Communication method and communication apparatus

Abstract

Provided in the present application are a communication method and a communication apparatus. The method comprises: a first device generates a first measurement frame, the first measurement frame comprising a first narrowband signal and a second narrowband signal, the first narrowband signal measuring a timing deviation between the first device and a second device, and the second narrowband signal measuring a frequency deviation between the first device and the second device; the first device sends the first measurement frame to the second device by means of a narrowband; and the first device sends a second measurement frame to the second device by means of an ultra-wideband, the timing deviation and the frequency deviation being used for determining a moment and frequency at which the second device receives the second measurement frame, and the second measurement frame measuring the distance or time of flight between the first device and the second device by means of an ultra-wideband signal. By means of improving the time-frequency synchronization accuracy of narrowband signal measurement frames, the present application simplifies time-frequency synchronization processes of ultra-wideband signal measurement frames and the design of synchronization modules.

Description

Communication method and communication apparatus

[0001] The present application claims priority to the Chinese patent application No. 202410728113.7, filed on June 5, 2024, and entitled "Communication method and communication apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of communication, and more particularly, to a communication method and a communication apparatus. BACKGROUND

[0003] Ultra wideband (UWB) technology is a wireless carrier communication technology, which realizes data transmission by sending and receiving extremely narrow pulses with nanoseconds or microseconds or less. The frequency spectrum range occupied by UWB technology is very wide, the bandwidth of the wireless signal sent or received exceeds 500MHz, and the radiation spectrum density is also very low, which makes it have the advantages of strong multipath resolution ability, low power consumption and strong privacy. At present, the wireless signal in the ultra wideband technology can be used as a measurement signal for ranging, angle measurement, sensing and positioning, etc., for example, accurate ranging based on the time of flight (TOF) of the measurement pulse.

[0004] Since UWB technology realizes data transmission or accurate ranging through extremely narrow pulses, it puts forward very high requirements on the time-frequency synchronization of the sending device and the receiving device, for example, the timing synchronization of the UWB signal requires to be less than 1ns. Therefore, the UWB module for UWB signal interaction in the device needs to be very complex. At present, how to simplify the design of the UWB module has become a problem to be solved. SUMMARY

[0005] The present application provides a communication method and a communication apparatus, which can simplify the structural design of the UWB module for UWB signal interaction in the device.

[0006] In a first aspect, an embodiment of the present application provides a communication method, which can be executed by a first device, or can be executed by a module such as a chip system or a circuit in the first device, or can be executed by a logic node, a logic module or software capable of realizing all or part of the functions of the first device, and the present application does not make any limitation in this regard.

[0007] The method comprises: a first device generating a first measurement frame, the first measurement frame comprising a first narrowband signal and a second narrowband signal, the first narrowband signal being used to measure a timing offset between the first device and a second device, and the second narrowband signal being used to measure a frequency offset between the first device and the second device; the first device sending the first measurement frame to the second device through a narrowband; and the first device sending a second measurement frame to the second device through an ultra-wideband, wherein the timing offset and the frequency offset are used to determine a time and a frequency at which the second device receives the second measurement frame, and the second measurement frame is used to measure a distance or a time of flight between the first device and the second device through an ultra-wideband signal.

[0008] In the above technical solution, the frequency offset is measured through a dedicated second narrowband signal, instead of a synchronization signal, so that the accuracy of the final frequency offset is higher. When the time and frequency synchronization accuracy of the initial synchronization of the NB module in the device is increased, the time and frequency synchronization accuracy requirement of the fine synchronization of the UWB module is reduced, so that the margin of the fine synchronization required when designing the receiver synchronization module in the UWB module is reduced, and the structure design of the synchronization module is simpler.

[0009] In the above technical solution, the frequency offset is measured through a dedicated second narrowband signal, instead of a synchronization signal, so that the accuracy of the final frequency offset is higher. When the time and frequency synchronization accuracy of the initial synchronization of the NB module in the device is increased, the time and frequency synchronization accuracy requirement of the fine synchronization of the UWB module is reduced, so that the margin of the fine synchronization required when designing the receiver synchronization module in the UWB module is reduced, and the structure design of the synchronization module is simpler.

[0010] In combination with the first aspect, in some implementations of the first aspect, the first narrowband signal comprises a synchronization signal, and the second narrowband signal is a measurement signal, the measurement signal comprising at least one of an unmodulated carrier signal, a binary phase shift keying (BPSK) signal, an amplitude shift keying (ASK) signal, and a multi-tone signal.

[0011] Optionally, the BPSK signal can be a BPSK signal without phase rotation, or a π / 2-rotated BPSK signal.

[0012] Optionally, the length of the measurement signal is configurable, for example, the configuration options are 16 / 32 / 64 / 128 / 256 / 512 / 1024 / 2048 bits, etc.

[0013] In combination with the first aspect, in some implementations of the first aspect, the synchronization signal is located before the measurement signal in time.

[0014] In the above technical solution, the synchronization signal needs to be aligned in the time symbol of the narrowband, and the measurement signal needs to be more precise, so it needs to be synchronized to less than one time symbol. Therefore, the synchronization signal can be located before the measurement signal in time.

[0015] With reference to the first aspect, in some implementations of the first aspect, the first device sends the first measurement frame to the second device through a narrow band, including: the first device sends the first measurement frame to the second device through a narrow band on a preset first channel; the method further includes: the first device receives a third measurement frame from the second device through a narrow band on the first channel, the frame structure of the third measurement frame being the same as that of the first measurement frame.

[0016] In the above technical solution, the first device and the second device perform bidirectional interaction for initial synchronization through measurement frames with the same frame structure. On the one hand, the frame structure in the bidirectional interaction measurement process is unified; on the other hand, the accuracy of bidirectional interaction measurement is improved through the frame structure described in the present application.

[0017] With reference to the first aspect, in some implementations of the first aspect, the method further includes: the first device sends the first measurement frame to the second device on N channels for frequency hopping measurement according to a preset channel measurement sequence, the preset channel measurement sequence containing the N channels and channel numbers corresponding to the N channels respectively, wherein N is an integer greater than 0.

[0018] Optionally, the preset channel measurement sequence and the N channels can be specified in advance, can be determined according to a frequency hopping map, etc., or can be a set of frequency point IDs given through signaling.

[0019] In the above technical solution, by specifying a number of measurement channels, the duration of initial synchronization measurement can be reduced.

[0020] With reference to the first aspect, in some implementations of the first aspect, the method further includes: after sending the first measurement frame on the Nth channel of the N channels, the first device sends the second measurement frame to the second device after a first time interval.

[0021] With reference to the first aspect, in some implementations of the first aspect, the method further includes: the first device determines the reception time of the third measurement frame received from the second device on the Nth channel of the N channels according to the reception time of at least one third measurement frame received from the second device on at least N channels; the first device receives the fourth measurement frame from the second device after a second time interval after the reception time of the third measurement frame on the Nth channel, the fourth measurement frame being used to measure the distance or time of flight between the first device and the second device through an ultra-wideband signal.

[0022] In the above technical solution, when the bidirectional interaction of the Nth channel fails, the expected synchronization information on the Nth channel can be inferred from the synchronization information on one or more channels that have successfully completed the bidirectional interaction, and then the reception time and reception frequency of the ultra-wideband signal measurement frame can be determined based on the expected transmission information on the Nth channel.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: the first device determining a frequency deviation between the first device and the second device based on one or more of the received third measurement frames; and the first device determining the second time interval based on the determined frequency deviation.

[0024] The first time interval mentioned above may be a time interval T preset by the first device and / or the second device. interval For example, it could be the time interval from clearing / latching the MAC counter in an ultra-wideband system to the start of TX. The second time interval can be obtained by weighting the first time interval and the frequency deviation between the first and second devices, for example, T. interval *(1-CFO).

[0025] In the above technical solution, by measuring narrowband signal measurement frames, a more accurate frequency synchronization deviation (CFO) can be obtained, resulting in more accurate reception timing and frequency for ultra-wideband signal measurement frames (such as the second measurement frame). This simplifies the fine synchronization process of ultra-wideband signal measurement frames, thereby simplifying the design of the UWB module.

[0026] In conjunction with the first aspect, in some implementations of the first aspect, when the first measurement frame includes a synchronization signal field, the start time of the first time interval is the same as the end time of the synchronization signal field of the first measurement frame.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, when the third measurement frame includes a synchronization signal field, the start time of the second time interval is the same as the end time of the synchronization signal field of the third measurement frame.

[0028] In the above technical solution, the receiving device of the narrowband signal measurement frame starts receiving the ultra-wideband measurement frame immediately after completing the timing synchronization according to the synchronization signal field. This helps to avoid the inaccuracy of timing from the end time of the synchronization signal field to the end time of the frame caused by the clock deviation between the transmitting and receiving devices.

[0029] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: the first device sending the first measurement frame to the second device on multiple channels according to a first frequency hopping method, the first frequency hopping method being used to determine the frequency hopping order or frequency hopping scheme of the multiple channels.

[0030] In the technical solution, a single fixed frequency point is used for bidirectional synchronization, and when the frequency point is interfered or frequency selective faded, the time-frequency synchronization error requirement cannot be met, and the interaction of multiple frequency points avoids the above problems.

[0031] With reference to the first aspect, in some implementations of the first aspect, the first device sending the first measurement frame to the second device comprises: the first device sending the first measurement frame to the second device on a first channel, the plurality of channels comprising the first channel; and the method further comprises: when the first device does not receive a third measurement frame from the second device on the first channel, the first device sending the first measurement frame to the second device when frequency hopping to a second channel, the third measurement frame having the same frame structure as the first measurement frame, and the second channel being determined according to the first frequency hopping manner or the channel measurement sequence.

[0032] With reference to the first aspect, in some implementations of the first aspect, the first device sending the first measurement frame to the second device comprises: the first device sending the first measurement frame to the second device on a first channel, the plurality of channels comprising the first channel; and the method further comprises: the first device receiving a third measurement frame from the second device on the first channel, the third measurement frame having the same frame structure as the first measurement frame.

[0033] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: when the reception quality of the third measurement frame received by the first device on the first channel does not meet a preset condition, the first device sending the first measurement frame to the second device when frequency hopping to a second channel, the second channel being determined according to the first frequency hopping manner or according to a preset channel measurement sequence.

[0034] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: when the reception quality of the third measurement frame received by the first device on the first channel meets a preset condition, the first device not sending the first measurement frame when frequency hopping to a second channel, the second channel being determined according to the first frequency hopping manner or according to a preset channel measurement sequence.

[0035] In the technical solution, the reception quality of the received narrowband signal measurement frame and whether the narrowband signal measurement frame is received are used to determine whether the first measurement frame is continuously sent on the next channel. In this way, not only is the accuracy of the initial synchronization ensured to meet the initial synchronization requirement of the ultra-wideband signal measurement frame, but also the disadvantage of the measurement result being determined only by the first device is avoided, that is, when the first device and the second device are interfered by different intensities, the reception quality of the narrowband signal measurement frame of both sides is ensured.

[0036] In some implementations of the first aspect, the reception quality is determined according to at least one of the following parameters: a received signal strength indication (RSSI) of the third measurement frame, a signal-to-noise ratio (SNR), a signal-to-interference-plus-noise ratio (SINR), and a verification result of a synchronization signal, a logical link identifier, or an access address; an SNR of the first narrowband signal; an RSSI of the second narrowband signal; and a carrier frequency offset (CFO) value.

[0037] In the above technical solution, the problem that the reception quality cannot be determined due to the absence of CRC verification of the first measurement frame is avoided.

[0038] In some implementations of the first aspect, after the first device receives the third measurement frame from the second device, the method further includes: determining, by the first device, a frequency offset between the first device and the second device according to the third measurement frame; determining, by the first device, a first time interval according to the determined frequency offset; and receiving, by the first device, the second measurement frame from the second device after the first time interval elapses after receiving the third measurement frame.

[0039] In some implementations of the first aspect, the method further includes: after the first measurement frame is sent to the second device, sending, by the first device, the second measurement frame to the second device after a second time interval elapses.

[0040] The second time interval can be a time interval T preset and configured by the first device and / or the second device. interval For example, the time interval can be a time interval in which a super wideband system MAC counter is cleared / latched to a TX start. The first time interval can be obtained according to the second time interval and the frequency offset between the first device and the second device, for example, T interval *(1-CFO).

[0041] In the above technical solution, the frequency synchronization offset CFO can be obtained more accurately by measuring the narrowband signal measurement frame, and the reception time and the reception frequency of the super wideband signal measurement frame (for example, the second measurement frame) obtained are more accurate. Furthermore, the process of fine synchronization of the super wideband signal measurement frame can be simplified, and the design of the UWB module can be simplified.

[0042] In the second aspect, an embodiment of the present application provides a communication method, which can be executed by the second device, or can be executed by a module such as a chip system or a circuit in the second device, or can be executed by a logic node, a logic module, or software capable of realizing all or part of the functions of the second device, and the present application does not make any limitation in this regard.

[0043] The method comprises: receiving, by the second device, a first measurement frame from the first device through a narrow band, the first measurement frame comprising a first narrow band signal and a second narrow band signal, the first narrow band signal being used to measure a timing offset between the first device and the second device, and the second narrow band signal being used to measure a frequency offset between the first device and the second device; and receiving, by the second device, a second measurement frame from the first device through an ultra-wide band, wherein the timing offset and the frequency offset are used to determine a time and a frequency at which the second device receives the second measurement frame, and the second measurement frame is used to measure a distance or a time of flight between the first device and the second device through an ultra-wide band signal.

[0044] In the above technical solution, the frequency offset is measured by using a dedicated second narrow band signal instead of a synchronization signal, so that the accuracy of the final frequency offset is higher. When the time and frequency synchronization accuracy of the NB module in the device is increased, the time and frequency synchronization accuracy requirement of the UWB module for fine synchronization can be reduced, so that when designing the receiver synchronization module in the UWB module, the margin of the fine synchronization required for design is reduced, and the structure design of the synchronization module is simpler.

[0045] In the above technical solution, the frequency offset is measured by using a dedicated second narrow band signal instead of a synchronization signal, so that the accuracy of the final frequency offset is higher. When the time and frequency synchronization accuracy of the NB module in the device is increased, the time and frequency synchronization accuracy requirement of the UWB module for fine synchronization can be reduced, so that when designing the receiver synchronization module in the UWB module, the margin of the fine synchronization required for design is reduced, and the structure design of the synchronization module is simpler.

[0046] In combination with the second aspect, in some implementations of the second aspect, the first narrow band signal comprises a synchronization signal, and the second narrow band signal is a measurement signal, the measurement signal comprising at least one of an unmodulated carrier signal, a binary phase shift keying (BPSK) signal, an amplitude shift keying (ASK) signal, and a multi-tone signal.

[0047] Optionally, the BPSK signal can be a BPSK signal without phase rotation or a π / 2-rotated BPSK signal.

[0048] Optionally, the length of the measurement signal is configurable, for example, the configuration options include 16 / 32 / 64 / 128 / 256 / 512 / 1024 / 2048 bits, etc.

[0049] In combination with the second aspect, in some implementations of the second aspect, the synchronization signal is located before the measurement signal in time.

[0050] In combination with the second aspect, in some implementations of the second aspect, the second device receives the first measurement frame from the first device, comprising: the second device receives the first measurement frame from the first device through a narrow band on a preset first channel; and the method further comprises: the second device sends a third measurement frame to the first device through a narrow band on the first channel, the frame structure of the third measurement frame being the same as that of the first measurement frame.

[0051] With reference to the second aspect, in some implementations of the second aspect, the method further includes: detecting, by the second device, the first measurement frame from the first device on the N channels for frequency hopping measurement according to a preset channel measurement sequence, the preset channel measurement sequence containing the N channels and channel numbers corresponding to the N channels respectively, where N is an integer greater than 0.

[0052] With reference to the second aspect, in some implementations of the second aspect, the method further includes: determining, by the second device, a receiving time of the first measurement frame on the Nth channel in the N channels according to a receiving time of at least one first measurement frame from the first device received on the N channels; and receiving, by the second device, the second measurement frame from the first device through the ultra-wideband, including: receiving, by the second device, the second measurement frame from the first device after a third time interval from the receiving time of the first measurement frame on the Nth channel.

[0053] With reference to the second aspect, in some implementations of the second aspect, the method further includes: determining, by the second device, a frequency offset between the first device and the second device according to the received one or more first measurement frames; and determining, by the second device, the third time interval according to the determined frequency offset.

[0054] With reference to the second aspect, in some implementations of the second aspect, the method further includes: determining, by the second device, a sending time of the third measurement frame on the Nth channel in the N channels according to a sending time of at least one third measurement frame sent to the first device on the N channels; and sending, by the second device, a fourth measurement frame to the first device after a fourth time interval from the sending time of the third measurement frame on the Nth channel, the fourth measurement frame being used to measure a distance or a time of flight between the first device and the second device through an ultra-wideband signal.

[0055] Wherein, the fourth time interval can be a time interval T interval configured by the first device and / or the second device, for example, a time interval from the ultra-wideband system MAC counter being cleared / latched to TX starting. The third time interval can be obtained according to the fourth time interval and the frequency offset between the first device and the second device, for example, T interval *(1-CFO).

[0056] With reference to the second aspect, in some implementations of the second aspect, in the case where the first measurement frame includes a synchronization signal field, a starting time of the third time interval is the same as an ending time of the synchronization signal field of the first measurement frame.

[0057] With reference to the second aspect, in some implementations of the second aspect, when the third measurement frame comprises a synchronization signal field, the starting moment of the fourth time interval is the same as the ending moment of the synchronization signal field of the third measurement frame.

[0058] With reference to the second aspect, in some implementations of the second aspect, the method further comprises: detecting, by the second device, the first measurement frame from the first device on a plurality of channels according to a first frequency hopping manner, the first frequency hopping manner being used to determine a frequency hopping sequence or a frequency hopping scheme of the plurality of channels.

[0059] With reference to the second aspect, in some implementations of the second aspect, detecting, by the second device, the first measurement frame from the first device on a plurality of channels comprises: detecting, by the second device, the first measurement frame from the first device on a first channel, the plurality of channels comprising the first channel; and the method further comprises: when the second device does not receive the first measurement frame from the first device on the first channel, not transmitting, by the second device, a third measurement frame on the first channel, the third measurement frame having a same frame structure as the first measurement frame.

[0060] With reference to the second aspect, in some implementations of the second aspect, detecting, by the second device, the first measurement frame from the first device on a plurality of channels comprises: detecting, by the second device, the first measurement frame from the first device on a first channel, the plurality of channels comprising the first channel; and the method further comprises: receiving, by the second device, the first measurement frame from the first device on the first channel.

[0061] With reference to the second aspect, in some implementations of the second aspect, the method further comprises: when a reception quality of the first measurement frame received by the second device on the first channel does not meet a preset condition, not transmitting, by the second device, a third measurement frame on the first channel, the third measurement frame having a same frame structure as the first measurement frame.

[0062] With reference to the second aspect, in some implementations of the second aspect, the method further comprises: when a reception quality of the first measurement frame received by the second device on the first channel meets a preset condition, transmitting, by the second device, a third measurement frame to the first device on the first channel, the third measurement frame having a same frame structure as the first measurement frame.

[0063] With reference to the second aspect, in some implementations of the second aspect, the reception quality is determined according to at least one of: a received signal strength indication, RSSI, a signal-to-noise ratio, SNR, a signal-to-interference-plus-noise ratio, SINR, and a verification result of a synchronization signal or a logical link identifier or an access address; the SNR of the first narrowband signal; and the RSSI and a carrier frequency offset, CFO, value of the second narrowband signal.

[0064] With reference to the second aspect, in some implementations of the second aspect, after the second device receives the first measurement frame from the first device, the method further includes: determining, by the second device, a frequency offset between the first device and the second device according to the first measurement frame; determining, by the second device, a third time interval according to the determined frequency offset; receiving, by the second device, the second measurement frame from the first device after the third time interval has elapsed since receiving the first measurement frame.

[0065] With reference to the second aspect, in some implementations of the second aspect, the method further includes: transmitting, by the second device, the fourth measurement frame to the first device after a fourth time interval has elapsed since transmitting the third measurement frame to the first device, the fourth measurement frame being used to measure a distance or a time of flight between the first device and the second device by an ultra-wideband signal.

[0066] The fourth time interval can be a time interval T interval configured by the first device and / or the second device, for example, a time interval from ultra-wideband system MAC counter clear / latch to TX start. The third time interval can be weighted according to the fourth time interval and the frequency offset between the first device and the second device, for example, T interval *(1-CFO).

[0067] The explanations and advantages of the communication method provided by the second aspect can be referred to the communication method provided by the first aspect, which will not be repeated here.

[0068] The third aspect provides a communication device. The device includes a processing unit configured to: generate a first measurement frame, the first measurement frame including a first narrowband signal and a second narrowband signal, the first narrowband signal being used to measure a timing offset between a first device and a second device, the second narrowband signal being used to measure a frequency offset between the first device and the second device; and a transceiver configured to: transmit the first measurement frame to the second device by a narrowband; and transmit a second measurement frame to the second device by an ultra-wideband, wherein the timing offset and the frequency offset are used to determine a time and a frequency at which the second measurement frame is received by the second device, the second measurement frame being used to measure a distance or a time of flight between the first device and the second device by an ultra-wideband signal.

[0069] With reference to the third aspect, in some implementations of the third aspect, the first narrowband signal includes a synchronization signal, and the second narrowband signal is a measurement signal, the measurement signal including at least one of an unmodulated carrier signal, a binary phase shift keying (BPSK) signal, an amplitude shift keying (ASK) signal, and a multi-tone signal.

[0070] With reference to the third aspect, in some implementations of the third aspect, the synchronization signal is located in time before the measurement signal.

[0071] With reference to the third aspect, in some implementations of the third aspect, the transceiver is specifically configured to: send, to the second device, the first measurement frame through narrowband on a preset first channel; and receive, from the second device, a third measurement frame through narrowband on the first channel, the third measurement frame having the same frame structure as the first measurement frame.

[0072] With reference to the third aspect, in some implementations of the third aspect, the transceiver is further configured to: send, to the second device, the first measurement frame on N channels for frequency hopping measurement according to a preset channel measurement sequence, the preset channel measurement sequence containing the N channels and channel numbers corresponding to the N channels respectively, where N is an integer greater than 0.

[0073] With reference to the third aspect, in some implementations of the third aspect, the transceiver is further configured to: after sending the first measurement frame on the Nth channel of the N channels, send, to the second device, the second measurement frame after a first time interval.

[0074] With reference to the third aspect, in some implementations of the third aspect, the processing unit is further configured to: determine, according to a reception time of at least one third measurement frame received from the second device on the N channels, a reception time of the third measurement frame received on the Nth channel of the N channels; and the transceiver is further configured to: receive, from the second device, the fourth measurement frame after a second time interval from the reception time of the third measurement frame on the Nth channel, the fourth measurement frame being used to measure a distance or time of flight between the first device and the second device through an ultra-wideband signal.

[0075] With reference to the third aspect, in some implementations of the third aspect, the processing unit is further configured to: determine a frequency offset between the first device and the second device according to the received one or more third measurement frames; and determine the second time interval according to the determined frequency offset.

[0076] With reference to the third aspect, in some implementations of the third aspect, in a case where the first measurement frame includes a synchronization signal field, a start time of the first time interval is the same as an end time of the synchronization signal field of the first measurement frame.

[0077] With reference to the third aspect, in some implementations of the third aspect, in a case where the third measurement frame includes a synchronization signal field, a start time of the second time interval is the same as an end time of the synchronization signal field of the third measurement frame.

[0078] With reference to the third aspect, in some implementations of the third aspect, the transceiver is further configured to: transmit, to the second device, the first measurement frame on a plurality of channels according to a first frequency hopping manner, the first frequency hopping manner being used to determine a frequency hopping sequence or a frequency hopping scheme of the plurality of channels.

[0079] With reference to the third aspect, in some implementations of the third aspect, the transceiver is specifically configured to: transmit, to the second device, the first measurement frame on a first channel, the plurality of channels including the first channel; and transmit, to the second device, the first measurement frame when frequency hopping to a second channel upon not receiving a third measurement frame from the second device on the first channel, the third measurement frame having a same frame structure as the first measurement frame, the second channel being determined according to the first frequency hopping manner or the channel measurement sequence.

[0080] With reference to the third aspect, in some implementations of the third aspect, the transceiver is specifically configured to: transmit, to the second device, the first measurement frame on a first channel, the plurality of channels including the first channel; and receive, from the second device, a third measurement frame on the first channel, the third measurement frame having a same frame structure as the first measurement frame.

[0081] With reference to the third aspect, in some implementations of the third aspect, the transceiver is further configured to: transmit, to the second device, the first measurement frame when frequency hopping to a second channel upon a reception quality of the third measurement frame received on the first channel not meeting a preset condition, the second channel being determined according to the first frequency hopping manner or according to a preset channel measurement sequence.

[0082] With reference to the third aspect, in some implementations of the third aspect, the transceiver is further configured to: not transmit, to the second device, the first measurement frame when frequency hopping to a second channel upon a reception quality of the third measurement frame received on the first channel meeting a preset condition, the second channel being determined according to the first frequency hopping manner or according to a preset channel measurement sequence.

[0083] With reference to the third aspect, in some implementations of the third aspect, the reception quality is determined according to at least one of: a received signal strength indication, RSSI, a signal to noise ratio, SNR, a signal to interference plus noise ratio, SINR, and a verification result of a synchronization signal or a logical link identifier or an access address; the SNR of the first narrowband signal; the RSSI, a carrier frequency offset, CFO, value of the second narrowband signal.

[0084] In some implementations of the third aspect, the processing unit is further configured to: determine, according to the third measurement frame, a frequency offset between the second device; and determine, according to the determined frequency offset, a first time interval; and the transceiver is further configured to: receive, after receiving the third measurement frame, the second measurement frame from the second device after the first time interval.

[0085] In some implementations of the third aspect, the transceiver is further configured to: transmit, after transmitting the first measurement frame to the second device, the second measurement frame to the second device after a second time interval.

[0086] In one implementation, the communication apparatus is a device (the first device). When the communication apparatus is a device, the transceiver can be a transceiver, or an input / output interface; and the processing unit can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0087] In another implementation, the communication apparatus is a chip, a chip system or a circuit used in a device (the first device). When the communication apparatus is a chip, a chip system or a circuit used in a device, the transceiver can be an input / output interface, an interface circuit, an output circuit, an input circuit, a pin or related circuitry, etc. on the chip, the chip system or the circuit; and the processing unit can be at least one processor, a processing circuit or a logic circuit, etc.

[0088] The explanations and advantages of the communication apparatus provided by the third aspect can refer to those of the communication method provided by the first aspect, which will not be repeated here.

[0089] In the fourth aspect, the transceiver is configured to: receive, through a narrow band, a first measurement frame from a first device, the first measurement frame including a first narrow band signal and a second narrow band signal, the first narrow band signal being used to measure a timing offset between the first device and a second device, and the second narrow band signal being used to measure a frequency offset between the first device and the second device; and receive, through an ultra-wide band, a second measurement frame from the first device, wherein the timing offset and the frequency offset are used to determine a time and a frequency at which the second device receives the second measurement frame, and the second measurement frame is used to measure a distance or a time of flight between the first device and the second device through an ultra-wide band signal.

[0090] In some implementations of the fourth aspect, the first narrow band signal includes a synchronization signal, and the second narrow band signal is a measurement signal, the measurement signal including at least one of an unmodulated carrier signal, a binary phase shift keying (BPSK) signal, an amplitude shift keying (ASK) signal and a multi-tone signal.

[0091] In some implementations of the fourth aspect, the synchronization signal is located in time before the measurement signal.

[0092] In some implementations of the fourth aspect, the transceiver is specifically configured to receive the first measurement frame from the first device on a preset first channel in narrowband; and the transceiver is further configured to send a third measurement frame to the first device on the first channel in narrowband, the third measurement frame having the same frame structure as the first measurement frame.

[0093] In some implementations of the fourth aspect, the transceiver is further configured to detect the first measurement frame from the first device on N channels for frequency hopping measurement according to a preset channel measurement sequence, the preset channel measurement sequence containing the N channels and channel numbers corresponding to the N channels respectively, where N is an integer greater than 0.

[0094] In some implementations of the fourth aspect, the apparatus further comprises a processing unit configured to determine a receiving time of the first measurement frame on an Nth channel of the N channels according to a receiving time of at least one first measurement frame received from the first device on the N channels; and the transceiver is specifically configured to receive the second measurement frame from the first device after a third time interval from the receiving time of the first measurement frame on the Nth channel.

[0095] In some implementations of the fourth aspect, the processing unit is further configured to determine a frequency offset between the first device and the second device according to the received one or more first measurement frames; and determine the third time interval according to the determined frequency offset.

[0096] In some implementations of the fourth aspect, the processing unit is further configured to determine a sending time of the third measurement frame on an Nth channel of the N channels according to a sending time of at least one third measurement frame sent to the first device on the N channels; and the transceiver is further configured to send a fourth measurement frame to the first device after a fourth time interval from the sending time of the third measurement frame on the Nth channel, the fourth measurement frame being used to measure a distance or time of flight between the first device and the second device by an ultra-wideband signal.

[0097] In some implementations of the fourth aspect, in the case where the first measurement frame comprises a synchronization signal field, a starting time of the third time interval is the same as an ending time of the synchronization signal field of the first measurement frame.

[0098] With reference to the fourth aspect, in some implementations of the fourth aspect, when the third measurement frame comprises a synchronization signal field, the starting time of the fourth time interval is the same as the ending time of the synchronization signal field of the third measurement frame.

[0099] With reference to the fourth aspect, in some implementations of the fourth aspect, the transceiver is further configured to: detect, according to a first frequency hopping manner, the first measurement frame from the first device on a plurality of channels, the first frequency hopping manner being used to determine a frequency hopping sequence or a frequency hopping scheme of the plurality of channels.

[0100] With reference to the fourth aspect, in some implementations of the fourth aspect, the transceiver is specifically configured to: detect, on a first channel, the first measurement frame from the first device, the plurality of channels comprising the first channel; and the transceiver is further configured to: not transmit, on the first channel, a third measurement frame having a same frame structure as the first measurement frame, when the first measurement frame from the first device is not received on the first channel.

[0101] With reference to the fourth aspect, in some implementations of the fourth aspect, the transceiver is specifically configured to: detect, on a first channel, the first measurement frame from the first device, the plurality of channels comprising the first channel; and the transceiver is further configured to: receive, on the first channel, the first measurement frame from the first device.

[0102] With reference to the fourth aspect, in some implementations of the fourth aspect, the transceiver is further configured to: not transmit, on the first channel, a third measurement frame having a same frame structure as the first measurement frame, when a reception quality of the first measurement frame received on the first channel does not meet a preset condition.

[0103] With reference to the fourth aspect, in some implementations of the fourth aspect, the transceiver is further configured to: transmit, on the first channel, a third measurement frame having a same frame structure as the first measurement frame to the first device, when a reception quality of the first measurement frame received on the first channel meets a preset condition.

[0104] With reference to the fourth aspect, in some implementations of the fourth aspect, the reception quality is determined according to at least one of: a received signal strength indication, RSSI, a signal-to-noise ratio, SNR, a signal-to-interference-plus-noise ratio, SINR, and a verification result of a synchronization signal or a logical link identifier or an access address; the SNR of the first narrowband signal; and the RSSI and a carrier frequency offset, CFO, value of the second narrowband signal.

[0105] In some implementations of the fourth aspect, in combination with the fourth aspect, the processing unit is further configured to: determine, according to the first measurement frame, a frequency offset between the first device and the second device; and determine, according to the determined frequency offset, a third time interval; and the transceiver is further configured to: receive, after receiving the first measurement frame, the second measurement frame from the first device after the third time interval.

[0106] In some implementations of the fourth aspect, in combination with the fourth aspect, the transceiver is further configured to: transmit, after transmitting the third measurement frame to the first device, the fourth measurement frame to the first device after a fourth time interval, the fourth measurement frame being used to measure a distance or a time of flight between the first device and the second device by an ultra-wideband signal.

[0107] In one implementation, the communication apparatus is a device (the second device). When the communication apparatus is a device, the transceiver can be a transceiver, or an input / output interface; and the processing unit can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0108] In another implementation, the communication apparatus is a chip, a chip system, or a circuit used in a device (the second device). When the communication apparatus is a chip, a chip system, or a circuit used in a device, the transceiver can be an input / output interface, an interface circuit, an output circuit, an input circuit, a pin, or related circuitry, etc. on the chip, the chip system, or the circuit; and the processing unit can be at least one processor, a processing circuit, or a logic circuit, etc.

[0109] The explanations and advantages of the communication apparatus provided by the fourth aspect can be referred to the communication method provided by the second aspect, which will not be repeated here.

[0110] In the fifth aspect, a communication apparatus is provided, which includes: a memory configured to store a program; and at least one processor configured to execute the computer program or instructions stored in the memory to perform the method provided by the first aspect or any implementation of the first aspect, or to perform the method provided by the second aspect or any implementation of the second aspect.

[0111] In one implementation, the communication apparatus is a device (e.g., the first device, or the second device).

[0112] In another implementation, the apparatus is a chip, a chip system, or a circuit used in a device (e.g., the first device, or the second device).

[0113] In the sixth aspect, a processor is provided, which is configured to perform the method provided by any of the above aspects.

[0114] For the sending and obtaining / receiving operations involved by the processor, if no special description is made, or if it is not contrary to the actual role or internal logic in the related description, it can be understood as the processor output and receiving, input operations, and also can be understood as the sending and receiving operations performed by the radio frequency circuit and the antenna, and the present application does not limit this.

[0115] In a seventh aspect, a computer readable storage medium is provided, the computer readable medium storing program code for execution by an apparatus, the program code including instructions for performing the method provided by the first aspect or any of the implementations of the first aspect, or including instructions for performing the method provided by the second aspect or any of the implementations of the second aspect.

[0116] In an eighth aspect, a computer program product containing instructions which, when the computer program product is executed on a computer, cause the computer to carry out the method provided by the first aspect or any of the implementations of the first aspect, or cause the computer to carry out the method provided by the second aspect or any of the implementations of the second aspect.

[0117] In a ninth aspect, a chip system is provided, the chip system including a processor and a communication interface, the processor reading instructions stored on a memory through the communication interface, and executing the method provided by the first aspect or any of the implementations of the first aspect, or executing the method provided by the second aspect or any of the implementations of the second aspect.

[0118] Optionally, as an implementation form, the chip system further includes a memory, the memory storing a computer program or instructions, and the processor is configured to execute the computer program or instructions stored in the memory, and when the computer program or instructions are executed, the processor is configured to execute the method provided by the first aspect or any of the implementations of the first aspect, or execute the method provided by the second aspect or any of the implementations of the second aspect.

[0119] In a tenth aspect, a communication system is provided, including at least one communication device as described in the third aspect and at least one notification device as described in the fourth aspect.

[0120] The beneficial effects of the fifth aspect to the tenth aspect can be referred to the description of the first aspect to the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0121] FIG. 1 is a schematic diagram of a communication system provided by an embodiment of the present application.

[0122] FIG. 2 is a schematic diagram of another communication system provided by an embodiment of the present application.

[0123] FIG. 3 is a schematic diagram of inter-device signal interaction according to an embodiment of the present application.

[0124] FIG. 4 is a schematic diagram of narrowband signal and ultra-wideband signal interaction according to an embodiment of the present application.

[0125] FIG. 5 is a schematic diagram of a first measurement frame and a second measurement frame according to an embodiment of the present application.

[0126] FIG. 6 is a schematic diagram of a narrowband signal measurement frame according to an embodiment of the present application.

[0127] FIG. 7 is a schematic diagram of narrowband signal measurement frame assisted ultra-wideband signal measurement frame interaction according to an embodiment of the present application.

[0128] FIG. 8 is a schematic diagram of multi-frequency point bidirectional interaction narrowband signal measurement frame according to an embodiment of the present application.

[0129] FIG. 9 is a schematic diagram of another multi-frequency point bidirectional interaction narrowband signal measurement frame according to an embodiment of the present application.

[0130] FIG. 10 is a schematic flow diagram of bidirectional interaction stop according to an embodiment of the present application.

[0131] FIG. 11 is a schematic diagram of another multi-frequency point bidirectional interaction narrowband signal measurement frame according to an embodiment of the present application.

[0132] FIG. 12 is a schematic flow diagram of another bidirectional interaction stop according to an embodiment of the present application.

[0133] FIG. 13 is a schematic structural block diagram of a communication apparatus according to an embodiment of the present application.

[0134] FIG. 14 is a schematic structural block diagram of another communication apparatus according to an embodiment of the present application.

[0135] FIG. 15 is a schematic structural block diagram of another communication apparatus according to an embodiment of the present application.

[0136] FIG. 16 is a schematic diagram of a chip system according to an embodiment of the present application. DETAILED DESCRIPTION

[0137] The technical solutions in the present application will be described below with reference to the accompanying drawings.

[0138] The terms "first" and "second" and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a specific sequential or chronological order. Descriptions using the articles "a", "an", or "the" and / or the terms "comprising", "having", "containing", and / or "including" in the description of elements in a system and / or method are to be construed open-ended with the understanding that the use of such terms do not preclude the presence of two or more such elements, regardless of being coupled with "one" another. It will be appreciated by persons skilled in the art that the terms "comprise", "comprising", "have", "has", "including", "including", "contain", "containing" or variants thereof are not used inclusively, but are used open- ended. For example, a process, method, system, product, or apparatus that "comprises" or "has" a list of steps or elements is not necessarily limited to only those steps or elements but can include other steps or elements not expressly listed or inherent to such process, method, system, product, or apparatus.

[0139] Reference throughout this specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of other embodiments. It is understood that the use of a term in the description is not precluded from additionally being used in other embodiments of the application unless otherwise specially noted. It is expressly understood that any of the various embodiments of the application that can be described throughout this specification can be combined with each other, unless otherwise specifically noted. It is expressly understood that the technical features of the various embodiments of the application described throughout this specification can be combined with each other, according to their inherent logical relationships, to form new embodiments.

[0140] It should be noted that the description manner such as "at least one of a1, a2,..., and an (or at least one of a1, a2,..., and an)" in the embodiments of the present application includes a case where any one of a1, a2,..., and an exists alone, and a case where any combination of a plurality of a1, a2,..., and an exists, each of which can exist alone. For example, the description manner of "at least one of a, b, and c" includes a case where a alone, a case where b alone, a case where c alone, a case where a and b are combined, a case where a and c are combined, a case where b and c are combined, or a case where a, b, and c are combined.

[0141] It should be understood that, in the present application, "at least one" refers to one or more, "multiple" refers to two or more, "at least two" refers to two or three and three or more, and "and / or" is used to describe the relationship between the associated objects, which means that there can be three relationships, for example, "A and / or B" can represent three cases: 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 represents an "or" relationship between the front and back associated objects. "At least one of the following" or the like means any combination of these items, including single or multiple items in any combination. For example, at least one of a, b, or c can mean a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0142] Firstly, in combination with FIG. 1 and FIG. 2, the communication system and network architecture to which the embodiments of the present application are applicable are introduced.

[0143] The method provided in the present application can be applied to various communication systems, for example, can be an internet of things (IoT) system, a narrow band internet of things (NB-IoT) system, a long term evolution (LTE) system, a short-range wireless communication network system, for example, a SparkLink communication network system (including a sparklink basic (SLB), a sparklink low energy (SLE) and a sparklink positioning (SLP), a bluetooth low energy (BLE)), can also be a 5th-generation (5G) communication system, and a new communication system (such as 6G) in future communication development. Among them, the SLB of SparkLink can also be referred to as "Wireless Short-Range Communication Vehicle Air Interface Technical Requirements and Test Methods", and the SLE of SparkLink can also be referred to as "SparkLink Wireless Communication System Access Layer Low Power Air Interface Technical Requirements and Test Methods".

[0144] The technical solutions provided in the present application can also be applied to machine type communication (MTC), long term evolution-machine (LTE-M), device-to-device (D2D) network, machine to machine (M2M) network, internet of things (IoT) network or other network. Among them, the IoT network can include vehicle networking, for example. Among them, the communication mode in the vehicle networking system is collectively referred to as vehicle-to-everything (V2X, X can represent any thing), for example, the V2X can include vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-pedestrian (V2P) communication or vehicle-to-network (V2N) communication, etc.

[0145] In the above-mentioned various communication systems, a device with communication capability can be referred to as a node, and can also be referred to as a communication node. For example, the node can include a handheld terminal, a vehicle, a vehicle-mounted device, or a network-side device, a user equipment, an access terminal, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, a remote terminal, a wireless communication device, a user agent, or a user device, etc. independent device, or a component (such as a chip or an integrated circuit) contained in an independent device. The node can be any possible intelligent terminal device (such as a mobile phone), intelligent transportation device (such as a vehicle, a drone, etc.), intelligent manufacturing device, intelligent home device (such as a large screen, a sound box, etc.), etc.

[0146] The node in the embodiments of the present application can be applied to various application scenarios, such as the following application scenarios: mobile internet (MI), industrial control, self driving, transportation safety, internet of things (IoT), smart city, or smart home, etc. In some application scenarios or some network types, the name of a device with similar communication capability can not be called a node, but can also be called a device, and the present application does not make any limitation in this regard.

[0147] For example, in the following FIG. 1 and FIG. 2 shown, the nodes can communicate with each other through D2D technology, M2M technology or V2X technology, etc.

[0148] FIG. 1 is a schematic diagram of the architecture of a possible communication system according to an embodiment of the present application. As shown in FIG. 1, the communication system can include at least one first node (such as a network device) and at least one second node (such as a terminal device). In this document, the first node can also be referred to as a first device, and the second node can also be referred to as a second device, which are not distinguished in this document. The first node and the second node are introduced as follows respectively:

[0149] Exemplarily, the first node can be a master device, specifically, a next generation node B (gNB), a next generation evolved node B (ng-eNB), a node in a short-range wireless communication network system (e.g., a master node or a management node or a G node in a Starlink communication network system), or an access network device in a future communication network (e.g., 6G), etc. The master device can be any kind of device with wireless transceiving function. The master device can be an access node, a wireless relay node, a wireless backhaul node, etc. in a wireless fidelity (WiFi) system. The master device can be a wireless controller in a cloud radio access network (CRAN) scenario. The master device can be a wearable device or a vehicle-mounted device, etc. The master device can also be a small station, a transmission reception point (TRP) (or also referred to as a transmission point), etc.

[0150] Exemplarily, the second node can be a terminal device, which can also be referred to as a user equipment (UE) or a terminal, etc. The terminal device is a kind of device with wireless transceiving function, which can be deployed on land, including indoor or outdoor, handheld, wearable or vehicle-mounted; can also be deployed on water, such as a ship, etc.; can also be deployed in the air, such as an airplane, a balloon or a satellite, etc. The terminal device can be a mobile phone, a tablet computer (Pad), a computer with wireless transceiving function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical treatment, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, etc. It can be understood that the terminal device can also be a node in a short-range wireless communication network system (e.g., a slave node or a terminal node or a T node in a Starlink communication network system), a terminal device in a future communication network (e.g., 6G), or a terminal device in a future evolved PLMN, etc.

[0151] It can be understood that the terminal device shown in the present application can not only include a vehicle (such as a whole vehicle) in the Internet of Vehicles, but also include a vehicle-mounted device or a vehicle-mounted terminal in the Internet of Vehicles, and the present application does not limit the specific form of the terminal device applied to the Internet of Vehicles.

[0152] It should be understood that FIG. 1 exemplarily shows one first node (such as the network device shown in FIG. 1) and six second nodes (such as the terminal devices shown in FIG. 1), and the communication links between the nodes. Optionally, the communication system can also include a plurality of first nodes, and each first node can include other numbers of second nodes (such as more or fewer terminal devices) within the coverage of the first node, and the present application does not limit this.

[0153] Optionally, the communication links between the above-mentioned communication devices can include various types of connection media, including wired links (such as optical fibers), wireless links, or a combination of wired links and wireless links, etc. For example, the short-range wireless connection technologies can include SparkLink, 802.11b / g, Bluetooth, Bluetooth Low Energy (BLE), Zigbee, Radio Frequency Identification (RFID), Ultra-Wideband (UWB) technology, Impulse Radio (IR) Ultra-Wideband (IR-UWB), or a wireless short-range communication system (such as a vehicle-mounted wireless short-range communication system), etc.

[0154] The above-mentioned communication devices, such as the first node, the second node 1 to the second node 6 in FIG. 1, can be configured with multiple antennas. The multiple antennas can include at least one transmitting antenna for transmitting signals and at least one receiving antenna for receiving signals, and the embodiments of the present application do not limit the specific structure of the communication devices. Optionally, the communication system can also include a network controller, a mobile management entity, and other network entities, and the embodiments of the present application are not limited to this.

[0155] It can be understood that the communication architecture diagram shown in FIG. 1 is only an example, and for other forms of communication architecture diagrams, reference can be made to relevant standards or protocols, etc., which will not be described one by one here.

[0156] With the continuous development of wireless communication technology, more and more devices supporting wireless communication are gradually entering people's lives, such as smart transportation devices, smart home devices, robots, and other smart devices. Based on wireless communication technology, wireless ranging and positioning of each smart device in the communication domain can be achieved, such as ranging and positioning of indoor smart devices, smart car keyless entry and starting, and other scenarios.

[0157] In a wireless communication scenario where the smart device is located, one or more communication domains can be included in a certain communication area or range. The communication domain refers to a system composed of a group of communication nodes having a communication relationship and a communication connection relationship (i.e., a communication link) between the communication nodes. A communication domain includes one master node and at least one slave node, and the master node and the slave node, or the master node and the master node, or the slave node and the slave node can communicate with each other. Among them, the master node can manage the slave node, can manage the time-frequency resources of the communication domain, and has the function of scheduling resources for communication, positioning, measurement or sensing between communication nodes in the communication domain; the slave node listens to the scheduling of the master node and uses the resources allocated by the master node to communicate with the master node and / or other nodes.

[0158] Specifically, the master node can be a management node or a G node in the sparklink basic (SLB) or sparklink low energy (SLE) standard, or a master in the Bluetooth low energy (BLE) standard, or an access point (AP) in the Wi-Fi standard, and the present application does not limit this.

[0159] Specifically, the slave node can be a terminal node or a T node in the sparklink basic (SLB) or sparklink low energy (SLE) standard, or a slave in the Bluetooth low energy (BLE) standard, or a station (STA) in the Wi-Fi standard, and the present application does not limit this.

[0160] FIG. 2 is a schematic diagram of a possible communication system architecture provided by an embodiment of the present application.

[0161] The communication system shown in FIG. 2 is a smart cockpit wireless communication system under the sparklink technology (SLB and / or SLE). There are multiple communication domains in the smart cockpit, each communication domain contains one master node (also called management node or G node) and at least one slave node (also called terminal node or T node). Among them, the master node schedules the slave node to realize the communication and data transmission between nodes. For example, on a carrier (such as a SLB channel with a bandwidth of about 20MHz) or a channel (such as an SLE channel with a bandwidth of 1MHz / 2MHz / 4MHz) used by a G node, the G node can schedule time-frequency resources for wireless measurement signal transmission of T nodes / G nodes to realize ranging and positioning of T nodes / G nodes. Among them, the channel can also be referred to as a frequency point.

[0162] As shown in FIG. 2, in the communication domain of a passive entry passive start (PEPS) scenario, the master node is one positioning anchor point in a vehicle positioning system, and the slave node is a vehicle key or a mobile phone. By positioning the slave node (vehicle key or mobile phone) by the master node (vehicle positioning system), the automatic locking or unlocking of the vehicle door can be controlled. Further, in the PEPS application scenario, the user does not need to manually lock or unlock the vehicle door with a key, but can achieve automatic locking or unlocking of the vehicle door by positioning the vehicle key or mobile phone carried by the user and the like device by the vehicle positioning system. Similarly, in an indoor positioning and navigation application scenario, there is also an indoor positioning and navigation system with multiple anchors for positioning, which positions multiple user mobile phones or wearable devices and the like.

[0163] In the vehicle positioning scenario shown in FIG. 2, the communication domain includes multiple measuring nodes (also referred to as anchors, location anchors, positioning anchors / nodes, beacons, etc.) deployed on the vehicle and one measured node (also referred to as a positioned node, a tag / location tag, etc.) deployed outside the vehicle. Among them, the measuring nodes include but are not limited to the measuring nodes shown in the figure and deployed at various parts of the vehicle, such as the four corners of the vehicle and the body of the vehicle outside the vehicle, the center console / mirror / roof inside the vehicle, the display screen, microphone, speaker, camera and the like vehicle-mounted wireless communication devices can also be reused as measuring nodes for positioning the vehicle key or mobile phone and the like device outside the vehicle. The measured node includes node A, which can be a vehicle key with positioning function, or a mobile phone or wearable device with positioning function, for unlocking or locking the vehicle. In FIG. 2, the G node can be assumed by the vehicle key / mobile phone, and all measuring nodes on the vehicle are T nodes; or the G node is assumed by any one of the measuring nodes on the vehicle, at which time all other measuring nodes on the vehicle and the vehicle key / mobile phone are T nodes. The G node can schedule time-frequency resources for communication of the T nodes to achieve ranging positioning of the T nodes (measured nodes, vehicle keys / mobile phones). The measuring nodes and the measured nodes can perform ranging, angle measurement, speed measurement or perception and the like various measurements.

[0164] Those skilled in the art should understand that the application scenario shown in FIG. 2 is only one exemplary scenario in which the scheme of the present application can be applied. In addition to the application scenario shown in FIG. 2, the scheme of the present application can also be applied to any other suitable application scenario, such as but not limited to home, office, exhibition hall, production and the like scenarios.

[0165] It should be understood that the present application can be used in a vehicle-mounted wireless positioning scenario (e.g., PEPS), an indoor ranging positioning / navigation scenario, and can also be used in other wide-area wireless communication or local-area wireless communication scenarios, and the present application is not limited thereto. In addition, the various embodiments shown below can not only be applied to the communication system as shown in FIG. 1 and FIG. 2, but can also be applied to other forms of communication systems, and the following will not be repeated.

[0166] The following describes the terms related to the present application in conjunction with the accompanying drawings.

[0167] 1. Ranging

[0168] Ranging is to measure the distance between at least two nodes or at least two devices by transmitting ranging wireless signals between each other. For example, the master node and the slave node transmit ranging wireless signals to each other to measure the distance between the master node and the slave node. For another example, the master node and the slave node #1 transmit ranging wireless signals to each other to measure the distance between the master node and the slave node #1; the master node and the slave node #2 transmit ranging wireless signals to each other to measure the distance between the master node and the slave node #2; and the slave node #1 and the slave node #2 transmit ranging wireless signals to each other to measure the distance between the slave node #1 and the slave node #2.

[0169] Ultra wideband (UWB) technology is a wireless carrier communication technology, which realizes data transmission or measurement by transmitting and receiving extremely narrow pulses with nanoseconds or microseconds or orthogonal frequency-division multiplexing (OFDM) signals. The UWB technology occupies a very wide frequency spectrum, and the bandwidth of the transmitted or received wireless signal exceeds 500 MHz, so it has high ranging resolution and ranging accuracy. For example, in a line-of-sight scenario, the ultra-wideband measurement signal has a ranging accuracy of centimeters. High ranging accuracy can also accurately measure the corresponding range of the target, so as to obtain high-accuracy angle measurement. Therefore, at present, the wireless signal in the ultra-wideband technology can be used as a measurement signal for ranging, angle measurement, sensing and positioning, etc., such as accurate ranging based on the time of flight (TOF) of the measurement pulse.

[0170] Optionally, the ranging procedure can be specifically one-way signal measurement (or one way ranging, OWR), for example, the master node receives and measures the first ranging signal sent by the slave node, or the slave node receives and measures the second ranging signal sent by the master node. Optionally, the ranging procedure can be specifically two-way signal measurement (or two way ranging, TWR), that is, the slave node receives and measures the first ranging signal sent by the master node, and the master node receives and measures the second ranging signal sent by the slave node. The two-way signal measurement can eliminate the timing deviation of the master node and the slave node, the random initial phase and other problems introduced by frequency hopping, so that the ranging signals of each frequency band and / or channel can be coherently combined in the frequency domain, and the resolution of the ranging can be improved after the large bandwidth measurement, thereby the accuracy of the ranging can be improved. For ease of description, the embodiments will be described below by taking the two-way signal measurement as an example, and the process of one-way signal measurement can refer to the description of the process of two-way signal measurement.

[0171] It can be understood that in the embodiments of the present application, similar steps are implemented for ranging, positioning, angle measurement, sensing and the like, and therefore "ranging" can be replaced by "positioning", "angle measurement", "sensing" and the like.

[0172] 2. Frequency hopping

[0173] Frequency hopping refers to that a node or a device changes the center frequency of a radio frequency channel (for example, changes the carrier frequency of a local oscillator signal) or changes the center frequency of a generated transmission signal in a digital manner to switch the center frequency of the transmission signal. For example, frequency hopping can refer to frequency hopping based on an orthogonal frequency division multiplexing (OFDM) signal, or can refer to frequency hopping based on a single carrier signal or a multi-tone signal of SLE / BLE. The definition of OFDM frequency hopping is that the direct current subcarrier of an OFDM symbol is switched from the center frequency point of one carrier channel to the center frequency point of another carrier channel. For single carrier frequency hopping switching, it refers to that the direct current subcarrier is switched from one carrier channel to another carrier channel; for multi-carrier frequency hopping switching, it refers to that a plurality of carrier channel groups corresponding to a plurality of carriers are switched to another carrier channel group. For example, the master node and the slave node originally work on carrier channel groups 1-4, and are switched to carrier channel groups 5-8 after frequency hopping. The carrier channel groups 1-4 are referred to as initial carrier channel groups or initial channel groups, and the carrier channel groups 5-8 are referred to as frequency hopping carrier channel groups or frequency hopping channel groups.

[0174] In the present application, for the convenience of description, the carrier channel is simply referred to as a channel, and the terms "channel" and "carrier channel" are interchangeable. In this document, the "channel" can also be referred to as a "measurement channel" or a "frequency point". The frequency hopping in the embodiments of the present application can be radio frequency hopping, digital frequency hopping, or frequency hopping based on a phase-locked loop circuit, without limitation.

[0175] In the ranging scenario of the present application, frequency hopping can refer to the channel used by the device for ranging (i.e., transmitting and / or receiving ranging signals) being switched from one channel to another, and the channels before and after the switch correspond to different carrier frequencies. For example, the first device and the second device are switched from at least one first channel to at least one second channel, where the at least one first channel and the at least one second channel correspond to different carrier frequencies.

[0176] For example, if the number of frequency hops is 1, the first device and the second device are directly switched from the at least one first channel to the at least one second channel; if the number of frequency hops is more than 1, the first device and the second device are switched from the at least one first channel to the at least one second channel through multiple channel switches, for example, the first device and the second device are first switched from the at least one first channel to the at least one third channel, and then switched from the at least one third channel to the at least one second channel.

[0177] The first device and the second device can perform frequency hopping according to the same frequency hopping parameters, so that the first device and the second device can synchronize frequency hopping, for example, when the first device is switched from the at least one first channel to the at least one second channel, the second device is also switched from the at least one first channel to the at least one second channel. In the present application, the frequency hopping methods of different nodes or devices can be the same (for example, both are radio frequency hopping or digital frequency hopping), or different (for example, the frequency hopping method of the first device is radio frequency hopping, and the frequency hopping method of the second device is digital frequency hopping), which is not limited in the present application.

[0178] In the above scheme, the first device and the second device perform at least one frequency hopping, and can synchronously perform multiple signal measurements in different channels according to a preset order, thereby achieving the technical effect of merging a large bandwidth signal measurement of multiple channels (the bandwidth of the signal measurement is the total bandwidth of the at least one first channel and the at least one second channel), and determining the distance between the first device and the second device based on the measurement obtained in all signal measurement processes, which can improve the ranging resolution and the ranging accuracy.

[0179] Alternatively, the first device and the second device can perform frequency hopping according to a frequency hopping order or frequency hopping scheme indicated by a set frequency hopping map (also referred to as frequency hopping pattern, frequency hopping pattern, or frequency hopping mode). By setting the frequency hopping map, the first device and the second device can perform frequency hopping according to the same frequency hopping order to ensure that both sides synchronize frequency hopping during ranging. For example, the frequency hopping pattern can include multiple channel number information arranged in sequence, and based on the arrangement order of the multiple channel number information, the frequency hopping order of the first device and the second device can be indicated. Table 1 shows a frequency hopping pattern and channel number information provided by an embodiment of the present application.

[0180] Table 1

[0181] For example, referring to Table 1, the channel number and the corresponding carrier center frequency of a 20MHz carrier are shown. The frequency hopping pattern can be [41, 125, 209, …, 791, …], and the frequency hopping sequence of the first device and the second device is [channel 41, channel 125, channel 209, …, channel 791, …]. For another example, taking the measurement of star flash SLE as an example, the SLE uses 1MHz / 2MHz / 4MHz narrowband signals, and performs frequency hopping measurement on the channels in the frequency range of 2402-2480MHz. Alternatively, the frequency hopping sequence can also be a random sequence, for example, [channel 41, channel 1, channel 9, channel 55, …].

[0182] Alternatively, the first device and the second device can perform frequency hopping according to a pre-specified number of measurement channels or a pre-specified channel number. For example, the embodiment of the present application can select the first N channels from the frequency hopping map shown in Table 1 as the channels for performing frequency hopping. In this way, the time length of frequency hopping measurement can be effectively reduced.

[0183] Alternatively, when the frequency hopping is multi-carrier switching (i.e., channel group switching), the frequency hopping map can indicate the channel number information of the channel in a preset position in each channel group, such as the channel number information of the channel with the lowest frequency or the highest frequency in each channel group. For example, the frequency hopping sequence of the first device and the second device is: [channel group 1 (including three channels with channel numbers a, b, and c), channel group 2 (including three channels with channel numbers d, e, and f), channel group 3 (including three channels with channel numbers g, h, and i)], and the frequency hopping pattern can be represented as [channel number a, channel number d, channel number g]. In this way, the amount of information required to transmit the frequency hopping pattern can be reduced, and system resources can be saved. Still taking Table 1 as an example, a single channel group corresponds to a carrier with a bandwidth of 80MHz, and if the channel number of the initial working channel indicated by the frequency hopping pattern is 41, then the minimum channel number of the next working channel is 291.

[0184] In the ranging scenario of the present application, the operation of performing bidirectional signal measurement of the first device and the second device on one channel is regarded as one signal measurement process, and the operation of performing signal measurement on different channels is regarded as different signal measurement processes. The computing device can integrate the measurement quantities obtained by bidirectional signal measurement to calculate the distance between the first device and the second device, for example, the distance of the car key relative to the car in the scenario shown in FIG. 2. The computing device can be the first device, the second device, or other devices, which are not limited in the present application. In one possible design, the computing device can be the initiator in the first device and the second device, and accordingly, if the responder receives and measures the ranging signal, the responder needs to feed back the measurement quantity obtained by signal measurement to the initiator.

[0185] In addition, in practical applications, the number of devices that perform ranging interaction (also referred to as measurement interaction) with the same device is not limited to one (for example, there is a third device that performs ranging interaction with the first device). For example, in the scenario shown in FIG. 2, multiple positioning stations can simultaneously perform interaction with the car key to measure the distance of each positioning station relative to the car key, and the position of the car key relative to the car can be determined according to the distance of the car key relative to each positioning station. When multiple devices simultaneously perform ranging interaction with the first device, the interaction process of each device with the first device can refer to the interaction process of the first device and the second device described above, which will not be described herein again.

[0186] 3. Initial synchronization

[0187] According to the process described above for ranging, it can be obtained that the UWB signal in the UWB technology can be used for ranging between devices. However, because the UWB technology measures ranging by transmitting and receiving extremely narrow pulses with nanoseconds or microseconds, the time-frequency synchronization of the UWB signal between the transmitting device and the receiving device is crucial, and therefore, the UWB technology has very high requirements for the time-frequency synchronization of the transmitting device and the receiving device.

[0188] At the present stage, the time-frequency synchronization of the UWB signal can be assisted by the initial time-frequency synchronization information provided by the narrowband (NB) signal, that is, initial synchronization (which can also be referred to as coarse synchronization). Specifically, the time-frequency synchronization information of the UWB signal between the first device and the second device is obtained according to the time-frequency synchronization information of the NB signal. That is, the first device and the second device obtain more accurate time-frequency synchronization information of the UWB signal on the basis of the time-frequency synchronization information provided by the NB signal.

[0189] It should be understood that the NB signal can be understood as a signal with a bandwidth less than or equal to a first threshold, and the UWB signal can be understood as a signal with a bandwidth greater than or equal to a second threshold, and the second threshold is greater than the first threshold. The specific form of the NB signal and the UWB signal is not limited in the present application. For example, the frequency point, bandwidth, frame format, and modulation mode of the NB signal are not limited. Exemplarily, the NB signal can be SLE, BLE, zigbee / Bluetooth signal, a frequency point in the industrial scientific medical (ISM) frequency band of 2.4 GHz, a bandwidth of 1 MHz or 2 MHz or 4 MHz, or a modulation mode of O-QPSK, and the like.

[0190] The process of initial synchronization of the narrowband signal provided by the embodiments of the present application will be described below with reference to FIGS. 3 to 5.

[0191] The NB signal and the UWB signal of a single device can be generated by the same wireless module or different wireless modules. Taking a communication system including at least one first device (may also be referred to as a first node) and at least one second device (may also be referred to as a second node) and the NB signal and the UWB signal being generated by different modules as an example, FIG. 3 shows a system block diagram of signal interaction between the first device and the second device according to an embodiment of the present application.

[0192] As shown in FIG. 3, the first device and the second device can include logically or physically a UWB module and an NB module. The UWB module can include a UWB physical layer (PHY) and an optional UWB medium access control (MAC) layer, and the NB module can include an NB PHY layer and an NB MAC layer. The NB modules in the first device and the second device can interact with each other through an air interface to implement the exchange of NB signals or measurement frames containing NB signals, so as to implement initial synchronization of UWB signals or assist the UWB module to complete transmission of part / whole control information, security authentication information and measurement information, thereby reducing power consumption of the UWB module. The UWB modules in the first device and the second device can interact with each other through an air interface to implement the exchange of UWB signals or measurement frames containing UWB signals, so as to perform connection establishment, security authentication, control management, data transmission, measurement interaction, etc.

[0193] In embodiments of the present application, the NB module can be at least one of a starlink wireless communication SLE / SLB, Bluetooth low power consumption (BLE), Zigbee, WiFi, etc., and the UWB module can be various UWB technologies, such as SLP, impulse radio ultra wideband (IR-UWB) or direct sequence spread ultra-wideband (DS-UWB). In other words, embodiments of the present application can be applied to starlink SLB, Bluetooth low power consumption (BLE), WiFi, other systems based on OFDM, UWB systems, etc.

[0194] It should be understood that FIG. 3 is described only as an example in which the communication system includes one first device and one second device, but the communication system shown in FIG. 3 is not limited to including more other devices, for example, can also include more devices receiving NB signals and UWB signals.

[0195] It should be understood that the NB module and the UWB module can be logical modules or physical modules. In some other embodiments of the present application, the NB module and the UWB module can also be integrated in the same or different chip systems, for example, the NB module is integrated in a Bluetooth chip, and the UWB module is integrated in a UWB chip, and the Bluetooth chip and the UWB chip can also be packaged in one chip.

[0196] FIG. 4 shows a schematic diagram of the interaction between the NB signal and the UWB signal between the first device and the second device according to an embodiment of the present application.

[0197] For the convenience of description, the measurement frame containing the NB signal exchanged between the first device and the second device is referred to as a "first measurement frame" and a "third measurement frame", and the measurement frame containing the UWB signal exchanged between the first device and the second device is referred to as a "second measurement frame" and a "fourth measurement frame". The first device sends the first measurement frame to the second device through the narrow band and sends the second measurement frame to the second device through the ultra-wide band, and the second device sends the third measurement frame to the first device through the narrow band and sends the fourth measurement frame to the first device through the ultra-wide band. In some other embodiments of the present application, the first device or the second device can also send or receive the measurement frames shown in FIG. 4 through the same module.

[0198] It should be understood that in the embodiments of the present application, the frame structure of the third measurement frame is the same as that of the first measurement frame, and the length of the third measurement frame is the same as that of the first measurement frame. Alternatively, the frame structure and the length of the fourth measurement frame can also be the same as those of the second measurement frame. When the same logical link identifier is used to generate the same synchronization signal field, the first measurement frame is the same as the third measurement frame.

[0199] In addition, the naming of the frame is not limited in the present application. For example, when the first device and the second device are star flash devices, the NB module of the star flash device is an SLE module, and the UWB module is an SLP module, the first measurement frame can be referred to as an SLE frame, and the second measurement frame can be referred to as an SLP frame. The SLE frame can also be referred to as a measurement frame type 4, and the SLP frame can also be referred to as an ultra-wide band pulse measurement frame.

[0200] As shown in Fig. 4, the initial synchronization is first performed between the NB module of the first device and the NB module of the second device. Specifically, the NB module of the first device first sends a first measurement frame to the NB module of the second device. After receiving the first measurement frame, the NB module of the second device measures the time synchronization information (timing offset) and the frequency synchronization information (frequency offset), and sends the time-frequency synchronization offset to the UWB module. According to the received time-frequency synchronization offset, the UWB module of the second device configures or determines the receiving time and the receiving frequency of the second measurement frame, or in other words, determines when to expect to receive the second measurement frame sent by the first device and how much time-frequency offset the UWB signal in the second measurement frame has. In addition, after the NB module of the first device sends the first measurement frame, a certain configured or preset time interval (Tinterval) can be passed, and the UWB module thereof can send the second measurement frame to the UWB module of the second device. The second device adjusts the clock timing by the CFO2 measured by receiving the first measurement frame, for example, changes Tinterval to Tinterval x (1-CFO2), to perform the timing synchronization of the receiving end.

[0201] Similarly, the NB module of the second device sends a third measurement frame to the NB module of the first device. After receiving the third measurement frame, the NB module of the first device measures the time synchronization information (timing offset) and the frequency synchronization information (frequency offset), and sends the time-frequency synchronization offset to the UWB module. According to the received time-frequency synchronization offset, the UWB module of the first device configures or determines the receiving time and the receiving frequency of the fourth measurement frame, or in other words, determines when to expect to receive the fourth measurement frame sent by the second device and how much time-frequency offset the UWB signal in the second measurement frame has. Further, the initial synchronization between the first device and the second device is completed. In addition, after the NB module of the second device sends the third measurement frame, a certain configured or preset sending time interval (Tinterval) can be passed, and the UWB module thereof can send the fourth measurement frame to the UWB module of the first device. The first device adjusts the clock timing by the CFO1 measured by receiving the third measurement frame, for example, changes Tinterval to Tinterval x (1-CFO2), to perform the timing synchronization of the receiving end.

[0202] In the following, how to determine the receiving time and the receiving frequency of the received ultra-wideband signal measurement frame according to the time-frequency synchronization offset will be specifically described in conjunction with the embodiments, which will not be repeated herein.

[0203] FIG. 5 shows a schematic diagram of the first measurement frame and the second measurement frame according to an embodiment of the present application. The third measurement frame and the fourth measurement frame can refer to FIG. 5. In the scenario shown in FIG. 5, the first measurement frame can be an SLE frame, and the second measurement frame can be an SLP frame.

[0204] The first measurement frame can include NB signals and provide initial time-frequency synchronization information to assist the second measurement frame in ranging. In addition, the first measurement frame can also carry configuration information of the second measurement frame. As shown in FIG. 5, the second measurement frame can be composed of a SYNC field and a channel impulse response training sequence (CTS) field. The SYNC field is used to complete further accurate time-frequency synchronization (also referred to as fine synchronization) of the UWB signal, i.e., time-frequency synchronization of the UWB signal is completed according to the time-frequency synchronization of the NB signal. The CTS is used to calculate the channel impulse response (CIR) and complete ranging. There can be a certain time interval (Tinterval) between the transmission of the first measurement frame and the second measurement frame. The SYNC field is also referred to as a synchronization field, and the channel impulse response training sequence (CTS) field is also referred to as a measurement field.

[0205] The time interval (Tinterval) can be a value pre-configured in association with the switching capability of the first device, the interaction capability between modules, etc., for example, it can be 10 μs. Alternatively, the time intervals set by different devices can be the same or different, for example, the value of the time interval between the third measurement frame and the fourth measurement frame can be different from the value of the time interval (Tinterval) shown in FIG. 5.

[0206] Exemplarily, Tinterval can be the time interval of the ultra-wideband system MAC counter clearing / latching to TX starting, and its unit is chip. Chip represents the pulse duration of ultra-wideband. Its parameters can be as follows:

[0207] The maximum value Tmaxof Tinterval: it can be required that the maximum value of Tinterval does not exceed N1 ms (for example, 10 ms);

[0208] Tintervalmin: Considering the software running speed of the time synchronization module and the time slot scheduling module, Tintervalmay not be less than 1000 RSTU (total 833us), i.e. 416000 chips. Among them, Tminwill be adjusted according to the actual measurement, and this parameter needs to be set to be configurable, and the specific time is determined by the first device or the second device pre-configuration, for example, configured through the ultra-wideband pulse measurement configuration message / cell.

[0209] According to the above, since the synchronization of the UWB signal between the sending device and the receiving device is crucial, it puts forward high requirements for the time-frequency synchronization of the sending device and the receiving device, for example, the timing synchronization requirement of the UWB signal is less than 1ns. At present, a complex receiver synchronization module of the UWB module needs to be designed to meet the above high synchronization requirements.

[0210] Moreover, in the scheme in which the above narrowband signal measurement frame is used for the initial synchronization of the ultra-wideband signal measurement frame, timing / frequency synchronization with the following accuracy needs to be provided: timing accuracy requirement ±X ns and residual frequency offset accuracy requirement ±Y ppm. However, in the existing measurement frame types, the measurement frame carries out both time synchronization and frequency synchronization through the synchronization signal (such as the existing measurement frame type 1 and measurement frame type 3), or only contains a measurement signal that can be used for frequency synchronization in the measurement frame without including a signal for time synchronization (such as the existing measurement frame type 2), that is, the timing deviation and residual frequency offset requirements of the initial synchronization cannot be met at the same time.

[0211] The residual frequency offset of the frequency deviation measured through the synchronization signal field is greater than Y ppm, because the synchronization signal field can be generated based on the logical link identifier (SLE) or the access address (Access Address). For example, the synchronization signal field (synchronization signal 1) in the SLE is generated based on a 24-bit logical link identifier, after BCH encoding and m-sequence scrambling, 32 bits are generated, and after GFSK modulation, a synchronization signal composed of 32 symbols is generated. The generation process of the synchronization signal adopts m-sequence scrambling to ensure that the synchronization signal has certain whitening characteristics, but it cannot guarantee that the synchronization signal has good correlation characteristics, that is, it cannot guarantee that the synchronization signal has excellent frequency offset estimation accuracy and excellent synchronization characteristics. Through actual measurement, the residual frequency offset error of the synchronization signal is large, which cannot meet the residual frequency offset error requirement of the input of the ultra-wideband receiver, and cannot meet the simplified design requirement of the ultra-wideband receiver. For example, when the residual frequency offset error is too large, the correlator design used for ultra-wideband frequency offset estimation will be too complex, and the time consumption of the frequency offset estimation will be too large.

[0212] Therefore, the accuracy of the time-frequency offset obtained by the initial synchronization at the present stage is limited, so that the UWB module needs to perform a time-frequency synchronization process with higher accuracy requirement, that is, the search range of the time window of timing synchronization and the frequency window of frequency synchronization are both increased, and then the design of the receiver synchronization module of the UWB module is more complex. Therefore, the design cost of the device is increased, the search time of synchronization is longer, and the synchronization efficiency is lower.

[0213] To solve the above problems, an embodiment of the present application shows a frame structure of a narrowband signal measurement frame (such as the first measurement frame and the third measurement frame in the above) for initial synchronization. Among them, the narrowband signal measurement frame includes a first narrowband signal and a second narrowband signal. The first narrowband signal is used to measure the timing offset between the first device and the second device, for example, can include the above-mentioned synchronization signal. The second narrowband signal is used to measure the frequency offset between the first device and the second device, for example, can include at least one of the following measurement signals: an unmodulated carrier signal (also known as a single-tone signal / single-frequency sinusoidal signal), a binary phase shift keying BPSK signal with phase rotation (π / 2-BPSK) or a BPSK signal without phase rotation, an amplitude shift keying ASK signal, and a multi-tone signal. Optionally, the first narrowband signal can also measure the frequency offset between the first device and the second device, but the accuracy of the frequency offset estimation obtained by the first narrowband signal is lower than that of the second narrowband signal. As shown in FIG. 4, the timing offset and the frequency offset obtained by measuring the above-mentioned narrowband signal measurement frame can be used to determine the receiving time and the receiving frequency of the ultra-wideband signal measurement frame between the first device and the second device, and then measure the distance or the time of flight between the first device and the second device.

[0214] For ease of description, the narrowband signal measurement frame shown in the embodiments of the present application can also be defined as measurement frame type 4. In the frame structure of the above-mentioned narrowband signal measurement frame, the frequency offset is measured by a dedicated second narrowband signal, rather than using the synchronization signal to measure the frequency offset at the present stage, and then the accuracy of the final obtained frequency offset is higher. When the time-frequency synchronization accuracy of the initial synchronization of the NB module in the device is increased, the time-frequency synchronization accuracy requirement of the fine synchronization performed by the UWB module can be reduced, and then when designing the receiver synchronization module in the UWB module, the margin of the fine synchronization required to be designed is reduced, and the structure design of the synchronization module is simpler.

[0215] FIG. 6 shows a schematic structure diagram of a narrowband signal measurement frame according to an embodiment of the present application. As shown in FIG. 6, the narrowband signal measurement frame can include a time synchronization frame and a frequency offset estimation frame. The time synchronization frame can be used for time synchronization, i.e., includes a first narrowband signal for time synchronization. The frequency offset estimation frame can be used for frequency offset estimation, i.e., includes a second narrowband signal for frequency synchronization. Optionally, a switching interval can be included between the time synchronization frame and the frequency offset estimation frame. It is worth noting that the time synchronization frame and the frequency offset estimation frame are only named for illustration, and the naming of the parts of the frame structure is not limited in the present application.

[0216] For example, as shown in FIG. 6, the time synchronization frame or the first narrowband signal can include a preamble signal field, a synchronization signal field, and an equalization protection field. When the synchronization signal is GFSK modulated, the preamble signal can be a sequence of [0, 1] alternation of GFSK modulation. When the synchronization signal is PSK modulated, the preamble signal can be a sequence of [0, 1] alternation of BPSK modulation without phase rotation. In an embodiment of the present application, the length of the preamble signal can be 10 μs, the length of the synchronization signal can be 32 bits, and the length of the equalization protection can be 4 bits.

[0217] Optionally, in an embodiment of the present application, the absolute time occupied by the preamble signal can remain unchanged for different signal bandwidths.

[0218] Optionally, as shown above, the synchronization signal field can be generated based on a logical link identifier (SLE) or an access address (Access Address). For example, the synchronization signal field (synchronization signal 1) in the SLE is based on a 24-bit logical link identifier, and after BCH encoding and m-sequence scrambling, 32 bits are generated, and after GFSK modulation, a synchronization signal composed of 32 symbols is generated.

[0219] Optionally, when the last bit of the synchronization signal is "1", the equalization protection sequence can be "0101", and when the last bit of the synchronization signal is "0", the equalization protection sequence can be "1010".

[0220] As shown in FIG. 6, the frequency offset estimation frame or the second narrowband signal can be a measurement signal. As mentioned above, the measurement signal can be a narrowband single carrier signal, such as an unmodulated carrier signal (also referred to as a single tone signal / single frequency sinusoid) of a 1 MHz / 2 MHz / 4 MHz channel transmission of Starlink SLE, or at least one of a single frequency sinusoid signal, a binary phase shift keying (BPSK) signal without phase rotation or with pi / 2 rotation or pi / 4 rotation or pi / 8 rotation, an amplitude shift keying (ASK) signal, and a multi-tone signal of Starlink SLB / WiFi. In addition, the length of the measurement signal is configurable, for example, the configuration options include 16 / 32 / 64 / 128 / 256 / 512 / 1024 / 2048 bits, etc.

[0221] Exemplarily, the multi-tone signal can be a multi-tone signal in SLE, composed of N single tone signals (N >= 1), and the baseband expression is as follows:

[0222] wherein A i is the amplitude, ω i is the frequency (baseband), is the initial phase.

[0223] When N = 1, the multi-tone signal is equivalent to a single tone signal. In the embodiments of the present application, the generation and modulation of the multi-tone signal are irrelevant. The baseband multi-tone signal can be converted to a radio frequency multi-tone signal by an analog circuit for emission. The maximum frequency difference between the baseband multi-tone signal and 0 Hz (or the maximum frequency difference between the radio frequency multi-tone signal and the carrier frequency) is MAX(abs(ω i )), which is determined by the bandwidth of SLE.

[0224] In addition, when the measurement signal is a BPSK, Pi / 2-BPSK, Pi / 4-QPSK or Pi / 8-8PSK without phase rotation, it can be further encoded by a pseudo-random sequence to further improve security and improve the accuracy of measuring the frequency offset, especially the accuracy of measuring the frequency offset under interference.

[0225] In order to better use the narrowband measurement signal for the accuracy of CFO estimation, a switching interval is inserted between the equalization protection field and the measurement signal, so that the synchronization signal waveform transmitted by the transmitter and the receiver is more accurate and stable, and the switching interval is used for multipath protection of the measurement signal, to avoid the multipath time delay of the equalization protection field interfering with the accurate demodulation and measurement of the measurement signal.

[0226] It should be understood that in the frame structure shown in FIG. 6, the synchronization signal is located in time before the measurement signal, or in other words, the first narrowband signal for time synchronization is located in time before the second narrowband signal for frequency synchronization, because the synchronization signal needs to be aligned in the time symbol of the narrowband first, and the measurement signal needs more precise sampling, so the synchronization needs to be done less than a time symbol, and therefore, the time synchronization needs to be done first and then the frequency synchronization.

[0227] It should be noted that the narrowband signal measurement frame shown in FIG. 6 is only an example. The narrowband signal measurement frame used in the present application can also be used in the SLE measurement frame and the BLE measurement frame for initial synchronization to reduce the residual frequency offset to meet the initial synchronization requirements of UWB / SLP.

[0228] The present application can greatly improve the accuracy of frequency offset measurement in initial synchronization by introducing the measurement signal shown in FIG. 6, and reduce the design complexity of fine frequency offset estimation using the ultra-wideband signal measurement frame. After introducing the measurement signal shown in FIG. 6, compared with the synchronization signal originally used for initial frequency offset estimation, the measurement signal field can greatly improve the accuracy of frequency offset estimation, reduce the residual frequency offset error, and thus simplify the complexity of the ultra-wideband receiver in frequency synchronization, because the measurement signal uses a known signal such as a non-modulated carrier or a BPSK scrambled with a pseudo-random sequence.

[0229] In addition, in the frame structure shown in FIG. 6, there is no payload part, so there is no need to exchange the payload during the interaction of the narrowband signal measurement frame between devices, and thus the interval between the coarse synchronization of the narrowband signal measurement frame and the fine synchronization of the ultra-wideband signal measurement frame can be shortened, such as T interval .

[0230] FIG. 7 shows a schematic diagram of the initial synchronization process assisting the ultra-wideband signal measurement frame interaction. As shown in (a) of FIG. 7, the NB module of the first device first sends a first measurement frame to the NB module of the second device, and at the same time, the NB module of the first device sends a synchronization signal to the UWB module of the first device to instruct / trigger the UWB module of the first device to start sending the first measurement frame at a first time interval T interval The sending of the second measurement frame is counted down, or in other words, the UWB module is instructed / triggered to send the second measurement frame at a second time interval T interval The second measurement frame is sent to the UWB module of the second device.

[0231] After that, the NB module of the second device measures the first measurement frame after receiving it, obtains the timing offset and frequency offset CFO1 between the first device and the second device, and instructs / trigger the UWB module to send the second measurement frame at a second time interval T interval(1-CFO1) to start the countdown of the reception of the second measurement frame, or in other words, to instruct / trigger the UWB module to start the time interval T interval after (1-CFO1) to receive the second measurement frame.

[0232] Likewise, the second device transmits a third measurement frame to the first device, and the NB module of the second device sends a synchronization signal to the UWB module of the second device, instructing / triggering the UWB module to start the time interval T interval to start the countdown of the transmission of the fourth measurement frame, or in other words, to instruct / trigger the UWB module to start the time interval T interval to the UWB module of the first device; after the NB module of the first device receives the third measurement frame, it records the timing synchronization of the reception and obtains CFO2 relative to the second device, and instructs / trigger the UWB module to start the time interval T interval (1-CFO2) to start the countdown of the reception of the fourth measurement frame, or in other words, to instruct / trigger the UWB module to start the time interval T interval after (1-CFO2) to receive the fourth measurement frame.

[0233] It should be understood that for the frequency offset, CFO1 in FIG. 7 is the frequency offset estimate of the second device relative to the first device, denoted as f resp -f init , f resp and f init are the carrier frequency values of the second device and the first device, respectively. Likewise, CFO2 in FIG. 7 is the frequency offset estimate of the first device relative to the second device, denoted as f init -f resp . CFO1 and CFO2 are both signed frequency offset estimates, and (1-CFO1) or (1-CFO2) respectively represents the scaling ratio of the second device and the first device for the inter-frame interval T interval of the narrowband measurement frame and the ultra-wideband measurement frame.

[0234] It should be understood that for the timing offset, when the first device or the second device receives the narrowband signal measurement frame, the timing offset is defined as the deviation between the start time or end time of the narrowband signal measurement frame scheduled by the sending end and the start time or end time of the narrowband signal measurement frame actually received by the receiving end. The difference between the start time and the end time of the narrowband signal measurement frame is the frame duration of the narrowband signal measurement frame.

[0235] (b) of FIG. 7 shows a diagram of the timing offset and the determination of the second measurement frame scheduling time. As shown in (b) of FIG. 7, the first device starts to transmit the first measurement frame at time Ta, and ends the transmission of the first measurement frame at time (Ta+m), where m is the frame duration of the first measurement frame. Considering the time of flight of the first measurement frame and the difference of the timing clock, the second device starts to receive the first measurement frame at time Tb, and ends the reception of the first measurement frame at time (Tb+m), and the dashed part in the diagram is the time period during which the second device actually receives the first measurement frame. Further, the second device can obtain the timing offset between the first device and the second device, i.e., (Tb-Ta), by measuring the first measurement frame. The second device can further obtain the value of Ta by correlating the first measurement frame with the local sequence, and determine the specific value of Tb according to the value of Ta and the timing offset, i.e., the time at which the second device actually starts to receive the first measurement frame.

[0236] For the first device, after the first measurement frame is transmitted at time Ta, the time interval T interval is elapsed, and the second measurement frame is transmitted to the second device at time Tc. For the second device, after the actual reception time Tb of the first measurement frame is determined, the second device weights the carrier frequency offset (CFO) obtained by measuring the first measurement frame and the time interval T interval , e.g., T interval *(1-CFO1) as mentioned above, to determine a second time interval, i.e., the second time interval is obtained by weighting the first time interval and CFO1. Further, the second device determines the reception time of the second measurement frame as time Tc after the actual reception time Tb of the first measurement frame by the second time interval, i.e., the second measurement frame is received starting from time Tc, and time synchronization is achieved. It is to be noted that time Tc is the transmission time of the second measurement frame scheduled by the first device, and is illustratively used to indicate the reception time of the second measurement frame scheduled by the second device. In fact, the time after the waiting interval T interval *(1-CFO1) of the second device is the actual reception time of the second measurement frame searched by the second device.

[0237] Optionally, in some embodiments of the present application, when the narrowband signal measurement frames (the first measurement frame and the third measurement frame) are transmitted / received, the first device and the second device can pre-agree on the timing reference point (or narrowband timing reference point) of the transmitted / received narrowband signal measurement frame. The timing reference point indicates the start time of the time intervals T interval , T interval *(1-CFO1) shown in FIG. 7, and can be the beginning or end of the narrowband signal measurement frame or a time point in the narrowband signal measurement frame. The "*" indicates multiplication.

[0238] For example, the embodiment of the present application can adopt the end moment of the synchronization signal field in the narrowband signal measurement frame as the timing reference point, which has the advantage of timing accuracy compared with the timing reference point of the end of the narrowband signal measurement frame. The reason is that the receiving device of the narrowband signal measurement frame starts the receiving timing of the super wideband measurement frame immediately after completing the timing synchronization according to the synchronization signal field, which is beneficial to avoid the inaccuracy of the timing of the time period from the end moment of the synchronization signal field to the end moment of the frame caused by the clock deviation between the transmitting device and the receiving device. The position of the synchronization signal field in the narrowband signal measurement frame can be referred to Figure 6.

[0239] (c) of Figure 7 shows a schematic diagram of transmitting / receiving the first measurement frame based on the timing reference point. As shown in (c) of Figure 7, Td and Td' (corresponding to the arrow indicating the moment in the figure) can respectively represent the end moment of the synchronization signal field of the first device transmitting the first measurement frame and the end moment of the synchronization signal field of the second device receiving the first measurement frame, i.e. the end moment of the synchronization signal field of the first measurement frame as the timing reference point of timing synchronization. Further, the first device transmits the second measurement frame after Td by T interval The second device receives the second measurement frame after Td' by T interval *(1-CFO1) The third measurement frame also can adopt the end moment of the synchronization signal field as the timing reference point of timing synchronization, since the third measurement frame has the same frame structure as the first measurement frame, which will not be described herein.

[0240] In addition, the frequency deviation obtained by measuring the first measurement frame can ensure that the receiving frequency of the second measurement frame is consistent with the transmitting frequency of the first device transmitting the second measurement frame, i.e. the second device determines the receiving frequency of the second measurement frame according to the frequency deviation obtained by measuring the first measurement frame. Finally, the second device can determine the receiving moment and the receiving frequency of the second measurement frame according to the timing deviation and the frequency deviation obtained by measuring the first measurement frame.

[0241] Similarly, the scheduling process of the third measurement frame and the fourth measurement frame can be referred to the above description, which will not be described herein.

[0242] As can be seen from Figure 7, the inter-frame interval between the first measurement frame and the third measurement frame also indirectly determines the inter-frame interval between the second measurement frame and the fourth measurement frame, so the inter-frame interval of the first measurement frame and the third measurement frame should be configured in the narrowband measurement parameter configuration stage. For example, in the SLE, the inter-frame interval of the measurement frame as shown in Figure 6 of the first device and the second device is configured through the narrowband frequency hopping measurement signal configuration message. The content of this aspect will be described in Table 2 when introducing embodiment 1.

[0243] In the embodiments of the present application, the measurement frame type event on a single frequency point can be configured by using an initialization phase event. If there is an initialization phase in the configuration event group, the first event in each event group is called an initialization phase event, in which the first device and the second device transmit according to the rules determined by the initialization phase interaction type.

[0244] The frame structure of the narrowband signal measurement frame and the process of assisting the UWB signal interaction provided by the embodiments of the present application are described above in combination with the drawings. By measuring the narrowband signal measurement frame provided by the embodiments of the present application, a more accurate frequency synchronization offset CFO can be obtained, and then based on FIG. 7, the receiving time of the second measurement frame or the fourth measurement frame can be determined based on the time interval calculated by the receiving time of the first measurement frame or the third measurement frame and the CFO, and the receiving frequency of the second measurement frame or the fourth measurement frame can be determined according to the CFO. Further, the more accurate CFO obtained in the embodiments of the present application can make the receiving time and the receiving frequency of the UWB signal measurement frame (such as the second measurement frame and the fourth measurement frame) more accurate. Further, the process of fine synchronization of the UWB signal measurement frame can be simplified, and thus the design of the UWB module can be simplified.

[0245] The interaction process of the narrowband signal measurement frame provided by the embodiments of the present application will be described below in combination with the drawings.

[0246] In the example shown in FIG. 4, the process of narrowband signal measurement frame interaction and UWB signal measurement frame ranging is a bidirectional interaction process. In the embodiments of the present application, the bidirectional interaction process of the narrowband signal measurement frame can also be multiple times. For example, by using the frequency hopping map or the preset channel measurement sequence described above, the NB module of the first device and the NB module of the second device can perform bidirectional interaction of the first measurement frame and the third measurement frame on multiple frequency point channels. The reason is that if only one frequency point channel is used for initial measurement of the time-frequency synchronization offset, the time-frequency synchronization accuracy will be low due to interference or frequency selective fading. If multiple frequency point channels are measured by frequency hopping, the accuracy of the time-frequency synchronization measurement can be ensured in the case of partial channel interference or frequency selective fading.

[0247] Figure 8 shows a schematic diagram of narrowband signal measurement frame multi-frequency point interaction provided by the prior art. As shown in Figure 8, the first device and the second device perform bidirectional interaction of the first measurement frame and the third measurement frame through channel #1 to channel #3. Specifically, on each frequency point, the first device as the initiating node sends the first measurement frame to the second device as the responding node through the narrowband, and after receiving the first measurement frame sent by the first device, the second device sends or replies the third measurement frame to the first device through the narrowband, thereby completing the bidirectional interaction of the narrowband signal measurement frame of the first device and the second device on the same frequency point. Among them, the second device should listen to all the first measurement frames on channel #1 to channel #3, and only when the first measurement frame is successfully received on at least one frequency point, the third measurement frame is sent to the first device. If the first device receives the third measurement frame from the second device on at least one frequency point, the remaining first measurement frame interaction steps can be ignored, that is, the bidirectional interaction process of the remaining frequency points is stopped.

[0248] The bidirectional interaction of the narrowband signal measurement frame provided by the embodiments of the present application will be described below with reference to Figures 9 to 12. Among them, Figures 9 and 10 describe embodiment 1, and Figures 11 and 12 describe embodiment 2.

[0249] Embodiment 1:

[0250] In embodiment 1, the first device and the second device perform bidirectional synchronous measurement on a specified number of measurement channels, or in other words, traverse the pre-specified channel frequency point set. In this way, compared with the bidirectional synchronous measurement on all channels as shown in Figure 8, the measurement time of bidirectional synchronization can be reduced.

[0251] Optionally, in the embodiments of the present application, the first device and the second device can perform bidirectional synchronous measurement on a specified number of channels by specifying the number of measurement channels N or the number of frequency hopping channels N in advance, or the present application can directly give the channel number (or frequency point number) set in the signaling. For example, Table 2 shows the specified N channels, and Table 2 can also include the configured measurement frame interframe interval. As shown in Table 2 below, the number of measurement frequency points N can indicate how many measurement channel number subfields the measurement channel number field contains. Each measurement channel number subfield represents the number of a channel used for bidirectional synchronous measurement in the ultra-wideband initial synchronization stage. For another example, when the SLE device works in a 1MHz channel bandwidth, the working frequency band 2402-2480MHz has a total of 79 1MHz channels, and N can be set to 4, and the channel numbers indicated by the measurement channel numbers 1-N are 10, 30, 50 and 70 in turn.

[0252] Table 2

[0253] FIG. 9 shows a schematic diagram of the bidirectional interaction on N channels according to an embodiment of the present application.

[0254] For example, as shown in FIG. 9, on channel #1, the second device receives the first measurement frame from the first device and sends the third measurement frame to the first device, and the first device receives the third measurement frame and performs measurement. Thus, on channel #1, the bidirectional interaction between the first device and the second device is successful, i.e., both the first device and the second device successfully receive the narrowband signal measurement frame and perform measurement to obtain the time-frequency offset. Similarly, as shown in FIG. 9, the first device and the second device also successfully interact on channel #N-1.

[0255] For example, as shown in FIG. 9, on channel #2, the second device receives the first measurement frame from the first device and sends the third measurement frame to the first device, but the first device does not receive the third measurement frame due to interference or channel fading, etc. Thus, on channel #2, the bidirectional interaction between the first device and the second device fails. Similarly, on channel #3 and channel #N, the second device does not receive the first measurement frame from the first device due to interference or channel fading, etc., and thus does not send the third measurement frame to the first device.

[0256] In general, on the N measurement channels specified in embodiment 1, the first device and the second device can successfully perform bidirectional interaction on some of the channels, i.e., both receive the narrowband signal measurement frame and perform measurement to obtain the time-frequency synchronization offset. On other channels, the first device and the second device can fail to perform bidirectional interaction.

[0257] In the bidirectional interaction process shown in FIG. 9, the stop condition of the bidirectional interaction can be to end when the number of channel frequencies reaches the limit, i.e., to stop the bidirectional interaction when the number of frequency hopping channels reaches the above-mentioned N, and not to end after a successful interaction. At this time, the time-frequency synchronization information finally determined by the first device and the second device can be determined according to the time-frequency synchronization information obtained by the last successful measurement, or according to the average result of the time-frequency synchronization information obtained by multiple successful bidirectional interactions. In other words, the receiving time and receiving frequency of the second measurement frame of the UWB module are determined according to the last successful interaction or the average result of multiple successful interactions. The first device and the second device determine the receiving time and receiving frequency of the second measurement frame according to the final synchronization information and the preset T interval

[0258] FIG. 10 shows a schematic diagram of the termination of bidirectional interaction according to an embodiment of the present application.

[0259] ​For example, as shown in (a) of FIG. 10, it is assumed that the first device and the second device successfully perform the bidirectional interaction on the last one of the N channels (i.e., the Nth channel). Further, in the case shown in (a) of FIG. 10, the first device and the second device can determine the reception time and the reception frequency of the ultra-wideband signal measurement frames (e.g., the second measurement frame and the fourth measurement frame) by the procedure shown in FIG. 4, and the determination can be performed as described with reference to FIG. 4. Specifically, the second device determines the reception time and the reception frequency of the second measurement frame based on the determined reception time of the first measurement frame on the Nth channel and the frequency offset CFO obtained by measuring the first measurement frame; and the first device determines the reception time and the reception frequency of the fourth measurement frame based on the determined reception time of the third measurement frame on the Nth channel and the frequency offset CFO obtained by measuring the third measurement frame.

[0260] For example, it is assumed that the first device and the second device fail to perform the bidirectional interaction on the Nth channel, and the first device and the second device successfully perform the bidirectional interaction on the previous partial channels. As shown in (b) of FIG. 10, it is assumed that the first device and the second device successfully perform the bidirectional interaction on the channel #1 and the channel #M. In this case, in Embodiment 1, the transmission time of the ultra-wideband signal measurement frame also needs to be determined based on the time at which the first device and the second device transmit / receive the narrowband signal measurement frames on the Nth channel. Therefore, in the case shown in (b) of FIG. 10, the reception time of the first measurement frame and the transmission time of the third measurement frame on the Nth channel when it is assumed that the bidirectional interaction is successful need to be calculated.

[0261] Alternatively, the Embodiments of the present application can determine the expected reception time of the first measurement frame and the expected transmission time of the third measurement frame on the Nth channel based on the reception time of the first measurement frame and the transmission time of the third measurement frame obtained on the channel on which the bidirectional interaction is successful. For example, on the channel #1 and the channel #M, the second device determines that the first measurement frame is received after xns from the time when the measurement is started or the time when the frequency hopping to the current channel is performed, or the second device determines that the first measurement frame is received after yns from the transmission time of the first measurement frame. Thus, the second device can determine the expected reception time of the first measurement frame on the Nth channel based on the above-mentioned synchronization information. For another example, on the channel #1 and the channel #M, the second device transmits the third measurement frame after zns from the reception time of the first measurement frame. Thus, the second device can determine the expected transmission time of the third measurement frame on the Nth channel based on the above-mentioned information. Similarly, the first device can also determine the expected reception time of the third measurement frame on the Nth channel.

[0262] Similarly, the first device and the second device can also obtain the final time-frequency synchronization deviation for determining the receiving time of the UWB signal measurement frame according to the time-frequency synchronization deviations measured on the channel #1 and the channel #M, such as taking the average of the obtained time-frequency synchronization deviations or one of the minimum values as the final time-frequency synchronization deviation.

[0263] Alternatively, the above process infers the synchronization information on the Nth channel through the synchronization information on the multiple channels on which the bi-directional interaction is successful, and in some other embodiments of the present application, the synchronization information on the Nth channel can also be inferred only using the synchronization information of the last interaction. For example, only according to the receiving time of the first measurement frame, the transmitting and receiving time of the third measurement frame on the channel #M, and the measured time-frequency synchronization deviation, the expected receiving time of the first measurement frame, the expected transmitting and receiving time of the third measurement frame, and the final time-frequency synchronization deviation on the Nth channel are determined.

[0264] Alternatively, after the bi-directional interaction is stopped, the first device can frequency-hop to the channel #N+1 and send the final synchronization information indication to the second device, which can include the time-frequency synchronization deviation determined by the first device and other information, and then the second device replies to the first device with an acknowledgement frame after receiving the final synchronization information indication.

[0265] Finally, in embodiment 1, when the bi-directional interaction on the Nth channel is successful, the receiving time and receiving frequency of the UWB signal measurement frame (the second measurement frame and the fourth measurement frame) can be determined according to the synchronization information on the Nth channel (the transmitting and receiving time of the first measurement frame, the transmitting and receiving time of the third measurement frame, and the time-frequency synchronization deviation) in the manner shown in FIG. 7; when the bi-directional interaction on the Nth channel fails, the expected synchronization information on the Nth channel (the expected receiving time of the first measurement frame, the expected transmitting and receiving time of the third measurement frame, and the final time-frequency synchronization deviation) can be inferred according to the synchronization information on one or more channels on which the bi-directional interaction is successful (the transmitting and receiving time of the first measurement frame, the transmitting and receiving time of the third measurement frame, and the time-frequency synchronization deviation), and then the receiving time and receiving frequency of the UWB signal measurement frame (the second measurement frame and the fourth measurement frame) are determined. When the first measurement frame and the third measurement frame both contain synchronization signals, the expected receiving time of the first measurement frame and the expected transmitting and receiving time of the third measurement frame can be calculated based on the end time of the synchronization signal of the first measurement frame and the end time of the synchronization signal of the third measurement frame in the N channels. The process of determining the receiving time of the UWB signal measurement frame can be referred to the description of FIG. 7, which is not described herein.

[0266] Embodiment 2:

[0267] In the two-way interaction process shown in FIGS. 8-10, for the first device or the second device, if the received quality of the received first measurement frame or the third measurement frame is poor, such as the signal to interference plus noise ratio (SINR) of the measurement frame is low, the accuracy of the timing and frequency offset determined in the initial synchronization process cannot meet the time-frequency synchronization requirements of the subsequent second measurement frame.

[0268] To solve the above problem, in Embodiment 2, the first device or the second device determines whether further transmission of the first measurement frame or two-way interaction is needed based on the received quality of the narrowband signal measurement frame. FIG. 11 shows a schematic flowchart of the two-way interaction provided by the embodiments of the present application.

[0269] For example, as shown in FIG. 11, the first device transmits the first measurement frame to the second device on channel #1. The second device determines that the received quality of the received first measurement frame on channel #1 meets the requirements, and then the second device sets the reception time and reception frequency of the second measurement frame according to the time-frequency offset obtained by measuring the first measurement frame, and transmits the third measurement frame to the first device. After that, when the first device does not receive the third measurement frame from the second device on channel #1 or the received quality of the received third measurement frame does not meet the requirements, the first device continues to transmit the first measurement frame to the second device after frequency hopping to channel #2.

[0270] In other words, after the second device receives the first measurement frame on the current channel that meets the received quality requirements, the second device determines the reception time and reception frequency of the second measurement frame according to the time-frequency offset obtained by measuring the first measurement frame, and transmits the third measurement frame to the first device. When the first device does not receive the third measurement frame from the second device on the current channel or the received third measurement frame does not meet the received quality requirements, the first device continues to transmit the first measurement frame to the second device after frequency hopping to the next channel.

[0271] For example, as shown in FIG. 11, the first device transmits the first measurement frame to the second device on channel #2. After the second device determines that the received quality of the received first measurement frame on channel #2 does not meet the requirements, the second device does not reply the third measurement frame to the first device on channel #2. For another example, the second device can also not receive the first measurement frame on channel #3, and then does not reply the third measurement frame to the first device. Before the first device frequency hops to the next channel such as channel #3 or channel #4, the first device determines that the first measurement frame from the second device is not received on the current channel. Then, the first device continues to transmit the first measurement frame to the second device after frequency hopping to channel #3 or channel #4.

[0272] In other words, the second device does not send the third measurement frame to the first device on the current channel when the first measurement frame from the first device is not received on the current channel or the received first measurement frame does not meet the requirement of the reception quality. Further, the first device continues to send the first measurement frame to the second device when hopping to the next channel after the third measurement frame from the second device is not received on the current channel.

[0273] For example, as shown in FIG. 11, the first device sends the first measurement frame to the second device on channel #4. The second device determines that the reception quality of the received first measurement frame on channel #4 meets the requirement, and then the second device re-sets the reception time and the reception frequency of the second measurement frame according to the time-frequency offset obtained by measuring the first measurement frame, and sends the third measurement frame to the first device on channel #4. After the first device receives the third measurement frame on channel #4 which meets the requirement of the reception quality, the first device determines the reception time and the reception frequency of the fourth measurement frame according to the time-frequency offset obtained by measuring the third measurement frame, and determines that the bidirectional interaction between the first device and the second device is completed.

[0274] Since the second device needs to determine whether to continue to send the first measurement frame on the current channel after receiving the first measurement frame, the interval between the narrowband signal measurement frames sent by the first device and the second device needs to be increased by T1, where T1 is the time required by the second device to determine the reception quality of the first measurement frame. Similarly, the first device also needs to determine whether to continue to send the first measurement frame when hopping to the next channel after receiving the third measurement frame from the second device, and therefore the hopping time of the first device and the second device also needs to be increased by T2, where T2 is the time required by the first device to determine the reception quality of the third measurement frame. T1 and T2 can be indicated in the initial synchronization capability of the first device and the second device, so that the first device and the second device determine the interval of the narrowband signal measurement frame and the hopping time in the initial synchronization through ranging negotiation.

[0275] The requirement for the measurement synchronization needs to meet: the interval T between the start time of the coarse synchronization and the start time of the fine synchronization initerval > Tsc x K. Where Tsc represents the time length of the bidirectional interaction of the narrowband signal measurement frame on the channel of a single frequency point, and K is the number of frequency points for the bidirectional interaction.

[0276] Where Tsc = the time length of the narrowband signal measurement frame x 2 + the interaction switching interval + the hopping channel switching time length.

[0277] In the narrowband signal measurement frame structure shown in FIG. 6, there is no payload and no CRC check, and therefore it is impossible to determine whether the narrowband signal measurement frame is successfully received. Alternatively, the reception quality of the narrowband signal measurement frame shown in FIG. 6 can include at least one of the following quality evaluation methods:

[0278] Exemplarily, the embodiment of the present application can evaluate the receiving quality of the narrowband signal measurement frame according to the receiving quality of the synchronization signal of the narrowband signal measurement frame. For example, the first device or the second device can detect the logical link identifier (or access address) of the narrowband signal measurement frame and check it to evaluate the receiving quality of the synchronization signal. If there is one or more bit errors in the synchronization signal field of the narrowband signal measurement frame after the check, it can be considered that the receiving quality of the synchronization signal is general or poor, that is, the receiving quality of the narrowband signal measurement frame is general or poor; if there is no bit error in the synchronization signal field of the narrowband signal measurement frame, it can be considered that the receiving quality of the synchronization signal meets the requirement, that is, the receiving quality of the narrowband signal measurement frame meets the requirement.

[0279] Exemplarily, the embodiment of the present application can evaluate the receiving quality of the narrowband signal measurement frame according to the RSSI / SNR / SINR of the narrowband signal measurement frame. For example, when the RSSI / SNR / SINR of the narrowband signal measurement frame is lower than a preset threshold or the synchronization signal SNR is low (the correlation peak is low), it can be considered that the receiving quality of the narrowband signal measurement frame is general or poor.

[0280] Exemplarily, the embodiment of the present application can evaluate the receiving quality of the narrowband signal measurement frame according to the receiving strength of the measurement signal field (the frequency offset estimation frame shown in FIG. 6) in the narrowband signal measurement frame. For example, when the receiving strength of the measurement signal field (the frequency offset estimation frame shown in FIG. 6) is lower than a preset threshold, it can be considered that the receiving quality of the narrowband signal measurement frame is general or poor.

[0281] Exemplarily, the embodiment of the present application can also determine the receiving quality of the narrowband signal measurement frame according to the carrier frequency offset (CFO) information of the measurement of the synchronization signal and / or the measurement signal. For example, the difference between the CFO value measured by the second device and the CFO value measured locally by the first device is compared, and if the difference is higher than a preset threshold, it can also be used to determine that the receiving quality of the narrowband signal measurement frame is poor.

[0282] The present application proposes that the second device judges whether to send the third measurement frame on the current channel according to the receiving quality of the received narrowband signal measurement frame and whether it is received, or the first device judges whether to continue to send the first measurement frame on the next channel. In this way, not only the accuracy of the initial synchronization can reach the initial synchronization requirement of the ultra-wideband signal measurement frame, but also the deficiency that the measurement result is only determined by the first device is avoided, that is, the receiving quality of the narrowband signal measurement frame of both parties is guaranteed when the interference intensity of the first device and the second device is different.

[0283] In the flow of the bidirectional interaction shown in FIG. 11, when the first device and the second device both receive the narrowband signal measurement frame meeting the requirement of the receiving quality, it is determined that the flow of the bidirectional interaction ends. FIG. 12 shows a schematic flow diagram of the bidirectional interaction stop provided in the embodiment of the present application.

[0284] As shown in (a) of FIG. 12, when the receiving quality of the first measurement frame received by the first device on the current channel meets the requirement, or the address information bits in the synchronization signal are successfully verified, the first device stops continuously sending the first measurement frame on the subsequent M channels. That is, the first device indicates the second device to stop performing the frequency hopping measurement by not sending the first measurement frame. Further, the second device stops listening to the first measurement frame of the bidirectional synchronization when the first measurement frame is not received on the continuous M channels; otherwise, the second device always keeps the state of frequency hopping and listening to the first measurement frame.

[0285] In the above steps, the number M of the empty interaction channels of the first device and the second device represents the number of channels on which the first device does not continuously send the first measurement frame in the initial synchronization, and the number of channels on which the second device continuously fails to receive the first measurement frame from the first device, and M≥1.

[0286] (a) of FIG. 12 shows the initial synchronization stop flow when M=2. When M=2, there are two empty measurement channels of the bidirectional synchronization, that is, after the first device receives the first measurement frame from the second device on the current channel #4 and considers that the quality of the first measurement frame meets the requirement, the first device does not send the first measurement frame after frequency hopping to the subsequent two channels #5 and #6 according to the preset M=2. The second device does not reply the third measurement frame on the channels #5 and #6 because the first measurement frame is not received on the channels #5 and #6.

[0287] When M>1 is set, it can help the second device to process the missed detection. For example, the first device sends the first measurement frame to the second device on the channel #4, but the second device fails to successfully receive the measurement frame on the channel #4 because of the frequency selective fading or interference, so the second device cannot confirm the reason why the first measurement frame is not received on the channel #4, that is, whether the first device actually sends the first measurement frame and the second device fails to receive it, or the first device intentionally does not send the first measurement frame. The setting of M>1 will help to avoid the situation that the first measurement frame is sent by the first device but fails to be successfully received by the second device because of the frequency selective fading or interference.

[0288] In general, after the successful bidirectional interaction, the first device does not send the first measurement frame on the at least one channel after frequency hopping, and the second device determines that the bidirectional interaction ends when the first measurement frame is not received on the at least one channel. By not sending the measurement frame on the consecutive M channels and not successfully receiving the measurement frame, the first device and the second device respectively determine the end of the interaction, which avoids explicit signaling and, compared with the bidirectional interaction on all channels, stops the subsequent bidirectional interaction after the two devices receive the first measurement frame meeting the reception quality requirement on the same channel, thereby greatly shortening the switching interval time length between the first measurement frame and the second measurement frame.

[0289] Optionally, (b) in FIG. 12 shows a case where the first device sends explicit signaling on the channel, which is used to indicate that the initial synchronization bidirectional interaction between the first device and the second device is successful. For example, as shown in (b) in FIG. 12, the first device can send a frame for configuring negotiation of initial synchronization on channel #5, and the frame includes information indicating that the initial synchronization is completed. The second device replies with an acknowledgement frame after receiving the frame.

[0290] Finally, the method for determining the time-frequency synchronization deviation of the multiple frequency points can be that the first device and the second device measure the time-frequency synchronization deviation according to the last complete channel synchronization interaction (for example, channel #4 shown in FIG. 11 and FIG. 12) and determine the reception time and reception frequency of the received ultra-wideband signal measurement frame. The specific determination process can refer to the description of FIG. 7, which is not described here.

[0291] Finally, the apparatus embodiment of the embodiment of the present application is introduced.

[0292] To implement the functions in the method provided in the present application, the communication device such as the first device or the second device can include a hardware structure and / or a software module to implement the above functions in the form of hardware structure, software module, or hardware structure plus software module. Whether a certain function in the above functions is executed in the form of hardware structure, software module, or hardware structure plus software module depends on the specific application of the technical solution and the design constraint conditions.

[0293] FIG. 13 is a schematic block diagram of a communication apparatus 1300 of an embodiment of the present application. The communication apparatus 1300 can be the first device or the second device, or a chip or module in the first device or the second device, and is used to implement the method in the above embodiments. The communication apparatus 1300 includes a transceiver unit 1310 and a processing unit 1320. The transceiver unit 1310 is exemplarily introduced as follows.

[0294] The transceiver unit 1310 can include a transmitting unit and a receiving unit. The transmitting unit is configured to perform the transmitting action of the communication device, and the receiving unit is configured to perform the receiving action of the communication device. For the convenience of description, the transmitting unit and the receiving unit are combined into one transceiver unit in the embodiments of the present application. Here, a unified description is made, and no further description is made hereinafter.

[0295] When the communication device 1300 is the first device, the processing unit 1320 is configured to generate a first measurement frame, and the transceiver unit 1310 is configured to transmit the first measurement frame to the second device through the narrowband, and configured to transmit a second measurement frame to the second device through the ultra-wideband.

[0296] When the communication device 1300 is the second device, the transceiver unit 1310 is configured to receive the first measurement frame from the first device through the narrowband, and configured to receive the second measurement frame from the first device through the ultra-wideband.

[0297] The above description is only exemplary. When the communication device 1300 is the first device or the second device, it will be responsible for performing the methods or steps related to the first device or the second device in the foregoing method embodiments.

[0298] Optionally, the communication device 1300 further includes a storage unit (not shown in the figure), which is configured to store programs or codes for performing the foregoing methods.

[0299] FIG. 14 is a schematic block diagram of a communication device 1400 according to an embodiment of the present application. The communication device 1400 includes a processor 1410 and a communication interface 1420, which can be connected to each other through a bus 1430. The communication device 1400 can be a first device or a second device, etc. performing the interaction flow as shown in FIGS. 9 to 12.

[0300] Optionally, the communication device 1400 can further include a memory 1440. The memory 1440 includes, but is not limited to, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a compact disc read-only memory (CD-ROM), which is configured to store relevant instructions and data.

[0301] The processor 1410 can be one or more central processing units (CPUs). In the case where the processor 1410 is a CPU, the CPU can be a single core CPU or a multi-core CPU.

[0302] When the communication apparatus 1400 is the first device, the processor 1410 is configured to generate a first measurement frame, and the communication interface 1420 is configured to transmit the first measurement frame to the second device via a narrow band, and configured to transmit a second measurement frame to the second device via an ultra-wide band.

[0303] When the communication apparatus 1400 is the second device, the communication interface 1420 is configured to receive a first measurement frame from the first device via a narrow band, and configured to receive a second measurement frame from the first device via an ultra-wide band.

[0304] The above description is only exemplary. When the communication apparatus 1400 is the first device or the second device, the communication apparatus 1400 is responsible for performing the methods or steps related to the first device or the second device in the foregoing method embodiments.

[0305] The above description is only exemplary. The specific content can be referred to the content shown in the foregoing method embodiments. The implementation of each operation of FIG. 14 can also correspond to the description of the corresponding interaction flow shown in FIGS. 9 to 12.

[0306] The apparatus embodiments shown in FIGS. 13 and 14 are used to implement the content shown in FIGS. 9 to 12. The specific execution steps and methods of the apparatus shown in FIGS. 13 and 14 can be referred to the content shown in the foregoing method embodiments.

[0307] FIG. 15 is a schematic block diagram of a communication apparatus 1500 according to an embodiment of the present application. The communication apparatus 1500 is configured to implement the functions of the first device or the second device. The communication apparatus 1500 can be a chip in the first device or the second device.

[0308] The communication apparatus 1500 includes an input / output interface 1520 and a processor 1510. The input / output interface 1520 can be an input / output circuit. The processor 1510 can be a signal processor, a chip, or other integrated circuit that can implement the method of the present application. The input / output interface 1520 is configured to input or output signals or data.

[0309] For example, when the communication apparatus 1500 is the first device, the processor 1510 is configured to generate a first measurement frame, and the input / output interface 1520 is configured to transmit the first measurement frame to the second device via a narrow band, and configured to transmit a second measurement frame to the second device via an ultra-wide band.

[0310] For example, when the communication apparatus 1500 is the second device, the input / output interface 1520 is configured to receive the first measurement frame from the first device via the narrow band, and is configured to receive the second measurement frame from the first device via the ultra-wide band.

[0311] In a possible implementation, the processor 1510 is configured to implement the functions of the first device or the second device by executing instructions stored in the memory.

[0312] Optionally, the communication apparatus 1500 further includes a memory.

[0313] Optionally, the processor and the memory are integrated.

[0314] Optionally, the memory is outside the communication apparatus 1500.

[0315] In a possible implementation, the processor 1510 can be a logic circuit, and the processor 1510 is configured to input / output messages or signaling via the input / output interface 1520. The logic circuit can be a signal processor, a chip, or other integrated circuits that can implement the method of the embodiments of the present application.

[0316] The above description of the communication apparatus 1500 is only exemplary, and the communication apparatus 1500 can be used to execute the method described in the foregoing embodiments. For details, refer to the description of the foregoing method embodiments, which will not be repeated here.

[0317] Optionally, the memory is outside the communication apparatus 1500.

[0318] In a possible implementation, the apparatus 1500 can be a chip system 1600.

[0319] FIG. 16 is a schematic diagram of a chip system 1600 provided by the embodiments of the present application. The chip system 1600 (or also referred to as a processing system) includes a logic circuit 1610 (i.e., a processor 1510) and an input / output interface 1620.

[0320] The logic circuit 1610 can be a processing circuit in the chip system 1600. The logic circuit 1610 can be coupled to a storage unit to invoke instructions in the storage unit, so that the chip system 1600 can implement the method and functions of the embodiments of the present application. The input / output interface 1620 can be an input / output circuit in the chip system 1600, which outputs the processed information of the chip system 1600 or inputs data or signaling information to be processed into the chip system 1600 for processing.

[0321] As a solution, the chip system 1600 is configured to implement the operations performed by the first device or the second device in the various method embodiments described above.

[0322] For example, the input / output interface 1620 is configured to implement the operations of sending and / or receiving performed by the first device or the second device in the method embodiments described above.

[0323] The above description of the communication device is only an exemplary description, which can be used to implement the methods described in the foregoing embodiments, and the details can be referred to the description of the foregoing method embodiments, which will not be described herein.

[0324] The present application also provides a chip, comprising a processor, configured to call and run instructions stored in a memory, so that a communication device installed with the chip implements the methods in the various examples described above.

[0325] The present application also provides a chip, comprising an input interface, an output interface, and a processor, which are connected through internal connection paths, and the processor is configured to execute codes in a memory, and when the codes are executed, the processor is configured to implement the methods in the various examples described above. Optionally, the chip further comprises a memory, configured to store computer programs or codes.

[0326] The present application also provides a processor, configured to be coupled with a memory, and configured to implement the methods and functions of the first device or the second device in any of the foregoing embodiments.

[0327] The present application provides a computer program product comprising instructions, when the computer program product is run on a computer, the methods of the foregoing embodiments are implemented.

[0328] The present application also provides a computer program, when the computer program is run on a computer, the methods of the foregoing embodiments are implemented.

[0329] The present application also provides a computer readable storage medium, which stores a computer program, and when the computer program is executed by a computer, the methods of the foregoing embodiments are implemented.

[0330] Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solutions. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0331] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0332] In several embodiments provided in the present application, the disclosed system, device and method can be implemented in other manners. For example, the above-described device embodiments are merely schematic, and the division of units is merely a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0333] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the technical solutions of the embodiments of the present application.

[0334] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0335] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application essentially or said parts making contributions to the prior art, or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing 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 methods in the various embodiments of the present application. The foregoing storage medium includes: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk, and various other media that can store program codes.

[0336] The above describes only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A communication method characterized by comprising: The method comprises: a first device generates a first measurement frame, the first measurement frame comprising a first narrowband signal and a second narrowband signal, the first narrowband signal being used for measuring a timing offset between the first device and a second device, the second narrowband signal being used for measuring a frequency offset between the first device and the second device; the first device transmits the first measurement frame to the second device through a narrowband; the first device transmits a second measurement frame to the second device through an ultra-wideband, wherein the timing offset and the frequency offset are used to determine a time and a frequency at which the second device receives the second measurement frame, the second measurement frame being used for measuring a distance or a time of flight between the first device and the second device through an ultra-wideband signal.

2. The method of claim 1, wherein, The first narrowband signal comprises a synchronization signal, and the second narrowband signal is a measurement signal, the measurement signal comprising at least one of an unmodulated carrier signal, a binary phase shift keying (BPSK) signal, an amplitude shift keying (ASK) signal, and a multi-tone signal.

3. The method according to claim 1 or 2, characterized in that, The first device transmits the first measurement frame to the second device through a narrowband, comprising: the first device transmits the first measurement frame to the second device through a narrowband on a preset first channel; The method further comprises: the first device receives a third measurement frame from the second device through a narrowband on the first channel, the third measurement frame having a same frame structure as the first measurement frame.

4. The method according to any one of claims 1 to 3, characterized in that, The method further comprises: the first device transmits the first measurement frame to the second device on N channels for frequency hopping measurement according to a preset channel measurement sequence, the preset channel measurement sequence comprising the N channels and channel numbers corresponding to the N channels respectively, wherein N is an integer greater than 0.

5. The method of claim 4, wherein, The method further comprises: after transmitting the first measurement frame on an Nth channel of the N channels, the first device transmits the second measurement frame to the second device after a first time interval.

6. The method according to claim 4 or 5, characterized in that, The method further comprises: the first device determines a receiving time of receiving the third measurement frame on the Nth channel of the N channels according to a receiving time of receiving at least one third measurement frame from the second device on the N channels; the first device receives a fourth measurement frame from the second device after a second time interval from the receiving time of the third measurement frame on the Nth channel, the fourth measurement frame being used for measuring a distance or a time of flight between the first device and the second device through an ultra-wideband signal.

7. The method of claim 6, wherein, The method further comprises: the first device determines a frequency offset between the first device and the second device according to the received one or more third measurement frames; the first device determines the second time interval according to the determined frequency offset.

8. The method of claim 5, wherein, In a case where the first measurement frame comprises a synchronization signal field, a starting time of the first time interval is the same as an ending time of the synchronization signal field of the first measurement frame.

9. The method according to claim 6 or 7, characterized in that, In a case where the third measurement frame comprises a synchronization signal field, a starting time of the second time interval is the same as an ending time of the synchronization signal field of the third measurement frame.

10. A communication method characterized by comprising: The method comprises: The second device receives a first measurement frame from the first device through a narrow band, the first measurement frame comprising a first narrow band signal and a second narrow band signal, the first narrow band signal being used to measure a timing offset between the first device and the second device, and the second narrow band signal being used to measure a frequency offset between the first device and the second device; The second device receives a second measurement frame from the first device through an ultra-wide band, wherein the timing offset and the frequency offset are used to determine a time and a frequency at which the second device receives the second measurement frame, and the second measurement frame is used to measure a distance or a time of flight between the first device and the second device through an ultra-wide band signal.

11. The method of claim 10, wherein, The first narrow band signal comprises a synchronization signal, and the second narrow band signal is a measurement signal, the measurement signal comprising at least one of an unmodulated carrier signal, a binary phase shift keying (BPSK) signal, an amplitude shift keying (ASK) signal, and a multi-tone signal.

12. The method according to claim 10 or 11, characterized in that, The second device receives a first measurement frame from the first device, comprising: The second device receives the first measurement frame from the first device through a narrow band on a preset first channel; The method further comprises: The second device sends a third measurement frame to the first device through a narrow band on the first channel, the frame structure of the third measurement frame being the same as that of the first measurement frame.

13. The method according to any one of claims 10 to 12, characterized in that, The method further comprises: The second device detects the first measurement frame from the first device on N channels for frequency hopping measurement according to a preset channel measurement sequence, the preset channel measurement sequence comprising the N channels and channel numbers corresponding to the N channels respectively, wherein N is an integer greater than 0.

14. The method of claim 13, wherein, The method further comprises: The second device determines a receiving time of the first measurement frame on an Nth channel in the N channels according to a receiving time of at least one first measurement frame received from the first device on the N channels; The second device receives a second measurement frame from the first device through an ultra-wide band, comprising: The second device receives the second measurement frame from the first device after a third time interval from the receiving time of the first measurement frame on the Nth channel.

15. The method of claim 14, wherein, The method further comprises: The second device determines a frequency offset between the first device and the second device according to the received one or more first measurement frames; The second device determines the third time interval according to the determined frequency offset.

16. The method according to any one of claims 13 to 15, characterized in that, The method further comprises: The second device determines a sending time of the third measurement frame on an Nth channel in the N channels according to a sending time of at least one third measurement frame sent to the first device on the N channels; The second device sends a fourth measurement frame to the first device after a fourth time interval from the sending time of the third measurement frame on the Nth channel, the fourth measurement frame being used to measure a distance or a time of flight between the first device and the second device through an ultra-wide band signal.

17. The method of claim 14 or 15, wherein, In case the first measurement frame comprises a synchronization signal field, the start of the third time interval is the same as the end of the synchronization signal field of the first measurement frame.

18. The method of claim 16, wherein, In case the third measurement frame comprises a synchronization signal field, the start of the fourth time interval is the same as the end of the synchronization signal field of the third measurement frame.

19. A communications device, characterized by The communication device comprises means for implementing the method according to any one of claims 1 to 9.

20. A communications device, characterized by The communication device comprises means for implementing the method according to any one of claims 10 to 18.

21. A communications device, characterized by comprising: a processor configured to be coupled to a memory, to read and execute instructions and / or program code in the memory to perform the method according to any one of claims 1 to 9.

22. A communications device, characterized by comprising: a processor configured to be coupled to a memory, to read and execute instructions and / or program code in the memory to perform the method according to any one of claims 10 to 18.

23. A communication system, characterized by comprising at least one communication device according to claim 21 and at least one communication device according to claim 22.

24. A chip system, characterized by comprising: a logic circuit configured to be coupled to an input / output interface, to transmit data through the input / output interface to perform the method according to any one of claims 1 to 9, or to perform the method according to any one of claims 10 to 18.

25. A computer readable medium, characterized in that, The computer readable medium has stored program code which, when executed on a communication device, causes the communication device to perform the method according to any one of claims 1 to 9, or to perform the method according to any one of claims 10 to 18.

26. A computer program product, characterised in that, comprising computer program code which, when executed, implements the method according to any one of claims 1 to 9, or implements the method according to any one of claims 10 to 18.

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