Communication system, communication processing method, and related device

Abstract

A communication system, a communication processing method, and related devices are provided. The communication system includes a first node and a second node. The first node is configured to transmit a first OFDM symbol to the second node, with the start time of the transmission of the first OFDM symbol being the first time. The second node is configured to receive the first OFDM symbol, with the start time of the reception of the first OFDM symbol being the second time. The second node is configured to begin transmitting a second OFDM symbol to the first node at the third time, with a first preset duration interval between the third time and the second time. The first node is configured to begin receiving a second OFDM symbol at the fourth time, with the fourth time functioning as the start time of reception when the first node receives the second OFDM symbol, with a second preset duration interval between the fourth time and the first time. The first OFDM symbol and the second OFDM symbol are used for distance measurement, angle measurement, or positioning. According to embodiments of this application, measurement accuracy can be improved.

Description

Technical Field

[0001] This application claims priority to Chinese Patent Application No. 202310490871.5, titled "Communication System, Communication Processing Method, and Related Devices", filed with the China National Intellectual Property Administration on April 28, 2023, which is incorporated herein by reference in its entirety.

[0002] This application relates to the field of communication technologies, and particularly to communication systems, communication processing methods, and related devices.

Background Art

[0003] With the continuous development of global communication technologies, wireless communication technologies have exceeded wired communication technologies in terms of development speed and applications, presenting a booming development trend. Smart devices such as smart transportation devices, smart home devices, and robots are gradually entering people's daily lives. Wireless communication technologies can perform wireless ranging, angle measurement, or positioning, and can be applied to, for example, indoor positioning, passive entry passive start, asset management, logistics, etc.

[0004] Orthogonal frequency-division multiplexing (OFDM) signals are widely applied in existing wireless communication systems, such as SparkLink systems, wireless fidelity (Wi-Fi) systems, or long term evolution (LTE) systems. However, it is difficult to implement ranging, angle measurement, or positioning technologies based on OFDM signals. The main reason is that synchronization phase errors and the like are introduced in the OFDM signal processing process. These phase errors cause large errors in ranging results, angle measurement results, or positioning results, and the accuracy required for ranging, angle measurement, or positioning cannot be achieved.

Summary of the Invention

[0005] This application provides a communication system, a communication processing method, and related devices for improving the measurement accuracy of distance measurement, angle measurement, or positioning. [Means for solving the problem]

[0006] According to a first aspect, this application provides a communication system, the communication system including a first node and a second node.

[0007] The first node is configured to send the first OFDM symbol to the second node, and the start time of sending the first OFDM symbol is the first time point.

[0008] The second node is configured to receive the first OFDM symbol, and the start time of receiving the first OFDM symbol is the second time point.

[0009] The second node is configured to begin sending the second OFDM symbol to the first node at the third time point, with a first predetermined duration interval between the third and second time points.

[0010] The first node is configured to begin receiving the second OFDM symbol at time point 4, where time point 4 is the start of reception for the first node to receive the second OFDM symbol, with a second pre-set duration interval between time point 4 and time point 1.

[0011] The first OFDM symbol and the second OFDM symbol are used for distance measurement, angle measurement, or positioning.

[0012] Optionally, the first preset duration is equal to the second preset duration.

[0013] Compared to conventional techniques where any point in the cyclic prefix (CP) of an OFDM symbol is used as the reception start point of the OFDM symbol, this solution has a predetermined duration interval (i.e., a second preset duration) between the transmission of a signal by the first node and the reception of a signal by the first node, and the second preset duration is calculated from the transmission start time (i.e., the first time point) of the OFDM symbol transmitted by the first node (i.e., the transmission of the first OFDM symbol) to restrict the reception start point of the OFDM symbol received by the first node (i.e., the reception of the second OFDM symbol). In other words, the start point of the received OFDM symbol can be uniquely determined. In addition, there is a predetermined duration interval (i.e., a first preset duration) between the reception of a signal by the second node and the transmission of a signal by the second node, and the first preset duration is calculated from the reception start time (i.e., the second time point) of the OFDM symbol received by the second node (i.e., the reception of the first OFDM symbol) in order to limit the transmission start point of the OFDM symbol transmitted by the second node (i.e., the transmission of the second OFDM symbol). Specifically, by using a predetermined first preset duration and a predetermined second preset duration, synchronization errors between the first and second nodes are reduced, that is, the phase offset caused by synchronization errors between the transmitter and receiver is reduced. Based on this, the corresponding channel information in the OFDM symbol is extracted and channel estimation is performed, and the results of distance measurement, angle measurement, or positioning are calculated, thereby improving the accuracy of distance measurement, angle measurement, or positioning.

[0014] Furthermore, optionally, the first OFDM symbol and the second OFDM symbol are used to obtain measurement results for distance measurement, angle measurement, or positioning, and the first preset duration and the second preset duration are used to correct the measurement results. In this implementation, errors present in the device or system, such as inherent delays in the transceiver channel or system processing delays, may cause deviations between the first preset duration and the second preset duration during actual implementation, regardless of whether they are set to be the same (for example, the first preset duration and the second preset duration may be specified by the protocol, configured by default by the communication system, or specified in another manner). In this case, calibration, pre-training, etc., may be performed using the set first preset duration and second preset duration during distance measurement, positioning, and angle measurement to reduce or eliminate the effects of such deviations. If the first preset duration and the second preset duration are set to be different, system errors may be excluded together with errors caused by the first and second preset durations which are set to be different, or they may be excluded separately from such errors. Such deviation correction can reduce deviations and improve measurement accuracy.

[0015] In a conceivable implementation, the first OFDM symbol includes a first prefix and first valid data. The first time point functions as the moment when the first node transmits the start data for the first prefix, or the first time point functions as the moment when the first node transmits the start data for the first valid data, and The second time point functions as the moment when the second node receives the start data for the first prefix, or the second time point functions as the moment when the second node receives the start data for the first valid data, and / or The second OFDM symbol includes the second prefix and the second valid data, the third time point functions as the moment when the second node transmits the start data for the second prefix, and the fourth time point functions as the moment when the first node receives the start data for the second prefix.

[0016] In this solution, the transmission start time (i.e., the first time point) and reception start time (i.e., the second time point) of the OFDM symbol may be flexibly selected, and the transmission and / or reception start times used may be determined based on different application requirements. Therefore, it has a wide range of application scenarios and is highly applicable.

[0017] In a conceivable implementation, the second OFDM symbol includes the second prefix and the second valid data, and the fourth time point functions as the moment when the first node receives the start data for the second prefix.

[0018] After the first node is configured to begin receiving the second OFDM symbol at the fourth time point, the following is further included:

[0019] The first node is configured to begin collecting the second valid data after a third pre-set duration has elapsed, starting from the fourth time point, where the third pre-set duration is a duration equal to the length of the second prefix.

[0020] In this solution, if the reception start point of an OFDM symbol is determined as the moment when the prefix start data of the OFDM symbol is received, then valid data is collected after the duration of the prefix length has elapsed after the signal has started to be received, i.e., the OFDM signal collected after the prefix has been removed is accurate, thereby improving the accuracy of subsequent channel estimation.

[0021] In a conceivable implementation form, the first OFDM symbol includes a first prefix and first valid data, where the first prefix is a cyclic prefix of the first OFDM symbol, or the first prefix is the first valid data, and / or The second OFDM symbol includes a second prefix and second valid data, where the second prefix is a cyclic prefix of the second OFDM symbol, or the second prefix is the second valid data.

[0022] In this solution, the prefix of the OFDM symbol may be a cyclic prefix, the valid data of the OFDM symbol, etc. In other words, this solution is applicable to the communication measurement of multiple OFDM symbols with different structural configurations and has a wide application scenario and high applicability.

[0023] In a conceivable implementation form, the transmission start time of the second OFDM symbol determined by the second node is the fifth time point, and the reception start time of the second OFDM symbol determined by the first node is the sixth time point. The method further includes the following. That is,

[0024] The first node is configured to start transmitting the third OFDM symbol to the second node at the seventh time point, and there is an interval of a fourth preset duration between the seventh time point and the sixth time point, and The second node is configured to start receiving the third OFDM symbol at the eighth time point, and there is an interval of a fifth preset duration between the eighth time point and the fifth time point.

[0025] The second OFDM symbol and the third OFDM symbol are used for ranging, angle measurement, or positioning.

[0026] In this solution, the second node and the first node may perform a plurality of OFDM symbol transmission and reception interactions. For each transmission and reception interaction, refer to the implementation form of the first aspect. The final measurement result is determined based on the measurement results of the plurality of OFDM symbol transmission and reception interactions. For example, processing such as averaging or weighted averaging is performed on the plurality of measurement results, so that the finally obtained measurement result is more accurate and has high precision.

[0027] In an imaginable implementation form, the first node is further configured to determine a first channel estimation result based on the second OFDM symbol, the first node is further configured to perform ranging, angle measurement, or positioning based on the first channel estimation result, or the first node is further configured to transmit the first channel estimation result to a third node in the communication system so that the third node performs ranging, angle measurement, or positioning based on the first channel estimation result.

[0028] In an imaginable implementation form, the second node is further configured to determine a second channel estimation result based on the first OFDM symbol, the second node is further configured to perform ranging, angle measurement, or positioning based on the second channel estimation result, or the second node is further configured to transmit the second channel estimation result to a fourth node in the communication system so that the fourth node performs ranging, angle measurement, or positioning based on the second channel estimation result.

[0029] In an imaginable implementation form, the first node is further configured to determine a first channel estimation result based on the second OFDM symbol, and the second node is further configured to determine a second channel estimation result based on the first OFDM symbol. The first channel estimation result and the second channel estimation result are used to obtain the measurement results of ranging, angle measurement, or positioning.

[0030] In the two possible implementation configurations described above, the channel estimation and calculation of the final measurement results may be performed by the node performing the OFDM symbol interaction (e.g., the first or second node), or by another node in the communication system (e.g., the third or fourth node). Because the implementation configuration is flexible, the application scenarios are broad and the system is highly applicable.

[0031] According to a second aspect, this application provides a communication processing method. The method includes the following:

[0032] The first node sends the first OFDM symbol to the second node, and the start time of the transmission of the first OFDM symbol is the first time, and The first node begins receiving the second OFDM symbol from the second node at the second time point, with a first predetermined duration interval between the second time point and the first time point, where the second time point functions as the start point of reception when the first node receives the second OFDM symbol.

[0033] The first OFDM symbol and the second OFDM symbol are used for distance measurement, angle measurement, or positioning.

[0034] Compared to conventional techniques where any point in the cyclic prefix (CP) of an OFDM symbol is used as the reception start point of the OFDM symbol, this solution has a predetermined duration interval (i.e., a first preset duration) between the transmission of a signal by the first node and the reception of a signal by the first node, and the first preset duration is calculated from the transmission start time (i.e., the first time point) of the OFDM symbol transmitted by the first node (i.e., the transmission of the first OFDM symbol) to restrict the reception start point of the OFDM symbol received by the first node (i.e., the reception of the second OFDM symbol). In other words, the start point of the received OFDM symbol can be uniquely determined. Specifically, by using a predetermined first preset duration, synchronization errors between the first and second nodes are reduced, i.e., the phase offset caused by synchronization errors between the transmitter and receiver is reduced. Based on this, the corresponding channel information in the OFDM symbol is extracted, channel estimation is performed, and the results of distance measurement, angle measurement, or positioning are calculated, thereby improving the accuracy of distance measurement, angle measurement, or positioning.

[0035] In a conceivable implementation, the first OFDM symbol includes a first prefix and first valid data, the first time point functions as the moment when the first node transmits the start data for the first prefix, or the first time point functions as the moment when the first node transmits the start data for the first valid data, and / or The second OFDM symbol contains the second prefix and the second valid data, and the fourth time point functions as the moment when the first node receives the start data for the second prefix.

[0036] In a conceivable implementation, the second OFDM symbol includes the second prefix and the second valid data, and the fourth time point functions as the moment when the first node receives the start data for the second prefix.

[0037] After the first node begins receiving the second OFDM symbol from the second node at the second time point, the method further includes the following:

[0038] The first node begins collecting second valid data after a second pre-defined duration has elapsed, starting from the second time point, and the second pre-defined duration is a duration equal to the length of the second prefix.

[0039] In a conceivable implementation, the first OFDM symbol and the second OFDM symbol are used to obtain measurement results for distance measurement, angle measurement, or positioning, and the first preset duration is used to correct the measurement results.

[0040] In a conceivable implementation, the first OFDM symbol includes a first prefix and first valid data, wherein the first prefix is ​​the cyclic prefix of the first OFDM symbol, or the first prefix is ​​the first valid data, and / or The second OFDM symbol includes a second prefix and second valid data, wherein the second prefix is ​​the cyclic prefix of the second OFDM symbol, or the second prefix is ​​the second valid data.

[0041] In a conceivable implementation, the method further includes the following: namely, the first node determines the channel estimation result based on the second OFDM symbol, and The first node performs distance measurement, angle measurement, or positioning based on the channel estimation result, or the first node transmits the channel estimation result to the third node so that the third node can perform distance measurement, angle measurement, or positioning based on the channel estimation result.

[0042] According to a third aspect, this application provides a communication processing method. The method includes the following:

[0043] The second node receives the first OFDM symbol from the first node, and the first time is the start of transmission of the first OFDM symbol, which is determined by the second node, and The second node begins sending the second OFDM symbol to the first node at the second time point, with a first predetermined duration interval between the second and first time points.

[0044] The first OFDM symbol and the second OFDM symbol are used for distance measurement, angle measurement, or positioning.

[0045] Compared to conventional techniques where any point in the cyclic prefix (CP) of an OFDM symbol is used as the reception start point for the OFDM symbol, this solution has a predetermined duration interval (i.e., a first preset duration) between the reception of a signal by the second node and the transmission of a signal by the second node, and the first preset duration is calculated from the reception start point (i.e., the second time point) of the OFDM symbol received by the second node (i.e., the reception of the first OFDM symbol) in order to restrict the transmission start point of the OFDM symbol transmitted by the second node (i.e., the transmission of the second OFDM symbol). Specifically, by using a predetermined first preset duration, synchronization errors between the first and second nodes are reduced, i.e., the phase offset caused by synchronization errors between the transmitter and receiver is reduced. Based on this, the corresponding channel information in the OFDM symbol is extracted and channel estimation is performed, and the results of ranging, angulation, or positioning are calculated, thereby improving the accuracy of ranging, angulation, or positioning.

[0046] In a conceivable implementation, the first OFDM symbol includes a first prefix and first valid data, the first time point functions as the moment when the second node receives the start data for the first prefix, or the first time point functions as the moment when the second node receives the start data for the first valid data, and / or The second OFDM symbol contains the second prefix and the second valid data, and the second time point functions as the moment when the second node transmits the start data for the second prefix.

[0047] In a conceivable implementation, the first OFDM symbol and the second OFDM symbol are used to obtain measurement results for distance measurement, angle measurement, or positioning, and the first preset duration is used to correct the measurement results.

[0048] In a conceivable implementation, the start time of transmission of the second OFDM symbol, which is determined by the second node, is the third time, and after the second node has started transmitting the second OFDM symbol to the first node at the second time, the method further includes the following:

[0049] The second node begins receiving the third OFDM symbol from the first node at time 4, with a second pre-set duration interval between time 4 and time 3, where time 4 serves as the start point for receiving the third OFDM symbol from the second node.

[0050] In a conceivable implementation, the first OFDM symbol includes a first prefix and first valid data, wherein the first prefix is ​​the cyclic prefix of the first OFDM symbol, or the first prefix is ​​the first valid data, and The second OFDM symbol includes a second prefix and second valid data, wherein the second prefix is ​​the cyclic prefix of the second OFDM symbol, or the second prefix is ​​the second valid data.

[0051] In a conceivable implementation, the method further includes the following: namely, the second node determines the channel estimation result based on the first OFDM symbol, and The second node performs distance measurement, angle measurement, or positioning based on the channel estimation result, or the second node transmits the channel estimation result to the third node so that the third node can perform distance measurement, angle measurement, or positioning based on the channel estimation result.

[0052] According to a fourth aspect, this application provides a communication node. The communication node is A transmitting unit configured to transmit a first OFDM symbol to a second node, wherein the start time of transmission of the first OFDM symbol is a first time point, A receiving unit configured to begin receiving a second OFDM symbol from a second node at a second time point, wherein there is a first predetermined duration interval between the second time point and the first time point, and the second time point functions as the start time for receiving the second OFDM symbol at the communication node. Includes.

[0053] The first OFDM symbol and the second OFDM symbol are used for distance measurement, angle measurement, or positioning.

[0054] In a conceivable implementation, the first OFDM symbol includes a first prefix and first valid data, the first time point functions as the moment when the communication node transmits the start data for the first prefix, or the first time point functions as the moment when the communication node transmits the start data for the first valid data, and / or The second OFDM symbol includes the second prefix and the second valid data, and the fourth time point functions as the moment when the communication node receives the start data for the second prefix.

[0055] In a conceivable implementation, the second OFDM symbol includes the second prefix and the second valid data, and the fourth time point functions as the moment when the communication node receives the start data for the second prefix.

[0056] The communication node further includes a collection unit configured to begin collecting second valid data after a second pre-set duration has elapsed, starting from a second time point, where the second pre-set duration is a duration equal to the length of the second prefix.

[0057] In a conceivable implementation, the first OFDM symbol and the second OFDM symbol are used to obtain measurement results for distance measurement, angle measurement, or positioning, and the first preset duration is used to correct the measurement results.

[0058] In a conceivable implementation, the first OFDM symbol includes a first prefix and first valid data, wherein the first prefix is ​​the cyclic prefix of the first OFDM symbol, or the first prefix is ​​the first valid data, and / or The second OFDM symbol includes a second prefix and second valid data, wherein the second prefix is ​​the cyclic prefix of the second OFDM symbol, or the second prefix is ​​the second valid data.

[0059] In a conceivable implementation, the communication node further includes a processing unit configured to determine a channel estimation result based on a second OFDM symbol and to perform distance measurement, angle measurement, or positioning based on the channel estimation result.

[0060] Alternatively, after the processing unit determines the channel estimation result based on the second OFDM symbol, the transmitting unit is further configured to transmit the channel estimation result to the third node so that the third node can perform ranging, angle measurement, or positioning based on the channel estimation result.

[0061] According to a fifth aspect, this application provides a communication node. The communication node is A receiving unit configured to receive a first OFDM symbol from a first node, wherein the first time is the start time of transmission of the first OFDM symbol, which is determined by the communication node. A transmitting unit configured to begin transmitting a second OFDM symbol to a first node at a second time point, wherein there is a first predetermined duration interval between the second time point and the first time point. Includes.

[0062] The first OFDM symbol and the second OFDM symbol are used for distance measurement, angle measurement, or positioning.

[0063] In a conceivable implementation, the first OFDM symbol includes a first prefix and first valid data, the first time point functions as the moment when the communication node receives the start data for the first prefix, or the first time point functions as the moment when the communication node receives the start data for the first valid data, and / or The second OFDM symbol includes the second prefix and the second valid data, and the second time point is the moment when the communication node transmits the start data for the second prefix.

[0064] In a conceivable implementation, the first OFDM symbol and the second OFDM symbol are used to obtain measurement results for distance measurement, angle measurement, or positioning, and the first preset duration is used to correct the measurement results.

[0065] In a conceivable implementation, the third point in time is the start of transmission of the second OFDM symbol, which is determined by the communication node.

[0066] The receiving unit is further configured to begin receiving a third OFDM symbol from the first node at a fourth time point, after the transmitting unit has begun transmitting a second OFDM symbol to the first node at a second time point, with a second pre-set duration interval between the fourth time point and the third time point, the fourth time point serving as the start of reception when the communication node receives the third OFDM symbol.

[0067] In a conceivable implementation, the first OFDM symbol includes a first prefix and first valid data, wherein the first prefix is ​​the cyclic prefix of the first OFDM symbol, or the first prefix is ​​the first valid data, and / or The second OFDM symbol includes a second prefix and second valid data, wherein the second prefix is ​​the cyclic prefix of the second OFDM symbol, or the second prefix is ​​the second valid data.

[0068] In a conceivable implementation, the communication node further includes a processing unit configured to determine a channel estimation result based on a first OFDM symbol and to perform distance measurement, angle measurement, or positioning based on the channel estimation result.

[0069] Alternatively, after the processing unit determines the channel estimation result based on the first OFDM symbol, the transmitting unit is further configured to transmit the channel estimation result to the third node so that the third node can perform ranging, angle measurement, or positioning based on the channel estimation result.

[0070] According to a sixth aspect, the application provides a communication node. The communication node includes a processor and memory. The memory is coupled to the processor. When executing a computer program or computer instruction stored in the memory, the processor can implement a method relating to any implementation of the second aspect. The communication node may further include a communication interface. The communication interface is used by the communication node to communicate with another device (for example, another communication node in the same communication system). For example, the communication interface may be a transceiver, a circuit, a bus, a module, or another type of communication interface.

[0071] In possible implementations, the communication node is: A memory configured to store a computer program or the computer instructions, A processor configured to transmit a first OFDM symbol to a second node via a communication interface, wherein the start time of transmission of the first OFDM symbol is a first time point, and the processor is configured to start receiving a second OFDM symbol from the second node via the communication interface at a second time point. This may include: a first predetermined duration interval between the second time point and the first time point, the second time point serving as the reception start time when the communication node receives the second OFDM symbol. The first OFDM symbol and the second OFDM symbol are used for distance measurement, angle measurement, or positioning.

[0072] It should be noted in this application that computer programs or computer instructions in memory may be pre-stored or downloaded from the Internet and stored when the communication node is used. The source of the computer programs or computer instructions in memory is not particularly limited in this application. The coupling in embodiments of this application is an indirect coupling or connection between units or modules, which may be in an electrical, mechanical, or other form, and is used for information exchange between units or modules.

[0073] According to a seventh aspect, the application provides a communication node. The communication node includes a processor and memory. The memory is coupled to the processor. When executing a computer program or computer instruction stored in the memory, the processor can implement a method relating to any implementation of the third aspect. The communication node may further include a communication interface. The communication interface is used by the communication node to communicate with another device (for example, another communication node in the same communication system). For example, the communication interface may be a transceiver, a circuit, a bus, a module, or another type of communication interface.

[0074] In possible implementations, the communication node is: A memory configured to store computer programs or computer instructions, A processor configured to receive a first OFDM symbol from a first node via a communication interface, wherein the first time point is the start of transmission of the first OFDM symbol, which is determined by the communication node, and the processor is configured to start transmitting a second OFDM symbol to the first node via the communication interface at a second time point. It may include the following: There is a first predetermined duration interval between the second time point and the first time point. The first OFDM symbol and the second OFDM symbol are used for distance measurement, angle measurement, or positioning.

[0075] It should be noted in this application that computer programs or computer instructions in memory may be pre-stored or downloaded from the Internet and stored when the communication node is used. The source of the computer programs or computer instructions in memory is not particularly limited in this application. The coupling in embodiments of this application is an indirect coupling or connection between units or modules, which may be in an electrical, mechanical, or other form, and is used for information exchange between units or modules.

[0076] According to the eighth aspect, the application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program or computer instruction, and when the computer program or computer instruction is executed by a processor, a method according to any implementation of the second aspect is carried out.

[0077] According to the ninth aspect, the application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program or computer instruction, and when the computer program or computer instruction is executed by a processor, a method according to any implementation of the third aspect is carried out.

[0078] According to the tenth aspect, one embodiment of this application provides a computer program product. When the computer program product is executed by a processor, a method according to any implementation of the second aspect is carried out.

[0079] According to the eleventh aspect, one embodiment of this application provides a computer program product. When the computer program product is executed by a processor, a method according to any implementation of the third aspect is carried out.

[0080] The solutions provided in the second through eleventh embodiments are for implementing or collaborating with the corresponding system provided in the first embodiment, and can therefore achieve the same or corresponding beneficial effects as the corresponding system in the first embodiment. Details will not be repeated here. [Brief explanation of the drawing]

[0081] [Figure 1] This is a diagram of the frame structure. [Figure 2] This is a diagram of the structure of a communication system. [Figure 3] This is a diagram of a positioning scenario. [Figure 4] This is a schematic flowchart of the communication processing method. [Figure 5] This diagram shows the time of transmission and reception of OFDM symbols. [Figure 6] This diagram shows the time of transmission and reception of OFDM symbols. [Figure 7] This diagram shows the time of transmission and reception of OFDM symbols. [Figure 8] This diagram shows the time of transmission and reception of OFDM symbols. [Figure 9] This diagram shows the time of transmission and reception of OFDM symbols. [Figure 10] This diagram shows the time of transmission and reception of OFDM symbols. [Figure 11] This diagram shows the time of transmission and reception of OFDM symbols. [Figure 12] This diagram shows the time of transmission and reception of OFDM symbols. [Figure 13] This diagram shows the time of transmission and reception of OFDM symbols. [Figure 14] This diagram shows the time of transmission and reception of OFDM symbols. [Figure 15] This diagram shows the time of transmission and reception of OFDM symbols. [Figure 16] This diagram shows the time of transmission and reception of OFDM symbols. [Figure 17] This is a diagram showing the structure of a communication node. [Figure 18] This is a diagram showing the structure of a communication node. [Figure 19] This is a diagram showing the structure of a communication node. [Figure 20] This is a diagram showing the structure of a communication node. [Modes for carrying out the invention]

[0082] In embodiments of this application, “multiple” means two or more. In embodiments of this application, “and / or” is used to describe a relationship between related objects and represents three relationships that may exist independently. For example, A and / or B could mean: only A exists, only B exists, or both A and B exist. Description modes used in embodiments of this application, such as “at least one piece (at least one) of a1, a2, ..., and an,” include the case where any one of a1, a2, ..., and an exists alone, and also include any combination of any multiple of a1, a2, ..., and an. Each case may exist alone. For example, description modes of “at least one of a, b, and c” include the case of a single a, a single b, a single c, a combination of a and b, a combination of a and c, a combination of b and c, or a combination of a, b, and c.

[0083] In the embodiments of this application, unless otherwise specified or unless there is a logical inconsistency, the terminology and / or descriptions of the embodiments are consistent and can be referenced to one another, and the technical features of different embodiments may be combined into new embodiments based on their internal logical relationships.

[0084] The following will first explain the technical terms used in the embodiments of this application.

[0085] 1. Orthogonal frequency division multiplexing (OFDM) OFDM was developed from multi-carrier modulation (MCM). OFDM technology is one of the implementation forms of multi-carrier transmission solutions. The modulation and demodulation of OFDM technology are performed based on the inverse fast Fourier transform (IFFT) and fast Fourier transform (FFT), respectively, and OFDM technology is the multi-carrier transmission solution with the lowest implementation complexity and the widest range of applications.

[0086] The main concept of OFDM is to divide a channel into several orthogonal subchannels, convert high-speed data signals into parallel low-speed data substreams, and modulate these parallel low-speed data substreams into the subchannels for transmission. The orthogonal signals may be separated at the receiving end, which reduces mutual interference between subchannels. This interference is inter-symbol interference (ISI), also known as inter-symbol crosstalk. The signal bandwidth on each subchannel is smaller than the channel bandwidth. Therefore, flat fading is expected to occur in each subchannel, thus eliminating inter-symbol interference. In addition, since the bandwidth of each subchannel is only a small fraction of the original channel bandwidth, channel equalization becomes relatively easy.

[0087] 2. OFDM Symbols and OFDM Signals OFDM symbols are described in terms of the time domain. A single OFDM symbol may contain composite information of multiple modulation subcarriers. The unit of length for an OFDM symbol may be time.

[0088] To reduce inter-symbol interference, guard intervals are typically inserted into OFDM symbols. For example, a guard interval can be a cyclic prefix (CP). A CP is a copy of the trailing signal of the valid data of an OFDM symbol into the header. An OFDM symbol with a CP added is called a CP-OFDM symbol. CP-OFDM symbols can include normal CP-OFDM symbols, extended CP-OFDM symbols, and so on.

[0089] Alternatively, for example, the guard interval may be valid data for an OFDM symbol. In other words, all valid data for an OFDM symbol is used as a prefix. In this case, one OFDM symbol contains two repeating OFDM valid data.

[0090] Alternatively, for example, the guard interval may be other content. The guard interval is inserted, for example, by adding a zero to the header of the OFDM symbol. The specific content of the guard interval is not limited to the embodiments of this application.

[0091] A signal containing OFDM symbols is sometimes called an OFDM signal. An OFDM signal can contain one or more OFDM symbols.

[0092] 3. Frame A frame is a unit of data transmission. A frame is described in terms of the time domain. The unit of length for a frame may be time. A single data frame can contain one or more symbols (e.g., OFDM symbols).

[0093] To facilitate understanding, radio frames and superframes in the Spark Link Basic (SLB) standard are used as examples for explanation. A superframe contains multiple radio frames, each containing multiple symbols, which may be, for example, OFDM symbols. For example, the period of a superframe is 1 millisecond (ms), i.e., the duration (or length) of a superframe is 1 ms. In one example, as shown in Figure 1, one superframe contains 48 radio frames, each with a duration of 1 / 48 = 20.833 microseconds (μs). The 48 radio frames are numbered sequentially from radio frame #0 to radio frame #47. Each radio frame contains several downlink symbols, several uplink symbols, an overhead symbol, and a switching gap (GAP). Downlink symbols are used for downlink transmission, and uplink symbols are used for uplink transmission. Overhead symbols, sometimes referred to as flexible symbols or specific symbols, are used for synchronization, channel sounding, and downlink control information (DCI) transmission. Overhead symbols can be classified into downlink overhead symbols and uplink overhead symbols. Switching gaps are used for uplink and downlink switching. The duration of a single switching gap in a radio frame is, for example, the duration of a single symbol in a radio frame.

[0094] For example, in an in-vehicle (or non-vehicle) wireless short-range communication system, the uplink typically refers to the direction in which a terminal (T) node transmits data or information to a grant (G) node, and may be represented by "T". The downlink typically refers to the direction in which a G node transmits data or information to a T node, and may be represented by "G". In Figure 1, the downlink symbol is denoted as the G symbol, and the G symbol may also be denoted as the G-link symbol, G-link data symbol, etc. The uplink symbol is represented as the T symbol, and the T symbol may also be denoted as the T-link symbol, T-link data symbol, etc. In an in-vehicle wireless short-range communication system, there are typically communication requirements between different T nodes or different G nodes, and communication between different T nodes or different G nodes may occupy the overhead symbols mentioned above. In Figure 1, the downlink overhead symbol is represented as the special grant (SG) symbol, and the SG symbol may also be denoted as the G-overhead symbol, overhead G symbol, G-link overhead symbol, etc. Uplink overhead symbols are represented as special terminal (ST) symbols, and ST symbols may also be represented as T overhead symbols, overhead T symbols, or T-link overhead symbols. When the transmission direction is not distinguished, G overhead symbols and T overhead symbols are sometimes collectively called system overhead symbols.

[0095] Each radio frame may contain one or two overhead symbols, and a superframe may contain up to 96 overhead symbols. For example, in the superframe shown in Figure 1, each radio frame in the superframe contains one overhead symbol, and the superframe contains 48 overhead symbols, which are numbered sequentially from 0 to 47. For example, the overhead symbol in radio frame #0 is SG symbol #0, and the overhead symbol in radio frame #46 is ST symbol #46.

[0096] It may be understood that the above uses only SLB standard frames as illustrative examples. In specific implementations, frame structures defined by different standards may differ. Specific frame structures are not limited to the embodiments of this application.

[0097] 4. Node A node is an electronic device with communication capabilities, also known as a communication node. For example, a node may include an independent device such as a handheld terminal, a vehicle, an in-vehicle device, a network-side device, user equipment, an access terminal, a subscriber unit, a subscriber station, a mobile station, a remote station, a remote terminal, a wireless communication device, a user agent, or a user device, or it may be a component included in an independent device (e.g., a chip or integrated circuit). A node may also be any conceivable smart terminal device (e.g., a mobile phone), a smart transport device (e.g., a vehicle or unmanned aerial vehicle), a smart manufacturing device, a smart home device (e.g., a large screen or speaker), etc.

[0098] For example, if the node is an in-vehicle device, the node may be one or more modules within a vehicle cockpit domain device, such as a cockpit domain controller (CDC), camera, screen, microphone, stereo, electronic key, and passive entry passive start system controller. In a vehicle, the node may alternatively be a battery management system and a battery within a battery pack.

[0099] For example, if the node is a handheld device, the node may also be a mobile phone, a wearable device, a tablet computer, or a computer with data transmission and reception capabilities (such as a notebook computer or palmtop computer).

[0100] The node in this embodiment of the application may be used in a number of application scenarios, for example, in the following application scenarios: mobile internet (MI), industrial control, self-driving, transportation safety, internet of things (IoT), smart city, or smart home.

[0101] The node of this application may be applied to multiple wireless communication scenarios, for example, SparkLink, long-term evolution (LTE) networks, and fifth-generation mobile communication technology (5G). th - May be applied to one or more scenarios of 5G-generation mobile communication technology, wireless local area networks (e.g., Wi-Fi), Bluetooth® (BT), ZigBee, or in-vehicle short-range wireless communication networks.

[0102] In some application scenarios or network types, devices with similar communication capabilities may not be referred to as nodes. However, for the sake of clarity, in the embodiments of this application, devices with communication capabilities are collectively referred to as nodes.

[0103] 5. Measurement node A measurement node is a node located within a node involved in distance measurement, angle measurement, or positioning, whose position is used as a reference point for distance measurement, angle measurement, or positioning. For ease of explanation, distance measurement, angle measurement, or positioning may later be collectively referred to as measurement.

[0104] For example, a measurement node may also be called a measurement anchor or measurement base station. For example, in a ranging application scenario, a measurement node may be called a ranging anchor or ranging base station. For example, in a positioning application scenario, a measurement node may be called a positioning anchor, positioning base station, or beacon.

[0105] 6. Nodes to be measured A node being measured is a node within a node involved in distance measurement, angle measurement, or positioning. The distance, angle, or position of the node being measured relative to a reference point is determined using a distance measurement process, an angle measurement process, or a positioning process.

[0106] For example, the node being measured may be called a measurement tag. For example, in a distance measurement application scenario, the node being measured may be called a distance measurement tag. For example, in a positioning application scenario, the node being measured may be called a positioning tag.

[0107] 7. Primary Node A primary node is a node that constitutes the resources and parameters for transmitting signals (including measurement signals), signaling (including signaling related to distance measurement, angle measurement, or positioning), or service information (including service information related to distance measurement, angle measurement, or positioning) between nodes. A primary node may be an independent entity, and may be a measurement node or a node being measured.

[0108] For example, the primary node may be a G node in the SparkLink standard (e.g., the SLB standard or the SparkLink low energy (SLE) standard). Alternatively, the primary node may be a master device in the Bluetooth® standard (e.g., the Bluetooth low energy (BLE) standard), also known as an M node. Alternatively, the primary node may be an access point (AP) in the Wi-Fi standard. Alternatively, the primary node may be a base station in wide-area wireless communication. It should be understood that the description herein is merely an example and does not constitute a limitation to embodiments of this application.

[0109] 8. Secondary node A secondary node is a node that receives the configuration of the primary node and, based on the configuration of the primary node, communicates (including transmitting and / or receiving) signals (including measurement signals), signaling (including signaling related to distance measurement, angle measurement, or positioning), or service information (including service information related to distance measurement, angle measurement, or positioning) with other nodes.

[0110] For example, the secondary node may be a Sparklink T-node. Alternatively, for example, the secondary node may be a Bluetooth® slave device, also known as an S-node. Alternatively, for example, the secondary node may be a Wi-Fi station (STA). Alternatively, for example, the secondary node may be user equipment (UE) in wide-area wireless communication. It should be understood that the description herein is merely an example and does not constitute a limitation to embodiments of this application.

[0111] 9. Communication Domain A communication domain is a system that includes a group of communication nodes that have communication relationships and communication connection relationships (i.e., communication links) between them. A single communication domain can include one primary node and at least one secondary node. In a wireless communication scenario in which nodes are located, multiple communication domains may be included in a particular communication area or range.

[0112] Embodiments of this application will be described below by referring to the attached drawings and using examples.

[0113] Figure 2 shows an example of a communication system 100. The communication system 100 includes one primary node 110 and N (where N is an integer greater than or equal to 1) secondary nodes 120. Wireless communication may occur between the primary node 110 and the N secondary nodes 120. Wireless communication may also occur between the N secondary nodes 120, specifically, based on the scheduling of the primary node 110. For descriptions of wireless communication scenarios and specific implementations of primary and secondary nodes, please refer to the preceding definitions of terms. Details will not be repeated here.

[0114] For example, the primary node 110 in the communication system 100 may be pre-configured. Alternatively, the primary node 110 may be determined by selection from multiple nodes in the communication system 100. In the communication system 100, after the primary node 110 has been determined, another node is a secondary node 120. The description herein is merely an example and does not constitute a limitation to embodiments of this application. The method for determining the primary node 110 is not limited to the embodiments of this application.

[0115] For example, the communication system 100 may be a system applied to measurement scenarios, such as in-vehicle wireless positioning scenarios, indoor positioning scenarios, navigation scenarios, distance measurement scenarios, or angle measurement scenarios. The measurement scenarios may include measurements in machine perception scenarios, etc. Alternatively, the communication system 100 may be a system applied to other wide-area wireless communication scenarios or other narrow-area wireless communication scenarios.

[0116] In a conceivable implementation, in a measurement application scenario, the primary node 110 can be the measurement node, i.e., the primary node is the measurement node. The secondary node 120 (for example, secondary node 1 in Figure 2 is used as an example) can be the node to be measured, i.e., the secondary node is the node to be measured. The location where the measurement node is situated is used as the reference position for measurement. The node to be measured is a node whose distance and angle need to be measured or whose position needs to be determined. After the primary node 110 has configured the transmission resources for the primary node 110 and secondary node 1, a measurement signal may be transmitted between the primary node 110 and secondary node 1 in order to perform a measurement on the node to be measured, i.e., secondary node 1.

[0117] For example, in the process in which a measurement signal is transmitted between the primary node 110 and the secondary node 1 in order to perform a measurement on the secondary node 1, the primary node 110 may transmit the measurement signal to the secondary node 1 once or more times. Alternatively, the secondary node 1 may transmit the measurement signal to the primary node 110 once or more times. Alternatively, the primary node 110 may transmit the measurement signal to the secondary node 1 one or more times, and the secondary node 1 may transmit the measurement signal to the primary node 110 once or more times. In other words, the measurement signal may be communicated one or more times between the measurement node and the node to be measured in order to perform a measurement on the node to be measured. The specific measurement process is not limited to the embodiments of this application.

[0118] In another possible implementation, in the measurement application scenario described above, the primary node 110 may also be the node being measured; that is, the primary node is the node being measured. The secondary node 1 may also be the measurement node. Similarly, after the primary node 110 has configured the transmission resources for the primary node 110 and the secondary node 1, a measurement signal may be transmitted between the primary node 110 and the secondary node 1 in order to perform the measurement on the node being measured, i.e., the primary node 110. For a description of the measurement, please refer to the description above, for example. Details are not provided here.

[0119] In another possible implementation, in the measurement application scenario described above, the primary node 110 is not a measurement node or a node being measured, but is primarily configured to constitute transmission resources for both the measurement node and the node being measured. In other words, the primary node 110 is a node independent of the measurement node and the node being measured. For example, secondary node 1 may be a measurement node, and secondary node 2 in Figure 2 may be a node being measured. After the primary node 110 has configured transmission resources for secondary node 1 and secondary node 2, a measurement signal may be transmitted between secondary node 1 and secondary node 2 in order to perform a measurement on the node being measured, i.e., secondary node 2. For a description of the measurement, please refer to the description above, for example. Details are not provided here.

[0120] It can be understood that the aforementioned measurements may be performed on the node being measured using one or more measurement nodes. Specifically, one or more measurement nodes can exchange measurement signals with the node being measured in order to perform distance measurement, angle measurement, or positioning of the node being measured. Multiple measurement nodes can be configured to perform measurements on the node being measured, thereby improving measurement accuracy. For easier understanding, please refer to Figure 3, for example.

[0121] Figure 3 shows an example of positioning in an in-vehicle positioning scenario. In this scenario, positioning anchors are deployed at four vehicle corners on the outside of the vehicle (locations indicated by (1) (corresponding to circle 1 in Figure 3), (2) (corresponding to circle 2 in Figure 3), (3) (corresponding to circle 3 in Figure 3), and (4) (corresponding to circle 4 in Figure 3)). Another positioning anchor is deployed inside the vehicle near the center console, rearview mirror, and ceiling (Figure 3 uses the center console as an example, and the location is indicated by (5) (corresponding to circle 5 in Figure 3)). In addition, in-vehicle wireless communication devices such as displays, microphones, speakers, cameras, or telematics boxes (T-BOX) may be reused as positioning anchors (not shown in Figure 3) to position positioning tags such as car keys or mobile phones. It can be seen that multiple positioning anchors can be used to position a single positioning tag in order to improve positioning accuracy.

[0122] In addition, for example, in Figure 3, the car key or mobile phone may be the primary node, and all positioning anchors in the vehicle are secondary nodes. Alternatively, any positioning anchor in the vehicle may be the primary node, and all other positioning anchors in the vehicle, as well as the car key (or mobile phone), are secondary nodes.

[0123] The communication system 100 may also be a communication domain. It should be understood that the communication system 100 shown in Figure 2 and the in-vehicle positioning scenario shown in Figure 3 are merely examples and are not intended to limit the embodiments of this application.

[0124] Communication between nodes within the communication system 100 may be carried out by transmitting OFDM signals, i.e., the measurement signal may be an OFDM signal. However, existing OFDM signal communication solutions introduce many errors in the processing steps for receiving and / or transmitting OFDM signals. In particular, synchronization phase errors are introduced. Synchronization phase errors cause deviations in the received signal and affect the accuracy of subsequent processing. For example, due to synchronization phase errors, errors in distance measurement results, angle measurement results, or positioning results are large, making it impossible to achieve the accuracy required for distance measurement, angle measurement, or positioning. To improve accuracy, one embodiment of this application provides a communication processing method.

[0125] For example, see Figure 4. The communication processing method provided in this embodiment of this application may include, but is not limited to, the following steps:

[0126] S401: The first node sends the first OFDM symbol to the second node, and the start time of the transmission of the first OFDM symbol is the first time point.

[0127] For example, the first node and the second node may be communication nodes in a communication system (e.g., communication system 100 shown in Figure 2). The first node may be the primary node in the communication system, and the second node may be a secondary node in the communication system. Alternatively, the first node may be a secondary node in the communication system, and the second node may be the primary node in the communication system. Alternatively, both the first node and the second node may be secondary nodes in the communication system. The primary node in the communication system constitutes time-frequency resources for the first node and the second node to carry out communication between the first node and the second node. The communication between the first node and the second node may be interactive communication of measurement signals, which may be initiated for a measurement (e.g., distance measurement, angle measurement, or positioning) at the first node or the second node.

[0128] During a specific implementation, after a primary node in a communication system has configured the time-frequency resource of a first node, the first node may transmit a measurement signal (hereinafter referred to as the first measurement signal) to a second node via the time-frequency resource. The first measurement signal is an OFDM signal. The first measurement signal includes one or more OFDM symbols. For example, the first measurement signal may be a frame signal, which may be, for example, a radio frame or a superframe. The description herein is merely an example, and it should be understood that the length of the first measurement signal is not limited in the embodiments of this application.

[0129] For example, the first OFDM symbol may be the first OFDM symbol in the first measurement signal, i.e., the first OFDM symbol transmitted in the first measurement signal.

[0130] For example, a first OFDM symbol includes a prefix section (abbreviated as the first prefix) and a valid data section (abbreviated as the first valid data). In a possible implementation, the first prefix is ​​the cyclic prefix of the first OFDM symbol. For an explanation of the cyclic prefix, see the glossary of terms above for OFDM symbols. Details will not be repeated here. In another possible implementation, the first prefix may also be the first valid data, i.e., all the valid data of the first OFDM symbol is used as the prefix. In this case, one OFDM symbol contains two repeating OFDM valid data. Alternatively, the first prefix may be other content. For example, zeros are appended to the header of the first OFDM symbol to function as the first prefix. Specific implementations of the first prefix are not limited to the embodiments of this application.

[0131] During the specific implementation, in the process of transmitting the first measurement signal, the first node can determine the start time for transmitting the first OFDM symbol, i.e., determine the first time point.

[0132] In a conceivable implementation, the first point in time may be the moment when the first node sends the start data for the first prefix. In other words, the first node uses the moment when the start data for the first prefix is ​​sent as the start point for sending the first OFDM symbol.

[0133] Alternatively, in another possible implementation, the first point in time may be the moment when the first node transmits the start data for the first valid data. In other words, the first node uses the moment when the start data for the first valid data is transmitted as the starting point for transmitting the first OFDM symbol.

[0134] For example, the first time point may be the moment when the initiation data of the first prefix or the initiation data of the first valid data is transmitted from the baseband processing module of the first node. Alternatively, for example, the first time point may be the moment when the initiation data of the first prefix or the initiation data of the first valid data is transmitted from the radio frequency antenna port of the first node. It should be understood that the description herein is merely an example and does not constitute a limitation to embodiments of this application.

[0135] S402: The second node receives the first OFDM symbol, and the start time of receiving the first OFDM symbol is the second time point.

[0136] In a specific implementation, after the primary node in the communication system configures the time-frequency resource of the second node, the second node can receive the first measurement signal via the time-frequency resource. The first OFDM symbol is the OFDM symbol first transmitted in the first measurement signal. In this case, the first OFDM symbol is also first received by the second node, compared to other OFDM symbols in the first measurement signal. The second node receives the first OFDM symbol after synchronizing with the first node, and as a result, the second node determines the start time for receiving the first OFDM symbol or the start time for receiving the first OFDM symbol. For example, time synchronization between the first and second nodes may be performed by transmitting a synchronization signal or by using another synchronization method. This is not limited to the embodiments of this application.

[0137] Based on the time synchronization between the second node and the first node, the start time when the second node receives the first OFDM symbol can be determined as the second time point.

[0138] In a conceivable implementation, the second point in time functions as the moment when the second node receives the starting data for the first prefix. In other words, the second node uses the moment when the starting data for the first prefix is ​​received as the starting point for receiving the first OFDM symbol.

[0139] Alternatively, in another possible implementation, the second point in time functions as the moment the second node receives the starting data for the first valid data. In other words, the second node uses the moment the starting data for the first valid data is received as the starting point for receiving the first OFDM symbol.

[0140] For example, the second time point may be used as the moment when the starting point data of the first prefix or the starting point data of the first valid data reaches the baseband processing module of the second node. Alternatively, for example, the second time point may be used as the moment when the starting point data of the first prefix or the starting point data of the first valid data reaches the radio frequency antenna port of the second node. It should be understood that the description herein is merely an example and does not constitute a limitation to embodiments of this application.

[0141] For example, the second time point is determined based on time synchronization between the second node and the first node. Due to synchronization errors, the second time point is not necessarily the moment when the second node actually receives the start data for the first prefix or the start data for the first valid data. In a possible implementation, the second time point is the moment when the second node actually receives the start data for the first prefix or the start data for the first valid data. Alternatively, in another possible implementation, the second time point is earlier than the moment when the second node actually receives the start data for the first prefix or the start data for the first valid data. For easier understanding, please refer to Figure 5, for example. For example, the second time point functions as the moment when the second node receives the start data for the first prefix. In Figure 5, t2 is the second time point, and t2' is the moment when the second node actually receives the start data for the first prefix. We can see that t2 is earlier than t2'. A deviation δ exists between t2 and t2'. This deviation δ is due to a synchronization error. If the deviation δ due to the synchronization error is 0, then t2 is equal to t2'. In other words, the second time point is the moment when the second node actually receives the starting data for the first prefix. Similarly, the second time point functions as the moment when the second node receives the starting data for the first valid data. Further details will not be explained again.

[0142] In addition to synchronization errors, it can be understood that the aforementioned deviation δ may be caused by other reasons, such as device performance or hardware limitations of the transmitting and / or receiving nodes (e.g., inherent delays in the transceiver channel, or processing delays of the device or system). In this description of the embodiments of this application, the example in which the deviation δ is caused by synchronization errors will be used primarily. However, the reasons for the deviation δ are not limited to the embodiments of this application.

[0143] In a conceivable implementation, after determining the second time point, the second node uses the OFDM symbol that began to be received at the second time point as the first OFDM symbol, then demodulates the first OFDM symbol, and performs channel estimation on the first OFDM symbol to obtain channel state information (CSI) for each subcarrier within the OFDM symbol.

[0144] For example, if the second time point functions as the moment when the second node receives the starting data for the first prefix, the second node may first remove the first prefix from the first OFDM symbol and then perform channel estimation on the OFDM data from which the first prefix has been removed. Specifically, the OFDM data from which the first prefix has been removed is used as the first valid data, and channel estimation is performed on the first valid data to obtain the CSI of each subcarrier within the first OFDM symbol.

[0145] For example, the first prefix may be removed from the first OFDM symbol by using the following method: a second node may begin collecting data after a specific duration has elapsed, starting from a second time point (e.g., collecting data in a sampling manner). The specific duration is the duration of the length of the first prefix. The duration of the length of the first prefix is ​​the duration occupied by the first prefix, or the duration of the first prefix. The collected data is used as the first valid data. Alternatively, for example, the second node may begin collecting data at a second time point. After data collection is complete (e.g., the data collection duration reaches the duration of the length of the first measurement signal), the second node discards the data of the length of the first prefix that was collected first. The portion of the collected data that has not been discarded is then used as the first valid data. It should be understood that the description herein is merely an example and does not constitute a limitation to embodiments of this application. For ease of understanding, please refer, for example, to Figure 6. As shown in Figure 6, the second time point t2 functions as the moment when the second node receives the starting data for the first prefix (see the first prefix represented by the dashed line). Specifically, the hypothetical first OFDM symbol represented by the dashed line is used as the OFDM symbol that the second node begins to receive at the second time point t2. The actual first OFDM symbol (represented by the solid line) begins to be received by the second node at t2'. However, the second node still removes the first prefix from the first OFDM symbol by using the second time point t2 as the starting point. As can be seen from Figure 6, after the first prefix has been removed, the data for the first OFDM symbol that is actually collected by the second node is the data received by the second node between time points t2'' and t2''''. It can be seen that t2''''-t2'' is the duration of the length of the first valid data.In addition, if the first prefix is ​​a cyclic prefix, first valid data, etc., the data actually collected can accurately form the first valid data.

[0146] For example, if the second time point functions as the moment when the second node receives the starting data for the first valid data, the second node can begin collecting data at the second time point, use the collected data (e.g., data collected within a duration equal to the length of the first valid data, starting from the second time point) as the first valid data, and perform channel estimation on the first valid data to obtain the CSI of each subcarrier in the first OFDM symbol. For easier understanding, see, for example, Figure 7. As shown in Figure 7, the second time point t2 is the moment when the second node receives the starting data for the first valid data (see the first valid data represented by the dashed line). Specifically, the hypothetical first valid data represented by the dashed line is used as the first valid data that the second node begins receiving at the second time point t2. The actual first valid data (represented by the solid line) begins to be received by the second node at t2'. However, the second node begins collecting the first valid data by using the second time point t2 as the starting point. As can be seen from Figure 7, the data of the first OFDM symbol that is actually collected by the second node is the data received by the second node between the second time point t2 and time point t2''. It can be seen that t2''-t2 is the duration of the length of the first valid data. In addition, if the first prefix is ​​a cyclic prefix, the first valid data, etc., the data actually collected may precisely form the first valid data.

[0147] In a conceivable implementation, if the first measurement signal contains multiple OFDM symbols, the multiple OFDM symbols are transmitted sequentially. The first OFDM symbol is the symbol first received by the second node among the multiple OFDM symbols. The prefix length and the length of the valid data for each OFDM symbol are fixed, or in other words, the prefix length and the length of the valid data for each OFDM symbol are fixed, and both are specified in the protocol. Therefore, after it is determined that the start time when the second node receives the first OFDM symbol is time 2, the start time when another symbol in the multiple OFDM symbols is received can be calculated. For example, the multiple OFDM symbols are two OFDM symbols (abbreviated as symbol 1 and symbol 2). Assume that the start time when the second node receives symbol 1 is determined to be time 1. In addition, if the prefix length (or occupancy duration) and the length of the valid data (or occupancy duration) within each OFDM symbol are t A and t B Let's assume that this is the case. In this case, the starting point at time 1 when the second node receives symbol 2 is t A and t B This can be calculated as the time obtained by adding the values. After the start time for receiving another symbol is determined, the other symbol may be processed by referring to the aforementioned processing process for the first OFDM symbol. The details will not be repeated here.

[0148] S403: The second node begins sending the second OFDM symbol to the first node at the third time point, with a first predetermined duration interval between the third time point and the second time point.

[0149] During a specific implementation, after determining a second time point, the second node begins transmitting a second measurement signal to the first node after a first preset duration has elapsed, using the second time point as the starting point. The second measurement signal is an OFDM signal. The second measurement signal includes one or more OFDM symbols. For example, the second measurement signal may be a frame signal, such as a wireless frame or a superframe. The description herein is merely illustrative, and it should be understood that the length of the second measurement signal is not limited in the embodiments of this application.

[0150] For example, the second OFDM symbol may be the first OFDM symbol in the second measurement signal, i.e., the OFDM symbol initially transmitted in the second measurement signal.

[0151] For example, a second OFDM symbol includes a prefix section (abbreviated as the second prefix) and a valid data section (abbreviated as the second valid data). In a possible implementation, the second prefix is ​​a cyclic prefix of the second OFDM symbol. For an explanation of the cyclic prefix, see the glossary of terms above for OFDM symbols. Details will not be repeated here. In another possible implementation, the second prefix may also be the second valid data, i.e., all the valid data of the second OFDM symbol is used as the prefix. In this case, one OFDM symbol contains two repeating OFDM valid data. Alternatively, the second prefix may be other content. For example, zeros are appended to the header of the second OFDM symbol to function as the second prefix. Specific implementations of the second prefix are not limited to the embodiments of this application.

[0152] During the actual implementation, the third point in time is the moment when the second node sends the start data for the second prefix.

[0153] For example, if a second time point determined by a second node functions as the moment the second node receives the start point data of the first prefix, then the first preset duration is the sum of the duration of the length of the first measured signal and the first target duration. For example, in a possible implementation, the first target duration includes, for example, the duration of the switching gap GAP, or the duration of the system overhead symbol and GAP. See the relevant description in Figure 1 for the system overhead symbol and GAP, which will not be repeated here. Alternatively, in another possible implementation, in addition to the duration of the GAP (or the duration of the system overhead symbol and GAP), the first target duration may further include a first duration. The first duration may be, for example, the duration of one or more radio frames, or, for example, any specified duration. The first duration is not limited to the embodiments of this application. For example, within the first duration, the first node and / or the second node may or may not communicate with other nodes in the communication system. To facilitate understanding of the first pre-set duration, please refer to Figure 8, for example.

[0154] In Figure 8, the second time point t2 represents the moment when the second node receives the start data for the first prefix, and the third time point t3 represents the moment when the second node transmits the start data for the second prefix. As shown in Figure 8(a), we assume that the first measurement signal includes only the first OFDM symbol, and the first preset duration is the sum of the duration of the length of the first OFDM symbol and the first target duration. Alternatively, as shown in Figure 8(b), we assume that the first measurement signal includes multiple OFDM symbols, and the first preset duration is the sum of the duration of the total length of the multiple OFDM symbols and the first target duration. The length of the first target duration on the time axis shown in Figure 8 is an example and does not constitute a limitation to embodiments of this application. The same applies to the first target duration shown in the following figures. Further details are not described again.

[0155] Figure 8 primarily uses an example where the start data for the first prefix can be accurately received at the determined second time point. In another possible implementation, due to a deviation in the reception start time caused by synchronization errors, the determined second time point may be earlier than the moment the second node actually receives the start data for the first prefix. See, for example, Figure 9. In Figure 9, the dashed line represents a hypothetical first OFDM symbol, and the solid line represents an actual OFDM symbol. t2 is the second time point, t2' is the moment the second node actually receives the start data for the first prefix, and t3 is the third time point. As shown in Figure 9(a), we assume that the first measurement signal contains only the first OFDM symbol, and the first preset duration is the sum of the duration of the length of the first OFDM symbol and the first target duration. Alternatively, as shown in Figure 9(b), the first measurement signal is assumed to include multiple OFDM symbols, and the first preset duration is assumed to be the sum of the total duration of the multiple OFDM symbols and the first target duration. In addition, as can be seen from Figure 9, the deviation at the start of reception is caused by a synchronization error, but the second time point t2 is still used as the starting point of the first preset duration.

[0156] Alternatively, for example, if the second time point determined by the second node functions as the moment when the second node receives the start data of the first valid data, then the first preset duration is the sum of the duration of the remaining signal length obtained by removing the prefix of the first OFDM symbol from the first measurement signal and the first target duration. See, for example, Figure 10. Similarly, t2 is the second time point and t3 is the third time point. Assume that the first measurement signal contains only the first OFDM symbol, as shown in Figure 10(a), and the first preset duration is the sum of the duration of the length of the first valid data within the first OFDM symbol and the first target duration. Alternatively, assume that the first measurement signal contains multiple OFDM symbols, as shown in Figure 10(b), and the first preset duration is the sum of the duration of the total length of the remaining signal obtained by removing the prefix of the first OFDM symbol from the multiple OFDM symbols and the first target duration.

[0157] Figure 10 primarily uses an example where the start data of the first valid data can be received precisely at the determined second time point. In another possible implementation, due to a deviation in the reception start time caused by synchronization errors, the determined second time point may be earlier than the moment the second node actually receives the start data of the first valid data. See, for example, Figure 11. In Figure 11, the dashed line represents a hypothetical first OFDM symbol, and the solid line represents an actual OFDM symbol. t2 is the second time point, t2' is the moment the second node actually receives the start data of the first valid data, and t3 is the third time point. As shown in Figure 11(a), we assume that the first measurement signal contains only the first OFDM symbol, and the first preset duration is the sum of the duration of the length of the first valid data within the first OFDM symbol and the first target duration. Alternatively, as shown in Figure 11(b), the first measurement signal is assumed to contain multiple OFDM symbols, and the first preset duration is assumed to be the sum of the duration of the remaining signal obtained by removing the prefix of the first OFDM symbol from the multiple OFDM symbols, and the first target duration. In addition, as can be seen from Figure 11, the deviation at the start of reception is caused by a synchronization error, but the second time point t2 is still used as the starting point of the first preset duration.

[0158] Based on the illustrative descriptions in Figures 8 to 11, it can be seen that the second node begins transmitting the second OFDM symbol (or the second measurement signal) after a first preset duration has elapsed, starting from the reception start time t2 of the first measurement signal.

[0159] It should be understood that the above description of the first pre-set duration is merely an example. In a specific implementation, the first pre-set duration may alternatively be any other user-defined pre-set duration. This is not limited to the embodiments of this application. For example, the first pre-set duration may be a duration specified in a protocol.

[0160] S404: The first node begins receiving the second OFDM symbol at time 4, the fourth time point serving as the start time for reception when the first node receives the second OFDM symbol, with a second pre-set duration interval between time 4 and time 1.

[0161] In a specific implementation, after determining the first time point, the first node begins receiving the second OFDM symbol from the second node after a second pre-defined duration, using the first time point as the starting point, has elapsed. For example, the second pre-defined duration may be the same as or different from the first pre-defined duration. Alternatively, in another possible implementation, the second pre-defined duration may be defined as different from the first pre-defined duration. In the following explanation, the example in which the second pre-defined duration is defined as the same as the first pre-defined duration will be used primarily for illustrative purposes. To facilitate understanding of the second pre-defined duration, please refer to, for example, Figure 12 or Figure 13.

[0162] Figure 12 uses an example where the first time point is the moment the first node transmits the start data for the first prefix. Figure 13 uses an example where the first time point is the moment the first node transmits the start data for the first valid data. In Figures 12 and 13, t1 is the first time point, t4 is the fourth time point, and t4' is the moment the first node actually receives the start data for the second prefix with the second OFDM symbol. The second preset duration in Figure 12 is the sum of the duration of the length of the first measured signal and the second target duration. The second preset duration in Figure 13 is the sum of the duration of the remaining signal length obtained by removing the first prefix from the first measured signal and the second target duration. For the second target duration, see, for example, the related explanation of the first target duration. Thus, the second target duration may be the same as or different from the first target duration.

[0163] As can be seen from Figures 12 and 13, the first node begins transmitting the first measurement signal at a first time point t1, and then begins receiving the second OFDM symbol from the second node after a predetermined duration 2 has elapsed. That is, the second OFDM symbol begins to be received at a fourth time point t4. Even if the second OFDM symbol is not transmitted to the first node at the fourth time point t4 due to transmission delay and synchronization errors, but is transmitted to the first node at time point t4', the fourth time point t4 is still used as the start time for reception when the first node receives the second OFDM symbol. The first sample collected at the fourth time point t4 is used as the first sample of the second OFDM symbol. Figures 12 and 13 primarily illustrate the example where the first measurement signal is the first OFDM symbol. The same applies when the first measurement signal contains multiple OFDM symbols. Further details are not explained again.

[0164] For example, based on the above description, Figure 12, and Figure 13, it can be seen that, regardless of whether the first preset duration is equal to the second preset duration, the reception start time for the second OFDM symbol, as determined by the first node (i.e., the fourth time point), is earlier than or equal to the moment when the start data for the second prefix of the second OFDM symbol is sent to the first node (i.e., time point t4'). In addition, the same applies to the second node receiving the first OFDM symbol. Regardless of whether the first preset duration is equal to the second preset duration, the reception start time for the first OFDM symbol, as determined by the second node (i.e., the second time point), is earlier than or equal to the moment when the start data for the first prefix of the first OFDM symbol is sent to the second node (i.e., time point t2'). Here, an example is used where the reception start time is the moment when the start data for the prefix is ​​received. Similarly, the reception start time is the moment when the start data for the valid data is received. Further details will not be provided.

[0165] In a conceivable implementation, after receiving the second OFDM symbol, the first node demodulates the second OFDM symbol and performs channel estimation on the second OFDM symbol to obtain the CSI of each subcarrier within the OFDM symbol.

[0166] For example, the fourth time point functions as the moment when the first node receives the starting data for the second prefix. In this case, the first node can first remove the second prefix from the second OFDM symbol and then perform channel estimation on the OFDM data from which the second prefix has been removed. Specifically, the OFDM data from which the second prefix has been removed is used as the second valid data, and channel estimation is performed on the second valid data to obtain the CSI of each subcarrier in the second OFDM symbol.

[0167] For example, the second prefix may be removed from the second OFDM symbol by using the following method: the first node may begin collecting data after a specific duration has elapsed, starting from a fourth time point (e.g., collecting data in a sampling manner). The specific duration is the duration of the length of the second prefix. The duration of the length of the second prefix is ​​the duration occupied by the second prefix, or the duration of the second prefix. The collected data is used as the second valid data. Alternatively, for example, the first node may begin collecting data at a fourth time point. After data collection is complete (e.g., the data collection duration reaches the duration of the length of the second measurement signal), the first node discards the data of the length of the second prefix that was collected first. The portion of the collected data that has not been discarded is then used as the second valid data. It should be understood that the description herein is merely an example and does not constitute a limitation to embodiments of this application. For ease of understanding, see, for example, the relevant description in Figure 6. In Figure 6, for the sake of understanding, the first OFDM symbol may be considered as the second OFDM symbol, time t2 may be considered as the fourth time point, and time t2' may be considered as the moment when the second OFDM symbol is actually sent to the first node.

[0168] In a conceivable implementation, if the second measurement signal contains multiple OFDM symbols, the multiple OFDM symbols are transmitted sequentially. The second OFDM symbol is the first symbol received by the first node among the multiple OFDM symbols. The length of the prefix and the length of the valid data for each OFDM symbol are fixed, or in other words, the length of the prefix and the length of the valid data for each OFDM symbol are fixed, and both are specified in the protocol. Therefore, after it is determined that the start time for the first node to receive the second OFDM symbol is the fourth time point, the start time for receiving another symbol among the multiple OFDM symbols can be calculated. After the start time for receiving another symbol is determined, the other symbol can be processed by referring to the processing process described above for the second OFDM symbol. Details will not be repeated here.

[0169] Based on the above description, in step S402, the second node can obtain a channel estimation result (abbreviated as the first channel estimation result) based on the received first measurement signal. The first channel estimation result includes a CSI value obtained by the second node by performing channel estimation for each OFDM symbol included in the first measurement signal. In addition, in step S404, the first node can obtain a channel estimation result (abbreviated as the second channel estimation result) based on the received second measurement signal. The second channel estimation result includes a CSI value obtained by the first node by performing channel estimation for each OFDM symbol included in the second measurement signal.

[0170] In a conceivable implementation, after obtaining the first channel estimation result, the second node can transmit the first channel estimation result to the first node, and as a result, the first node performs distance measurement, angle measurement, or positioning based on the first and second channel estimation results. For example, distance measurement is used as one example. The first node can obtain a composite channel measurement value by performing a composite multiplication on the first and second channel estimation results, and then input the composite channel measurement value into a distance measurement solution algorithm (e.g., a super-resolution algorithm) to obtain a distance measurement result between the first and second nodes.

[0171] Alternatively, in another possible implementation, after obtaining the second channel estimation result, the first node can transmit the second channel estimation result to the second node, and as a result, the second node performs distance measurement, angle measurement, or positioning based on the first channel estimation result and the second channel estimation result.

[0172] Alternatively, in another possible implementation, after obtaining the first channel estimation result, the second node transmits the first channel estimation result to the third node, and after obtaining the second channel estimation result, the first node also transmits the second channel estimation result to the third node, and as a result, the third node performs distance measurement, angle measurement, or positioning based on the first channel estimation result and the second channel estimation result. For example, the third node may be a node other than the first and second nodes in a communication system.

[0173] In a conceivable implementation, during the process of transmitting the second measurement signal, the second node can determine the start time (abbreviated as the fifth time point) for transmitting the second OFDM symbol.

[0174] In a conceivable implementation, the fifth point in time may be the moment when the second node sends the start data for the second prefix. In other words, the second node uses the moment when the start data for the second prefix is ​​sent as the starting point for sending the second OFDM symbol.

[0175] Alternatively, in another possible implementation, the fifth point in time may be the moment when the second node transmits the start data for the second valid data. In other words, the second node uses the moment when the start data for the second valid data is transmitted as the starting point for transmitting the second OFDM symbol.

[0176] For example, the fifth time point may be the moment when the initiation data for the second prefix or the initiation data for the second valid data is transmitted from the baseband processing module of the second node. Alternatively, for example, the fifth time point may be the moment when the initiation data for the second prefix or the initiation data for the second valid data is transmitted from the radio frequency antenna port of the second node. It should be understood that the description herein is merely an example and does not constitute a limitation to embodiments of this application.

[0177] In addition, during the process of receiving the second measurement signal, the first node can determine the start time of reception for the second OFDM symbol. This start time of reception will be referred to as the sixth time point.

[0178] In a conceivable implementation, the sixth point in time functions as the moment the first node receives the start data for the second prefix. In other words, the first node uses the moment the start data for the second prefix is ​​received as the starting point for receiving the second OFDM symbol.

[0179] Alternatively, in another possible implementation, the sixth point in time functions as the moment the first node receives the start data for the second valid data. In other words, the first node uses the moment the start data for the second valid data is received as the starting point for receiving the second OFDM symbol.

[0180] For example, the sixth time point may be used as the moment when the start data of the second prefix or the start data of the second valid data reaches the baseband processing module of the first node. Alternatively, for example, the sixth time point may be used as the moment when the start data of the second prefix or the start data of the second valid data reaches the radio frequency antenna port of the first node. It should be understood that the description herein is merely an example and does not constitute a limitation to embodiments of this application.

[0181] For example, the sixth time point is determined based on time synchronization between the first and second nodes. Due to synchronization errors, the sixth time point is not necessarily the moment when the first node actually receives the start data for the second prefix or the start data for the second valid data. For easier understanding, please refer to the relevant explanation in Figure 5, for example. The principle is the same. We will not repeat the details here.

[0182] In a conceivable implementation, after determining the sixth time point, the first node can begin receiving the second OFDM symbol at the sixth time point, then demodulate the second OFDM symbol, perform channel estimation on the second OFDM symbol, and obtain the CSI of each subcarrier within the OFDM symbol. For a specific implementation process, see, for example, the relevant description of how the second node receives and obtains the CSI of each subcarrier within the first OFDM symbol after determining the second time point in step S402. The principle is the same. Details will not be repeated here.

[0183] In a conceivable implementation, if the second measurement signal contains multiple OFDM symbols, the multiple OFDM symbols are transmitted sequentially. The second OFDM symbol is the first symbol received by the first node among the multiple OFDM symbols. The length of the prefix and the length of the valid data for each OFDM symbol are fixed, or in other words, the length of the prefix and the length of the valid data for each OFDM symbol are fixed, and both are specified in the protocol. Therefore, after it is determined that the start time for the first node to receive the second OFDM symbol is the sixth time, the start time for receiving another symbol among the multiple OFDM symbols can be calculated. After the start time for receiving another symbol is determined, the other symbol can be processed by referring to the processing process described above for the second OFDM symbol. Details will not be repeated here.

[0184] During a specific implementation, after determining the sixth time point, the first node begins transmitting a third measurement signal to the second node after a third preset duration has elapsed, using the sixth time point as the starting point. The third measurement signal is an OFDM signal. The third measurement signal includes one or more OFDM symbols. For example, the third measurement signal may be a frame signal, such as a wireless frame or a superframe. The description herein is merely an example, and it should be understood that the length of the third measurement signal is not limited in the embodiments of this application. The third preset duration may be the same as or different from the first preset duration. This is not limited to the embodiments of this application. Furthermore, for a description of the third preset duration, see, for example, the preceding description of the first preset duration. Details will not be repeated here.

[0185] For example, the third OFDM symbol may be the first OFDM symbol in the third measurement signal, i.e., the first OFDM symbol transmitted in the third measurement signal. Similarly, the third OFDM symbol includes a prefix (abbreviated as the third prefix) and a valid data (abbreviated as the third valid data). For an explanation of prefixes, please refer to the previous explanation. We will not repeat the details here.

[0186] In the actual implementation, the point in time after the third pre-set duration, starting from the sixth point in time, is abbreviated as the seventh point in time. Specifically, the seventh point in time is the moment when the first node sends the start data for the third prefix.

[0187] In addition, the second node, after determining the fifth time point, begins receiving the third OFDM symbol from the first node after a fourth preset duration has elapsed, using the fifth time point as the starting point. The time point after the fourth preset duration, starting from the fifth time point, is abbreviated as the eighth time point. Specifically, the eighth time point is the moment when the second node receives the starting point data for the third prefix. For specific implementation details, please refer to the above description in Figure 12 or Figure 13, for example. The principle is the same. Details will not be repeated here. The fourth preset duration may be the same as or different from the second preset duration. This is not limited to the embodiments of this application. Furthermore, for a description of the fourth preset duration, please refer to the above description of the second preset duration, for example. Details will not be repeated here.

[0188] To facilitate understanding of the fifth through eighth time points, refer to Figure 14, for example. In Figure 14, t1 is the first time point, t2 is the second time point, t2' is the moment when the second node actually receives the start data for the first prefix in the first OFDM symbol, t3 is the third time point, t4 is the fourth time point, t4' is the moment when the first node actually receives the start data for the second prefix in the second OFDM symbol, t5 is the fifth time point, t6 is the sixth time point, t7 is the seventh time point, and t8 is the eighth time point. Also in Figure 14, an example is used where the fifth time point is the moment when the second node transmits the start data for the second valid data. Also, an example is used where the sixth time point is the moment when the first node receives the start data for the second valid data. It should be understood that Figure 14 is merely an example and does not constitute a limitation to embodiments of this application.

[0189] Based on the above description, in step S404, the first node can obtain a channel estimation result (i.e., a second channel estimation result) based on the received second measurement signal. Furthermore, the second node can obtain a channel estimation result (abbreviated as a third channel estimation result) based on the received third measurement signal. The third channel estimation result includes a CSI value obtained by the second node by performing channel estimation for each OFDM symbol contained in the third measurement signal.

[0190] In a conceivable implementation, after obtaining the third channel estimation result, the second node can transmit the third channel estimation result to the first node, and as a result, the first node performs distance measurement, angle measurement, or positioning based on the third channel estimation result and the second channel estimation result.

[0191] Alternatively, in another possible implementation, after obtaining the second channel estimation result, the first node can transmit the second channel estimation result to the second node, and as a result, the second node performs distance measurement, angle measurement, or positioning based on the third channel estimation result and the second channel estimation result.

[0192] Alternatively, in another possible implementation, after obtaining the third channel estimation result, the second node transmits the third channel estimation result to the fourth node, and after obtaining the second channel estimation result, the first node also transmits the second channel estimation result to the fourth node, and as a result, the fourth node performs distance measurement, angle measurement, or positioning based on the third channel estimation result and the second channel estimation result. For example, the fourth node may be a node other than the first and second nodes in the communication system.

[0193] In a conceivable implementation, as can be seen from the above description, two rounds of measurement signal exchange are performed between the first node and the second node. The first round of exchange is as follows: The first node sends the first measurement signal to the second node, the second node receives the first measurement signal and sends the second measurement signal to the first node. The second round of exchange is as follows: The second node sends the second measurement signal to the first node, the first node receives the second measurement signal and sends the third measurement signal to the second node. Based on the above description, the result of distance measurement, angle measurement, or positioning (abbreviated as the first measurement result) can be obtained through the first round of exchange. The result of distance measurement, angle measurement, or positioning (abbreviated as the second measurement result) can be obtained through the second round of exchange. In this case, the first node, the second node, or another node (for example, the third or fourth node) within the communication system can combine the first and second measurement results to obtain more accurate measurement results. For example, the two measurement results may be subjected to processing such as averaging or weighted averaging, resulting in the final measurement results being more accurate and having higher precision.

[0194] It should be understood that the above uses only the results of two rounds as an example for illustrative purposes. In a specific implementation, three or more exchange rounds may be performed. For example, see Figure 15. Figure 15 uses an example where the first node is the G node and the second node is the T node. Both the G measurement symbol and the T measurement symbol are OFDM symbols. TX represents transmission and RX represents reception. Ta, Tb, Tc, and Td are the lengths of the configured time-domain resources. In a possible implementation, Ta is the first preset duration, Tb is the second preset duration, Tc is the third preset duration, and Td is the fourth preset duration. From Figure 15, it can be seen that multiple measurement signal exchanges may be performed between the G node and the T node. Therefore, more accurate measurement results can be obtained. For details, see the explanation of the two exchanges above. The details will not be repeated here.

[0195] In conclusion, compared to the conventional technique in which any point within the cyclic prefix (CP) of an OFDM symbol is used as the starting point of the OFDM symbol, this solution has a predetermined duration interval between the transmission of a signal by the first node and the reception of a signal by the first node, where the predetermined duration is the length of time after a predetermined duration of the target starting from the starting point of the transmitted OFDM symbol. Then, in order to uniquely determine the starting point of the OFDM symbol, the time when the signal begins to be received is used as the starting point of the received OFDM symbol, the corresponding channel information is extracted and channel estimation is performed, the result of the distance measurement or angle measurement is calculated, thereby reducing the phase offset caused by synchronization errors between the transmitter and receiver and improving the accuracy of the distance measurement, angle measurement, or positioning (the distance measurement result can be used for positioning). In addition, there is also a predetermined duration interval between the reception of a signal by the second node and the transmission of a signal by the second node. In other words, the time interval between transmission and reception by the first node is the same as the time interval between reception and transmission by the second node. Furthermore, in the second node, the predetermined duration is the length of time after a preset duration of the target starting from the starting point of the received OFDM symbol. As a result, the first node can uniquely determine the starting point of the OFDM symbol based on the predetermined duration, extract the corresponding channel information, perform channel estimation, calculate the result of the distance measurement or angle measurement, thereby reducing the phase offset caused by synchronization errors between the transmitter and receiver and improving the accuracy of the distance measurement, angle measurement, or positioning. To facilitate understanding of the beneficial effects implemented in this embodiment, an example is provided below with reference to Figure 16.

[0196] In Figure 16, an example is used where the measurement signal is a single OFDM symbol. Also in Figure 16, the first time point t1 is the moment when the start data of the first prefix is ​​transmitted, the second time point t2 is the moment when the start data of the first prefix is ​​received, the third time point t3 is the moment when the start data of the second prefix is ​​transmitted, and the fourth time point t4 is the moment when the start data of the second prefix is ​​received. Time point t2' is the moment when the second node actually receives the start data of the first prefix. Time point t4' is the moment when the first node actually receives the start data of the second prefix.

[0197] For example, the first time point t1 may be used as the moment when the starting data for the first prefix is ​​transmitted from the baseband processing module of the first node. The second time point t2 may be used as the moment when the starting data for the first prefix reaches the baseband processing module of the second node. The third time point t3 may be used as the moment when the starting data for the second prefix is ​​transmitted from the baseband processing module of the second node. The fourth time point t4 may be used as the moment when the starting data for the second prefix reaches the baseband processing module of the first node.

[0198] Alternatively, for example, the first time point t1 may be used as the moment when the intro data for the first prefix is ​​transmitted from the radio frequency antenna port of the first node. The second time point t2 may be used as the moment when the intro data for the first prefix reaches the radio frequency antenna port of the second node. The third time point t3 may be used as the moment when the intro data for the second prefix is ​​transmitted from the radio frequency antenna port of the second node. The fourth time point t4 may be used as the moment when the intro data for the second prefix reaches the radio frequency antenna port of the first node.

[0199] Alternatively, in another conceivable implementation, the transmission delay between the baseband processing module and the node's radio frequency antenna port may be learned. Once the time point in time when the data is in the baseband processing module is learned, the time point in time when the data is in the radio frequency antenna port can be calculated. Conversely, once the time point in time when the data is in the radio frequency antenna port is learned, the time point in time when the data is in the baseband processing module can be calculated. Thus, if it is guaranteed that the time interval between the third time point t3 and the second time point t2 is equal to the time interval between the fourth time point t4 and the first time point t1, or if a preset time interval condition is met, the time point in the baseband processing module or radio frequency antenna port can be selected based on actual requirements. This is not limited to the embodiments of this application.

[0200] For example, in Figure 16, initially, the first node begins transmitting the first OFDM symbol at the first time point t1. After performing time synchronization with the first node, the second node decides to begin receiving the first OFDM symbol at the second time point t2. Since the propagation delay of the first OFDM symbol in air is τ, the first OFDM symbol actually begins transmitting to the second node from time point t2'. It can be seen that a time synchronization error causes a reception time deviation (also called a sampling deviation). Let the sampling deviation be δ, as shown in Figure 16. Despite the sampling deviation, the presence of the prefix still allows for the collection of complete first valid data. Refer to the actually used data portion corresponding to the first OFDM symbol in Figure 16. To obtain the CSI (abbreviated as the first CSI), channel estimation is performed on the collected first valid data. In addition, the second node begins transmitting the second OFDM symbol to the first node after a first preset duration has elapsed, starting from the second time point t2, i.e., it begins transmitting the second OFDM symbol at the third time point t3. The first node begins receiving the second OFDM symbol after a first preset duration has elapsed, starting from the first time point t1, i.e., it begins receiving the second OFDM symbol at the fourth time point t4. Since the propagation delay of the second OFDM symbol in air is τ, the second OFDM symbol actually begins transmitting to the first node from time point t4'. There is also a sampling deviation between time point t4' and the fourth time point t4, which is 2τ-δ. Similarly, despite the sampling deviation, complete second valid data can still be collected due to the presence of the prefix. See the actually used data portion corresponding to the second OFDM symbol in Figure 16. To obtain the CSI (or second CSI), channel estimation is performed on the second valid data collected. Based on the two sampling deviations δ and 2τ-δ mentioned above, a composite multiplication is performed on the first and second CSIs, after which the sampling deviations can be reduced or canceled. Distancing is used as an example.After the result of composite multiplication is input to a distance-solving algorithm such as a super-resolution algorithm, the total time of flight (TOF) of the first and second OFDM symbols transmitted between the first and second nodes can be estimated to be 2τ. In this case, the actual time of flight of one OFDM symbol transmitted between the first and second nodes can be obtained by dividing the estimated result 2τ by 2. Thus, the distance between the first and second nodes can be calculated. It should be understood that distance measurement is used only as an example herein. In a specific implementation, further measurements such as angle measurements can be performed, and positioning can be performed using the distance measurement results.

[0201] Based on the above description, in this embodiment, the sampling deviation between the first node and the second node caused by synchronization errors can be reduced or even canceled out, thereby reducing the phase offset caused by synchronization errors between the transmitter and receiver and improving the accuracy of the measurement.

[0202] In a conceivable implementation, if the first preset duration differs from the second preset duration, the estimated measurement result will have a deviation because the first preset duration differs from the second preset duration. The deviation is generally fixed or, if it does vary, can be ignored. Taking this into consideration, measurement training may be performed in advance based on a first preset duration and a second preset duration that are different from each other in order to obtain the deviation. The deviation is then used as a parameter for the aforementioned algorithm for estimating the measurement result based on composite channel measurement (e.g., the super-resolution algorithm described above). In this way, after the measurement result is obtained by the algorithm through estimation based on composite channel measurement, the measurement result is corrected based on the deviation to obtain a highly accurate measurement result. The configuration for training must match the configuration of the first preset duration and the second preset duration in actual work. To facilitate understanding, let's explain with an example. For example, distance measurement is used as an example. Assume that the deviation obtained by the above training is q meters. The distance measurement result obtained by the algorithm through estimation based on composite channel measurement is L meters. In this case, the corrected measurement result, after correcting the measurement result based on the deviation, is Lq meters. It should be understood that the description herein is merely illustrative. In specific implementations, the deviation may alternatively be expressed in terms of time, and the time deviation multiplied by the speed of light is the distance deviation. For example, in specific implementations, other processes may be performed, such as correcting the measured transmission delay, insofar as similar effects can be achieved. The description herein does not constitute a limitation to embodiments of this application.

[0203] In distance measurement, positioning, and angle measurement, regardless of whether the first preset duration and the second preset duration are set to the same value (for example, the first and second preset durations may be specified by the protocol, configured by the communication system, specified by default, or specified in another way), any effects resulting from errors present in the device or system, such as inherent delays in the transceiver channel (e.g., transmission delays between the baseband processing module and the radio frequency antenna port) or system processing delays, must be reduced or eliminated by calibration, pre-training, etc. In some cases, system errors may be eliminated together with, or separately from, errors caused by the first and second preset durations, which may be set differently.

[0204] The above primarily describes the communication processing method provided in embodiments of this application. To implement the corresponding functions described herein, it may be understood that each communication node includes a corresponding hardware structure and / or a corresponding software module for performing the functions. Referring to the exemplary units and steps described in the embodiments disclosed herein, this application may be implemented by hardware or a combination of hardware and computer software. Whether the functions are implemented by hardware or by hardware driven by computer software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use various methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0205] In embodiments of this application, a communication node may be divided into functional modules based on the method examples described above. For example, functional modules corresponding to functions may be obtained by the division, or two or more functions may be integrated into a single module. The integrated module may be implemented in hardware form or in the form of a software functional module. It should be noted that in embodiments of this application, module division is merely an example and only a logical functional division. Other division methods may be used in actual implementations.

[0206] Where functional modules corresponding to functions are obtained by division, one embodiment of this application further provides a communication node configured to carry out any one of the methods described above. For example, a communication node is provided that includes a unit (or means) configured to carry out any one of the steps described above.

[0207] For example, Figure 17 is a diagram of the structure of a communication node 1700 according to one embodiment of this application. The communication node 1700 may be a first node configured to implement any embodiment of the communication processing method described above. The communication node 1700 may include a transmitting unit 1701 and a receiving unit 1702.

[0208] The transmitting unit 1701 is configured to transmit a first OFDM symbol to a second node, with the start time of transmission of the first OFDM symbol being the first time point. The transmitting unit 1701 is configured to perform the transmission operation of step S401 shown in Figure 4.

[0209] The receiving unit 1702 is configured to begin receiving the second OFDM symbol from the second node at a second time point, with a first preset duration interval between the second time point and the first time point, the second time point serving as the start time for receiving the second OFDM symbol at the communication node. The receiving unit 1702 is configured to perform the receiving operation of step S404 shown in Figure 4.

[0210] The first OFDM symbol and the second OFDM symbol are used for distance measurement, angle measurement, or positioning.

[0211] In a conceivable implementation, the first OFDM symbol includes a first prefix and first valid data, the first time point functions as the moment when the communication node transmits the start data for the first prefix, or the first time point functions as the moment when the communication node transmits the start data for the first valid data, and / or The second OFDM symbol includes the second prefix and the second valid data, and the fourth time point functions as the moment when the communication node receives the start data for the second prefix.

[0212] In a conceivable implementation, the second OFDM symbol includes the second prefix and the second valid data, and the fourth time point functions as the moment when the communication node receives the start data for the second prefix.

[0213] The communication node further includes a collection unit configured to begin collecting second valid data after a second pre-set duration has elapsed, starting from a second time point, where the second pre-set duration is a duration equal to the length of the second prefix.

[0214] In a conceivable implementation, the first OFDM symbol and the second OFDM symbol are used to obtain measurement results for distance measurement, angle measurement, or positioning, and the first preset duration is used to correct the measurement results.

[0215] In possible implementations, the first OFDM symbol includes a first prefix and first valid data, the first prefix being the cyclic prefix of the first OFDM symbol, or the first prefix being the first valid data, and / or The second OFDM symbol includes a second prefix and second valid data, where the second prefix is ​​the cyclic prefix of the second OFDM symbol, or the second prefix is ​​the second valid data.

[0216] In a conceivable implementation, the communication node further includes a processing unit configured to determine a channel estimation result based on a second OFDM symbol and to perform distance measurement, angle measurement, or positioning based on the channel estimation result.

[0217] Alternatively, after the processing unit determines the channel estimation result based on the second OFDM symbol, the transmitting unit 1701 is further configured to transmit the channel estimation result to the third node so that the third node can perform distance measurement, angle measurement, or positioning based on the channel estimation result.

[0218] For specific operation and beneficial effects of the units within the communication node 1700 shown in Figure 17, please refer to the corresponding descriptions in Figure 4 and the hypothetical embodiments in Figure 4. Details will not be repeated here.

[0219] For example, Figure 18 is a diagram of the structure of a communication node 1800 according to one embodiment of this application. The communication node 1800 may be a second node configured to implement any embodiment of the communication processing method described above. The communication node 1800 may include a receiving unit 1801 and a transmitting unit 1802.

[0220] The receiving unit 1801 is configured to receive a first OFDM symbol from a first node, and the transmission start time of the first OFDM symbol, which is determined by the communication node, is the first time. The receiving unit 1801 is configured to perform the receiving operation of step S402 shown in Figure 4.

[0221] The transmitting unit 1802 is configured to begin transmitting a second OFDM symbol to the first node at a second time point, with a first preset duration interval between the second and first time points. The transmitting unit 1802 is configured to perform the transmission operation of step S403 shown in Figure 4.

[0222] The first OFDM symbol and the second OFDM symbol are used for distance measurement, angle measurement, or positioning.

[0223] In a conceivable implementation, the first OFDM symbol includes a first prefix and first valid data, the first time point functions as the moment when the communication node receives the start data for the first prefix, or the first time point functions as the moment when the communication node receives the start data for the first valid data, and / or The second OFDM symbol includes the second prefix and the second valid data, and the second time point is the moment when the communication node transmits the start data for the second prefix.

[0224] In a conceivable implementation, the first OFDM symbol and the second OFDM symbol are used to obtain measurement results for distance measurement, angle measurement, or positioning, and the first preset duration is used to correct the measurement results.

[0225] In a conceivable implementation, the third time point is the start of transmission of the second OFDM symbol, which is determined by the communication node. The receiving unit 1801 is further configured to start receiving the third OFDM symbol from the first node at the fourth time point, after the transmitting unit 1802 has started transmitting the second OFDM symbol to the first node at the second time point, with a second preset duration interval between the fourth time point and the third time point, where the fourth time point functions as the start of reception when the communication node receives the third OFDM symbol.

[0226] In possible implementations, the first OFDM symbol includes a first prefix and first valid data, the first prefix is ​​the cyclic prefix of the first OFDM symbol, or the first prefix is ​​the first valid data, and The second OFDM symbol includes a second prefix and second valid data, where the second prefix is ​​the cyclic prefix of the second OFDM symbol, or the second prefix is ​​the second valid data.

[0227] In a conceivable implementation, the communication node further includes a processing unit configured to determine a channel estimation result based on a first OFDM symbol and to perform distance measurement, angle measurement, or positioning based on the channel estimation result.

[0228] Alternatively, after the processing unit determines the channel estimation result based on the first OFDM symbol, the transmitting unit 1802 is further configured to transmit the channel estimation result to the third node so that the third node can perform distance measurement, angle measurement, or positioning based on the channel estimation result.

[0229] For specific operation and beneficial effects of the units within the communication node 1800 shown in Figure 18, please refer to the corresponding descriptions in Figure 4 and the hypothetical embodiments in Figure 4. Details will not be repeated here.

[0230] For example, Figure 19 is a diagram of the structure of a possible physical entity of a communication node according to this application. The communication node 1900 shown in Figure 19 may be a first node configured to implement any embodiment of the communication processing method described above. The communication node 1900 includes a processor 1901, a memory 1902, and a communication interface 1903. The processor 1901, the communication interface 1903, and the memory 1902 may be connected to each other or connected to each other via a bus 1904.

[0231] For example, memory 1902 is configured to store computer programs and data for communication node 1900. Memory 1902 may include, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), compact disc read-only memory (CD-ROM), etc.

[0232] The software or program code necessary for all or part of the functions of the communication node in the embodiment of the method described above can be stored in memory 1902.

[0233] In a conceivable implementation, if the software or program code required for part of the function is stored in memory 1902, the processor 1901 can, in addition to calling the program code in memory 1902 to implement part of the function, cooperate with another component (e.g., communication interface 1903) to jointly complete another function described in the embodiment of the method (e.g., data reception or transmission function).

[0234] There may be multiple communication interfaces 1903 configured to assist the communication node 1900 in communicating, for example, receiving or sending data or messages.

[0235] For example, processor 1901 may be a processor, which is a circuit having data processing capabilities. In one implementation, the processor may be a circuit having the ability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can perform specific functions by using the logical relationships of hardware circuits. The logical relationships of hardware circuits may be fixed or reconfigurable. For example, the processor is a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process by which the processor loads a configuration document to perform the hardware circuit configuration may be understood as the process by which the processor loads instructions to perform some or all of the functions of the aforementioned units. In addition, the processor may also be hardware circuitry designed for artificial intelligence, and can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), or a deep learning processing unit (DPU). Alternatively, the processor 1901 may be a combination of at least two of these processor forms.

[0236] The processor 1901 may be configured to read a program stored in memory 1902 in order to perform the operations performed by the first node in Figure 4 and by the possible embodiments in Figure 4.

[0237] For specific operation and beneficial effects of the units within the communication node 1900 shown in Figure 19, please refer to the corresponding descriptions in Figure 4 and the hypothetical embodiments in Figure 4. Details will not be repeated here.

[0238] For example, Figure 20 is a diagram of the structure of a possible physical entity of a communication node according to this application. The communication node 2000 shown in Figure 20 may be a second node configured to implement any embodiment of the communication processing method described above. The communication node 2000 includes a processor 2001, a memory 2002, and a communication interface 2003. The processor 2001, the communication interface 2003, and the memory 2002 may be interconnected via a bus 2004.

[0239] For example, memory 2002 is configured to store computer programs and data for communication node 2000. Memory 2002 may include, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), compact disc read-only memory (CD-ROM), etc.

[0240] The software or program code necessary for all or part of the functions of the communication node in the embodiment of the method described above can be stored in memory 2002.

[0241] In a conceivable implementation, if the software or program code required for part of the function is stored in memory 2002, the processor 2001 can, in addition to calling the program code in memory 2002 to implement part of the function, cooperate with another component (e.g., communication interface 2003) to jointly complete another function described in the embodiment of the method (e.g., data reception or transmission function).

[0242] There may be multiple communication interfaces 2003 configured to assist the communication node 2000 in communication, such as receiving or sending data or messages.

[0243] For example, processor 2001 may be a processor, which is a circuit having data processing capabilities. In one implementation, the processor may be a circuit having the ability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can perform specific functions by using the logical relationships of hardware circuits. The logical relationships of hardware circuits may be fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process by which the processor loads a configuration document to perform the hardware circuit configuration may be understood as the process by which the processor loads instructions to perform some or all of the functions of the aforementioned units. Furthermore, the processor may also be a hardware circuit designed for artificial intelligence, and can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), or a deep learning processing unit (DPU). Alternatively, the processor 2001 may be a combination of at least two of these processor forms.

[0244] The processor 2001 may be configured to read a program stored in memory 2002 in order to perform the operations performed by the second node in Figure 4 and by the possible embodiments in Figure 4.

[0245] For specific operation and beneficial effects of the units within communication node 2000 shown in Figure 20, please refer to the corresponding descriptions in Figure 4 and the hypothetical embodiments in Figure 4. Details will not be repeated here.

[0246] One embodiment of this application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program or computer instruction, which is executed by a processor to carry out a method performed by the first node in any implementation of Figure 4 and in any conceivable implementation of Figure 4.

[0247] One embodiment of this application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program or computer instruction, which is executed by a processor to carry out a method performed by a second node in any implementation of Figure 4 and in any conceivable implementation of Figure 4.

[0248] One embodiment of this application further provides a computer program product. When the computer program product is read and executed by a computer, the method performed by the first node in any implementation of Figure 4 and in any conceivable implementation of Figure 4 is executed.

[0249] One embodiment of this application further provides a computer program product. When the computer program product is read and executed by a computer, a method is performed as implemented by the second node in any implementation of Figure 4 and in possible implementations of Figure 4.

[0250] In this application, terms such as "first," "second," etc., are used to distinguish between the same or similar items that essentially have the same role and function. It should be understood that there is no logical or timing dependency between "first," "second," and "n," and that neither the number nor the order of execution is limited. Further understanding is needed that, in the following description, terms such as "first," "second," etc., are used to describe various elements, but these elements should not be limited by these terms. These terms are simply used to distinguish one element from another.

[0251] It should be further understood that the sequence number of a process does not imply the order of execution in the embodiments of this application. The order of execution of a process should be determined based on the function and internal logic of the process and should not constitute any limitation to the implementation process of the embodiments of this application.

[0252] It should be further understood that, as used herein, the term “include” (also known as “includes,” “including,” “comprises,” and / or “comprising”) specifies the presence of the described feature, integer, step, action, element, and / or component, and does not exclude the presence or addition of one or more other features, integers, steps, actions, elements, components, and / or combinations thereof.

[0253] It should be further understood that the terms “one embodiment,” “embodiment,” and “possible implementation” as used throughout this specification mean that certain features, structures, or characteristics related to an embodiment or implementation are included in at least one embodiment of this application. Therefore, “one embodiment,” “in one embodiment,” or “possible implementation” appearing throughout this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0254] Finally, it should be noted that the embodiments described above are not intended to limit this application, but merely to illustrate the technical solutions of this application. Although this application is described in detail with reference to the embodiments described above, those skilled in the art should understand that further modifications may be made to the technical solutions recorded in the embodiments described above, or that some or all of the technical features may be replaced with equivalent substitutions. However, these modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions in the embodiments of this application. [Explanation of Symbols]

[0255] 100 Communication Systems 110 Primary Node 120 Secondary Nodes 1700 communication nodes 1701 Transmitter Unit 1702 Receiving Unit 1800 communication nodes 1801 Receiving Unit 1802 Transmitter Unit 1900 communication nodes 1901 Processor 1902 memory 1903 Communication Interface 1904 Bus 2000 communication nodes 2001 Processor 2002 Memory 2003 Communication Interface 2004 Bus

Claims

1. A communication system comprising a first node and a second node, The first node is configured to send a first OFDM symbol to the second node, and the start time of sending the first OFDM symbol is the first time point. The second node is configured to receive the first OFDM symbol, and the start time of receiving the first OFDM symbol is the second time point. The second node is configured to begin sending a second OFDM symbol to the first node at a third time point, with a first predetermined duration interval between the third time point and the second time point. The first node is configured to begin receiving the second OFDM symbol at a fourth time point, the fourth time point serving as the start time for receiving the second OFDM symbol, with a second predetermined duration interval between the fourth time point and the first time point. The first OFDM symbol and the second OFDM symbol are used for distance measurement, angle measurement, or positioning. Communication system.

2. The communication system according to claim 1, wherein the first preset duration is equal to the second preset duration.

3. The aforementioned first OFDM symbol includes a first prefix and first valid data, The first time point functions as the moment when the first node transmits the start data for the first prefix, or the first time point functions as the moment when the first node transmits the start data for the first valid data, and The second time point functions as the moment when the second node receives the start data for the first prefix, or the second time point functions as the moment when the second node receives the start data for the first valid data, and / or The second OFDM symbol includes a second prefix and second valid data, the third time point functions as the moment when the second node transmits the start data for the second prefix, and the fourth time point functions as the moment when the first node receives the start data for the second prefix. The communication system according to claim 1 or 2.

4. The second OFDM symbol includes the second prefix and the second valid data, the fourth time point functions as the moment when the first node receives the start data of the second prefix, and After the first node is configured to begin receiving the second OFDM symbol at the fourth time point, the following occurs: The first node is configured to begin collecting the second valid data after a third pre-set duration has elapsed, starting from the fourth time point, where the third pre-set duration is the length of the second prefix. The communication system according to any one of claims 1 to 3, further comprising the following:

5. The first OFDM symbol includes the first prefix and the first valid data, wherein the first prefix is ​​the cyclic prefix of the first OFDM symbol, or the first prefix is ​​the first valid data, and / or The second OFDM symbol includes the second prefix and the second valid data, wherein the second prefix is ​​the cyclic prefix of the second OFDM symbol, or the second prefix is ​​the second valid data. A communication system according to any one of claims 1 to 4.

6. The first OFDM symbol and the second OFDM symbol are used to obtain the measurement results for distance measurement, angle measurement, or positioning, and The first preset duration and the second preset duration are used to correct the measurement results. A communication system according to any one of claims 1 to 5.

7. The fifth time point is the start of transmission of the second OFDM symbol, which is determined by the second node, and the sixth time point is the start of reception of the second OFDM symbol, which is determined by the first node, and so on, i.e., The first node is configured to begin transmitting a third OFDM symbol to the second node at time 7, with a fourth predetermined duration interval between time 7 and time 6, and The second node is configured to begin receiving the third OFDM symbol at the eighth time point, with a fifth preset duration interval between the eighth time point and the fifth time point. The second OFDM symbol and the third OFDM symbol are used for distance measurement, angle measurement, or positioning. The communication system according to any one of claims 1 to 6, further comprising the following:

8. The first node is further configured to determine a first channel estimation result based on the second OFDM symbol, and The first node is further configured to perform distance measurement, angle measurement, or positioning based on the first channel estimation result, or the first node is further configured to transmit the first channel estimation result to the third node in the communication system so that the third node can perform distance measurement, angle measurement, or positioning based on the first channel estimation result. A communication system according to any one of claims 1 to 7.

9. The second node is further configured to determine a second channel estimation result based on the first OFDM symbol, and The second node is further configured to perform distance measurement, angle measurement, or positioning based on the second channel estimation result, or the second node is further configured to transmit the second channel estimation result to the fourth node in the communication system so that the fourth node can perform distance measurement, angle measurement, or positioning based on the second channel estimation result. A communication system according to any one of claims 1 to 8.

10. A communication processing method, wherein the method A step of transmitting a first OFDM symbol to a second node by a first node, wherein the start time of the transmission of the first OFDM symbol is a first time; A step in which the first node begins to receive a second OFDM symbol from the second node at a second time point, wherein there is a first predetermined duration interval between the second time point and the first time point, and the second time point functions as the reception start time when the first node receives the second OFDM symbol. Includes, The first OFDM symbol and the second OFDM symbol are used for distance measurement, angle measurement, or positioning. Communication processing method.

11. The first OFDM symbol includes a first prefix and first valid data, the first time point functions as the moment when the first node transmits the start data of the first prefix, or the first time point functions as the moment when the first node transmits the start data of the first valid data, and / or The second OFDM symbol includes a second prefix and second valid data, and the fourth time point functions as the moment when the first node receives the start data of the second prefix. The method according to claim 9.

12. The second OFDM symbol includes the second prefix and the second valid data, the fourth time point functions as the moment when the first node receives the start data of the second prefix, and After the first node begins receiving the second OFDM symbol from the second node at the second time point, the method, A step in which the first node begins to collect the second valid data after a second preset duration has elapsed, the second preset duration being the length of the second prefix, The method according to claim 10 or 11, further comprising:

13. The first OFDM symbol includes the first prefix and the first valid data, wherein the first prefix is ​​the cyclic prefix of the first OFDM symbol, or the first prefix is ​​the first valid data, and / or The second OFDM symbol includes the second prefix and the second valid data, wherein the second prefix is ​​the cyclic prefix of the second OFDM symbol, or the second prefix is ​​the second valid data. The method according to any one of claims 10 to 12.

14. The first OFDM symbol and the second OFDM symbol are used to obtain the measurement results for distance measurement, angle measurement, or positioning, and The first preset duration is used to correct the measurement result. The method according to any one of claims 10 to 13.

15. The method includes the step of determining a channel estimation result based on the second OFDM symbol using the first node, The first node performs distance measurement, angle measurement, or positioning based on the channel estimation result, or the first node transmits the channel estimation result to the third node so that the third node can perform distance measurement, angle measurement, or positioning based on the channel estimation result. The method according to any one of claims 10 to 14, further comprising:

16. A communication processing method, wherein the method is A step of receiving a first OFDM symbol from a first node by a second node, wherein the first time is the start time of transmission of the first OFDM symbol, which is determined by the second node. A step in which the second node begins to transmit a second OFDM symbol to the first node at a second time point, wherein there is a first predetermined duration interval between the second time point and the first time point. Includes, The first OFDM symbol and the second OFDM symbol are used for distance measurement, angle measurement, or positioning. Communication processing method.

17. The first OFDM symbol includes a first prefix and first valid data, the first time point functions as the moment when the second node receives the start data of the first prefix, or the first time point functions as the moment when the second node receives the start data of the first valid data, and / or The second OFDM symbol includes a second prefix and second valid data, and the second time point functions as the moment when the second node transmits the start data for the second prefix. The method according to claim 16.

18. The first OFDM symbol and the second OFDM symbol are used to obtain the measurement results for distance measurement, angle measurement, or positioning, and The first preset duration is used to correct the measurement result. The method according to claim 16 or 17.

19. The third time point is the start time of transmission of the second OFDM symbol, which is determined by the second node, and after the second node has started transmitting the second OFDM symbol to the first node at the second time point, the method A step in which the second node begins to receive a third OFDM symbol from the first node at a fourth time point, wherein there is a second predetermined duration interval between the fourth time point and the third time point, and the fourth time point functions as the reception start time when the second node receives the third OFDM symbol. The method according to claim 17 or 18, further comprising:

20. The first OFDM symbol includes the first prefix and the first valid data, wherein the first prefix is ​​the cyclic prefix of the first OFDM symbol, or the first prefix is ​​the first valid data, and The second OFDM symbol includes the second prefix and the second valid data, wherein the second prefix is ​​the cyclic prefix of the second OFDM symbol, or the second prefix is ​​the second valid data. The method according to any one of claims 16 to 19.

21. The method includes the step of determining a channel estimation result based on the first OFDM symbol using the second node, The second node performs distance measurement, angle measurement, or positioning based on the channel estimation result, or the second node transmits the channel estimation result to the third node so that the third node can perform distance measurement, angle measurement, or positioning based on the channel estimation result. The method according to any one of claims 16 to 20, further comprising:

22. A communication node, wherein the communication node is A transmitting unit configured to transmit a first OFDM symbol to a second node, wherein the start time of the transmission of the first OFDM symbol is a first time, A receiving unit configured to begin receiving a second OFDM symbol from the second node at a second time point, wherein there is a first preset duration interval between the second time point and the first time point, and the second time point functions as the start time for receiving the second OFDM symbol at the communication node. Equipped with, The first OFDM symbol and the second OFDM symbol are used for distance measurement, angle measurement, or positioning. Communication node.

23. The first OFDM symbol includes a first prefix and first valid data, the first time point functions as the moment when the communication node transmits the start data for the first prefix, or the first time point functions as the moment when the communication node transmits the start data for the first valid data, and / or The second OFDM symbol includes a second prefix and second valid data, and the fourth time point functions as the moment when the communication node receives the start data of the second prefix. The communication node according to claim 22.

24. The second OFDM symbol includes the second prefix and the second valid data, the fourth time point functions as the moment when the communication node receives the start data of the second prefix, and The communication node further comprises a collection unit configured to begin collecting the second valid data after a second preset duration has elapsed, starting from the second time point, wherein the second preset duration is a duration equal to the length of the second prefix. A communication node according to claim 22 or 23.

25. The first OFDM symbol includes the first prefix and the first valid data, wherein the first prefix is ​​the cyclic prefix of the first OFDM symbol, or the first prefix is ​​the first valid data, and / or The second OFDM symbol includes the second prefix and the second valid data, wherein the second prefix is ​​the cyclic prefix of the second OFDM symbol, or the second prefix is ​​the second valid data. A communication node according to any one of claims 22 to 24.

26. The first OFDM symbol and the second OFDM symbol are used to obtain the measurement results for distance measurement, angle measurement, or positioning, and The first preset duration is used to correct the measurement result. A communication node according to any one of claims 22 to 25.

27. The communication node further comprises a processing unit configured to determine a channel estimation result based on the second OFDM symbol and to perform distance measurement, angle measurement, or positioning based on the channel estimation result, or After the processing unit determines the channel estimation result based on the second OFDM symbol, the transmission unit is further configured to transmit the channel estimation result to the third node so that the third node can perform distance measurement, angle measurement, or positioning based on the channel estimation result. A communication node according to any one of claims 22 to 26.

28. A communication node, wherein the communication node is A receiving unit configured to receive a first OFDM symbol from a first node, wherein the first time is the start of transmission of the first OFDM symbol, which is determined by the communication node. A transmitting unit configured to begin transmitting a second OFDM symbol to the first node at a second time point, wherein there is a first predetermined duration interval between the second time point and the first time point. Equipped with, The first OFDM symbol and the second OFDM symbol are used for distance measurement, angle measurement, or positioning. Communication node.

29. The first OFDM symbol includes a first prefix and first valid data, the first time point functions as the moment when the communication node receives the start data of the first prefix, or the first time point functions as the moment when the communication node receives the start data of the first valid data, and / or The second OFDM symbol includes a second prefix and second valid data, and the second time point functions as the moment when the communication node transmits the start data of the second prefix. The communication node according to claim 28.

30. The start time of transmission of the second OFDM symbol, which is determined by the communication node, is the third time, and The receiving unit is further configured to begin receiving a third OFDM symbol from the first node at a fourth time point, after the transmitting unit has begun transmitting a second OFDM symbol to the first node at a second time point, wherein there is a second preset duration interval between the fourth time point and the third time point, and the fourth time point functions as the reception start time when the communication node receives the third OFDM symbol. A communication node according to claim 28 or 29.

31. The first OFDM symbol and the second OFDM symbol are used to obtain the measurement results for distance measurement, angle measurement, or positioning, and The first preset duration is used to correct the measurement result. A communication node according to any one of claims 28 to 30.

32. The first OFDM symbol includes the first prefix and the first valid data, wherein the first prefix is ​​the cyclic prefix of the first OFDM symbol, or the first prefix is ​​the first valid data, and The second OFDM symbol includes the second prefix and the second valid data, wherein the second prefix is ​​the cyclic prefix of the second OFDM symbol, or the second prefix is ​​the second valid data. A communication node according to any one of claims 28 to 31.

33. The communication node further comprises a processing unit configured to determine a channel estimation result based on the first OFDM symbol and to perform distance measurement, angle measurement, or positioning based on the channel estimation result, or After the processing unit determines the channel estimation result based on the first OFDM symbol, the transmission unit is further configured to transmit the channel estimation result to the third node so that the third node can perform distance measurement, angle measurement, or positioning based on the channel estimation result. A communication node according to any one of claims 28 to 32.

34. A communication node comprising a processor, a communication interface, and memory, wherein the communication interface is configured to perform data transmission and reception, the memory is configured to store computer programs or computer instructions, and the processor is configured to execute the computer programs or computer instructions stored in the memory so that the communication node can perform the method according to any one of claims 10 to 15.

35. A communication node comprising a processor, a communication interface, and memory, wherein the communication interface is configured to perform data transmission and reception, the memory is configured to store computer programs or computer instructions, and the processor is configured to execute the computer programs or computer instructions stored in the memory so that the communication node can perform the method according to any one of claims 16 to 21.

36. A computer program or computer instruction is stored, and the computer program or computer instruction is executed by a processor to carry out the method described in any one of claims 10 to 15, or The computer program or computer instruction is executed by a processor to carry out the method described in any one of claims 16 to 21. Computer-readable storage medium.

37. A computer program product wherein, when the computer program product is executed by a processor, the method described in any one of claims 10 to 15 is performed, When the computer program product is executed by a processor, the method according to any one of claims 16 to 21 is performed. Computer program products.

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