Distance measurement method and distance measurement apparatus

Abstract

Embodiments of the present application provide a distance measurement method and a distance measurement apparatus. The distance measurement method comprises: a first device sends a plurality of first service frames to a second device, wherein each current first service frame comprises a first distance measurement starting identifier and a first offset, the first offset is an offset between a frame header of any first service frame and a frame header of a first reference frame, and the first reference frame is used for time synchronization between the first device and the second device; and the first device receives first information associated with a second moment from the second device, the second moment being the moment when the second device detects the first distance measurement starting identifier. By exchanging information of the first offset between two distance measurement parties, distance measurement can be accurately implemented without needing to align a frame header of a service frame with a frame header of a reference frame. Moreover, the constraint that the period of the reference frame must be an integer multiple of the period of the service frame is eliminated. Thus, the configuration flexibility of the service frame and the practicability of the distance measurement method are improved.

Description

Distance measuring method and distance measuring device

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on November 1, 2023, with application number 202311445208.X, and priority to the Chinese patent application entitled “A Distance Measurement Method and Distance Measurement Device”, all contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of communications, and in particular to a distance measurement method and a distance measurement device. Background Art

[0003] A currently known ranging technology uses time synchronization between reference frames on both sides of the measurement. These reference frames have a fixed period. Upon the arrival of a reference frame, the ranging node sends a ranging start flag via a service frame. This allows both parties to determine the distance between them based on the transmission time of the service frame carrying the ranging flag. To ensure ranging accuracy, the headers of the service frames must be aligned with the headers of the reference frames, and the reference frame period must be an integer multiple of the service frame period.

[0004] Among them, the service frame is used for service transmission between the two parties of ranging. The above strict requirements on the service frame greatly affect the flexibility and freedom of communication between the two parties of ranging, and limit the promotion and development of this ranging technology.

[0005] Summary of the Invention

[0006] The present application provides a ranging method and a ranging device, which can improve the flexibility and freedom of communication between the two parties of ranging without affecting the ranging accuracy.

[0007] In a first aspect, a ranging method is provided, comprising: a first device sending multiple first service frames to a second device, wherein a current first service frame among the multiple first service frames includes a first ranging start identifier and a first offset, wherein the first offset is an offset between a frame header of any one of the multiple first service frames and a first reference frame, and an interval of N periods T between the current first service frame and the first service frame corresponding to the first offset, wherein the first reference frame is used for time synchronization between the first device and the second device, where N ≥ 0; and the first device receiving multiple second service frames from the second device, wherein a current second service frame among the multiple second service frames includes a second ranging start identifier and a second offset, wherein the second offset is an offset between a frame header of any one of the multiple second service frames and a first reference frame. The first device receives first information from the second device, where the first information is associated with a second moment, and the second moment is the moment when the second device detects the first ranging start identifier. The first device determines the distance between the first device and the second device based on the first information, where the distance is associated with the following parameters: the first moment corresponding to the frame header of the first reference frame, the second moment, a third moment, the first offset, the second offset, the value of N, the value of M, and the value of T, where the third moment is the moment when the first device detects the second ranging start identifier.

[0008] According to the solution provided by the embodiments of the present application, by exchanging the aforementioned offset information between the ranging parties, accurate ranging can be completed without aligning the headers of the service frame and the reference frame. Furthermore, this solution breaks away from the prior art constraint that the reference frame period must be an integer multiple of the service frame period, significantly increasing the flexibility of service frame configuration and further enhancing the practicality of the ranging method.

[0009] Alternatively, the above scheme can also be expressed as follows: the first device sends a first service frame to the second device, and the first service frame includes a first ranging start identifier and a first offset. The first offset is the offset between the frame header of the third service frame and the frame header of the first reference frame. The third service frame is separated from the first service frame by N periods T, where N≥0. Thereafter, the first device receives a second service frame from the second device. The second service frame includes a second ranging start identifier and a second offset. The second offset is the offset between the frame header of the fourth service frame and the frame header of the first reference frame. The fourth service frame is separated from the second service frame by M periods T, where M≥0 service frames. Furthermore, the first device receives first information from the second device, and the first information is associated with a second moment, which is the moment when the second device detects the first ranging start identifier. Furthermore, the first device determines the distance between the first device and the second device based on the first information, and the distance is associated with the first moment corresponding to the frame header of the first reference frame, the second moment, the third moment, the first offset, the second offset, the value of N and the period T, and the third moment is the moment when the first device detects the ranging start identifier in the second service frame.

[0010] In an embodiment of the present application, the "current service frame (for example, the above-mentioned current first service frame and the current second service frame)" may also be referred to as a ranging service frame, that is, a service frame used for ranging, or a service frame used to carry a ranging start identifier when starting ranging.

[0011] In a possible implementation manner, the method further includes: the first device sending second information to the second device, where the first information is associated with the third moment.

[0012] In one implementation, M=N.

[0013] In another implementation, M≠N, in which case the first information is further associated with the value of M, and the second information is further associated with the value of N.

[0014] In one implementation, the period of the reference frame is not an integer multiple of the period of the service frame.

[0015] In one implementation, the first offset and the second offset are smaller than the period of the service frame, thereby shortening the delay from starting ranging to obtaining a ranging result.

[0016] Furthermore, the first service frame is adjacent to the third service frame, and the second service frame is adjacent to the fourth service frame. Similarly, the time delay from starting ranging to obtaining ranging results can be shortened.

[0017] In one implementation, the first service frame corresponding to the first offset is a previous frame of the current first service frame, or the first service frame corresponding to the first offset is the same frame as the current first service frame;

[0018] The second service frame corresponding to the second offset is a previous frame of the current second service frame, or the second service frame corresponding to the second offset is the same frame as the current second service frame.

[0019] In one implementation, when M=N, the distance S between the first device and the second device satisfies any of the following conditions:

[0020] S=[1 / 2(T2_B-T1_A+T4_A-T3_B+offset_a+offset_b)-(N+1)*T]*C; or

[0021] S=[1 / 2(T2_B-T1_A+T4_A-T3_B-offset_a-offset_b)-N*T]*C;

[0022] In another implementation, when M≠N, the distance S between the first device and the second device satisfies any of the following conditions:

[0023] S=1 / 2[T2_B-T1_A+T4_A-T3_B+offset_a+offset_b-(N+1)*T-(M+1)*T]*C; or

[0024] S=1 / 2[T2_B-T1_A+T4_A-T3_B-offset_a-offset_b-N*T-M*T]*C

[0025] Among them, T2_B represents the second moment, T1_A represents the first moment determined by the first device, T3_B represents the first moment determined by the second device, T4_A represents the third moment, offset_a represents the first offset, offset_b represents the second offset, T represents the period of the service frame, C represents the speed of light, V_A represents the speed of the first device, and V_B represents the speed of the second device.

[0026] In one implementation, the first information is used to indicate any one of the second moment, the first result t1, the second result t2, the third result t3, the fourth result t4, and the fifth result t5, wherein

[0027] t1=T2_B-T3_B,

[0028] t2=T2_B-T3_B+offset_a,

[0029] t3=T2_B-T3_B-offset_a,

[0030] t4=T2_B-T3_B-offset_a-N*T,

[0031] t5=T2_B-T3_B+offset_a-(N+1)*T,

[0032] Wherein, T2_B represents the second moment, T3_B represents the first moment determined by the second device, offset_a represents the first offset, and T represents the period of the service frame.

[0033] Furthermore, the second information is used to indicate the third moment or any value below, wherein

[0034] t1'=T4_A-T1_A,

[0035] t2'=T4_A-T1_A+offset_b,

[0036] t3'=T4_A-T1_A-offset_b,

[0037] t4'=T4_A-T1_A-offset_b-M*T,

[0038] t5'=T4_A-T1_A+offset_b-(M+1)*T,

[0039] Wherein, T4_A represents the third moment, T1_A represents the first moment determined by the first device, offset_b represents the second offset, and T represents the period of the service frame.

[0040] By calculating the difference between T2_B and T3_B and the difference between T4_A and T1_A, it is possible to eliminate the ranging error caused by the deviation of the time synchronization between the two ranging parties based on the reference frame.

[0041] In one implementation, the distance is also associated with a first compensation value and a second compensation value, wherein the first compensation value includes the delay on the internal path of the first device at the first moment, and the second compensation value includes the delay on the internal path of the second device at the first moment.

[0042] For example, the distance S between the first device and the second device satisfies any of the following conditions:

[0043] S=[1 / 2(T2_B-T1_A+T4_A-T3_B+offset_a+offset_b-F3_A-F3_B)-(N+1)*T]*C+(T4_A-T1_A)*V_A+(T2_B-T3_B)*V_B; or

[0044] S=[1 / 2(T2_B-T1_A+T4_A-T3_B-offset_a-offset_b-F3_A-F3_B)-N*T]*C+(T4_A-T1_A) *V_A+(T2_B-T3_B)*V_B; or

[0045] or

[0046] S=1 / 2[T2_B-T1_A+T4_A-T3_B-offset_a-offset_b-F3_A-F3_B-N*TM*T]*C+(T4_A-T1_A)*V_A+(T2_B-T3_B)*V_B

[0047] Among them, T2_B represents the second moment, T1_A represents the first moment determined by the first device, T3_B represents the first moment determined by the second device, T4_A represents the third moment, offset_a represents the first offset, offset_b represents the second offset, T represents the period of the service frame, C represents the speed of light, V_A represents the speed of the first device, V_B represents the speed of the second device, F3_A represents the first compensation value, and F3_B represents the second compensation value.

[0048] In this case, the first information is used to indicate any one of the sixth result t6, the seventh result t7, the eighth result t8, the ninth result t9, and the tenth result t10, wherein

[0049] t6 = T2_B - T3_B - F3_B,

[0050] t7=T2_B-T3_B+offset_a-F3_B,

[0051] t8=T2_B-T3_B-offset_a-F3_B,

[0052] t9=T2_B-T3_B-offset_a-F3_B-N*T,

[0053] t10=T2_B-T3_B+offset_a-F3_B-(N+1)*T,

[0054] Furthermore, the second information is used to indicate any of the following values:

[0055] t6'=T4_A-T1_A-F3_A,

[0056] t 7'=T4_A-T1_A+offset_b-F3_A,

[0057] t 8'=T4_A-T1_A-offset_b-F3_A,

[0058] t 9'=T4_A-T1_A-offset_b-F3_A-M*T,

[0059] t 10'=T4_A-T1_A+offset_b-F3_A-(M+1)*T,

[0060] Wherein, T2_B represents the second moment, T3_B represents the first moment determined by the second device, offset_a represents the first offset, T represents the period of the service frame, and F3_B represents the second compensation value.

[0061] In one implementation, the method further includes: the first device detecting a first delay on an internal path of the first device at a fourth moment. Furthermore, the first device sends a first signal on the internal path at the fourth moment and records a first phase of the first signal at the fourth moment, wherein the first signal is a periodic signal having a first pattern; the first device receives the first signal from the internal path at the fifth moment and records a second phase of the first signal at the fifth moment; the first device determines a first dynamic delay based on the first phase and the second phase, wherein the first dynamic delay includes a non-integer periodic portion of the phase difference between the first phase and the second phase; further, the first device sends the first signal on the internal path at the third moment and records a third phase of the first signal at the third moment; the first device receives the first signal from the internal path at the sixth moment and records a fourth phase of the first signal at the sixth moment; the first device determines a second dynamic delay based on the third phase and the fourth phase, wherein the second dynamic delay includes a non-integer periodic portion of the phase difference between the third phase and the fourth phase; thereby, the first device determines the first compensation value based on the deviation between the first dynamic delay and the second dynamic delay and the first delay.

[0062] Through the above method, on the one hand, the impact of the internal delay of the device on the ranging accuracy can be reduced, and on the other hand, the internal delay can be quickly determined to improve the efficiency of ranging.

[0063] The ranging method provided in the embodiment of the present application can be effectively applied to ranging between satellites, that is, the first device and the second device include satellites, and the service frame includes an optical transport network OTN frame or an interstellar link ISL frame.

[0064] However, the present application is not limited thereto, and the ranging method provided in the embodiments of the present application can also be effectively applied to ranging between vehicles, for example.

[0065] In a second aspect, a ranging method is provided, the method comprising: a first device sending a first service frame to a second device, the first service frame including a first ranging start identifier, a frame header of the first service frame corresponding to a frame header of a first virtual frame, the frame header of the first virtual frame corresponding to a frame header of a first reference frame, a first period corresponding to the first virtual frame being an integer multiple of a second period corresponding to the first service frame, and the first period being an integer multiple of a third period corresponding to the first reference frame; the first device receiving a second service frame from the second device, the second service frame including a second ranging start identifier, the frame header of the second service frame corresponding to the frame header of the first virtual frame; the first device receiving first information from the second device, the first information being associated with a second moment, the second moment being a moment when the second device detects the first ranging start identifier; the first device determining, based on the first information, a distance between the first device and the second device, the distance being associated with the following parameters: a first moment corresponding to the frame header of the first virtual frame, the second moment, and a third moment, wherein the third moment is a moment when the first device detects the ranging start identifier in the second service frame.

[0066] Alternatively, the above method can also be expressed as: the ranging method is applied to a communication system including a first device and a second device, the first device and the second device are time synchronized through a reference frame, and communicate through a service frame, the service frame has a second period, and the reference frame has a third period, the ranging method includes: the first device sends a first service frame to the second device, the first service frame includes a ranging start identifier, the frame header of the first service frame corresponds to the frame header of a first virtual frame in multiple virtual frames, the multiple virtual frames have a first period, the frame header of the first virtual frame corresponds to the frame header of the first reference frame, the first period is an integer multiple of the second period, and the first period is an integer multiple of the second period. An integer multiple of three cycles; the first device receives a second service frame from the second device, the second service frame includes a ranging start identifier, and the frame header of the second service frame corresponds to the frame header of the first virtual frame; the first device receives first information from the second device, the first information is associated with a second moment, and the second moment is the moment when the second device detects the ranging start identifier in the first service frame; the first device determines the distance between the first device and the second device based on the first information, and the distance is associated with the first moment corresponding to the frame header of the first virtual frame, the second moment, and a third moment, and the third moment is the moment when the first device detects the ranging start identifier in the second service frame.

[0067] By having both parties in ranging maintain virtual frames, the constraint that the period of the reference frame must be an integer multiple of the period of the service frame in the prior art is eliminated, the configuration flexibility of the service frame is greatly improved, and the practicality of the ranging method is further improved.

[0068] For example, the first information is used to indicate the second time or the first result t1, wherein

[0069] t1=T2_B-T3_B,

[0070] Here, T2_B represents the second moment, and T3_B represents the first moment determined by the second device.

[0071] In one implementation, the distance is also associated with a first compensation value and a second compensation value, wherein the first compensation value includes the delay on the internal path of the first device at the first moment, and the second compensation value includes the delay on the internal path of the second device at the first moment.

[0072] In this case, the first information is used to indicate the second result t2, where

[0073] t2=T2_B-T3_B-F3_B,

[0074] Wherein, T2_B represents the second moment, T3_B represents the first moment determined by the second device, and F3_B represents the second compensation value.

[0075] In one implementation, the method further includes: detecting, by the first device, a first delay on an internal path of the first device at a fourth moment; transmitting, by the first device, a first signal on the internal path at the fourth moment, and recording a first phase of the first signal at the fourth moment, the first signal being a periodic signal; receiving, by the first device, the first signal from the internal path at a fifth moment, and recording a second phase of the first signal at the fifth moment; determining, by the first device, a first dynamic delay based on the first phase and the second phase, the first dynamic delay including a non-integer periodic portion of a phase difference between the first phase and the second phase; transmitting, by the first device, the first signal on the internal path at a third moment, and recording a third phase of the first signal at the third moment; receiving, by the first device, the first signal from the internal path at a sixth moment, and recording a fourth phase of the first signal at the sixth moment; determining, by the first device, a second dynamic delay based on the third phase and the fourth phase, the second dynamic delay including a non-integer periodic portion of a phase difference between the third phase and the fourth phase; and determining, by the first device, a first compensation value based on a deviation between the first dynamic delay and the second dynamic delay and the first delay.

[0076] Through the above method, on the one hand, the impact of the internal delay of the device on the ranging accuracy can be reduced, and on the other hand, the internal delay can be quickly determined to improve the efficiency of ranging.

[0077] In the embodiment of the present application, the third period is not an integer multiple of the second period.

[0078] Furthermore, there may be an offset between the frame header of the first service frame and the frame header of the first reference frame.

[0079] In addition, the frame header of the first service frame is aligned with the frame header of the first virtual frame, or there is a preset offset between the frame header of the first service frame and the frame header of the first virtual frame.

[0080] In one implementation, the service frame includes an optical transport network OTN frame or an inter-satellite link (ISL) frame.

[0081] Furthermore, the first device includes a satellite or a transportation device.

[0082] In a third aspect, a ranging device is provided, including a transceiver unit and a processing unit, the transceiver unit being used to send multiple first service frames, the current first service frame among the multiple first service frames including a first ranging start identifier and a first offset, the first offset being the offset between a frame header of any first service frame among the multiple first service frames and a first reference frame, the current first service frame being spaced N periods T from the first service frame corresponding to the first offset, the first reference frame being used for time synchronization between the first device and the second device, N ≥ 0. Furthermore, the transceiver unit is used to receive multiple second service frames, where the current second service frame among the multiple second service frames includes a second ranging start identifier and a second offset, where the second offset is the offset between any one of the multiple second service frames and the frame header of the first reference frame, and the current second service frame and the second service frame corresponding to the second offset are separated by M periods T, where M≥0; and the transceiver unit is used to receive first information from the second device, where the first information is associated with a second moment, where the second moment is the moment when the second device detects the first ranging start identifier; and the processing unit is used to determine the distance between the first device and the second device based on the first information, where the distance is associated with the following parameters: the first moment corresponding to the frame header of the first reference frame, the second moment, the third moment, the first offset, the second offset, the value of N, the value of M, and the value of T, where the third moment is the moment when the first device detects the second ranging start identifier.

[0083] According to the solution provided by the embodiments of the present application, by exchanging the aforementioned offset information between the ranging parties, accurate ranging can be completed without aligning the headers of the service frame and the reference frame. Furthermore, this solution breaks away from the prior art constraint that the reference frame period must be an integer multiple of the service frame period, significantly increasing the flexibility of service frame configuration and further enhancing the practicality of the ranging method.

[0084] In a possible implementation, the transceiver unit is further configured to send second information to the second device, and the first information is associated with the third moment.

[0085] In another possible implementation, the processing unit is further configured to detect a first delay on an internal path of the first device at a fourth moment. Furthermore, the transceiver unit is further configured to send a first signal on the internal path at the fourth moment and record a first phase of the first signal at the fourth moment, wherein the first signal is a periodic signal having a first pattern; the transceiver unit is further configured to receive the first signal from the internal path at a fifth moment and record a second phase of the first signal at the fifth moment; the processing unit is further configured to determine a first dynamic delay based on the first phase and the second phase, wherein the first dynamic delay includes a non-integer periodic portion of the phase difference between the first phase and the second phase; and the transceiver unit is further configured to receive a first signal from the internal path at a fifth moment and record a second phase of the first signal at the fifth moment. The first signal is sent on the internal path at a third moment, and the third phase of the first signal at the third moment is recorded; the transceiver unit is further used to receive the first signal from the internal path at a sixth moment, and record the fourth phase of the first signal at the sixth moment; the processing unit is further used to determine a second dynamic delay based on the third phase and the fourth phase, where the second dynamic delay includes a non-integer periodic portion of the phase difference between the third phase and the fourth phase; the processing unit is used to determine the first compensation value based on the deviation between the first dynamic delay and the second dynamic delay and the first delay.

[0086] The ranging device provided in the third aspect can be used to execute the ranging method of the first aspect and any possible implementation thereof, and the specific execution steps of each unit in the ranging device are similar to the steps in the ranging method of the first aspect and any possible implementation thereof, and their detailed description is omitted here.

[0087] In a fourth aspect, a ranging device is provided, comprising a transceiver unit and a processing unit, wherein the transceiver unit is configured to send a first service frame to a second device, the first service frame including a first ranging start identifier, a frame header of the first service frame corresponding to a frame header of a first virtual frame, a frame header of the first virtual frame corresponding to a frame header of a first reference frame, a first period corresponding to the first virtual frame being an integer multiple of a second period corresponding to the first service frame, and the first period being an integer multiple of a third period corresponding to the first reference frame; the transceiver unit is further configured to receive a second service frame from the second device, the second service frame including a second ranging start identifier start identifier, the frame header of the second business frame corresponds to the frame header of the first virtual frame; the transceiver unit is also used to receive first information from the second device, the first information is associated with a second moment, and the second moment is the moment when the second device detects the first ranging start identifier; the processing unit is used to determine the distance between the first device and the second device according to the first information, and the distance is associated with the following parameters: the first moment corresponding to the frame header of the first virtual frame, the second moment and the third moment, wherein the third moment is the moment when the first device detects the ranging start identifier in the second business frame.

[0088] In one implementation, the processing unit is further used to detect a first delay on the internal path of the first device at a fourth moment; the transceiver unit is further used to send a first signal on the internal path at the fourth moment, and record a first phase of the first signal at the fourth moment, where the first signal is a periodic signal; the transceiver unit is further used to receive the first signal from the internal path at a fifth moment, and record a second phase of the first signal at the fifth moment; the processing unit is further used to determine a first dynamic delay based on the first phase and the second phase, where the first dynamic delay includes a non-integer period of a phase difference between the first phase and the second phase. part; the transceiver is also used to send the first signal on the internal path at the third moment, and record the third phase of the first signal at the third moment; the transceiver unit is also used to receive the first signal from the internal path at a sixth moment, and record the fourth phase of the first signal at the sixth moment; the processing unit is further used to determine a second dynamic delay based on the third phase and the fourth phase, the second dynamic delay including a non-integer periodic portion of the phase difference between the third phase and the fourth phase; the processing unit is further used to determine the first compensation value based on the deviation between the first dynamic delay and the second dynamic delay and the first delay.

[0089] The ranging device provided in the fourth aspect can be used to execute the ranging method of the second aspect and any possible implementation thereof, and the specific execution steps of each unit in the ranging device are similar to the steps in the ranging method of the second aspect and any possible implementation thereof, and their detailed description is omitted here.

[0090] In a fifth aspect, a ranging device is provided, comprising a processor coupled to a memory and configured to perform the method of any one of the first aspect or the second aspect and possible implementations thereof. Optionally, the device further comprises a memory. Optionally, the device further comprises a communication interface, the processor coupled to the communication interface. Optionally, the device further comprises a communication interface, the processor coupled to the communication interface.

[0091] The processor is used to implement the functions of the processing unit in the third aspect and any possible implementation thereof. The communication interface is used to implement the functions of the transceiver unit in the third aspect and any possible implementation thereof, and its detailed description is omitted here.

[0092] Alternatively, the processor is used to implement the functions of the processing unit in the fourth aspect and any possible implementation thereof. The communication interface is used to implement the functions of the transceiver unit in the fourth aspect and any possible implementation thereof, and its detailed description is omitted here.

[0093] In one implementation, the device is a terminal device or a communication device. In this case, the communication interface may be a transceiver or an input / output interface.

[0094] In another implementation, the device is a chip or a chip system. In this case, the communication interface can be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip or chip system. The processor can also be embodied as a processing circuit or a logic circuit.

[0095] In a sixth aspect, a ranging device is provided, comprising: an input circuit, an output circuit, and a processing circuit. The processing circuit is configured to receive a signal via the input circuit and transmit a signal via the output circuit, so that the method of any possible implementation of the first or second aspect and any of the aspects thereof is implemented.

[0096] In a specific implementation, the above-mentioned device can be a chip, the input circuit can be an input pin, the output circuit can be an output pin, and the processing circuit can be a transistor, a gate circuit, a trigger, and various logic circuits. The input signal received by the input circuit can be, for example, but not limited to, received and input by a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to a transmitter and transmitted by the transmitter. The input circuit and the output circuit can be different circuits or the same circuit. In this case, the circuit is used as an input circuit and an output circuit at different times. The embodiments of the present application do not limit the specific implementation of the processor and various circuits.

[0097] In a seventh aspect, a ranging device is provided, comprising a processor and a memory. The processor is configured to read instructions stored in the memory and receive signals via a receiver and transmit signals via a transmitter to execute the method of either the first aspect or the second aspect and various possible implementations thereof.

[0098] Optionally, there are one or more processors and one or more memories.

[0099] Optionally, the memory may be integrated with the processor, or the memory may be provided separately from the processor.

[0100] In a specific implementation, the memory can be a non-transitory memory, such as a read-only memory (ROM), which can be integrated on the same chip as the processor or can be set on different chips. The embodiments of the present application do not limit the type of memory and the setting method of the memory and the processor.

[0101] It should be understood that related data interaction processes, such as sending indication information, can be the process of outputting indication information from the processor, and receiving capability information can be the process of receiving input capability information from the processor. Specifically, the output data of the processing can be output to the transmitter, and the input data received by the processor can come from the receiver. The transmitter and receiver can be collectively referred to as a transceiver.

[0102] The processor in the seventh aspect mentioned above can be a chip. The processor can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc.; when implemented by software, the processor can be a general-purpose processor, which is implemented by reading the software code stored in the memory. The memory can be integrated in the processor or can be located outside the processor and exist independently.

[0103] In an eighth aspect, a computer program product is provided, comprising: a computer program (also referred to as code, or instructions), which, when executed, enables a computer to execute a method in any one of the first or second aspects and any possible implementation of any of their aspects.

[0104] In the ninth aspect, a computer-readable medium is provided, which stores a computer program (also referred to as code, or instructions) which, when run on a computer, enables the computer to execute the method in any one of the first or second aspects and any possible implementation of each of the aspects mentioned above. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] FIG1 is a schematic diagram of a communication system to which the ranging method provided in an embodiment of the present application is applicable.

[0106] FIG2 is a schematic diagram of an example of a ranging method provided in an embodiment of the present application.

[0107] FIG3 is a diagram showing an example of the timing relationship between the reference frame and the traffic frame of both sides of the ranging.

[0108] FIG4 is a schematic diagram of an example of an internal path and an apparatus for measuring a time delay on the internal path.

[0109] FIG5 is a schematic diagram of another example of an internal path and an apparatus for measuring a time delay on the internal path.

[0110] FIG6 is a schematic diagram of another example of an internal path and an apparatus for measuring a time delay on the internal path.

[0111] FIG7 is a schematic diagram of another example of a ranging method provided in an embodiment of the present application.

[0112] FIG8 is a diagram showing an example of the timing relationship between the reference frame, the service frame, and the virtual frame of both sides of the ranging.

[0113] FIG9 is a schematic diagram of an example of a distance measuring device provided in an embodiment of the present application.

[0114] FIG10 is a schematic diagram of another example of a distance measuring device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0115] The technical solution in this application will be described below with reference to the accompanying drawings.

[0116] In order to facilitate understanding of the embodiments of the present application, the following explanations are provided.

[0117] First, the terms "first," "second," and various numbers in the following descriptions or drawings of the embodiments of the present application are merely for convenience of description and are not necessarily used to describe a specific order or sequence, and are not intended to limit the scope of the embodiments of the present application. For example, they may be used to distinguish between different light beams.

[0118] Second, the terms "including" and "having" and any variations thereof in the embodiments of the present application shown below are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or apparatuses.

[0119] Third, in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. An embodiment or design described as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. The use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner to facilitate understanding.

[0120] Fourth, in the drawings of this application, for the convenience of explanation, the drawings are only examples and are not drawn strictly according to scale.

[0121] FIG1 shows a schematic diagram of an example of a communication system applicable to the ranging solution of the present application. As shown in FIG1 , the communication system includes a clock source device and a communication device.

[0122] The clock source device is used to provide a time reference for each communication device. For example, the clock source device can be a timing device based on a satellite system. The satellite system can be, for example, various satellite timing and navigation systems such as the Global Positioning System (GPS) or the Beidou system.

[0123] There is a communication connection between the clock source device and the communication device, wherein the communication connection between the clock source device and the communication device can be a wired connection or a wireless connection, which is not particularly limited in the embodiment of the present application.

[0124] The clock source device periodically sends a reference frame to the communication device, and the communication device performs time synchronization based on the reference frame. The reference frame can also be called a reference signal, a time synchronization reference frame, or a time synchronization signal, and has a fixed transmission period.

[0125] For example, in the GPS system, the reference frame is a pulse per second (PPS) signal. A global positioning system (GPS) receiver is configured in the communication device (for example, a clock module in the communication device). The GPS receiver receives a radio frequency signal from the GPS (i.e., an example of a clock source), and then performs signal processing such as frequency conversion demodulation to provide a PPS signal to the communication device. The communication device also includes its own device clock, which generates a counter by self-rotation. The counter returns to zero at the rising edge of the PPS signal, and the maximum value of the counter is the period of the external PPS signal, i.e., 1 second. In this way, time synchronization of each communication device based on the PPS signal is achieved.

[0126] Furthermore, in the embodiment of the present application, there is a communication connection between the communication devices, wherein the communication connection between the communication devices can be a wired connection or a wireless connection, which is not particularly limited in the embodiment of the present application.

[0127] Communication devices transmit service frames over communication connections to exchange information. Service frames, also known as communication frames, are used to carry data or signaling, and are signal frames transmitted between the physical layers of communication devices. Furthermore, in the embodiments of the present application, the service frames of each communication device have the same period.

[0128] For example, the communication connection between communication devices can be based on Optical Transport Network (OTN) technology. In this case, the service frame can be an OTN frame. OTN is a transport network based on wavelength division multiplexing, which implements the transmission, multiplexing, routing, and monitoring of service signals within the optical domain. Furthermore, the OTN frame is a standard frame format developed for optical transport networks.

[0129] For example, the communication connection between communication devices can be based on Inter-Satellite Link (ISL) technology. In this case, the service frame can be an ISL frame. ISL, also known as inter-satellite link or crosslink, refers to the link used for communication between satellites. In an ISL, each satellite becomes a node in the space network, enabling communication signals to be transmitted along the desired optimal path, thus forming a global communication network. SL frames are used for inter-satellite service transmission.

[0130] In the present application, the clock source device may be a ground device (eg, a base station, etc.) or a sky device (eg, a satellite, etc.).

[0131] Furthermore, the communication device may be a ground device (e.g., a mobile terminal or a smart car) or a sky device (e.g., a satellite). Furthermore, the communication device may be a fixed device or a mobile device, which is not particularly limited in this application.

[0132] An example of the ranging method provided by the present application is described in detail below with reference to Figures 2 to 6. Figure 2 shows a schematic interaction diagram of the ranging method 100 provided by the present application. Figure 3 shows a timing diagram of service frames exchanged between devices A and B.

[0133] This ranging method 100 is used to measure the distance between device A and device B (specifically, the distance between device A and device B at time T1_A, described later). Device A (i.e., an example of a first device) and device B (i.e., an example of a second device) are time-synchronized based on a reference frame (e.g., a PPS signal), and devices A and B transmit services based on service frames (e.g., OTN frames or ISL frames). The above process is similar to the prior art and, to avoid redundancy, its detailed description is omitted here.

[0134] As shown in FIG3 , device A starts the distance measurement process when determining the time when the falling edge of the frame header of reference frame # 1 (ie, an example of the first reference frame) arrives (denoted as time T1_A).

[0135] First, device A determines service frame #1 (ie, any frame in the first service frame) from multiple service frames of device A.

[0136] Furthermore, device A determines the offset (denoted as offset_a) between the frame header of service frame #1 and the frame header of reference frame #1.

[0137] For example, as shown in Figure 2, service frame #1 is a service frame whose header is located before the header of reference frame #1 and whose header is closest to the header of reference frame #1. In this case, offset_a is smaller than the period of the service frame (denoted as T).

[0138] Thereafter, device A determines service frame #2 (ie, an example of the current first service frame) from multiple service frames of device A. Service frame #2 may also be referred to as a ranging service frame in the embodiment of the present application.

[0139] The service frame #2 satisfies the following conditions: in the time domain, the frame header of the service frame #2 is located after the frame header of the reference frame #1.

[0140] That is, in this application, service frame #2 is spaced N periods apart from service frame #1, where N≥0.

[0141] For example, when service frame #2 and service frame #1 are the same frame, N=0.

[0142] For another example, when service frame #2 is the next frame after service frame #1, N=1.

[0143] As shown in Figure 1, at S110, device A sends a ranging start flag and offset_a information in service frame #2. The ranging start flag is used to instruct device A to start ranging. The ranging start flag can be a pulse flag with a fixed specification, so that device B can identify the ranging start flag from the service frame and complete the subsequent ranging process based on the ranging start flag.

[0144] For example, as shown in Figure 2, service frame #2 is a service frame whose frame header is located after the frame header of reference frame #1 and whose frame header is closest to the frame header of reference frame #1. In this case, service frame #2 is adjacent to service frame #1 in the time domain, that is, N=1.

[0145] Similarly, as shown in FIG3 , device B starts the ranging process when it determines that the falling edge of the frame header of reference frame # 1 arrives (denoted as time T3_B).

[0146] It should be noted that, in theory, moment T1_A and moment T3_B are the same moment. Since there may be deviations in the time synchronization between device A and device B based on the reference frame, there may be deviations in the moments when the falling edge of the frame header of reference frame #1 determined by device A and device B arrives. Therefore, in the embodiment of the present application, for ease of understanding, the moments when the falling edge of the frame header of reference frame #1 determined by device A and device B arrives are recorded separately.

[0147] Similarly, device B determines service frame #3 (ie, any frame in the second service frame) from multiple service frames of device B.

[0148] Furthermore, device B determines the offset (denoted as offset_b) between the frame header of service frame #3 and the frame header of reference frame #1.

[0149] For example, as shown in Figure 2, service frame #3 is a service frame whose frame header is located before the frame header of reference frame #1 and whose frame header is closest to the frame header of reference frame #1. In this case, offset_b is less than the period of the service frame (denoted as T).

[0150] Thereafter, device B determines service frame #4 (ie, an example of the current second service frame) from multiple service frames of device B. Service frame #4 may also be referred to as a ranging service frame in the embodiment of the present application.

[0151] The service frame #4 satisfies the following conditions: in the time domain, the frame header of the service frame #4 is located after the frame header of the reference frame #1.

[0152] That is, in this application, the interval between service frame #4 and service frame #3 is M cycles, where M≥0.

[0153] For example, when service frame #4 and service frame #3 are the same frame, M=0.

[0154] For another example, when service frame #4 is the next frame after service frame #3, M=1.

[0155] As shown in Figure 1, at S120, device B sends a ranging start flag and offset_b information in service frame #4. The ranging start flag is used to instruct device B to start ranging. The ranging start flag can be a pulse flag with a fixed specification, allowing device A to identify the ranging start flag from the service frame and complete the subsequent ranging process based on the ranging start flag.

[0156] For example, as shown in Figure 2, service frame #4 is a service frame whose frame header is located after the frame header of reference frame #1 and whose frame header is closest to the frame header of reference frame #1. In this case, service frame #4 is adjacent to service frame #3 in the time domain, that is, M=1.

[0157] The value of M can be the same as or different from the value of N, and this application does not specifically limit this. For example, when the value of N is the same as the value of M, device A and device B do not need to transmit information indicating the values ​​of M and N. When the value of N is different from the value of M, device A and device B can determine the values ​​of M and N through negotiation or signaling interaction.

[0158] As shown in FIG2 , device B detects the ranging start flag at time T2_B (ie, an example of the second time).

[0159] Device A detects the ranging start flag at time T4_B (ie, an example of the third time).

[0160] As shown in FIG. 1 , at S130 , device B sends information # 1 (ie, an example of first information) to device A. The information # 1 is related to T2_B, or in other words, the information # 1 is determined based on T2_B.

[0161] In S140 , device A sends information # 2 (ie, an example of second information) to device B. The information # 2 is related to T4_A, or in other words, the information # 1 is determined based on T4_A.

[0162] At S150 , device A determines the distance between device A and device B based on the information # 1 .

[0163] At S160 , device B determines the distance between device A and device B based on the information # 2 .

[0164] Specifically, assuming that the distance between device A and device B is S, when device A and device B are relatively stationary, the time it takes for a signal to be transmitted from device A to device B is Delay_AB=S / C, where C represents the speed of light.

[0165] Since the relative positions of the frame headers of service frame #1 and reference frame #1 are fixed (offset is offset_a) and the relative positions of the frame headers of service frame #1 and service frame #2 are fixed (offset N*T) within the current ranging cycle (or ranging period), the time domain position of reference frame #1 after Delay_AB can be derived based on the time when device B receives the frame header of service frame #2 (i.e., time T2_B when device B detects the ranging start identifier), offset_a, and N*T, and is recorded as: TR_B.

[0166] That is, TR_B=T2_B+offset_a-(N+1)*T. For example, when N=1, TR_B=T2_B+offset_a-2*T.

[0167] Alternatively, TR_B = T2_B - offset_a - N*T. For example, when N = 1, TR_B = T2_B - offset_a - T.

[0168] The interval between TR_B and T1_A is Delay_AB, and further, S=[T2_B+offset_a-(N+1)*T-T1_A]*C can be determined.

[0169] Similarly, since the relative position of the frame header of service frame #3 and the frame header of reference frame #1 is fixed (offset is offset_b), and the relative position of the frame header of service frame #3 and the frame header of service frame #4 is fixed (offset M*T), the time domain position of reference frame #1 after Delay_AB can be derived based on the time when device A receives the frame header of service frame #4 (i.e., time T4_A when device A detects the ranging start identifier) ​​as well as offset_b and M*T, and is recorded as: TR_A.

[0170] That is, TR_A=T4_A+offset_b-(M+1)*T. For example, when M=1, TR_A=T4_A+offset_b-2*T.

[0171] Alternatively, TR_A = T4_A - offset_b - M*T. For example, when M = 1, TR_A = T4_A - offset_b - T.

[0172] The interval between TR_A and T3_B is Delay_AB, and furthermore, S=[T4_A+offset_b-(M+1)*T-T3_B]*C can be determined.

[0173] In this application, the subsequent ranging processes of device A and device B are different depending on the actual situation. The following is a detailed description of the processing processes in different situations.

[0174] Case 1

[0175] That is, device A and device B are relatively stationary, and deviation in synchronization between device A and device B with respect to the reference frame is not considered.

[0176] In this case, device A can determine the distance between device A and device B based on the values ​​of T1_A, T2_B, offset_a, N, M, and T. Information #1 may include information about T2_B, and information #2 may include information about T4_A.

[0177] Case 2

[0178] That is, device A and device B are relatively stationary, and a deviation in synchronization between device A and device B with respect to a reference frame is considered.

[0179] In this case, the influence of the deviation on the ranging accuracy can be eliminated through the following principle.

[0180] As mentioned above, S = [T4_A + offset_b - (N+1)*T - T3_B] * C, and S = [T2_B + offset_a - (M+1)*T - T1_A] * C, so it can be deduced that: S = 1 / 2[T2_B - T1_A + T4_A - T3_B + offset_a + offset_b - (N+1)*T - (M+1)*T] * C.

[0181] The calculation processes of T4_A-T1_A and T2_B-T3_B can eliminate the deviation of synchronization between device A and device B with respect to the reference frame.

[0182] In this case, information #1 may include any one of t1, t2, t3, t4, or t5, where:

[0183] t1=T2_B-T3_B,

[0184] t2=T2_B-T3_B+offset_a,

[0185] t3=T2_B-T3_B-offset_a,

[0186] t4=T2_B-T3_B-offset_a-N*T,

[0187] t5=T2_B-T3_B+offset_a-(N+1)*T

[0188] Similarly, information #2 may include any one of t1', t2', t3', t4', or t5', where:

[0189] t1'=T4_A-T1_A,

[0190] t2'=T4_A-T1_A+offset_b,

[0191] t3'=T4_A-T1_A-offset_b,

[0192] t4'=T4_A-T1_A-offset_b-M*T,

[0193] t5'=T4_A-T1_A+offset_b-(M+1)*T

[0194] It should be noted that while the above examples illustrate a solution in which both parties performing the distance measurement jointly calculate the distance, this application is not limited thereto. For example, device A may not send information #2, and may unilaterally determine the distance S between device A and device B based on information #1. Furthermore, device A may also notify device B of the distance S based on actual needs. To avoid redundancy, the following descriptions of identical or similar scenarios are omitted.

[0195] Case 3

[0196] That is, the device A and the device B move relative to each other, and a deviation in synchronization between the device A and the device B with respect to the reference frame is taken into consideration.

[0197] In this case, device A can determine its own velocity (including direction and magnitude, denoted as V_A) and the velocity of device B (including direction and magnitude, denoted as V_B), and calculate the displacement of devices A and B during Delay_AB, thereby determining the distance between devices A and B when both devices initiate ranging (i.e., T1_A or T3_B).

[0198] For example, in this case, the distance S between device A and device B when they initiate ranging meets any of the following conditions:

[0199] S=1 / 2[T2_B-T1_A+T4_A-T3_B+offset_a+offset_b-(N+1)*T-(M+1)*T]*C+(T4_A-T1_A)*V_A+(T2_B-T3_B)*V_B; or

[0200] S=1 / 2(T2_B-T1_A+T4_A-T3_B-offset_a-offset_b-N*T-M*T]*C+(T4_A-T1_A)*V_A+(T2_B-T3_B)*V_B.

[0201] Case 4

[0202] That is, in addition to considering the relative motion between device A and device B and the deviation of synchronization between device A and device B with respect to the reference frame, the embodiment of the present application also considers the impact of the internal delay of device A and device B on the ranging accuracy.

[0203] As shown in FIG4 , from the time when the communication device adds a timestamp (e.g., the ranging start flag, information #1, or information #2) to the service frame to the time when the service frame is sent out from the output port of the communication device, an internal delay caused by processing on the internal path is required.

[0204] For example, as shown in Figure 4, the internal path may include chips, optical modules, and laser modules. The chip, which can be, for example, a field programmable gate array (FPGA), is used to add timestamps to service frames. The optical module is used for photoelectric conversion of signals. The laser module is used to convert optical signals into laser signals and transmit them.

[0205] It should be noted that the internal paths of the communication device listed in Figure 4 are merely illustrative and are not intended to limit this disclosure. For example, as shown in Figure 5 , the internal path may include only the chip and optical module. Alternatively, as shown in Figure 6 , the internal path may include only the chip. In other words, in the embodiments of this disclosure, the internal path to be monitored and the delay to be detected can be selected based on the actual error source and magnitude.

[0206] Research has found that the internal delay includes a dynamically changing part (denoted as dynamic delay) and a fixed part (denoted as fixed delay). The dynamic delay changes with changes in the environment and parameters when the service is sent, while the fixed delay remains unchanged each time the service is sent.

[0207] That is, the internal delay varies at different times.

[0208] In this case, the distance S between device A and device B when they initiate ranging must satisfy any of the following conditions:

[0209] or

[0210] S=1 / 2(T2_B-T1_A+T4_A-T3_B-offset_a-offset_b-F3_A-F3_B-N*T-M*T]*C+(T4_A-T1_A)*V_A+(T2_B-T3_B)*V_B;

[0211] Here, F3_A represents the internal delay of device A at time T1_A, and F3_B represents the internal delay of device B at T3_B.

[0212] And, in this case, information #1 includes any one of t6, t7, t8, t9, t10, where

[0213] t6 = T2_B - T3_B - F3_B,

[0214] t7=T2_B-T3_B+offset_a-F3_B,

[0215] t8=T2_B-T3_B-offset_a-F3_B,

[0216] t9=T2_B-T3_B-offset_a-F3_B-N*T,

[0217] t10=T2_B-T3_B+offset_a-F3_B-(N+1)*T

[0218] Similarly, information #2 may include any of t6', t7', t8', t9', or t10', where:

[0219] t6'=T4_A-T1_A-F3_A,

[0220] t7'=T4_A-T1_A+offset_b-F3_A,

[0221] t8'=T4_A-T1_A-offset_b-F3_A,

[0222] t9'=T4_A-T1_A-offset_b-F3_A-M*T,

[0223] t10'=T4_A-T1_A+offset_b-F3_A-(M+1)*T

[0224] The following describes in detail the process of determining F3_A and F3_B.

[0225] Research has found that the internal delay includes a dynamically changing part (denoted as dynamic delay) and a fixed part (denoted as fixed delay). The dynamic delay changes with changes in the environment and parameters when the service is sent, while the fixed delay remains unchanged each time the service is sent.

[0226] For example, as shown in Figure 4, when the internal path includes a chip, an optical module, and a laser module, the time T1 when the chip adds a pulse signal to the service frame can be recorded, and the time T2 when the chip detects the pulse signal can be recorded. Therefore, the internal delay at time T1 is T2-T1-Ta. Where Ta is the delay on path a shown in Figure 4. This path a can be implemented using a swinging mirror, and the delay on path a can be determined through measurement.

[0227] For another example, as shown in Figure 5, when the internal path includes a chip and an optical module, the time T1' when the chip adds a pulse signal to the service frame can be recorded, and the time T2' when the chip detects the pulse signal can be recorded. Therefore, the internal delay at time T1' is T2'-T1'-Tb. Here, Tb is the delay on path b shown in Figure 5. This path b can be implemented using fixed-length optical fiber, and the delay on path b can be determined through measurement.

[0228] For another example, as shown in FIG6 , when the internal path includes a chip, the moment T1″ when the chip adds a pulse signal to the service frame can be recorded, and the moment T2″ when the chip detects the pulse signal can be recorded.

[0229] Therefore, the internal delay at this moment T1" is T2"-T1"-Tc. Here, Tc is the delay on path c shown in Figure 6. The path c can be implemented through an electrical signal transmission line such as a bus, and the delay on the path c can be determined by measurement.

[0230] Furthermore, further research has revealed that the dynamic delay at a certain moment is related to the phase difference between the signals with a fixed period sent and received by the device at that moment.

[0231] For example, suppose a device (denoted as device X) detects an internal delay of Δt_A at a certain moment (denoted as moment A).

[0232] Furthermore, suppose that device X transmits a periodic signal (denoted as signal X) at time A, and the phase of signal X at time A is τA. Suppose that device X receives signal X at time B, transmitted via an internal path, and the phase of signal X at time B is τB. The phase difference of signal X at time A after transmission via the internal path is φ1 = τB - τA.

[0233] At another time (denoted as time B), device X detects an internal delay of Δt_B.

[0234] Furthermore, suppose that device B transmits signal X at time C, and the phase of signal X at time C is τC. Suppose that device X receives signal X at time D, transmitted via the internal path, and the phase of signal X at time D is τD. The phase difference of signal X at time C after transmission via the internal path is Φ2 = τD - τC.

[0235] Then the following relationship exists: Δt_B-Δt_A=Φ2-Φ1.

[0236] Therefore, in the embodiment of the present application, the internal delay (ie, the first delay) of device A at a certain moment (ie, an example of the fourth moment) can be detected in advance and recorded as delay η1.

[0237] Furthermore, the non-integer period portion of the phase difference (i.e., the phase difference between the first phase and the second phase) between device A and a periodic signal (i.e., an example of the first signal) with a fixed frequency pattern can be detected in advance and recorded as phase difference δ1.

[0238] Furthermore, the non-integer period portion of the phase difference between the transmission and reception of the periodic signal by device A at T1_A (ie, the phase difference between the third phase and the fourth phase) can be detected and recorded as phase difference δ2.

[0239] Thus, it can be determined that F3_A=η1+δ1-δ2.

[0240] F3_B can be determined by a similar method, and its detailed description is omitted here to avoid redundancy.

[0241] According to the solution provided in the embodiments of the present application, by exchanging the offset information between the two ranging parties, accurate ranging can be completed without aligning the header of the service frame with the header of the reference frame. Furthermore, the solution described in the above scenario 4 can quickly and accurately determine the internal delay, thereby further improving the accuracy of ranging.

[0242] Next, another ranging method provided by an embodiment of the present application is described in detail with reference to Figures 7 and 8. Figure 7 shows a schematic interaction diagram of the ranging method 200 provided by the present application. Figure 8 shows a schematic diagram of virtual frames maintained by device 1 and device 2.

[0243] This ranging method 200 is used to measure the distance between device 1 and device 2 (specifically, the distance between device 1 and device 2 at time T1_1, described later). Device 1 (i.e., an example of a first device) and device 2 (i.e., an example of a second device) are time-synchronized based on a reference frame (e.g., a PPS signal), and device 1 and device 2 transmit services based on service frames (e.g., OTN frames or ISL frames). The above process is similar to the prior art and, to avoid redundancy, its detailed description is omitted here.

[0244] As shown in Figure 8, Device 1 and Device 2 maintain virtual frames. Assuming the reference frame period is Tx, the service frame period is Ty, and the virtual frame period is Tz, then Tz = k*Tx = w*Ty, where k and w are integers. For example, Tz is the least common multiple of Tx and Ty.

[0245] 8 , there is a fixed offset β between the frame headers of the reference frame and the virtual frame that are closest in the time domain. In a possible implementation, the value of the offset β may be 0.

[0246] For example, in one possible implementation, the period of the reference frame is 1s, the period of the service frame is 17us, and the period of the virtual frame is 17s. In this case, 17 reference frame headers and 1,000,000 service frame headers appear in the period of the virtual frame, that is, w=1,000,000, k=17.

[0247] Assuming the first reference frame header in Figure 8 corresponds to time T, the two devices agree on the virtual frame header as the first ranging initiation time, i.e., T1_1 = T + β. The next ranging initiation time is every 588 service frames after the reference frame header, i.e., T1_2 = T + β + δt = T + β + 588 * 17 us = T + β + 9996 us, T1_3 = T + β + 2 * 9996 us, …, T1_n = T + β + n * 9996 us, where 2 ≤ n ≤ 1700, meaning n * 9996 us does not exceed 17 seconds and will not exceed the limit of the next virtual reference frame. Of course, it is also possible to define δt as a non-fixed value, i.e., δt1 ≠ δt2 as shown in the figure, as long as the number of ranging measurements initiated within 17 seconds does not exceed the limit of the next 17 seconds. T1_1 to T1_n are equivalent to time T1, and both devices initiate ranging at the same agreed time.

[0248] As shown in FIG7 , the device 1 starts the ranging process when it is determined that the falling edge of the frame header of the virtual frame #A (ie, an example of the first virtual frame) arrives (denoted as time T1_1 ).

[0249] In S210, device 1 carries a ranging start flag in the overhead portion of a service frame (i.e., a first service frame, denoted as service frame #A) aligned with the frame header of virtual frame #A, wherein the ranging start flag is used to instruct device 1 to start ranging. The ranging start flag can be a pulse flag with a fixed specification, so that device 2 can identify the ranging start flag from the service frame and complete the subsequent ranging process based on the ranging start flag.

[0250] Similarly, when device 2 determines that the falling edge of the frame header of virtual frame #A arrives (denoted as time T3_2), it starts the following ranging process.

[0251] It should be noted that, in theory, moment T1_1 and moment T3_2 are the same moment. Since there may be deviations in the time synchronization between device 1 and device 1 based on the reference frame, there may be deviations in the arrival time of the falling edge of the frame header of the virtual frame #A determined by device 1 and device 1. Therefore, in the embodiment of the present application, for ease of understanding, the arrival time of the falling edge of the frame header of the virtual frame #1 determined by device 1 and device 2 are recorded separately.

[0252] In S220, device 2 carries a ranging start flag in the overhead portion of a service frame (i.e., a first service frame, denoted as service frame #B) aligned with the frame header of virtual frame #A, wherein the ranging start flag is used to instruct device 2 to start ranging. The ranging start flag can be a pulse flag with a fixed specification, so that device 1 can identify the ranging start flag from the service frame and complete the subsequent ranging process based on the ranging start flag.

[0253] As shown in FIG. 7 , the device 2 detects the ranging start flag at time T2_2 (ie, an example of the second time).

[0254] The device 1 detects the ranging start flag at time T4_1 (ie, an example of the third time).

[0255] As shown in FIG. 7 , at S230 , device 2 sends information #A (ie, an example of first information) to device 1 . The information #A is related to T2_2 , or in other words, the information #A is determined based on T2_2 .

[0256] In S240 , device 1 sends information #B (ie, an example of second information) to device 2 . The information #B is related to T4_1 , or in other words, the information #B is determined based on T4_1 .

[0257] At S250 , device 1 determines the distance between device 1 and device 2 based on the information #A.

[0258] At S260 , device 2 determines the distance between device 1 and device 2 based on the information #B.

[0259] Case a

[0260] That is, device A and device B are relatively stationary, and deviation in synchronization between device A and device B with respect to the reference frame is not considered.

[0261] Specifically, assuming that the distance between device 1 and device 1 is S, when device 1 and device 1 are relatively stationary, it can be determined that S=[T2_2-T1_1]*C=[T4_1-T3_2]*C.

[0262] Information #A may include information of T2_2, and information #B may include information of T4_1.

[0263] Case b

[0264] That is, device A and device B are relatively stationary, and a deviation in synchronization between device A and device B with respect to a reference frame is considered.

[0265] In this case, the influence of the deviation on the ranging accuracy can be eliminated through the following principle.

[0266] As mentioned above, S = [T2_2 - T1_1] * C = [T4_1 - T3_2] * C, so it can be deduced that: S = [1 / 2(T2_2 - T1_1 + T4_1 - T3_2] * C.

[0267] The calculation processes of T4_1-T1_1 and T2_2-T3_2 can eliminate the deviation of synchronization between device A and device B with respect to the reference frame.

[0268] In this case, the information #A may include the values ​​of T2_B-T3_B.

[0269] Similarly, information #B may include the values ​​of T4_1-T1_1.

[0270] It should be noted that while the above examples illustrate a scheme in which both parties performing the distance measurement jointly calculate the distance, this application is not limited thereto. For example, device 1 may not send information #B, and may unilaterally determine the distance S between device 1 and device 2 based on information #A. Furthermore, device 1 may also notify device 2 of the distance S based on actual needs. To avoid redundancy, the following descriptions of identical or similar situations are omitted.

[0271] Case c

[0272] That is, the device 1 and the device 2 move relative to each other, and a deviation in synchronization between the device 1 and the device 2 with respect to the reference frame is considered.

[0273] In this case, device 1 can determine its own speed (including direction and magnitude, denoted as V_1) and the speed of device 2 (including direction and magnitude, denoted as V_2). In this case, the distance S between device 1 and device 2 when both initiate ranging must satisfy the following conditions:

[0274] S=[1 / 2(T2_2-T1_1+T4_1-T3_2*T]*C+(T4_1-T1_1)*V_1+(T2_2-T3_2)*V_2

[0275] Case d

[0276] That is, in addition to considering the relative motion between device 1 and device 2 and the deviation of synchronization between device 1 and device 2 with respect to the reference frame, the embodiment of the present application also considers the impact of the internal delay of device 1 and device 2 on the ranging accuracy.

[0277] As shown in FIG4 , from the time when the communication device adds a timestamp (e.g., the ranging start flag, information #1, or information #2) to the service frame to the time when the service frame is sent out from the output port of the communication device, an internal delay caused by processing on the internal path is required.

[0278] Regarding the internal delay, please refer to the description related to the above situation 4, and the detailed description is omitted here to avoid redundancy.

[0279] The internal delay of device 1 at T1_1 is denoted as F3_1, and the internal delay of device 2 at T3_2 is denoted as F3_2.

[0280] In this case, the distance S between device A and device B when they initiate ranging must satisfy any of the following conditions:

[0281] S=[1 / 2(T2_2-T1_1+T4_1-T3_2-F3_1-F3_1)]*C+(T4_1-T1_1)*V_1+(T2_2-T3_2)*V_2

[0282] And, in this case, information #A includes the value of T2_2-T3_2-F3_2,

[0283] Similarly, information #B includes the values ​​of T4_1 - T1_1 - F3_1.

[0284] The determination process of F3_1 and F3_2 can refer to the determination process of F3_A and F3_B mentioned above, and its detailed description is omitted here to avoid redundancy.

[0285] According to the solution provided in the embodiment of the present application, by maintaining virtual frames on both sides of the ranging, the limitation of the prior art that the period of the reference frame must be an integer multiple of the period of the service frame is eliminated, the flexibility of the configuration of the service frame is greatly improved, and the practicality of the ranging method is thereby improved.

[0286] FIG9 is a schematic block diagram of a distance measurement device provided by the present application. As shown in FIG9 , the device 300 includes a communication interface 310 and a processing unit 320 .

[0287] The processing unit 320 is used to execute the processes of signal generation, signal processing and calculation in the above-mentioned method 100 and method 200. In order to avoid redundancy, the detailed description thereof is omitted here.

[0288] The communication interface 310 is used to execute the signal sending and receiving processes in the above-mentioned methods 100 and 200, and its detailed description is omitted here to avoid redundancy.

[0289] In the above implementations, the communication interface 310 may include an output interface for implementing an output (or sending) function. The communication interface 310 may also include an input interface for implementing an input (or receiving) function.

[0290] The processing unit 320 may be a processing device. The functions of the processing device may be implemented by hardware, or by hardware executing corresponding software implementations. For example, the processing device may include at least one processor and at least one memory, wherein the at least one memory is used to store a computer program, and the at least one processor reads and executes the computer program stored in the at least one memory, so that the device 300 performs the operations and / or processes performed by the controller in each method embodiment.

[0291] Alternatively, the processing device may include only a processor, and a memory for storing the computer program is located outside the processing device. The processor is connected to the memory via circuits / wires to read and execute the computer program stored in the memory.

[0292] In some examples, the processing device may also be a chip or integrated circuit. For example, the processing device includes a processing circuit / logic circuit and an interface circuit, where the interface circuit is configured to receive signals and / or data and transmit the signals and / or data to the processing circuit, which processes the signals and / or data to implement the various functions of the control device in various method embodiments.

[0293] Figure 10 is a schematic diagram of the distance measurement device provided in this application. As shown in Figure 10, communication device 400 includes one or more processors 410, one or more memories 420, and one or more communication interfaces 430. Processor 410 is used to control the communication interface 430 to send and receive information, and memory 420 is used to store computer programs. Processor 410 is used to retrieve and execute the computer programs from memory 420 to enable device 400 to perform the processes and / or operations described in the various method embodiments of this application.

[0294] For example, the processor 410 may have the function of the processing unit 320 in FIG. 9 , and the communication interface 430 may have the function of the communication interface 310 in FIG. 9 .

[0295] Optionally, the memory and processor in the above-mentioned device embodiments may be physically independent units, or the memory and the processor may be integrated together, which is not limited in this document.

[0296] In addition, the present application also provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer executes the operations and / or processes performed by the control device in the various method embodiments of the present application.

[0297] In addition, the present application also provides a computer program product, which includes computer program code or instructions. When the computer program code or instructions are run on a computer, the operations and / or processes performed by the control device in each method embodiment of the present application are executed.

[0298] In addition, the present application also provides a chip, which includes a processor, a memory for storing computer programs is set independently of the chip, and the processor is used to execute the computer program stored in the memory, so that a controller equipped with the chip performs the operations and / or processing performed by the controller in any method embodiment.

[0299] Furthermore, the chip may further include a communication interface. The communication interface may be an input / output interface, or an interface circuit, etc. Furthermore, the chip may further include the memory.

[0300] In addition, the present application also provides a communication device (for example, a chip), including a processor and a communication interface, wherein the communication interface is used to receive a signal and transmit the signal to the processor, and the processor processes the signal so that the operations and / or processing performed by the controller in any method embodiment are executed.

[0301] The processor in the embodiment of the present application can be an integrated circuit chip with the ability to process signals. During implementation, each step of the above method embodiment can be completed by the hardware integrated logic circuit in the processor or by instructions in the form of software. The processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present application can be directly embodied as being executed by a hardware coding processor, or can be executed by a combination of hardware and software modules in the coding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0302] The memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DRRAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0303] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0304] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0305] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0306] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0307] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0308] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A distance measurement method, characterized in that: The ranging method comprises: The first device sends a plurality of first service frames to the second device, wherein the current first service frame among the plurality of first service frames includes a first ranging start identifier and a first offset, wherein the first offset is an offset between a frame header of any first service frame among the plurality of first service frames and a first reference frame, and the current first service frame is spaced N periods T from the first service frame corresponding to the first offset, and the first reference frame is used for time synchronization between the first device and the second device, where N≥0; The first device receives a plurality of second service frames from the second device, wherein a current second service frame among the plurality of second service frames includes a second ranging start identifier and a second offset, wherein the second offset is an offset between a frame header of any second service frame among the plurality of second service frames and the first reference frame, and an interval of M periods T between the current second service frame and the second service frame corresponding to the second offset, where M≥0; The first device receives first information from the second device, where the first information is associated with a second moment, and the second moment is a moment when the second device detects the first ranging start identifier; The first device determines, according to the first information, a distance between the first device and the second device, where the distance is associated with the following parameters: the first time, the second time, the third time, the first offset, the second offset, the value of N, the value of M, and the value of T corresponding to the frame header of the first reference frame, The third moment is the moment when the first device detects the second ranging start identifier.

2. The distance measurement method according to claim 1, characterized in that: The first offset is smaller than the period T, and / or The second offset is smaller than the period T.

3. The distance measurement method according to claim 1 or 2, characterized in that: The first service frame corresponding to the first offset is a previous frame of the current first service frame, or the first service frame corresponding to the first offset is the same frame as the current first service frame; The second service frame corresponding to the second offset is a previous frame of the current second service frame, or the second service frame corresponding to the second offset is the same frame as the current second service frame.

4. The distance measurement method according to any one of claims 1 to 3, characterized in that: The method further comprises: The first device sends second information to the second device, where the first information is associated with the third time.

5. The distance measurement method according to any one of claims 1 to 4, characterized in that: The first information is used to indicate any one of the second time, the first result t1, the second result t2, the third result t3, the fourth result t4, and the fifth result t5, wherein t1=T2_B-T3_B, t2=T2_B-T3_B+offset_a, t3=T2_B-T3_B-offset_a, t4=T2_B-T3_B-offset_a-M*T, t5=T2_B-T3_B+offset_a-(M+1)*T, Among them, T2_B represents the second moment, T3_B represents the first moment determined by the second device, and offset_a represents the first offset.

6. The distance measurement method according to any one of claims 1 to 5, characterized in that: The distance is also associated with a first compensation value comprising a delay on an internal path of the first device at the first moment and a second compensation value comprising a delay on an internal path of the second device at the first moment.

7. The distance measurement method according to claim 6, characterized in that: The internal path includes a processor for generating or interpreting an electrical signal, or The internal path includes the processor and an optical module, wherein the optical module is used for performing photoelectric conversion, or The internal path includes the processor, the optical module and a laser module, and the laser module is used to generate or analyze a laser signal.

8. The distance measurement method according to claim 6 or 7, characterized in that: The first information is used to indicate any one of a sixth result t6, a seventh result t7, an eighth result t8, a ninth result t9, and a tenth result t10, wherein t6=T2_B-T3_B-F3_B, t7=T2_B-T3_B+offset_a-F3_B, t8=T2_B-T3_B-offset_a-F3_B, t9=T2_B-T3_B-offset_a-F3_B-M*T, t10=T2_B-T3_B+offset_a-F3_B-(M+1)*T, Among them, T2_B represents the second moment, T3_B represents the first moment determined by the second device, offset_a represents the first offset, T represents the period of the service frame, and F3_B represents the second compensation value.

9. The distance measurement method according to any one of claims 6 to 8, characterized in that: The method further comprises: The first device detects a first delay on an internal path of the first device at a fourth moment; The first device sends a first signal on the internal path at the fourth time, and records a first phase of the first signal at the fourth time, wherein the first signal is a periodic signal; The first device receives the first signal from the internal path at a fifth time, and records a second phase of the first signal at the fifth time; The first device determines a first dynamic delay according to the first phase and the second phase, wherein the first dynamic delay includes a non-integer period portion of a phase difference between the first phase and the second phase; The first device sends the first signal on the internal path at the third time, and records a third phase of the first signal at the third time; The first device receives the first signal from the internal path at a sixth moment, and records a fourth phase of the first signal at the sixth moment; The first device determines a second dynamic delay according to the third phase and the fourth phase, wherein the second dynamic delay includes a non-integer period portion of a phase difference between the third phase and the fourth phase; The first device determines the first compensation value according to a deviation between the first dynamic delay and the second dynamic delay and the first delay.

10. The distance measurement method according to any one of claims 1 to 8, characterized in that: The first device and the second device include satellites, and the service frames include optical transmission network OTN frames or interstellar link ISL frames.

11. A distance measurement method, characterized in that: The ranging method comprises: The first device sends a first service frame to the second device, where the first service frame includes a first ranging start identifier, a frame header of the first service frame corresponds to a frame header of a first virtual frame, a frame header of the first virtual frame corresponds to a frame header of a first reference frame, a first period corresponding to the first virtual frame is an integer multiple of a second period corresponding to the first service frame, and the first period is an integer multiple of a third period corresponding to the first reference frame; The first device receives a second service frame from the second device, the second service frame includes a second ranging start identifier, and a frame header of the second service frame corresponds to a frame header of the first virtual frame; The first device receives first information from the second device, where the first information is associated with a second moment, and the second moment is a moment when the second device detects the first ranging start identifier; The first device determines, according to the first information, a distance between the first device and the second device, where the distance is associated with the following parameters: The first time, the second time and the third time corresponding to the frame header of the first virtual frame, The third moment is the moment when the first device detects the ranging start flag in the second service frame.

12. The distance measurement method according to claim 11, characterized in that: The first information is used to indicate the second time or the first result t1, where t1=T2_B-T3_B, Among them, T2_B represents the second moment, and T3_B represents the first moment determined by the second device.

13. The distance measurement method according to claim 11 or 12, characterized in that: The distance is also associated with a first compensation value comprising a delay on an internal path of the first device at the first moment and a second compensation value comprising a delay on an internal path of the second device at the first moment.

14. The distance measurement method according to claim 13, characterized in that: The first information is used to indicate the second result t2, where T2=T2_B-T3_B-F3_B, Among them, T2_B represents the second moment, T3_B represents the first moment determined by the second device, and F3_B represents the second compensation value.

15. The distance measurement method according to claim 13 or 14, characterized in that: The method further comprises: The first device detects a first delay on an internal path of the first device at a fourth moment; The first device sends a first signal on the internal path at the fourth time, and records a first phase of the first signal at the fourth time, wherein the first signal is a periodic signal; The first device receives the first signal from the internal path at a fifth time, and records a second phase of the first signal at the fifth time; The first device determines a first dynamic delay according to the first phase and the second phase, wherein the first dynamic delay includes a non-integer period portion of a phase difference between the first phase and the second phase; The first device sends the first signal on the internal path at the third time, and records a third phase of the first signal at the third time; The first device receives the first signal from the internal path at a sixth moment, and records a fourth phase of the first signal at the sixth moment; The first device determines a second dynamic delay according to the third phase and the fourth phase, wherein the second dynamic delay includes a non-integer period part of the phase difference between the third phase and the fourth phase; The first device determines the first compensation value according to a deviation between the first dynamic delay and the second dynamic delay and the first delay.

16. The distance measurement method according to any one of claims 11 to 15, characterized in that: The third period is not an integer multiple of the second period.

17. The distance measurement method according to any one of claims 11 to 16, characterized in that: There is an offset between the frame header of the first service frame and the frame header of the first reference frame.

18. The distance measurement method according to any one of claims 11 to 17, characterized in that: The frame header of the first service frame is aligned with the frame header of the first virtual frame, or there is a preset offset between the frame header of the first service frame and the frame header of the first virtual frame.

19. The distance measurement method according to any one of claims 11 to 18, characterized in that: The service frame includes: an optical transmission network OTN frame or an inter-satellite link ISL frame.

20. The distance measurement method according to any one of claims 11 to 19, characterized in that: The first device and the second device include satellites or transportation devices.

21. A distance measuring device, characterized in that: include: A unit for implementing the method according to any one of claims 1 to 10; or A unit for implementing the method according to any one of claims 11 to 20.

22. A computer-readable storage medium, characterized in that: The computer readable storage medium stores a computer program. When the computer program is executed, The device performs the method according to any one of claims 1 to 10, or The device is enabled to perform the method according to any one of claims 11 to 20.

23. A chip system, characterized in that: comprising: a processor for calling and running a computer program from a memory, Making a device equipped with the chip system perform the method according to any one of claims 1 to 10; or The device equipped with the chip system executes the method according to any one of claims 11 to 20.

24. A computer program product, characterized in that include: a computer program which, when executed, causing a computer to execute the method according to any one of claims 1 to 10; or The computer is caused to execute the method according to any one of claims 11 to 20.

Images