged between the first device and the second device to determine the distance between the first device and the second device.

[0035] In this way, the first device can accurately associate the time information obtained by the first device through the exchange with the second device with the time difference obtained by the first device through measurement and having the same measurement sequence number, and obtain an accurate distance.

[0036] In some possible implementations, when the first device sends the first time information used to determine the first time difference to the second device, so that the second device determines the distance between the first device and the second device based on the first time difference and the second time difference, this method further includes the following. The first device sends measurement information to the second device, and the measurement information indicates a measurement sequence number corresponding to the first time information.

[0037] The measurement sequence number is the sequence number of the current operation of exchanging the first time information between the first device and the second device, and indicates the sequence number in all exchange operations of all the time information exchanged between the first device and the second device to determine the distance between the first device and the second device.

[0038] In this way, the second device can accurately obtain the distance by accurately associating the time information acquired by the second device through exchange with the second device with the time difference acquired by the second device through measurement and having the same measurement sequence number.

[0039] In some implementations, the first symbol may be the S-th one among one or more ranging symbols sent by the first device in one distance measurement process, and the second symbol may be the S-th one among one or more ranging symbols received by the first device in one distance measurement process.

[0040] For example, S is 1. Alternatively, the first device may send N first symbols in one distance measurement process, the first time point is the time point when the first of the N first symbols is sent, and N is a positive integer. The first device may receive M second symbols in this distance measurement process, the second time point is the time point when the first received second symbol among the M second symbols is received, and M is a positive integer. Correspondingly, the third time point may be the time point when the second device receives the first symbol among the N first symbols, and the fourth time point is the time point when the second device sends the first second symbol among the M second symbols.

[0041] In some possible implementations, when the first symbol includes a cyclic prefix (CP), the first time point may be the time point when the CP of the first symbol starts to be sent. Similarly, the third time point may be the time point when the second device receives the start point of the CP of the first symbol.

[0042] When the first symbol does not include a CP, the first time point is the time point when the start point of the first symbol is sent. Similarly, the third time point may be the time point when the second device receives the start point of the first symbol.

[0043] When the second symbol includes a CP, the second time point may be the time point when the start point of the CP of the second symbol is received. Similarly, the fourth time point may be the time point when the second device transmits the start point of the CP of the second symbol.

[0044] When the second symbol does not include a CP, the second time point is the transmission time point when the first device receives the start point of the second symbol. Similarly, the fourth time point may be the time point when the second device transmits the start point of the second symbol.

[0045] In some possible implementations, the first time point may be the time point when the start point of the first symbol arrives at the first antenna connector of the first device, and the second time point may be the time point when the start point of the second symbol arrives at the first antenna connector.

[0046] For example, when the first symbol does not include a CP and the second symbol does not include a CP, the first time point is the time point when the start point of the first symbol reaches the first antenna connector of the first device, and the second time point may be the time point when the start point of the second symbol reaches the first antenna connector.

[0047] Similarly, the third time point may be the time point when the start point of the first symbol reaches the second antenna connector of the second device, and the fourth time point may be the time point when the start point of the second symbol reaches the second antenna connector of the second device.

[0048] For example, when the first symbol does not include a CP and the second symbol does not include a CP, the third time point is the time point when the start point of the first symbol reaches the second antenna connector of the second device, and the fourth time point may be the time point when the start point of the second symbol reaches the second antenna connector.

[0049] In some possible implementations, when the first symbol and the second symbol each include a CP, the first time point may be the time when the start point of the CP of the first symbol arrives at the first antenna connector of the first device, and the second time point may be the time when the start point of the CP of the second symbol arrives at the first antenna connector.

[0050] Similarly, the third time point may be the time when the start point of the CP of the first symbol reaches the second antenna connector of the second device, and the fourth time point may be the time when the start point of the CP of the second symbol reaches the second antenna connector of the second device.

[0051] In some possible implementations, this method further includes the following. The first device transmits first configuration information to the second device. The first configuration information indicates the time-frequency resources of the first symbol and the time-frequency resources of the second symbol.

[0052] In other words, the first device configures the time-frequency resources of the first symbol and the time-frequency resources of the second symbol for the second device, whereby the second device receives the first symbol based on the time-frequency resource information of the first symbol and transmits the second symbol based on the time-frequency resource information of the second symbol.

[0053] In some possible implementations, this method further includes the following. The first device receives first configuration information from the second device, and the first configuration information indicates the time-frequency resources of the first symbol and the time-frequency resources of the second symbol.

[0054] In other words, the second device configures the time-frequency resources of the first symbol and the time-frequency resources of the second symbol for the first device, whereby the first device transmits the first symbol based on the time-frequency resource information of the first symbol and receives the second symbol based on the time-frequency resource information of the second symbol.

[0055] Optionally, the first configuration information may further include one or more of the following information, namely, the transaction ID corresponding to the measurement, the identifier of the radio frame used to transmit the first symbol and / or the second symbol, the first indication information of the first resource that is within the radio frame used to transmit the first symbol and is used to carry the first symbol, and the second indication information of the second resource that is within the radio frame used to transmit the second symbol and is used to carry the second symbol.

[0056] Optionally, when the first configuration information includes the first indication information, the first indication information is a first bitmap. For example, the first bitmap includes R bits, the R bits are within the radio frame used to transmit the first symbol, and have a one-to-one correspondence with R transmission resources assigned to the first device. Among the R bits and within the R transmission resources, the value of the bit corresponding to the first resource used to transmit the first symbol is a first preset value, and R is a positive integer.

[0057] For example, the values of some of the R bits are "1", and the resources corresponding to these bits are used to transmit the first symbol; the values of some of the R bits are "0", and the resources corresponding to these bits are not used to transmit the first symbol.

[0058] Optionally, when the first configuration information includes the second indication information, the second indication information is a bitmap. For example, the second indication information is K bits, the K bits are within the radio frame used to transmit the second symbol, and have a one-to-one correspondence with K reception resources assigned to the first device. Among the K bits and within the K transmission resources, the value of the bit corresponding to the second resource used to transmit the second symbol is a first preset value, and K is a positive integer.

[0059] For example, the values of some of the K bits are "1", and the resources corresponding to these bits are used to transmit the second symbol; the values of some of the K bits are "0", and the resources corresponding to these bits are not used to transmit the second symbol.

[0060] In some possible implementations, this method further includes the following. The first device transmits a third symbol, and the first device determines a third time difference, where the third time difference is the time interval between the second time point when the first device receives the second symbol and the fifth time point when the first device transmits the third symbol.

[0061] In this implementation, in one example, the first device receives second time information from the second device, and the second time information is used to determine a fourth time difference, where the fourth time difference is the time interval between the third time point when the second device transmits the second symbol and the sixth time point when the second device receives the third symbol.

[0062] Correspondingly, the first device determining the distance between the first device and the second device based on the first time difference and the second time difference includes the following. The first device determines the distance between the first device and the second device based on the first time difference, the second time difference, the third time difference, and the fourth time difference.

[0063] In this implementation, in another example, the first device transmits the second time information to the second device, and the second time information is used to determine the third time difference.

[0064] Correspondingly, the second device determining the distance between the first device and the second device based on the first time difference and the second time difference includes the following. The second device determines the distance between the first device and the second device based on the first time difference, the second time difference, the third time difference, and the fourth time difference.

[0065] In other words, in this implementation, the distance between the first device and the second device is determined based on the transmission time differences of more symbols between the first device and the second device in order to improve the accuracy of the obtained distance.

[0066] Optionally, when the first symbol and the second symbol are carried on the first wireless frame, the third symbol is carried on the second wireless frame, and the second wireless frame is located after the first wireless frame.

[0067] For example, when the first device is a master node and the second device is a slave node, the first symbol may be carried within the first wireless frame on the resources used to transmit the G link symbol and / or the SG symbol, the second symbol may be carried within the first wireless frame on the resources used to transmit the T link symbol and / or the ST symbol, and the third symbol may be carried within the second wireless frame on the resources used to transmit the G link symbol and / or the SG symbol.

[0068] Optionally, the first symbol is carried on the first wireless frame, the second symbol and the third symbol are carried on the second wireless frame, and the wireless frame of the second symbol is located after the first wireless frame.

[0069] For example, when the second device is a master node and the first device is a slave node, the first symbol may be carried within the first wireless frame on the resources used to transmit the T link symbol and / or the ST symbol, the second symbol may be carried within the second wireless frame on the resources used to transmit the G link symbol and / or the SG symbol, and the third symbol may be carried within the second wireless frame on the resources used to transmit the T link symbol and / or the ST symbol.

[0070] In some possible implementations, this method further includes the following. The first device receives a third symbol, and the first device determines a third time difference, where the third time difference is the time interval between a fifth time point when the first device receives the third symbol and a first time point when the first device transmits the first symbol.

[0071] In this implementation, in one example, the first device receives second time information from the second device, and the second time information is used to determine a fourth time difference, where the fourth time difference is the time interval between a sixth time point when the second device transmits the third symbol and a third time point when the second device receives the first symbol.

[0072] Correspondingly, the first device determining the distance between the first device and the second device based on the first time difference and the second time difference includes the following. The first device determines the distance between the first device and the second device based on the first time difference, the second time difference, the third time difference, and the fourth time difference.

[0073] In this implementation, in another example, the first device transmits the second time information to the second device, and the second time information is used to determine the third time difference.

[0074] Correspondingly, the second device determining the distance between the first device and the second device based on the first time difference and the second time difference includes the following. The second device determines the distance between the first device and the second device based on the first time difference, the second time difference, the third time difference, and the fourth time difference.

[0075] In other words, in this implementation, the distance between the first device and the second device is determined based on the transmission time differences of more symbols between the first device and the second device in order to improve the accuracy of the obtained distance.

[0076] Optionally, when the first symbol and the second symbol are carried on the first radio frame, the third symbol is carried on the second radio frame, and the second radio frame is located before the first radio frame.

[0077] For example, when the first device is a master node and the second device is a slave node, the first symbol may be carried within the first radio frame, on the resources used to transmit the G link symbol and / or the SG symbol, the second symbol may be carried within the first radio frame, on the resources used to transmit the T link symbol and / or the ST symbol, and the third symbol may be carried within the second radio frame, on the resources used to transmit the T link symbol and / or the ST symbol.

[0078] Optionally, the first symbol is carried on the first radio frame, the second symbol and the third symbol are carried on the second radio frame, and the radio frame of the second symbol is located before the first radio frame.

[0079] For example, when the second device is a master node and the first device is a slave node, the first symbol may be carried within the first radio frame, on the resources used to transmit the G link symbol and / or the SG symbol, the second symbol may be carried within the second radio frame, on the resources used to transmit the T link symbol and / or the ST symbol, and the third symbol may be carried within the second radio frame, on the resources used to transmit the G link symbol and / or the SG symbol.

[0080] In some possible implementations, the resources within the same radio frame may carry ranging symbols sent by the same device to a plurality of other devices in order to measure the distances between the same device and each of the plurality of other devices.

[0081] In other words, the wireless frame further includes ranging symbols used to measure the distance between the first device and the third device, or includes ranging symbols used to measure the distance between the second device and the third device.

[0082] For example, when the first symbol is within the wireless frame and is carried on the first resource used to transmit the T-link symbol, the third resource that is within the wireless frame, used to transmit the T-link symbol, and carries the first symbol may carry a fourth symbol transmitted by the fourth device to the second device, and the fourth symbol is used to determine the distance between the fourth device and the second device.

[0083] In another example, when the second symbol is within the wireless frame and is carried on the second resource used to transmit the T-link symbol, the fourth resource that is within the wireless frame, used to transmit the G-link symbol, and carries the second symbol carries a fourth symbol transmitted by the fourth device to the first device, and the fourth symbol is used to determine the distance between the fourth device and the first device.

[0084] According to a second aspect, the present application provides a measuring device. The device may include modules configured to implement the method in any implementation of the first aspect. Each module may be implemented using software and / or hardware.

[0085] In some possible implementations, the device may include a transmission module, a reception module, and a processing module. The transmission module may be configured to perform steps related to the transmission operation in the first aspect, the reception module may be configured to perform steps related to the reception operation in the first aspect, and the processing module may be configured to perform steps related to operations such as acquisition and determination in the first aspect.

[0086] In some possible implementations, the apparatus may include a processor and a memory. The memory is configured to store computer-executable program code, and the program code includes instructions that, when executed by the processor, enable the apparatus to execute the method in the first aspect.

[0087] In this implementation, the apparatus may be a device or a chip used in a device.

[0088] According to a third aspect, the present application provides a computer program product including instructions. When the computer program product is executed on a computer, the computer is enabled to execute the method in the first aspect.

[0089] According to a fourth aspect, the present application provides a computer-readable storage medium. The computer-readable storage medium stores instructions that, when executed on an electronic device or a computer, enable the electronic device or the computer to execute the method in the first aspect.

[0090] According to a fifth aspect, the present application provides a communication system. This communication system includes a communication device in the second aspect.

[0091] For the beneficial effects of the possible implementations from the second aspect to the fifth aspect, refer to the beneficial effects brought about by the first aspect. Details are not described again in this specification.

Brief Description of Drawings

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DETAILED DESCRIPTION OF THE INVENTION

[0093] FIG. 1 is a diagram of the configuration of a ranging system according to an embodiment of the present application. The ranging system may include device 101 and device 102.

[0094] Device 101 and device 102 may communicate with each other by using a communication link. In some communication scenarios, device 101, device 102, and the communication link between device 101 and device 102 may be collectively referred to as a communication domain.

[0095] It can be understood that FIG. 1 shows only one communication domain. However, the number of communication domains is not limited in the ranging system of the present application, and the system in the present application may include one or more communication domains.

[0096] In addition, although FIG. 1 shows only an example in which one communication domain includes two devices, the number of devices in a communication domain is not limited in the present application.

[0097] Each communication domain may include one master node and at least one slave node. The master node is also called a management node and is abbreviated as a G node (Grant Node [approval node]). It manages the time-frequency resources of the communication domain, allocates them to slave nodes, and schedules the time-frequency resources for communication or measurement between nodes in the communication domain. The slave node is also called a terminal node and is abbreviated as a T node (Terminal Node [terminal node]).

[0098] In one example, device 101 may be a management node in the SparkLink Basic (SLB) standard / SparkLink Low Energy (SLE) standard, and device 102 may be a terminal node in SLB / SLE. Device 101 is a G node, and device 102 is a T node.

[0099] In another example, device 101 may be a master device in the Bluetooth (registered trademark) Low Energy (BLE) standard, and device 102 may be a slave device in the Bluetooth (registered trademark) Low Energy (BLE) standard. Device 101 is a G node, and device 102 is a T node.

[0100] In yet another example, device 101 may be an access point (AP) in the Wi-Fi standard, and device 102 may be a station (STA) in the Wi-Fi standard. Device 101 is a G node, and device 102 is a T node.

[0101] The system shown in FIG. 1 may be used in a plurality of scenarios. For example, it may be used in an in-vehicle wireless positioning scenario, an indoor positioning scenario, an indoor navigation scenario, or an indoor ranging scenario, or alternatively, in another wide-area wireless communication scenario or local-area wireless communication scenario.

[0102] An example where the system shown in FIG. 1 includes a plurality of slave nodes and is used in an in-vehicle positioning scenario will be used below for explanation with reference to FIG. 2.

[0103] As shown in FIG. 2, in the in-vehicle positioning scenario, in order to position the vehicle key used as the positioning target node, positioning anchors may be respectively deployed at the four corners [corners] of the vehicle, and the positioning anchors may be deployed at the center console, rearview mirror, and ceiling (i.e., the upper part inside the vehicle) of the vehicle. The vehicle key may include a vehicle key having a conventional positioning function, or may include a mobile phone, a wearable device, etc. that can be used to unlock the vehicle or function as a vehicle key. The positioning anchor may also be called a positioning node, a positioning base station, or a positioning beacon, and may be abbreviated as an anchor. The positioning target node may also be called a positioning tag or a measured node, and may be abbreviated as a tag.

[0104] It can be understood that the fact that the positioning anchors are deployed at the corners, center control console, rearview mirror, or ceiling of the vehicle is merely an example. In-vehicle wireless devices such as a display screen, microphone, speaker, camera, and T-BOX inside the vehicle, or a camera for a 360-degree all-round application outside the vehicle may be reused as positioning anchors.

[0105] In the scenario shown in FIG. 2, any node may function as node G. For example, node G may be a vehicle key, and all the anchors inside the vehicle are T nodes. In another example, node G is any anchor inside the vehicle, and all the other anchors and the vehicle key are T nodes.

[0106] In the scenario shown in FIG. 2, the distance between each of the plurality of anchors and the positioning target node (i.e., the vehicle key) may be measured, and the positioning target node (vehicle key) is positioned based on the measured distance.

[0107] For a method of positioning a node to be positioned based on the measured distance, refer to distance-based positioning methods in the existing communication field, such as the Trilateration method or the Multilateration method. Details will not be described again in this specification. Hereinafter, a method for measuring the distance / angle (e.g., angle of arrival) between an anchor and a node to be positioned will be described. In the distance measurement method of the present application, both the anchor and the node to be positioned are called devices.

[0108] FIG. 3 is a schematic flowchart of a measurement method according to an embodiment of the present application. FIG. 3 is merely an example, and it can be understood that the measurement method in the present application may include more or the same steps.

[0109] The first device may be device 101 in FIG. 1, the second device may be device 102 in FIG. 1, or the first device may be any anchor in FIG. 2, and the second device may be the node to be positioned in FIG. 2.

[0110] S310: The first device transmits a first symbol. Correspondingly, the second device receives the first symbol.

[0111] In this embodiment, in one example, the wireless frame carrying the first symbol is a wireless frame in the SparkLink wireless communication technology.

[0112] The basic version of the SparkLink wireless communication standard (SLB) includes the transmission frame structure of superframes and wireless frames. The period of a superframe is 1 millisecond (ms), and each superframe includes 48 wireless frames. The length of each wireless frame may be 20.833 microseconds. One wireless frame may include a downlink data symbol, an uplink data symbol, a system overhead symbol (system overhead G symbol or system overhead T symbol), and an uplink / downlink switching interval. The downlink data symbol is also called a G link symbol, abbreviated as a G symbol, and the G symbol is transmitted on the G link. The uplink data symbol is also called a T link symbol, abbreviated as a T symbol, and the T symbol is transmitted on the T link. The system overhead G symbol is also called an SG symbol, the system overhead T symbol is also called an ST symbol, and the uplink / downlink switching interval is also called a GAP [gap].

[0113] In one example, the downlink data symbol and / or the uplink data symbol of a wireless frame may be orthogonal frequency-division multiplexing (OFDM) symbols.

[0114] A diagram of the structure of a superframe and a radio frame is shown in FIG. 4. In the frame structure shown in FIG. 4, one superframe includes 48 radio frames. The radio frames are numbered from 0. One radio frame includes four G symbol resources, one SG symbol resource or one ST symbol resource, three T symbol resources, and two GAPs. The G symbol resources are used for a device used as a management node to transmit data symbols, and the data symbols may be called G symbols. The SG symbol resources are used for a device used as a management node to transmit system overhead symbols, and the system overhead symbols are called SG symbols. The ST symbol resources are used for a device used as a slave node to transmit system overhead symbols, and the system overhead symbols are called ST symbols. The T symbol resources are used for a device used as a slave node to transmit data symbols, and the data symbols are called T symbols. The GAPs are used for switching between transmission and reception of a device.

[0115] In FIG. 4, for example, frame 0 and frame 1 of the radio frames include SG symbol resources, and frame 46 and frame 47 of the radio frames include ST symbol resources.

[0116] It can be understood that the structure shown in FIG. 4 is merely an example. The number of radio frames included in one superframe, as well as the number of G symbol resources, SG symbol resources, ST symbol resources, T symbol resources, and GAPs included in one radio frame, may not be limited to these.

[0117] In an example of this embodiment, the radio frame that carries the first symbol can be any radio frame within the superframe shown in FIG. 4.

[0118] In this embodiment, the symbol used to carry the ranging signal is called a ranging symbol, and the resource that carries the ranging symbol is called a ranging symbol resource. The ranging symbol is also called a measurement symbol and is used for ranging and / or angle measurement. In this embodiment, the ranging symbol transmitted by the first device is called the first ranging symbol and may be abbreviated as the first symbol.

[0119] In the SparkLink wireless communication technology, an OFDM signal with a physical bandwidth of about 20 megahertz (MHz) is called a carrier, and the operating bandwidth is one or more carriers. For example, the operating bandwidth after carrier aggregation is 20 MHz, 40 MHz, 80 MHz, 160 MHz, 200 MHz, or 320 MHz.

[0120] S320: The second device transmits the second symbol, and the first symbol and the second symbol are carried on the same wireless frame or on different wireless frames. Correspondingly, the first device receives the second symbol.

[0121] The wireless frame that carries the second symbol may be a wireless frame in the SparkLink wireless communication technology. In one example, the wireless frame that carries the second symbol can be any wireless frame within the superframe shown in FIG. 4.

[0122] In this embodiment, the ranging symbol transmitted by the second device is called the second ranging symbol and may be abbreviated as the second symbol.

[0123] FIG. 5 is a diagram of the transmission of ranging symbols according to an embodiment of the present application. In the wireless frame shown in FIG. 5, the first symbol and the second symbol are carried on the same wireless frame, that is, carried on wireless frame #1. The first symbol is within wireless frame #1 and is carried on all or some of the resources used to transmit the G-link symbol, and the second symbol is within wireless frame #1 and is carried on all or some of the resources used to transmit the T-link symbol.

[0124] FIG. 6 is a diagram of the transmission of ranging symbols according to another embodiment of the present application. In the wireless frame shown in FIG. 6, the first symbol and the second symbol are carried on the same wireless frame.

[0125] For example, the first symbol is within wireless frame #1 and is carried on all or some of the resources used to transmit the G-link symbol and the resources used to transmit the SG symbol, and the second symbol is within wireless frame #1 and is carried on all or some of the resources used to transmit the T-link symbol.

[0126] In another example, the first symbol is within wireless frame #46 and is carried on all or some of the resources used to transmit the G-link symbol, and the second symbol is within wireless frame #46 and is carried on all or some of the resources used to transmit the T-link symbol and the resources used to transmit the ST symbol.

[0127] In this embodiment of the present application, when the first symbol and the second symbol are carried on the same radio frame, the measurement can be completed within a single radio frame. In the fastest case, the ranging / angle measurement may be completed once within the duration (20.83 μs) of one radio frame, and the measurement latency is extremely low. In this application, the frame structure of one radio frame including both the G symbol and the T symbol is fully utilized, thereby providing extremely low latency performance or providing more measurement results within a specific measurement time, thereby providing more sampling data for subsequent post-processing of positioning such as extended Kalman filtering.

[0128] FIG. 7 is a diagram of the transmission of a ranging symbol according to another embodiment of the present application. In an example shown in FIG. 7, the first symbol is carried on radio frame #K + 1, the second symbol is carried on radio frame #K, and K is an integer less than 48. The first symbol is within radio frame #K + 1 and is carried on all or some of the resources used to transmit the G link symbol and / or the SG symbol, and the second symbol is within radio frame #K and is carried on all or some of the resources used to transmit the T link symbol. Radio frame #K and radio frame #K + 1 are examples, and the radio frames carrying the first symbol and the second symbol may be continuous or discontinuous.

[0129] FIGS. 4 to 7 are the frame structures of the superframe, and the horizontal axis of FIGS. 4 to 7 is time.

[0130] When the first symbol and the second symbol are carried on the same radio frame, in some implementations, ranging can be performed based on the number of devices by using radio frames having different ratios of G symbol resources and T symbol resources (i.e., different radio frame structures).

[0131] S330: The first device determines a first time difference. The first time difference is the time interval between the first time when the first device transmits the first symbol and the second time when the first device receives the second symbol, and the first time difference is used to determine the distance between the first device and the second device.

[0132] For example, the first device obtains the time when the first symbol is transmitted, represents that time as the first time, obtains the time when the second symbol is received, represents that time as the second time, and calculates the difference between the first time t1 and the second time t2 to obtain the first time difference. The first time difference should be a positive number, that is, the first time difference is t2 - t1, and the second time is after the first time.

[0133] S340: The second device obtains the first time information. The first time information is used to determine a second time difference, and the second time difference is the time interval between the third time when the second device receives the first symbol and the fourth time when the second device transmits the second symbol.

[0134] In one example, the second device obtains the time when the first symbol is received, represents that time as the third time, obtains the time when the second symbol is transmitted, and represents that time as the fourth time.

[0135] In this embodiment, the sequence between S310 and S320 is not limited, and the sequence between S330 and S340 is also not limited.

[0136] S350: The second device transmits the first time information to the first device. Correspondingly, the first device receives the first time information from the second device.

[0137] In one example, the second device calculates the difference between a third time t3 and a fourth time t4 to obtain a second time difference. After obtaining the second time difference, the second device sends the first time information to the first device, and the first time information includes the second time difference. The second time difference should also be a positive number, that is, the second time difference is t4 - t3, and the fourth time is after the third time.

[0138] In another example, the second device sends the first time information to the first device, and the first time information includes the indication information of the third time point and the fourth time point. Thereby, the first device determines the third time point and the fourth time point based on the first time information, and determines the second time difference based on the third time point and the fourth time point.

[0139] S360: The first device determines the distance between the first device and the second device based on the first time difference and the second time difference.

[0140] For example, the first device determines the second time difference based on the first time information, and determines the distance between the first device and the second device based on the first time difference and the second time difference.

[0141] An exemplary diagram of the time relationship among the first time point, the second time point, the third time point, and the fourth time point is shown in FIG. 8. From FIG. 8, it can be seen that in one example, the first device can determine the distance between the first device and the second device based on the following relational expression.

Equation

[0142] When t2 > t1 and t4 > t3, the above formula is

Equation

[0143] In the ranging exchange shown in FIGS. 5 to 8, the first symbol and the second symbol respectively correspond to the first message and the second message. Therefore, the ranging exchange can also be called a two-way two-message mode.

[0144] In this embodiment of the present application, in some implementations, the first time point is the time when the first symbol leaves the antenna connector of the first device, the second time point is the time when the second symbol arrives at the antenna connector of the first device, the third time point is the time when the first symbol arrives at the antenna connector of the second device, and the fourth time point is the time when the second symbol leaves the antenna connector of the second device. This time may be collectively referred to as the antenna connector time.

[0145] In this implementation aspect, when the transmission time t1' of the first symbol recorded by the first device and the reception time t2' of the second symbol are the baseband times determined by the first device based on the baseband transmission time, the first device can estimate the first time difference based on t1', t2' and T cali,G . T cali,G represents the calibration time parameter of the first device, and can be the sum of the delay caused by the radio frequency (RF) transmission channel and RF reception channel of the first device and the baseband processing delay when the first device receives the second symbol. In one example, t round1 =t2 - t1 = t1' - t2' - T cali,G . Here, t round1 represents the first time difference.

[0146] Similarly, when the time difference between the reception time t3' of the first symbol recorded by the second device and the transmission time t4' of the second symbol is the baseband time determined by the second device based on the baseband transmission time, the second device can estimate the second time difference based on t3', t4', t cali,T T. T cali,T represents the calibration time parameter of the second device and can be the sum of the delay caused by the radio frequency (RF) transmission channel and RF reception channel of the second device and the baseband processing delay when the second device receives the first symbol. In one example, t reply1 =t4 - t3 = t4' - t3' - T cali,T where t reply1 represents the second time difference.

[0147] T cali,G can be determined by the first device by measuring the sum of the delays of the RF transmission channel and RF reception channel. T cali,T can be determined by the second device by measuring the sum of the delays of the RF transmission channel and RF reception channel. The operation of measuring the sum of the delays of the RF transmission channel and RF reception channel by the device is sometimes called loopback measurement.

[0148] T cali,G and T cali,T are both sometimes called T cali and T cali may be called the delay calibration parameter. A diagram of the structure among the baseband processor, RF transmission channel, RF reception channel, and antenna receiver is shown in FIG. 9. As shown in FIG. 9, the device may calculate T cali =T cali,TX +T cali,RX according to the formula. Here, T cali represents the delay of the RF transmission channel, and T cali,TX represents the delay of the RF reception channel. In this embodiment of the present application, the baseband processing delay of the device is also T cali,RX cali ​may also be included.

[0149] In some implementations of this embodiment of the present application, when a wireless frame carries M first symbols and the wireless frame carries N second symbols, the first time point may be the time when the first device transmits the start point of the S-th first symbol, the second time point may be the time when the first device receives the start point of the S-th second symbol, the third time point is the time when the second device receives the start point of the S-th first symbol, the fourth time point is the time when the second device transmits the start point of the S-th second symbol, M and N are positive integers, S is a positive integer, and S is less than or equal to the smaller value of M and N. In one example, S is 1.

[0150] For example, the first time point may be the time when the antenna connector of the first device transmits the start point of the first first symbol, the second time point is the time when the antenna connector of the first device receives the start point of the first second symbol, the third time point is the time when the antenna connector of the second device receives the start point of the first first symbol, and the fourth time point is the time when the antenna connector of the second device transmits the start point of the first second symbol.

[0151] When the first symbol includes a cyclic prefix CP, the first time point may be the time when the start point of the CP of the first first symbol arrives at the antenna connector of the first device, and the third time point is the time when the start point of the CP of the first first symbol arrives at the antenna connector of the second device.

[0152] When the second symbol includes a CP, the second time point may be the time when the start point of the CP of the first second symbol arrives at the antenna connector of the first device, and the fourth time point is the time when the start point of the CP of the first second symbol arrives at the antenna connector of the second device.

[0153] In some implementations of this embodiment of the present application, optionally, the ranging symbol can be generated based on a ZC (Zadoff-Chu) sequence. In the case of multipath, in the ZC sequence, since a simple and reliable time-domain correlation detection algorithm can still be used, in this implementation, the time-domain autocorrelation of the ranging symbol in a multipath environment can be guaranteed, thereby guaranteeing the detection performance of the first path (line of sight).

[0154] In one example, the manner of generating the ZC sequence used to generate the ranging symbol is as follows.

Equation

[0155] An exemplary method of determining u is as follows. Within a specific time range, a positive integer is randomly selected as the value of u in the closed interval [a, b], thereby generating a ZC sequence for RTT ranging exchange according to the aforementioned formula. In the ranging negotiation phase, nodes G and T exchange messages to determine the value of u in advance. Therefore, in the RTT ranging process, u is a preset value known to both nodes G and T.

[0156] To enhance the security of RTT ranging exchange, the value of u may be adjusted based on the time period T, that is, a positive integer value is randomly reselected as the new value of u within [a, b] at intervals of T, so that another device cannot continuously listen to a ZC sequence with random changes. In addition, a random ZC sequence can be obtained by randomly selecting the value of u, and different ZC sequences can also avoid generating significant measurement signal interference between the ZC sequence and neighboring devices.

[0157] Since the value of u is different from the value of u associated with the symbol of the first training signal (FTS) or the second training signal (STS), positioning reference signals different from the first training signal and the second training signal can be obtained, and the use of the same waveform for FTS and STS can be avoided.

[0158] The ranging symbol carrying the aforementioned ZC sequence may be referred to as a Positioning Reference Signal (PRS). In addition to the PRS carrying the ZC sequence, the existing Channel State Information Reference Signal (CSI-RS) or Sounding Reference Signal (SRS) in the SLB can also be used as a ranging symbol.

[0159] In some implementations of this embodiment of the present application, the unit of each measurement time can be picoseconds (ps). For example, the units of the first time point, the second time point, the third time point, and the fourth time point may be ps. Similarly, the units of the first time difference and the second time difference may be ps.

[0160] In one example, the first device can send the first configuration information to the second device. The first configuration information can include one or more of the following information, namely, the number of measurements, the identifier of the first radio frame in each measurement, the time-frequency resource of the first symbol in each measurement, the identifier of the second radio frame in each measurement, and the time-frequency resource of the second symbol in each measurement. An exemplary format of the first configuration information is shown in the following table.

[0161]

Table 1

[0162] FIG. 10 is a diagram of the transmission of ranging symbols according to yet another embodiment of the present application. In the wireless frame shown in FIG. 10, different T-symbol resources can be used to measure the distances for different devices. Specifically, the T1-symbol resource, the T2-symbol resource, and the T3-symbol resource are used by Device 1, Device 2, and Device 3, respectively, to transmit the second symbol.

[0163] It can be understood that the use of the T-symbol resources in FIG. 10 by three devices to separately transmit their respective T-ranging symbols is merely an example. In this embodiment, the number 3 of devices does not constitute a limitation on the number of ranging devices associated with the T-symbol resources. For example, the T-symbol resources in the same wireless frame may be used by W devices to send their respective T-ranging symbols, where W is a positive integer greater than 1.

[0164] In other words, the T-symbol resources within one wireless frame can be used not only to measure the distance between one G-node and one T-node, but also to measure the distances between each of a plurality of T-nodes and the G-node, that is, for multi-user distance measurement or multi-device distance measurement.

[0165] In multi-user distance measurement, the first device used as the G-node can group a plurality of T-nodes into one group of nodes and transmit group configuration information to the group of T-nodes. The group configuration information can include the time-frequency resources used by the G-node to transmit a G-ranging symbol (e.g., the first symbol) and the T-symbol resources used by each T-node within the said group of nodes to transmit a T-ranging symbol (e.g., the second symbol). After receiving the group configuration information, each T-node can obtain the relevant time difference based on the resources indicated by the group configuration information to measure the distance between the T-node and the G-node.

[0166] In this embodiment of the present application, the time information used to determine the time difference is collectively referred to as time feedback information. For example, the first time information is time feedback information.

[0167] In this embodiment of the present application, when the time feedback information transmitted by the device directly includes the time difference, in some implementations, the second device can transmit the time difference in the format shown in the following table.

[0168] [Table 2]

[0169] FIG. 11 is a schematic flowchart of a ranging method according to another embodiment of the present application. The method may include S310, S320, S330, S340, S325, S350, S341, S342, S351, and S370. It can be understood that the execution sequence in the implementation shown in FIG. 11 is merely an example and is not limited in this embodiment of the present application.

[0170] S325: The first device transmits a third symbol.

[0171] In this embodiment, the third symbol may also be called a ranging symbol.

[0172] In some implementations of this embodiment, the first symbol and the second symbol are carried on the first radio frame, the third symbol is carried on the second radio frame, and the second radio frame is located after the first radio frame.

[0173] S341: The first device determines a third time difference, where the third time difference is the time interval between the second time when the first device receives the second symbol and the fifth time when the first device transmits the third symbol.

[0174] In one example, the first time point is before the fourth time point, and the fourth time point is before the fifth time point.

[0175] S342: The second device acquires second time information, and the second time information is used to determine a fourth time difference, where the fourth time difference is the time interval between a third time point at which the second device transmits a second symbol and a sixth time point at which the second device receives a third symbol.

[0176] S351: The second device transmits the second time information. Correspondingly, the first device receives the second time information.

[0177] S370: The first device and the second device determine the distance between the first device and the second device based on the first time difference, the second time difference, the third time difference, and the fourth time difference.

[0178] FIG. 12 is a diagram of the transmission of ranging symbols according to an embodiment of the present application. As shown in FIG. 12, the G symbol resource and the T symbol resource in the wireless frame #K, as well as the G symbol resource in the wireless frame #K + 1, carry ranging symbols.

[0179] In one example, the G symbol resource in the wireless frame #K carries a first symbol, the T symbol resource in the wireless frame #K carries a second symbol, and the G symbol resource in the wireless frame #K + 1 carries a third symbol. A diagram of the interactive transmission of the first symbol, the second symbol, and the third symbol in this example is shown in FIG. 13.

[0180] FIG. 14 is a schematic flowchart of a ranging method according to another embodiment of the present application. The method may include S305, S310, S320, S321, S322, S330, S340, S350, S351, and S370. It can be understood that the execution sequence in the implementation shown in FIG. 14 is merely an example and is not limited in this embodiment of the present application.

[0181] S305: The second device transmits a third symbol.

[0182] In this embodiment, the third symbol may be referred to as a ranging symbol.

[0183] S321: The first device determines a third time difference, where the third time difference is the time interval between the sixth time point when the first device receives the third symbol and the first time point when the first device transmits the first symbol.

[0184] S322: The second device acquires second time information, where the second time information is used to determine a fourth time difference, and the fourth time difference is the time interval between the fifth time point when the second device transmits the third symbol and the third time point when the second device receives the first symbol.

[0185] In one example, the first time point is before the fourth time point, and the fifth time point is before the first time point.

[0186] In some implementations of this embodiment, the first symbol and the second symbol are carried on a first radio frame, the third symbol is carried on a second radio frame, and the second radio frame is located before the first radio frame.

[0187] FIG. 15 is a diagram of the transmission of a ranging symbol according to an embodiment of the present application. As shown in FIG. 15, the T symbol resource in radio frame #K and the G symbol resource and T symbol resource in radio frame #K + 1 carry the ranging symbol.

[0188] In one example, the T symbol resource in wireless frame #K carries the third symbol, the G symbol resource in wireless frame #K+1 carries the first symbol, and the T symbol resource in wireless frame #K+1 carries the second symbol. A diagram of the interactive transmission of the first symbol, the second symbol, and the third symbol in this example is shown in FIG. 16, and the interactive transmission constitutes a measurement exchange of two-way ranging 3 messages.

[0189] In the method shown in FIG. 11 or FIG. 14, when the first device or the second device determines the distance between the first device and the second device based on the first time difference, the second time difference, the third time difference, and the fourth time difference, in one example, the first device uses the relational expression

Number

[0190] In the method shown in FIG. 11 or FIG. 14, since the two ranging devices separately transmit the first symbol, the second symbol, and the third symbol (corresponding to the first message, the second message, and the third message respectively), this mode is sometimes called the two-way ranging 3-message mode. The time-of-flight measurement error of the two-way 3-message is

Number

[0191] In the method shown in FIG. 11 or FIG. 14, the first device may send configuration information to the second device. In one example, the configuration information may include one or more of the following information, namely, the number of measurements, the identifier of the first radio frame in each measurement, the time-frequency resource of the first symbol in each measurement, the identifier of the second radio frame in each measurement, the time-frequency resource of the second symbol in each measurement, the identifier of the third radio frame in each measurement, and the time-frequency resource of the third symbol in each measurement. An exemplary format of the resource configuration information is shown in the following table.

[0192] [Table 3] TIFF2025524034000012.tif220170

[0193] In the method shown in FIG. 11 or FIG. 14, for the implementation in which the second device sends each time information, refer to the transmission mode feedback in the content referred to by the time information.

[0194] Regarding the resource scheduling of two-way two-message and two-way three-message based on the dynamic scheduling data control information of SLB, some examples of scheduling signaling may be as follows for different cases of multiple antennas and single antenna.

[0195] 1. For the ranging mode of a two-way two-message with multiple antenna ports, Node G executes resource indication by reusing a total of 69-bit dynamic scheduling data control information. An exemplary definition of the information regarding those bits is as follows.

[0196] 1 bit: Superframe cross-scheduling indication. Value 0 indicates that the control information and the resources scheduled based on the control information are located in the same superframe, and value 1 indicates that the resources scheduled based on the control information are located in a superframe after the superframe in which the control information is located.

[0197] 2 bits: Extended resource configuration indication. Value 00 indicates that the indication information of the subsequent field is used.

[0198] 2 bits: Reserved bits.

[0199] 1 bit: Indication information for receiving and transmitting ranging signals of G-link resources. Value 0 indicates transmitting the signal, and value 1 indicates receiving the signal.

[0200] 3 bits: Indication information for the starting radio frame of G-link resources. In the scheduled superframe, the frame number of the starting radio frame is #(3-bit value × 6).

[0201] 4 bits: The number N of antenna ports of G-link resources G,ss,rang . Value 0 indicates not executing the resource configuration 3 bits: The number N of iterations of antenna port ranging for G-link resources G,ss,rang,rep . If the field value is v, then N G,ss,rang,rep = 2^v, where ^ represents the power operation.

[0202] 5 bits: The number of beams for beam improvement ranging of G-link resources. If the field value is v, the amount of beams is 2v, and value 0 indicates not executing the resource configuration. 3 bits: Number of iterations N for beam improvement ranging of several G link resources G,bf,rang,rep If the field value is v, then N G,bf,rang,rep = 2^v, where ^ represents the power operation.

[0203] 1 bit: Interval switching indication information for beam improvement ranging of G link resources. Value 0 indicates that there is no need to switch the interval symbol, and value 1 indicates that there is a need to switch the interval symbol.

[0204] 2 bits: Ranging type indication information for T link resources. Value 00 indicates antenna port ranging, value 01 indicates beamforming improvement ranging, value 11 indicates both antenna port ranging and beamforming improvement ranging, and value 11 indicates that the resource is not configured.

[0205] 1 bit: Transmission and reception indication information for the ranging signal of T link resources. Value 0 indicates transmitting the signal, and value 1 indicates receiving the signal.

[0206] 3 bits: Indication information for the start radio frame of T link resources. In the scheduled superframe, the frame number of the start radio frame is #(3 - bit value × 6).

[0207] 4 bits: Number of antenna ports N of T link resources T,ss,rang Value 0 indicates not to perform resource configuration 3 bits: Number of iterations N for antenna port ranging of T link resources T,ss,rang,rep If the value is v, then N T,ss,rang,rep = 2^v, where ^ represents the power operation.

[0208] 5 bits: Number of beams for beam improvement ranging of T link resources. If the field value is v, the number of beams is 2v, and value 0 indicates not to perform resource configuration. 3 bits: Number of iterations N for beam improvement ranging of T link resources T,bf,rang,rep If the field value is v, then N T,bf,rang,rep = 2^v, where ^ represents the power operation.

[0209] 1 bit: Beam improvement ranging interval switching instruction information for T-link resources. A value of 0 indicates that there is no need to switch the interval symbol, and a value of 1 indicates that the interval symbol needs to be switched.

[0210] 24 bits: According to the processing method in Section 6.10.1 of this standard, the polynomial g_CRC24B(D) is generated by using cyclic redundancy check to calculate the cyclic redundancy check sequence, and a 24-bit multi-antenna ranging control information identifier mask is added. The 24-bit multi-antenna ranging control information identifier mask is configured by the upper layer.

[0211] 2. For the ranging mode of two-way 3 messages with a single antenna port, Node G executes resource indication by reusing a total of 69 bits of dynamic scheduling data control information. The antenna port is defined based on the following characteristics. The transmission channel of one symbol on the antenna port may be estimated from the transmission channel of another symbol on the same antenna port; the antenna port for transmitting broadcast information and G-link control information is the same as the antenna port for transmitting the synchronization signal; the antenna ports for transmitting synchronization signals at different times are the same. Information about the bits within the 69-bit dynamic scheduling data control information of two-way 3 messages with a single antenna port is defined as follows.

[0212] 1 bit: Superframe cross-scheduling instruction. A value of 0 indicates that the control information and the resources scheduled based on the control information are located in the same superframe, and a value of 1 indicates that the resources scheduled based on the control information are located in a superframe after the superframe in which the control information is located.

[0213] 2 bits: Extended resource configuration indicator. The value 01 indicates that the indication information in the subsequent field is used.

[0214] 2 bits: Reserved bit.

[0215] 1 bit: Transmission and reception indication for three message resources. The value 0 indicates transmission - reception - transmission, and the value 1 indicates reception - transmission - reception.

[0216] 1 bit: Indication information for the G / T link of the first message resource. The value 0 indicates the G link resource, and the value 1 indicates the T link resource.

[0217] 3 bits: Indication information for the starting radio frame of the first message (i.e., the first ranging symbol) resource. In a scheduled superframe, the frame number of the starting radio frame is #(3 - bit value × 6).

[0218] 5 bits: Number of single - port beams of the first message resource. If the field value is v, the number of beams is 2v, and the value 0 indicates not to execute the resource configuration. 3 bits: Number of repetitions N of the single - port beam of the first message resource G,bf,rang,rep . If the field value is v, then N G,bf,rang,rep = 2^v, where ^ represents the power operation.

[0219] 1 bit: Indication information for the interval switching of the first message. The value 0 indicates that there is no need to switch the interval symbol, and the value 1 indicates that there is a need to switch the interval symbol.

[0220] 1 bit: Indication information for the G / T link of the second message (i.e., the second ranging symbol) resource. The value 0 indicates the G link resource, and the value 1 indicates the T link resource.

[0221] 3 bits: Indication information for the starting radio frame of the second message resource. In a scheduled superframe, the frame number of the starting radio frame is #(3 - bit value × 6).

[0222] 5 bits: The number of single-port beams of the second message resource. If the field value is v, the number of beams is 2v, and a value of 0 indicates not to execute the resource configuration. 3 bits: The number of repetitions N of the single-port beam of the second message resource G,bf,rang,rep . If the field value is v, N G,bf,rang,rep = 2^v, where ^ represents the power operation.

[0223] 1 bit: Interval switching instruction information for the second message. A value of 0 indicates that there is no need to switch the interval symbol, and a value of 1 indicates that the interval symbol needs to be switched.

[0224] 1 bit: G / T link instruction information for the third message (i.e., the third ranging symbol) resource. A value of 0 indicates a G link resource, and a value of 1 indicates a T link resource.

[0225] 3 bits: Instruction information for the start radio frame of the third message resource. In the scheduled superframe, the frame number of the start radio frame is #(3-bit value × 6).

[0226] 5 bits: The number of single-port beams of the third message resource. If the field value is v, the number of beams is 2v, and a value of 0 indicates not to execute the resource configuration. 3 bits: The number of repetitions N of the single-port beam of the third message resource G,bf,rang,rep . If the field value is v, N G,bf,rang,rep = 2^v, where ^ represents the power operation.

[0227] 1 bit: Interval switching instruction information for the third message. A value of 0 indicates that there is no need to switch the interval symbol, and a value of 1 indicates that the interval symbol needs to be switched.

[0228] 24 bits: According to the processing method in Section 6.10.1 of this standard, the polynomial g_CRC24B(D) is generated by using cyclic redundancy check to calculate the cyclic redundancy check sequence, and a 24-bit multi-antenna ranging control information identifier mask is added. The 24-bit multi-antenna ranging control information identifier mask is configured by the upper layer.

[0229] 3. For the ranging mode of two-way 3 messages with multiple antenna ports, Node G executes resource indication by reusing a total of 69 bits of dynamic scheduling data control information. The information regarding the bits is defined as follows.

[0230] 1 bit: Superframe cross-scheduling indication. A value of 0 indicates that the control information and the resources scheduled based on the control information are located in the same superframe, and a value of 1 indicates that the resources scheduled based on the control information are located in a superframe after the superframe in which the control information is located.

[0231] 2 bits: Extended resource configuration indication. A value of 10 indicates that the indication information of the subsequent field is used.

[0232] 2 bits: Reserved bits.

[0233] 1 bit: Transmission and reception indication of three message resources. A value of 0 indicates transmit-receive-transmit, and a value of 1 indicates receive-transmit-receive.

[0234] 1 bit: Reserved bit.

[0235] 1 bit: Indication information of the G / T link of the first message resource, where a value of 0 indicates a G link resource and a value of 1 indicates a T link resource.

[0236] 3 bits: Indication information of the start radio frame of the first message resource. In a scheduled superframe, the frame number of the start radio frame is #(3-bit value × 6).

[0237] 4 bits: Number N of antenna ports of the first message resource G,ss,rang The value 0 indicates not to execute the resource configuration. 2 bits: Number N of iterations of antenna port ranging of the first message resource G,ss,rang,rep If the field value is v, then N G,ss,rang,rep = 2^(v + 1), where ^ represents the power operation.

[0238] 4 bits: Number of beams for beam improvement ranging of the first message resource. If the field value is v, the number of beams is 4v, and the value 0 indicates not to execute the resource configuration. 2 bits: Number N of iterations of the beam for beam improvement ranging of the first message resource G,bf,rang,rep If the field value is v, then N G,bf,rang,rep = 2^(v + 1), where ^ represents the power operation.

[0239] 1 bit: Indication information for interval switching of the first message. The value 0 indicates that there is no need to switch the interval symbol, and the value 1 indicates that there is a need to switch the interval symbol.

[0240] 1 bit: Indication information of the G / T link of the second message resource, where the value 0 indicates the G link resource and the value 1 indicates the T link resource.

[0241] 3 bits: Indication information of the start radio frame of the second message resource. In a scheduled superframe, the frame number of the start radio frame is #(3-bit value × 6).

[0242] 4 bits: Number N of antenna ports of the second message resource G,ss,rang The value 0 indicates not to execute the resource configuration. 2 bits: Number of repetitions N of antenna port ranging for the second message resource G,ss,rang,rep If the field value is v, then N G,ss,rang,rep = 2^(v + 1), where ^ represents the power operation.

[0243] 4 bits: Number of beams for beam improvement ranging of the second message resource. If the field value is v, the number of beams is 4v, and the value 0 indicates not to perform resource configuration. 2 bits: Number of repetitions N of beam improvement ranging for the second message resource G,bf,rang,rep If the field value is v, then N G,bf,rang,rep = 2^(v + 1), where ^ represents the power operation.

[0244] 1 bit: Interval switching indication information for the second message. The value 0 indicates that there is no need to switch the interval symbol, and the value 1 indicates that there is a need to switch the interval symbol.

[0245] 1 bit: G / T link indication information for the third message resource. The value 0 indicates the G link resource, and the value 1 indicates the T link resource.

[0246] 3 bits: Indication information of the start radio frame for the third message resource. In the scheduled superframe, the frame number of the start radio frame is #(3 - bit value × 6).

[0247] 24 bits: According to the processing method in Section 6.10.1 of this standard, the polynomial g_CRC24B(D) is generated by using cyclic redundancy check to calculate the cyclic redundancy check sequence, and a 24 - bit multi - antenna ranging control information identifier mask is added. The 24 - bit multi - antenna ranging control information identifier mask is configured by the upper layer.

[0248] FIG. 17 is a diagram showing the configuration of a measuring device according to an embodiment of the present application. As shown in FIG. 17, the device 1700 includes a transceiver module 1701 and a processing module 1702.

[0249] In one example, the apparatus 1700 can be used in a first device. In this example, the apparatus 1700 can be configured to perform operations performed by the first device in any one of the foregoing methods. The transceiver module 1701 may be configured to perform receiving and transmitting operations, and the processing module 1702 may be configured to perform operations such as acquisition, determination, and configuration.

[0250] For example, the transceiver module 1701 may be configured to perform operations performed by the first device in S310, S320, and S350 in the embodiment shown in FIG. 3, and the processing module 1702 may be configured to perform S330 and S360 in the embodiment shown in FIG. 3.

[0251] As another example, the transceiver module 1701 may be configured to perform operations performed by the first device in S310, S320, S325, S350, and S351 in the embodiment shown in FIG. 11, and the processing module 1702 may be configured to perform S330, S341, and S370 in the embodiment shown in FIG. 11.

[0252] As another example, the transceiver module 1701 may be configured to perform operations performed by the first device in S310, S320, S305, S350, and S351 in the embodiment shown in FIG. 14, and the processing module 1702 may be configured to perform S330, S321, and S370 in the embodiment shown in FIG. 14.

[0253] In another example, the apparatus 1700 can be used in a second device. In this example, the apparatus 1700 can be configured to perform operations implemented by the second device in any one of the aforementioned methods. The transceiver module 1701 may be configured to perform reception and transmission operations, and the processing module 1702 may be configured to perform operations such as acquisition, determination, recording, and configuration.

[0254] For example, the transceiver module 1701 may be configured to perform operations implemented by the second device in S310, S320, and S350 in the embodiment shown in FIG. 3, and the processing module 1702 may be configured to perform S340 in the embodiment shown in FIG. 3.

[0255] As another example, the transceiver module 1701 may be configured to perform operations implemented by the second device in S310, S320, S325, S350, and S351 in the embodiment shown in FIG. 11, and the processing module 1702 may be configured to perform S340 and S342 in the embodiment shown in FIG. 11.

[0256] As another example, the transceiver module 1701 may be configured to perform operations implemented by the second device in S310, S320, S305, S350, and S351 in the embodiment shown in FIG. 14, and the processing module 1702 may be configured to perform S322 and S340 in the embodiment shown in FIG. 14.

[0257] FIG. 20 is a diagram showing the configuration of a measuring apparatus according to another embodiment of the present application. The apparatus 1800 shown in FIG. 20 may be configured to execute a method executed by a first device in any one of the aforementioned methods, or may be configured to execute a method executed by a second device in any one of the aforementioned methods.

[0258] As shown in FIG. 20, the apparatus 1800 in this embodiment includes a memory 1801, a processor 1802, a communication interface 1803, and a bus 1804. The memory 1801, the processor 1802, and the communication interface 1803 are communicatively connected to each other by using the bus 1804.

[0259] The memory 1801 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1801 may store a program. When the program stored in the memory 1801 is executed by the processor 1802, the processor 1802 is configured to execute the steps executed by the first device in any one of the foregoing methods, or the processor 1802 is configured to execute the steps executed by the second device in any one of the foregoing methods.

[0260] The processor 1802 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is configured to execute a related program.

[0261] Alternatively, the processor 1802 may be an integrated circuit chip and has signal processing capabilities. In the implementation process, the related steps in the embodiments of the present application may be completed by using the integrated logic circuit of the hardware in the processor 1802 or instructions in the form of software.

[0262] Processor 1802 may alternatively be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. The methods, steps, and logic block diagrams disclosed in embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor or the like.

[0263] The steps of the methods disclosed with reference to embodiments of the present application may be executed directly by a hardware decoding processor, or may be executed by using a combination of hardware modules and software modules in a decoding processor. The software module may be located in a mature 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 memory 1801. Processor 1802 reads the information in memory 1801 and, in combination with the hardware of processor 1802, completes the functions that need to be executed by the units included in the device of the present application.

[0264] Communication interface 1803 may use, but is not limited to, a transceiver-type transceiver device to implement communication between device 1800 and another device or communication network.

[0265] Bus 1804 may include a path for transmitting information between various components of device 1800 (such as memory 1801, processor 1802, and communication interface 1803).

[0266] It should be understood that the apparatus 1800 shown in this embodiment of the present application may be a communication device or a chip configured within a communication device.

[0267] Some embodiments of the present application further provide a computer program product, for example, a distance measurement application. When the computer program product is executed on a processor, the method implemented by the first device or the second device in any one of the foregoing embodiments may be implemented. Some embodiments of the present application further provide a computer-readable storage medium. The computer-readable storage medium includes computer instructions. When the computer instructions are executed on a processor, the method implemented by the first device or the second device in any one of the foregoing embodiments may be implemented. In some embodiments of the present application, a communication system is further provided. The communication system includes the first device and the second device in any one of the foregoing methods.

[0268] Note that the modules or components in the foregoing embodiments may be configured as one or more integrated circuits for implementing the foregoing method, for example, one or more application-specific integrated circuits (ASICs), one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs). In another example, when one of the foregoing modules is implemented in the form of scheduling program code by a processing element, the processing element may be a general-purpose processor, such as a central processing unit (CPU), or another processor that can call the program code, such as a controller. As another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SoC).

[0269] All or part of the foregoing embodiments may be implemented by using software, hardware, firmware, software modules, or any combination thereof. When software is used to implement an embodiment, all or part of the embodiment may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program 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 another programmable device. 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, computer, server, or data center to another website, computer, server, or data center in a wired (e.g., coaxial cable, optical fiber, or digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, or microwave) manner. The computer-readable storage medium may be any available medium accessible by a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be a magnetic medium (e.g., a floppy disk, hard disk, or magnetic tape), an optical medium (e.g., a DVD), a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0270] As used herein, the term "plurality" means two or more. The term "and / or" as used herein describes only the associative relationship between associated objects and indicates that three relationships can exist. For example, A and / or B can represent three cases: only A exists, both A and B exist, and only B exists. Also, the symbol " / " in this specification generally indicates an "or" relationship between associated objects, and the symbol " / " in a mathematical formula generally indicates a "division" relationship between associated objects. Further, in the description of the present application, terms such as "first" and "second" are used only for the purpose of distinguishing the description and should not be understood as indicating or implying relative importance or indicating or implying an order.

[0271] It can be understood that the various numerical values in the embodiments of the present application are merely distinguished for ease of explanation and are not intended to limit the scope of the embodiments of the present application.

[0272] In the embodiments of the present application, it can be understood that the sequence numbers of the foregoing processes do not mean the execution sequence. The execution sequence of the process should be determined based on the functions and internal logic of the process and should not constitute any limitation to the implementation process of the embodiments of the present application.

Claims

1. A measurement method comprising: transmitting, by a first device, a first symbol; and receiving, by the first device, a second symbol from a second device, wherein the first symbol and the second symbol are carried on the same radio frame or different radio frames; and determining, by the first device, a first time difference, wherein the first time difference is a time interval between a first time when the first device transmits the first symbol and a second time when the first device receives the second symbol, and the first time difference is used to determine a distance between the first device and the second device. A method.

2. The method further comprises: receiving, by the first device, first time information from the second device, wherein the first time information is used to determine a second time difference, and the second time difference is a time interval between a third time when the second device receives the first symbol and a fourth time when the second device transmits the second symbol; and determining, by the first device, the distance between the first device and the second device based on the first time difference and the second time difference. The method according to claim 1.

3. The first symbol and / or the second symbol are generated based on a ZC sequence, and the ZC sequence is generated in the following manner: 【Number 1】 wherein n represents a subcarrier sequence number, u is a preset value, and d(n) represents the ZC sequence on the nth subcarrier. The method according to claim 1 or 2.

4. u is any integer from a to b, where a is a positive integer greater than 1, b is a positive integer less than 39, and a is less than b. The method according to claim 3.

5. The radio frame includes G link symbols, SG symbols, and T link symbols, or the radio frame includes G link symbols, T link symbols, and ST symbols; The first symbol is a G-link ranging symbol, and the second symbol is a T-link ranging symbol, or the first symbol is a T-link ranging symbol and the second symbol is a G-link ranging symbol, where the G-link ranging symbol is carried on resources used to transmit G-link symbols and / or resources used to transmit SG symbols, and the T-link ranging symbol is carried on resources used to transmit T-link symbols and / or resources used to transmit ST symbols. The method according to any one of claims 1 to 4.

6. The method according to any one of claims 1 to 5, wherein when the first symbol and the second symbol are carried on the same radio frame, there is a switching gap GAP between the first symbol and the second symbol.

7. When the first symbol and the second symbol are carried on different radio frames, the first symbol is carried on a first radio frame and the second symbol is carried on a second radio frame. When the first symbol is carried on resources used to transmit G-link symbols and / or resources used to transmit SG symbols, and the second symbol is carried on resources used to transmit T-link symbols and / or resources used to transmit ST symbols, the first radio frame further includes T-link symbols and the second radio frame further includes G-link symbols, or When the first symbol is carried on resources used to transmit T-link symbols and / or resources used to transmit ST symbols, and the second symbol is carried on resources used to transmit G-link symbols and / or resources used to transmit SG symbols, the first radio frame further includes G-link symbols and the second radio frame further includes T-link symbols. The method according to any one of claims 1 to 5.

8. The method is: Receiving, by the first device, the first time information from the second device, wherein the first time information is used to determine the second time difference, and the second time difference is the time interval between the third time point at which the second device receives the first symbol and the fourth time point at which the second device transmits the second symbol; Receiving, by the first device, first measurement information from the second device, wherein the first measurement information indicates a measurement exchange sequence number corresponding to the first time information; The method according to any one of claims 1 to 7, further comprising.

9. The method according to any one of claims 1 to 8, wherein the first symbol is the first ranging symbol among M ranging symbols transmitted by the first device in the wireless frame, and the second symbol is the first ranging symbol among N ranging symbols received by the first device in the wireless frame, N is a positive integer, and M is a positive integer.

10. The first time point is the time point at which the start point of the first symbol reaches the first antenna connector of the first device, and the second time point is the time point at which the start point of the second symbol reaches the first antenna connector of the first device, or The first time point is the time point at which the start point of the cyclic prefix CP of the first symbol reaches the first antenna connector of the first device, and the second time point is the time point at which the start point of the CP of the second symbol reaches the first antenna connector of the first device. The method according to any one of claims 1 to 9.

11. The method further comprises Transmitting, by the first device, first configuration information to the second device, or receiving, by the first device, the first configuration information from the second device, The first configuration information indicates at least one of a transaction ID corresponding to the measurement, an identifier of the wireless frame, a first resource in the wireless frame that carries the first symbol, and a second resource in the wireless frame that is used to carry the second symbol. The method according to any one of claims 1 to 10.

12. The method according to claim 11, wherein the first configuration information indicates the first resource and / or the second resource by using a bitmap.

13. The method comprises: transmitting, by the first device, a third symbol; determining, by the first device, a third time difference, wherein the third time difference is a time interval between a second time point at which the first device receives the second symbol and a fifth time point at which the first device transmits the third symbol; receiving, by the first device, second time information from the second device, wherein the second time information is used to determine a fourth time difference, and the fourth time difference is a time interval between a third time point at which the second device transmits the second symbol and a sixth time point at which the second device receives the third symbol; the step of determining, by the first device, the distance between the first device and the second device based on the first time difference and the second time difference: comprising determining, by the first device, the distance between the first device and the second device based on the first time difference, the second time difference, the third time difference, and the fourth time difference. The method according to any one of claims 2 to 12.

14. When the first symbol and the second symbol are carried on the first radio frame, the third symbol is carried on the second radio frame; or when the first symbol is carried on the first radio frame, the second symbol and the third symbol are carried on the second radio frame, wherein the second radio frame is located after the first radio frame. The method according to claim 13.

15. The method according to any one of claims 1 to 14, wherein the radio frame further comprises a ranging symbol used to measure the distance between the first device and a third device, or comprises a ranging symbol used to measure the distance between the second device and the third device.

16. A measuring device, which is used in a first device, and the device comprises: A transmission module configured to transmit a first symbol; A receiving module configured to receive a second symbol from a second device, wherein the first symbol and the second symbol are carried on the same wireless frame or different wireless frames; A processing module configured to determine a first time difference, wherein the first time difference is a time interval between a first time when the first device transmits the first symbol and a second time when the first device receives the second symbol, and the first time difference is used to determine a distance between the first device and the second device; An apparatus having the above.

17. The receiving module is further configured to receive first time information from the second device, the first time information is used to determine a second time difference, and the second time difference is a time interval between a third time when the second device receives the first symbol and a fourth time when the second device transmits the second symbol; The processing module is configured to determine the distance between the first device and the second device based on the first time difference and the second time difference. The apparatus according to claim 16.

18. The first symbol and / or the second symbol are generated based on a ZC sequence, and the ZC sequence is generated in the following manner: 【Number 2】 Generated in; n represents a subcarrier sequence number, u is a preset value, and d(n) represents the ZC sequence on the nth subcarrier; The apparatus according to claim 16 or 17.

19. u is an arbitrary integer from a to b, a is a positive integer greater than 1, b is a positive integer less than 39, and a is less than b. The apparatus according to claim 18.

20. The wireless frame includes a G-link symbol, an SG symbol, and a T-link symbol, or the wireless frame includes a G-link symbol, a T-link symbol, and an ST symbol; The first symbol is a G-link ranging symbol, and the second symbol is a T-link ranging symbol, or the first symbol is a T-link ranging symbol and the second symbol is a G-link ranging symbol, where the G-link ranging symbol is carried on resources used to transmit G-link symbols and / or resources used to transmit SG symbols, and the T-link ranging symbol is carried on resources used to transmit T-link symbols and / or resources used to transmit ST symbols. The apparatus according to any one of claims 16 to 19. **Claim 21** When the first symbol and the second symbol are carried on the same radio frame, there is a switching gap GAP between the first symbol and the second symbol. The apparatus according to any one of claims 16 to 20. **Claim 22** When the first symbol and the second symbol are carried on different radio frames, the first symbol is carried on a first radio frame and the second symbol is carried on a second radio frame. When the first symbol is carried on resources used to transmit G-link symbols and / or resources used to transmit SG symbols, and the second symbol is carried on resources used to transmit T-link symbols and / or resources used to transmit ST symbols, the first radio frame further includes T-link symbols and the second radio frame further includes G-link symbols, or When the first symbol is carried on resources used to transmit T-link symbols and / or resources used to transmit ST symbols, and the second symbol is carried on resources used to transmit G-link symbols and / or resources used to transmit SG symbols, the first radio frame further includes G-link symbols and the second radio frame further includes T-link symbols. The apparatus according to any one of claims 16 to 20. **Claim 23** The receiving module is further configured to receive the first time information, and the first time information is used to determine the second time difference, and the second time difference is the time interval between the third time when the second device receives the first symbol and the fourth time when the second device transmits the second symbol; The receiving module is further configured to receive first measurement information, and the first measurement information indicates a measurement exchange sequence number corresponding to the first time information. The apparatus according to any one of claims 16 to 22.

24. The first symbol is the first ranging symbol among M ranging symbols transmitted by the first device in the wireless frame, and the second symbol is the first ranging symbol among N ranging symbols received by the first device in the wireless frame, where N is a positive integer and M is a positive integer. The apparatus according to any one of claims 16 to 23.

25. The first time is the time when the start point of the first symbol reaches the first antenna connector of the first device, and the second time is the time when the start point of the second symbol reaches the first antenna connector, or The first time is the time when the start point of the cyclic prefix CP of the first symbol reaches the first antenna connector of the first device, and the second time is the time when the start point of the CP of the second symbol reaches the first antenna connector. The apparatus according to any one of claims 16 to 24.

26. The transmitting module is further configured to transmit first configuration information to the second device, or the receiving module is further configured to receive the first configuration information from the second device, The first configuration information indicates at least one of a transaction ID corresponding to the measurement, an identifier of the wireless frame, a first resource in the wireless frame that carries the first symbol, and a second resource in the wireless frame that is used to carry the second symbol. The apparatus according to any one of claims 16 to 25.

27. The apparatus according to claim 26, wherein the first configuration information indicates the first resource and / or the second resource by using a bitmap.

28. The transmitting module is further configured to transmit a third symbol; The processing module is further configured to determine a third time difference, where the third time difference is a time interval between a second time point at which the first device receives the second symbol and a fifth time point at which the first device transmits the third symbol; The receiving module is further configured to receive second time information from the second device, where the second time information is used to determine a fourth time difference, and the fourth time difference is a time interval between a third time point at which the second device transmits the second symbol and a sixth time point at which the second device receives the third symbol; When configured to determine the distance between the first device and the second device, the processing module is specifically configured to determine the distance between the first device and the second device based on the first time difference, the second time difference, the third time difference, and the fourth time difference. The apparatus according to any one of claims 17 to 27.

29. When the first symbol and the second symbol are carried on the first radio frame, the third symbol is carried on the second radio frame; or when the first symbol is carried on the first radio frame, the second symbol and the third symbol are carried on the second radio frame, and the second radio frame is located after the first radio frame. The apparatus according to claim 28.

30. The radio frame further includes a ranging symbol used to measure the distance between the first device and a third device, or includes a ranging symbol used to measure the distance between the second device and the third device. The apparatus according to any one of claims 16 to 29.

31. A measuring device having a processor and a memory, The memory stores computer instructions; The processor is configured to execute the computer instructions stored in the memory so that the communication device can execute the method according to any one of claims 1 to 15. Measuring device. **Claim 32** A computer-readable storage medium storing a computer program or instructions, wherein when the computer program or instructions are executed, the method according to any one of claims 1 to 15 is implemented. **Claim 33** A computer program product including a computer program or instructions, wherein when the computer program or instructions are executed by a processor, the method according to any one of claims 1 to 15 is implemented.

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