Ranging method, apparatus, and readable storage medium

Abstract

The present application relates to a ranging method, an apparatus, and a readable storage medium. The method comprises: generating a plurality of RSFs / RIFs, and transmitting the plurality of RSFs / RIFs by means of a plurality of channels, wherein one RSF / RIF is transmitted on each channel, and a transmission starting time interval between two adjacent RSFs / RIFs is less than or equal to 1 millisecond. The ranging precision can be improved by using the present application. The present application supports UWB protocols, comprising 802.15 series protocols, such as 802.15.4ab or a next-generation standard thereof, etc. The present application can further be applied to a WLAN system supporting next-generation protocols (such as 802.11be, Wi-Fi 7 or EHT) of 802.11ax, or next-generation protocols (such as Wi-Fi 8, UHR, and 11bn) of 802.11be, or Wi-Fi AI, or a millimeter wave, etc. The present application can further support sensing protocols, such as 802.11bf.

Description

Distance measurement method, device and readable storage medium

[0001] This application claims priority to Chinese patent application No. 202311739132.1 filed with the State Intellectual Property Office of China on December 15, 2023, priority to Chinese patent application No. 202410269042.9 filed with the State Intellectual Property Office of China on March 8, 2024, priority to Chinese patent application No. 202410269042.9 filed with the State Intellectual Property Office of China on March 8, 2024, priority to Chinese patent application No. 202410269042.9 filed with the State Intellectual Property Office of China on March 8, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of communication technology, and in particular to a ranging method, device, and readable storage medium. Background Art

[0003] With the entry of ultra-wideband (UWB) into the civilian sector, UWB wireless communication has become a physical layer technology for short-range, high-speed wireless networks. UWB technology is a wireless carrier communication technology that uses narrow, non-sinusoidal pulses, such as nanoseconds, to transmit data, thus occupying a wide spectrum. Due to its narrow pulses and low radiation spectral density, UWB systems offer advantages such as strong multipath resolution, low power consumption, and high confidentiality. It is primarily used in sensing and ranging scenarios.

[0004] The Institute of Electrical and Electronics Engineers (IEEE) has incorporated UWB technology into its IEEE 802 series of wireless standards and has released the high-speed wireless personal area network (WPAN) standard IEEE 802.15.4a based on UWB technology, as well as its evolved version IEEE 802.15.4z. The next-generation UWB wireless personal area network (WPAN) standard 802.15.4ab is currently under discussion. One of the key focuses of 802.15.4ab is the use of UWB pulses for ranging. The performance of ranging is proportional to the effective bandwidth, that is, the larger the effective bandwidth, the higher the ranging accuracy. However, for low-cost and low-power UWB devices, they are unable to process large-bandwidth signals due to the performance of the analog-to-digital converter (ADC).

[0005] Therefore, the current ranging accuracy is not high enough and needs to be improved. Summary of the Invention

[0006] The embodiments of the present application provide a ranging method, device, and readable storage medium, which can improve the accuracy of ranging, reduce the time required for ranging, and thus improve the ranging efficiency.

[0007] The present application is introduced below from different aspects. It should be understood that the implementation methods and beneficial effects of the following different aspects can be referenced to each other.

[0008] In the first aspect, the present application provides a ranging method, which can be applied to an initiator or a responder. The method includes: a first communication device generates P ranging segments or P ranging packets, and sends these P ranging segments or these P ranging packets to a second communication device through K channels. K is an integer greater than 1, and P is greater than or equal to K. Among them, these K channels transmit one ranging segment or ranging packet in sequence. The transmission start time interval between two adjacent ranging segments or ranging packets is less than or equal to T milliseconds. Exemplarily, T is equal to 1. This is because the average value of the maximum power spectral density (PSD) of the UWB signal within one millisecond cannot be greater than -41.3dBm per MHz. As another example, if the average value of the maximum power spectral density of the UWB signal within a millisecond does not exceed a certain threshold, then T is equal to a.

[0009] It can be understood that for ranging packets, P and K are equal. Therefore, the above method can be described as follows: the first communication device generates K ranging packets and sends these K ranging packets to the second communication device via K channels, with one ranging packet transmitted on each of the K channels, and the transmission start time interval between two adjacent ranging packets is less than or equal to T milliseconds. For example, T is equal to 1.

[0010] The “ranging fragment” in this application may be a UWB fragment used for ranging, such as a ranging sequence fragment (RSF) and a ranging integrity fragment (RIF).

[0011] For example, the P ranging segments may all be RSFs, or all be RIFs, or may include both RSFs and RIFs. This application does not limit this.

[0012] Illustratively, the two adjacent ranging segments may refer to the same type / class of ranging segments, for example, both are RSFs or both are RIFs.

[0013] Exemplarily, if the P ranging segments are all RSF or all RIF, then P is equal to K, and one ranging segment (RSF or RIF) is transmitted on each of the K channels.

[0014] Exemplarily, if the P ranging segments contain both RSF and RIF, and P is greater than K, one RSF or one RIF is transmitted on one of the K channels. For example, the P ranging segments contain P1 RSFs and (P-P1) RIFs, where P1 and (P-P1) are both positive integers less than or equal to K, and P1 is equal to K or (P-P1) is equal to K. For the P1 RSFs, if P1 is equal to K, one RSF is transmitted on each of the K channels; if P1 is less than K, P1 of the K channels transmits the P1 RSFs, and each of the P1 channels transmits one RSF. For (P-P1) RIFs, if (P-P1) is equal to K, one RIF is transmitted on each of the K channels. If (P-P1) is less than K, the (P-P1) RIFs are transmitted on (P-P1) of the K channels, with one RIF transmitted on each of the (P-P1) channels. Furthermore, both the first RSF and the first RIF are transmitted using the reference channel of the K channels.

[0015] In this application, "or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural.

[0016] This application uses multiple channels to transmit multiple ranging segments / ranging packets, and transmits an RSF, RIF, or ranging packet on a single channel to achieve frequency band splicing at the receiving end, which can improve ranging accuracy. Furthermore, this application allows the transmission start time interval between two adjacent ranging segments / ranging packets to be less than 1 millisecond, which can reduce the time required for ranging and thereby improve ranging efficiency.

[0017] With reference to the first aspect, in a possible implementation, if the P ranging segments include both RSF and RIF, the transmission start time interval between the last RSF and the first RIF is 2 milliseconds.

[0018] In combination with the first aspect, in a possible implementation method, the transmission of the above-mentioned K channels in sequence can be understood as: these K channels are used in sequence in an increasing or decreasing order of the center frequency, or, these K channels are not used in sequence in an increasing or decreasing order of the center frequency.

[0019] In combination with the first aspect, in one possible implementation, the K channels can be used for frequency stitching. The channel transmission order of the K channels can be used sequentially in the order of increasing or decreasing center frequencies, i.e., in-sequence channel order. Alternatively, the channel transmission order of the K channels can be used sequentially not in the order of increasing or decreasing center frequencies, or in other words, the channel transmission order of the K channels can be used non-sequentially in the order of increasing or decreasing center frequencies, i.e., out-of-sequence channel order.

[0020] For example, when the K channels are used in ascending or descending order of center frequency, if there is no (frequency) overlap between the K channels or the overlap rate is 25%, the transmission start time interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets can be less than 1 millisecond. If the overlap rate between the K channels is 50% or 75%, the transmission start time interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets is equal to 1 millisecond.

[0021] This is because, for sequential channels, when the overlap between two adjacent channels is 25%, the maximum power spectral density of the two UWB signals on the adjacent channels within one millisecond does not exceed -41.3 dBm per MHz after superposition. However, when the overlap between two adjacent channels is 50% or 75%, the maximum power spectral density of the two UWB signals on the adjacent channels within one millisecond exceeds -41.3 dBm per MHz after superposition. Therefore, when the K channels are used sequentially in ascending or descending order of center frequency, if there is no channel overlap or the overlap is 25%, the transmission start time interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets can be less than one millisecond. This allows each ranging segment / ranging packet to be transmitted at the maximum allowable average power (the maximum average power per millisecond per MHz bandwidth is -41.3 dBm), and the time interval between ranging segments / ranging packets can be reduced, thereby reducing the time required for ranging and improving ranging efficiency. If the channel overlap is 50% or 75%, the transmission start interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets is equal to 1 millisecond. In this way, each ranging segment / ranging packet can be transmitted at the maximum allowable average power (the maximum average power per millisecond per MHz bandwidth is -41.3dBm), which can increase the instantaneous power of the ranging segment, thereby increasing the coverage range and improving the signal-to-noise ratio of the received signal at the receiving end.

[0022] For example, when the K channels are not transmitted in an ascending or descending order of center frequency, because there is no frequency overlap between two adjacent transmitted channels, the transmission start time interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets can be less than 1 millisecond. This can increase coverage and improve the signal-to-noise ratio of the received signal at the receiving end, while also reducing the time interval between ranging segments / ranging packets, thereby reducing the time required for ranging and improving ranging efficiency.

[0023] In combination with the first aspect, in a possible implementation, in a two-way ranging scenario, the transmission start time interval between the first ranging segment / ranging packet sent by the first communication device and the first ranging segment / ranging packet sent by the second communication device is t O Alternatively, the transmission start time interval between the last ranging segment / ranging packet sent by the first communication device and the first ranging segment / ranging packet sent by the second communication device is t O Among them, t O Less than or equal to 0.5 milliseconds.

[0024] For example, t O satisfy:

[0025] Among them, t I Indicates the transmission start time interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets.

[0026] In conjunction with the first aspect, in one possible implementation, before the first communication device sends the P ranging segments or P ranging packets, the method further includes: the first communication device sends or receives configuration information, the configuration information including first indication information, the first indication information including a first field, the first field being used to indicate a transmission start time interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets. In other words, the first field can be used to indicate the above t I The value of .

[0027] Exemplarily, the configuration information may be configured via ultra-wideband (UWB). In other words, the first communication device may send or receive the configuration information via UWB. For example, the configuration information may be a multi-millisecond (MMS) ranging configuration field in an application control information element (AC IE).

[0028] Exemplarily, the configuration information may be configured via narrowband. In other words, the first communication device may send or receive the configuration information via narrowband. For example, the configuration information may be a UWB physical layer configuration field in narrowband.

[0029] This application indicates the above t through signaling (ie the first field) I The value of can align the information of the initiator and the responder, laying the foundation for the subsequent ranging process, thereby achieving higher ranging accuracy and efficiency.

[0030] In combination with the first aspect, in a possible implementation, the above-mentioned configuration information may also include one or more of the following: second indication information, or third indication information. The second indication information can be used to indicate whether the above-mentioned first indication information exists. When the second indication information indicates that the above-mentioned first indication information does not exist, the third indication information can be used to indicate the UWB channel used for multi-millisecond ranging. When the second indication information indicates that the above-mentioned first indication information exists, the third indication information can be used to indicate the reference channel (Base Channel) when multi-millisecond ranging uses frequency band splicing, or to indicate the reference channel for frequency band splicing. In this application, the second indication information indicates that the first indication information exists.

[0031] Exemplarily, the third indication information may be an MMS Ranging Configuration field or a UWB channel (UWB channel) field in a UWB physical layer configuration field.

[0032] The present application indicates whether the above-mentioned first indication information exists through the second indication information, which can be more compatible with the existing multi-millisecond ranging; and the present application indicates the reference channel by reusing the UWB channel field in the existing field, which can save bits.

[0033] In conjunction with the first aspect, in a possible implementation, the first indication information further includes a second field. The second field may be used to indicate the transmission start time interval (i.e., the above tO Alternatively, the second field may be used to indicate the transmission start time interval (i.e., the above t O value of ).

[0034] This application indicates the above t through signaling (ie the second field) O The value of can be used to more flexibly set the time offset of the initiator and responder in transmitting ranging segments or ranging packets.

[0035] In conjunction with the first aspect, in one possible implementation, the first indication information further includes a channel order field. When the value of the channel order field is a first value, it indicates that the channel transmission order used for frequency band splicing is not sequentially used in ascending or descending order of center frequency. When the value of the channel order field is a second value, it indicates that the channel transmission order used for frequency band splicing is sequentially used in ascending or descending order of center frequency. Exemplarily, the first value is 1 and the second value is 0.

[0036] In combination with the first aspect, in a possible implementation, the above-mentioned first indication information also includes a carrier frequency interval field. When the value of the carrier frequency interval field is the first value, it indicates that there is no overlap between the channels used for band splicing. When the value of the carrier frequency interval field is the second value, it indicates that the overlap rate between the channels used for band splicing is 25%. When the value of the carrier frequency interval field is the third value, it indicates that the overlap rate between the channels used for band splicing is 50%. When the value of the carrier frequency interval field is the fourth value, it indicates that the overlap rate between the channels used for band splicing is 75%. Exemplarily, the first value is 0, the second value is 1, the third value is 2, and the fourth value is 3.

[0037] In the second aspect, the present application provides a ranging method, which can be applied to an initiator or a responder. The method includes: a second communication device receives P ranging segments or P ranging packets through K channels in sequence, K is an integer greater than 1, P is greater than or equal to K, and the transmission start time interval between two adjacent ranging segments or ranging packets is less than or equal to T milliseconds; the second communication device determines the channel impulse response based on the above P ranging segments or the above P ranging packets. Exemplarily, T is equal to 1. As another example, if the average value of the maximum power spectral density of the UWB signal within a millisecond does not exceed a certain threshold, then T is equal to a.

[0038] For example, the P ranging segments may all be RSFs, or all be RIFs, or may include both RSFs and RIFs. This application does not limit this.

[0039] Illustratively, the two adjacent ranging segments may refer to the same type / class of ranging segments, for example, both are RSFs or both are RIFs.

[0040] In conjunction with the second aspect, in one possible implementation, before the second communication device receives the P ranging segments or P ranging packets, the method further includes: the second communication device receives or sends configuration information, the configuration information including first indication information, the first indication information including a first field, the first field being used to indicate the transmission start time interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets transmitted on different channels. For relevant descriptions of the configuration information and the first indication information, please refer to the description of the embodiments below and are not described in detail here.

[0041] In a third aspect, the present application provides a communication device configured to execute the method in the first aspect or any possible implementation of the first aspect. The communication device includes a unit configured to execute the method in the first aspect or any possible implementation of the first aspect.

[0042] In a fourth aspect, the present application provides a communication device configured to execute the method of the second aspect or any possible implementation of the second aspect. The communication device includes a unit configured to execute the method of the second aspect or any possible implementation of the second aspect.

[0043] In the third or fourth aspect, the communication device may include a transceiver unit and a processing unit. For a detailed description of the transceiver unit and the processing unit, reference may be made to the device embodiments shown below. The beneficial effects of the third to fourth aspects may be referenced to the relevant descriptions of the first and second aspects, and are not further elaborated here.

[0044] In a fifth aspect, the present application provides a ranging method, which can be applied to an initiator or a responder. The method includes: a first communication device generates P ranging segments or P ranging packets, and sends the P ranging segments or the P ranging packets to a second communication device through K channels. At least n ranging segments are transmitted on each of the K channels, where n, K, and P are all integers greater than 1, and n and K are both less than P. The transmission start time interval between two adjacent ranging segments / ranging packets transmitted on different channels is less than or equal to T milliseconds. For example, T can be equal to 1. This is because the average value of the maximum power spectral density (PSD) of the UWB signal within one millisecond cannot be greater than -41.3dBm per MHz. For another example, if the average value of the maximum power spectral density of the UWB signal within a millisecond does not exceed a certain threshold, then T is equal to a.

[0045] It can be understood that for ranging packets, the above P is equal to the product of n and K. Therefore, the above method can also be described as follows: the first communication device generates P (=n*K) ranging packets and sends these P ranging packets to the second communication device via K channels, with each of the K channels transmitting n (n is an integer greater than 1) ranging packets, and the transmission start time interval between two adjacent ranging packets transmitted on different channels is less than or equal to T milliseconds. For example, T can be equal to 1.

[0046] For example, the P ranging segments may all be RSFs, or all be RIFs, or may include both RSFs and RIFs. This application does not limit this.

[0047] Illustratively, the two adjacent ranging segments may refer to the same type / class of ranging segments, for example, both are RSFs or both are RIFs.

[0048] Exemplarily, if the P ranging segments are all RSFs or all RIFs, then P is equal to the product of n and K. In this case, n ranging segments (RSFs or RIFs) are transmitted on each of the K channels.

[0049] Exemplarily, if the P ranging segments include both RSFs and RIFs, and P is greater than the product of n and K, at least n ranging segments are transmitted on each of the K channels. For example, the P ranging segments include R RSFs and M RIFs, where R and M are both positive integers less than or equal to the product of n and K, and R is equal to the product of n and K or M is equal to the product of n and K. For R RSFs, if R is equal to the product of n and K, n RSFs are transmitted on each of the K channels; if R is less than the product of n and K, then n RSFs are transmitted on each of the K channels. The channels transmit the R RSFs, and the n RSFs are transmitted on each channel except the last one, and the last channel transmits the remaining RSFs. For M RIFs, if M is equal to the product of n and K, n RIFs are transmitted on each of the K channels; if M is less than the product of n and K, n RIFs are transmitted on each of the K channels. The channels transmit the M RIFs, and the n RIFs are transmitted on each channel except the last channel among the K channels, and the last channel transmits the remaining RIFs. In addition, the first RSF and the first RIF are both transmitted using the reference channel of the K channels.

[0050] Symbols in this application Indicates rounding up, which will not be further explained below.

[0051] This application uses multiple channels to transmit multiple ranging segments / ranging packets, and transmits multiple RSFs, multiple RIFs, or multiple ranging packets on a single channel to achieve frequency band splicing at the receiving end, which can improve the accuracy of (long-distance) ranging. In addition, this application allows the transmission start time interval between two adjacent ranging segments / ranging packets transmitted on different channels to be less than 1 millisecond, which can reduce the time required for ranging and thereby improve ranging efficiency.

[0052] In conjunction with the fifth aspect, in a possible implementation, a transmission start time interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets transmitted on the same channel is equal to 1 millisecond.

[0053] In combination with the fifth aspect, in a possible implementation, if the P ranging segments include both RSF and RIF, the transmission start time interval between the last RSF and the first RIF is 2 milliseconds.

[0054] In conjunction with the fifth aspect, in one possible implementation, the K channels can be used for frequency stitching. The channel transmission order of the K channels can be used in sequence in the order of increasing or decreasing center frequencies, that is, in-sequence channel order. Alternatively, the channel transmission order of the K channels may not be used in sequence in the order of increasing or decreasing center frequencies, or in other words, the channel transmission order of the K channels may not be used in sequence in the order of increasing or decreasing center frequencies, that is, out-of-sequence channel order.

[0055] For example, when the K channels are used sequentially in ascending or descending order of center frequency, if there is no (frequency) overlap between the K channels or the overlap ratio is 25%, the transmission start time interval between two adjacent ranging segments (e.g., two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets transmitted on different channels can be less than 1 millisecond. This allows each ranging segment / ranging packet to be transmitted at the maximum allowable average power (the maximum average power per millisecond per MHz bandwidth is -41.3 dBm), and the time interval between ranging segments / ranging packets can be reduced, thereby reducing the time required for ranging and improving ranging efficiency. If the nominal overlap ratio between the K channels is 50% or 75%, the transmission start time interval between two adjacent ranging segments (e.g., two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets transmitted on different channels is equal to 1 millisecond. In this way, each ranging segment / ranging packet can be transmitted with the maximum allowed average power, which can increase the instantaneous power of the ranging segment, thereby increasing the coverage range and improving the signal-to-noise ratio of the received signal at the receiving end.

[0056] For example, when the transmission order of the K channels is not in ascending or descending order of center frequency, the transmission start time interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets transmitted on different channels can be less than 1 millisecond. This can not only increase the coverage range and improve the signal-to-noise ratio of the received signal at the receiving end, but also reduce the time interval between ranging segments / ranging packets, thereby reducing the time required for ranging and improving ranging efficiency.

[0057] In conjunction with the fifth aspect, in a possible implementation, in a two-way ranging scenario, the transmission start time interval between the first ranging segment / ranging packet sent by the first communication device and the first ranging segment / ranging packet sent by the second communication device is t O Alternatively, the transmission start time interval between the last ranging segment / ranging packet sent by the first communication device and the first ranging segment / ranging packet sent by the second communication device is t O Among them, t O Less than or equal to 0.5 milliseconds.

[0058] For example, t O satisfy:

[0059] Among them, t I It indicates the transmission start time interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets transmitted on different channels.

[0060] For example, tO Fixed at 0.5 milliseconds.

[0061] In combination with the fifth aspect, in one possible implementation, before the first communication device sends the above-mentioned P ranging segments or P ranging packets, the method further includes: the first communication device sends or receives configuration information, the configuration information including first indication information, the first indication information including a first field, and the first field is used to indicate the transmission start time interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets transmitted on different channels.

[0062] Exemplarily, the configuration information may be configured via ultra-wideband (UWB). In other words, the first communication device may send or receive the configuration information via UWB. For example, the configuration information may be the MMS Ranging Configuration field in the AC IE.

[0063] Exemplarily, the configuration information may be configured via narrowband. In other words, the first communication device may send or receive the configuration information via narrowband. For example, the configuration information may be a UWB physical layer configuration field in narrowband.

[0064] In conjunction with the fifth aspect, in a possible implementation, the above-mentioned configuration information may also include one or more of the following: second indication information, or third indication information. The second indication information can be used to indicate whether the above-mentioned first indication information exists. When the second indication information indicates that the above-mentioned first indication information does not exist, the third indication information can be used to indicate the UWB channel used for multi-millisecond ranging. When the second indication information indicates that the above-mentioned first indication information exists, the third indication information can be used to indicate the reference channel (Base Channel) when multi-millisecond ranging uses frequency band splicing, or to indicate the reference channel for frequency band splicing. In this application, the second indication information indicates that the first indication information exists.

[0065] Exemplarily, the third indication information may be an MMS Ranging Configuration field or a UWB channel (UWB channel) field in a UWB physical layer configuration field.

[0066] In conjunction with the fifth aspect, in one possible implementation, the first indication information further includes a second field. The second field may be used to indicate the number of ranging segments or ranging packets transmitted on each channel. In other words, the second field may indicate the value of n.

[0067] In conjunction with the fifth aspect, in a possible implementation, the first indication information further includes a third field. The third field may be used to indicate the t O The value of .

[0068] In conjunction with the fifth aspect, in one possible implementation, the first indication information further includes a channel order field. When the value of the channel order field is a first value, it indicates that the channel transmission order used for frequency band splicing is not sequentially used in ascending or descending order of center frequency. When the value of the channel order field is a second value, it indicates that the channel transmission order used for frequency band splicing is sequentially used in ascending or descending order of center frequency. Exemplarily, the first value is 1 and the second value is 0.

[0069] In conjunction with the fifth aspect, in a possible implementation, the above-mentioned first indication information also includes a carrier frequency interval field. When the value of the carrier frequency interval field is the first value, it indicates that there is no overlap between the channels used for band splicing. When the value of the carrier frequency interval field is the second value, it indicates that the overlap rate between the channels used for band splicing is 25%. When the value of the carrier frequency interval field is the third value, it indicates that the overlap rate between the channels used for band splicing is 50%. When the value of the carrier frequency interval field is the fourth value, it indicates that the overlap rate between the channels used for band splicing is 75%. Exemplarily, the first value is 0, the second value is 1, the third value is 2, and the fourth value is 3.

[0070] In a sixth aspect, the present application provides a ranging method, which can be applied to an initiator or a responder. The method includes: a second communication device receives P ranging segments or P ranging packets through K channels, and at least n ranging segments are transmitted on each of the K channels, n, K and P are all integers greater than 1, and n and K are both less than P, and the transmission start time interval between two adjacent ranging segments / ranging packets transmitted on different channels is less than or equal to T milliseconds; the second communication device determines the channel impulse response based on the above P ranging segments or the above P ranging packets. Exemplarily, T can be equal to 1. As another example, if the average value of the maximum power spectral density of the UWB signal within a millisecond does not exceed a certain threshold, then T is equal to a.

[0071] For example, the P ranging segments may all be RSFs, or all be RIFs, or may include both RSFs and RIFs. This application does not limit this.

[0072] Illustratively, the two adjacent ranging segments may refer to the same type / class of ranging segments, for example, both are RSFs or both are RIFs.

[0073] In conjunction with the sixth aspect, in one possible implementation, before the second communication device receives the P ranging segments or P ranging packets, the method further includes: the second communication device receives or sends configuration information, the configuration information including first indication information, the first indication information including a first field, the first field being used to indicate the transmission start time interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets transmitted on different channels. For relevant descriptions of the configuration information and the first indication information, please refer to the description of the embodiment below and will not be described in detail here.

[0074] In a seventh aspect, the present application provides a communication device, which may be a first communication device or a chip therein. The communication device includes units and / or modules for executing the method provided in the fifth aspect or any possible implementation of the fifth aspect, such as a transceiver unit and / or a processing unit. The transceiver unit is used to send and receive various information or signaling, and thus can also achieve the beneficial effects (or advantages) of the method provided in the fifth aspect.

[0075] Exemplarily, the processing unit is configured to generate P ranging segments or P ranging packets; the transceiver unit is configured to send the P ranging segments or the P ranging packets to the second communication device via K channels. At least n ranging segments are transmitted on each of the K channels, where n, K, and P are all integers greater than 1, and n and K are both less than P. The transmission start time interval between two adjacent ranging segments / ranging packets transmitted on different channels is less than or equal to T milliseconds. Exemplarily, T can be equal to 1. As another example, if the average value of the maximum power spectral density of the UWB signal within a milliseconds does not exceed a certain threshold, then T is equal to a.

[0076] Exemplarily, the above-mentioned transceiver unit is also used to send or receive configuration information, the configuration information including first indication information, the first indication information including a first field, the first field being used to indicate the transmission start time interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets transmitted on different channels.

[0077] Among them, the description of K channels, P ranging segments, P ranging packets, the transmission start time interval between two adjacent ranging segments or ranging packets transmitted on different channels, and configuration information can be referred to the introduction of the fifth aspect above, and will not be described in detail here.

[0078] In an eighth aspect, the present application provides a communication device, which may be a second communication device or a chip therein. The communication device includes units and / or modules for executing the method provided in the sixth aspect or any possible implementation of the sixth aspect, such as a transceiver unit and / or a processing unit. The transceiver unit is used to send and receive various information or signaling, and thus can also achieve the beneficial effects (or advantages) of the method provided in the sixth aspect.

[0079] Exemplarily, a transceiver unit is configured to receive P ranging segments or P ranging packets through K channels, wherein each of the K channels transmits at least n ranging segments, where n, K, and P are integers greater than 1, and both n and K are less than P, and the transmission start time interval between two adjacent ranging segments / ranging packets transmitted on different channels is less than or equal to T milliseconds; and a processing unit is configured to determine a channel impulse response based on the P ranging segments or the P ranging packets. Exemplarily, T may be equal to 1. As another example, if the average value of the maximum power spectral density of the UWB signal within a millisecond does not exceed a certain threshold, then T is equal to a.

[0080] Exemplarily, the above-mentioned transceiver unit is also used to receive or send configuration information, the configuration information including first indication information, the first indication information including a first field, the first field being used to indicate the transmission start time interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs) or two adjacent ranging packets transmitted on different channels.

[0081] Among them, the description of K channels, P ranging segments, P ranging packets, the transmission start time interval between two adjacent ranging segments or ranging packets transmitted on different channels, and configuration information can be referred to the introduction of the fifth aspect above, and will not be described in detail here.

[0082] In a ninth aspect, the present application provides a communication device, comprising a processor configured to execute the method described in the first aspect, the second aspect, the fifth aspect, the sixth aspect, or any possible implementation thereof. Alternatively, the processor is configured to execute a program stored in a memory, and when the program is executed, the method described in the first aspect, the second aspect, the fifth aspect, the sixth aspect, or any possible implementation thereof is executed.

[0083] In combination with the ninth aspect, in a possible implementation, the memory is located outside the above-mentioned communication device.

[0084] In combination with the ninth aspect, in a possible implementation, the memory is located within the above-mentioned communication device.

[0085] In the present application, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

[0086] In combination with the ninth aspect, in a possible implementation, the communication device further includes a transceiver, which is used to send or receive ranging fragments / ranging packets.

[0087] In a tenth aspect, the present application provides a communication device, which may include a processor and an interface circuit, and the processor is connected to the interface circuit. Wherein, the interface circuit is used to interact (or receive and send or input and output) information or data, and the processor is used to run program instructions so that the communication device executes the method described in any possible implementation of the first aspect, the second aspect, the fifth aspect, the sixth aspect, or any of the aspects above. Wherein, the interface circuit may be a communication interface or a transceiver. The transceiver may be a radio frequency module in a communication device, or a combination of a radio frequency module and an antenna, or an input and output interface of a chip or circuit.

[0088] In the eleventh aspect, the present application provides a readable storage medium having program instructions stored thereon, which, when executed on a computer, enables the computer to execute the method described in the first aspect, or the second aspect, or the fifth aspect, or the sixth aspect, or any possible implementation of any one of the aspects.

[0089] In the twelfth aspect, the present application provides a program product comprising program instructions, which, when executed, enables the method described in the first aspect, or the second aspect, or the fifth aspect, or the sixth aspect, or any possible implementation of any one of the aspects to be executed.

[0090] In a thirteenth aspect, the present application provides a device, which can be implemented in the form of a chip or in the form of a device, and the device includes a processor. The processor is used to read and execute a program stored in a memory to execute one or more of the first aspect, the second aspect, the fifth aspect, and the sixth aspect, or one or more of any possible implementation methods of any aspect thereof, in a UWB system. Optionally, the device also includes a memory, which is connected to the processor via a circuit. Further optionally, the device also includes a communication interface, and the processor is connected to the communication interface. The communication interface is used to receive information to be processed, and the processor obtains the information from the communication interface, processes the information, and outputs the processing results through the communication interface. The communication interface can be an input and output interface.

[0091] In a possible implementation, the processor and memory may be physically independent units, or the memory may be integrated with the processor.

[0092] In the fourteenth aspect, the present application provides a wireless communication system, which includes a first communication device and a second communication device; the first communication device is used to execute the method described in the above-mentioned first aspect, the above-mentioned fifth aspect, or any possible implementation method of any aspect therein, and the second communication device is used to execute the method described in the above-mentioned second aspect, the above-mentioned sixth aspect, or any possible implementation method of any aspect therein.

[0093] The technical effects achieved in the above-mentioned aspects can be referred to each other or to the beneficial effects in the method embodiments shown below, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0094] FIG1 is a schematic structural diagram of a wireless communication system provided in an embodiment of the present application;

[0095] FIG2 is another schematic structural diagram of a wireless communication system provided in an embodiment of the present application;

[0096] FIG3 is a schematic diagram of segmented transmission of UWB signals provided in an embodiment of the present application;

[0097] FIG4 is a possible schematic diagram of a PPDU structure provided in an embodiment of the present application;

[0098] FIG5 is a schematic diagram of the ranging principle provided by an embodiment of the present application;

[0099] FIG6 is a schematic diagram of signal transmission of multi-millisecond ranging provided by an embodiment of the present application;

[0100] FIG7 is a schematic diagram of an out-of-order channel provided in an embodiment of the present application;

[0101] FIG8 is a schematic diagram of a sequential channel provided in an embodiment of the present application;

[0102] FIG9 is a flow chart of a ranging method provided in an embodiment of the present application;

[0103] FIG10 is a schematic diagram of a transmission start time interval between ranging segments provided in an embodiment of the present application;

[0104] FIG11a is a schematic diagram of interleaved transmission provided in an embodiment of the present application;

[0105] FIG11b is a schematic diagram of serial transmission provided by an embodiment of the present application;

[0106] FIG. 12a is a diagram of an interleaved transmission time t provided in an embodiment of the present application. min A schematic diagram of

[0107] FIG. 12b is a diagram of a serial transmission time t provided in an embodiment of the present application. min A schematic diagram of

[0108] FIG13 is a flow chart of an information configuration method provided in an embodiment of the present application;

[0109] FIG14 is a schematic diagram of the frame format of a multi-millisecond ranging configuration field provided in an embodiment of the present application;

[0110] FIG15 is a schematic diagram of a frame format of a UWB physical layer configuration field provided in an embodiment of the present application;

[0111] FIG16 is a schematic diagram of a frame format of an MMS Frequency Stitching Parameters field provided in an embodiment of the present application;

[0112] FIG17 is a schematic diagram of another frame format of the MMS Frequency Stitching Parameters field provided in an embodiment of the present application;

[0113] FIG18a is a schematic diagram of a frame format of a perception control field provided in an embodiment of the present application;

[0114] FIG18b is a schematic diagram of the frame format of the frequency band splicing parameter field in the perception control field provided by an embodiment of the present application;

[0115] FIG19a is a schematic diagram of the frame format of an AC IE provided in an embodiment of the present application;

[0116] FIG19b is a schematic diagram of the frame format of the content control field in the AC IE provided in an embodiment of the present application;

[0117] FIG20 is another flow chart of a ranging method according to an embodiment of the present application;

[0118] FIG21 is another schematic diagram of a transmission start time interval between ranging segments provided in an embodiment of the present application;

[0119] FIG22a is another schematic diagram of interleaved transmission provided in an embodiment of the present application;

[0120] FIG22 b is another schematic diagram of serial transmission provided by an embodiment of the present application;

[0121] FIG23 is another flow chart of the information configuration method provided in an embodiment of the present application;

[0122] FIG24a is a schematic diagram of another frame format of the MMS Frequency Stitching Parameters field provided in an embodiment of the present application;

[0123] FIG24 b is a schematic diagram of yet another frame format of the MMS Frequency Stitching Parameters field provided in an embodiment of the present application;

[0124] FIG25 is another flowchart of a ranging method provided in an embodiment of the present application;

[0125] FIG26 is a schematic diagram of frequency band splicing within a ranging segment provided by an embodiment of the present application;

[0126] FIG27 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0127] FIG28 is another schematic structural diagram of a communication device provided in an embodiment of the present application;

[0128] Figure 29 is another structural diagram of the communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0129] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0130] In the description of this application, words such as "first" and "second" are used only to distinguish different objects and do not limit the quantity or execution order. Moreover, words such as "first" and "second" do not necessarily mean different. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to the process, method, product, or device.

[0131] In the description of this application, "at least one (item)" refers to one or more, "more than one" refers to two or more, and "at least two (items)" refers to two or three and more than three. In addition, "or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "The following one (item) or more (items)" or similar expressions refer to any combination of these items. For example, the following one (item) or more (items): a, b or c, can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c".

[0132] In this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary," "for example," or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete way.

[0133] In the description of this application, "when", "if" and "if" all mean that the device will take corresponding actions under certain objective circumstances. It does not limit the time, nor does it require that the device must perform judgment actions when it is implemented, nor does it mean that there are other limitations.

[0134] Elements used in the singular herein are intended to mean "one or more" rather than "one and only one" unless specifically stated otherwise.

[0135] In various embodiments of the present application, "A corresponds to B" or similar expressions means that B is associated with A and B can be determined based on A. Determining B based on A does not mean determining B based solely on A, but B can also be determined based on A and / or other information.

[0136] The technical solution provided in this application can be applied to wireless personal area networks (WPANs) based on UWB technology. For example, the method provided in this application can be applied to the IEEE 802.15 series protocols, such as the 802.15.4a protocol, the 802.15.4z protocol, or the 802.15.4ab protocol, or a future generation of UWB WPAN standards, etc., which are not listed here one by one. The method provided in this application can also be applied to various communication systems, for example, the Internet of Things (IoT) system, the Vehicle to X (V2X) system, the Narrow Band Internet of Things (NB-IoT) system, devices in the Internet of Things (IoT), IoT nodes and sensors in the Internet of Things (IoT), smart cameras in smart homes, smart remote controls, smart water meters and electricity meters, and sensors in smart cities. The method provided in the present application can also be applied to long term evolution (LTE) frequency division duplex (FDD) system, LTE time division duplex (TDD), universal mobile telecommunication system (UMTS), world-wide interoperability for microwave access (WiMAX) communication system, LTE system, and can also be fifth-generation (5G) communication system, sixth-generation (6G) communication system, etc.

[0137] UWB technology is a new type of wireless communication technology. It uses nanosecond-scale, non-sinusoidal narrow pulses to transmit data. By modulating impulse pulses with very steep rise and fall times, the spectrum it transmits is very wide, giving the signal a bandwidth in the gigahertz range. The bandwidth used by UWB is typically above 500 MHz. Because UWB systems do not need to generate sinusoidal carrier signals and can directly transmit impulse trains, UWB systems have a very wide spectrum and very low average power. UWB wireless communication systems have advantages such as strong multipath resolution, low power consumption, and strong confidentiality, which facilitates coexistence with other systems, thereby improving spectrum utilization and system capacity. In addition, in short-range communication applications, the transmission power of UWB transmitters can typically be less than 1 mW (milliwatt). In theory, the interference generated by UWB signals is equivalent to white noise. This facilitates good coexistence between ultra-wideband and narrowband communications. Therefore, UWB systems can operate simultaneously with narrowband (NB) communication systems without interfering with each other. The method provided in this application can be implemented by a communication device in a wireless communication system. In a communication device, a device or chip that implements UWB system functions can be referred to as a UWB module, and a device or chip that implements narrowband communication system functions can be referred to as a narrowband communication module. The UWB module and the narrowband communication module can be different devices or chips. Of course, the UWB module and the narrowband communication module can also be integrated into a single device or chip. The embodiments of this application do not limit the implementation of the UWB module and the narrowband communication module in the communication device. The communication device in this application includes a UWB module and may also include a narrowband communication module.

[0138] Although the embodiments of the present application are mainly based on WPAN as an example, for example, a network applied to the IEEE 802.15 series of standards is used as an example for description. It will be readily understood by those skilled in the art that the various aspects involved in the present application can be extended to other networks that adopt various standards or protocols. For example, wireless local area networks (WLANs), Bluetooth (BLUETOOTH), high-performance wireless LANs (HIPERLANs) (a wireless standard similar to the IEEE 802.11 standard, mainly used in Europe), and wide area networks (WANs) or other networks now known or developed later. Therefore, regardless of the coverage range and wireless access protocol used, the various aspects provided in the present application can be applied to any suitable wireless network.

[0139] Optionally, the communication device in the embodiment of the present application may be a device that supports multiple WPAN standards, such as 802.15.4a and 802.15.4z, and 802.15.4ab or subsequent versions currently under discussion.

[0140] Exemplarily, the method provided in the present application can be implemented by a communication device in a wireless communication system, and the communication device can be a device involved in a UWB system. For example, the communication device can include but is not limited to a communication server, router, switch, bridge, computer, mobile phone, etc. that supports UWB technology. For another example, the communication device can include user equipment (UE), and the user equipment can include various handheld devices that support UWB technology, vehicle-mounted devices (such as cars or components installed on cars, etc.), wearable devices, Internet of Things (IoT) devices, computing devices or other processing devices connected to wireless modems, etc., which are not listed here one by one. For another example, the communication device can include a central control point, such as a personal area network (PAN) or a PAN coordinator, etc. The PAN coordinator or PAN can be a mobile phone, a vehicle-mounted device, an anchor point (Anchor), a tag (tag) or a smart home, etc. For another example, the communication device can include a chip, and the chip can be set in a communication server, a router, a switch or a terminal device, etc., which are not listed here one by one.

[0141] In an embodiment of the present application, the above-mentioned communication device may include a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system layer. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory (also called main memory). The operating system can be any one or more computer operating systems that implement business processing through processes, such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a Windows operating system. The application layer includes applications such as browsers, address books, word processing software, and instant messaging software. In addition, the embodiment of the present application does not specifically limit the specific structure of the execution subject of the method provided in the embodiment of the present application, as long as it can communicate according to the method provided in the embodiment of the present application by running a program that records the code of the method provided in the embodiment of the present application.

[0142] It can be understood that the above description of the communication device is applicable to any communication device in the embodiments of the present application.

[0143] For example, see Figure 1, which is a schematic diagram of the structure of a wireless communication system provided in an embodiment of the present application. As shown in Figure 1, the wireless communication system is a star topology, in which a central control node (such as the PAN coordinator in Figure 1) can communicate data with one or more other devices. See Figure 2, which is another schematic diagram of the structure of a wireless communication system provided in an embodiment of the present application. As shown in Figure 2, the wireless communication system is a point-to-point topology, in which a central control node (such as the PAN coordinator in Figure 2) can communicate data with one or more other devices, and other different devices can also communicate data with each other. In Figures 1 and 2, full-function devices and reduced-function devices can both be understood as the communication devices shown in this application. Among them, full-function devices and reduced-function devices are relative terms, for example, a reduced-function device cannot be a PAN coordinator. For example, compared with a full-function device, a reduced-function device may have no coordination capabilities or a lower communication rate than a full-function device. It is understood that the PAN coordinator shown in Figure 2 is merely an example. The other three full-function devices shown in Figure 2 can also serve as PAN coordinators and are not shown here one by one. It is also understood that the full-function device and low-function device shown in this application are merely examples of communication devices. Any device that can implement the ranging method provided in this application falls within the scope of protection of this application.

[0144] The following is a brief introduction to some relevant contents, terms or nouns involved in this application.

[0145] 1. Segmented transmission of UWB signals

[0146] Due to the large bandwidth of ultra-wideband systems, the U.S. Federal Communications Commission (FCC) has imposed strict restrictions on the power spectral density of UWB signals to reduce interference with other devices during operation. According to the U.S. Code of Federal Regulations (CFR), there are two main rules:

[0147] Rule 1: The maximum power spectral density (PSD) of the transmitted UWB signal cannot be greater than -41.3dBm per MHz, averaged over one millisecond.

[0148] Rule 2: The maximum power of the transmitted UWB signal within any 50MHz bandwidth cannot exceed 1 milliwatt.

[0149] The above rule 1 limits the total energy of the UWB signal transmitted within 1 millisecond (not exceeding 37nJ at a 500MHz bandwidth), but the instantaneous power of the transmitted signal can be increased by concentrating the energy and transmitting it in a shorter time, thereby increasing the coverage range of the UWB signal and improving the signal-to-noise ratio (SNR) of the received signal at the receiving end. Based on this, in some scenarios where the transmission power needs to be increased, a method for transmitting a UWB signal is shown in Figure 3, which is a schematic diagram of the segmented transmission of the UWB signal provided by an embodiment of the present application. As shown in Figure 3, the transmitting end splits the UWB signal to be transmitted into multiple fragments, and the time length of each UWB fragment signal is less than 1 millisecond (ms), and only one of the UWB segments is sent in each millisecond.

[0150] It is understandable that segmented transmission can increase the instantaneous power of the UWB signal, thereby increasing the coverage range of the UWB signal and improving the signal-to-noise ratio of the signal received at the receiving end.

[0151] This application refers to a system that adopts the segmented transmission method shown in FIG3 (such as a system that adopts the 802.15.4ab protocol transmission) as a multi-millisecond UWB system.

[0152] 2. Physical layer protocol data unit (PPDU) structure in UWB system

[0153] Part of the PPDU structure defined in the 802.15.4a, 802.15.4z and 802.15.4ab standards is shown in Figure 4, which is a possible schematic diagram of the PPDU structure provided in an embodiment of the present application. Figure 4 shows five possible PPDU structures. In actual applications, there are more or fewer PPDU structures than those in Figure 4, and this application does not limit this. It can be understood that since configuration 4 (config 4) to configuration 7 (config 7) of the PPDU are structures used to implement the sensing function, they are not shown in Figure 4. As shown in Figure 4, configuration 0 (config 0) to configuration 3 (config 3) of the PPDU include one or more of the following: synchronization (SYNC) field, start-of-frame delimiter (SFD) field, physical layer header (PHR) field, physical payload field (PHY payload field), or scrambled timestamp sequence (STS). Among them, the receiving end can perform PPDU detection and synchronization based on the synchronization (SYNC) field. The synchronization (SYNC) field can contain multiple repeated symbols, which can be generated from the preamble sequence. This synchronization field can also be used to implement ranging. The PHR field carries some physical layer indication information, such as modulation and coding information or packet length information, which can be used to assist the receiver in correctly demodulating data. The physical bearer field can be used to carry data. The scrambled timestamp sequence (STS) can also be used to implement ranging.

[0154] PPDU configuration 8 (config 8) is the structure of a multi-millisecond UWB frame defined in the 802.15.4ab standard. Each multi-millisecond UWB frame contains multiple UWB fragments, which together form a PPDU. The transmission start time interval between adjacent UWB fragments is 1 millisecond (ms). The PPDU structure of a multi-millisecond UWB frame may include a synchronization (SYNC) field and a scrambled timestamp sequence (STS). The PPDU structure of this multi-millisecond UWB frame does not include a data portion.

[0155] 3. Basic Principles of Distance Measurement

[0156] The basic principle of ranging is that the communicating parties calculate the distance between them by measuring the round-trip time of the message. Among them, the ranging sequence sent by the transmitting end reaches the receiving end after pulse forming and modulation, and the receiving end correlates the received ranging sequence with the locally stored sequence, and obtains the arrival time (i.e., t2 and t4) according to the position of the correlation peak. See Figure 5, which is a schematic diagram of the ranging principle provided by an embodiment of the present application. As shown in Figure 5, UWB device 1 sends UWB signal 1 at time t1, and the UWB signal 1 arrives at UWB device 2 at time t2 after being transmitted through the wireless channel; UWB device 2 processes the received UWB signal, and then sends UWB signal 2 to UWB device 1 at time t3, and the UWB signal 2 arrives at UWB device 1 at time t4 after being transmitted through the wireless channel. Among them, the UWB signal is obtained after the ranging sequence is pulse formed and modulated, such as binary phase shift keying (BPSK). The ranging sequence may be a preamble sequence, such as an Ipatov sequence with a length of 31, 127, or 91. The ranging sequence may also be other sequences, such as STS, which is not limited in this application.

[0157] The distance d between UWB device 1 and UWB device 2 can be calculated using the following formulas (1-1), (1-2), and (1-3): t RTT =(t4-t1)................................................................................................................(1-2) t reply =(t3-t2)................................................................................................................(1-3)

[0158] Here, c represents the speed of light.

[0159] It should be understood that when a signal is transmitted in a wireless channel, it will be reflected, diffracted, and scattered by various obstacles, and will also be affected by various noises; as a result, the waveform of the signal sent by the transmitter will change when it reaches the receiver, but the information or content carried by the signal itself will not change.

[0160] 4. Multi-millisecond ranging

[0161] In one possible implementation, signal transmission in multi-millisecond ranging is shown in Figure 6, which is a schematic diagram of signal transmission for multi-millisecond ranging provided in an embodiment of the present application. UWB fragments are divided into two categories: a ranging sequence fragment (RSF) and a ranging integrity fragment (RIF). A PPDU may include an RSF, a RIF, or both. For example, as shown in Figure 6, the PPDU may also include a SYNC or SFD.

[0162] As shown in Figure 6, the PPDU contains X RSFs, all RSFs have the same length, and the transmission start time interval between two adjacent RSFs is 1 millisecond (ms). Each RSF can include multi-millisecond ranging symbol (MMRS) repetitions (MMRS symbol repetitions, MSR) multi-millisecond ranging symbols (MMRS). As shown in Figure 6, the PPDU also contains Y RIFs, all RIFs have the same length, and the transmission start time interval between two adjacent RIFs is 1 millisecond (ms). Each RIF can include several STSs. When RSFs and RIFs exist in a PPDU at the same time, the transmission start time interval between the last RSF and the first RIF is 2 milliseconds. In addition, all RSFs and RIFs are transmitted on the same UWB channel.

[0163] 5. Frequency Band Splicing

[0164] Currently, most UWB devices are limited by ADC performance, which makes them unable to process signals with large bandwidths. Ranging performance is proportional to the effective bandwidth: the larger the effective bandwidth, the higher the ranging accuracy. Therefore, to improve the ranging performance of UWB devices, one possible solution is to use frequency band splicing. Frequency band splicing can be simply described as follows: the transmitter uses multiple different frequency bands to transmit multiple (ranging) fragments / packets, where different fragments / packets can be transmitted on different frequency bands. The receiver receives the fragments / packets on these frequency bands and performs ranging based on the received fragments / packets. This is equivalent to splicing multiple frequency bands and performing ranging on the spliced ​​frequency band. Therefore, it can improve the ranging performance of UWB devices.

[0165] Band splicing can be divided into two categories from a temporal perspective: intra-packet band splicing, where different parts of a physical layer protocol data unit (PPDU) are transmitted on different UWB channels (or frequency bands); and inter-packet band splicing, where multiple different PPDUs are transmitted on different UWB channels (or frequency bands).

[0166] In this application, "PPDU" can be referred to as "packet", and the two can be used interchangeably. In this application, "band" and "channel" can be used interchangeably.

[0167] The multiple channels in band splicing can overlap or not overlap. Overlapping bands / channels facilitates phase tracking during splicing, improving the accuracy of the channel impulse response (CIR) of the effective channel after splicing. The channel transmission order in existing band splicing can be divided into two categories: out-of-sequence channel order (referred to as out-of-sequence channels) and in-sequence channel order (referred to as in-sequence channels).

[0168] Refer to Figure 7, which is a schematic diagram of a disordered channel provided in an embodiment of the present application. As shown in Figure 7, the characteristic of the existing disordered channel is that there is no overlap in the frequency domain between adjacent transmission channels (such as CH0 and CH3 in Figure 7), and the signal start transmission interval between channels with frequency domain overlap (such as CH0 and CH1 in Figure 7) needs to be greater than or equal to 1ms (milliseconds). According to the transmission power requirements of UWB signals, the maximum average power per millisecond per megahertz bandwidth is -41.3dBm (i.e., Rule 1 above). If the transmission interval between channels with frequency domain overlap is greater than or equal to 1ms, each fragment / packet can be transmitted at the maximum allowed average power.

[0169] For an out-of-order channel, the channel transmission order can be calculated according to the following formula (1-4): CH((p*(OF+1)MOD(N))+(p*(OF+1)DIV(N)))………………………………………………(1-4)

[0170] Where p takes values ​​of 0, 1, 2, ..., (N-1). OF represents the overlapping factor (OF). When there is no overlap between adjacent channels, OF is 0; when the frequency band overlap ratio between adjacent channels is 25%, OF is 1; when the frequency band overlap ratio between adjacent channels is 50%, OF is 2; and when the frequency band overlap ratio between adjacent channels is 75%, OF is 3. If the total number of channels (bands) used for band splicing, K, is an integer multiple of (OF+1), then N is K. If the total number of channels (bands) used for band splicing, K, is not an integer multiple of (OF+1), then N is the smallest integer multiple of (OF+1) among the positive integers greater than K. Taking K equal to 6 as an example, assuming OF equals 2 (i.e., the frequency band overlap rate is 50%), since K can divide (OF+1)=3, N equals K=6; assuming OF equals 3 (i.e., the frequency band overlap rate is 75%), since K cannot divide (OF+1)=4, N equals 8. It can be understood that if N is greater than K (i.e., the value of K cannot divide (OF+1)), the additional channels (i.e., CH(K), CH(K+1), ..., CH(N-1)) are not actually used, and the transmitter does not transmit UWB pulses on the additional channels.

[0171] MOD stands for modulo operation, and DIV stands for integer division. These operations are not discussed further below. For integer division (DIV), x DIV y equals the integer value of the quotient of x divided by y. For example, if x is 4 and y is 6, then x DIV y = 0. For another example, if x is 8 and y is 6, then x DIV y = 1.

[0172] Refer to Figure 8, which is a schematic diagram of a sequential channel provided in an embodiment of the present application. As shown in Figure 8, the characteristic of the sequential channel is that different channels are transmitted sequentially in the order of increasing or decreasing center frequency. Figure 8 shows a sequential channel with a frequency band overlap rate of 50%. It can be understood that since the sequential channel does not have a restriction that the signal starting transmission interval between channels with frequency domain overlap is greater than or equal to 1ms, the total transmission time of the sequential channel can be less than 1ms. Of course, the total transmission time of the sequential channel can also be greater than 1ms, or equal to 1ms, and the embodiment of the present application does not impose any restrictions.

[0173] Unless otherwise specified, the "channel" mentioned in this application refers to a UWB channel. For example, the bandwidth of a UWB channel is 499.2 MHz.

[0174] From the above content, we can see that frequency band splicing helps to improve ranging accuracy, but how to further improve ranging performance remains to be explored.

[0175] The embodiments of the present application provide a ranging method, device, and readable storage medium, which can not only improve the accuracy of ranging, but also reduce the time required for ranging, thereby improving the efficiency of ranging.

[0176] The technical solution provided in this application will be described in detail below with reference to more drawings.

[0177] In this application, unless otherwise specified, the same or similar parts between the various embodiments or implementations can refer to each other. In the various embodiments in this application, and the various implementation methods / implementation methods / implementation methods in each embodiment, if there is no special explanation and logical conflict, the terms and / or descriptions between different embodiments and the various implementation methods / implementation methods / implementation methods in each embodiment are consistent and can be referenced to each other. The technical features in different embodiments and the various implementation methods / implementation methods / implementation methods in each embodiment can be combined to form new embodiments, implementation methods, implementation methods, or implementation methods according to their inherent logical relationships. The implementation methods of this application described below do not constitute a limitation on the scope of protection of this application. It will be understood that the order of the embodiments below does not represent the degree of importance.

[0178] The communication device in this application can not only support the 802.15 series protocols, such as 802.15.4ab or the next generation of 802.15.4ab, but also support other IEEE standard protocols (such as the 802.11 series protocols), such as 802.11ax, 802.11ac, 802.11n, 802.11g, 802.11b, 802.11a, 802.11be and its next generation (such as Wi-Fi 8, ultra high reliability (UHR), 11bn) and other 802.11 family wireless local area network (WLAN) standards. It can also support perception protocols such as 802.11bf.

[0179] In one possible implementation, the method provided in this application can be applied to a one-way / two-way ranging scenario between one node and one node, or to a one-way / two-way ranging scenario between one node and multiple nodes, or to a one-way / two-way ranging scenario between multiple nodes and multiple nodes, and this application does not impose any restrictions.

[0180] The "ranging fragment" in this application can be a UWB fragment used for ranging, such as an RSF or RIF. Of course, as standards develop and evolve, more fragments may be used for ranging. The "ranging packet" in this application can be any of the PPDU configurations 0 to 3 shown in Figure 4. Of course, as standards develop and evolve, more PPDU structures may exist for ranging packets.

[0181] Refer to Figure 9, which is a flow chart of a ranging method provided in an embodiment of the present application. The first communication device and the second communication device involved in the method can be any two devices that can perform data communication in Figure 1 or Figure 2. In one possible implementation, the first communication device in the method can serve as an initiator, and the second communication device can serve as a responder. Of course, the first communication device can also serve as a responder, and the second communication device can serve as an initiator. This embodiment of the present application does not limit this.

[0182] As shown in FIG9 , the ranging method includes but is not limited to the following steps:

[0183] S101: A first communication device generates P ranging segments.

[0184] S102: The first communication device transmits the P ranging segments to the second communication device via K channels, wherein the K channels transmit one ranging segment sequentially, and the transmission start time interval between two adjacent ranging segments is less than or equal to T milliseconds. Exemplarily, T is equal to 1. Furthermore, if the average value of the maximum power spectral density (PSD) of the UWB signal within a milliseconds does not exceed a certain threshold, then T is equal to a. K is an integer greater than 1, and P is greater than or equal to K.

[0185] In one possible implementation, the K channels can be used for frequency stitching, where K can be an integer greater than 1. The channel transmission order of the K channels can be used in sequence in the order of increasing or decreasing center frequencies, i.e., in-sequence channel order. Alternatively, the channel transmission order of the K channels can be used in a non-sequential order in the order of increasing or decreasing center frequencies, or in other words, the channel transmission order of the K channels can be used in a non-sequential order in the order of increasing or decreasing center frequencies, i.e., out-of-sequence channel order. The channel transmission order of the out-of-sequence channel can be specifically obtained according to the above formula (1-4).

[0186] In one possible implementation, the P ranging segments can all be RSFs or RIFs. In this case, P is equal to K, and one ranging segment (RSF or RIF) is transmitted on each channel. The K channels sequentially transmit K (equal to P) ranging segments. It can be understood that since these K channels have a transmission order, the sequential transmission of these K channels can be understood as: these K channels are used sequentially in ascending or descending order of center frequency, or these K channels are not used sequentially in ascending or descending order of center frequency; this will not be elaborated below.

[0187] In another possible implementation, the P ranging segments may include P1 RSFs and (P-P1) RIFs. In this case, P is greater than K, P1 is a positive integer less than or equal to K, and (P-P1) is also a positive integer less than or equal to K; and P1 is equal to K or (P-P1) is equal to K. The K channels transmit P1 RSFs in sequence, with one RSF transmitted on one channel; and then (P-P1) RIFs are transmitted in sequence through these K channels, with one RIF transmitted on one channel. For example, P is equal to 10, P1 is equal to K, which is 6, and (P-P1) is 4; for P1 (=6) RSFs, one RSF is transmitted on each of the K (=6) channels, and these K channels are used in the order of channel transmission of sequential channels or out-of-order channels, then the channel that transmits the first RSF is the base channel. For (P-P1)=4 RIFs, one RIF is transmitted on one channel, and different RIFs are transmitted on different channels. These (P-P1)=4 RIFs are transmitted using four of the K(=6) channels (e.g., the first four channels in the channel transmission order), and the channel on which the first RIF is transmitted is the reference channel. For another example, if P is 10 and P1 is 4, (P-P1) is equal to K, which is 6. For P1(=4) RSFs, one RSF is transmitted on one channel, and different RSFs are transmitted on different channels. These P1(=4) RSFs are transmitted using four of the K(=6) channels (e.g., the first four channels in the channel transmission order), and the channel on which the first RSF is transmitted is the reference channel. For (P-P1)=6 RIFs, one RIF is transmitted on each of the K(=6) channels, and these K channels are used in the channel transmission order of either sequential or out-of-order channels, then the channel on which the first RIF is transmitted is the reference channel. For another example, suppose P equals 12, P1 equals 6, (P-P1) also equals 6, and K equals 6; that is, P1, (P-P1), and K are equal. Then, for P1 RSFs, one RSF is transmitted on each of the K (=6) channels, and these K channels are used in the order of sequential or out-of-order channel transmission. The channel on which the first RSF is transmitted is the reference channel. For (P-P1) RIFs, one RIF is transmitted on each of the K (=6) channels, and these K channels are used in the order of sequential or out-of-order channel transmission. The channel on which the first RIF is transmitted is the reference channel.

[0188] In short, when P is greater than K, or when the P ranging segments contain both RSF and RIF, some of the K channels may be used multiple times (for example, twice) while others may be used once. Alternatively, all of the K channels may be used multiple times (for example, twice). In other words, when the P ranging segments contain both RSF and RIF, the RSF and RIF can each be used starting from the base channel of the band splicing. Alternatively, the RSF and RIF can each be considered a single band splicing event.

[0189] In this application, "reference channel" may refer to the first channel used for band splicing.

[0190] In one possible implementation, the channel transmission order of the above-mentioned K channels is used in the order of increasing or decreasing center frequencies. When there is no (frequency) overlap between the K channels, or the overlap rate between two adjacent channels in the K channels is 25%, the transmission start time interval between two adjacent ranging segments can be less than T milliseconds. When the overlap rate between two adjacent channels in the K channels is 50% or 75%, the transmission start time interval between two adjacent ranging segments can be equal to T milliseconds. In another possible implementation, the channel transmission order of the above-mentioned K channels is not used in the order of increasing or decreasing center frequencies, or is used non-sequentially in the order of increasing or decreasing center frequencies. Regardless of whether there is overlap between the K channels or what the overlap rate is, the transmission start time interval between two adjacent ranging segments can be less than T milliseconds. Exemplarily, T is equal to 1.

[0191] It can be understood that, for in-sequence channel use, when the overlap between two adjacent channels is 25%, the maximum power spectral density (PSD) of two UWB signals (e.g., ranging segments) on adjacent channels within 1 millisecond does not exceed -41.3 dBm per MHz after superposition. However, when the overlap between two adjacent channels is 50% or 75%, the maximum power spectral density (PSD) of two UWB signals (e.g., ranging segments) on adjacent channels within 1 millisecond exceeds -41.3 dBm per MHz after superposition. Therefore, when the K channels are used in ascending or descending order of center frequency, if there is no overlap between two adjacent channels or the overlap is 25%, the transmission start time interval between two adjacent ranging segments can be less than 1 millisecond. This allows each ranging segment to be transmitted at the maximum allowable average power (the maximum average power per millisecond per MHz bandwidth is -41.3 dBm), while also reducing the time interval between ranging segments, thereby reducing the time required for ranging and improving ranging efficiency. When the K channels are used sequentially in ascending or descending order of center frequency, if the overlap between two adjacent channels is 50% or 75%, the transmission start time interval between two adjacent ranging segments can be equal to 1 millisecond. This allows each ranging segment to be transmitted at the maximum allowable average power (the maximum average power per millisecond per MHz bandwidth is -41.3 dBm), which can increase the instantaneous power of the ranging segment, thereby increasing the coverage range and improving the signal-to-noise ratio of the received signal at the receiving end. For out-of-sequence channel order, there is no frequency overlap between two adjacent transmitted channels. Therefore, when the K channels are used sequentially in ascending or descending order of center frequency, the transmission start time interval between two adjacent ranging segments can be less than 1 millisecond.

[0192] The above “two adjacent ranging segments” may refer to the same type of ranging segments, for example, both are RSFs or both are RIFs.

[0193] It is understood that when the UWB signal's PSD has other limitations, T can also be other values, and this is not a limitation in the present embodiment. For example, if the average value of the UWB signal's maximum power spectral density (PSD) over a millisecond does not exceed a certain threshold, then T is equal to a. For ease of understanding, the following description uses T equal to 1 as an example.

[0194] It is also understood that the "transmission start time interval" in the embodiment of the present application is in milliseconds (ms). In actual applications, it can also be in ranging schedule time units (RSTUs). For example, the conversion relationship between milliseconds (ms) and RSTUs can be: 1200 RSTUs equals 1 ms, and 600 RSTUs equals 0.5 ms.

[0195] In a possible implementation, when the P ranging segments include both RSF and RIF, the transmission start time interval between the last RSF and the first RIF is a preset value, such as 2 milliseconds or 2400 RSTUs.

[0196] For example, refer to Figure 10, which is a schematic diagram of the transmission start time interval between ranging segments provided in an embodiment of the present application. Among them, the first communication device can be an initiator or a responder. The first communication device sends a total of X RSFs and Y RIFs through K channels, one RSF / RIF is transmitted on one channel, different RSFs are transmitted on different channels, and different RIFs are transmitted on different channels. X and Y are both positive integers less than or equal to K, and X is equal to K or Y is equal to K. Assume that the reference channel of these K channels is CH0, and the channel transmission order of these K channels is CH0, CH1, CH2,…, CH(K-1). As shown in Figure 10, RSF 1 is transmitted on the reference channel (CH0), RSF 2 is transmitted on the channel CH1, RSF 3 is transmitted on the channel CH2, and so on. RSF X is transmitted on the channel CH(X-1); RIF 1 is transmitted on the reference channel (CH0), RIF 2 is transmitted on the channel CH1, RIF 3 is transmitted on the channel CH2, and so on. RIF Y is transmitted on the channel CH(Y-1).

[0197] As shown in Figure 10, the transmission start time interval between two adjacent RSFs is t I The transmission start time interval between two adjacent RIFs is also t I The transmission start time interval between the last RSF (such as RSF X in Figure 10) and the first RIF (such as RIF 1 in Figure 10) is t Z Among them, t I Can be less than or equal to 1 millisecond, t Z Can be less than or equal to 2 milliseconds.

[0198] For example, when the transmission order of the K channels is in ascending or descending order of the center frequency, if the frequency band overlap rate between the channels is 25% or there is no overlap, t IIt can be less than 1 millisecond; if the frequency band overlap between channels is 50% or 75%, t I It can be equal to 1 millisecond. When the channel transmission order of the above K channels is not in the order of increasing or decreasing center frequency, t I It can be less than 1 millisecond.

[0199] For example: When t I When t is equal to 1 millisecond, Z It can be equal to 2 milliseconds. I When it is less than 1 millisecond, t Z Can be equal to C*t I , that is, t Z =C×t I ; C is a constant, C can be equal to 2. Or, when t I When it is less than 1 millisecond, t Z Can be equal to (t I +1). Or, regardless of t I What is the value of t Z can be fixed at 2 milliseconds. In other words, t Z and t I Can be decoupled.

[0200] In a possible implementation, t in FIG10 above I or t Z The value of can be determined by the signaling interaction between the sender and the receiver. For details, please refer to the description of the embodiments below, which will not be described in detail here. Or, t I or t Z The value of can be agreed upon in the standard protocol. For example, t I The value of is learned through the signaling interaction between the sender and the receiver, t Z The value of is agreed upon by the standard protocol. This embodiment of the present application does not limit this.

[0201] It can be understood that the above Figure 10 is only an example. In actual applications, the first communication device may only send RSF, or only send RIF, and the embodiments of the present application do not limit this.

[0202] It can be understood that the ranging method of the embodiment of the present application can be applied to a one-way ranging scenario or a two-way ranging scenario. When the ranging method of the embodiment of the present application is applied to a two-way ranging scenario, both the initiator and the responder will send ranging segments, and the number of ranging segments sent by the initiator and the responder is equal. In a two-way ranging scenario, there are two ways to transmit ranging segments, one is interlaced and the other is serial. In interlaced transmission, the initiator sends a ranging segment, the responder returns a ranging segment, and then the initiator sends the next ranging segment, the responder returns a ranging segment, and so on. In serial transmission, after the initiator sends the last ranging segment, the responder sends the first ranging segment.

[0203] In a possible implementation, for interleaved transmission, the transmission start time interval t between the first ranging segment sent by the first communication device and the first ranging segment sent by the second communication device is O Less than or equal to 0.5 milliseconds. For tandem transmission, the transmission start time interval t between the last ranging segment sent by the first communication device and the first ranging segment sent by the second communication device O Less than or equal to 0.5 milliseconds. For example, see Figure 11a, which is a schematic diagram of interleaved transmission provided by an embodiment of the present application. See Figure 11b, which is a schematic diagram of serial transmission provided by an embodiment of the present application. Figures 11a and 11b take the example of the first communication device being an initiator and the second communication device being a responder. As shown in Figures 11a and 11b, for a ranging segment sent by a device, the transmission start time interval between two adjacent RSFs or two adjacent RIFs is t I The transmission start time interval between the last RSF and the first RIF is t Z About t I and t Z The description of t is given above and will not be repeated here. In FIG11a, the transmission start time interval between the first RSF sent by the first communication device (initiator) and the first RSF sent by the second communication device (responder) is t O In FIG11b , the transmission start time interval between the last RIF sent by the first communication device (initiator) and the first RSF sent by the second communication device (responder) is t O .

[0204] When t IWhen t is equal to 1 millisecond, O It can be equal to 0.5 milliseconds (or 600RSTUs). I When it is less than 1 millisecond, t O Can be less than 0.5 milliseconds. For example, t O =B*t I , the symbol “*” represents the “multiplication” or “times” operation, B is a constant, B can be (1 / 2). That is, t O The following formula (2-1) can be satisfied:

[0205] t I Indicates the transmission start time interval between two adjacent ranging segments (such as two adjacent RSFs or two adjacent RIFs).

[0206] In a possible implementation, t in FIG. 11a and FIG. 11b above O The value of can be determined by the signaling interaction between the sender and the receiver. For details, please refer to the description of the embodiments below, which will not be described in detail here. Or, t O The value of can be agreed upon in the standard protocol or obtained by the above formula (2-1). This embodiment of the present application does not limit this.

[0207] It can be understood that the above Figures 11a and 11b are only examples. In actual applications, the initiator and the responder may only send RSF or only send RIF, and the embodiments of the present application do not impose any restrictions.

[0208] It can also be understood that since the transmission of ranging segments between the first communication device and the second communication device requires time, this time is called the one-way flight time (its length is related to the distance between the first communication device and the second communication device). Therefore, for interleaved transmission, the starting time interval between the first ranging segment sent by the first communication device and the first ranging segment received by the first communication device is less than or equal to (0.5 ms + one-way flight time). For tandem transmission, the starting time interval between the last ranging segment sent by the first communication device and the first ranging segment received by the first communication device is less than or equal to (0.5 ms + one-way flight time).

[0209] In a possible implementation, the transmission start time interval (t I ) can also be greater than or equal to a certain value. For the convenience of description, this value is recorded as t min In other words, t I Can be greater than or equal to t min , and is less than or equal to 1 millisecond; that is, t min ≤t IIt can be understood that since two adjacent ranging segments in the embodiment of the present application are transmitted using different channels, t min At least the channel switching time needs to be considered. For example, t min It can be determined based on the channel switching time and the length of the ranging segment. For example: t min is equal to the sum of the channel switching time and the length of the ranging segment (expressed in time units). min It can be determined based on the channel switching time, the length of the ranging segment, the flight time between the initiator and the responder, the processing time of the channel impulse response (CIR), or the receive-transmit (Rx-Tx) conversion time. The channel switching time can be a fixed time interval, which can be in units of the duration of the preamble symbol. Of course, the time interval can also be in units of the duration of other symbols, such as the duration of the MMRS, which is not limited in the embodiment of the present application. For example: the duration of a preamble symbol is T psym , the channel switching time can be expressed as A*T psym The symbol "*" represents a "multiplication" or "times" operation. The same expressions have the same meaning below and are not repeated here. A is a constant, for example, A is equal to 40.

[0210] For example, the first communication device is an initiator and the second communication device is a responder. min As shown in Figure 12a, t min =t1+t2+t3+t4+t5+t6, t I Can be greater than or equal to t min . Among them, t1 is equal to t5, which represents the one-way flight time between the initiator and the responder. It can be understood that when the distance between the initiator and the responder is 100 meters, the corresponding one-way flight time is 0.33 microseconds. Therefore, in short-range ranging (for example, less than or equal to 100 meters), t1 and t5 can be ignored, or equal to the duration of a preamble symbol T psym t2 represents the length of the ranging segment of the initiator, and t4 represents the length of the ranging segment of the responder. Usually, the two (t2 and t4) are equal. For the case where the ranging segment is RSF, t2 = t4 = N MSR *T psym . N MSRIndicates the number of repetitions of the multi-millisecond ranging symbol (MMRS) in an RSF. For the case where the ranging segment is RIF, t2 = t4 = (the number of STS segments in a RIF) * 512T C . T C Represents the time of one chip, T C Equal to the inverse of the bandwidth, that is, T C =(1 / bandwidth). t3 represents the processing time of the channel impulse response (CIR) and the receive-transmit (Rx-Tx) conversion time. Because the two can be performed simultaneously, and the receive-transmit (Rx-Tx) conversion time is much longer than the CIR processing time; therefore, t3 can be equal to (aTurnaroundTime*T psym ). Where aTurnaroundTime is a physical layer constant that represents the Rx-Tx transition time of the physical layer. t6 represents the receive-transmit (Rx-Tx) transition time and the channel switching time. t6 = (aTurnaroundTime + A) * T psym For example, A is equal to 40.

[0211] Accordingly, the transmission start time interval t between the first ranging segment sent by the first communication device and the first ranging segment sent by the second communication device is O It can also be greater than or equal to a certain value. As shown in Figure 12a, t O can be greater than or equal to (t1+t2+t3). In other words, t O The minimum value of t can be determined based on the one-way flight time between the initiator and the responder, the length of the ranging segment, the processing time of the channel impulse response (CIR), and the receive-transmit (Rx-Tx) conversion time. O It can also be less than or equal to (t I -t4-t5-t6).

[0212] See FIG12b, FIG12b is a serial transmission time t provided in an embodiment of the present application. min As shown in Figure 12b, t min =A*T psym + t2. t2 represents the length of the ranging segment of the initiator. t4 represents the length of the ranging segment of the responder. Usually, the two (t2 and t4) are equal. Accordingly, the transmission start time interval t between the last ranging segment sent by the first communication device and the first ranging segment sent by the second communication device is O It can also be greater than or equal to a certain value. As shown in Figure 12b, t OIt can be greater than or equal to (t1 + t2 + t6). t1 represents the one-way flight time between the initiator and the responder, which is described above and will not be repeated here. t2 represents the initiator's ranging segment length, which is described above and will not be repeated here. t6 represents the receive-transmit (Rx-Tx) transition time and channel switching time, which is described above and will not be repeated here.

[0213] It can be understood that the above Figures 12a and 12b are only examples. In actual applications, the initiator and the responder can only send RSF or only send RIF, and the embodiments of the present application do not limit this.

[0214] S103: The second communication device determines a channel impulse response according to the received P ranging segments.

[0215] In one possible implementation, the second communication device receives the P ranging segments in sequence through the K channels. It can be understood that the way the second communication device receives the P ranging segments through the K channels is the same as the way the first communication device sends the P ranging segments through the K channels. As shown in FIG10 , the first communication device sends RSF 1 on the reference channel CH0, and the second communication device also receives RSF 1 on the reference channel CH0; the first communication device sends RSF 2 on the channel CH1, and the second communication device also receives RSF 2 on the channel CH1, and so on. The second communication device can calculate a channel impulse response for each ranging segment received, and then splice the P channel impulse responses corresponding to the P ranging segments into a channel impulse response, and determine the receiving timestamp information based on this channel impulse response. The second communication device can also feed back the receiving timestamp information to the first communication device, so that the first communication device determines the distance between the first communication device and the second communication device based on the receiving timestamp information. For example, during the measurement report phase, if ranging information (such as reception timestamp information) is exchanged using a UWB channel, the second communication device can use the reference channel or the channel that transmitted the last ranging segment to feed back the reception timestamp information to the first communication device. This can reduce the number of channel switches.

[0216] In the embodiment of the present application, frequency band splicing is used in the multi-millisecond ranging process, and an RSF or a RIF is transmitted on a single channel, which can improve ranging accuracy. Furthermore, when using sequential channels, if the frequency band overlap between channels is 25% or there is no overlap, the transmission start time interval between two adjacent ranging segments is allowed to be less than 1 millisecond. Furthermore, when using out-of-order channels, the transmission start time interval between two adjacent ranging segments can also be less than 1 millisecond. This reduces the interval between fragments, thereby reducing the time required for ranging and thereby improving ranging efficiency.

[0217] The ranging method shown in FIG9 is described using a ranging segment (e.g., RSF or RIF) as an example. Of course, the ranging method provided in the embodiment of the present application can also be implemented using a ranging packet. As an optional embodiment, for a ranging packet (or ranging PPDU), the above P is equal to the above K. In other words, steps S101 and S102 shown in FIG9 can be understood as follows: the first communication device generates K ranging packets and sends the K ranging packets to the second communication device via K channels, wherein one ranging packet is transmitted on each of the K channels, and the transmission start time interval between two adjacent ranging packets is less than or equal to T milliseconds. For example, T is equal to 1. For another example, if the average value of the maximum power spectral density (PSD) of the UWB signal within a millisecond does not exceed a certain threshold, then T is equal to a. For ease of understanding, the following description is based on the example of T being equal to 1. Accordingly, step S103 shown in FIG9 can be understood as follows: the second communication device determines the channel impulse response based on the received P ranging packets.

[0218] The K channels can be used for frequency band splicing, where K is an integer greater than 1.

[0219] For example, the transmission order of the K channels is used in the order of increasing or decreasing center frequency. When there is no (frequency) overlap between the K channels, or the overlap rate between two adjacent channels in the K channels is 25%, the transmission start time interval (t I ) can be less than 1 millisecond. When the overlap rate between two adjacent channels in the K channels is 50% or 75%, the transmission start time interval (t I ) can be equal to 1 millisecond. For example, the channel transmission order of the above K channels is not used in the order of increasing or decreasing center frequency points, or is not used in the order of increasing or decreasing center frequency points. The transmission start time interval (t I ) can be less than 1 millisecond. I The specific implementation can be found in the previous description and will not be repeated here.

[0220] For example, for interleaved transmission, the transmission start time interval t between the first ranging packet sent by the first communication device and the first ranging packet sent by the second communication device is O Less than or equal to 0.5 milliseconds. For serial transmission, the transmission start time interval t between the last ranging packet sent by the first communication device and the first ranging packet sent by the second communication device O Less than or equal to 0.5 milliseconds. For example: t O The above formula (2-1) can be satisfied. O The specific implementation can be found in the previous description and will not be repeated here. It can be understood that since the transmission of the ranging packet between the first communication device and the second communication device requires time, this time is called the one-way flight time (its size is related to the distance between the first communication device and the second communication device). Therefore, for interleaved transmission, the starting time interval between the first ranging packet sent by the first communication device and the first ranging packet received by the first communication device is less than or equal to (0.5ms + one-way flight time). For serial transmission, the starting time interval between the last ranging packet sent by the first communication device and the first ranging packet received by the first communication device is less than or equal to (0.5ms + one-way flight time).

[0221] In the embodiment of the present application, frequency band splicing is used in the multi-millisecond ranging process, and a ranging packet is transmitted on a single channel, which can improve ranging accuracy. When sequential channels are used, if the frequency band overlap rate between channels is 25% or there is no overlap, the transmission start time interval between two adjacent ranging packets is allowed to be less than 1 millisecond. In addition, when out-of-order channels are used, the transmission start time interval between two adjacent ranging packets can also be less than 1 millisecond. This can reduce the interval between ranging packets, thereby reducing the time required for ranging, and thus improving ranging efficiency.

[0222] It is understood that before ranging, the initiator and the responder (such as the first communication device and the second communication device) need to align some ranging-related information, such as the transmission start time interval (t I). Therefore, an embodiment of the present application also provides an information configuration method. Refer to Figure 13, which is a flow chart of the information configuration method provided by an embodiment of the present application. The initiator in the method can be either a first communication device or a second communication device, and the embodiment of the present application is not limited. Correspondingly, the responder can be a second communication device or a first communication device. In one possible implementation, the information configuration method shown in Figure 13 can be implemented in combination with the ranging method shown in Figure 9 above, or it can be implemented alone. When the information configuration method shown in Figure 13 is implemented in combination with the ranging method shown in Figure 9 above, the information configuration method shown in Figure 13 can be executed before step S102 of Figure 9 above.

[0223] As shown in FIG13 , the information configuration method includes but is not limited to the following steps:

[0224] S201: An initiator generates configuration information, the configuration information including first indication information, the first indication information including a first field, the first field being used to indicate a transmission start time interval between two adjacent ranging segments or ranging packets. Exemplarily, the two adjacent ranging segments are both RSFs or both RIFs.

[0225] S202: The initiator sends the configuration information, and the responder receives the configuration information accordingly.

[0226] S203: The responder parses the configuration information to obtain a transmission start time interval between two adjacent ranging segments or ranging packets.

[0227] In a possible implementation, the above-mentioned configuration information may include first indication information, and the first indication information may be used to indicate the parameters of frequency band splicing. Exemplarily, the configuration information may also include one or more of the following: second indication information, or third indication information. The second indication information may be used to indicate whether the above-mentioned first indication information exists. When the second indication information indicates that the above-mentioned first indication information does not exist, the third indication information may be used to indicate the UWB channel used for multi-millisecond ranging. When the second indication information indicates that the above-mentioned first indication information exists, the third indication information may be used to indicate the reference channel (Base Channel) when multi-millisecond ranging uses frequency band splicing, or to indicate the reference channel for frequency band splicing. In the embodiment of the present application, the second indication information indicates that the first indication information exists. In other words, the second indication information of the embodiment of the present application indicates that the first indication information exists in the above-mentioned configuration information.

[0228] In one possible implementation, the configuration information may be configured via ultra-wideband (UWB). In other words, the initiator may send the configuration information via UWB. Exemplarily, the configuration information may be the multi-millisecond (MMS) ranging configuration (MMS Ranging Configuration) field in the application control information element (AC IE). The first indication information and the second indication information may be newly added content in the MMS Ranging Configuration field, and the third indication information may be the UWB channel (UWB Channel) field in the MMS Ranging Configuration field.

[0229] For example, refer to Figure 14, which is a schematic diagram of the frame format of the multi-millisecond ranging configuration field provided in an embodiment of the present application. As shown in Figure 14, the MMS Ranging Configuration field includes but is not limited to: MMS frequency band splicing parameters (MMS Frequency Stitching Parameters) field (i.e. the above-mentioned first indication information), MMS frequency band splicing enable (MMS Frequency Stitching Enable) field (i.e. the above-mentioned second indication information), or UWB Channel field (i.e. the above-mentioned third indication information). Among them, the MMS Frequency Stitching Enable field (i.e. the above-mentioned second indication information) can be used to indicate whether the MMS Frequency Stitching Parameters field (i.e. the above-mentioned first indication information) exists. For example: when the value of the MMS Frequency Stitching Enable field is the first value, it indicates that the MMS Frequency Stitching Parameters field does not exist. When the value of the MMS Frequency Stitching Enable field is the second value, it indicates that the MMS Frequency Stitching Parameters field exists. The first value is 0 and the second value is 1; or the first value is 1 and the second value is 0; this embodiment of the present application does not impose any restrictions. When the value of the MMS Frequency Stitching Enable field is the first value (such as 0), the UWB Channel field (i.e., the third indication information mentioned above) indicates the UWB channel used for MMS ranging. When the value of the MMS Frequency Stitching Enable field is the second value (such as 1), the UWB Channel field (i.e., the third indication information mentioned above) indicates the Base Channel when frequency band splicing is used. The MMS Frequency Stitching Parameters field (i.e., the first indication information mentioned above) can be used to indicate the parameters of frequency band splicing. Please refer to the description below for details, which will not be described in detail here.

[0230] Exemplarily, as shown in FIG14 , the MMS Ranging Configuration field may also include one or more of the following: a Number of RSFs field, a Number of RIFs field, a Preamble Code Index field, a Multi-millisecond Ranging Symbol Gap Size field, a Multi-millisecond Ranging Symbol Repetition Number (MSR For MMRS) field, or an STS Segment Length field. The Number of RSFs field may be used to indicate the number of RSFs. The Number of RIFs field may be used to indicate the number of RIFs. The Preamble Code Index field may be used to indicate the preamble sequence number used in the RSF. When the Preamble Code Index is 33 to 48, the MMRS Gap Size field indicates the number of "0"s added in the RSF or RIF. The MSR For MMRS field is used to indicate the number of MMRSs in the RSF. The STS Segment Length field is used to indicate the number of STS Segments in the RIF.

[0231] It can be understood that the names and lengths of the various fields in Figure 14 are merely examples and are not limited in the embodiments of this application.

[0232] In another possible implementation, the configuration information may also be configured via a narrowband (NB). In other words, the initiator may send the configuration information via the NB. Exemplarily, the configuration information may be the UWB physical layer configuration (UWB PHY Configuration) field in the NB. The first indication information and the second indication information may be newly added content in the UWB PHY Configuration field, and the third indication information may be the UWB Channel field in the UWB PHY Configuration field.

[0233] For example, refer to Figure 15, which is a schematic diagram of the frame format of the UWB physical layer configuration field provided in an embodiment of the present application. As shown in Figure 15, the UWB PHY Configuration field includes but is not limited to: MMS frequency band splicing parameters (MMS Frequency Stitching Parameters) field (i.e., the above-mentioned first indication information), MMS frequency band splicing enable (MMS Frequency Stitching Enable) field (i.e., the above-mentioned second indication information), or UWB Channel field (i.e., the above-mentioned third indication information). Among them, for the meaning of the MMS Frequency Stitching Parameters field, the MMS Frequency Stitching Enable field, and the UWB Channel field, refer to the description in the previous text (Figure 14), which will not be repeated here.

[0234] For example, as shown in Figure 15, the UWB PHY Configuration field may also include one or more of the following: a Preamble Code Index field, an MMRS Complementary Set Zeros field, N_MSR, or an STS Segment Length field. For the meaning of the Preamble Code Index field and the STS Segment Length field, please refer to the description in the text (Figure 14) and are not repeated here. When the Preamble Code Index is 33 to 48, the MMRS Complementary Set Zeros field indicates the number of "0"s added to the RSF or RIF. N_MSR indicates the number of MMRSs in the RSF.

[0235] It can be understood that the names and lengths of the various fields in Figure 15 are merely examples and are not limited to the embodiments of this application.

[0236] In a possible implementation, the first indication information (such as the MMS Frequency Stitching Parameters field) may include a first field. The first field may be used to indicate the transmission start time interval (t I ). Exemplarily, the first indication information may further include a second field. The second field may be used to indicate the transmission start time interval (t) between the first ranging segment (or ranging packet) of the initiator and the first ranging segment (or ranging packet) of the responder. OAlternatively, the second field may be used to indicate the transmission start time interval (t) between the last ranging segment (or ranging packet) of the initiator and the first ranging segment (or ranging packet) of the responder. O ).

[0237] For example, take the first indication information as the MMS Frequency Stitching Parameters field. Refer to Figure 16, which is a frame format diagram of the MMS Frequency Stitching Parameters field provided in an embodiment of the present application. As shown in Figure 16, the MMS Frequency Stitching Parameters field includes but is not limited to: a fragment interval (Fragment Interval) field (i.e., the above-mentioned first field); optionally, it also includes an initiator-responder offset (Initiator-Responder Offset) field (i.e., the above-mentioned second field). Among them, the Fragment Interval field (i.e., the above-mentioned first field) can be used to indicate the transmission start time interval (t I For example, when the value of the Fragment Interval field is the first value (such as binary 00), t I is 1200RSTUs (i.e. 1ms); when the value of the Fragment Interval field is the second value (such as binary 01), t I is 900RSTUs; when the value of the Fragment Interval field is the third value (such as binary 10), t I is 600RSTUs; when the value of the Fragment Interval field is the fourth value (such as binary 11), t I The Initiator-Responder Offset field (i.e., the second field) can be used to indicate the transmission start time interval (t) between the ranging segments (or ranging packets) corresponding to the initiator and responder. O For interleaved transmission, the Initiator-Responder Offset field indicates the transmission start time interval t between the first ranging segment / ranging packet sent by the initiator and the first ranging segment / ranging packet sent by the responder. OFor serial transmission, the Initiator-Responder Offset field indicates the transmission start time interval t between the last ranging segment / ranging packet sent by the initiator and the first ranging segment / ranging packet sent by the responder. O For example, when the value of the Initiator-Responder Offset field is the first value (such as binary 00), t O is 600RSTUs (i.e. 0.5ms); when the value of the Initiator-Responder Offset field is the second value (such as binary 01), t O 450RSTUs; when the value of the Initiator-Responder Offset field is the third value (such as binary 10), t O 300RSTUs; when the value of the Initiator-Responder Offset field is the fourth value (such as binary 11), t O It is understood that when the Initiator-Responder Offset field (i.e., the second field mentioned above) does not exist, t O It can be t I A fixed ratio, such as t O The aforementioned formula (2-1) is satisfied.

[0238] Exemplarily, as shown in FIG16 , the MMS Frequency Stitching Parameters field (i.e., the first indication information mentioned above) may further include one or more of the following: a frequency band stitching direction (Frequency Stitching Direction) field, a carrier frequency interval (Carrier Frequency Grid) field, or a channel sequence (Channel Sequence Order) field. Among them, the frequency band stitching direction field can be used to indicate whether the center frequency of the channel used for the frequency band stitching increases or decreases relative to the center frequency of the reference channel, or in other words, to indicate that the center frequency of the channel subsequently used for the frequency band stitching is greater than or less than the center frequency of the first channel used for the frequency band stitching. For example, when the value of the frequency band stitching direction field is 1, it indicates that the center frequency of the channel used for the frequency band stitching increases based on the center frequency of the reference channel; when the value is 0, it indicates that the center frequency of the channel used for the frequency band stitching decreases based on the center frequency of the reference channel. The carrier frequency interval field can be used to indicate the interval between channels used for the frequency band stitching, and the correspondence between its value and meaning is shown in Table 1 below.

[0239] Table 1: Carrier frequency grid field values ​​and interpretations

[0240] The channel order field may be used to indicate whether the channel transmission order used for band splicing is to be used sequentially in ascending or descending order of center frequency points, or non-sequentially.

[0241] In one possible implementation, the above-mentioned first indication information (such as the MMS Frequency Stitching Parameters field) may also include one or more of the following: a base channel field, a number of transmissions field, a frequency stitching type field, or a feedback control field.

[0242] For example, take the case where the first indication information is the MMS Frequency Stitching Parameters field. Referring to Figure 17, Figure 17 is another frame format diagram of the MMS Frequency Stitching Parameters field provided in an embodiment of the present application. As shown in Figure 17, the MMS Frequency Stitching Parameters field includes but is not limited to: a fragment interval (Fragment Interval) field (i.e., the first field mentioned above); optionally, an initiator-responder offset (Initiator-ResponderOffset) field (i.e., the second field mentioned above). For the meaning of the Fragment Interval field and the Initiator-ResponderOffset field and their related descriptions, please refer to the description in the previous text (Figure 16), which will not be repeated here. Exemplarily, as shown in Figure 17, the MMS Frequency Stitching Parameters field (i.e., the first indication information mentioned above) may also include one or more of the following: a frequency band splicing direction field, a reference channel field, a carrier frequency interval field, a channel order field, a transmission number field, a frequency band splicing type field, or a feedback control field. Among them, for the relevant explanations of the frequency band splicing direction field, the carrier frequency interval field, and the channel order field, please refer to the description in the previous text (Figure 16), which will not be repeated here.

[0243] The reference channel field can be used to indicate the channel number (channel number) of the reference channel. The reference channel in this application may refer to the first channel used for frequency band splicing. It can be understood that if the reference channel field exists in the MMS Frequency Stitching Parameters field, the UWB Channel field in the aforementioned MMS Ranging Configuration field (as shown in the aforementioned Figure 14) and the UWB PHY Configuration field (as shown in the aforementioned Figure 15) is reserved or not used when the MMS Frequency Stitching Enable field indicates that the MMS Frequency Stitching Parameters field exists. When the MMS Frequency Stitching Enable field indicates that the MMS Frequency Stitching Parameters field does not exist, the UWB Channel field retains the existing meaning, such as indicating the UWB channel used for MMS ranging. The value of the transmission number field plus 1 indicates the total number of frequency bands (or channels) used for frequency band splicing. When the Band Splicing Type field value is 0, it indicates intra-packet band splicing; when it is 1, it indicates inter-packet band splicing; when it is 2, it indicates both intra-packet and inter-packet band splicing; and when it is 3, it indicates reserved. The Feedback Control field can be used to indicate CIR feedback control for band splicing. The corresponding relationship between its values ​​and meanings is shown in Table 2 below.

[0244] Table 2: Feedback control field values ​​and interpretations

[0245] It can be understood that the names and lengths of the various fields in the above Figures 16 and 17 are merely examples and are not limited to the embodiments of the present application.

[0246] In one possible implementation, when the embodiment of the present application is implemented in combination with the ranging method shown in FIG9 , the first communication device and the second communication device in FIG9 perform ranging according to the content of the above configuration information. For example, the first communication device performs ranging according to the t indicated by the above first field (such as the Fragment Interval field). I Transmit ranging fragment.

[0247] The embodiments of the present application provide a method for configuring frequency stitching parameters in MMS ranging, which can lay the foundation for using frequency stitching in subsequent multi-millisecond ranging processes, thereby achieving higher ranging accuracy and ranging efficiency.

[0248] As an optional embodiment, the ranging method provided in the embodiment of the present application can also be implemented using a sensing packet or a data packet. For a sensing packet or a data packet, P is equal to K. The ranging method in the embodiment of the present application can be described as follows: a first communication device generates K sensing packets or K data packets, and sends these K sensing packets or these K data packets to a second communication device through K channels, wherein one sensing packet or data packet is transmitted on each of the K channels, and the transmission start time interval between two adjacent sensing packets or two adjacent data packets is less than or equal to T milliseconds. For example, T is equal to 1. For another example: if the average value of the maximum power spectral density (PSD) of the UWB signal within a millisecond does not exceed a certain threshold, then T is equal to a. For ease of understanding, the following description is taken as an example of T being equal to 1. Accordingly, the second communication device determines the channel impulse response based on the received K sensing packets or these K data packets.

[0249] The K channels can be used for frequency band splicing, where K is an integer greater than 1.

[0250] For example, the channel transmission order of the above K channels is used in the order of increasing or decreasing center frequency. When there is no (frequency) overlap between the K channels, or the overlap rate between two adjacent channels in the K channels is 25%, the transmission start time interval (t I ) can be less than 1 millisecond. When the overlap rate between two adjacent channels in the K channels is 50% or 75%, the transmission start time interval (t I ) can be equal to 1 millisecond. For example, the channel transmission order of the above K channels is not used in the order of increasing or decreasing center frequency points, or is not used in the order of increasing or decreasing center frequency points. The transmission start time interval (t I ) can be less than 1 millisecond. I The specific implementation can refer to the description in the embodiment shown in Figure 9 above, which will not be repeated here.

[0251] In one possible implementation, t I The value can be determined by the signaling interaction between the sender and the receiver. Please refer to the following description for details. I The value of can be agreed upon in the standard protocol.

[0252] It is understood that during a ranging process (or a ranging cycle or a ranging session), the initiator and responder can follow the same channel transmission order. For example, on the initiator, the channel transmission order of the K channels is used sequentially in ascending or descending order of the center frequency; then, on the responder, the channel transmission order of the K channels is also used sequentially in ascending or descending order of the center frequency. Alternatively, on the responder, the channel transmission order of the K channels is used non-sequentially in ascending or descending order of the center frequency; then, on the initiator, the channel transmission order of the K channels is also used non-sequentially in ascending or descending order of the center frequency. It is also understood that when the channel transmission order of the K channels is used sequentially in ascending or descending order of the center frequency, the overlap ratio between two adjacent channels in the K channels of the initiator can be the same as the overlap ratio between two adjacent channels in the K channels of the responder. It is also understood that, among the K channels, the reference channel of the initiator is the same as the reference channel of the responder.

[0253] For example, for interleaved transmission, the transmission start time interval t between the first sensing packet sent by the first communication device and the first sensing packet sent by the second communication device is O less than or equal to 0.5 milliseconds, or the transmission start time interval t between the first data packet sent by the first communication device and the first data packet sent by the second communication device O Less than or equal to 0.5 milliseconds. For example: t O The above formula (2-1) can be satisfied. O The specific implementation can be found in the previous description and will not be repeated here. It can be understood that since it takes time for the perception packet or data packet to be transmitted between the first communication device and the second communication device, this time is called the one-way flight time (its size is related to the distance between the first communication device and the second communication device). Therefore, for interleaved transmission, the starting time interval between the first perception packet sent by the first communication device and the first perception packet received by the first communication device is less than or equal to (0.5ms + one-way flight time), or the starting time interval between the first data packet sent by the first communication device and the first data packet received by the first communication device is less than or equal to (0.5ms + one-way flight time).

[0254] It can be understood that the method of performing ranging through sensing packets or data packets in the embodiment of the present application is similar to the aforementioned method of performing ranging through ranging packets. In the absence of logical conflicts, the two can refer to each other.

[0255] In the embodiment of the present application, frequency band splicing is used to complete ranging during the perception or data transmission process. That is, the embodiment of the present application uses perception packets or data packets for ranging and transmits one perception packet or data packet on one channel, which can improve the accuracy of ranging. When using sequential channels, if the frequency band overlap rate between channels is 25% or there is no overlap, the transmission start time interval between two adjacent perception packets or data packets is allowed to be less than 1 millisecond. In addition, when using out-of-order channels, the transmission start time interval between two adjacent perception packets or data packets can also be less than 1 millisecond. This can reduce the interval between perception packets or data packets, thereby reducing the time required for ranging, and thus improving the efficiency of ranging.

[0256] It is understood that before using the sensing packet or data packet to perform ranging, the first communication device and the second communication device may align some information related to ranging, such as the transmission start time interval (t I ).

[0257] In one possible implementation, an initiator generates and sends configuration information, which includes indication information A and indication information B. The indication information A is used to indicate whether to use a sensing packet for ranging, or the indication information A is used to indicate whether to use a data packet for ranging, and the indication information B is used to indicate the transmission start time interval (t I ). Correspondingly, the responder receives and parses the configuration information.

[0258] The initiator here can be either the first communication device or the second communication device, which is not limited in the embodiment of the present application. Correspondingly, the responder here can be either the second communication device or the first communication device.

[0259] Exemplarily, the configuration information may be a Sensing Control field or a Data CommControl field in an application control information element (AC IE). It is understood that when the configuration information is the Sensing Control field in an AC IE, the indication information A may be used to indicate whether to use a sensing packet for ranging, and the indication information B may be used to indicate a transmission start time interval (t IWhen the configuration information is the data communication control field in the AC IE, the indication information A may be used to indicate whether to use data packets for ranging, and the indication information B may be used to indicate the transmission start time interval (t I ).

[0260] For example, taking the above-mentioned configuration information as the sensing control field in the AC IE as an example, refer to Figure 18a, which is a frame format diagram of the sensing control field provided in an embodiment of the present application. As shown in Figure 18a, the sensing control field (Sensing Control field) may include but is not limited to: a frequency band splicing parameter presence (Frequency Stitching Parameters Present) field, and optionally also includes a frequency band splicing parameter (Frequency Stitching Parameters) field. The frequency band splicing parameter presence field can be used to indicate whether the frequency band splicing parameter field exists. For example, the value of the frequency band splicing parameter presence field is 1, indicating that the frequency band splicing parameter field exists; the value of the frequency band splicing parameter presence field is 0, indicating that the frequency band splicing parameter field does not exist. In the embodiment of the present application, the value of the frequency band splicing parameter presence field is a first value (such as 1), indicating that the frequency band splicing parameter field exists.

[0261] Among them, the frame format of the frequency band splicing parameter field can be as shown in Figure 18b, which is a schematic diagram of the frame format of the frequency band splicing parameter field in the perception control field provided in an embodiment of the present application. As shown in Figure 18b, the frequency band splicing parameter field includes but is not limited to: a sensing packet for ranging field (i.e., the above-mentioned indication information A) and a packet interval (Packet Interval) field (i.e., the above-mentioned indication information B). The Sensing packet for Ranging field (i.e., the above-mentioned indication information A) can be used to indicate whether sensing packets are used for ranging. For example, when the value of the Sensing packet for Ranging field is a first value (such as 1), it indicates that sensing packets are used for ranging; when the value of the Sensing packet for Ranging field is a second value (such as 0), it indicates that sensing packets are not used for ranging. The Packet Interval field (i.e., the above-mentioned indication information B) can be used to indicate the transmission start time interval (t I For example, when the value of the Packet Interval field is the first value (such as 0), t I is 1200RSTUs (i.e. 1ms); when the value of the Packet Interval field is the second value (such as 1), tI 900RSTUs; when the value of the Packet Interval field is the third value (such as 2), t I is 600RSTUs; when the value of the Packet Interval field is the fourth value (such as 3), t I 300RSTUs.

[0262] Exemplarily, as shown in FIG18b , the frequency band stitching parameter field also includes one or more of the following: a frequency band stitching direction field, a base channel field, a carrier frequency grid field, a channel sequence order field, a number of transmissions field, a frequency band stitching type field, or a feedback control field. When the Sensing packet for Ranging field (i.e., the above-mentioned indication information A) indicates that the sensing packet is used for ranging, the responder ignores the Feedback Control field when interpreting the frequency band stitching parameter field. The value and meaning of the Frequency Stitching Type field are shown in Table 3 below.

[0263] Table 3

[0264] It can be understood that when the Sensing packet for Ranging field (ie, the above-mentioned indication information A) indicates that the sensing packet is used for ranging, the value of the Frequency Stitching Type field is 1, indicating inter-packet frequency stitching.

[0265] It can also be understood that for the description of other fields in the frequency band splicing parameter field shown in Figure 18b above, please refer to the description of other parts of this application and will not be described in detail here.

[0266] The embodiment of the present application provides an information configuration method, which can lay the foundation for the subsequent use of perception packets or data packets for ranging, thereby achieving higher ranging accuracy and ranging efficiency.

[0267] In another possible implementation, the initiator generates and sends an Application Control Information Element (AC IE). The Content Control field in the AC IE includes indication information C, which indicates whether one or more of the Ranging Control field, the Sensing Control field, and the Data Communication Control field are present. The indication information C is 3 bits, representing bits B7, B8, and B9 of the Content Control field. Accordingly, the responder receives and parses the AC IE.

[0268] Referring to Figure 19a, Figure 19a is a schematic diagram of the frame format of the AC IE provided in an embodiment of the present application. As shown in Figure 19a, the AC IE includes, but is not limited to, a Content Control field. Exemplarily, the AC IE may also include one or more of the following: Session ID, Block Duration, Slot Duration, Round Duration, Contention Slots Info, Ranging Control, Data CommControl, or Sensing Control. The Content Control field is used to indicate whether other fields in the AC IE exist. For the description of the Session ID field, Block Duration field, Slot Duration field, Round Duration field, Contention Slots Info field, Ranging Control field, Data CommControl field, and Sensing Control field in the AC IE, please refer to the prior art and will not be described in detail here.

[0269] Refer to Figure 19b, which is a schematic diagram of the frame format of the content control field in the AC IE provided in an embodiment of the present application. As shown in Figure 19b, the content control field includes but is not limited to: a working mode (Working Mode) field (i.e., the above-mentioned indication information C). It can be understood that in the prior art, B7 of the content control field is the ranging control present (RCP) field, B8 is the data communication control present (DCP) field, and B9 is the sensing control present (SCP) field. In the embodiment of the present application, B7, B8, and B9 of the content control field are defined as the working mode (Working Mode) field (i.e., the above-mentioned indication information C). The value and meaning of the Working Mode field are shown in Table 4 below.

[0270] Table 4

[0271] It can be understood that, as shown in Table 4 above, when the Working Mode field indicates that the ranging packet is used for ranging, it indicates that the Ranging Control field exists in the AC IE. When the Working Mode field indicates that the sensing packet is used for sensing, it indicates that the Sensing Control field exists in the AC IE. When the Working Mode field indicates that the data packet is used for data communication, it indicates that the Data CommControl field exists in the AC IE. When the Working Mode field indicates that the ranging packet is used for sensing, it indicates that the Ranging Control field and the Sensing Control field exist in the AC IE. When the Working Mode field indicates that the data packet is used for sensing, it indicates that the Data CommControl field and the Sensing Control field exist in the AC IE. When the Working Mode field indicates that the data packet is used for ranging, it indicates that the Data CommControl field and the Ranging Control field exist in the AC IE.

[0272] As another optional embodiment, the ranging method provided in the embodiment of the present application can also be implemented using sensing segments. The ranging method in the embodiment of the present application can be described as follows: a first communication device generates P sensing segments and transmits these P sensing segments to a second communication device via K channels, with each of the K channels transmitting at least one sensing segment. Accordingly, the second communication device determines a channel impulse response based on the received P sensing segments.

[0273] The K channels may be used for frequency band splicing, where K is an integer greater than 1. P is an integer greater than 1. P may be greater than or equal to K.

[0274] Exemplarily, the channel transmission order of the K channels is used sequentially in the order of increasing or decreasing center frequencies. Furthermore, exemplarily, the channel transmission order of the K channels is not used sequentially in the order of increasing or decreasing center frequencies, or is used non-sequentially in the order of increasing or decreasing center frequencies.

[0275] It is understood that a sensing packet can contain one or more sensing segments. A gap exists between two adjacent sensing segments in a sensing packet. This gap can be found in prior art, for example, a gap equal to the duration of 40 sensing symbols. The P sensing segments can belong to one sensing packet or multiple sensing packets.

[0276] In one possible implementation, the P sensing segments all belong to the same sensing packet. In this case, P is equal to K, and each of the K channels transmits one sensing segment, i.e., the K channels sequentially transmit K (equal to P) sensing segments.

[0277] In another possible implementation, the P sensing segments mentioned above belong to multiple sensing packages. In this case, P and K can be equal, or P can be greater than K. When P and K are equal, one sensing segment is transmitted on each of the K channels. When P is greater than K, K can be equal to the number of sensing segments in a sensing package (this sensing package can be the sensing package with the largest number of sensing segments). One sensing segment in a sensing package is transmitted on one channel, and sensing segments of different sensing packages reuse these K channels for transmission. For example, P is equal to 8, of which 4 sensing segments belong to sensing package 1 and the other 4 sensing segments belong to sensing package 2. In this case, K can be equal to 4. For the 4 sensing segments in sensing package 1, one sensing segment is transmitted on each of the 4 channels; for the 4 sensing segments in sensing package 2, one sensing segment is still transmitted on each of the 4 channels. This situation can also be understood as different sensing packages being periodically sent repeatedly on these K channels. For another example, if P is 8, 5 sensing segments belong to sensing packet 1, and the other 3 sensing segments belong to sensing packet 2, then K can be equal to 5. For the 5 sensing segments in sensing packet 1, each of the 5 channels transmits one sensing segment; for the 3 sensing segments in sensing packet 2, the first 3 of the 4 channels transmit these 3 sensing segments in sequence.

[0278] For example, when the P sensing segments belong to multiple sensing packets, the transmission start time interval (t I ) is less than or equal to T ms. For example, T is equal to 1. For another example: if the average value of the maximum power spectral density (PSD) of the UWB signal within a millisecond does not exceed a certain threshold, then T is equal to a. For ease of understanding, the following description uses T equal to 1 as an example.

[0279] In one possible implementation, t I The value can be determined by signaling interaction between the sender and receiver, or, I The value of can be agreed upon in the standard protocol.

[0280] It can be understood that the method of performing ranging through sensing segments in the embodiment of the present application is similar to the aforementioned method of performing ranging through ranging segments. In the absence of logical conflicts, the two can refer to each other.

[0281] The embodiment of the present application uses a sensing segment for ranging, and transmits at least one sensing segment on a channel, which can improve the accuracy of ranging.

[0282] It is understandable that before using the sensing segment to perform ranging, the first communication device and the second communication device can align some information related to ranging.

[0283] In a possible implementation, the initiator generates and sends configuration information, which includes indication information A, which is used to indicate whether to use the sensing packet for ranging. Correspondingly, the responder receives and parses the configuration information. Exemplarily, the configuration information may also include indication information B, which is used to indicate the transmission start time interval (t I The initiator here can be either the first communication device or the second communication device, which is not limited in the embodiment of the present application. Correspondingly, the responder here can be either the second communication device or the first communication device.

[0284] It is understood that when the above-mentioned P sensing segments belong to the same sensing package, the configuration information may include indication information A. When the above-mentioned P sensing segments belong to multiple sensing packages, the configuration information may include indication information A and indication information B. For example, the description of the configuration information, indication information A, or indication information B can be found in the description of Figures 18a and 18b above, which will not be repeated here.

[0285] In other words, when the above-mentioned P sensing segments belong to the same sensing package, the Packet Interval field may not exist in the configuration information; or the Packet Interval field exists in the configuration information, but the Packet Interval field indicates reservation.

[0286] Referring to Figure 20, Figure 20 is another flow chart of the ranging method provided in an embodiment of the present application. The first communication device and the second communication device involved in the method can be any two devices that can perform data communication in Figure 1 or Figure 2. In one possible implementation, the first communication device in the method can serve as an initiator, and the second communication device can serve as a responder. Of course, the first communication device can also serve as a responder, and the second communication device as an initiator. This embodiment of the present application does not limit this.

[0287] As shown in FIG20 , the ranging method includes but is not limited to the following steps:

[0288] S301: A first communication device generates P ranging segments.

[0289] S302: The first communication device transmits the P ranging segments to the second communication device via K channels, wherein each of the K channels transmits at least n ranging segments, where n, K, and P are integers greater than 1, and n and K are both less than P; and the transmission start time interval between two adjacent ranging segments transmitted on different channels is less than or equal to T milliseconds. Exemplarily, T may be equal to 1. Furthermore, if the average value of the maximum power spectral density (PSD) of the UWB signal within a millisecond does not exceed a certain threshold, then T is equal to a.

[0290] In one possible implementation, the K channels can be used for frequency stitching, where K can be an integer greater than 1. The channel transmission order of the K channels can be used in sequence in the order of increasing or decreasing center frequencies, i.e., in-sequence channel order. Alternatively, the channel transmission order of the K channels can be used in a non-sequential order in the order of increasing or decreasing center frequencies, or in other words, the channel transmission order of the K channels can be used in a non-sequential order in the order of increasing or decreasing center frequencies, i.e., out-of-sequence channel order. The channel transmission order of the out-of-sequence channel can be specifically obtained according to the above formula (1-4).

[0291] In a possible implementation, at least n ranging segments are transmitted on each of the K channels, where n is an integer greater than 1. Then, P may be greater than or equal to the product of n and K.

[0292] In a possible implementation, if the P ranging segments are all RSFs or RIFs, then P may be equal to the product of n and K. In this case, n ranging segments are transmitted on each of the K channels.

[0293] In another possible implementation, if the P ranging segments include R RSFs and M RIFs, P may be greater than the product of n and K. R and M are both positive integers less than or equal to the product of n and K, R or M is an integer multiple of n, and R is equal to the product of n and K or M is equal to the product of n and K. Exemplarily, if R is equal to the product of n and K, then for the R RSFs, n RSFs are transmitted on each of the K channels, and the K channels are used in the order of channel transmission of sequential channels or out-of-order channels, then the channel that transmits the first n RSFs (including the first RSF, of course) is the reference channel for the K channels. And for the M RIFs, if M is greater than n, the channel of the K channels is used. channels (e.g. the first channel in the transmission order) channels) transmission, and this At least one RIF is transmitted on each of the K channels, and the channel on which the first RIF is transmitted is the reference channel of the K channels. Indicates rounding up, which will not be described in detail below. If M is less than n, the reference channel of the above K channels is used to transmit the M RIFs. For example: n is equal to 2, K is equal to 6, R is equal to 12, and M is equal to 4. For 12 RSFs, 2 RSFs are transmitted on each of the 6 channels. For these 4 RIFs, 2 of the 6 channels can be used for transmission, for example, using the first 2 channels in the channel transmission order for transmission, with 2 RIFs transmitted on each channel. Of course, 4 of the 6 channels can also be used for transmission, with 1 RIF transmitted on each channel. For another example: n is equal to 2, K is equal to 6, R is equal to 12, and M is equal to 5. For 12 RSFs, 2 RSFs are transmitted on each of the 6 channels. For these 5 RIFs, 3 of the 6 channels can be used for transmission, for example, using the first 3 channels in the channel transmission order for transmission, with 2 RIFs transmitted on each of the first 2 channels and 1 RIF transmitted on the last channel. Of course, it is also possible to use five of the six channels for transmission, with five RIFs transmitted on each channel. For another example, if n is 2, K is 6, R is 12, and M is 1, then for 12 RSFs, two RSFs are transmitted on each of the six channels. For the single RIF, it can be transmitted on the reference channel among the six channels.

[0294] For example, if M is equal to the product of n and K, then for the M RIFs, n RIFs are transmitted on each of the K channels, and the K channels are used in the order of channel transmission of sequential channels or out-of-order channels. Then the channel that transmits the first n RIFs (including the first RIF) is the reference channel for the K channels. For the R RSFs, if R is greater than n, the channel of the K channels is used. channels (e.g. the first channel in the transmission order) channels) transmission, and this At least n RSFs are transmitted on each of the K channels, and the channel on which the first RSF is transmitted is the reference channel of the K channels. If R is less than n, the reference channel of the K channels is used to transmit the R RIFs.

[0295] In a possible implementation, the value of n can be determined through signaling interaction between the sender and the receiver, as described in the following embodiments, which are not described in detail here. Alternatively, the value of n can be agreed upon in a standard protocol.

[0296] In one possible implementation, the transmission start time interval between two adjacent ranging segments transmitted on different channels is less than or equal to T milliseconds. The transmission start time interval between two adjacent ranging segments transmitted on the same channel is equal to T milliseconds. Among them, "two adjacent ranging segments" may refer to the same type of ranging segments, such as both are RSF, or both are RIF. Exemplarily, T is equal to 1. It can be understood that if the PSD of the UWB signal has other restrictions, T can also be other values, and the embodiments of the present application do not impose any restrictions. For example: if the average value of the maximum power spectral density (PSD) of the UWB signal within a millisecond does not exceed a certain threshold, then T is equal to a. For ease of understanding, the following description is based on the example of T equal to 1.

[0297] In one possible implementation, the channel transmission order of the above-mentioned K channels is used in the order of increasing or decreasing center frequencies. When there is no (frequency) overlap between the K channels, or the overlap rate between two adjacent channels in the K channels is 25%, the transmission start time interval between two adjacent ranging segments transmitted on different channels can be less than 1 millisecond. When the overlap rate between two adjacent channels in the K channels is 50% or 75%, the transmission start time interval between two adjacent ranging segments transmitted on different channels can be equal to 1 millisecond. In another possible implementation, the channel transmission order of the above-mentioned K channels is not used in the order of increasing or decreasing center frequencies, or is used non-sequentially in the order of increasing or decreasing center frequencies. Regardless of whether there is overlap between the K channels or the overlap rate, the transmission start time interval between two adjacent ranging segments transmitted on different channels can be less than 1 millisecond.

[0298] It is understood that the "transmission start time interval" in the embodiment of the present application is measured in milliseconds (ms). In actual applications, it can also be measured in ranging schedule time units (RSTUs). For example, the conversion relationship between milliseconds (ms) and RSTUs can be: 1200 RSTUs equals 1 ms, and 600 RSTUs equals 0.5 ms.

[0299] In a possible implementation, when the P ranging segments include both RSF and RIF, the transmission start time interval between the last RSF and the first RIF is a preset value, such as 2 milliseconds or 2400 RSTUs.

[0300] For example, refer to Figure 21, which is another schematic diagram of the transmission start time interval between ranging segments provided in an embodiment of the present application. Among them, the first communication device can be an initiator or a responder. The first communication device sends a total of R RSFs and M RIFs through K channels. Assume that the reference channel of these K channels is CH0, and the channel transmission order of these K channels is CH0, CH1, CH2,…, CH(K-1). R is equal to the product of n and K or M is equal to the product of n and K. As shown in Figure 21, RSF 1~n is transmitted on the reference channel (CH0), RSF (n+1)~(2n) is transmitted on channel CH1, RSF (2n+1)~(3n) is transmitted on channel CH2, and so on. RIFs 1 to n are transmitted on the reference channel (CH0), RIFs (n+1) to (2n) are transmitted on the channel CH1, RIFs (2n+1) to (3n) are transmitted on the channel CH2, and so on.

[0301] As shown in Figure 21, the transmission start time interval between two adjacent RSFs transmitted on different channels is t I The transmission start time interval between two adjacent RIFs transmitted on different channels is also t I The transmission start time interval between the last RSF (such as RSF R in Figure 21) and the first RIF (such as RIF 1 in Figure 21) is t Z The transmission start time interval between two adjacent RSFs or RIFs transmitted on the same channel is equal to 1 millisecond. I Can be less than or equal to 1 millisecond, t Z Can be less than or equal to 2 milliseconds. I and t Z For an explanation of the embodiment, please refer to the relevant description in the embodiment shown in FIG9 , which will not be repeated here.

[0302] It can be understood that the above Figure 21 is only an example. In actual applications, the first communication device may only send RSF, or only send RIF, and the embodiments of the present application do not limit this.

[0303] It is understood that the ranging method of the embodiment of the present application can be applied to both one-way and two-way ranging scenarios. When the ranging method of the embodiment of the present application is applied to a two-way ranging scenario, both the initiator and the responder send ranging segments, and the number of ranging segments sent by the initiator and the responder is equal. In a two-way ranging scenario, there are two ways to transmit ranging segments: interlaced and serial.

[0304] In a possible implementation, for interleaved transmission, the transmission start time interval t between the first ranging segment sent by the first communication device and the first ranging segment sent by the second communication device is O Less than or equal to 0.5 milliseconds. For tandem transmission, the transmission start time interval t between the last ranging segment sent by the first communication device and the first ranging segment sent by the second communication device O Less than or equal to 0.5 milliseconds. O The implementation and related description of t can refer to the relevant description of the embodiment shown in Figure 9 above, which will not be repeated here. O Satisfies the above formula (2-1).

[0305] For example, see Figure 22a, which is another schematic diagram of interleaved transmission provided by an embodiment of the present application. See Figure 22b, which is another schematic diagram of serial transmission provided by an embodiment of the present application. Figures 22a and 22b take the example of the first communication device being an initiator and the second communication device being a responder. As shown in Figures 22a and 22b, for a ranging segment sent by a device, the transmission start time interval between two adjacent RSFs or two adjacent RIFs transmitted on different channels is t I The transmission start time interval between the last RSF and the first RIF is t Z The transmission start time interval between two adjacent RSFs or RIFs transmitted on the same channel is equal to 1 millisecond. In Figure 22a, the transmission start time interval between the first RSF sent by the first communication device (initiator) and the first RSF sent by the second communication device (responder) is t OIn FIG22b, the transmission start time interval between the last RIF sent by the first communication device (initiator) and the first RSF sent by the second communication device (responder) is t O For example, t O Can be fixed to 0.5 milliseconds, or t O The above formula (2-1) can be satisfied.

[0306] It can be understood that the above Figures 22a and 22b are only examples. In actual applications, the initiator and the responder can only send RSF, or only send RIF, and the embodiments of the present application do not limit this.

[0307] It can also be understood that since the transmission of ranging segments between the first communication device and the second communication device requires time, this time is called the one-way flight time (its length is related to the distance between the first communication device and the second communication device). Therefore, for interleaved transmission, the starting time interval between the first ranging segment sent by the first communication device and the first ranging segment received by the first communication device is less than or equal to (0.5 ms + one-way flight time). For tandem transmission, the starting time interval between the last ranging segment sent by the first communication device and the first ranging segment received by the first communication device is less than or equal to (0.5 ms + one-way flight time).

[0308] In a possible implementation, the transmission start time interval (t I ) can also be greater than or equal to t min About t min For the implementation method and related instructions, please refer to the relevant description in the embodiment shown in Figure 9 above, which will not be repeated here.

[0309] S303: The second communication device determines a channel impulse response according to the received P ranging segments.

[0310] In a possible implementation, the implementation of step S303 in the embodiment of the present application can refer to the implementation of step S103 in the embodiment shown in FIG9 , which will not be repeated here.

[0311] In the embodiment of the present application, frequency band splicing is used in the multi-millisecond ranging process, and multiple RSFs or multiple RIFs are transmitted on a single channel, which can improve the accuracy of (long-distance) ranging. Furthermore, when using sequential channels, if the frequency band overlap rate between channels is 25% or there is no overlap, the transmission start time interval between two adjacent ranging segments transmitted on different channels is allowed to be less than 1 millisecond. Furthermore, when using out-of-order channels, the transmission start time interval between two adjacent ranging segments transmitted on different channels can also be less than 1 millisecond. This can reduce the interval between fragments, thereby reducing the time required for ranging, and thus improving ranging efficiency.

[0312] The ranging method shown in FIG20 is described using a ranging segment (e.g., RSF or RIF) as an example. Of course, the ranging method provided in the embodiment of the present application can also be implemented using a ranging packet. As an optional embodiment, for a ranging packet (or ranging PPDU), the above P is equal to the product of n and K. In other words, steps S301 and S302 shown in FIG20 can be understood as follows: the first communication device generates P (=n*K) ranging packets and sends the P (=n*K) ranging packets to the second communication device through K channels, wherein n (n is an integer greater than 1) ranging packets are transmitted on each of the K channels, and the transmission start time interval between two adjacent ranging packets transmitted on different channels is less than or equal to T milliseconds. For example, T is equal to 1. For another example: if the average value of the maximum power spectral density (PSD) of the UWB signal within a millisecond does not exceed a certain threshold, then T is equal to a. For ease of understanding, the following description is based on the example of T being equal to 1. Accordingly, step S303 shown in FIG. 20 may be understood as: the second communication device determines a channel impulse response according to the received P ranging packets.

[0313] Exemplarily, the transmission start time interval between two adjacent ranging segments transmitted on the same channel is equal to 1 millisecond.

[0314] For example, the channel transmission order of the above K channels is used in the order of increasing or decreasing center frequency. When there is no (frequency) overlap between the K channels, or the overlap rate between two adjacent channels in the K channels is 25%, the transmission start time interval (t I ) can be less than 1 millisecond. When the overlap rate between two adjacent channels in the K channels is 50% or 75%, the transmission start time interval (t I) can be equal to 1 millisecond. For example, the channel transmission order of the above K channels is not used in the order of increasing or decreasing center frequency points, or is not used in the order of increasing or decreasing center frequency points, and the transmission start time interval (t I ) can be less than 1 millisecond.

[0315] For example, for interleaved transmission, the transmission start time interval t between the first ranging packet sent by the first communication device and the first ranging packet sent by the second communication device is O Less than or equal to 0.5 milliseconds. For serial transmission, the transmission start time interval t between the last ranging packet sent by the first communication device and the first ranging packet sent by the second communication device O Less than or equal to 0.5 milliseconds. For example: t O The above formula (2-1) can be satisfied, or it can be fixed at 0.5 milliseconds. O The specific implementation can be found in the previous description and will not be repeated here. It can be understood that since the transmission of the ranging packet between the first communication device and the second communication device requires time, this time is called the one-way flight time (its size is related to the distance between the first communication device and the second communication device). Therefore, for interleaved transmission, the starting time interval between the first ranging packet sent by the first communication device and the first ranging packet received by the first communication device is less than or equal to (0.5ms + one-way flight time). For serial transmission, the starting time interval between the last ranging packet sent by the first communication device and the first ranging packet received by the first communication device is less than or equal to (0.5ms + one-way flight time).

[0316] In the embodiment of the present application, frequency band splicing is used in the multi-millisecond ranging process, and multiple ranging packets are transmitted on a single channel, thereby improving the accuracy of (long-distance) ranging. When sequential channels are used, if the frequency band overlap rate between channels is 25% or there is no overlap, the transmission start time interval between two adjacent ranging packets transmitted on different channels is allowed to be less than 1 millisecond. Furthermore, when out-of-order channels are used, the transmission start time interval between two adjacent ranging packets transmitted on different channels can also be less than 1 millisecond. This can reduce the interval between ranging packets, thereby reducing the time required for ranging, and thus improving ranging efficiency.

[0317] Refer to Figure 23, which is another flow chart of the information configuration method provided in an embodiment of the present application. The initiator in the method can be either a first communication device or a second communication device, which is not limited by the embodiment of the present application. Correspondingly, the responder can be a second communication device or a first communication device. In one possible implementation, the information configuration method shown in Figure 23 can be implemented in combination with the ranging method shown in Figure 20, or it can be implemented alone. When the information configuration method shown in Figure 23 is implemented in combination with the ranging method shown in Figure 20, the information configuration method shown in Figure 23 can be executed before step S202 of Figure 20.

[0318] As shown in FIG23 , the information configuration method includes but is not limited to the following steps:

[0319] S401: An initiator generates configuration information, the configuration information including first indication information, the first indication information including a first field, the first field being used to indicate a transmission start time interval between two adjacent ranging segments or ranging packets transmitted on different channels. Exemplarily, the two adjacent ranging segments are both RSFs or both RIFs.

[0320] S402: The initiator sends the configuration information, and the responder receives the configuration information accordingly.

[0321] S403: The responder parses the configuration information to obtain a transmission start time interval between two adjacent ranging segments or ranging packets transmitted on different channels.

[0322] In a possible implementation, the above-mentioned configuration information may include first indication information, and the first indication information may be used to indicate the parameters of frequency band splicing. Exemplarily, the configuration information may also include one or more of the following: second indication information, or third indication information. The second indication information may be used to indicate whether the above-mentioned first indication information exists. When the second indication information indicates that the above-mentioned first indication information does not exist, the third indication information may be used to indicate the UWB channel used for multi-millisecond ranging. When the second indication information indicates that the above-mentioned first indication information exists, the third indication information may be used to indicate the reference channel (Base Channel) when multi-millisecond ranging uses frequency band splicing, or to indicate the reference channel for frequency band splicing. In the embodiment of the present application, the second indication information indicates that the first indication information exists. In other words, the second indication information of the embodiment of the present application indicates that the first indication information exists in the above-mentioned configuration information.

[0323] In one possible implementation, the configuration information can be configured via ultra-wideband (UWB). In other words, the initiator can send the configuration information via UWB. In another possible implementation, the configuration information can also be configured via narrowband (NB). In other words, the initiator can send the configuration information via NB. For details on the specific implementation of the configuration information, please refer to the relevant description of the embodiment shown in FIG. 13 .

[0324] In a possible implementation, the first indication information (such as the MMS Frequency Stitching Parameters field) may include a first field. The first field may be used to indicate the transmission start time interval (t I ). Exemplarily, the first indication information may further include a second field. The second field may be used to indicate the number of ranging segments or ranging packets transmitted on each channel. It can be understood that if the number of ranging segments or ranging packets transmitted on each channel is the same, the second field may only indicate one value (such as the value of n in the embodiment shown in FIG20 ). Exemplarily, the first indication information may further include a third field. The third field may be used to indicate the transmission start time interval (t ) between the first ranging segment (or ranging packet) of the initiator and the first ranging segment (or ranging packet) of the responder. O Alternatively, the third field may be used to indicate the transmission start time interval (t) between the last ranging segment (or ranging packet) of the initiator and the first ranging segment (or ranging packet) of the responder. O ).

[0325] For example, take the case where the first indication information is the MMS Frequency Stitching Parameters field. See Figure 24a, which is another frame format diagram of the MMS Frequency Stitching Parameters field provided in an embodiment of the present application. See Figure 24b, which is yet another frame format diagram of the MMS Frequency Stitching Parameters field provided in an embodiment of the present application. As shown in Figures 24a and 24b, the MMS Frequency Stitching Parameters field includes but is not limited to: a fragment interval (Fragment Interval) field (i.e., the above-mentioned first field) and a second field. Optionally, it also includes an initiator-responder offset (Initiator-ResponderOffset) field (i.e., the above-mentioned third field). Among them, the Fragment Interval field (i.e., the above-mentioned first field) can be used to indicate the transmission start time interval (t I For example, when the value of the Fragment Interval field is the first value (such as binary 00), t I is 1200RSTUs (i.e. 1ms); when the value of the Fragment Interval field is the second value (such as binary 01), t I is 900RSTUs; when the value of the Fragment Interval field is the third value (such as binary 10), t I is 600RSTUs; when the value of the Fragment Interval field is the fourth value (such as binary 11), t I The second field can be used to indicate the number of segments or packets transmitted on each channel (i.e., the value of n). Since the transmission start time interval between two adjacent ranging segments / ranging packets transmitted on a channel is equal to 1ms, the second field can also indicate the transmission duration on each channel (and thus indirectly indicate the number of segments or packets transmitted on each channel). For the value and meaning of the Initiator-ResponderOffset field, please refer to the description of Figure 16 above and will not be repeated here.

[0326] Among them, regarding the meaning of other fields in Figures 24a and 24b, please refer to the description in the previous text (Figures 16 and 17), which will not be repeated here.

[0327] In one possible implementation, when the embodiment of the present application is implemented in combination with the ranging method shown in FIG20, the first communication device and the second communication device in FIG20 perform ranging according to the content of the above configuration information. For example, the first communication device performs ranging according to the t indicated by the above first field (such as the Fragment Interval field). I And the second field indicates the number of n transmitted ranging segments.

[0328] The embodiments of the present application provide a method for configuring frequency stitching parameters in MMS ranging, which can lay the foundation for using frequency stitching in subsequent multi-millisecond ranging processes, thereby achieving higher ranging accuracy and ranging efficiency.

[0329] Refer to Figure 25, which is another flow chart of the ranging method provided in an embodiment of the present application. The first communication device and the second communication device involved in the method can be any two devices that can perform data communication in Figure 1 or Figure 2. In one possible implementation, the first communication device in the method can serve as an initiator, and the second communication device can serve as a responder. Of course, the first communication device can also serve as a responder, and the second communication device can serve as an initiator. This embodiment of the present application does not limit this.

[0330] As shown in FIG25 , the ranging method includes but is not limited to the following steps:

[0331] S501: A first communication device generates a ranging segment, where the ranging segment includes (K*L) MMRS or STS slices.

[0332] S502: The first communication device transmits the ranging segment to the second communication device via K channels, with each channel transmitting L MMRS or STS segments, and the time interval between adjacent transmitted channels being greater than or equal to the channel switching time, where L and K are both integers greater than 1.

[0333] In one possible implementation, the ranging segment may be an RSF, in which case one RSF may include (K*L) MMRSs. Alternatively, the ranging segment may be a RIF, in which case one RIF may include (K*L) STS segments. The value of L (i.e., the number of MMRSs or STS segments transmitted on each channel) may be determined through signaling interaction between the sender and receiver, or may be agreed upon in a standard protocol.

[0334] In one possible implementation, the above-mentioned K channels can be used for frequency stitching, and K can be an integer greater than 1. L MMRS or STS segments are transmitted on each of the K channels. The time interval between adjacent transmitted channels is greater than or equal to the time of channel switching. The time of channel switching can be a fixed time interval, and the time interval can be in units of the duration of the preamble symbol. Of course, the time interval can also be in units of the duration of other symbols, such as the duration of MMRS, which is not limited in the embodiments of the present application. For example: the duration of a preamble symbol is T psym , the channel switching time can be expressed as A*T psym The symbol “*” represents a “multiplication” or “by” operation. A is a constant, for example, A is equal to 40.

[0335] For example, refer to Figure 26, which is a schematic diagram of frequency band splicing within a ranging segment provided by an embodiment of the present application. Assuming that the reference channel of these K channels is CH0, the channel transmission order of these K channels is CH0, CH1, CH2, ..., CH(K-1). As shown in Figure 26, the first L MMRSs in an RSF are transmitted on the reference channel (CH0), the (L+1)th MMRS to the 2Lth MMRS are transmitted on the channel CH1, the (2L+1)th MMRS to the 3Lth MMRS are transmitted on the channel CH2, and so on. The last L MMRSs are transmitted on the channel CH(K-1). Similarly, in RIF, the first L STS segments in a RIF are transmitted on the reference channel (CH0), the (L+1)th STS segment to the 2Lth STS segment are transmitted on the channel CH1, the (2L+1)th STS segment to the 3Lth STS segment are transmitted on the channel CH2, and so on. The last L STS segments are transmitted on the channel CH(K-1). As shown in Figure 26, the time interval between adjacent transmission channels is greater than or equal to A*T psym In other words, the interval between the transmission end time of the (j*L)th MMRS and the transmission start time of the (j*L+1)th MMRS in an RSF is greater than or equal to A*T psym The value of j is 1, 2, 3,…, K.

[0336] In one possible implementation, the channel transmission order of the K channels may be in ascending or descending order of center frequencies, i.e., in-sequence channel order. Alternatively, the channel transmission order of the K channels may not be in ascending or descending order of center frequencies, or in other words, the channel transmission order of the K channels may be non-sequential in ascending or descending order of center frequencies, i.e., out-of-sequence channel order.

[0337] S503: The second communication device determines a channel impulse response according to the received ranging segment.

[0338] In one possible implementation, the second communication device receives the ranging segments through the K channels. It is understandable that the manner in which the second communication device receives the ranging segments through the K channels is the same as the manner in which the first communication device sends the ranging segments through the K channels, and will not be described in detail here. The second communication device can calculate a channel impulse response for each L MMRS / STS segment received, and then splice the K channel impulse responses corresponding to the ranging segment into a channel impulse response, and determine the receiving timestamp information based on the channel impulse response. The second communication device can also feedback the receiving timestamp information to the first communication device so that the first communication device determines the distance between the first communication device and the second communication device based on the receiving timestamp information. Exemplarily, in the measurement report phase, if the UWB channel is used to exchange ranging information (such as receiving timestamp information), the second communication device can use the reference channel or the channel that transmits the last L MMRS / STS segments to feedback the receiving timestamp information to the first communication device. In this way, the number of channel switching can be reduced.

[0339] It will be appreciated that while the embodiments of the present application illustrate the example of a first communication device generating and sending a single ranging segment, in actual applications, the first communication device may generate and send multiple ranging segments, but each ranging segment is processed in the same manner. For example, when there are multiple ranging segments, the transmission start time interval between two adjacent RSFs is 1ms, the transmission start time interval between two adjacent RIFs is also 1ms, and the transmission start time interval between the last RSF and the first RIF is 2ms.

[0340] It is also understood that the ranging method of the embodiment of the present application can be applied to a one-way ranging scenario or a two-way ranging scenario. When the ranging method of the embodiment of the present application is applied to a two-way ranging scenario, the number of MMRS / STS segments sent by the initiator and the responder is equal, the time intervals between MMRS / STS segments within a ranging segment are also equal, and the time intervals between different ranging segments are also equal.

[0341] In the embodiment of the present application, the MMRS / STS segments within a ranging segment are allocated to different channels for transmission, so as to achieve frequency band splicing within the ranging segment, thereby improving the ranging accuracy.

[0342] The above content elaborates on the method provided by the present application. In order to facilitate the implementation of the above scheme of the embodiment of the present application, the embodiment of the present application also provides corresponding devices or equipment.

[0343] The above content elaborates on the method provided by the present application. In order to facilitate the implementation of the above scheme of the embodiment of the present application, the embodiment of the present application also provides corresponding devices or equipment.

[0344] The present application divides the functional modules of the communication device according to the above-mentioned method embodiment. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in this application is schematic and is only a logical function division. There may be other division methods in actual implementation. The communication device of the embodiment of the present application will be described in detail below with reference to Figures 27 to 29.

[0345] Referring to Figure 27 , Figure 27 is a schematic diagram of the structure of a communication device provided in an embodiment of the present application. As shown in Figure 27 , the communication device includes a transceiver unit 10 and a processing unit 20. The transceiver unit 10 can implement corresponding communication functions, and the processing unit 20 is used for data processing. For example, the transceiver unit 10 can also be referred to as a communication interface or a communication unit.

[0346] In some embodiments of the present application, the communication device may be the first communication device shown above. That is, the communication device shown in FIG27 may be used to execute the steps or functions performed by the first communication device in the above method embodiment. For example, the communication device may be the first communication device or a chip or functional module configured in the first communication device, etc., which is not limited in the present embodiment. The transceiver unit 10 is used to execute the transceiver-related operations of the first communication device in the above method embodiment, and the processing unit 20 is used to execute the processing-related operations of the first communication device in the above method embodiment.

[0347] The processing unit 20 is configured to generate P ranging segments or P ranging packets; the transceiver unit 10 is configured to send the P ranging segments or P ranging packets to the second communication device via K channels, wherein the K channels sequentially transmit one ranging segment or ranging packet, K is an integer greater than 1, P is greater than or equal to K, and the transmission start time interval between two adjacent ranging segments or ranging packets is less than or equal to 1 millisecond.

[0348] It is understandable that the transceiver unit 10 can send the ranging segment or ranging packet to other communication devices, or the transceiver unit 10 can output the ranging segment or ranging packet from the processing unit 20 to other components or other functional modules in the communication device. The relevant description of other information output by the transceiver unit is similar and will not be detailed below.

[0349] Exemplarily, the K channels sequentially transmit a ranging segment or ranging packet, including: when P is equal to K, the K channels sequentially transmit K ranging segments or ranging packets, one at a time; when P is greater than K, the K channels sequentially transmit P1 of the P ranging segments, and then sequentially transmit (P-P1) of the P ranging segments through the K channels, one at a time; wherein P1 is equal to K or (P-P1) is equal to K.

[0350] Exemplarily, the sequential transmission of the K channels includes: the K channels are used sequentially in an increasing or decreasing order of center frequencies, or the K channels are not used sequentially in an increasing or decreasing order of center frequencies.

[0351] Exemplarily, the K channels are used in an ascending or descending order of center frequency. When there is no overlap or an overlap ratio of 25% between the K channels, the transmission start time interval between two adjacent ranging segments or ranging packets is less than 1 millisecond. Alternatively, when the overlap ratio between the K channels is 50% or 75%, the transmission start time interval between two adjacent ranging segments or ranging packets is equal to 1 millisecond.

[0352] Exemplarily, when the channel transmission order of the K channels is not used in the order of increasing or decreasing center frequencies, the transmission start time interval between two adjacent ranging segments or ranging packets is less than 1 millisecond.

[0353] Exemplarily, the two adjacent ranging segments are both RSFs, or the two adjacent ranging segments are both RIFs.

[0354] Exemplarily, a transmission start time interval between a first ranging segment or ranging packet of the first communication device and a first ranging segment or ranging packet of the second communication device is less than or equal to 0.5 milliseconds.

[0355] Exemplarily, a transmission start time interval between a last ranging segment or ranging packet of the first communication device and a first ranging segment or ranging packet of the second communication device is less than or equal to 0.5 milliseconds.

[0356] For example, the transmission start time interval between the first ranging segment or ranging packet of the first communication device and the first ranging segment or ranging packet of the second communication device is t O The transmission start time interval between the last ranging segment or ranging packet of the first communication device and the first ranging segment or ranging packet of the second communication device is also t O . t O satisfy:

[0357] Among them, t I It represents the transmission start time interval between the two adjacent ranging segments or ranging packets.

[0358] Exemplarily, the transceiver unit 10 is further configured to send or receive configuration information, where the configuration information includes first indication information, where the first indication information includes a first field, and where the first field is configured to indicate a transmission start time interval between two adjacent ranging segments or ranging packets.

[0359] It is understandable that the transceiver unit 10 may receive configuration information from other communication devices, or the transceiver unit 10 may input the configuration information from other components or other functional modules in the communication device. The description of the transceiver unit inputting other information is similar and will not be described in detail below.

[0360] Exemplarily, the first indication information further includes a second field. The second field is used to indicate a transmission start time interval between a first ranging segment or ranging packet of the first communication device and a first ranging segment or ranging packet of the second communication device. Alternatively, the second field is used to indicate a transmission start time interval between a last ranging segment or ranging packet of the first communication device and a first ranging segment or ranging packet of the second communication device.

[0361] Exemplarily, the configuration information further includes one or more of the following: second indication information, or third indication information. The second indication information is used to indicate whether the first indication information exists. When the second indication information indicates that the first indication information does not exist, the third indication information is used to indicate the ultra-wideband (UWB) channel used for multi-millisecond ranging; when the second indication information indicates that the first indication information exists, the third indication information is used to indicate the reference channel for multi-millisecond ranging when frequency band splicing is used.

[0362] In the embodiment of the present application, the description of K channels, P ranging segments, P ranging packets, the transmission start time interval between two adjacent ranging segments or ranging packets, and configuration information can be referred to the introduction in the above method embodiment, and will not be described in detail here.

[0363] It is understood that the specific descriptions of the transceiver unit and the processing unit shown in the embodiments of the present application are merely examples. For the specific functions or execution steps of the transceiver unit and the processing unit, reference can be made to the above-mentioned method embodiments, which will not be described in detail here. In addition, the technical effects of the embodiments of the present application refer to the technical effects of the above-mentioned method embodiments, and for the sake of brevity, they will not be repeated here.

[0364] Reusing Figure 27, in some other embodiments of the present application, the communication device may be the second communication device shown above. That is, the communication device shown in Figure 27 can be used to execute the steps or functions performed by the second communication device in the above method embodiment. Exemplarily, the communication device may be a second communication device or a chip or functional module configured in the second communication device, etc., which is not limited in the present embodiment. The transceiver unit 10 is used to execute the transceiver-related operations of the second communication device in the above method embodiment, and the processing unit 20 is used to execute the processing-related operations of the second communication device in the above method embodiment.

[0365] The transceiver unit 10 is configured to sequentially receive P ranging segments or P ranging packets through K channels, where K is an integer greater than 1, P is greater than or equal to K, and the transmission start time interval between two adjacent ranging segments or ranging packets is less than or equal to 1 millisecond. The processing unit 20 is configured to determine a channel impulse response based on the P ranging segments or the P ranging packets.

[0366] In the embodiment of the present application, the description of K channels, P ranging segments, P ranging packets, and the transmission start time interval between two adjacent ranging segments or ranging packets can be referred to the introduction in the above method embodiment, and will not be described in detail here.

[0367] It is understood that the specific descriptions of the transceiver unit and the processing unit shown in the embodiments of the present application are merely examples. For the specific functions or execution steps of the transceiver unit and the processing unit, reference can be made to the above-mentioned method embodiments, which will not be described in detail here. In addition, the technical effects of the embodiments of the present application refer to the technical effects of the above-mentioned method embodiments, and for the sake of brevity, they will not be repeated here.

[0368] The above describes the communication device according to the embodiment of the present application. The following describes possible product forms of the communication device. It should be understood that any product having the functions of the communication device described in FIG. 27 falls within the scope of protection of the embodiment of the present application. It should also be understood that the following description is merely illustrative and does not limit the product forms of the communication device according to the embodiment of the present application to these examples.

[0369] In one possible implementation, in the communication device shown in FIG27 , the processing unit 20 may be one or more processors, and the transceiver unit 10 may be a transceiver. Alternatively, the transceiver unit 10 may be a transmitting unit and a receiving unit, wherein the transmitting unit may be a transmitter and the receiving unit may be a receiver, and the transmitting unit and the receiving unit are integrated into a single device, such as a transceiver. In the embodiments of the present application, the processor and the transceiver may be coupled, etc., and the embodiments of the present application do not limit the connection method between the processor and the transceiver. During the execution of the above-described method, the process of sending information (such as sending ranging segments, ranging packets, configuration information, etc.) in the above-described method can be understood as the process of the processor outputting the above-described information. When outputting the above-described information, the processor outputs the above-described information to the transceiver for transmission by the transceiver. After being output by the processor, the above-described information may also require further processing before reaching the transceiver. Similarly, the process of receiving information (such as receiving ranging segments, ranging packets, configuration information, etc.) in the above-described method can be understood as the process of the processor receiving the above-described input information. When the processor receives the input information, the transceiver receives the above-described information and inputs it into the processor. Furthermore, after the transceiver receives the above information, the above information may need to be processed further before being input into the processor.

[0370] Referring to Figure 28, Figure 28 is another schematic diagram of the structure of a communication device provided in an embodiment of the present application. The communication device can be a first communication device or a second communication device, or a chip therein. Figure 28 only shows the main components of the communication device. In addition to the processor 1001, the communication device may further include a transceiver 1002 and a memory 1003, as well as input and output devices (not shown).

[0371] Processor 1001 is primarily used to process communication protocols and communication data, control the entire communication device, execute software programs, and process software program data. Memory 1003 is primarily used to store software programs and data. Transceiver 1002 may include control circuitry and an antenna. The control circuitry is primarily used to convert baseband signals into radio frequency signals and process radio frequency signals. The antenna is primarily used to transmit and receive radio frequency signals in the form of electromagnetic waves. Input / output devices, such as a touch screen, display, and keyboard, are primarily used to receive user input and output data to the user.

[0372] When the communication device is powered on, the processor 1001 can read the software program in the memory 1003, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be sent wirelessly, the processor 1001 performs baseband processing on the data to be sent and outputs the baseband signal to the radio frequency circuit. The radio frequency circuit performs radio frequency processing on the baseband signal and then transmits the radio frequency signal to the outside in the form of electromagnetic waves through the antenna. When data is sent to the communication device, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 1001. The processor 1001 converts the baseband signal into data and processes the data.

[0373] In another implementation, the RF circuit and antenna may be provided independently of the processor performing baseband processing. For example, in a distributed scenario, the RF circuit and antenna may be remotely arranged independent of the communication device.

[0374] The processor 1001 , the transceiver 1002 , and the memory 1003 may be connected via a communication bus.

[0375] Exemplarily, when the communication device is used to execute the steps, methods, or functions performed by the first communication device in the method embodiment shown in Figure 9 above, the processor 1001 can be used to execute step S101 in Figure 9, and / or to execute other processes of the technology described herein; the transceiver 1002 can be used to execute step S102 in Figure 9, and / or to execute other processes of the technology described herein.

[0376] Exemplarily, when the communication device is used to execute the steps, methods, or functions performed by the second communication device in the method embodiment shown in FIG. 9 above, the processor 1001 can be used to execute step S103 in FIG. 9 , and / or to execute other processes of the technology described herein; the transceiver 1002 can be used to receive ranging fragments, and / or other processes of the technology described herein.

[0377] Exemplarily, when the communication device is used to execute the steps, methods, or functions performed by the initiator in the method embodiment shown in Figure 13 above, the processor 1001 can be used to execute step S201 in Figure 13, and / or used to execute other processes of the technology described in this document; the transceiver 1002 can be used to execute step S202 in Figure 13, and / or used for other processes of the technology described in this document.

[0378] Exemplarily, when the communication device is used to execute the steps, methods, or functions performed by the responding end in the method embodiment shown in Figure 13 above, the processor 1001 can be used to execute step S203 in Figure 13, and / or to execute other processes of the technology described in this document; the transceiver 1002 can be used to receive configuration information, and / or other processes of the technology described in this document.

[0379] Exemplarily, when the communication device is used to execute the steps, methods, or functions performed by the first communication device in the method embodiment shown in Figure 20 above, the processor 1001 can be used to execute step S301 in Figure 20, and / or used to execute other processes of the technology described herein; the transceiver 1002 can be used to execute step S302 in Figure 20, and / or used for other processes of the technology described herein.

[0380] Exemplarily, when the communication device is used to execute the steps, methods, or functions performed by the second communication device in the method embodiment shown in Figure 20 above, the processor 1001 can be used to execute step S303 in Figure 20, and / or to execute other processes of the technology described herein; the transceiver 1002 can be used to receive ranging fragments, and / or other processes of the technology described herein.

[0381] Exemplarily, when the communication device is used to execute the steps, methods or functions performed by the initiator in the method embodiment shown in Figure 23 above, the processor 1001 can be used to execute step S401 in Figure 23, and / or used to execute other processes of the technology described in this document; the transceiver 1002 can be used to execute step S402 in Figure 23, and / or used for other processes of the technology described in this document.

[0382] Exemplarily, when the communication device is used to execute the steps, methods, or functions performed by the responding end in the method embodiment shown in Figure 23 above, the processor 1001 can be used to execute step S403 in Figure 23, and / or to execute other processes of the technology described in this document; the transceiver 1002 can be used to receive configuration information, and / or other processes of the technology described in this document.

[0383] Exemplarily, when the communication device is used to execute the steps, methods, or functions performed by the first communication device in the method embodiment shown in Figure 25 above, the processor 1001 can be used to execute step S501 in Figure 25, and / or used to execute other processes of the technology described herein; the transceiver 1002 can be used to execute step S502 in Figure 25, and / or used for other processes of the technology described herein.

[0384] Exemplarily, when the communication device is used to execute the steps, methods, or functions performed by the second communication device in the method embodiment shown in Figure 25 above, the processor 1001 can be used to execute step S503 in Figure 25, and / or to execute other processes of the technology described herein; the transceiver 1002 can be used to receive ranging fragments, and / or other processes of the technology described herein.

[0385] In any of the above designs, processor 1001 may include a transceiver for implementing receiving and transmitting functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing the receiving and transmitting functions may be separate or integrated. The transceiver circuit, interface, or interface circuit may be used for reading and writing code / data, or the transceiver circuit, interface, or interface circuit may be used for transmitting or delivering signals.

[0386] In any of the above designs, processor 1001 may store instructions, which may be computer programs. The computer programs, when executed on processor 1001, may cause the communication device to perform the methods described in the above method embodiments. The computer programs may be embedded in processor 1001, in which case processor 1001 may be implemented by hardware.

[0387] In one implementation, the communication device may include a circuit that can implement the functions of sending, receiving, or communicating in the aforementioned method embodiment. The processor and transceiver described in this application can be implemented in an integrated circuit (IC), an analog IC, a radio frequency integrated circuit (RFIC), a mixed signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), an electronic device, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (nMetal-oxide-semiconductor, NMOS), P-channel metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (bipolar junction transistor, BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

[0388] It is understood that the communication device shown in the embodiment of the present application may also have more components than those in Figure 28, and the embodiment of the present application is not limited to this. The method performed by the processor and transceiver shown above is only an example. For the specific steps performed by the processor and transceiver, please refer to the description of the method embodiment above.

[0389] In another possible implementation, in the communication device shown in Figure 27, the processing unit 20 can be one or more logic circuits, and the transceiver unit 10 can be an input / output interface, or a communication interface, or an interface circuit, or an interface, etc. Or the transceiver unit 10 can also be a sending unit and a receiving unit, the sending unit can be an output interface, and the receiving unit can be an input interface, and the sending unit and the receiving unit are integrated into one unit, such as an input / output interface. Referring to Figure 29, Figure 29 is another structural diagram of a communication device provided in an embodiment of the present application. As shown in Figure 29, the communication device shown in Figure 29 includes a logic circuit 901 and an interface 902. That is, the above-mentioned processing unit 20 can be implemented with a logic circuit 901, and the transceiver unit 10 can be implemented with an interface 902. Among them, the logic circuit 901 can be a chip, a processing circuit, an integrated circuit or a system on chip (SoC) chip, etc., and the interface 902 can be a communication interface, an input / output interface, a pin, etc. Exemplarily, Figure 29 is shown as an example of the above-mentioned communication device being a chip, and the chip includes a logic circuit 901 and an interface 902.

[0390] In the embodiment of the present application, the logic circuit and the interface may also be coupled to each other. The embodiment of the present application does not limit the specific connection method between the logic circuit and the interface.

[0391] Exemplarily, when the communication device is used to execute the method, function, or step performed by the first communication device in the aforementioned method embodiment, the logic circuit 901 is used to generate P ranging segments or P ranging packets; and the interface 902 is used to output these P ranging segments or these P ranging packets through K channels.

[0392] Exemplarily, when the communication device is used to execute the method, function, or step performed by the second communication device in the aforementioned method embodiment, the interface 902 is used to input P ranging segments or P ranging packets through K channels; and the logic circuit 901 is used to determine the channel impulse response based on the P ranging segments or the P ranging packets.

[0393] In the embodiment of the present application, for specific descriptions of P ranging segments, P ranging packets, K channels, etc., please refer to the method embodiment shown in Figure 9 or Figure 20 above, and will not be described in detail here.

[0394] Illustratively, when the communication device is used to execute the method, function, or step executed by the initiator in the aforementioned method embodiment, the logic circuit 901 is used to generate configuration information; and the interface 902 is used to output the configuration information.

[0395] Illustratively, when the communication device is used to execute the method, function, or step executed by the responding end in the aforementioned method embodiment, the interface 902 is used to input configuration information; and the logic circuit 901 is used to parse the configuration information.

[0396] In the embodiments of the present application, for specific descriptions of configuration information, etc., please refer to the method embodiments shown in Figures 13 or 23 above, and will not be described in detail here.

[0397] It can be understood that the communication device shown in the embodiment of the present application can implement the method provided in the embodiment of the present application in the form of hardware, or can implement the method provided in the embodiment of the present application in the form of software, etc., and the embodiment of the present application is not limited to this.

[0398] For the specific implementation of the embodiment shown in Figure 29, you can also refer to the above embodiments and will not go into details here.

[0399] An embodiment of the present application further provides a wireless communication system, which includes a first communication device and a second communication device. The first communication device and the second communication device can be used to execute the method in any of the aforementioned method embodiments.

[0400] In addition, the present application also provides a computer program, which is used to implement the operations and / or processing performed by the first communication device in the method provided by the present application.

[0401] The present application also provides a computer program, which is used to implement the operations and / or processing performed by the second communication device in the method provided by the present application.

[0402] The present application also provides a computer-readable storage medium, which stores computer code. When the computer code runs on a computer, the computer executes the operations and / or processing performed by the first communication device in the method provided by the present application.

[0403] The present application also provides a computer-readable storage medium having computer code stored therein. When the computer code is run on a computer, the computer executes the operations and / or processing performed by the second communication device in the method provided in the present application.

[0404] The present application also provides a computer program product, which includes computer code or computer program. When the computer code or computer program is run on a computer, the operations and / or processing performed by the first communication device in the method provided by the present application are executed.

[0405] The present application also provides a computer program product, which includes computer code or computer program. When the computer code or computer program is run on a computer, the operations and / or processing performed by the second communication device in the method provided by the present application are executed.

[0406] 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 only schematic. For example, the division of the units is only 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. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or can be electrical, mechanical or other forms of connection.

[0407] 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 the units may be selected according to actual needs to achieve the technical effects of the solutions provided in the embodiments of the present application.

[0408] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0409] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a readable storage medium, including a number of 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 readable storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and other media that can store program code.

[0410] 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: include: The first communication device generates P ranging segments or P ranging packets; The first communication device sends the P ranging segments or the P ranging packets to the second communication device through K channels, the K channels transmit one ranging segment or ranging packet in sequence, K is an integer greater than 1, P is greater than or equal to K, and the transmission start time interval between two adjacent ranging segments or ranging packets is less than or equal to 1 millisecond.

2. The method according to claim 1, characterized in that The K channels sequentially transmit a ranging segment or ranging packet, including: When P is equal to K, the K channels transmit K ranging fragments or ranging packets in sequence, one at a time; When P is greater than K, the K channels transmit P1 of the P ranging segments in sequence, and then transmit (P-P1) segments in sequence through the K channels, one at a time; wherein P1 is equal to K or (P-P1) is equal to K.

3. The method according to claim 1 or 2, characterized in that: The K channels are transmitted sequentially including: The K channels are used sequentially in the order of increasing or decreasing center frequencies, or the K channels are not used sequentially in the order of increasing or decreasing center frequencies.

4. The method according to claim 3, characterized in that The channel transmission order of the K channels is to use them in ascending or descending order of the central frequency points; When there is no overlap between the K channels or the overlap rate is 25%, the transmission start time interval between two adjacent ranging segments or ranging packets is less than 1 millisecond; or, When the overlap rate among the K channels is 50% or 75%, the transmission start time interval between two adjacent ranging segments or ranging packets is equal to 1 millisecond.

5. The method according to claim 3, characterized in that: When the channel transmission order of the K channels is not used in sequence in an increasing or decreasing order of central frequencies, the transmission start time interval between two adjacent ranging segments or ranging packets is less than 1 millisecond. 6 . The method according to claim 1 , wherein the two adjacent ranging segments are both ranging sequence segments RSF, or the two adjacent ranging segments are both ranging integrity segments RIF.

7. The method according to any one of claims 1 to 6, characterized in that A transmission start time interval between a first ranging segment or ranging packet of the first communication device and a first ranging segment or ranging packet of the second communication device is less than or equal to 0.5 milliseconds.

8. The method according to any one of claims 1 to 6, characterized in that A transmission start time interval between a last ranging segment or ranging packet of the first communication device and a first ranging segment or ranging packet of the second communication device is less than or equal to 0.5 milliseconds.

9. The method according to claim 7 or 8, characterized in that: The transmission start time interval t between the first ranging segment or ranging packet of the first communication device and the first ranging segment or ranging packet of the second communication device O , or the transmission start time interval t between the last ranging segment or ranging packet of the first communication device and the first ranging segment or ranging packet of the second communication device O ,satisfy: Among them, t I Indicates the transmission start time interval between the two adjacent ranging segments or ranging packets.

10. The method according to any one of claims 1 to 9, characterized in that Before the first communication device sends the P ranging segments or the P ranging packets to the second communication device through K channels, the method further includes: The first communication device sends or receives configuration information, where the configuration information includes first indication information, where the first indication information includes a first field, and the first field is used to indicate a transmission start time interval between two adjacent ranging segments or ranging packets.

11. The method according to claim 10, characterized in that The first indication information also includes a second field; The second field is used to indicate a transmission start time interval between a first ranging segment or ranging packet of the first communication device and a first ranging segment or ranging packet of the second communication device; Or, the second field is used to indicate a transmission start time interval between a last ranging segment or ranging packet of the first communication device and a first ranging segment or ranging packet of the second communication device.

12. The method according to claim 10 or 11, characterized in that: The configuration information further includes one or more of the following: second indication information, or third indication information; The second indication information is used to indicate whether the first indication information exists; When the second indication information indicates that the first indication information does not exist, the third indication information is used to indicate the ultra-wideband UWB channel used for multi-millisecond ranging; when the second indication information indicates that the first indication information exists, the third indication information is used to indicate the reference channel when frequency band splicing is used for multi-millisecond ranging.

13. A distance measurement method, characterized in that: include: The second communication device receives P ranging segments or P ranging packets in sequence through K channels, where K is an integer greater than 1, P is greater than or equal to K, and a transmission start time interval between two adjacent ranging segments or ranging packets is less than or equal to 1 millisecond; The second communication device determines a channel impulse response according to the P ranging segments or the P ranging packets.

14. A distance measurement method, characterized in that: include: The first communication device generates K sensing packets or K data packets; The first communication device sends the K perception packets or the K data packets to the second communication device through K channels, and one perception packet or data packet is transmitted on each of the K channels. K is an integer greater than 1, and the transmission start time interval between two adjacent perception packets or data packets is less than or equal to 1 millisecond.

15. The method according to claim 14, characterized in that The channel transmission order of the K channels is to use them in the order of increasing or decreasing center frequencies, or not to use them in the order of increasing or decreasing center frequencies.

16. The method according to claim 14 or 15, characterized in that The channel transmission order of the K channels is to use them in ascending or descending order of the central frequency points; When there is no overlap between the K channels or the overlap rate is 25%, the transmission start time interval between two adjacent sensing packets or data packets is less than 1 millisecond; or, When the overlap rate among the K channels is 50% or 75%, the transmission start time interval between two adjacent perception packets or data packets is equal to 1 millisecond.

17. The method according to claim 14 or 15, characterized in that The channel transmission order of the K channels is not used in sequence in an increasing or decreasing order of central frequency points, and the transmission start time interval between two adjacent perception packets or data packets is less than 1 millisecond.

18. The method according to any one of claims 14 to 17, characterized in that A transmission start time interval between a first perception packet or data packet of the first communication device and a first perception packet or data packet of the second communication device is less than or equal to 0.5 milliseconds.

19. The method according to claim 18, characterized in that The transmission start time interval t between the first sensing packet or data packet of the first communication device and the first sensing packet or data packet of the second communication device O ,satisfy: Among them, t I Represents the transmission start time interval between the two adjacent perception packets or data packets.

20. The method according to any one of claims 14 to 19, characterized in that Before the first communication device sends the K perception packets or the K data packets to the second communication device through the K channels, the method further includes: The first communication device sends or receives configuration information, and the configuration information includes indication information A and indication information B, wherein the indication information A is used to indicate whether to use a perception packet for ranging, or the indication information A is used to indicate whether to use a data packet for ranging, and the indication information B is used to indicate the transmission start time interval between two adjacent perception packets or data packets.

21. A distance measurement method, characterized in that: include: The second communication device receives K sensing packets or K data packets in sequence through K channels, where K is an integer greater than 1, and a transmission start time interval between two adjacent sensing packets or data packets is less than or equal to 1 millisecond; The second communication device determines a channel impulse response based on the K perception packets or the K data packets.

22. The method according to claim 21, characterized in that Before the second communication device sequentially receives K perception packets or K data packets through K channels, the method further includes: The second communication device receives or sends configuration information, wherein the configuration information includes indication information A and indication information B, wherein the indication information A is used to indicate whether to use a perception packet for ranging, or the indication information A is used to indicate whether to use a data packet for ranging, and the indication information B is used to indicate the transmission start time interval between two adjacent perception packets or data packets.

23. A distance measurement method, characterized in that: include: The first communication device generates P sensing slices; The first communication device sends the P perception slices to the second communication device through K channels, and at least one perception slice is transmitted on each of the K channels, K is an integer greater than 1, and P is greater than or equal to K.

24. The method according to claim 23, characterized in that The P perception slices belong to the same perception package, or the P perception slices belong to multiple perception packages.

25. The method according to claim 23 or 24, characterized in that The P sensing fragments belong to the same sensing package; Transmitting at least one perception slice on each of the K channels includes: One perceptual slice is transmitted on each of the K channels.

26. The method according to claim 23 or 24, characterized in that The P perception fragments belong to a plurality of perception packets; Transmitting at least one perception slice on each of the K channels includes: When P is equal to K, the K channels transmit K perception slices in sequence, one at a time; When P is greater than K, the K channels transmit the perception fragments belonging to the same data packet in sequence, one at a time.

27. The method according to claim 25 or 26, characterized in that The K channels are transmitted sequentially including: The K channels are used sequentially in the order of increasing or decreasing center frequencies, or the K channels are not used sequentially in the order of increasing or decreasing center frequencies.

28. The method according to claim 26, characterized in that The transmission start time interval between two adjacent perception packets in the multiple perception packets is less than or equal to 1 millisecond.

29. The method according to any one of claims 23 to 28, characterized in that Before the first communication device sends the P perception slices to the second communication device through the K channels, the method further includes: The first communication device sends or receives configuration information, where the configuration information includes indication information A, and the indication information A is used to indicate whether to use a sensing packet for ranging.

30. According to the method of claim 29, the configuration information also includes indication information B, and the indication information B is used to indicate the transmission start time interval between two adjacent perception packets.

31. A distance measurement method, characterized in that: include: The second communication device receives P sensing slices through K channels in sequence; The second communication device determines a channel impulse response based on the P perception slices.

32. The method according to claim 31, characterized in that The P perception slices belong to the same perception package, or the P perception slices belong to multiple perception packages.

33. The method according to claim 31 or 32, characterized in that The P perception fragments belong to multiple perception packets, and the transmission start time interval between two adjacent perception packets in the multiple perception packets is less than or equal to 1 millisecond.

34. The method according to any one of claims 31 to 33, characterized in that Before the second communication device sequentially receives the P perception slices through the K channels, the method further includes: The second communication device receives or sends configuration information, where the configuration information includes indication information A, and the indication information A is used to indicate whether to use a sensing packet for ranging.

35. According to the method of claim 34, the configuration information also includes indication information B, and the indication information B is used to indicate the transmission start time interval between two adjacent perception packets.

36. A communication device, characterized in that: Comprising units or modules for executing the method according to any one of claims 1 to 35.

37. A communication device, characterized in that: It includes a processor and an interface circuit, wherein the interface circuit is used to receive signals from other communication devices and transmit them to the processor or send signals from the processor to other communication devices, and the processor is used to implement the method as described in any one of claims 1 to 35 through a logic circuit or executing code instructions.

38. A readable storage medium, characterized in that: Used to store a program, the program is executed by one or more processors, so that a device including the one or more processors performs the method according to any one of claims 1 to 35.

39. A wireless communication system, characterized in that: include: A first communication device for executing the method according to any one of claims 1 to 12, and a second communication device for executing the method according to claim 35.

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