Sensing or ranging method and apparatus based on sensing packet, and readable storage medium

Abstract

A sensing or ranging method and apparatus based on a sensing packet, and a readable storage medium. The method comprises: generating a sensing packet and sending the sensing packet by means of M channels, wherein a first sensing segment and an SHR in the sensing packet are transmitted on different channels, and a spectrum overlap ratio between the channel for transmitting the first sensing segment and the channel for transmitting the SHR is less than or equal to 25%. By using the method, the resolution and coverage of sensing or ranging can be improved. The method supports UWB protocols, including 802.15 series protocols, such as 802.15.4ab or next-generation standards thereof. The method can also support 802.11be / Wi-Fi 7 / EHT, 802.11bn / Wi-Fi 8 / UHR, integrated millimeter wave / IMMW and other protocols. The method can further support sensing protocols, such as 802.11bf, and standard protocols like StarFlash / spark link / nearlink .

Description

Perception or ranging method, device and readable storage medium based on perception packet

[0001] This application claims priority to a Chinese patent application filed on April 1, 2024 with the State Intellectual Property Office of China, application number 202410398269.3, and priority to a Chinese patent application entitled “Perception or ranging method, device and readable storage medium based on perception package”, 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 sensing or ranging method, device, and readable storage medium based on a sensing packet (SENS packet). 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. It has released the IEEE 802.15.4a standard for high-speed wireless personal area networks (WPANs) based on UWB technology, as well as its evolved version, IEEE 802.15.4z. The next-generation UWB WPAN standard, 802.15.4ab, is currently under discussion. One key focus of 802.15.4ab is the use of UWB pulses for ranging. Ranging performance is proportional to the effective bandwidth: the larger the effective bandwidth, the higher the ranging accuracy. However, low-cost, low-power UWB devices are limited by the performance of their analog-to-digital converters (ADCs), making them incapable of processing signals with large bandwidths. One possible solution is to combine multiple 499.2 MHz (megahertz) frequency bands to create a single, larger bandwidth band, thereby improving the ranging performance of low-cost, low-power UWB devices.

[0005] Currently, how to use a SENS packet to perform ranging is a problem being studied by those skilled in the art. Summary of the Invention

[0006] The embodiments of the present application provide a perception or ranging method, device, and readable storage medium based on perception packets, which can use perception packets to perform perception or ranging by splicing frequency bands, thereby improving the resolution and coverage of perception or ranging.

[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 this application, "transmission" can be understood as "sending" and / or "receiving". For a transmitting device, transmission can be understood as sending; for a receiving device, transmission can be understood as receiving.

[0009] In a first aspect, the present application provides a perception or ranging method based on a perception packet, which can be applied to an initiator or a responder. The method includes: a first communication device generates a perception packet, the perception packet includes a synchronization header and a perception sequence field, the perception sequence field includes M perception segments; the first communication device sends the perception packet through M channels. Among them, one perception segment (SENS segment) is transmitted (such as sent) on one channel, and different perception segments (SENS segments) are transmitted (such as sent) on different channels. The first perception segment of the M perception segments and the synchronization header are transmitted (such as sent) on different channels, and the spectrum overlap rate between the channel for transmitting (such as sending) the first perception segment and the channel for transmitting (such as sending) the synchronization header in the M channels is less than or equal to 25%. M is an integer greater than 1.

[0010] Exemplarily, the first communication device may be an initiator or a responder. In a ranging scenario, the first communication device may be either an initiator or a responder. In a sensing scenario, the first communication device may be an initiator.

[0011] Exemplarily, the M channels mentioned above can be used for frequency band splicing.

[0012] 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.

[0013] It is understandable that in hardware implementation, all pulses in a packet typically have the same amplitude. However, according to the power spectral density (PSD) constraint of the UWB signal, the maximum power spectral density of the transmitted UWB signal cannot be greater than 41.3dBm per MHz on average within one millisecond. For a 500MHz bandwidth UWB signal, the energy that can be transmitted in one millisecond does not exceed 37nJ (nanojoules). Therefore, the more pulses there are, the lower the energy and amplitude of each pulse. Therefore, when the SHR and the first SENS segment use the same channel for transmission, the total number of pulses transmitted on this channel will be greater than the total number of pulses corresponding to other sensing segments. In this case, the amplitude of all pulses needs to be reduced, which will become a bottleneck for the pulse amplitude and cause power loss.

[0014] Therefore, the present application constrains the SHR and the first perception segment in the perception packet to be sent on different channels, and the spectrum overlap rate between the channel sending the SHR and the channel sending the first perception segment is less than or equal to 25%, so that both the SHR and the first perception segment can be sent with the maximum allowed average power, thereby reducing power loss and improving the resolution and coverage of perception or ranging.

[0015] In conjunction with the first aspect, in one possible implementation, before the first communication device sends the perception packet via M channels, the method further includes: the first communication device sending a frequency band splicing parameter field, and determining the M channels for frequency band splicing based on the frequency band splicing parameter field. The frequency band splicing parameter field includes a reference channel field, a carrier frequency grid field, and a transmission number field. The transmission number field can be used to indicate the total number M of channels used for frequency band splicing. The reference channel field can be used to indicate the channel number of the reference channel. The carrier frequency grid field can be used to indicate the spectrum overlap ratio between channels for frequency band splicing.

[0016] Exemplarily, the first communication device sending the perception packet through M channels includes: the first communication device sending the perception packet through the M channels determined based on the frequency band splicing parameter field. The method for determining the M channels based on the frequency band splicing parameter field is described below and is not detailed here.

[0017] In a second aspect, the present application provides a sensing or ranging method based on a sensing packet, which can be applied to an initiator or a responder. The method includes: a second communication device receives a sensing packet through M channels, the sensing packet including a synchronization header and a sensing sequence field, the sensing sequence field including M sensing segments; the second communication device performs sensing or ranging based on the M sensing segments. Among them, a sensing segment (SENS segment) is transmitted (such as received) on one channel, and different sensing segments (SENS segments) are transmitted (such as received) on different channels. The first sensing segment of the M sensing segments and the synchronization header are transmitted (such as received) on different channels, and the spectrum overlap rate between the channel transmitting (such as receiving) the first sensing segment and the channel transmitting (such as receiving) the synchronization header in the M channels is less than or equal to 25%. M is an integer greater than 1.

[0018] Exemplarily, the second communication device can be a responder or an initiator. In a ranging scenario, the second communication device can be either a responder or an initiator. In a sensing scenario, the second communication device can be a responder. It is understood that when the first communication device is an initiator, the second communication device is a responder; and when the first communication device is a responder, the second communication device is an initiator.

[0019] Exemplarily, the M channels mentioned above can be used for frequency band splicing.

[0020] In conjunction with the second aspect, in one possible implementation, before the second communication device receives the perception packet through M channels, the method further includes: the second communication device receives the frequency band splicing parameter, and can determine the M channels used for frequency band splicing based on the frequency band splicing parameter field. The frequency band splicing parameter field includes a reference channel field, a carrier frequency grid field, and a transmission number field. The transmission number field can be used to indicate the total number M of channels used for frequency band splicing. The reference channel field can be used to indicate the channel number of the reference channel. The carrier frequency grid field can be used to indicate the spectrum overlap rate between the channels of the frequency band splicing. Among them, regarding the method of determining M channels based on the frequency band splicing parameter field, please refer to the description below and will not be described in detail here.

[0021] Exemplarily, the second communication device receives the perception packet through M channels, including: the second communication device receives the perception packet through the M channels determined based on the frequency band splicing parameter field.

[0022] In a third aspect, the present application provides a communication device, which includes a transceiver module and a processing module. The processing module is used to generate a perception packet, which includes a synchronization header and a perception sequence field, and the perception sequence field includes M perception segments; the transceiver module is used to send the perception packet through M channels. Among them, one perception segment (SENS segment) is transmitted (such as sent) on one channel, and different perception segments (SENS segments) are transmitted (such as sent) on different channels. The first perception segment of the M perception segments and the synchronization header are transmitted (such as sent) on different channels, and the spectrum overlap rate between the channel that transmits (such as sends) the first perception segment and the channel that transmits (such as sends) the synchronization header in the M channels is less than or equal to 25%. M is an integer greater than 1.

[0023] Exemplarily, the M channels mentioned above can be used for frequency band splicing.

[0024] In conjunction with the third aspect, in one possible implementation, the transceiver module is further configured to transmit a frequency band splicing parameter field, which is used to determine the M channels used for frequency band splicing. The frequency band splicing parameter field includes a reference channel field, a carrier frequency grid field, and a transmission number field, which indicates the total number M of channels used for frequency band splicing. The reference channel field indicates the channel number of the reference channel, and the carrier frequency grid field indicates the spectrum overlap ratio between the channels used for frequency band splicing. The transceiver module is specifically configured to transmit the perception packet based on the M channels determined by the frequency band splicing parameter field via the processing module.

[0025] In a fourth aspect, the present application provides a communication device, which includes a transceiver module and a processing module. The transceiver module is used to receive a perception packet through M channels, the perception packet including a synchronization header and a perception sequence field, the perception sequence field including M perception segments; the processing module is used to perform perception or ranging based on the M perception segments. Among them, one perception segment (SENS segment) is transmitted (such as received) on one channel, and different perception segments (SENS segments) are transmitted (such as received) on different channels. The first perception segment of the M perception segments and the synchronization header are transmitted (such as received) on different channels, and the spectrum overlap rate between the channel transmitting (such as receiving) the first perception segment and the channel transmitting (such as receiving) the synchronization header in the M channels is less than or equal to 25%. M is an integer greater than 1.

[0026] Exemplarily, the M channels mentioned above can be used for frequency band splicing.

[0027] In conjunction with the fourth aspect, in one possible implementation, the transceiver module is further configured to receive a frequency band splicing parameter field, which is used to determine the M channels used for frequency band splicing. The frequency band splicing parameter field includes a reference channel field, a carrier frequency grid field, and a transmission number field, which indicates the total number M of channels used for frequency band splicing. The reference channel field indicates the channel number of the reference channel, and the carrier frequency grid field indicates the spectrum overlap ratio between the channels used for frequency band splicing. The transceiver module is specifically configured to receive the perception packet based on the M channels determined by the processing module based on the frequency band splicing parameter field.

[0028] In one possible implementation of any of the above aspects, the synchronization header may also be transmitted on one of the M channels. In other words, the channel that transmits the synchronization header is also used to transmit a sensing segment (SENS segment). This maximizes the equivalent bandwidth and maintains the spectral overlap between the M channels that transmit the sensing segment.

[0029] In a possible implementation of any of the above aspects, the interval between the start time of transmission of the synchronization header and the start time of transmission of the perception segment on the first channel is greater than or equal to T milliseconds. The first channel is the channel for transmitting the synchronization header among the M channels. In other words, the interval between the start time of transmission of the synchronization header and the start time of transmission of the perception segment on the same channel is greater than or equal to T milliseconds. Exemplarily, T is equal to 1. This is because the average value of the maximum power spectral density 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.

[0030] In a possible implementation of any of the above aspects, the synchronization header can be transmitted on the same channel as the last perception segment of the M perception segments. At this time, the interval between the transmission start time of the synchronization header and the transmission start time of the last perception segment can be greater than or equal to 1 millisecond. Exemplarily, the synchronization header and the last perception segment (SENS segment) are both transmitted on the base channel (base channel) of the M channels. In this way, after sending the last perception segment, the initiator does not need to switch channels to receive the synchronization header from the responder, thereby reducing the channel switching time and improving the ranging efficiency.

[0031] In one possible implementation of any of the above aspects, the physical layer protocol data unit (PPDU) format of the sensing packet may be SENS packet configuration zero. This can reduce the complexity of the receiving end, improve the efficiency of ranging or sensing, and simplify the design of subsequent channel usage sequence.

[0032] In one possible implementation of any of the above aspects, a start time interval between signals transmitted on channels with a spectrum overlap greater than 25% among the M channels used for frequency band splicing is greater than or equal to T milliseconds. Exemplarily, T is equal to 1. In this way, signals transmitted on each channel can be transmitted at a maximum allowable average power, thereby improving ranging or sensing accuracy and reducing power loss.

[0033] In a possible implementation of any of the above aspects, the reference channel of the M channels used for frequency band splicing may be a channel with the smallest center frequency among the M channels, which can reduce path loss.

[0034] In a possible implementation of any of the above aspects, the order of using the logical channels corresponding to the M channels satisfies:

[0035] CH(((pMOD(N))×(OF+1))MOD(N)+((pMOD(N))×(OF+1))DIV(N));

[0036] Where CH() represents the logical channel corresponding to M channels, and p can be 0, 1, 2, ..., N. OF represents the overlap factor, and the value of OF is the same as the value of the carrier frequency grid field. If the total number of channels used for band splicing, M, is an integer multiple of (OF+1), then N is equal to M. If M is not an integer multiple of (OF+1), then N is the smallest integer multiple of (OF+1) among the positive integers greater than M. M is equal to the value of the transmitted number segment plus 1. MOD represents the modulo operation, and DIV represents integer division.

[0037] In a possible implementation of any of the above aspects, the order of using the logical channels corresponding to the M channels satisfies:

[0038] CH((p×(OF+1))MOD(N)+(p×(OF+1))DIV(N));

[0039] Where CH() represents the logical channel corresponding to M channels, and the values ​​of p are 0, 1, 2, ..., (N-1), and 0. OF ​​represents the overlapping factor, and the value of OF is the same as the value of the carrier frequency grid field. If the total number of channels M used for band splicing is an integer multiple of (OF+1), then N is equal to M. If the total number of channels M used for band splicing is not an integer multiple of (OF+1), then N is the smallest integer multiple of (OF+1) among the positive integers greater than M. M is equal to the value of the transmitted number segment plus 1. MOD represents the modulo operation, and DIV represents integer division.

[0040] For example, the center frequency (MHz) corresponding to CH(i) may satisfy:

[0041] f i =f base +124.8×i×(4-OF)×(2×D-1);

[0042] Among them, f i Indicates the center frequency (MHz) corresponding to CH(i), i=(p×(OF+1))MOD(N)+(p×(OF+1))DIV(N). base Indicates the center frequency (MHz) of the reference channel indicated by the Reference Channel field in the Band Splicing Parameters field. This center frequency corresponds to the channel number of the reference channel. D is equal to the value of the Band Splicing Direction field in the Band Splicing Parameters field. OF is equal to the value of the Carrier Frequency Grid field. As can be understood, since the bandwidth of a UWB channel is fixed, the center frequency uniquely identifies a UWB channel.

[0043] In a possible implementation of any of the above aspects, the number of symbols N included in any of the M perception segments is s It is determined based on the duration of the synchronization header, the number of preamble symbols corresponding to the guard interval (gap) in the perception packet, the number M of perception segments in the perception packet, the spectrum overlap rate between adjacent channels in the M channels, and the duration of the preamble symbol.

[0044] Exemplarily, when the spectrum overlap rate between adjacent channels in the M channels is less than or equal to 25%, the number of symbols N included in any one of the M perception segments is s satisfy:

[0045] Among them, t SHR Indicates the duration of the synchronization header in microseconds; N gap Indicates the number of preamble symbols corresponding to the guard interval (gap) in the sensing packet; T symbol Indicates the duration of a preamble symbol in microseconds.

[0046] For example, when the spectrum overlap rate between adjacent channels in the above M channels is equal to 50%, if M is equal to 3z, z is an integer greater than 1, the number of symbols N included in any perception segment in the above M perception segments is s satisfy:

[0047] If M is equal to (3z+1), z is an integer greater than 1, the number of symbols included in any of the above M perceptual segments is N s satisfy:

[0048] If M is equal to (3z+2), z is an integer greater than or equal to 1, the number of symbols included in any one of the M perceptual segments is N s satisfy:

[0049] Among them, t SHR Indicates the duration of the synchronization header in microseconds; N gap Indicates the number of preamble symbols corresponding to the guard interval (gap) in the sensing packet; T symbol Indicates the duration of a preamble symbol in microseconds.

[0050] For example, when the spectrum overlap rate between adjacent channels in the above M channels is equal to 75%, if M is equal to 4z, z is an integer greater than 1, the number of symbols N included in any one of the above M perception segments is s satisfy:

[0051] If M is equal to (4z+1) or (4z+2), z is an integer greater than 1, the number of symbols N included in any of the above M perceptual segments is s satisfy:

[0052] If M is equal to (4z+3), z is an integer greater than or equal to 1, the number of symbols included in any of the above M perceptual segments is N s satisfy:

[0053] Among them, t SHR Indicates the duration of the synchronization header in microseconds; N gap Indicates the number of preamble symbols corresponding to the guard interval in the sensing packet; T symbol Indicates the duration of a preamble symbol in microseconds.

[0054] In a possible implementation of any of the above aspects, the number of symbols N included in any of the M perception segments is sSatisfy one or more items listed in Table 3 or Table 4 below.

[0055] The present application can limit the number of symbols in each SENS segment to make the transmission start time interval of a signal on a channel with a spectrum overlap rate exceeding 25% greater than or equal to 1 ms, thereby reducing power loss.

[0056] In a fifth aspect, the present application provides a communication device, comprising a processor configured to execute the method described in the first aspect, the second aspect, or any possible implementation of any of the above aspects. 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, or any possible implementation of any of the above aspects is executed.

[0057] In combination with the fifth aspect, in a possible implementation, the memory is located outside the above-mentioned communication device.

[0058] In combination with the fifth aspect, in a possible implementation, the memory is located within the above-mentioned communication device.

[0059] 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.

[0060] In combination with the fifth aspect, in a possible implementation, the communication device also includes a transceiver, which is used to send or receive perception packets.

[0061] In a sixth aspect, the present application provides a communication device, which may include a logic circuit and an interface, and the logic circuit and the interface are coupled. The interface is used to interact (or transmit and receive or input and output) information or data, and the logic circuit is used to run program instructions so that the communication device performs the method described in any possible implementation of the first aspect, the second aspect, or any aspect thereof. The interface 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.

[0062] In the seventh 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, the second aspect, or any possible implementation of any of the aspects above.

[0063] In an eighth aspect, the present application provides a computer program product comprising program instructions, which, when executed, enables the method described in the first aspect, the second aspect, or any possible implementation of any of the aspects to be executed.

[0064] In a ninth 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 or any possible implementation of the first aspect, and the second communication device is used to execute the method described in the above-mentioned second aspect or any possible implementation of the second aspect.

[0065] 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

[0066] FIG1 is a schematic structural diagram of a wireless communication system provided in an embodiment of the present application;

[0067] FIG2 is another schematic structural diagram of a wireless communication system provided in an embodiment of the present application;

[0068] FIG3 is a possible schematic diagram of the PPDU format of the perception packet provided in an embodiment of the present application;

[0069] FIG4 is a schematic diagram of a structure of a SENS field provided in an embodiment of the present application;

[0070] FIG5 is a schematic diagram of the format of a frequency band splicing parameter field provided in an embodiment of the present application;

[0071] FIG6 is a schematic diagram of a sequential channel provided in an embodiment of the present application;

[0072] FIG7 is a schematic diagram of an out-of-order channel provided in an embodiment of the present application;

[0073] FIG8 is a flow chart of a sensing or ranging method based on a sensing packet according to an embodiment of the present application;

[0074] FIG9 is a schematic diagram of ranging when the spectrum overlap rate between adjacent channels is 0 according to an embodiment of the present application;

[0075] FIG10 is a schematic diagram of ranging when the spectrum overlap rate between adjacent channels is 25% according to an embodiment of the present application;

[0076] FIG11 is a schematic diagram of ranging when the spectrum overlap rate between adjacent channels is 50% according to an embodiment of the present application;

[0077] FIG12 is a schematic diagram of ranging when the spectrum overlap rate between adjacent channels provided by an embodiment of the present application is 75%;

[0078] FIG13 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0079] FIG14 is another schematic structural diagram of a communication device provided in an embodiment of the present application;

[0080] FIG15 is another structural diagram of the communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0081] 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.

[0082] 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.

[0083] 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, "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / 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 (or more) items" or similar expressions refer to any combination of these items. For example, the following one (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".

[0084] 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.

[0085] 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.

[0086] Elements used in the singular herein are intended to mean "one or more" rather than "one and only one" unless specifically stated otherwise.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] The following is a brief introduction to some relevant terms or nouns involved in this application.

[0097] 1. Power spectral density (PSD) limitation

[0098] Due to the large bandwidth of ultra-wideband systems, in order to reduce interference with other narrowband devices during operation, the Federal Communications Commission (FCC) of the United States has imposed strict restrictions on the power spectral density of UWB signals. According to the U.S. Code of Federal Regulations (CFR Code of Federal Regulations), there are two main rules:

[0099] 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.

[0100] Rule 2: The maximum power of the transmitted UWB signal within any 50MHz bandwidth cannot exceed 1 milliwatt.

[0101] The above rule 1 limits the total energy of the UWB signal transmitted within 1 millisecond (not exceeding 37nJ in a 500MHz bandwidth).

[0102] 2. Physical layer protocol data unit (PPDU) format of sensing packets in UWB systems

[0103] Part of the PPDU format of the sensing packet (SENS packet) defined in existing standards (such as 802.15.4a, 802.15.4z and 802.15.4ab) is shown in Figure 3, which is a possible schematic diagram of the PPDU format of the sensing packet provided in an embodiment of the present application. Among them, Figure 3 shows three possible PPDU structures of the sensing packet. In actual applications, there are more or fewer PPDU structures than Figure 3, and this application does not limit it. As shown in Figure 3, sensing packet configuration 0 (SENS packet configuration zero) includes a synchronization (SYNC) field, a start-of-frame delimiter (SFD) field, and a sensing sequence field (SENS) field. Sensing packet configuration 1 (SENS packet configuration one) and sensing packet configuration 2 (SENS packet configuration two) both include a SYNC field, an SFD field, a SENS field, a physical layer header (PHR) field, and a physical bearer field (PHY payload field).

[0104] The SYNC field and SFD field form a synchronization header (SHR). The receiving end can perform PPDU detection and synchronization based on the SYNC field or SHR. The SYNC field can contain multiple repeated symbols, which can be generated from the preamble sequence. 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 receiving end in correctly demodulating data. The physical payload field can be used to carry data.

[0105] In one possible implementation, the SENS field may include one or more SENS segments. Referring to Figure 4, Figure 4 is a structural diagram of the SENS field provided in an embodiment of the present application. Among them, Figure 4 shows a SENS field including 2 segments. As shown in Figure 4, single-segment SENS includes 1 SENS active segment and 2 gaps, and these 2 gaps are located at both ends of the sensing active segment. As shown in Figure 4, two-segment SENS includes 2 SENS active segments and 3 gaps. It can be understood that gaps can be used for switching channels or switching antennas between the transmitter and the receiver.

[0106] It can be understood that the SENS active segment in this application is also referred to as the SENS segment, and the two can be used interchangeably.

[0107] When two adjacent sensing segments (or sensing active segments) are transmitted on the same UWB channel, the duration of the Gap can be 1 preamble symbol; when two adjacent sensing segments (or sensing active segments) are transmitted on different UWB channels, the duration of the Gap can be 40 preamble symbols. Exemplarily, the preamble symbol can be composed of a ternary Ipatov sequence with a length of 91. Each sensing segment can support 32, 64, or 128 preamble symbols, and can also support 16, 256, or 512 preamble symbols.

[0108] It can be understood that the sensing segment (SENS segment) in this application can be used for both sensing and ranging.

[0109] 3. Frequency Stitching

[0110] Currently, most UWB devices are limited by ADC performance, lacking the ability to process wide-bandwidth signals. 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 frequency band splicing. Frequency band splicing can be simply described as follows: the transmitter uses multiple frequency bands to transmit multiple sensing fragments, where different sensing fragments (SFs) can be transmitted on different frequency bands. The receiver receives the sensing fragments (SFs) on each of these frequency bands and performs sensing or ranging based on the received SFs. This is equivalent to splicing multiple frequency bands together and performing sensing or ranging on the spliced ​​frequency band. This can improve the sensing and ranging performance of UWB devices.

[0111] Band splicing can be divided into two categories from a temporal perspective: intra-packet band splicing, where different parts of a perceptual physical layer protocol data unit (PPDU) are transmitted on different UWB channels (or frequency bands); and inter-packet band splicing, where multiple different perceptual PPDUs are transmitted on different UWB channels (or frequency bands).

[0112] In this application, "sensing PPDU" may also be referred to as "sensing packet (SENS packet)," and the two may be used interchangeably. In this application, "frequency band" and "channel" may be used interchangeably.

[0113] In one possible implementation, for inter-packet band splicing, a sensory fragment (SF) can represent one or more PPDUs. For intra-packet band splicing, a sensory fragment (SF) can represent one or more sensory segments (SENS segments) within a PPDU. This application focuses on intra-packet band splicing.

[0114] The relevant configuration of the existing frequency band splicing can be indicated by the frequency band splicing parameters field. Referring to Figure 5, Figure 5 is a format diagram of the frequency band splicing parameters field provided in an embodiment of the present application. As shown in Figure 5, the frequency band splicing parameters field may include but is not limited to: frequency band splicing direction (Frequency Stitching Direction) field, reference channel (Base Channel) field, carrier frequency grid (Carrier Frequency Grid) field, channel sequence (Channel Sequence Order) field, number of transmissions (Number of Transmissions) field, frequency band splicing type (Frequency Stitching Type) field, and feedback control (Feedback Control) field.

[0115] Among them, the frequency band splicing direction field can be used to indicate the direction of change of the center frequency of the subsequent channel based on the center frequency of the reference channel, or to indicate whether the center frequency of the channel used for frequency band splicing increases or decreases relative to the center frequency of the reference channel, or to indicate whether the center frequency of the channel used subsequently for frequency band splicing is greater than or less than the center frequency of the first channel used for frequency band splicing. Exemplarily, when the value of the frequency band splicing direction field is 1, it indicates that the center frequency band of the reference channel is the smallest, or that the center frequency of the channel used for frequency band splicing increases on the basis of the center frequency of the reference channel; when the value is 0, it indicates that the center frequency of the reference channel is the largest, or that the center frequency of the channel used for frequency band splicing decreases on the basis of the center frequency of the reference channel. 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 (i.e., the starting channel of frequency band splicing). The carrier frequency grid field can be used to indicate the spectrum overlap ratio configuration between channels of frequency band splicing, or to indicate the interval between channels used for frequency band splicing. The correspondence between its value and meaning can be shown in Table 1 below.

[0116] Table 1: Carrier frequency grid field values ​​and interpretations

[0117] In short, when the value of the carrier frequency grid field is 0, it means that there is no overlap between adjacent channels; when the value of the carrier frequency grid field is 1, it means that the spectrum overlap rate between adjacent channels is 25%; when the value of the carrier frequency grid field is 2, it means that the spectrum overlap rate between adjacent channels is 50%; when the value of the carrier frequency grid field is 3, it means that the spectrum overlap rate between adjacent channels is 75%.

[0118] The channel order field can be used to indicate whether the order of channels used for band splicing is in the order of increasing or decreasing center frequency points, or in non-sequential use. For example, when the value of the channel order field is 0, it indicates that the channels are used in sequence (in-sequence channel order), referred to as sequential channels for short. When the value of the channel order field is 1, it indicates that the channels are used out of sequence (out-of-sequence channel order), referred to as out-of-sequence channels for short. For an explanation of sequential channels and out-of-sequence channels, please refer to the following and will not be described in detail here.

[0119] The value of the Transmission Number field plus 1 indicates the total number of bands (or channels) used for band splicing. A value of 0 in the Band Splicing Type field indicates intra-packet band splicing; a value of 1 indicates inter-packet band splicing; a value of 2 indicates both intra-packet and inter-packet band splicing; and a value of 3 indicates reserved. The Feedback Control field can be used to indicate channel impulse response (CIR) feedback control for band splicing. The corresponding values ​​and meanings are shown in Table 2 below.

[0120] Table 2: Feedback control field values ​​and interpretations

[0121] It is understood that 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) on the effective channel after splicing. The channel usage order in existing band splicing can be divided into two categories: in-sequence channel order, referred to as sequential channels, and out-of-sequence channel order, referred to as out-of-sequence channels.

[0122] Refer to Figure 6, which is a schematic diagram of a sequential channel provided in an embodiment of the present application. As shown in Figure 6, the characteristic of the sequential channel is that different channels are transmitted in sequence in the order of increasing or decreasing center frequencies. Figure 6 shows a sequential channel with a spectrum overlap rate of 50%. It can be understood that since the sequential channel has no frequency domain overlap and the signal transmission start time interval between channels 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.

[0123] 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 characteristics of the disordered channel include that there is no overlap in the frequency domain between adjacent transmitted channels (such as CH0 and CH3 in Figure 7), and the signal transmission start time interval between frequency-domain overlapping channels (such as CH0 and CH1 in Figure 7) is greater than or equal to 1ms (milliseconds). According to the transmission power requirements of UWB signals, the maximum average power per millisecond per MHz bandwidth is -41.3dBm (i.e., Rule 1 above). Then when the transmission interval between frequency-domain overlapping channels is greater than or equal to 1ms, each perception segment (SF) can be transmitted at the maximum allowed average power.

[0124] For out-of-order channels, the channel usage order can be calculated according to the following formula (1-1):

[0125] CH((p×(OF+1))MOD(N)+(p×(OF+1))DIV(N))…………………………………………(1-1)

[0126] Where p can be 0, 1, 2, ..., (N-1). OF represents the overlap factor, which is the same as the value of the Carrier Frequency Grid field. If the total number of channels (bands) used for band splicing, M, is an integer multiple of (OF+1), then N equals M. If the total number of channels (bands) used for band splicing, M, is not an integer multiple of (OF+1), then N is the smallest positive integer greater than M that is divisible by (OF+1). M is the value of the Number of Transmissions field plus 1. For example, if M equals 6 and OF equals 2 (i.e., the spectral overlap between adjacent channels is 50%), since M divides (OF+1)=3, N equals M equals 6. If OF equals 3 (i.e., the spectral overlap between adjacent channels is 75%), since M does not divide (OF+1)=4, N equals 8. It can be understood that if N is greater than M (i.e., the value of M cannot be divided evenly by (OF+1)), the additional channels (i.e., CH(M), CH(M+1), ..., CH(N-1)) are not actually used, and the transmitter does not transmit UWB pulses on the additional channels. In other words, if the total number of channels (bands) used for band splicing, M, is not an integer multiple of (OF+1), channels CH(0), CH(1), ...., CH(N-1) include unused channels, corresponding to the transmitter's idle state.

[0127] 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.

[0128] It can be understood that the channel usage order of the above out-of-order channel calculated according to the above formula (1-1) does not match the actual channel. The present application can establish a connection between CH(i) and the actual channel through the following formula (1-2).

[0129] The center frequency (MHz) corresponding to channel CH(i) can be calculated using the following formula (1-2):

[0130] f i =f base +124.8×i×(4-OF)×(2×D-1)................................................................................................(1-2)

[0131] Among them, f i Indicates the center frequency (MHz) corresponding to CH(i) in the above channel usage order, i = (p×(OF+1))MOD(N)+(p×(OF+1))DIV(N). base Indicates the center frequency (MHz) of the reference channel indicated by the Reference Channel field. The center frequency of the reference channel corresponds to the channel number of the reference channel. D is equal to the value of the Frequency Stitching Direction field. OF is equal to the value of the Carrier Frequency Grid field. As can be understood, since the bandwidth of a UWB channel is fixed, the center frequency can be used to uniquely identify a UWB channel.

[0132] 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.

[0133] As can be seen from the above, frequency band splicing helps improve ranging accuracy. How to use sensing packets to perform ranging through frequency band splicing is a problem that is being studied by those skilled in the art.

[0134] The embodiments of the present application provide a perception or ranging method, device, and readable storage medium based on perception packets, which can use perception packets to perform perception or ranging by splicing frequency bands, thereby improving the resolution and coverage of perception or ranging.

[0135] The technical solution provided in this application will be described in detail below with reference to more drawings.

[0136] 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.

[0137] The communication device in this application can not only support the 802.15 / UWB series protocols, such as the 802.15.4ab standard or the next generation standard of 802.15.4ab, but also support other IEEE standard protocols, such as IEEE 802.11be / Wi-Fi 7 / extremely high throughput (EHT) protocol, IEEE 802.11bn / Wi-Fi 8 / ultra high reliability (UHR), IEEE Integrated mmWave / integrated millimeter wave / IMMW protocol, or IEEE 802.11bf / sensing / perception protocol. The communication device in this application may also support the Spark Link / NearLink standard protocol.

[0138] In one possible implementation, the method provided in the present application can be applied to a one-way / two-way ranging scenario between one node and one node, or a perception scenario between one node and one node; it can also be applied to a one-way / two-way ranging scenario between one node and multiple nodes, or a perception scenario between one node and multiple nodes; it can also be applied to a one-way / two-way ranging scenario between multiple nodes and multiple nodes, or a perception scenario between multiple nodes and multiple nodes; this application does not impose any restrictions.

[0139] The "perception packet" in this application can be understood as a PPDU (or packet) used for perception measurement, or a PPDU (or packet) containing a perception sequence field (SENS field). It can be understood that "PPDU (or packet) used for perception measurement" does not mean that this PPDU (or packet) is only used for perception measurement. Of course, this PPDU (or packet) can also be used to implement other functions, such as ranging, which is not limited in this application. The "synchronization header" in this application can be understood as information in the PPDU (or packet) used for PPDU detection and / or synchronization. The synchronization header (SHR) in this application can include a SYNC field and an SFD.

[0140] Refer to Figure 8, which is a flow chart of a perception or ranging method based on a perception packet 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.

[0141] As shown in FIG8 , the sensing or ranging method based on the sensing packet includes but is not limited to the following steps:

[0142] S101: A first communication device generates a sensing packet, where the sensing packet includes a synchronization header and a sensing sequence field, where the sensing sequence field includes M sensing segments, where M is an integer greater than 1.

[0143] S102: The first communication device transmits the sensing packet via M channels. One sensing segment is transmitted on one channel, and different sensing segments are transmitted on different channels. A first sensing segment and a synchronization header among the M sensing segments are transmitted on different channels, and a spectrum overlap rate between the channel transmitting the first sensing segment and the channel transmitting the synchronization header among the M channels is less than or equal to 25%.

[0144] Accordingly, the second communication device receives the aforementioned sensing packets via the M channels. It is understood that the second communication device receives the sensing packets via the M channels in the same manner as the first communication device transmits the sensing packets via the M channels. For example, the first communication device transmits a sensing segment on a certain channel, and the second communication device receives the sensing segment on the same channel.

[0145] S103: The second communication device performs sensing or ranging based on the received M sensing segments.

[0146] In one possible implementation, the above-mentioned perception packet may include a SYNC field, an SFD field, and a SENS field. Among them, the SYNC field and the SFD field may constitute a synchronization header (SHR). Exemplarily, the PPDU format of the perception packet may be the perception packet configuration 0 (SENS packet configuration zero) shown in the aforementioned FIG3 . It can be understood that the embodiment of the present application takes into account that carrying PHR and PHY Payload in the perception packet has no gain in improving the ranging accuracy, so the embodiment of the present application uses SENS packet configuration zero for ranging, which can reduce the complexity of the receiving end, improve the efficiency of ranging or perception, and simplify the design of the subsequent channel usage order.

[0147] Of course, in addition to the SYNC field, SFD field, and SENS field, the above-mentioned perception packet may also include a PHR field and a PHY Payload field. In other words, the PPDU format of the perception packet in the embodiment of the present application may also adopt perception packet configuration 1 (SENS packet configuration one) or perception packet configuration 2 (SENS packet configuration two), or other PPDU formats. The embodiment of the present application does not limit the PPDU format of the perception packet.

[0148] In one possible implementation, the above-mentioned SENS field may include M perception segments (SENS segments), where M is an integer greater than 1. The number of symbols carried by each perception segment (SENS segment) may be the same. These M perception segments may be sent through M channels, with one perception segment transmitted on one channel and different perception segments transmitted on different channels. These M channels may be used for frequency stitching. It will be understood that if the number of perception segments (SENS segments) transmitted on different channels is different, the accuracy of the channel impulse response (CIR) estimation on different channels will be different, resulting in an imbalance. In addition, transmitting multiple perception segments on one channel will increase the time for each measurement and reduce the measurement efficiency. Therefore, each perception segment in the embodiment of the present application is transmitted on a specific UWB channel, and there is no situation where multiple perception segments are transmitted on the same UWB channel. This can make the accuracy of CIR estimation on different channels the same, and can also reduce the measurement time and improve the measurement efficiency.

[0149] The synchronization header (SHR) can also be transmitted on one of these M channels. In other words, the channel that transmits the SHR is also used to transmit a sensing segment (SENS segment). This maximizes the equivalent bandwidth and keeps the spectral overlap between the M channels that transmit the sensing segments constant.

[0150] Furthermore, the channel for transmitting the SHR is different from the channel for transmitting the first of the M perception segments, and the spectral overlap between the two channels is less than or equal to 25%. In other words, the first of the M perception segments and the synchronization header (SHR) are transmitted on different channels, and the spectral overlap between the channel for transmitting the first perception segment and the channel for transmitting the synchronization header (SHR) is less than or equal to 25%.

[0151] It is understandable that in hardware implementation, all pulses in a packet usually have the same amplitude. However, according to the power spectral density constraint of the UWB signal, the average value of the maximum power spectral density of the transmitted UWB signal within one millisecond cannot be greater than 41.3dBm per MHz. For a UWB signal with a bandwidth of 500MHz, the energy that can be transmitted in 1 millisecond does not exceed 37nJ (nanojoules). Therefore, the more pulses there are, the lower the energy of each pulse and the lower the amplitude. If the SHR and the first sensing segment use the same channel for transmission, the total number of pulses transmitted on this channel will be greater than that of other sensing segments (SENS segments). In this case, the amplitude of all pulses needs to be reduced, which will become a bottleneck for the pulse amplitude and cause power loss. Therefore, the embodiment of the present application constrains the SHR and the first sensing segment to be transmitted on different channels, and the spectrum overlap rate between the channel transmitting the SHR and the channel transmitting the first sensing segment is less than or equal to 25%, so that both the SHR and the first sensing segment can be transmitted at the maximum allowable average power, reducing power loss.

[0152] In one possible implementation, since the synchronization header is also transmitted on one of the M channels, the synchronization header (SHR) and one of the M perception segments (not the first perception segment) are transmitted on the same channel. Therefore, in order to reduce power loss, the interval between the start time of transmission of the synchronization header (SHR) and the start time of transmission of the perception segment on the first channel is greater than or equal to T milliseconds. The first channel is the channel on which the synchronization header (SHR) is transmitted among the M channels. In other words, the interval between the start time of transmission of the synchronization header (SHR) and the start time of transmission of the perception segment on the same channel is greater 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 -41.3 dBm 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.

[0153] In one possible implementation, the synchronization header (SHR) can be transmitted on the same channel as the last sensing segment of the M sensing segments. At this time, the interval between the transmission start time of the synchronization header (SHR) and the transmission start time of the last sensing segment can be greater than or equal to T (for example, T is equal to 1) milliseconds. Exemplarily, the synchronization header (SHR) and the last sensing segment (SENS segment) are both transmitted on the base channel of the M channels. In this way, after sending the last sensing segment, the initiator does not need to switch channels to receive the SHR from the responder, thereby reducing the channel switching time and improving the ranging efficiency.

[0154] In one possible implementation, the start time interval of signals transmitted on channels with a spectrum overlap ratio greater than 25% among the M channels is greater than or equal to T milliseconds. Exemplarily, T is equal to 1. In this way, signals transmitted on each channel can be transmitted at the maximum allowable average power, thereby improving ranging or sensing accuracy and reducing power loss.

[0155] In a possible implementation, the reference channel of the M channels may be the channel with the smallest center frequency among the M channels, which can reduce path loss.

[0156] In one possible implementation, before step S101, the method further includes: a first communication device transmitting a band splicing parameter field and determining, based on the band splicing field, M channels for band splicing. In step S102, the first communication device may transmit the perception packet via the M channels determined based on the band splicing field. Correspondingly, a second communication device receives the band splicing parameter field and, based on the band splicing field, determines, based on the band splicing field, the M channels for band splicing. After step S102, the second communication device may also receive the perception packet via the M channels determined based on the band splicing field. For example, as shown in FIG. 5 , the band splicing parameter field may include, but is not limited to, a band splicing direction field, a reference channel field, a carrier frequency grid field, a channel order field, a transmission number field, a band splicing type field, and a feedback control field. The values ​​and meanings of each field in the band splicing parameter field can be found in the previous description and are not further elaborated here.

[0157] In one possible implementation, before the first communication device sends the above-mentioned perception packet through the M channels, it may determine the M channels for frequency band splicing and the order in which the M channels are to be used based on the frequency band splicing parameter field. Correspondingly, before the second communication device receives the above-mentioned perception packet through the M channels, it may also determine the M channels for frequency band splicing and the order in which the M channels are to be used based on the frequency band splicing parameter field.

[0158] Exemplarily, when the channel order field indicates an out-of-order channel, the order of use of the logical channels corresponding to the M channels satisfies the following formula (2-1):

[0159] CH(((pMOD(N))×(OF+1))MOD(N)+((pMOD(N))×(OF+1))DIV(N))……………………(2-1)

[0160] Among them, CH() represents the logical channel corresponding to the M channels, and the values ​​of p are 0, 1, 2, ..., N. OF represents the overlapping factor, and the value of OF is the same as the value of the carrier frequency grid field. If the total number of channels M used for band splicing is an integer multiple of (OF+1), then N is equal to M. If the total number of channels M used for band splicing is not an integer multiple of (OF+1), then N is the smallest integer multiple of (OF+1) among the positive integers greater than M. M is equal to the value of the transmitted number segment plus 1. MOD represents the modulo operation, and DIV represents integer division, which will not be repeated below.

[0161] Alternatively, when the channel order field indicates an out-of-order channel, the order of use of the logical channels corresponding to the M channels satisfies the following formula (2-2):

[0162] CH((p×(OF+1))MOD(N)+(p×(OF+1))DIV(N))…………………………………………(2-2)

[0163] Here, CH() represents the logical channel corresponding to the M channels, and the value of p ranges from 0 to (N-1) and then to 0. That is, the values ​​of p are 0, 1, 2, ..., (N-1), and 0. For the description of OF and N, please refer to the previous description and are not repeated here.

[0164] It can be understood that the channel usage order calculated by the above formula (2-1) and the above formula (2-2) is the same, and considering that the SHR in the above perception packet and the last perception segment (SENS segment) are transmitted using the same channel (such as the reference channel), the N logical channels in formula (2-1) and formula (2-2) are used (N+1) times.

[0165] It can also be understood that the logical channel CH(i) can be associated with the above-mentioned M channels through the aforementioned formula (1-2), which is not repeated here. These M channels can be actually used channels, or physical channels, which can be determined by the center frequency.

[0166] As another example, when the channel sequence field indicates a sequential channel, the order of use of the M channels can be to transmit the synchronization header (SHR) and the first (M-1) perception segments (SENS segments) in ascending or descending order of the center frequency, and after transmitting the (M-1)th perception segment, return to the reference channel and use the reference channel to transmit the last perception segment.

[0167] It can be understood that the above-mentioned M perception segments can be used for both perception and ranging, or can be partially used for perception and partially used for ranging, and the embodiments of the present application are not limited. In the ranging scenario, the way the initiator sends the perception packet is the same as the way the responder sends the perception packet. In other words, the initiator and the responder use the same channel usage order and rules to transmit the perception packet. For example, in the ranging scenario, the initiator sends a perception packet carrying M perception segments through M channels, and the responder replies with a perception packet carrying M perception segments through M channels, and the number of symbols contained in each perception segment is the same. This can improve the accuracy of ranging and the coverage distance. In the perception scenario, the initiator sends a perception packet carrying M perception segments through M channels, and the responder performs perception based on the M perception segments received on these M channels. It can be understood that perception is to extract information such as the distance, angle, and speed of the target by detecting the echo of the UWB signal on the target.

[0168] For example, taking the ranging scenario as an example, refer to Figure 9, which is a ranging schematic diagram when the spectrum overlap rate between adjacent channels is 0 provided in an embodiment of the present application. Among them, when the spectrum overlap rate between adjacent channels is 0, N is equal to M, and the channel order for transmitting SHR and the first (M-1) perception segments can be used in sequence in the order of increasing or decreasing center frequency points, that is, sequential channels; the last perception segment uses the reference channel, that is, the channel usage order is: CH(0), CH(1), CH(2),…, CH(M-1), CH(0). As shown in Figure 9, SHR and the last perception segment (such as SEG M in Figure 9) are transmitted on the same channel (for example, the reference channel, such as CH(0) in Figure 9), and the interval between the transmission start time of SHR and the transmission start time of the last perception segment is greater than or equal to 1 millisecond. As shown in Figure 9, the first sensing segment (SEG 1 in Figure 9) to the (M-1)th sensing segment (SEG M-1 in Figure 9) of the M sensing segments are transmitted on channels CH(1), CH(2), ..., CH(M-1), respectively. Here, the sensing segment (SENS segment) is transmitted on channel CH(i), which can be understood as the sensing segment being transmitted on the UWB channel determined by the center frequency (MHz) corresponding to CH(i).

[0169] Refer to Figure 10, which is a ranging diagram when the spectrum overlap rate between adjacent channels is 25% according to an embodiment of the present application. As shown in Figure 10, when the spectrum overlap rate between adjacent channels is 25%, the order of channels for transmitting the SHR and the first (M-1) perception segments can be used in ascending or descending order of the center frequency, that is, sequential channels, the last perception segment uses the reference channel, and the interval between the transmission start time of the SHR and the transmission start time of the last perception segment is greater than or equal to 1 millisecond.

[0170] Refer to Figure 11, which is a schematic diagram of ranging when the spectrum overlap rate between adjacent channels is 50% provided in an embodiment of the present application. Wherein, M is equal to 9. When the spectrum overlap rate between adjacent channels is 50%, the channel usage order determined according to the above formula (2-1) or the above formula (2-2) is: CH(0), CH(3), CH(6), CH(1), CH(4), CH(7), CH(2), CH(5), CH(8), CH(0). As shown in Figure 11, the SHR and the last perception segment (such as SEG 9 in Figure 11) are transmitted on the same channel (for example, the reference channel, such as CH(0) in Figure 11), and the interval between the transmission start time of the SHR and the transmission start time of the last perception segment is greater than or equal to 1 millisecond. As shown in Figure 11, the first sensing segment (SEG 1 in Figure 11) to the eighth sensing segment (SEG 8 in Figure 11) are transmitted on channels CH(3), CH(6), CH(1), CH(4), CH(7), CH(2), CH(5), and CH(8), respectively. Here, the sensing segment (SENS segment) is transmitted on channel CH(i), which can be understood as the sensing segment being transmitted on the UWB channel determined by the center frequency (MHz) corresponding to CH(i).

[0171] It can be understood that the transmission start intervals between the third sensing segment (e.g., SEG 1 in FIG11 ) and the SHR and the sixth sensing segment (e.g., SEG 6 in FIG11 ) in FIG11 are all greater than or equal to 1 millisecond. In summary, the start interval of signal transmission on channels with a spectrum overlap ratio exceeding 25% is greater than or equal to 1 ms.

[0172] Referring to FIG12, FIG12 is a schematic diagram of ranging when the spectrum overlap rate between adjacent channels provided by an embodiment of the present application is 75%. Wherein, M is equal to 16. When the spectrum overlap rate between adjacent channels is 75%, the channel usage order determined according to the above formula (2-1) or the above formula (2-2) is: CH(0), CH(4), CH(8), CH(12), CH(1), CH(5), CH(9), CH(13), CH(2), CH(6), CH(10), CH(14), CH(3), CH(7), CH(11), CH(15), CH(0). As shown in FIG12, the SHR and the last perception segment (such as SEG 16 in FIG11) are transmitted on the same channel (such as the reference channel, such as CH(0) in FIG12), and the interval between the transmission start time of the SHR and the transmission start time of the last perception segment is greater than or equal to 1 millisecond. As shown in Figure 12, the first sensing segment (such as SEG 1 in Figure 12) to the fifteenth sensing segment (such as SEG 15 in Figure 12) are transmitted on channels CH(4), CH(8), CH(12), CH(1), CH(5), CH(9), CH(13), CH(2), CH(6), CH(10), CH(14), CH(3), CH(7), CH(11), and CH(15), respectively. Here, the sensing segment (SENS segment) is transmitted on channel CH(i), which can be understood as the sensing segment being transmitted on the UWB channel determined by the center frequency (MHz) corresponding to CH(i). In addition, the starting time interval of the transmission signal on the channel with a spectrum overlap rate exceeding 25% in Figure 12 is greater than or equal to 1ms.

[0173] It is understandable that in order to ensure that the transmission start time interval of signals on channels with a spectrum overlap rate exceeding 25% is greater than or equal to 1 ms, the duration of each SENS segment or the number of symbols in each SENS segment may be constrained.

[0174] In a possible implementation, the number of symbols N included in any of the M perception segments is s , which can be determined based on the duration of the synchronization header (SHR), the number of preamble symbols corresponding to the guard interval (i.e., gap) in the perception packet, the number M of perception segments (SENS segments) in the perception packet, the spectrum overlap rate between adjacent channels in the above M channels, and the duration of the preamble symbol.

[0175] For example, when the spectrum overlap rate between adjacent channels is less than or equal to 25%, the interval between the start time of SHR transmission and the start time of the last sensing segment transmission is greater than or equal to 1 millisecond. Let the duration of SHR in the sensing packet be tSHR (unit: microseconds), the number of symbols N included in any of the above M perception segments s The following formula (2-3) is satisfied.

[0176] Among them, N gap Indicates the number of preamble symbols corresponding to the guard interval (gap) in the sensing packet. symbol Indicates the duration of a preamble symbol in microseconds. M is the number of SENS segments in the sensing packet. In the embodiment of the present application, the first communication device can use the preamble symbol to construct the SENS field, and the preamble symbol can be the same as the preamble symbol used to construct the SYNC field.

[0177] For example, when the spectrum overlap rate between adjacent channels is equal to 50%, let the duration of SHR in the sensing packet be t SHR (Unit is microseconds). When the number of SENS segments in a SENS packet is equal to 3z (z is an integer greater than 1), the number of symbols N included in any of the M SENS segments is equal to 3z. s The following formula (2-4) is satisfied.

[0178] When M is equal to (3z+1), z is an integer greater than 1, and the number of symbols included in any one of the M perceptual segments is N s The following formula (2-5) is satisfied.

[0179] When M is equal to (3z+2), z is an integer greater than or equal to 1, and the number of symbols included in any perceptual segment of the M perceptual segments is N s The following formula (2-6) is satisfied.

[0180] Among them, N gap Indicates the number of preamble symbols corresponding to the gap in the perception packet. symbol Indicates the duration of a preamble symbol in microseconds.

[0181] For example, when the spectrum overlap rate between adjacent channels is equal to 75%, let the duration of SHR in the sensing packet be t SHR (Unit is microseconds). When the number of SENS segments in a SENS packet is equal to 4z (z is an integer greater than 1), the number of symbols N included in any of the M SENS segments is s The following formula (2-7) is satisfied.

[0182] When M is equal to (4z+1) or (4z+2), z is an integer greater than 1, and the number of symbols included in any perceptual segment of the M perceptual segments is N s The following formula (2-8) is satisfied.

[0183] When M is equal to (4z+3), z is an integer greater than or equal to 1, and the number of symbols included in any perceptual segment of the M perceptual segments is N s The following formula (2-9) is satisfied.

[0184] Among them, N gap Indicates the number of preamble symbols corresponding to the gap in the perception packet. symbol Indicates the duration of a preamble symbol in microseconds.

[0185] For example, N in the above formulas (2-3) to (2-9) gap It can be 40. This is because in the embodiment of the present application, one SENS segment is transmitted on one channel, and different SENS segments are transmitted on different channels. When two adjacent SENS segments (or active SENS segments) are transmitted on different UWB channels, the duration of the Gap can be 40 preamble symbols. For example, the duration of one preamble symbol can be 0.728us, that is, T symbol Equal to 0.728us.

[0186] It can be understood that the number of symbols contained in each sensing segment (SENS segment) in the sensing packet under different spectrum overlap rates can be determined according to the above formulas (2-3) to (2-9).

[0187] For example, when the number of preamble symbol repetitions (PSR) in the SYNC field is 64 (or the SYNC field contains 64 preamble symbols) and the SFD length is 8, t SHR = 0.728 × 72 = 52.416 μs. Furthermore, considering that the number of symbols supported by each SENS segment is one of the set {16, 32, 64, 128, 256, 512}, the optional number of symbols for each SENS segment determined by Formulas (2-3) to (2-9) is shown in Table 3 below.

[0188] Table 3: Number of optional symbols in the SENS segment when the SYNC PSR is 64 and the SFD length is 8

[0189] For example, when the PSR in the SYNC field is 128 (or the SYNC field contains 128 preamble symbols) and the SFD length is 16, t SHR = 0.728 × 144 = 104.832 us. Furthermore, considering that the number of symbols supported by each SENS segment is one of the set {16, 32, 64, 128, 256, 512}, the optional number of symbols for each SENS segment determined by Formulas (2-3) to (2-9) is shown in Table 4 below.

[0190] Table 4: Number of optional symbols in the SENS segment when the SYNC PSR is 128 and the SFD length is 16

[0191] It is understood that Tables 3 and 4 above are merely examples. Due to limited space, the optional number of SENS segment symbols for different SYNC PSR values ​​and SFD lengths is not listed here. However, any number of perceptual segment symbols that satisfies one or more of Formulas (2-3) through (2-9) above is within the scope of protection of this application.

[0192] The embodiments of the present application can reduce power loss and improve the resolution and coverage of perception or ranging by defining the rules for using frequency band splicing for ranging of perception packets and the channel usage order of out-of-order channels.

[0193] 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.

[0194] 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 functional 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 13 to 15.

[0195] Referring to Figure 13 , Figure 13 is a schematic diagram of the structure of a communication device provided in an embodiment of the present application. As shown in Figure 13 , the communication device includes a transceiver module 10 and a processing module 20. The transceiver module 10 can implement corresponding communication functions, and the processing module 20 is used for data processing. The transceiver module 10 can also be referred to as a communication interface or a communication module.

[0196] 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 FIG13 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 module 10 is used to execute the transceiver-related operations of the first communication device in the above method embodiment, and the processing module 20 is used to execute the processing-related operations of the first communication device in the above method embodiment.

[0197] The processing module 20 is configured to generate a sensing packet, which includes a synchronization header and a sensing sequence field. The sensing sequence field includes M sensing segments, where M is an integer greater than 1. The transceiver module 10 is configured to transmit the sensing packet via M channels. Each sensing segment is transmitted on one channel, and different sensing segments are transmitted on different channels. The first sensing segment of the M sensing segments and the synchronization header are transmitted on different channels, and the spectral overlap between the channel transmitting the first sensing segment and the channel transmitting the synchronization header is less than or equal to 25%.

[0198] It is understandable that the transceiver module 10 can send the perception packet to other communication devices, or the transceiver module 10 can output the perception packet from the processing module 20 to other components or other functional modules in the communication device. The relevant description of other information output by the transceiver module is similar and will not be detailed below.

[0199] Exemplarily, the transceiver module 10 is further configured to send a frequency band splicing parameter field, where the frequency band splicing parameter field is used to determine the M channels used for frequency band splicing. The transceiver module 10 is specifically configured to send the sensing packet via the M channels determined by the frequency band splicing parameter field.

[0200] In the embodiment of the present application, the description of the first communication device, the perception packet, the synchronization header, the perception sequence field, the M perception segments, the M channels, and the frequency band splicing parameter field, etc. can be referred to the introduction in the above method embodiment (such as Figure 8), and will not be described in detail here.

[0201] It is understood that the specific descriptions of the transceiver module and the processing module shown in the embodiment of the present application are merely examples. For the specific functions or execution steps of the transceiver module and the processing module, reference can be made to the above-mentioned method embodiment (such as FIG8 ), which will not be described in detail here. In addition, the technical effects of the embodiment of the present application refer to the technical effects of the above-mentioned method embodiment, and for the sake of brevity, they will not be repeated here.

[0202] Reusing Figure 13, 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 13 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 module 10 is used to execute the transceiver-related operations of the second communication device in the above method embodiment, and the processing module 20 is used to execute the processing-related operations of the second communication device in the above method embodiment.

[0203] The transceiver module 10 is configured to receive a sensing packet via M channels. The sensing packet includes a synchronization header and a sensing sequence field. The sensing sequence field includes M sensing segments, where M is an integer greater than 1. The processing module 20 is configured to perform sensing or ranging based on the M sensing segments. Each sensing segment is transmitted on one channel, and different sensing segments are transmitted on different channels. The first sensing segment of the M sensing segments and the synchronization header are transmitted on different channels, and the spectral overlap between the channel transmitting the first sensing segment and the channel transmitting the synchronization header is less than or equal to 25%.

[0204] It is understood that the transceiver module 10 can receive the perception packet from other communication devices, or the transceiver module 10 can input the perception packet from other components or other functional modules in the communication device, etc. The relevant description of other information input by the transceiver module is similar and will not be described in detail below.

[0205] Exemplarily, the transceiver module 10 is further configured to receive a frequency band splicing parameter field, where the frequency band splicing parameter field is used to determine the M channels used for frequency band splicing. The transceiver module 10 is specifically configured to receive the sensing packet through the M channels determined by the frequency band splicing parameter field.

[0206] In the embodiment of the present application, the description of the second communication device, the perception packet, the synchronization header, the perception sequence field, the M perception segments, the M channels, and the frequency band splicing parameter field, etc. can be referred to the introduction in the above method embodiment (such as Figure 8), and will not be described in detail here.

[0207] It is understood that the specific descriptions of the transceiver module and the processing module shown in the embodiment of the present application are merely examples. For the specific functions or execution steps of the transceiver module and the processing module, reference can be made to the above-mentioned method embodiment (such as FIG8 ), which will not be described in detail here. In addition, the technical effects of the embodiment of the present application refer to the technical effects of the above-mentioned method embodiment, and for the sake of brevity, they will not be repeated here.

[0208] 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. 13 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.

[0209] In one possible implementation, in the communication device shown in FIG13 , the processing module 20 may be one or more processors, the transceiver module 10 may be a transceiver, or the transceiver module 10 may be a transmitting module and a receiving module, the transmitting module may be a transmitter, the receiving module may be a receiver, and the transmitting module and the receiving module are integrated into one device, such as a transceiver. In the embodiment of the present application, the processor and the transceiver may be coupled, etc., and the embodiment of the present application does not limit the connection method between the processor and the transceiver. During the execution of the above method, the process of sending information (such as sending a sensing packet, a frequency band splicing parameter field, etc.) in the above method can be understood as the process of the processor outputting the above information. When outputting the above information, the processor outputs the above information to the transceiver so that the transceiver can transmit it. After being output by the processor, the above information may also need to undergo other processing before reaching the transceiver. Similarly, the process of receiving information (such as receiving a sensing packet, a frequency band splicing parameter field, etc.) in the above method can be understood as the process of the processor receiving the input information. When the processor receives the input information, the transceiver receives the above 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.

[0210] Referring to Figure 14, Figure 14 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 14 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).

[0211] 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.

[0212] 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.

[0213] 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.

[0214] The processor 1001 , the transceiver 1002 , and the memory 1003 may be connected via a communication bus.

[0215] 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 8 above, the processor 1001 can be used to execute step S101 in Figure 8, and / or to execute other processes of the technology described herein; the transceiver 1002 can be used to execute step S102 in Figure 8, and / or to execute other processes of the technology described herein.

[0216] 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 8 above, the processor 1001 can be used to execute step S103 in Figure 8, and / or to execute other processes of the technology described herein; the transceiver 1002 can be used to receive perception packets through M channels, and / or to be used for other processes of the technology described herein.

[0217] 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.

[0218] 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.

[0219] 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.

[0220] It is understood that the communication device shown in the embodiment of the present application may also have more components than those in Figure 14, 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 introduction of the method embodiment above.

[0221] In another possible implementation, in the communication device shown in Figure 13, the processing module 20 can be one or more logic circuits, and the transceiver module 10 can be an input / output interface, or a communication interface, or an interface circuit, or an interface, etc. Or the transceiver module 10 can also be a sending module and a receiving module, the sending module can be an output interface, and the receiving module can be an input interface, and the sending module and the receiving module are integrated into one module, such as an input / output interface. Referring to Figure 15, Figure 15 is another structural diagram of a communication device provided in an embodiment of the present application. As shown in Figure 15, the communication device shown in Figure 15 includes a logic circuit 901 and an interface 902. That is, the above-mentioned processing module 20 can be implemented with a logic circuit 901, and the transceiver module 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 15 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.

[0222] 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.

[0223] Exemplarily, when a communication device is used to execute the method, function, or step performed by the first communication device in the aforementioned method embodiment, logic circuit 901 is configured to generate a sensing packet, the sensing packet including a synchronization header and a sensing sequence field, the sensing sequence field including M sensing segments; and interface 902 is configured to output the sensing packet. In this case, one sensing segment is transmitted on one channel, different sensing segments are transmitted on different channels, the first sensing segment of the M sensing segments and the synchronization header are transmitted on different channels, and the spectral overlap rate between the channel transmitting the first sensing segment and the channel transmitting the synchronization header among the M channels is less than or equal to 25%. M is an integer greater than 1.

[0224] Exemplarily, when a communication device is used to execute the method, function, or step performed by the second communication device in the aforementioned method embodiment, interface 902 is used to input a sensing packet, the sensing packet including a synchronization header and a sensing sequence field, the sensing sequence field including M sensing segments; and logic circuit 901 is used to perform sensing or ranging based on the M sensing segments. Here, one sensing segment is transmitted on one channel, different sensing segments are transmitted on different channels, the first sensing segment of the M sensing segments and the synchronization header are transmitted on different channels, and the spectrum overlap rate between the channel transmitting the first sensing segment and the channel transmitting the synchronization header among the M channels is less than or equal to 25%. M is an integer greater than 1.

[0225] In the embodiment of the present application, the specific description of the perception packet, synchronization header, perception sequence field, M perception segments, M channels, and frequency band splicing parameter field, etc. can be referred to the method embodiment shown in Figure 8 above, and will not be described in detail here.

[0226] 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.

[0227] For the specific implementation of the embodiment shown in FIG15 , reference may also be made to the above embodiments, which will not be described in detail here.

[0228] 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 the aforementioned method embodiment.

[0229] 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.

[0230] 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.

[0231] 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.

[0232] 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.

[0233] 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.

[0234] 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.

[0235] 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.

[0236] 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.

[0237] 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.

[0238] 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.

[0239] 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 sensing or ranging method based on a sensing packet, characterized in that: include: Generate a perception packet, the perception packet including a synchronization header and a perception sequence field, the perception sequence field including M perception segments, where M is an integer greater than 1; Sending the sensing packet through M channels; Among them, one perception segment is transmitted on one channel, different perception segments are transmitted on different channels, the first perception segment among the M perception segments and the synchronization header are transmitted on different channels, and the spectrum overlap rate between the channel transmitting the first perception segment and the channel transmitting the synchronization header among the M channels is less than or equal to 25%.

2. The method according to claim 1, characterized in that Before sending the perception packet through the M channels, the method further includes: Send a frequency band splicing parameter field, the frequency band splicing parameter field including a reference channel field, a carrier frequency grid field, and a transmission number field, the transmission number field being used to indicate the total number M of channels used for frequency band splicing, the reference channel field being used to indicate the channel number of the reference channel, and the carrier frequency grid field being used to indicate the spectrum overlap ratio between channels in frequency band splicing; The frequency band splicing parameter field is used to determine M channels used for frequency band splicing.

3. A sensing or ranging method based on a sensing packet, characterized in that: include: Receiving a sensing packet through M channels, the sensing packet including a synchronization header and a sensing sequence field, the sensing sequence field including M sensing segments, where M is an integer greater than 1; wherein one sensing segment is transmitted on one channel, different sensing segments are transmitted on different channels, a first sensing segment of the M sensing segments and the synchronization header are transmitted on different channels, and a spectrum overlap rate between a channel transmitting the first sensing segment and a channel transmitting the synchronization header among the M channels is less than or equal to 25%; Perception or ranging is performed based on the M perception segments.

4. The method according to claim 3, characterized in that Before receiving the sensing packet through the M channels, the method further includes: Receive a frequency band splicing parameter, where the frequency band splicing parameter field includes a reference channel field, a carrier frequency grid field, and a transmission number field, where the transmission number field is used to indicate the total number M of channels used for frequency band splicing, the reference channel field is used to indicate the channel number of the reference channel, and the carrier frequency grid field is used to indicate the spectrum overlap ratio between channels in the frequency band splicing; The frequency band splicing parameter field is used to determine M channels used for frequency band splicing.

5. The method according to any one of claims 1 to 4, characterized in that The interval between the start time of transmission of the synchronization header and the start time of transmission of the perception segment on the first channel is greater than or equal to 1 millisecond, and the first channel is the channel for transmitting the synchronization header among the M channels.

6. The method according to any one of claims 1 to 4, characterized in that The last perception segment of the M perception segments and the synchronization header are transmitted on the same channel.

7. The method according to claim 6, characterized in that The synchronization header is transmitted on a reference channel of the M channels, and the last perception segment is transmitted on the reference channel.

8. The method according to any one of claims 1 to 7, characterized in that The physical layer protocol data unit PPDU format of the perception packet is perception packet configuration 0.

9. The method according to any one of claims 1 to 8, characterized in that The reference channel of the M channels is a channel having the smallest center frequency among the M channels.

10. The method according to claim 7, characterized in that The order of using the logical channels corresponding to the M channels satisfies: CH(((pMOD(N))×(OF+1))MOD(N)+((pMOD(N))×(OF+1))DIV(N)); Among them, CH() represents the logical channel corresponding to the M channels, the values ​​of p are 0, 1, 2, ..., N respectively, OF represents the overlapping factor, the value of OF is the same as the value of the carrier frequency grid field, if M is an integer multiple of (OF+1), then N is equal to M, if M is not an integer multiple of (OF+1), then N is the smallest integer multiple of (OF+1) among the positive integers greater than M, MOD represents modulo operation, and DIV represents integer division.

11. The method according to claim 7, characterized in that The order of using the logical channels corresponding to the M channels satisfies: CH((p×(OF+1))MOD(N)+(p×(OF+1))DIV(N)); Among them, CH() represents the logical channel corresponding to the M channels, the values ​​of p are 0, 1, 2, ..., (N-1), 0 respectively, OF represents the overlapping factor, the value of OF is the same as the value of the carrier frequency grid field, if M is an integer multiple of (OF+1), then N is equal to M, if M is not an integer multiple of (OF+1), then N is the smallest integer multiple of (OF+1) among the positive integers greater than M, MOD represents the modulo operation, and DIV represents integer division.

12. The method according to claim 6 or 7, characterized in that The number of symbols N included in any one of the M perceptual segments s It is determined based on the duration of the synchronization header, the number of preamble symbols corresponding to the guard interval in the perception packet, the number M of perception segments in the perception packet, the spectrum overlap rate between adjacent channels in the M channels, and the duration of the preamble symbol.

13. The method according to claim 12, characterized in that The spectrum overlap rate between adjacent channels in the M channels is less than or equal to 25%, and the number of symbols included in any perception segment in the M perception segments is N. s satisfy: Among them, t SHR Indicates the duration of the synchronization header in microseconds; N gap Indicates the number of preamble symbols corresponding to the guard interval in the sensing packet; symbol Indicates the duration of a preamble symbol in microseconds.

14. The method according to claim 12, characterized in that The spectrum overlap rate between adjacent channels in the M channels is equal to 50%, and the number of symbols included in any perception segment in the M perception segments is N. s satisfy: When M is equal to 3z, where z is an integer greater than 1, When M is equal to (3z+1), where z is an integer greater than 1, When M is equal to (3z+2), where z is an integer greater than or equal to 1, Among them, t SHR Indicates the duration of the synchronization header in microseconds; N gap Indicates the number of preamble symbols corresponding to the guard interval in the sensing packet; symbol Indicates the duration of a preamble symbol in microseconds.

15. The method according to claim 12, characterized in that The spectrum overlap rate between adjacent channels in the M channels is equal to 75%, and the number of symbols included in any perception segment in the M perception segments is N. s satisfy: When M is equal to 4z, where z is an integer greater than 1, When M is equal to (4z+1) or (4z+2), where z is an integer greater than 1, When M is equal to (4z+3), where z is an integer greater than or equal to 1, Among them, t SHR Indicates the duration of the synchronization header in microseconds; N gap Indicates the number of preamble symbols corresponding to the guard interval in the sensing packet; symbol Indicates the duration of a preamble symbol in microseconds.

16. The method according to any one of claims 12 to 15, characterized in that The number of symbols N included in any one of the M perceptual segments s Satisfy one or more of the items in Table 3 or Table 4.

17. A communication device, characterized in that: Comprising modules for performing the method of any one of claims 1 to 16.

18. A communication device, characterized in that: include: one or more processors coupled to one or more memories; The one or more memories are used to store computer programs, and the one or more processors are used to execute the computer programs stored in the one or more memories, so that the communication device performs the method according to any one of claims 1 to 16.

19. A communication device, characterized in that: comprising a logic circuit and an interface, wherein the logic circuit and the interface are coupled; The interface is used to input and / or output information, and the logic circuit is used to execute the method according to any one of claims 1 to 16.

20. A readable storage medium, characterized in that The device is used to store a program, wherein 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 16.

21. A computer program product, characterized in that When the computer program product is executed, the method according to any one of claims 1 to 16 is performed.

22. A wireless communication system, characterized in that: The wireless communication system includes a communication device for executing the method according to any one of claims 1 to 2 and 5 to 16, and a communication device for executing the method according to any one of claims 3 to 16.

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