Distance measurement method and related device

Abstract

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

Description

Technical Field

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

Background Art

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

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

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

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

Summary of the Invention

[0006] Embodiments of this application provide a distance measurement method and related apparatus for reducing distance measurement errors and improving distance measurement accuracy.

[0007] According to a first aspect, an embodiment of the present application provides a distance measuring method. This method is

[0008] The first device sends a first measurement frame to a second device on a first frequency, and the second device receives a second measurement frame sent by the second device on the first frequency. The first device sends a third measurement frame to a second device on a second frequency, and the second device receives a fourth measurement frame sent by the second device on a second frequency, wherein the second frequency is different from the first frequency. The first device obtains a first measurement result based on a second measurement frame, The first device obtains a third measurement result based on a fourth measurement frame, The first device sends a first measurement result and a third measurement result to a third device, wherein the first measurement result and the third measurement result are used for distance measurement. Includes.

[0009] In this embodiment of the present application, a distance measurement method is provided. A first device and a second device exchange measurement frames on at least two frequencies. For example, the first device sends a first measurement frame to the second device on a first frequency and receives a second measurement frame from the second device on the first frequency, sends a third measurement frame to the second device on a second frequency and receives a fourth measurement frame from the second device on a second frequency. The second frequency is different from the first frequency, and the first and third measurement frames are used by the second device to obtain a second measurement result and a fourth measurement result, respectively. The first device obtains a first measurement result based on the received second measurement frame and a third measurement result based on the received fourth measurement frame, and sends the first and third measurement results to the third device. A computing device for calculating distance measurement results calculates distance measurement results based on the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result. The third device may be the second device, or any device other than the second device. This is not limited to this application. The third device may be a computing device configured to calculate the distance measurement result, or the third device may be a transfer device configured to transfer the first and third measurement results to the computing device. This is not limited to this application. The first and second devices generate random initial phases when switching from the first frequency to the second frequency. As a result, the first and third measurement results cannot be directly coherently combined, and the second and fourth measurement results cannot be directly coherently combined. The joint measurement result at the first frequency is obtained by combining the first and second measurement results, and the joint measurement result at the first frequency is not affected by the initial phases of the first and second devices at the first frequency.The joint measurement results for the second frequency are obtained by combining the third and fourth measurement results, and the joint measurement results for the second frequency are not affected by the initial phases of the first and second devices on the second frequency. Therefore, the joint measurement results for the first frequency and the joint measurement results for the second frequency can be combined coherently without being affected by random initial phases caused by frequency switching of the devices, and thus, when the distance measurement results are calculated, a bandwidth larger than the bandwidth of a single-frequency measurement frame can be used to calculate the distance measurement results, making it possible to obtain more accurate distance measurement results and improving distance measurement accuracy.

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

[0011] In this embodiment of the present application, a specific possible implementation is provided for acquiring a first frequency and a second frequency. Specifically, the first frequency and the second frequency are two adjacent frequencies in order of usage time. Specifically, the first device and the second device first exchange measurement frames on the first frequency, then exchange measurement frames on the second frequency, and do not exchange measurement frames on frequencies other than the first and second frequencies during the time between the two measurement frame exchanges. Use herein means that the first device and the second device exchange measurement frames, and it should be understood that the fact that the first and second frequencies are adjacent in order of usage time does not exclude cases in which the first device and the second device exchange non-measurement frames on another frequency during the time between the aforementioned two measurement frame exchanges, for example, frames used to transmit service data, measurement results, signaling, etc., but not used for distance measurement. In this specification, no exceptions are made to cases in which devices other than the first and second devices exchange any type of frame on any frequency during the time between the two measurement frame exchanges described above. The first frequency is obtained from the first frequency set, and then the second frequency is obtained from the second frequency set. The difference between the first and second frequency sets is that the first frequency set includes the first frequency, and the second frequency set does not include the first frequency. It can be understood that the second frequency set is the frequency set obtained after the first frequency has been removed from the first frequency set. According to this embodiment of the application, the first and second frequencies are two adjacent frequencies in order of usage time, and thus it is possible to avoid the repeated use of the same frequency during measurement, thereby reducing the measurement time for distance measurement. If there is relative movement between the first and second devices, reducing the measurement time for distance measurement can reduce the amount of change in the relative location between the first and second devices during measurement, thereby obtaining more accurate distance measurement results and improving distance measurement accuracy.In addition, for both the first and second devices, the device clock frequency drifts over time due to the non-ideal nature of the clock. Longer measurement times exhibit more severe drift. Reducing the measurement time for distance measurement can reduce the range of device clock frequency drift during measurement, minimize the impact of clock drift on the distance measurement results, and improve distance measurement accuracy.

[0012] In possible implementations, this method is

[0013] The first device determines a first frequency in a first frequency set in a pseudo-random manner based on a first random seed, The first device determines a second frequency in a second frequency set in a pseudo-random manner based on a second random seed. It also includes.

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

[0015] In possible implementations, this method is

[0016] The first device generates and sends out a first random seed and / or a second random seed, or Step 1: The first device receives a first random seed and / or a second random seed. It also includes.

[0017] In this embodiment of the present application, several possible specific implementations are provided for obtaining a first random seed and / or a second random seed. The details are as follows: 1. A first device generates a first random seed and / or a second random seed and sends the first random seed and / or a second random seed to a second device; 2. The first device generates a first random seed and / or a second random seed and sends the first random seed and / or a second random seed to another device, which then transfers the first random seed and / or a second random seed to the second device; 3. The first device receives the first random seed from the second device. 1. The first device receives a first random seed and / or a second random seed; 4. The first device receives a first random seed and / or a second random seed from another device, where, prior to this, the first random seed and / or second random seed of the other device is generated by the second device and sent to the other device; and 5. The other device generates a first random seed and / or a second random seed and sends the first random seed and / or second random seed to the first and second devices. In any one of the above schemes, the first and second devices use the same first random seed when selecting a first frequency and the same second random seed when selecting a second frequency. Thus, the first and second devices select the same first and second frequencies to avoid frequency selection errors.

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

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

[0020] In a possible implementation, the method includes

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

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

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

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

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

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

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

[0028] In possible implementations, this method is

[0029] The first device takes the steps of receiving a first message and / or sending a first message. This further includes, where the first message indicates a reference point, or The reference point is a pre-configured or predefined point in time.

[0030] In this embodiment of the present application, several possible specific implementations are provided for determining a reference time. Specifically, a first device receives and / or sends a first message and determines a reference time via the information indicated by the first message, or the reference time is a pre-configured time or a predefined time within a protocol for the first device (and the second device). According to this embodiment of the present application, the first and second devices determine the measurement time by using the same agreed reference time, and thus the influence of timing and frequency differences between the first device clock and the second device clock on the measurement results of the measurement frame can be minimized, thereby reducing errors in the distance measurement results and improving distance measurement accuracy.

[0031] In possible implementations, this method is

[0032] The first device receives a second message and / or sends a second message, wherein the second message indicates a reference value, or the reference value is a pre-configured or pre-defined value. A step of determining a reference time based on a reference value and a first frequency offset, wherein the first frequency offset represents the frequency offset of the first device relative to a second measurement frame, and It also includes.

[0033] In this embodiment of the present application, several possible specific implementations are provided for determining a reference time. Specifically, a first device receives and / or sends a second message and determines a reference time based on a first frequency offset and a reference value indicated by the second message, where the first frequency offset represents the frequency offset of the first device relative to a second measurement frame. According to this embodiment of the present application, the first and second devices use the same agreed reference value, and the first device determines the reference time based on the frequency offset and the reference value to compensate for the effect of timing offset changes caused by the frequency offset relative to time of the reference time. Thus, the measurement time is determined based on the reference time, and therefore the effect of timing and frequency differences between the first device clock and the second device clock on the measurement results of the measurement frame can be suppressed, thereby reducing errors in the distance measurement results and improving distance measurement accuracy.

[0034] In possible implementations, the reference point for different frequencies may be the same or different, and / or the reference value for different frequencies may be the same or different.

[0035] In possible implementations, when the first device and / or the second device use multiple antennas, the reference timing used by different antenna combinations of the same frequency may be the same or different, and / or the reference values ​​used by different antenna combinations of the same frequency may be the same or different.

[0036] Different antenna combinations include, but are not limited to, antenna combination 1 (transmitting antenna 1 of the first device and receiving antenna 2 of the second device), antenna combination 2 (receiving antenna 1 of the first device and transmitting antenna 2 of the second device), and so on. This is not limited to the embodiments of this application.

[0037] In possible implementations, the first measurement frame does not include measurement result data, nor does it include service data.

[0038] According to this embodiment of the present application, the time length of the signal used for measurement within a first measurement frame, for example, the length of a single-frequency sinusoidal signal, may be shortened or lengthened. The length of the measurement frame can be shortened, and therefore the interval at which the single-frequency sinusoidal signal is transmitted between the first and second devices, and the total measurement time for distance measurement, can be shortened. In view of the non-ideal nature of clocks, the distance measurement result error caused by the clock frequency offset between the first and second devices is related to the interval at which the single-frequency sinusoidal signal is transmitted between the first and second devices. For the same frequency offset, a larger interval results in a larger error. The interval at which the single-frequency sinusoidal signal is transmitted between the first and second devices can be shortened, and therefore the effect of the clock frequency offset between the first and second devices on the distance measurement result can be reduced. When relative movement exists between the first and second devices, reducing the total measurement time for distance measurement reduces the amount of change in the relative location between the first and second devices during measurement, thereby obtaining more accurate distance measurement results and improving distance measurement accuracy. In addition, for the first and second devices, the device clock frequency drifts over time due to the non-ideal nature of the clock. Longer measurement times exhibit more severe drift. Reducing the total measurement time for distance measurement reduces the range of device clock frequency drift during measurement, suppressing the effect of clock drift on the distance measurement results and improving distance measurement accuracy. Extending the time length of the signal used for measurement within the first measurement frame can improve the accuracy of obtaining the second measurement result by the second device based on the first measurement frame, thereby improving distance measurement accuracy.

[0039] In a possible implementation, a single-frequency sinusoidal signal contained within a first measurement frame contains at least two symbols, each of which is obtained through modulation based on a first sequence by using a first constellation diagram, the first sequence being a sequence containing N bits, where the value of N corresponds to the modulation scheme of the first constellation diagram.

[0040] In this embodiment of the present application, a specific possible implementation for acquiring a first measurement frame is provided. Specifically, a single-frequency sinusoidal signal contained within the first measurement frame includes at least two symbols, each of which is acquired through modulation based on a first sequence by using a first constellation diagram. The first sequence is a sequence containing N bits, where the value of N corresponds to the modulation scheme of the first constellation diagram. For example, the value of N is 1 for a 2-phase-shift modulated BPSK modulation scheme, the value of N is 2 for a 4-phase-shift modulated QPSK modulation scheme, and the value of N is 3 for an 8-phase-shift modulated 8PSK modulation scheme. In this embodiment of the present application, the same modulation scheme is used for the single-frequency sinusoidal signal and another signal within the first measurement frame to shorten or lengthen the time length of the signals used for measurement within the first measurement frame, e.g., the length of the single-frequency sinusoidal signal, in order to avoid the additional implementation complexity and additional time overhead caused by modulation scheme switching. The length of the measurement frame can be shortened, and therefore the interval at which a single-frequency sinusoidal signal is transmitted between the first and second devices, and the total measurement time for distance measurement can be shortened. In light of the non-ideal nature of the clock, the distance measurement error caused by the clock frequency offset between the first and second devices is related to the interval at which the single-frequency sinusoidal signal is transmitted between the first and second devices. For the same frequency offset, a larger interval will result in a larger error. By shortening the interval at which the single-frequency sinusoidal signal is transmitted between the first and second devices, it is possible to reduce the effect of the clock frequency offset between the first and second devices on the distance measurement results. If there is relative movement between the first and second devices, shortening the total measurement time for distance measurement can reduce the amount of change in the relative location between the first and second devices during measurement, thereby obtaining more accurate distance measurement results and improving distance measurement accuracy.In addition, for both the first and second devices, the device clock frequency drifts over time due to the clock's non-ideal nature. Longer measurement times exhibit more severe drift. Reducing the total measurement time for distance measurement can reduce the range of device clock frequency drift during measurement, minimize the impact of clock drift on the distance measurement results, and improve distance measurement accuracy. Extending the duration of the signal used for measurement within the first measurement frame can improve the accuracy of obtaining the second measurement result by the second device based on the first measurement frame, thereby improving distance measurement accuracy.

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

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

[0043] In this embodiment of the present application, a specific possible implementation for acquiring a first measurement frame is provided. Specifically, the first symbols contained within the first measurement frame, such as at least two symbols contained within a single-frequency sinusoidal signal within the first measurement frame, are acquired through modulation based on a first sequence by using a first constellation diagram. The first symbols include a symbol located adjacent to the single-frequency sinusoidal signal and within the first measurement frame, and / or a first symbol located after the single-frequency sinusoidal signal and within the first measurement frame. According to this embodiment of the present application, adjacent symbols on both sides of the boundary of the single-frequency sinusoidal signal have the same mapping sequence and use the same constellation diagram, and thus it is possible to prevent the measurement frame from abruptly changing at the boundary, thereby suppressing signal distortion caused by the boundary, improving the accuracy of the measurement results of the measurement frame, and improving the distance measurement accuracy.

[0044] In a possible implementation, a single-frequency sinusoidal signal contained within a first measurement frame contains at least two symbols, each of which is acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on a first bit.

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

[0046] The second symbol includes a symbol located before and adjacent to the single-frequency sinusoidal signal and within the first measurement frame, and / or a first symbol located after the single-frequency sinusoidal signal and within the first measurement frame.

[0047] In this embodiment of the present application, a specific possible implementation for acquiring a first measurement frame is provided. Specifically, a single-frequency sinusoidal signal contained within the first measurement frame includes at least two symbols, each of which is acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on a first bit. A second symbol contained within the first measurement frame, like the at least two symbols contained within the single-frequency sinusoidal signal in the first measurement frame, is also acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on a first bit. The second symbol includes a symbol located before and adjacent to the single-frequency sinusoidal signal and within the first measurement frame, and / or a first symbol located after the single-frequency sinusoidal signal and within the first measurement frame. According to this embodiment of the present application, adjacent symbols on both sides of a single-frequency sinusoidal signal boundary have the same mapping bits and use the same modulation scheme, thus preventing the measurement frame from abruptly changing at the boundary, thereby suppressing signal distortion caused by the boundary, improving the accuracy of the measurement results of the measurement frame, and improving the distance measurement accuracy.

[0048] In possible implementations, this method is

[0049] The process further includes the step of a first device receiving a distance measurement result, wherein the distance measurement result includes information regarding the distance between the first device and the second device.

[0050] In this embodiment of the present application, a specific implementation capable of distance measurement is provided. Specifically, the reception of a distance measurement result by a first device may be the first device receiving a distance measurement result sent by a third device. The third device may be a second device configured to obtain a distance measurement result through a calculation based on the received first measurement result and to send the distance measurement result to the first device. Alternatively, the third device may be another device having distance calculation capability, which sends the distance measurement result obtained through the calculation to the first device. It is configured toThe distance measurement results include information about the distance between the first device and the second device.

[0051] According to a second aspect, embodiments of the present application further provide a distance measuring method. This method is

[0052] The second device receives a first measurement frame transmitted by the first device on a first frequency, and transmits a second measurement frame to the first device on the first frequency. The second device receives a third measurement frame transmitted by the first device on a second frequency, and transmits a fourth measurement frame to the first device on a second frequency, wherein the second frequency is different from the first frequency. The second device obtains a second measurement result based on the first measurement frame, The second device obtains a fourth measurement result based on a third measurement frame, A second device receives a first measurement result and a third measurement result from a fourth device, wherein the first measurement result is the measurement result of the first device on the second measurement frame, and the third measurement result is the measurement result of the first device on the fourth measurement frame. The second device determines the distance between the first device and the second device based on the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result. Includes.

[0053] In this embodiment of the present application, a distance measuring method is provided. A first device and a second device exchange measurement frames on at least two frequencies. For example, the second device receives a first measurement frame transmitted by the first device on a first frequency, transmits a second measurement frame to the first device on the first frequency, receives a third measurement frame transmitted by the first device on a second frequency, and transmits a fourth measurement frame to the first device on the second frequency. The second frequency is different from the first frequency, and the second and fourth measurement frames are used by the first device to obtain a first measurement result and a third measurement result, respectively. The second device obtains a second measurement result based on the received first measurement frame, obtains a fourth measurement result based on the received third measurement frame, and receives the first and third measurement results from the fourth device. The second device obtains a distance measurement result based on the first, second, third, and fourth measurement results through calculation, and determines the distance between the first and second devices. The fourth device may be the first device or a device other than the first device. This is not limited to this application. The fourth device may be the first device and configured to obtain the first and third measurement results and transmit the first and third measurement results to the second device or a transfer device, or the fourth device may be a transfer device and configured to transfer the first and third measurement results to the second device. This is not limited to this application. When the first and second devices switch from the first frequency to the second frequency, they generate random initial phases. As a result, the first and third measurement results cannot be directly coherently combined, and the second and fourth measurement results cannot be directly coherently combined. The joint measurement results for the first frequency are obtained by combining the first and second measurement results, and the joint measurement results for the first frequency are not affected by the initial phase of the first and second devices at the first frequency.The joint measurement results for the second frequency are obtained by combining the third and fourth measurement results, and the joint measurement results for the second frequency are not affected by the initial phases of the first and second devices on the second frequency. Therefore, the joint measurement results for the first frequency and the joint measurement results for the second frequency can be combined coherently without being affected by random initial phases caused by frequency switching of the devices, and thus, when the distance measurement results are calculated, a bandwidth larger than the bandwidth of a single-frequency measurement frame can be used to calculate the distance measurement results, making it possible to obtain more accurate distance measurement results and improving distance measurement accuracy.

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

[0055] In this embodiment of the present application, a specific possible implementation is provided for acquiring a first frequency and a second frequency. Specifically, the first frequency and the second frequency are two adjacent frequencies in order of usage time. Specifically, the first device and the second device first exchange measurement frames on the first frequency, then exchange measurement frames on the second frequency, and do not exchange measurement frames on frequencies other than the first and second frequencies during the time between the two measurement frame exchanges. Use herein means that the first device and the second device exchange measurement frames, and it should be understood that the fact that the first and second frequencies are adjacent in order of usage time does not exclude cases in which the first device and the second device exchange non-measurement frames on another frequency during the time between the aforementioned two measurement frame exchanges, for example, frames used to transmit service data, measurement results, signaling, etc., but not used for distance measurement. In this specification, no exceptions are made to cases in which devices other than the first and second devices exchange any type of frame on any frequency during the time between the two measurement frame exchanges described above. The first frequency is obtained from the first frequency set, and then the second frequency is obtained from the second frequency set. The difference between the first and second frequency sets is that the first frequency set includes the first frequency, and the second frequency set does not include the first frequency. It can be understood that the second frequency set is the frequency set obtained after the first frequency has been removed from the first frequency set. According to this embodiment of the application, the first and second frequencies are two adjacent frequencies in order of usage time, and thus it is possible to avoid the repeated use of the same frequency during measurement, thereby reducing the measurement time for distance measurement. If there is relative movement between the first and second devices, reducing the measurement time for distance measurement can reduce the amount of change in the relative location between the first and second devices during measurement, thereby obtaining more accurate distance measurement results and improving distance measurement accuracy.In addition, for both the first and second devices, the device clock frequency drifts over time due to the non-ideal nature of the clock. Longer measurement times exhibit more severe drift. Reducing the measurement time for distance measurement can reduce the range of device clock frequency drift during measurement, minimize the impact of clock drift on the distance measurement results, and improve distance measurement accuracy.

[0056] In possible implementations, this method is

[0057] The second device determines a first frequency in a first frequency set in a pseudo-random manner based on a first random seed, The second device determines a second frequency in a second frequency set in a pseudo-random manner based on a second random seed. It also includes.

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

[0059] In possible implementations, this method is

[0060] The second device generates and sends out a first random seed and / or a second random seed, or The second device receives the first random seed and / or the second random seed. It also includes.

[0061] In this embodiment of the present application, several possible specific implementations are provided for obtaining a first random seed and / or a second random seed. The details are as follows: 1. A second device generates a first random seed and / or a second random seed and sends the first random seed and / or a second random seed to the first device; 2. The second device generates a first random seed and / or a second random seed and sends the first random seed and / or a second random seed to another device, which then transfers the first random seed and / or a second random seed to the first device; 3. The second device receives the first random seed from the first device 1. The first device receives the first random seed and / or a second random seed; 4. The second device receives the first random seed and / or a second random seed from another device, where, prior to this, the first random seed and / or a second random seed of the other device is generated by the first device and sent to the other device; and 5. The other device generates the first random seed and / or a second random seed and sends the first random seed and / or a second random seed to the first and second devices. In any one of the above schemes, the first and second devices use the same first random seed when selecting the first frequency and the same second random seed when selecting the second frequency. Thus, the first and second devices select the same first and second frequencies to avoid frequency selection errors.

[0062] In possible implementations, this method is

[0063] A second device acquires a second measurement result based on a first measurement frame, wherein the second measurement result includes phase information or in-phase and quadrature component IQ information of a single-frequency sinusoidal signal contained in the first measurement frame at a second time point, or phase information or IQ information at a second time point of a signal acquired by extending the single-frequency sinusoidal signal contained in the first measurement frame according to a single-frequency sinusoidal model, and the second measurement result is used for distance measurement. It also includes.

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

[0065] In possible implementations, this method is

[0066] A step in which a second device determines a second timing offset, wherein the second timing offset represents the timing offset of the second device relative to the first measurement frame. The second device determines a second time point based on a second timing offset. It also includes.

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

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

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

[0070] In possible implementations, the step of determining the second timing offset is:

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

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

[0073] In possible implementations, this method is

[0074] The second device sends a first message and / or receives a first message. This further includes, where the first message indicates a reference point, or The reference point is a pre-configured or predefined point in time.

[0075] In this embodiment of the present application, several possible specific implementations are provided for determining a reference time. Specifically, a second device receives and / or sends a first message and determines a reference time via the information indicated by the first message, or the reference time is a pre-configured time for the second device (and the first device) or a time predefined within a protocol. According to this embodiment of the present application, the first and second devices determine the measurement time by using the same agreed reference time, and thus the influence of timing and frequency differences between the first device clock and the second device clock on the measurement results of the measurement frame can be minimized, thereby reducing errors in the distance measurement results and improving distance measurement accuracy.

[0076] In possible implementations, this method is

[0077] Steps include: a second device sending a second message and / or receiving a second message, wherein the second message indicates a reference value, or the reference value is a pre-configured or pre-defined value; A step of determining a reference time based on a reference value and a second frequency offset, wherein the second frequency offset represents the frequency offset of the second device relative to the first measurement frame, and It also includes.

[0078] In this embodiment of the present application, several possible specific implementations are provided for determining a reference time. Specifically, a second device receives and / or sends a second message and determines a reference time based on a second frequency offset and a reference value indicated by the second message, where the second frequency offset represents the frequency offset of the second device relative to a first measurement frame. According to this embodiment of the present application, the first and second devices use the same agreed reference value, and the second device determines the reference time based on the frequency offset and the reference value to compensate for the effect of timing offset changes caused by the frequency offset relative to time of the reference time. Thus, the measurement time is determined based on the reference time, and therefore the effect of timing and frequency differences between the first device clock and the second device clock on the measurement results of the measurement frame can be suppressed, thereby reducing errors in the distance measurement results and improving distance measurement accuracy.

[0079] In possible implementations, the reference point for different frequencies may be the same or different, and / or the reference value for different frequencies may be the same or different.

[0080] In possible implementations, when the first device and / or the second device use multiple antennas, the reference timing used by different antenna combinations of the same frequency may be the same or different, and / or the reference values ​​used by different antenna combinations of the same frequency may be the same or different.

[0081] Different antenna combinations include, but are not limited to, antenna combination 1 (transmitting antenna 1 of the first device and receiving antenna 2 of the second device), antenna combination 2 (receiving antenna 1 of the first device and transmitting antenna 2 of the second device), and so on. This is not limited to the embodiments of this application.

[0082] In a possible implementation, a single-frequency sinusoidal signal contained within a second measurement frame contains at least two symbols, each of which is obtained through modulation based on a second sequence by using a second constellation diagram, the second sequence being a sequence containing M bits, where the value of M corresponds to the modulation scheme of the second constellation diagram.

[0083] In this embodiment of the present application, a specific possible implementation is provided for obtaining a second measurement frame. Specifically, a single-frequency sinusoidal signal contained within the second measurement frame includes at least two symbols, each of which is obtained through modulation based on a second sequence by using a second constellation diagram. The second sequence is a sequence containing M bits, where the value of M corresponds to the modulation scheme of the second constellation diagram. For example, the value of M is 1 for a 2-phase-shift modulated BPSK modulation scheme, the value of M is 2 for a 4-phase-shift modulated QPSK modulation scheme, and the value of M is 3 for an 8-phase-shift modulated 8PSK modulation scheme. In this embodiment of the present application, the same modulation scheme is used for the single-frequency sinusoidal signal and another signal within the second measurement frame to shorten or lengthen the time length of the signal used for measurement within the second measurement frame, e.g., the length of the single-frequency sinusoidal signal, to avoid the additional implementation complexity and additional time overhead caused by modulation scheme switching. The length of the measurement frame can be shortened, and therefore the interval at which a single-frequency sinusoidal signal is transmitted between the first and second devices, and the total measurement time for distance measurement can be shortened. In light of the non-ideal nature of the clock, the distance measurement error caused by the clock frequency offset between the first and second devices is related to the interval at which the single-frequency sinusoidal signal is transmitted between the first and second devices. For the same frequency offset, a larger interval will result in a larger error. By shortening the interval at which the single-frequency sinusoidal signal is transmitted between the first and second devices, it is possible to reduce the effect of the clock frequency offset between the first and second devices on the distance measurement results. If there is relative movement between the first and second devices, shortening the total measurement time for distance measurement can reduce the amount of change in the relative location between the first and second devices during measurement, thereby obtaining more accurate distance measurement results and improving distance measurement accuracy.In addition, for both the first and second devices, the device clock frequency drifts over time due to the clock's non-ideal nature. Longer measurement times exhibit more severe drift. Reducing the total measurement time for distance measurement can reduce the range of device clock frequency drift during measurement, minimize the impact of clock drift on the distance measurement results, and improve distance measurement accuracy. Extending the duration of the signal used for measurement within the second measurement frame can improve the accuracy of obtaining the second measurement result by the second device based on the first measurement frame, thereby improving distance measurement accuracy.

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

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

[0086] In this embodiment of the present application, a specific possible implementation for acquiring a second measurement frame is provided. Specifically, a third symbol contained within the second measurement frame, such as at least two symbols contained within the single-frequency sinusoidal signal in the second measurement frame, is acquired through modulation based on a second sequence by using a second constellation diagram. The third symbol includes a symbol located before and adjacent to the single-frequency sinusoidal signal and located within the second measurement frame, and / or a first symbol located after the single-frequency sinusoidal signal and located within the second measurement frame. According to this embodiment of the present application, adjacent symbols on both sides of the boundary between the single-frequency sinusoidal signal and the single-frequency sinusoidal signal have the same mapping sequence and use the same constellation diagram, and thus it is possible to prevent the measurement frame from abruptly changing at the boundary, thereby suppressing signal distortion caused by the boundary, improving the accuracy of the measurement results of the measurement frame, and improving the distance measurement accuracy.

[0087] In a possible implementation, a single-frequency sinusoidal signal contained within a second measurement frame contains at least two symbols, each of which is acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on a second bit.

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

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

[0090] In this embodiment of the present application, a specific possible implementation for acquiring a second measurement frame is provided. Specifically, the single-frequency sinusoidal signal contained within the second measurement frame includes at least two symbols, each of which is acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on a second bit. Compared to the "preamble sequence + synchronization sequence + data + single-frequency sinusoidal" frame structure design in the prior art still used for current measurement frames, the second measurement frame acquired in this embodiment of the present application does not include measurement result data or service data, and therefore the interval at which the single-frequency sinusoidal signal is transmitted between the first and second devices can be shortened, or the length of the single-frequency sinusoidal signal used for measurement can be extended, thereby reducing measurement result errors in the measurement frame caused by timing and frequency differences between the first and second device clocks. In this way, errors in the distance measurement result are reduced and the distance measurement accuracy is improved. Like at least two symbols contained within a single-frequency sinusoidal signal in a second measurement frame, a fourth symbol contained within a second measurement frame is also acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on a second bit. The fourth symbol includes a symbol located adjacent to the single-frequency sinusoidal signal and within the second measurement frame, and / or a first symbol located after the single-frequency sinusoidal signal and within the second measurement frame. According to this embodiment of the present application, adjacent symbols on both sides of the boundary between the single-frequency sinusoidal signal and the single-frequency sinusoidal signal have the same mapping bit and use the same modulation scheme, thus preventing the measurement frame from abruptly changing at the boundary, thereby suppressing signal distortion caused by the boundary, improving the accuracy of the measurement results of the measurement frame, and improving the distance measurement accuracy.

[0091] In possible implementations, this method is

[0092] Steps in which the second device sends out the distance measurement result. This further includes, where the distance measurement result includes information regarding the distance between the first device and the second device.

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

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

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

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

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

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

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

[0100] In possible implementations, the first measurement result includes phase information or in-phase and quadrature component IQ information of a single-frequency sinusoidal signal contained within a second measurement frame at a first time point, or phase information or IQ information at a first time point of a signal obtained by extending the single-frequency sinusoidal signal contained within the second measurement frame according to a single-frequency sinusoidal model.

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

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

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

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

[0105] In possible implementations, the transceiver unit is further configured to receive and / or send a first message, where the first message indicates a reference time, or The reference point is a pre-configured or predefined point in time.

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

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

[0108] In a possible implementation, a single-frequency sinusoidal signal contained within a first measurement frame contains at least two symbols, each of which is obtained through modulation based on a first sequence by using a first constellation diagram, the first sequence being a sequence containing N bits, where the value of N corresponds to the modulation scheme of the first constellation diagram.

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

[0110] The first symbol includes a symbol located before and adjacent to a single-frequency sinusoidal signal and within a first measurement frame, and / or a first symbol located after the single-frequency sinusoidal signal and within a first measurement frame.

[0111] In a possible implementation, a single-frequency sinusoidal signal contained within a first measurement frame contains at least two symbols, each of which is acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on a first bit.

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

[0113] The second symbol includes a symbol located before and adjacent to the single-frequency sinusoidal signal and within the first measurement frame, and / or a first symbol located after the single-frequency sinusoidal signal and within the first measurement frame.

[0114] In possible implementations, the transceiver unit is further configured to receive ranging results, which include information about the distance between the communication device and a second device.

[0115] For technical effects resulting from the third aspect or any possible implementation, please refer to the description of the technical effects or corresponding implementations corresponding to the first aspect.

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

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

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

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

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

[0121] In possible implementations, the processing unit is further configured to acquire a second measurement result based on a first measurement frame, where the second measurement result includes phase information or in-phase and quadrature component IQ information of a single-frequency sinusoidal signal contained in the first measurement frame at a second time point, or phase information or IQ information at a second time point of a signal acquired by extending the single-frequency sinusoidal signal contained in the first measurement frame according to a single-frequency sinusoidal model, and the second measurement result is used for distance measurement.

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

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

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

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

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

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

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

[0129] In a possible implementation, a single-frequency sinusoidal signal contained within a second measurement frame contains at least two symbols, each of which is obtained through modulation based on a second sequence by using a second constellation diagram, the second sequence being a sequence containing M bits, where the value of M corresponds to the modulation scheme of the second constellation diagram.

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

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

[0132] In a possible implementation, a single-frequency sinusoidal signal contained within a second measurement frame contains at least two symbols, each of which is acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on a second bit.

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

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

[0135] In possible implementations, the transceiver unit is further configured to transmit the distance measurement result, where the distance measurement result is transmitted to a first device and Communication device Includes information about the distance between them.

[0136] For technical effects resulting from the third aspect or any possible implementation, please refer to the description of the technical effects or corresponding implementations corresponding to the second aspect.

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

[0138] According to a fifth aspect, embodiments of the present application provide a communication device including a logic circuit and a communication interface. The communication interface is configured to receive or transmit information. The logic circuit receives or transmits information via the communication interface, and therefore the communication device is, One aspect or the second aspect, and possible implementations of either the first or second aspect. This method It is configured to implement the following:

[0139] According to a sixth aspect, embodiments of the present application provide a computer-readable storage medium. The computer-readable storage medium is configured to store computer programs (sometimes called code or instructions). When a computer program is executed on a computer... , the Possible implementations of either the first or second embodiment and either the first or second embodiment This method This will be implemented.

[0140] According to the seventh aspect, embodiments of the present application provide a computer program product. The computer program product includes a computer program (sometimes called code or instructions). When the computer program is executed, the computer , the Possible implementations of either the first or second embodiment and either the first or second embodiment This method This will make it possible to implement this.

[0141] According to the eighth aspect, an embodiment of the present application provides a chip. The chip includes a processor, the processor is configured to execute instructions, and when the processor executes instructions, the chip , the Possible implementations of either the first or second embodiment and either the first or second embodiment This method This makes it possible to implement this. Optionally, the chip further includes a communication interface, which is configured to receive or transmit signals.

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

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

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

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

[0146] Optionally, operations relating to the processor, such as transmitting, sending, and receiving, may be understood more generally as operations relating to the processor, such as output, receiving, and input, unless otherwise specified, or provided that the operations do not contradict the actual function or internal logic of the operations in the relevant description.

[0147] In an optional process of implementing the method according to the first embodiment and either possible implementation, or the method according to the second embodiment and either possible implementation, the processor may be a processor specifically configured to implement these methods, or a processor that implements these methods by executing computer instructions in memory, such as a general-purpose processor. The memory may be non-transitory memory, such as read-only memory (ROM). The memory and processor may be integrated on the same chip or disposed separately on different chips. The type of memory and the arrangement of the memory and processor are not limited to the embodiments of this application.

[0148] In possible implementations, at least one memory location is outside the device.

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

[0150] In yet another possible implementation, some of the memory within at least one memory may be located inside the device, while the other memory may be located outside the device.

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

[0152] In the embodiments of this application, the joint measurement results of the first frequency and the joint measurement results of the second frequency can be coherently combined without being affected by random initial phases caused by frequency switching of the device, and therefore, when the distance measurement result is calculated, a bandwidth larger than the bandwidth of a single-frequency measurement frame can be used to calculate the distance measurement result, making it possible to obtain a more accurate distance measurement result and improving the distance measurement accuracy. [Brief explanation of the drawing]

[0153] To provide a clearer explanation of the technical solutions of the embodiments of the present invention, the accompanying drawings are briefly described below to illustrate the embodiments. It will be apparent that the accompanying drawings in the following description are only a few examples of embodiments of this application, and those skilled in the art can derive other drawings from these accompanying drawings without creative effort.

[0154] [Figure 1] This is a diagram of bilateral measurement according to an embodiment of the present application. [Figure 2] This is a diagram showing the architecture of a communication system according to an embodiment of this application. [Figure 3] This is a schematic flowchart of the distance measurement method according to the embodiment of this application. [Figure 4] This is a schematic flowchart of another distance measurement method according to an embodiment of this application. [Figure 5] This is a schematic flowchart of yet another distance measurement method according to an embodiment of this application. [Figure 6] This is a schematic flowchart of the frequency hopping algorithm according to the embodiment of this application. [Figure 7] This is a diagram showing bidirectional measurement according to an embodiment of the present application. [Figure 8] This is a diagram showing the structure of a communication device according to an embodiment of this application. [Figure 9] This is a diagram showing the structure of a communication device according to an embodiment of this application. [Figure 10] This is a diagram showing the structure of a chip according to an embodiment of this application. [Modes for carrying out the invention]

[0155] To clarify the purpose, technical solutions, and advantages of this application, embodiments of this application will be described below with reference to the accompanying drawings.

[0156] Terms such as “first,” “second,” etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, but not to describe a particular order. In addition, terms such as “includes” and “has,” and any other variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but instead, at its discretion, further includes steps or units not listed, or at its discretion, further include other steps or units specific to those processes, methods, products, or devices.

[0157] The “embodiments” described herein mean that certain features, structures, or characteristics described in conjunction with the embodiments may be included in at least one embodiment of this application. The phrases shown in various locations herein do not necessarily refer to the same embodiment, nor are they independent embodiments or exclusive optional embodiments from another embodiment. In the embodiments of this application, unless otherwise specified or unless there is a logical inconsistency, the conditions and / or descriptions in the embodiments are consistent and may be cross-referenced, and a person skilled in the art will understand, both explicitly and implicitly, that technical features in different embodiments may be combined based on their internal logical relationships to form new embodiments.

[0158] In this specification, “at least one (item)” means one or more, “more than one” means two or more, “at least two (items)” means two, three or more, and “and / or” is used to describe a relationship between related objects, indicating that three relationships may exist. For example, “A and / or B” may indicate that only A exists, only B exists, and both A and B exist, where A and B may be singular or plural. The letter “ / ” generally indicates an “or” relationship between related objects. “At least one of the following items” or similar expressions means any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, or c may indicate a, b, c, a and b, a and c, b and c, or a, b, and c, where a, b, and c may be singular or plural.

[0159] This application provides a method for measuring distance. To more clearly explain the solution of this application, some knowledge regarding distance measurement will be described below.

[0160] The frequency is the center frequency of the transmitted signal. A device with frequency hopping capabilities may use the same or different frequencies in two different signal transmission processes. The frequency may be expressed in absolute frequency form or as a number representing the absolute frequency.

[0161] The method of implementing distance measurement by having communication devices transmit distance measurement signals is an important means of solving distance measurement / positioning problems. Distance measurement accuracy is closely related to the bandwidth covered by distance measurement signals that can be coherently combined. A wider bandwidth covered by distance measurement signals results in higher distance measurement accuracy.

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

[0163] To solve the aforementioned random phase problem caused by frequency hopping, the random phase caused by frequency hopping can be eliminated through bidirectional measurement, and thus the distance measurement signals for different frequencies can be coherently combined to obtain higher distance measurement accuracy.

[0164] For specific bidirectional measurement processes, please refer to Figure 1. Figure 1 is a diagram of possible bidirectional measurement according to an embodiment of this application.

[0165] As shown in Figure 1, in bidirectional measurement, the first device transmits a first measurement frame on each frequency hopping frequency, where the first measurement frame contains a single-frequency sinusoidal signal. The second device receives the first measurement frame and measures the in-phase and quadrature phase (IQ) values ​​(or amplitude values ​​or phase information) of the single-frequency sinusoidal signal in the first measurement frame at a second time point, or the IQ value (or amplitude values ​​or phase information) of the signal obtained by extending the single-frequency sinusoidal signal in the first measurement frame according to a single-frequency sinusoidal model at a second time point. In actual processing, the IQ value may be obtained by computation using an algorithm, e.g., parameter estimates, instead of extending the single-frequency sinusoidal signal. The second device then transmits a second measurement frame, where the second measurement frame contains a single-frequency sinusoidal signal. The first device receives a second measurement frame and measures the IQ value (or amplitude and phase information) of the single-frequency sinusoidal signal in the second measurement frame at a first time point, or the IQ value (or amplitude and phase information) of the signal obtained by extending the single-frequency sinusoidal signal in the second measurement frame according to a single-frequency sinusoidal model, meaning that in actual processing, the IQ value may be obtained by computation by using an algorithm, e.g., parameter estimates, instead, and the single-frequency sinusoidal signal is not extended. After a device (the first device, the second device, or another device) has obtained two measurements (e.g., via wired and / or wireless communication), the two measurements are combined (e.g., simply multiplied) to obtain a reference value for frequency-hopping frequencies. Multiple reference values ​​for frequency-hopping frequencies may be coherently combined for ranging to obtain information about the distance between the first device and the second device.

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

[0167] In response to the technical problem in the aforementioned distance measurement method, where the distance measurement error is large and the distance measurement accuracy needs to be improved, embodiments of this application provide a communication architecture used for distance measurement and, accordingly, propose a new distance measurement method based on that architecture. The joint measurement results of the first frequency and the joint measurement results of the second frequency can be coherently combined without being affected by random initial phases caused by frequency switching of the device. Therefore, when the distance measurement result is calculated, a bandwidth larger than the bandwidth of a single-frequency measurement frame can be used to calculate the distance measurement result, making it possible to obtain a more accurate distance measurement result and improving the distance measurement accuracy.

[0168] The embodiments of this application will be described below with reference to the accompanying drawings.

[0169] The methods provided in this application can be applied to various communication systems, such as Internet of Things (IoT) systems, narrowband Internet of Things (NB-IoT) systems, long-term evolution (LTE) systems, short-range wireless communication systems, such as SparkLink communication network systems, 5th generation (5G) communication systems, and new communication systems (e.g., 6G) emerging in future communication developments.

[0170] The technical solutions provided in this application may be further applied to machine-type communication (MTC), long-term evolution-machine (LTE-M), device-to-device (D2D) networks, machine-to-machine (M2M) networks, Internet of Things (IoT) networks, or other networks. IoT networks may include, for example, the Internet of Vehicles. Communication modes in a vehicle internet system are collectively referred to as vehicle-to-everything (V2X, where X can represent anything). For example, V2X may include vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-pedestrian (V2P) communication, or vehicle-to-network (V2N) communication.

[0171] In the various communication systems described above, devices with communication capabilities may be called nodes or communication nodes. For example, a node may include independent devices such as handheld terminals, vehicles, in-vehicle devices, network-side devices, user equipment, access terminals, subscriber units, subscriber stations, mobile stations, mobile consoles, remote stations, remote terminals, wireless communication devices, user agents, or user equipment, or it may be a part contained within an independent device (e.g., a chip or integrated circuit). A node may be any possible 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.

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

[0173] In some application scenarios or network types, devices with similar communication capabilities may not be referred to as nodes. This is not limited to the present application.

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

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

[0176] As shown in Figure 2, the communication system may include at least one first node (e.g., a base station) and at least one second node (e.g., an UE).

[0177] The first and second nodes are described as follows:

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

[0179] For example, the second node may be a terminal device, which may also be called user equipment (UE), terminal, etc. A terminal device is a device that has wireless transceiver functionality. Terminal devices may be deployed on land and include indoor devices, outdoor devices, handheld devices, wearable devices, or in-vehicle devices. Alternatively, terminal devices may be deployed on water, for example, on a ship. Alternatively, terminal devices may be deployed in the air, for example, on an aircraft, balloon, or satellite. Terminal devices may include mobile phones, tablet computers, computers with wireless receiver capabilities, virtual reality (VR) terminal devices, augmented reality (AR) terminal devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medicine, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, and wireless terminals in smart homes. Alternatively, terminal devices may include nodes in short-range wireless communication network systems (e.g., slave nodes or T-nodes in Sparklink communication network systems), terminal devices in future 6G networks, and terminal devices in future advanced PLMNs.

[0180] It should be understood that the terminal devices described in this application may include not only the vehicle (e.g., the entire vehicle) in the Vehicle Internet, but also in-vehicle devices, in-vehicle terminals, etc., in the Vehicle Internet. The specific form of the terminal device when applied to the Vehicle Internet is not limited in this application.

[0181] Figure 2 should be understood to show an example of a communication link between one base station and six UEs, and between communication devices. Optionally, the communication system may include multiple base stations, and the coverage of each base station may include a different number of UEs, e.g., more or fewer UEs. This is not limited to the present application.

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

[0183] Multiple antennas may be configured for each of the aforementioned communication devices, for example, the base station and UE1 to UE6 in Figure 2. The multiple antennas may include at least one transmitting antenna configured to transmit signals, at least one receiving antenna configured to receive signals, and so on. The specific structure of each communication device is not limited to the embodiments of this application. Optionally, the communication system may further include other network entities, such as a network controller or mobility management entity. This is not limited to the embodiments of this application.

[0184] It should be understood that the communication architecture diagram shown in Figure 2 is merely an example. For diagrams of other forms of communication architecture, please refer to the relevant standards or protocols. Further details are not provided herein.

[0185] It should be understood that the ranging method provided in this application may be applied not only to the communication system shown in Figure 2, but also to other forms of communication systems. The following embodiments may be applicable to the communication system shown in Figure 2. Details are not described below.

[0186] Accordingly, this application proposes a new distance measurement method based on the aforementioned communication system architecture. The distance measurement method provided in this application will be described in detail below with reference to Figures 3 to 8.

[0187] Figure 3 is a schematic flowchart of a distance measurement method according to an embodiment of the present application. This distance measurement method includes, but is not limited to, the following steps.

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

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

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

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

[0192] The sequence of steps S301, S302, S303, and S304 is not limited to the embodiments of this application and may be understood to be subject to iteration in actual scenarios.

[0193] Steps S301 to S304 described above can be understood as the first and second devices exchanging measurement frames on at least two frequencies during the measurement process. For example, the first device sends a first measurement frame to the second device on a first frequency and receives a second measurement frame sent by the second device on the first frequency; the first device sends a third measurement frame to the second device on a second frequency and receives a fourth measurement frame sent by the second device on the second frequency. The second frequency is different from the first frequency, and the first and third measurement frames are used by the second device to obtain a second and fourth measurement result, respectively, while the second and fourth measurement frames are used by the first device to obtain a first and third measurement result, respectively.

[0194] It can be understood that the first device (and / or second device) in this embodiment of the present application is a device having a processor that can be configured to execute computer executable instructions, and may be a terminal device (e.g., an in-vehicle terminal), a network device (e.g., a serving base station), and so on. Specifically, the first device (and / or second device) may be the second node in Figure 2 (e.g., any device from UE1 to UE6) or the first node in Figure 2, configured to implement the distance measurement method of this embodiment of the present application to reduce distance measurement errors and improve distance measurement accuracy.

[0195] In possible embodiments, the first and second frequencies may be determined by methods including, but not limited to, the following:

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

[0197] The difference between the first frequency set and the second frequency set is that the first frequency set includes the first frequency, while the second frequency set does not. It can be understood that the second frequency set is the frequency set obtained after the first frequency has been removed from the first frequency set.

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

[0199] The first and second devices exchange measurement frames first on the first frequency, then on the second frequency, and do not exchange measurement frames on frequencies other than the first and second frequencies during the time between the two measurement frame exchanges. Use herein means that the first and second devices exchange measurement frames, and the fact that the first and second frequencies are adjacent in order of usage time does not exclude instances where the first and second devices exchange non-measurement frames on another frequency during the time between the two aforementioned measurement frame exchanges, such as frames used to transmit service data, measurement results, signaling, etc., but not used for distance measurement. This specification does not exclude instances where devices other than the first and second devices exchange any type of frame on any frequency during the time between the two aforementioned measurement frame exchanges.

[0200] According to this embodiment of the present application, the first and second frequencies are two adjacent frequencies in order of usage time, and therefore, it is possible to avoid the repeated use of the same frequency during measurement, thereby shortening the measurement time for distance measurement. When relative movement exists between the first and second devices, shortening the measurement time for distance measurement reduces the amount of change in the relative location between the first and second devices during measurement, thereby obtaining more accurate distance measurement results and improving distance measurement accuracy. In addition, for the first and second devices, the device clock frequency drifts over time due to the non-ideal nature of the clock. Longer measurement times show more serious drift. Shortening the measurement time for distance measurement reduces the range of device clock frequency drift during measurement, suppresses the effect of clock drift on the distance measurement results, and improves distance measurement accuracy.

[0201] Optionally, the frequencies used may be determined within a corresponding frequency set using a pseudo-random method based on a random seed.

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

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

[0204] According to this embodiment of the present application, the frequency is determined in a pseudo-random manner based on a random seed, and therefore the determined frequency is random, thereby reducing the probability of mutual interference occurring when the same time-frequency resources are used when the spectrum is shared with another device, and improving ranging performance.

[0205] Optionally, the first device may obtain the random seed required to determine the frequency using one of several methods. For example, Method 1: A first device generates a first random seed and / or a second random seed, and sends the first random seed and / or the second random seed to a second device; Method 2: A first device generates a first random seed and / or a second random seed, sends the first random seed and / or the second random seed to another device, and the other device then transfers the first random seed and / or the second random seed to a second device; Method 3: A first device sends the second device Method 4: The first device receives a first random seed and / or a second random seed from another device, where, prior to that, the first random seed and / or second random seed of the other device is generated by the second device and sent to the other device; Method 5: The other device generates a first random seed and / or a second random seed and sends the first random seed and / or second random seed to the first device.

[0206] Correspondingly, the second device can also obtain the random seed needed to determine the frequency using one of several methods. For example, Method 1: A second device generates a first random seed and / or a second random seed and sends the first random seed and / or the second random seed to the first device; Method 2: A second device generates a first random seed and / or a second random seed and sends the first random seed and / or the second random seed to another device, which then transfers the first random seed and / or the second random seed to the first device; Method 3: A second device sends the first device Method 4: The second device receives a first random seed and / or a second random seed from another device, where, prior to that, the first random seed and / or second random seed of the other device is generated by the first device and sent to the other device; Method 5: The other device generates a first random seed and / or a second random seed and sends the first random seed and / or second random seed to the second device.

[0207] According to this embodiment of the present application, the first device and the second device use the same first random seed when selecting a first frequency, and use the same second random seed when selecting a second frequency. Thus, the first device and the second device select the same first and second frequencies, thereby avoiding frequency selection errors.

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

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

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

[0211] The first device measures the second measurement frame and obtains the first measurement result.

[0212] The first measurement result includes phase information or in-phase and quadrature component IQ information of a single-frequency sinusoidal signal contained within a second measurement frame at a first time point, or the first measurement result includes phase information or in-phase and quadrature component IQ information of a signal obtained by extending the single-frequency sinusoidal signal contained within a second measurement frame according to a single-frequency sinusoidal model at a first time point. In actual processing, the IQ information may be obtained by computation using an algorithm, e.g., parameter estimates, instead of extending the single-frequency sinusoidal signal.

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

[0214] In possible implementations, a first time point must be determined in order to obtain a first measurement result, and this first time point can be determined by methods including, but not limited to, the following:

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

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

[0217] According to this embodiment of the present application, the timing corresponding to the phase information or IQ information is corrected based on the measurement timing offset, and therefore the influence of the timing difference and frequency difference between the first device clock and the second device clock on the distance measurement result can be suppressed, thereby improving the distance measurement accuracy.

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

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

[0220] Based on the first timing offset determined in this embodiment of the present application, the timing offset can be corrected, reducing the timing and frequency differences between the first and second device clocks, thereby reducing the influence of the measurement frame on the measurement results, and thereby reducing errors in the distance measurement results and improving distance measurement accuracy.

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

[0222] In this embodiment of the present application, a first time point is determined. Correspondingly, a second time point is also determined for the second device using a similar method. The difference between the real time corresponding to the first time point of the first device clock and the real time corresponding to the second time point of the second device clock is mainly related to the measurement error between the first timing offset and the second timing offset, and independent of the timing offset between the first device clock and the second device clock. The joint measurement result of the first frequency obtained by combining the first and second measurement results is not affected by the timing offset between the first and second device clocks, and therefore the influence of the timing offset between the first and second device clocks on the distance measurement result is suppressed, improving the distance measurement accuracy.

[0223] The reference date can be obtained by any chosen method, including but not limited to the following methods:

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

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

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

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

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

[0229] A second time point is used to obtain a second measurement result based on the first measurement frame. The second measurement result includes phase information or in-phase and quadrature component IQ information of the single-frequency sinusoidal signal contained within the first measurement frame at the second time point, or the second measurement result includes phase information or in-phase and quadrature component IQ information at the second time point of the signal obtained by extending the single-frequency sinusoidal signal contained within the first measurement frame according to a single-frequency sinusoidal model. In actual processing, the IQ information may be obtained by computation by using an algorithm, e.g., parameter estimates, instead of extending the single-frequency sinusoidal signal.

[0230] According to this embodiment of the present application, the first and second devices use the same agreed reference value, and the first device determines a reference time based on the frequency offset and the reference value to compensate for the effect of timing offset changes caused by the frequency offset with respect to time relative to the reference time. Thus, the measurement time is determined based on the reference time, and therefore the effect of timing and frequency differences between the first device clock and the second device clock on the measurement results of the measurement frame can be suppressed, thereby reducing errors in the distance measurement results and improving distance measurement accuracy.

[0231] In possible implementations, the reference point for different frequencies may be the same or different, and / or the reference value for different frequencies may be the same or different.

[0232] In possible implementations, when a first device and / or a second device exchange measurement frames via multiple antennas, the reference time used is the same or different when different antenna combinations are used to exchange measurement frames on the same frequency, and / or the reference value used is the same or different when different antenna combinations are used to exchange measurement frames on the same frequency.

[0233] For example, the first device exchanges measurement frames with the second device via antenna 1, and the second device exchanges measurement frames with the first device via antenna 2. In this case, antenna 1 of the first device and antenna 2 of the second device form one antenna combination. The first device transmits measurement frames via transmitting antenna 3 and receives measurement frames via receiving antenna 4. The second device transmits measurement frames via transmitting antenna 5 and receives measurement frames via receiving antenna 6. In this case, transmitting antenna 3 and receiving antenna 4 of the first device, as well as transmitting antenna 5 and receiving antenna 6 of the second device, form one antenna combination. This is not limited to the embodiments of this application.

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

[0235] The first and third measurement results can be used to obtain information about the distance between the first and second devices through calculations.

[0236] Optionally, the first device receives the distance measurement result.

[0237] Specifically, the first device receiving the distance measurement result may be the first device receiving the distance measurement result sent by the third device. The third device may be the second device, and is configured to obtain the distance measurement result through calculations based on the received first measurement result and the received third measurement result, as well as the second and fourth measurement results obtained through measurements by the third device, and to send the distance measurement result to the first device. Alternatively, the third device may be another device having distance measurement calculation capabilities, which sends the distance measurement result obtained through calculations to the first device. It is configured toThe distance measurement results include information about the distance between the first device and the second device.

[0238] It can be understood that the third device in this embodiment of the present application is a device having a processor that can be configured to execute computer executable instructions, and may be a terminal device (e.g., an in-vehicle terminal), a network device (e.g., a serving base station), and so on. Specifically, the third device may be the second node in Figure 2 (e.g., any of the devices UE1 to UE6) or the first node in Figure 2, configured to implement the distance measurement method of this embodiment of the present application to reduce distance measurement errors and improve distance measurement accuracy.

[0239] It can be understood that the third device in this embodiment of the present application may be the second device or another device. Different examples of the third device are described below.

[0240] Case 1:

[0241] When the third device and the second device are the same device, this corresponds to the first device obtaining a first measurement result based on a second measurement frame transmitted by the second device on a first frequency and transmitting the first measurement result to the second device (i.e., the third device), and the first device obtaining a third measurement result based on a fourth measurement frame transmitted by the second device on a second frequency and transmitting the third measurement result to the second device (i.e., the third device). Correspondingly, the second device receives the first and third measurement results transmitted by the first device, which are used by the second device to perform distance measurement calculations.

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

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

[0244] Optionally, after acquiring the distance measurement result, the second device (i.e., the third device) sends the distance measurement result to the first device.

[0245] In Example 1, the second device is a device that has signal frame measurement capability and distance calculation capability, and can obtain information about the distance between the first and second devices by performing distance calculations based on the measurement results obtained by measuring the signal frame of the second device and the received measurement results transmitted by the first device. The first device is a device that has signal frame measurement capability but no distance calculation capability, and can measure signal frames to obtain measurement results and transmit the measurement results to the second device. The first device needs to rely on the second device to perform distance calculations and obtain information about the distance between the first and second devices.

[0246] Case 2:

[0247] When the third device and the second device are different devices, this corresponds to the first device acquiring a first measurement result based on a second measurement frame transmitted by the second device on a first frequency and sending the first measurement result to the third device, and the first device acquiring a third measurement result based on a fourth measurement frame transmitted by the second device on a second frequency and sending the third measurement result to the third device. Correspondingly, the third device receives the first and third measurement results transmitted by the first device, which are used by the third device to perform distance measurement calculations.

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

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

[0250] Optionally, after acquiring the distance measurement result, the third device sends the distance measurement result to the first device and / or the second device.

[0251] In Example 2, it can be understood that the third device differs from the second device in that it is a device with distance measurement and calculation capabilities. The third device does not participate in signal frame exchange and signal frame measurement between the first and second devices. The third device can perform distance measurement based on the received measurement results transmitted by the first device and / or the received measurement results transmitted by the second device to obtain information about the distance between the first and second devices and transmit the information to the first and / or second devices. The first device is a device with signal frame measurement capabilities but no distance measurement and calculation capabilities, and can measure signal frames to obtain measurement results and transmit the measurement results to the third device. The first device needs to rely on the third device to perform distance calculations to obtain information about the distance between the first and second devices. The second device is a device with signal frame measurement capabilities but no distance measurement and calculation capabilities, and can measure signal frames to obtain measurement results and transmit the measurement results to the third device. The second device needs to rely on the third device to perform distance measurement calculations and obtain information about the distance between the first and second devices.

[0252] In this embodiment of the present application, the joint measurement result for the first frequency is obtained by combining the first and second measurement results, and the joint measurement result for the first frequency is not affected by the initial phase of the first and second devices on the first frequency. The joint measurement result for the second frequency is obtained by combining the third and fourth measurement results, and the joint measurement result for the second frequency is not affected by the initial phase of the first and second devices on the second frequency. Therefore, the joint measurement results for the first frequency and the joint measurement results for the second frequency can be combined coherently without being affected by random initial phases caused by frequency switching of the devices, and thus, when the distance measurement result is calculated, a bandwidth larger than the bandwidth of a single-frequency measurement frame can be used to calculate the distance measurement result, making it possible to obtain a more accurate distance measurement result and improving the distance measurement accuracy.

[0253] In addition, in this embodiment of the present application, the measurement process (for example, steps S301 to S304 described above) is separate from the measurement result interaction process (for example, steps S305 to S307 described above), and therefore, the measurement time can be reduced, the amount of change in the relative location between the first and second devices during measurement can be reduced, making it possible to obtain more accurate distance measurement results, improve distance measurement accuracy, and support multiple different communication architectures used for distance measurement with greater flexibility.

[0254] In possible embodiments, the measurement frames (such as the first measurement frame, second measurement frame, third measurement frame, and fourth measurement frame) received and transmitted by the first and second devices in the measurement interaction processing can be implemented in ways that include, but are not limited to, the following (for simplicity of explanation, the first measurement frame will be used as an example below).

[0255] Method 1: A single-frequency sinusoidal signal contained within a first measurement frame includes at least two symbols, each of which is acquired through modulation based on a first sequence by using a first constellation diagram.

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

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

[0258] Optionally, a first symbol contained within a first measurement frame, such as at least two symbols contained within a single-frequency sinusoidal signal in the first measurement frame, is acquired through modulation based on a first sequence by using a first constellation diagram.

[0259] The first symbol includes a symbol located before and adjacent to a single-frequency sinusoidal signal and within a first measurement frame, and / or a first symbol located after the single-frequency sinusoidal signal and within a first measurement frame.

[0260] Method 2: A single-frequency sinusoidal signal contained within a first measurement frame contains at least two symbols, each of which is acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on a first bit.

[0261] In addition, second symbols contained within the first measurement frame, like at least two symbols contained within the single-frequency sinusoidal signal in the first measurement frame, are also acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on the first bit.

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

[0263] In this embodiment of the present application, the same modulation scheme is used for a single-frequency sinusoidal signal and another signal within a first measurement frame to shorten or lengthen the time length of the signal used for measurement within a first measurement frame, for example, the length of a single-frequency sinusoidal signal, in order to avoid the additional implementation complexity and additional time overhead caused by switching modulation schemes. The length of the measurement frame is shortened, and therefore the interval at which the single-frequency sinusoidal signal is transmitted between the first and second devices, and the total measurement time for distance measurement, can be shortened. In light of the non-ideal nature of clocks, the distance measurement result error caused by the clock frequency offset between the first and second devices is related to the interval at which the single-frequency sinusoidal signal is transmitted between the first and second devices. For the same frequency offset, a larger interval results in a larger error. The interval at which the single-frequency sinusoidal signal is transmitted between the first and second devices is shortened, and therefore the effect of the clock frequency offset between the first and second devices on the distance measurement result can be reduced. When relative movement exists between the first and second devices, reducing the total measurement time for distance measurement reduces the amount of change in the relative location between the first and second devices during measurement, thereby obtaining more accurate distance measurement results and improving distance measurement accuracy. In addition, for the first and second devices, the device clock frequency drifts over time due to the non-ideal nature of the clock. Longer measurement times exhibit more severe drift. Reducing the total measurement time for distance measurement reduces the range of device clock frequency drift during measurement, suppressing the effect of clock drift on the distance measurement results and improving distance measurement accuracy. Extending the time length of the signal used for measurement within the first measurement frame can improve the accuracy of obtaining the second measurement result by the second device based on the first measurement frame, thereby improving distance measurement accuracy.

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

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

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

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

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

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

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

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

[0272] It can be understood that the first device (and / or second device) in this embodiment of the present application is a device having a processor that can be configured to execute computer executable instructions, and may be a terminal device (e.g., an in-vehicle terminal), a network device (e.g., a serving base station), and so on. Specifically, the first device (and / or second device) may be the second node in Figure 2 (e.g., any device from UE1 to UE6) or the first node in Figure 2, configured to implement the distance measurement method of this embodiment of the present application to reduce distance measurement errors and improve distance measurement accuracy.

[0273] In possible embodiments, the method for determining the first and second frequencies should be referred to in the relevant descriptions of steps S301 to S304 above. Further details are not described herein.

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

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

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

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

[0278] The first measurement result includes phase information or in-phase and quadrature component IQ information of a single-frequency sinusoidal signal contained within a second measurement frame at a first time point, or the first measurement result includes phase information or in-phase and quadrature component IQ information of a signal obtained by extending the single-frequency sinusoidal signal contained within a second measurement frame according to a single-frequency sinusoidal model at a first time point. In actual processing, the IQ information may be obtained by computation using an algorithm, e.g., parameter estimates, instead of extending the single-frequency sinusoidal signal.

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

[0280] Correspondingly, the second measurement result includes phase information or in-phase and quadrature component IQ information of the single-frequency sinusoidal signal contained within the first measurement frame at a second time point, or the second measurement result includes phase information or in-phase and quadrature component IQ information of the signal obtained by extending the single-frequency sinusoidal signal contained within the first measurement frame according to a single-frequency sinusoidal model at a second time point. In actual processing, the IQ information may be obtained by computation by using an algorithm, e.g., parameter estimates, instead of extending the single-frequency sinusoidal signal.

[0281] In possible embodiments, a second time point needs to be determined in order to obtain a second measurement result. For a method of determining the second time point, see the relevant description in step S305. Further details are not described herein.

[0282] According to this embodiment of the present application, the first and second devices use the same agreed reference value, and the first device determines a reference time based on the frequency offset and the reference value to compensate for the effect of timing offset changes caused by the frequency offset with respect to time relative to the reference time. Thus, the measurement time is determined based on the reference time, and therefore the effect of timing and frequency differences between the first device clock and the second device clock on the measurement results of the measurement frame can be suppressed, thereby reducing errors in the distance measurement results and improving distance measurement accuracy.

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

[0284] Optionally, the second device transmits the distance measurement results.

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

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

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

[0288] Case 1:

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

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

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

[0292] Optionally, after acquiring the distance measurement result, the second device sends the distance measurement result to the first device (i.e., the fourth device).

[0293] In Example 1, the second device is a device with signal frame measurement capability and distance calculation capability, and can obtain information about the distance between the first and second devices by performing distance calculations based on the measurement results obtained by measuring the signal frame of the second device and the received measurement results transmitted by the first device (i.e., the fourth device). The first device (i.e., the fourth device) is a device with signal frame measurement capability but no distance calculation capability, and can measure the signal frame to obtain measurement results and transmit the measurement results to the second device. The first device needs to rely on the second device to perform distance calculations to obtain information about the distance between the first and second devices.

[0294] Case 2:

[0295] When the fourth device and the first device are different devices, this corresponds to the first device acquiring a first measurement result based on a second measurement frame transmitted by the second device on a first frequency and sending the first measurement result to the fourth device, and the first device acquiring a third measurement result based on a fourth measurement frame transmitted by the second device on a second frequency and sending the third measurement result to the fourth device. Correspondingly, the fourth device receives the first and third measurement results transmitted by the first device and transfers the first and third measurement results to the second device, where the first and third measurement results are used by the second device to perform distance measurement calculations.

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

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

[0298] Optionally, after acquiring the distance measurement result, the second device sends the distance measurement result to the fourth device and / or the first device.

[0299] In Example 2, it can be understood that the fourth device is different from the first device. The fourth device is a device that has no distance calculation capability and does not participate in signal frame exchange and signal frame measurement between the first and second devices. The fourth device may receive measurement results sent by the first device and / or measurement results sent by another device and forward the measurement results to the second device. The first device is a device that has signal frame measurement capability but no distance calculation capability and may measure signal frames to obtain measurement results and send the measurement results to the fourth device. The measurement results need to be forwarded to the second device by the fourth device. The first device needs to rely on the second device to perform distance calculations and obtain information about the distance between the first and second devices. The second device is a device having signal frame measurement capability and distance calculation capability, and can measure the signal frame and obtain the measurement result, perform distance calculation based on the received measurement result and / or the measurement result obtained by the second device through the measurement, which is transmitted by the fourth device, to obtain information about the distance between the first device and the second device, and transmit the distance information to the fourth device and / or the first device.

[0300] In this embodiment of the present application, the joint measurement result for the first frequency is obtained by combining the first and second measurement results, and the joint measurement result for the first frequency is not affected by the initial phase of the first and second devices on the first frequency. The joint measurement result for the second frequency is obtained by combining the third and fourth measurement results, and the joint measurement result for the second frequency is not affected by the initial phase of the first and second devices on the second frequency. Therefore, the joint measurement results for the first frequency and the joint measurement results for the second frequency can be combined coherently without being affected by random initial phases caused by frequency switching of the devices, and thus, when the distance measurement result is calculated, a bandwidth larger than the bandwidth of a single-frequency measurement frame can be used to calculate the distance measurement result, making it possible to obtain a more accurate distance measurement result and improving the distance measurement accuracy.

[0301] In addition, in this embodiment of the present application, the measurement process (for example, steps S401 to S404 described above) is separate from the measurement result interaction process (for example, steps S405 to S408 described above), and therefore, the measurement time can be reduced, the amount of change in the relative location between the first and second devices during measurement can be reduced, making it possible to obtain more accurate distance measurement results, improve distance measurement accuracy, and support multiple different communication architectures used for distance measurement with greater flexibility.

[0302] In possible embodiments, for a method of acquiring measurement frames (such as the first measurement frame, second measurement frame, third measurement frame, and fourth measurement frame) sent and received by the first and second devices in the measurement interaction processing, please refer to the relevant description in step S307. Further details are not described herein again.

[0303] Please understand that steps S401 to S404 in this embodiment of the present application are the same as steps S301 to S304 in Figure 3, and steps S405 to S408 in this embodiment of the present application are a variation or addition to steps S305 to S307 in Figure 3.

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

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

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

[0307] It can be understood that the first device (and / or second device) in this embodiment of the present application is a device having a processor that can be configured to execute computer executable instructions, and may be a terminal device (e.g., an in-vehicle terminal), a network device (e.g., a serving base station), and so on. Specifically, the first device (and / or second device) may be the second node in Figure 2 (e.g., any device from UE1 to UE6) or the first node in Figure 2, configured to implement the distance measurement method of this embodiment of the present application to reduce distance measurement errors and improve distance measurement accuracy.

[0308] In possible embodiments, the method for determining the first and second frequencies should be referred to in the relevant descriptions of steps S301 to S304 above. Further details are not described herein.

[0309] In possible embodiments, the first device needs to determine the measurement time in order to obtain the measurement result. For a method of determining the measurement time, please refer to the relevant description in step S305. Further details are not described herein.

[0310] In possible embodiments, the second device needs to determine the measurement time in order to obtain the measurement result. For a method of determining the measurement time, please refer to the relevant description in step S305. Further details are not described herein.

[0311] In possible embodiments, the relationships that must be satisfied between the measurement time determined by the first device and the measurement time determined by the second device should be referred to in the relevant description in step S305. Further details are not described herein.

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

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

[0314] It should be understood that the sequence for carrying out steps S502 and S503 is not limited to the embodiments of this application.

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

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

[0317] The distance measurement results include information about the distance between the first device and the second device.

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

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

[0320] The G-node is a device with distance calculation capabilities. The G-node does not participate in signal frame exchange or signal frame measurement between the first and second devices. Based on the measurement results transmitted by the first device and / or the measurement results transmitted by the second device and received, the G-node can perform distance measurement to obtain information about the distance between the first and second devices.

[0321] Optionally, the S505:G node distributes the distance measurement results to the first device.

[0322] Optionally, the S506:G node distributes the distance measurement results to a second device.

[0323] It should be understood that the sequence for carrying out steps S505 and S506 is not limited to the embodiments of this application.

[0324] In this embodiment of the present application, the first and second devices exchange measurement frames on at least two different frequencies during the measurement process. The joint measurement results of the frequencies can be coherently combined without being affected by random initial phases caused by the frequency switching of the devices, and therefore, when the distance measurement result is calculated, a bandwidth larger than the bandwidth of a single-frequency measurement frame can be used to calculate the distance measurement result, making it possible to obtain a more accurate distance measurement result and improving the distance measurement accuracy.

[0325] In addition, in this embodiment of the present application, the measurement process (e.g., step S501 described above) is separate from the measurement result interaction process (e.g., steps S502 to S503 described above), and therefore, the measurement time can be reduced, the amount of change in the relative location between the first and second devices during measurement can be reduced, making it possible to obtain more accurate distance measurement results, improve distance measurement accuracy, and more flexibly support multiple different communication architectures used for distance measurement.

[0326] In possible embodiments, for a method of acquiring measurement frames sent and received by the first and second devices in the measurement interaction process, please refer to the relevant description in step S307. Further details are not described herein again.

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

[0328] Figure 6 is a schematic flowchart of the frequency hopping algorithm according to an embodiment of the present application. Specifically, it can be understood as a modification or supplement to the content of Figures 3 to 5 relating to the "implementation for determining the first and second frequencies".

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

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

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

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

[0333] According to this embodiment of the present application, the frequency is determined in a pseudo-random manner based on a random seed, and therefore the determined frequency is random, thereby reducing the probability of mutual interference occurring when the same time-frequency resources are used when the spectrum is shared with another device, and improving ranging performance. In addition, the first and second devices use the same first random seed when selecting the first frequency and the same second random seed when selecting the second frequency. Thus, the first and second devices avoid frequency selection errors by selecting the same first and second frequencies.

[0334] Figure 7 is a diagram of bidirectional measurement according to an embodiment of the present application. Specifically, it can be understood as a modification or supplement to the content of Figures 3 to 5 relating to “Implementation for determining measurement time (first time and / or second time)”.

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

[0336] As can be seen from Figure 7, when two devices exchange measurement frames, there is a propagation delay t between the transmission of the measurement frame by one device and its reception by the other device (where t can be understood as an ideal average value), and both the timing difference and frequency difference between the first and second device clocks affect the measurement results of the measurement frame. As a result, the error in the distance measurement results is large, and the distance measurement accuracy is low.

[0337] Therefore, in order to reduce errors in the distance measurement results and improve distance measurement accuracy by suppressing the influence of timing and frequency differences between the first device clock and the second device clock on the measurement results of the measurement frame, this embodiment of the present application provides a relationship that must be satisfied between the measurement time (first time) when the first device measures the second measurement frame and the measurement time (second time) when the second device measures the first measurement frame.

[0338] For example, the relationship that is satisfied between the first time point and the second time point may be as follows:

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

[0340]

number

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

[0342]

number

[0343] Time point 1 - Time point 2 =

[0344]

number

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

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

[0347]

number

[0348] Corresponding to this, the time point t1 of the first device clock is real time (i.e., the ideal clock time in Figure 7).

[0349]

number

[0350] Corresponding to this, the time point t'1 of the second device clock is real time (i.e., the ideal clock time in Figure 7).

[0351]

number

[0352] Corresponding to this, the time point t0 of the second device clock is real time (i.e., the ideal clock time in Figure 7).

[0353]

number

[0354] Corresponding to this, the time t0 of the first device clock is real time (i.e., the ideal clock in Figure 7)

[0355]

number

[0356] Corresponding to this, the time t2 of the second device clock is real time (i.e., the ideal clock time in Figure 7).

[0357]

number

[0358] Corresponding to this, the time t2 of the first device clock is real time (i.e., the ideal clock time in Figure 7).

[0359]

number

[0360] Corresponding to this, the time t'2 of the first device clock is real time (i.e., the ideal clock time in Figure 7).

[0361]

number

[0362] It corresponds to.

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

[0364]

number

[0365] , and

[0366]

number

[0367] That is the case.

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

[0369]

number

[0370] And, To the right of the equals sign is,

[0371]

number

[0372] That is the case.

[0373] Therefore, the following can be obtained:

[0374]

number

[0375] Similarly, the following can be obtained:

[0376]

number

[0377] Time point 1 - Time point 2 =

[0378]

number

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

[0380] Method 1:

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

[0382] The first node, as an additional step, corrects the reference time. Specifically, reference time = reference value.

[0383]

number

[0384] (As shown as formula 1).

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

[0386] Method 2:

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

[0388] The second node, as an additional step, corrects the reference point. Specifically, reference point = reference value.

[0389]

number

[0390] (As shown in Official 2).

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

[0392] Method 3:

[0393] The first node, as an additional step, corrects the reference time. Specifically, reference time = reference value.

[0394]

number

[0395] (As shown in official formula 3).

[0396] The second node, as an additional step, corrects the reference point. Specifically, reference point = reference value.

[0397]

number

[0398] (As indicated by official 4).

[0399] f 2 -f 1 f is a frequency offset of the second device relative to the first device, determined by the first node by measuring the signal (which may be a measurement frame or another signal) transmitted by the second device, and f 1 -f 2This is the frequency offset of the first device relative to the second device, determined by the second node by measuring the signal (which may be a measurement frame or another signal) transmitted by the first device.

[0400] Optionally, in formulas 1, 2, 3, and 4, t1 may be replaced with t1' and t2 may be replaced with t2' using the aforementioned method.

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

[0402] It should be understood that the relationship between the first and second time points is used only as an optional or possible implementation, and does not exclude the possibility of another relationship existing between the first and second time points. Therefore, this should not be considered a limitation to this application.

[0403] According to this embodiment of the present application, the first time point is determined based on the timing offset of the first device relative to the second measurement frame, and the second time point is determined based on the timing offset of the second device relative to the first measurement frame. Therefore, the timing offset can be corrected, and the timing and frequency differences between the first device clock and the second device clock can be reduced. In addition, the first and second devices determine the measurement time point by using the same agreed reference time point. Therefore, the influence of the timing and frequency differences between the first device clock and the second device clock on the measurement results of the measurement frame can be suppressed, thereby reducing errors in the distance measurement results and improving distance measurement accuracy.

[0404] The foregoing describes in detail the methods in embodiments of this application. Below, we provide apparatus for implementing any of the methods in embodiments of this application. For example, apparatus is provided, including a unit (or means) configured to implement the steps performed by the device in any one of the aforementioned methods.

[0405] Figure 8 is a diagram showing the structure of a communication device according to an embodiment of this application.

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

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

[0408] In possible implementations, the communication device 80 may correspond to the first device in the method embodiment shown in Figure 3. The communication device 80 may be the first device or a chip within the first device. The communication device 80 may include a unit configured to perform the operations performed by the first device in the method embodiment shown in Figure 3, the unit within the communication device 80 being separately configured to implement the operations performed by the first device in the method embodiment shown in Figure 3. The unit is described as follows:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0426] In a possible implementation, a single-frequency sinusoidal signal contained within a first measurement frame contains at least two symbols, each of which is obtained through modulation based on a first sequence by using a first constellation diagram, the first sequence being a sequence containing N bits, where the value of N corresponds to the modulation scheme of the first constellation diagram.

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

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

[0429] In a possible implementation, a single-frequency sinusoidal signal contained within a first measurement frame contains at least two symbols, each of which is acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on a first bit.

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

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

[0432] In a possible implementation, the transceiver unit 801 is further configured to receive ranging results, which include information about the distance between the communication device and a second device.

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

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

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

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

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

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

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

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

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

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

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

[0444] In possible implementations, the processing unit 802 is further configured to acquire a second measurement result based on a first measurement frame, wherein the second measurement result includes phase information or in-phase and quadrature component IQ information of a single-frequency sinusoidal signal contained in the first measurement frame at a second time point, or phase information or IQ information at a second time point of a signal acquired by extending the single-frequency sinusoidal signal contained in the first measurement frame according to a single-frequency sinusoidal model, and the second measurement result is used for distance measurement.

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

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

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

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

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

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

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

[0452] In a possible implementation, a single-frequency sinusoidal signal contained within a second measurement frame contains at least two symbols, each of which is obtained through modulation based on a second sequence by using a second constellation diagram, the second sequence being a sequence containing M bits, where the value of M corresponds to the modulation scheme of the second constellation diagram.

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

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

[0455] In a possible implementation, a single-frequency sinusoidal signal contained within a second measurement frame contains at least two symbols, each of which is acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on a second bit.

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

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

[0458] In a possible implementation, the transceiver unit 801 is further configured to transmit a distance measurement result, which includes information about the distance between a first device and a second device.

[0459] According to this embodiment of the present application, the units in the device shown in Figure 8 may be separate from one or more other units, or they may all be combined to form one or more units, or one or more units in the device may be further split into multiple units with more detailed functions. This allows the same operation to be implemented without affecting the implementation of the technical effects of this embodiment of the present application. The aforementioned units are obtained through division based on logical functions. In practical applications, the function of one unit may be implemented by multiple units, or the function of multiple units may be implemented by one unit. In another embodiment of the present application, the device may, as an alternative, include another unit. In practical applications, the function may be implemented with the assistance of another unit, or it may be implemented by multiple units working together.

[0460] Please note that for the implementation of each unit, refer to the corresponding descriptions in the method embodiments shown in Figures 3, 4, and 5.

[0461] In the communication device 80 described in Figure 8, the joint measurement results of the first frequency and the joint measurement results of the second frequency can be coherently combined without being affected by random initial phases caused by frequency switching of the device. Therefore, when the distance measurement result is calculated, a bandwidth larger than the bandwidth of a single-frequency measurement frame can be used to calculate the distance measurement result, making it possible to obtain a more accurate distance measurement result and improving the distance measurement accuracy.

[0462] Figure 9 is a diagram showing the structure of a communication device according to an embodiment of this application.

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

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

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

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

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

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

[0469] In possible implementations, this method is

[0470] The first device determines a first frequency in a first frequency set in a pseudo-random manner based on a first random seed, The first device determines a second frequency in a second frequency set in a pseudo-random manner based on a second random seed. It also includes.

[0471] In possible implementations, this method is

[0472] The first device generates and sends out a first random seed and / or a second random seed, or Step 1: The first device receives a first random seed and / or a second random seed. It also includes.

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

[0474] In possible implementations, this method is

[0475] A first device determines a first timing offset, wherein the first timing offset represents the timing offset of the first device relative to a second measurement frame. The first device determines a first time point based on a first timing offset. It also includes.

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

[0477] In possible implementations, the step of determining the first timing offset is:

[0478] The first device includes the step of determining a first timing offset by measuring a signal in a second measurement frame.

[0479] In possible implementations, this method is

[0480] The first device takes the steps of receiving a first message and / or sending a first message. This further includes, where the first message indicates a reference point, or The reference point is a pre-configured or predefined point in time.

[0481] In possible implementations, this method is

[0482] The first device receives a second message and / or sends a second message, wherein the second message indicates a reference value, or the reference value is a pre-configured or pre-defined value. A step of determining a reference time based on a reference value and a first frequency offset, wherein the first frequency offset represents the frequency offset of the first device relative to a second measurement frame, and It also includes.

[0483] In a possible implementation, a single-frequency sinusoidal signal contained within a first measurement frame contains at least two symbols, each of which is obtained through modulation based on a first sequence by using a first constellation diagram, the first sequence being a sequence containing N bits, where the value of N corresponds to the modulation scheme of the first constellation diagram.

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

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

[0486] In a possible implementation, a single-frequency sinusoidal signal contained within a first measurement frame contains at least two symbols, each of which is acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on a first bit.

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

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

[0489] In possible implementations, this method is

[0490] Step 1: The first device receives the distance measurement result. This further includes, where the distance measurement result includes information regarding the distance between the first device and the second device.

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

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

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

[0494] In possible implementations, this method is

[0495] The second device determines a first frequency in a first frequency set in a pseudo-random manner based on a first random seed, The second device determines a second frequency in a second frequency set in a pseudo-random manner based on a second random seed. It also includes.

[0496] In possible implementations, this method is

[0497] The second device generates and sends out a first random seed and / or a second random seed, or The second device receives the first random seed and / or the second random seed. It also includes.

[0498] In possible implementations, this method is

[0499] A second device acquires a second measurement result based on a first measurement frame, wherein the second measurement result includes phase information or in-phase and quadrature component IQ information of a single-frequency sinusoidal signal contained in the first measurement frame at a second time point, or phase information or IQ information at a second time point of a signal acquired by extending the single-frequency sinusoidal signal contained in the first measurement frame according to a single-frequency sinusoidal model, and the second measurement result is used for distance measurement. It also includes.

[0500] In possible implementations, this method is

[0501] A step in which a second device determines a second timing offset, wherein the second timing offset represents the timing offset of the second device relative to the first measurement frame. The second device determines a second time point based on a second timing offset. It also includes.

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

[0503] In possible implementations, the step of determining the second timing offset is:

[0504] The second device determines a second timing offset by measuring the signal within the first measurement frame. Includes.

[0505] In possible implementations, this method is

[0506] The second device sends a first message and / or receives a first message. This further includes, where the first message indicates a reference point, or The reference point is a pre-configured or predefined point in time.

[0507] In possible implementations, this method is

[0508] Steps include: a second device sending a second message and / or receiving a second message, wherein the second message indicates a reference value, or the reference value is a pre-configured or pre-defined value; A step of determining a reference time based on a reference value and a second frequency offset, wherein the second frequency offset represents the frequency offset of the second device relative to the first measurement frame, and It also includes.

[0509] In a possible implementation, a single-frequency sinusoidal signal contained within a second measurement frame contains at least two symbols, each of which is obtained through modulation based on a second sequence by using a second constellation diagram, the second sequence being a sequence containing M bits, where the value of M corresponds to the modulation scheme of the second constellation diagram.

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

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

[0512] In a possible implementation, a single-frequency sinusoidal signal contained within a second measurement frame contains at least two symbols, each of which is acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on a second bit.

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

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

[0515] In possible implementations, this method is

[0516] Steps in which the second device sends out the distance measurement result. This further includes, where the distance measurement result includes information regarding the distance between the first device and the second device.

[0517] In the communication device 90 described in Figure 9, the joint measurement results of the first frequency and the joint measurement results of the second frequency can be coherently combined without being affected by random initial phases caused by frequency switching of the device. Therefore, when the distance measurement result is calculated, a bandwidth larger than the bandwidth of a single-frequency measurement frame can be used to calculate the distance measurement result, making it possible to obtain a more accurate distance measurement result and improving the distance measurement accuracy.

[0518] For cases where the communication device is a chip or chip system, please refer to the diagram of the chip structure shown in Figure 10.

[0519] As shown in Figure 10, the chip 100 includes a processor 1001 and an interface 1002. There may be one or more processors 1001 and multiple interfaces 1002. Note that the functions corresponding to each of the processors 1001 and interfaces 1002 may be implemented using hardware design, software design, or a combination of software and hardware. This is not limited to the foregoing.

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

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

[0522] For communication methods provided in one or more embodiments of this application, please refer to the embodiments shown in Figures 3, 4, and 5. Further details are not described herein.

[0523] The processor in the embodiments of this application may be a Central Processing Unit (CPU), and the processor may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), another programmable logic device, an discrete gate or transistor logic device, a discrete hardware component, etc. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc.

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

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

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

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

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

[0529] Embodiments of this application further provide a processing apparatus including a processor and an interface. The processor is configured to carry out the method in any one of the method embodiments described above.

[0530] It should be understood that the processing unit may be a chip. For example, the processing unit may be a field programmable gate array (FPGA), or a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or another programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, a system on a chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or another integrated chip. It may implement or carry out the methods, steps, and logic block diagrams disclosed in embodiments of this application. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc. The steps of the methods disclosed with reference to embodiments of this application may be performed or completed directly by a hardware decoding processor, or by using a combination of hardware and software modules within the decoding processor. The software modules may reside in a complete storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electro-erasable programmable memory, or registers. The storage medium resides in memory, and the processor reads information from memory and, in combination with the processor's hardware, completes the steps of the aforementioned methods.

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

[0532] All or some of the embodiments described above may be implemented using software, hardware, firmware, or any combination thereof. When software is used to implement an embodiment, all or some of the embodiments may be implemented in the form of a computer program product. A computer program product includes one or more computer instructions. When the computer instructions are loaded onto a computer and executed, all or part of the procedures or functions according to the embodiments of this application are generated. The computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, or digital subscriber line (DSL)) or wireless (e.g., infrared, radio, or microwave) method. The computer-readable storage medium may be any available medium accessible by a computer, or a data storage device, such as a server or data center, that integrates one or more available media. The usable media may include magnetic media (e.g., floppy disks, hard disk drives, or magnetic tapes), optical media (e.g., high-density digital video discs (DVDs)), and semiconductor media (e.g., solid-state drives (SSDs)).

[0533] The units in the aforementioned apparatus embodiments fully correspond to the electronic devices in the method embodiments, with the corresponding modules or units performing the corresponding steps. For example, a communication unit (transceiver) performs the receiving or transmitting steps in the method embodiments, while steps other than transmitting and receiving may be performed by a processing unit (processor). For the functions of specific units, please refer to the corresponding method embodiments. One or more processors may be present.

[0534] In embodiments of this application, it can be understood that an electronic device may perform some or all of the steps in the embodiments of this application. These steps or actions are merely examples. Other actions or various variations of actions may be performed in embodiments of this application. In addition, the steps may be performed in an order different from the order presented in embodiments of this application, and not all actions in embodiments of this application may be performed.

[0535] Those skilled in the art will notice, in combination with the examples described in the embodiments disclosed herein, that units and algorithmic steps can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are implemented by hardware or by software depends on the specific application and the design constraints of the technical solution. Those skilled in the art may use different methods to implement the functions described for each specific application, but the implementations should not be considered to exceed the scope of this application.

[0536] For the sake of convenience and simplicity, it will be readily apparent to those skilled in the art that detailed working procedures of the above-described systems, apparatus, and units should be referred to in the corresponding procedures in the method embodiments described above. Further details will not be described again herein.

[0537] In some embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the described device embodiments are merely illustrative. For example, the division into units is merely a logical functional division, and other divisions may be possible in actual implementations. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not implemented. Furthermore, the mutual coupling, direct coupling, or communication connection shown or discussed may be implemented through some interfaces. Indirect coupling or communication connection between devices or units may be implemented in electronic, mechanical, or other forms.

[0538] Units described as separate parts may or may not be physically separate, and parts presented as units may or may not be physical units, and may be located in one location or distributed across multiple network units. Some or all of the units may be selected based on actual requirements to achieve the objectives of the solution of the embodiment.

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

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

[0541] The foregoing description represents only a specific implementation of this application and is not intended to limit the scope of protection. Any modifications or substitutions that are readily conceivable by a person skilled in the art within the scope of the art disclosed herein fall within the scope of protection.

Claims

1. A distance measurement method, The steps include: sending a first measurement frame on a first frequency to a second device using a first device, and receiving a second measurement frame sent by the second device on the first frequency; The first device sends a third measurement frame on a second frequency to the second device, and receives a fourth measurement frame sent by the second device on the second frequency, wherein the second frequency is different from the first frequency. The first device obtains a first measurement result based on the second measurement frame, The first device obtains a third measurement result based on the fourth measurement frame, A step of sending the first measurement result and the third measurement result to the third device by the first device, wherein the first measurement result and the third measurement result are used for distance measurement, and Includes, A method wherein the first measurement result includes phase information or in-phase and quadrature component (IQ) information of a single-frequency sinusoidal signal contained within the second measurement frame at a first time point, or phase information or IQ information of a signal obtained by extending the single-frequency sinusoidal signal contained within the second measurement frame according to a single-frequency sinusoidal model, at the first time point.

2. The method according to claim 1, wherein the first frequency and the second frequency are adjacent frequencies in order of usage time, the first frequency belongs to a first frequency set, the second frequency belongs to a second frequency set, and the first frequency set includes the first frequency and the second frequency set.

3. The aforementioned method, The first device determines the first frequency in the first frequency set in a pseudo-random manner based on a first random seed, The first device determines the second frequency in the second frequency set in a pseudo-random manner based on the second random seed. The method according to claim 2, further comprising:

4. The aforementioned method, The first device generates and transmits the first random seed and / or the second random seed, or The first device receives the first random seed and / or the second random seed. The method according to claim 3, further comprising:

5. The aforementioned method, A step of determining a first timing offset using the first device, wherein the first timing offset represents the timing offset of the first device with respect to the second measurement frame, The first device performs the steps of determining the first time point based on the first timing offset and The method according to claim 1, further comprising:

6. The method according to claim 5, wherein the first time point satisfies T1 = t0 + t1 / 2, where t0 represents a reference time point, t1 represents the first timing offset, and T1 represents the first time point.

7. The step of determining the first timing offset is: The first step of determining the first timing offset by measuring the signal in the second measurement frame using the first device. The method according to claim 5, including the method described in claim 5.

8. The aforementioned method, The first device receives a first message and / or sends a first message. The first message further includes the reference time, or The method according to claim 6, wherein the reference time is a pre-configured or pre-defined time.

9. The aforementioned method, The first device receives and / or sends a second message, wherein the second message indicates a reference value, or the reference value is a pre-configured or pre-defined value. A step of determining the reference time based on the reference value and the first frequency offset, wherein the first frequency offset represents the frequency offset of the first device relative to the second measurement frame. The method according to claim 6, further comprising:

10. The method according to claim 1 or 2, wherein a single-frequency sinusoidal signal contained within the first measurement frame comprises at least two symbols, each of which is obtained through modulation based on a first sequence by using a first constellation diagram, the first sequence being a sequence comprising N bits, the value of which corresponds to the modulation scheme of the first constellation diagram.

11. The first symbol is obtained through modulation based on the first sequence by using the first constellation diagram. The method according to claim 10, wherein the first symbol is located before and adjacent to the single-frequency sinusoidal signal and is within the first measurement frame, and / or the first symbol is located after the single-frequency sinusoidal signal and is within the first measurement frame.

12. The single-frequency sinusoidal signal contained within the first measurement frame includes at least two symbols, each of which is acquired through Gaussian frequency-shifted modulation (GFSK) modulation based on a first bit. The method according to claim 1 or 2, wherein the second symbol is obtained through GFSK modulation based on the first bit, and the second symbol includes a symbol located before and adjacent to the single-frequency sinusoidal signal and within the first measurement frame, and / or a first symbol located after the single-frequency sinusoidal signal and within the first measurement frame.

13. The aforementioned method, The first device receives the distance measurement result. The distance measurement result further includes information regarding the distance between the first device and the second device. The method according to claim 1 or 2.

14. A distance measurement method, The steps include: a second device receiving a first measurement frame transmitted by the first device on a first frequency, and transmitting a second measurement frame to the first device on the first frequency; A step of receiving a third measurement frame transmitted by the first device on a second frequency, and transmitting a fourth measurement frame to the first device on the second frequency, wherein the second frequency is different from the first frequency. The second device obtains a second measurement result based on the first measurement frame, The second device obtains a fourth measurement result based on the third measurement frame, The steps of receiving a first measurement result and a third measurement result from a fourth device by the second device, wherein the first measurement result is the measurement result of the first device on the second measurement frame, and the third measurement result is the measurement result of the first device on the fourth measurement frame, The second device determines the distance between the first device and the second device based on the first measurement result, the second measurement result, the third measurement result, and the fourth measurement result. Includes, A method wherein the second measurement result includes phase information or in-phase and quadrature component (IQ) information of a single-frequency sinusoidal signal contained in the first measurement frame at a second time point, or phase information or IQ information at the second time point of a signal obtained by extending the single-frequency sinusoidal signal contained in the first measurement frame according to a single-frequency sinusoidal model, and the second measurement result is used for distance measurement.

15. The method according to claim 14, wherein the first frequency and the second frequency are adjacent frequencies in order of usage time, the first frequency belongs to a first frequency set, the second frequency belongs to a second frequency set, and the first frequency set includes the first frequency and the second frequency set.

16. The aforementioned method, The second device determines the first frequency in the first frequency set in a pseudo-random manner based on the first random seed, The second device determines the second frequency in the second frequency set in a pseudo-random manner based on the second random seed; The method according to claim 15, further comprising:

17. The aforementioned method, The second device generates and transmits the first random seed and / or the second random seed, or The second device receives the first random seed and / or the second random seed. The method according to claim 16, further comprising:

18. The aforementioned method, A step of determining a second timing offset using the second device, wherein the second timing offset represents the timing offset of the second device relative to the first measurement frame. The second device performs the steps of determining the second time point based on the second timing offset and The method according to claim 14, further comprising:

19. The method according to claim 18, wherein the second time point satisfies T2 = t0 + t2 / 2, where t0 represents the reference time point, t2 represents the second timing offset, and T2 represents the second time point.

20. The step of determining the second timing offset is: The second device measures the signal in the first measurement frame to determine the second timing offset. The method according to claim 18, including the method described above.

21. The aforementioned method, The second device sends a first message and / or receives a first message. The first message further includes the reference time, or The method according to claim 19, wherein the reference time is a pre-configured or pre-defined time.

22. The aforementioned method, The steps of sending and / or receiving a second message by the second device, wherein the second message indicates a reference value, or the reference value is a pre-configured or pre-defined value; A step of determining the reference time based on the reference value and the second frequency offset, wherein the second frequency offset represents the frequency offset of the second device relative to the first measurement frame. The method according to claim 19, further comprising:

23. The method according to claim 14 or 15, wherein the single-frequency sinusoidal signal contained within the second measurement frame comprises at least two symbols, each of which is obtained through modulation based on a second sequence by using a second constellation diagram, the second sequence being a sequence comprising M bits, the value of which corresponds to the modulation scheme of the second constellation diagram.

24. The third symbol is obtained through modulation based on the second sequence by using the second constellation diagram. The method according to claim 23, wherein the third symbol is located adjacent to the single-frequency sinusoidal signal and within the second measurement frame, and / or the first symbol is located after the single-frequency sinusoidal signal and within the second measurement frame.

25. The single-frequency sinusoidal signal contained within the second measurement frame comprises at least two symbols, each of which is acquired through Gaussian frequency shift modulation (GFSK) modulation based on a second bit. The fourth symbol is obtained through GFSK modulation based on the second bit, The method according to claim 14 or 15, wherein the fourth symbol is located before and adjacent to the single-frequency sinusoidal signal and is within the second measurement frame, and / or the first symbol is located after the single-frequency sinusoidal signal and is within the second measurement frame.

26. The aforementioned method, The second device sends out the distance measurement result. The distance measurement result further includes information relating to the distance between the first device and the second device. The method according to claim 14 or 15.

27. A communication device comprising a module or unit configured to carry out the method according to claim 1 or claim 14.

28. A communication device equipped with a processor, A communication device wherein, when the processor invokes a computer program or instruction in memory, the method according to claim 1 or the method according to claim 14 is performed.

29. A communication device equipped with logic circuits and a communication interface, The aforementioned communication interface is configured to receive or transmit information, A communication device wherein the logic circuit is configured to receive or transmit the information through the communication interface, and as a result, the method according to claim 1 or the method according to claim 14 is carried out.

30. A computer-readable storage medium, A computer-readable storage medium configured to store instructions or computer programs, wherein the method according to claim 1 or the method according to claim 14 is implemented when the instructions or computer programs are executed.

31. It is a computer program, A computer program in which, when the computer program is executed, the method according to claim 1 is implemented, or the method according to claim 14 is implemented.

32. A terminal device comprising the communication device described in claim 27.

33. A terminal device comprising the communication device described in claim 28.

34. A terminal device comprising the communication device described in claim 29.

35. A system comprising a vehicle and the communication device described in claim 27.

36. A system comprising a vehicle and the communication device described in claim 28.

37. A system comprising a vehicle and the communication device described in claim 29.

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