Ranging compensation method, apparatus, and system

Abstract

The present application relates to the field of communications, and provides a ranging compensation method, an apparatus, and a system, with the aim of implementing a ranging process based on the ranging compensation method. The method comprises: a second device sending a reference ranging value and first information to a first device; the first device receiving the reference ranging value and the first information from the second device, and sending a current ranging value and second information to the second device according to the reference ranging value and the first information; and the second device receiving the current ranging value and the second information from the first device. The reference ranging value is used for determining whether a first compensation value is reliable; the first information is used for indicating a reference signal source type corresponding to the reference ranging value; the second information is used for indicating whether the first compensation value is reliable; the first compensation value is used for compensating for the current ranging value; and the current ranging value is a distance value between the second device and the first device that is obtained from a currently executing ranging procedure. The solution of the present application can be widely applied to the technical fields of communication, artificial intelligence, vehicle networking, smart home networking, and the like.

Description

A ranging compensation method, device and system

[0001] The present application claims priority from the Chinese patent application No. 202411149574.5 filed on August 20, 2024, and entitled "A ranging compensation method, device and system", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of communication, in particular to a ranging compensation method, device and system. BACKGROUND

[0003] Ultra-wide band (UWB) technology is a wireless carrier communication technology that can transmit data using nanosecond-level non-sine wave narrow pulses, so the occupied frequency spectrum range is very wide. UWB technology has the characteristics of low system complexity, low transmit signal power spectrum density, insensitivity to channel fading, low interception ability, and high positioning accuracy, and can be applied to short-distance high-speed wireless data communication, positioning, ranging, sensing and other fields.

[0004] Under the ultra-wide band technology, the distance between the tag and the anchor point can be determined through a ranging process between the tag and the anchor point. However, in a complex environment, the system and the environment can introduce ranging bias in the ranging process.

[0005] Therefore, how to design a new ranging process to determine the distance between the tag and the anchor point needs to be solved. SUMMARY

[0006] The embodiments of the present application provide a ranging compensation method, device and system to realize a ranging process based on the ranging compensation method.

[0007] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0008] In a first aspect, the present application provides a ranging compensation method, which can be performed by a first device, such as a first anchor point. In the present application, the first device can refer to the first device itself, a component (e.g., a processor, a radio frequency unit, a chip, or a chip system) in the first device, or a logic module or software capable of implementing all or part of the functions of the first device. The method comprises: receiving, from a second device, a reference ranging value used to determine whether a first compensation value is reliable, and first information used to indicate a reference signal source type corresponding to the reference ranging value; and sending, to the second device, a current ranging value and second information used to indicate whether the first compensation value is reliable, according to the reference ranging value and the first information. The first compensation value is used to compensate for the current ranging value, and the current ranging value is a distance value between the second device and the first device obtained by currently performing a ranging process.

[0009] Based on the method of the first aspect, the first device can send, to the second device, the distance value between the second device and the first device obtained by currently performing the ranging process and the second information used to indicate whether the first compensation value is reliable, according to the reference ranging value and the first information sent by the first device. This implementation introduces the first compensation value into the ranging process of the first device and the second device, so that the second device can compensate for the current ranging value by using the first compensation value, thereby reducing or eliminating the ranging bias introduced by the system and the environment in the ranging process.

[0010] In a possible design, the reference ranging value can comprise a ranging value between the second device and the first device obtained by performing a ranging process at a time point before the current time point; or the reference ranging value is obtained from another device, and is calculated by the other device according to position information of the second device; the other device is another device other than the second device.

[0011] Based on the possible design, the reference ranging value can be obtained in multiple ways, thereby improving the flexibility and applicability of the present application.

[0012] In a possible design, the current ranging value is a ranging value compensated according to the first compensation value; or the current ranging value is a ranging value not compensated according to the first compensation value.

[0013] Based on the possible design, the current ranging value can be obtained in multiple ways, thereby improving the flexibility and applicability of the present application.

[0014] In a possible design, the first information indicates that the reference signal source corresponding to the reference ranging value is the second device, and the method in the first aspect can further include: receiving the first compensation value from the second device; in the method in the first aspect, the first device sending the second information to the second device can include: in a case where the absolute value of the difference between the current ranging value and the reference ranging value is less than or equal to the first compensation value, sending, to the second device, the second information indicating that the first compensation value is reliable; or in a case where the absolute value of the difference between the current ranging value and the reference ranging value is greater than the first compensation value, sending, to the second device, the second information indicating that the first compensation value is unreliable.

[0015] Based on this possible design, the first device can compare the first compensation value with the absolute value of the difference between the current ranging value and the reference ranging value, to implement sending the second information to the second device.

[0016] In a possible design, the first information indicates that the reference signal source corresponding to the reference ranging value is a device other than the second device, and the second information includes a confidence level of the first compensation value; the confidence level of the first compensation value is used to indicate whether the first compensation value is reliable; or the second information includes a binary bit, in a case where the binary bit takes a first value, the second information indicates that the first compensation value is reliable, and in a case where the binary bit takes a second value, the second information indicates that the first compensation value is unreliable.

[0017] Based on this possible design, the second information can be represented in multiple ways, improving flexibility and applicability of the solution.

[0018] In a possible design, the first information indicates that the reference signal source corresponding to the reference ranging value is a device other than the second device, and the method in the first aspect can further include: the first device sending the first compensation value to the second device.

[0019] Based on this possible design, the second device can obtain the first compensation value from the first device.

[0020] In a possible design, the first information indicates that the reference signal source corresponding to the reference ranging value is a device other than the second device, and the method in the first aspect can further include: the first device sending, to a third device, at least one of the current ranging value, the second information, or the first compensation value.

[0021] Based on this possible design, the third device can obtain at least one of the current ranging value, the second information, or the first compensation value.

[0022] In a second aspect, the present application provides a ranging compensation method, which can be executed by a second device, such as a first tag, and in the case where no special description is given, the "second device" in the present application can refer to the second device itself, a component (such as a processor, a radio frequency unit, a chip, or a chip system, etc.) in the second device, or a logic module or software capable of realizing all or part of the functions of the second device. The method comprises: sending, to a first device, a reference ranging value used to determine whether a first compensation value is reliable, and first information used to indicate a reference signal source type corresponding to the reference ranging value; and receiving, from the first device, a current ranging value and second information used to indicate whether the first compensation value is reliable, the first compensation value being used to compensate the current ranging value, and the current ranging value being a distance value between the second device and the first device obtained by currently performing a ranging process.

[0023] Based on the method of the second aspect, the second device can receive the distance value between the second device and the first device obtained by currently performing the ranging process by the first device and the second information used to indicate whether the first compensation value is reliable, thereby realizing the introduction of the first compensation value in the ranging process of the first device and the second device, so that the second device can compensate the current ranging value by the first compensation value, thereby reducing or eliminating the ranging bias introduced by the system and the environment in the ranging process.

[0024] In a possible design, the reference ranging value can comprise a ranging value between the second device and the first device obtained by performing a ranging process by the second device at a time point before the current time point; or the reference ranging value is obtained from another device, and is calculated by the other device according to the position information of the second device; the other device is another device other than the second device.

[0025] Based on the possible design, the reference ranging value can be obtained in multiple ways, thereby improving the flexibility and applicability of the present application.

[0026] In a possible design, the current ranging value is a ranging value compensated according to the first compensation value; or the current ranging value is a ranging value not compensated according to the first compensation value.

[0027] Based on the possible design, the current ranging value can be obtained in multiple ways, thereby improving the flexibility and applicability of the present application.

[0028] In a possible design, the first information indicates that the reference signal source corresponding to the reference ranging value is the second device, and the method in the second aspect can further include: the second device sending the first compensation value to the first device; in the method in the second aspect, the second device receiving the second information from the first device can include: in a case where an absolute value of a difference between the current ranging value and the reference ranging value is less than or equal to the first compensation value; receiving the second information from the first device, the second information being used for indicating that the first compensation value is reliable; or, in a case where the absolute value of the difference between the current ranging value and the reference ranging value is greater than the first compensation value, receiving the second information from the first device, the second information being used for indicating that the first compensation value is unreliable.

[0029] Based on the possible design, the second device can receive the second information indicating different information based on the first compensation value and the absolute value of the difference between the current ranging value and the reference ranging value.

[0030] In a possible design, the first information indicates that the reference signal source corresponding to the reference ranging value is a device other than the second device, and the second information includes a confidence level of the first compensation value; the confidence level of the first compensation value is used for indicating whether the first compensation value is reliable; or the second information includes a binary bit, in a case where the binary bit takes a first value, the second information indicates that the first compensation value is reliable, and in a case where the binary bit takes a second value, the second information indicates that the first compensation value is unreliable.

[0031] Based on the possible design, the second information can be represented in multiple ways, which improves flexibility and applicability of the solution.

[0032] In a possible design, the first information indicates that the reference signal source corresponding to the reference ranging value is a device other than the second device, and the method in the second aspect can further include: the second device receiving the first compensation value from the first device.

[0033] Based on the possible design, the second device can obtain the first compensation value from the first device.

[0034] In a third aspect, the present application provides a communication apparatus for implementing the transmission of an ultra-wideband signal. The communication apparatus can be applied to the first device of the first aspect, such as the first anchor point, to implement the functions performed by the first device. The communication apparatus can be the first device, a chip or a chip system or a system on chip, etc. of the first device. The communication apparatus can perform the functions of the first device by hardware or by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions. For example, a module for receiving a reference ranging value and first information from a second device; a module for sending a current ranging value and second information to the second device according to the reference ranging value and the first information. The reference ranging value is used to determine whether the first compensation value is reliable. The first information is used to indicate the reference signal source type corresponding to the reference ranging value. The second information is used to indicate whether the first compensation value is reliable. The first compensation value is used to compensate the current ranging value. The current ranging value is the distance value between the second device and the first device obtained by currently performing the ranging process.

[0035] In a fourth aspect, the present application provides a communication apparatus for implementing the transmission of an ultra-wideband signal. The communication apparatus can be applied to the second device of the second aspect, such as the first tag, to implement the functions performed by the second device. The communication apparatus can be the second device, a chip or a chip system or a system on chip, etc. of the second device. The communication apparatus can perform the functions of the second device by hardware or by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions. For example, a module for sending a reference ranging value and first information to a first device; a module for receiving a current ranging value and second information from the first device. The reference ranging value is used to determine whether the first compensation value is reliable. The first information is used to indicate the reference signal source type corresponding to the reference ranging value. The second information is used to indicate whether the first compensation value is reliable. The first compensation value is used to compensate the current ranging value. The current ranging value is the distance value between the second device and the first device obtained by currently performing the ranging process.

[0036] In a fifth aspect, the present application provides a communication apparatus including one or more processors; and one or more processors for running computer programs or instructions, when the one or more processors execute the computer instructions or instructions, so that the ranging compensation method in any one of the first aspect to the second aspect is executed.

[0037] In a possible design, the communication apparatus further includes one or more memories coupled to the one or more processors, and the one or more memories are configured to store the computer program or the instructions. In a possible implementation, the memories are located outside the communication apparatus. In another possible implementation, the memories are located inside the communication apparatus. In embodiments of this application, the processor and the memories can also be integrated into one device, i.e., the processor and the memories can also be integrated together. In a possible implementation, the communication apparatus further includes a transceiver, and the transceiver is configured to receive information and / or send information.

[0038] In a possible design, the communication apparatus further includes one or more communication interfaces coupled to the one or more processors, and the one or more communication interfaces are configured to communicate with other modules outside the communication apparatus.

[0039] In a sixth aspect, this application provides a communication apparatus, which includes an interface circuit and a logic circuit. The interface circuit is configured to input and / or output information. The logic circuit is configured to perform the ranging compensation method in any one of the first aspect to the second aspect, process and / or generate information according to the information.

[0040] In a seventh aspect, this application provides a computer readable storage medium, which stores computer instructions or programs. When the computer instructions or programs are run on a computer, the ranging compensation method in any one of the first aspect to the second aspect is performed.

[0041] In an eighth aspect, this application provides a computer program product containing computer instructions. When the computer instructions are run on a computer, the ranging compensation method in any one of the first aspect to the second aspect is performed.

[0042] In a ninth aspect, this application provides a computer program. When the computer program is run on a computer, the ranging compensation method in any one of the first aspect to the second aspect is performed.

[0043] In a tenth aspect, this application provides a chip, which includes a processor and a memory. The processor is coupled to the memory, and the memory is configured to store programs or instructions. When the programs or instructions are executed by the processor, the ranging compensation method in any one of the first aspect to the second aspect is performed.

[0044] The technical effects brought by any one of the fifth aspect to the tenth aspect can be referred to the technical effects brought by any one of the first aspect to the second aspect, which will not be repeated here.

[0045] In an eleventh aspect, an embodiment of the present application provides a communication system, which can include a communication device configured to perform the method of the first aspect or any possible design of the first aspect, and a communication device configured to perform the method of the second aspect or any possible design of the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0046] FIG. 1 is a flow diagram of a single-sided two-way ranging (SS-TWR) according to an embodiment of the present application;

[0047] FIG. 2 is a flow diagram of a double-sided two-way ranging (DS-TWR) according to an embodiment of the present application;

[0048] FIG. 3 is a schematic diagram of tag positioning in an ultra-wideband system in a two-dimensional space according to an embodiment of the present application;

[0049] FIG. 4 is a schematic diagram of an architecture of a communication system according to an embodiment of the present application;

[0050] FIG. 5 is a flow diagram of a ranging compensation method according to an embodiment of the present application;

[0051] FIG. 6 is a flow diagram of a ranging compensation method according to an embodiment of the present application;

[0052] FIG. 7 is a flow diagram of a ranging compensation method according to an embodiment of the present application;

[0053] FIG. 8 is a schematic diagram of a structure of a communication device according to an embodiment of the present application;

[0054] FIG. 9 is a schematic diagram of a structure of a communication device according to an embodiment of the present application;

[0055] FIG. 10 is a schematic diagram of a structure of a communication device according to an embodiment of the present application. DETAILED DESCRIPTION

[0056] Before embodiments of the present application are introduced, some technical terms related to the embodiments of the present application are explained and described. It should be noted that the following explanations and descriptions are provided to make the embodiments of the present application more easily understood, and should not be regarded as limiting the scope of protection claimed by the embodiments of the present application.

[0057] With the rapid popularization and development of mobile communication systems and Internet technologies, location services are applied more and more widely. For example, there are many application scenarios of location services in the positioning of factory personnel, the positioning of goods in logistics and warehousing, and the intelligent sensing of car door locks.

[0058] Ultra-wideband (UWB) technology has the characteristics of low system complexity, low transmit signal power spectral density, insensitivity to channel fading, low interception ability, and high positioning accuracy, and is widely used in location services.

[0059] The ranging method in the ultra-wideband system includes a two way ranging (TWR) method. The TWR method calculates the distance between a tag and an anchor by measuring the time of fight (TOF) of an UWB reference signal / radio frequency signal, and then multiplying the time by the speed of light. The TOF of the UWB reference signal / radio frequency signal is the actual transmission time of the UWB reference signal / radio frequency signal between the tag and the anchor. The TWR method can include a single sided two way ranging (SS-TWR) method and a double sided two way ranging (DS-TWR) method.

[0060] The SS-TWR method estimates the distance between devices by measuring the round trip time of a single message. For example, FIG. 1 is a flowchart of a single sided two way ranging SS-TWR according to an embodiment of the present application. As shown in FIG. 1, the ranging process is initiated by an anchor, and the ranging process can include the following five steps:

[0061] 1) The anchor sends a poll message to a tag, and records the time of sending poll (TSP). The poll message is used to trigger ranging, and the message can include an identification (ID) and the TSP.

[0062] 2) After the tag receives the poll message, the tag records the time of receiving poll (TRP).

[0063] 3) The tag sends a response message to the anchor, and records the time of sending response (TSR). The response message is used to respond to the poll message, and the response message can include an identification (ID), the TRP, and the TSR.

[0064] 4) The anchor receives the response message, and records the time of response reception (TRR).

[0065] 5) The anchor determines the ranging value d between the anchor and the tag.

[0066] Specifically, the anchor point determines TOF, TOF = [(TRR-TSP) - (TSR-TRP)] / 2, and multiplies the value of the speed of light c by TOF as the ranging value d between the anchor point and the tag, i.e. d = TOF*c. Wherein, the ranging value d is used to represent the distance between the anchor point and the tag determined by the anchor point as d.

[0067] In the present application, the speed of light can also be referred to as the speed of electromagnetic wave, and the speed of light c is usually 3.0x10^8 m / s.

[0068] The related description of each information in the polling message and the response message in the SS-TWR method can be referred to the provisions of the UWB communication protocol, which will not be repeated here. Moreover, the format of the polling message and the response message in the SS-TWR method should comply with the provisions of the UWB communication protocol to ensure correct parsing and processing of the messages.

[0069] The DS-TWR method is an extension of the SS-TWR method, which estimates the distance between devices by measuring the round-trip time of two messages to improve the ranging accuracy. For example, FIG. 2 is a flowchart of a double-sided two-way ranging DS-TWR provided by an embodiment of the present application, as shown in FIG. 2, the ranging process is initiated by the tag, and the ranging process can include the following 7 steps:

[0070] 1) The tag sends a polling message to the anchor point and records the time of sending the polling message (TSP); wherein the polling message is used to trigger ranging, and the message can include an identification (ID) and TSP.

[0071] 2) After receiving the polling message, the anchor point records the time of receiving the polling message (TRP).

[0072] 3) The anchor point sends a response message to the tag and records the time of sending the response message (TSR); wherein the response message is used to respond to the polling message, and the response message can include an identification (ID), TRP, and TSR.

[0073] 4) The tag receives the response message and records the time of response reception (TRR).

[0074] 5) The tag sends a final message to the anchor point and records the time of sending the final message (TSF). Wherein the final message can include an identification (ID), TSP, TRR, and TSF.

[0075] 6), the anchor point receives the final message and records the time of receiving final (TRF).

[0076] 7), the anchor point determines the ranging value d between the tag and the anchor point.

[0077] Specifically, the anchor point determines TOF, TOF = [(TRR-TSP) - (TSR-TRP) + (TRF-TSR - (TSF-TRR)] / 4, and the ranging value d between the tag and the anchor point is the product of TOF and the value of the speed of light c, i.e. d = TOF*c.

[0078] The related description of the information in the polling message, the response message and the final message in the DS-TWR method can be referred to the provisions of the UWB communication protocol, which will not be repeated here. Moreover, the format of the polling message, the response message and the final message in the DS-TWR method should comply with the provisions of the UWB communication protocol to ensure correct parsing and processing of the messages.

[0079] The ranging process described above can be initiated by the tag or the anchor point, which is not limited.

[0080] Based on the above-mentioned two-way ranging method, the tag in the ultra-wideband system can be positioned. Specifically, the tag performs two-way ranging with each of the at least one anchor point to obtain the ranging value between the tag and each of the at least one anchor point, and performs position calculation based on the obtained ranging values.

[0081] For example, FIG. 3 is a schematic diagram of positioning a tag in an ultra-wideband system in a two-dimensional space according to an embodiment of the present application. As shown in FIG. 3, the system uses three anchor points to position one tag, and the three anchor points are anchor point 1, anchor point 2 and anchor point 3. The tag performs two-way ranging with anchor point 1 to obtain the ranging value d1 between the tag and anchor point 1; the tag performs two-way ranging with anchor point 2 to obtain the ranging value d2 between the tag and anchor point 2; the tag performs two-way ranging with anchor point 3 to obtain the ranging value d3 between the tag and anchor point 3, and further, the tag sends the ranging values d1, d2 and d3 to the server. The server receives the ranging values d1, d2 and d3, and calculates the position of the tag based on a positioning algorithm and the ranging values d1, d2 and d3 to obtain the position of the tag.

[0082] In a complex environment, ranging bias introduced by the system and the environment can reduce the accuracy and performance of the ultra-wideband positioning. Usually, the ranging bias introduced by the system and the environment is reduced or removed at the server side to correct the current ranging value. However, reducing or removing the ranging bias at the server side requires configuring an algorithm for reducing or removing the ranging bias at the server side. However, the configured algorithm requires the tag and / or anchor to send other information (such as current ranging / positioning result reliability, historical ranging / positioning information, other positioning source information, etc.) to the server in addition to the ranging value, which has a large signaling overhead. Moreover, the algorithm designed to reduce or remove the ranging bias has problems such as complex data processing logic.

[0083] To solve the above problems, the present application provides a ranging compensation method, which can include: a second device sending a reference ranging value and first information to a first device, the first device receiving the reference ranging value and the first information from the second device, according to the reference ranging value and the first information, sending a current ranging value and second information to the second device, and the second device receiving the current ranging value and the second information from the first device. Wherein, the reference ranging value is used to determine whether the first compensation value is reliable; the first information is used to indicate the reference signal source type corresponding to the reference ranging value; the second information is used to indicate whether the first compensation value is reliable; the first compensation value is used to compensate the current ranging value; and the current ranging value is the distance value between the second device and the first device obtained by currently performing the ranging process.

[0084] Based on the above ranging compensation method, the first device can send the distance value between the second device and the first device obtained by currently performing the ranging process and the second information indicating whether the first compensation value is reliable to the second device according to the reference ranging value and the first information sent by the first device, which realizes introducing the first compensation value in the ranging process of the first device and the second device, so that the second device can compensate the current ranging value by the first compensation value, and reduce or eliminate the ranging bias introduced by the system and the environment in the ranging process.

[0085] In addition, the mechanism of compensating the current ranging value in the ranging process of the first device and the second device has lower complexity and smaller signaling overhead compared to reducing or eliminating the ranging bias in other processes or other devices outside the ranging process of the first device and the second device.

[0086] The ranging compensation method provided by the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0087] The ranging compensation method provided by the embodiments of the present application can be used in any communication system, which can be a third generation partnership project (3GPP) communication system, for example, a long term evolution (LTE) system, or a fifth generation (5G) mobile communication system, a system of mixed networking of LTE and 5G, a new radio (NR) system, a vehicle to everything (V2X) system of NR, a device-to-device (D2D) communication system, a machine to machine (M2M) communication system, an internet of things (IoT), a narrow band-internet of things (NB-IoT) system, an enhanced mobile broadband (eMBB) system, an ultra-reliable and low-latency communication (URLLC) system, an enhanced machine-type communication (eMTC) system, and various types of future communication systems, or a non-terrestrial network (NTN) system (such as a satellite communication system), a non-3GPP communication system, and the like, without limitation.

[0088] The technical solutions of the embodiments of the present application can be applied to, but are not limited to, a wireless short-range communication system (such as an ultra-wideband wireless communication system) and a wireless communication system supporting longer distance transmission (such as 1-18 km, more than 18 km) (such as a future ultra-wideband wireless communication system). The wireless short-range communication system can include wireless short-range communication technologies with advantages of ultra-low latency, ultra-high reliability, precise synchronization, and the like, and is suitable for applications in scenarios such as intelligent vehicles, smart homes, intelligent terminals, and intelligent manufacturing. For example, applications in the intelligent vehicle scenario include immersive in-vehicle sound field & noise reduction, wireless interactive screen projection, and 360-degree panoramic view, which can achieve immersive interactive experience and improve vehicle safety.

[0089] In some possible implementations, the above-described communication system or can be used in combination with a mobile communication system, for example, a mobile communication system includes but is not limited to a 4th Generation (4G) communication system (for example, a long term evolution (LTE) system), a 5th Generation (5G) communication system (for example, a new radio (NR) system), a system of mixed networking of LTE and 5G, a future mobile communication system, a communication and sensing integrated system, a non-terrestrial network (NTN) system, and the like.

[0090] In some other possible implementations, the above-described communication system or can be used in combination with at least one of a device-to-device (D2D) communication system, a vehicle to everything (V2X) communication system, a machine-type communication (MTC) system, an internet of things (IoT) system, and a non-3GPP communication system, without limitation.

[0091] It should be noted that the above-described communication system to which the present application is applicable is only illustrative, and the communication system to which the present application is applicable is not limited thereto, and the communication system provided by the present application does not cause any limitation on the scheme of the present application. Herein, it is uniformly stated that the following will not be described in detail.

[0092] FIG. 4 shows a possible, non-limiting system diagram. As shown in FIG. 4, the communication system includes a first device and a second device. Optionally, the communication system shown in FIG. 4 can further include a third device (not shown in FIG. 4), which is configured to receive at least one of a current ranging value, second information, or a first compensation value from the first device in FIG. 4. Wherein, the current ranging value, the second information, and the first compensation value are described below, and will not be described herein.

[0093] For example, in the case of a communication system being an ultra-wideband wireless communication system, the first device in FIG. 4 is a first anchor point, the second device in FIG. 4 is a tag with a reference data source (which can be referred to as an active tag), and the third device is a tag without a reference data source (which can be referred to as a passive tag).

[0094] Optionally, the communication system shown in FIG. 4 can further include other devices to obtain the reference ranging value. The other devices can refer to devices in FIG. 4 other than the second device. For example, the communication system shown in FIG. 4 further includes a server that provides computing or application services for the second device in FIG. 4. In this case, the second device in FIG. 4 can obtain the reference ranging value from the server, and the reference ranging value can represent a distance value between the first device and the second device in FIG. 4.

[0095] In embodiments of the present application, the reference ranging value can be obtained by using any communication technology. For example, ultra-wideband technology, satellite technology, wireless fidelity (Wi-Fi), etc.

[0096] The first device in FIG. 4 can be a device fixed at a known location, which can serve as a reference node in a wireless communication system (e.g., an ultra-wideband positioning system). For example, the first device in FIG. 4 can be a network device.

[0097] For example, the network device can be composed of one or more access network (AN) / radio access network (RAN) nodes. The AN / RAN node can be various forms of base stations, such as a satellite base station, a gNB, a transmission reception point (TRP), an evolved NodeB (eNB), a radio network controller (RNC), a NodeB (NB), a base station controller (BSC), a base transceiver station (BTS), a home base station (e.g., a home eNB, or HNB), a macro base station, a micro base station, a pico base station, a small cell, a relay station, a balloon station, a drone station, a wireless backhaul node, a baseband unit (BBU), or an access point (AP) in Wi-Fi, or a G-Node in Starlink, etc. It can be understood that in a communication system using different wireless access technologies, the name of the network device with base station function may

[0098] In yet another example, a network device can include a BBU and a remote radio unit (RRU). The BBU and the RRU can be placed in different locations, for example, the RRU is pulled far away and placed in a high traffic area, and the BBU is placed in a central machine room. The BBU and the RRU can also be placed in the same machine room. The BBU and the RRU can also be different components under one rack.

[0099] In yet another example, a network device can also be a device including a centralized unit (CU) node, or including a distributed unit (DU) node, or including a CU node and a DU node. For example, a network device is a network device, and the network device is divided into a CU and a DU from a logical function perspective. The functions of part of the protocol layers are placed in the CU for centralized control, and the functions of the remaining part or all of the protocol layers are distributed in the DU and controlled by the CU. The CU and the DU can be separately arranged, or can be included in the same network element, such as a BBU. Further, the centralized unit CU can also be divided into a control plane (CU-CP) and a user plane (CU-UP).

[0100] In yet another example, a network device can also be a device including a radio unit (RU), or including a CU, a DU, and an RU. The RU can be included in a radio frequency device or a radio frequency unit, such as an RRU, an active antenna unit (AAU), or a remote radio head (RRH).

[0101] It can be understood that the CU (or CU-CP and CU-UP), DU, or RU can also have different names in different systems, but those skilled in the art can understand their meanings. For example, in an open radio access network (O-RAN) system, the CU can also be referred to as an O-CU (open CU), the DU can also be referred to as an O-DU, the CU-CP can also be referred to as an O-CU-CP, the CU-UP can also be referred to as an O-CU-UP, and the RU can also be referred to as an O-RU. For the convenience of description, the CU, the CU-CP, the CU-UP, the DU, and the RU are taken as examples for description in this application. Any one of the CU (or CU-CP, CU-UP), the DU, and the RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0102] The second device in FIG. 4 can be a terminal device, a user equipment (UE), a subscriber unit, a terminal, or a mobile station (MS) or a mobile terminal (MT), etc.

[0103] For example, the terminal device can be a mobile phone, a tablet computer, or a computer with wireless transceiver function. The terminal device can also be a user station, a mobile station, a remote station, a remote terminal device, a mobile terminal device, a user terminal device, a wireless communication device, a user agent, a user equipment, a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication function, a computing device, a processing device connected to a wireless modem, a vehicle-mounted device, a wearable device, a terminal device in Internet of Things, a household appliance, a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in unmanned driving, a wireless terminal in remote medical treatment, a wireless terminal in smart grid, a wireless terminal in smart city, a wireless terminal in smart home, a vehicle with vehicle-to-vehicle (V2V) communication capability, a smart connected vehicle, a drone with unmanned aerial vehicle to unmanned aerial vehicle (UAV to UAV, U2U) communication capability, a terminal device in future network, a terminal device in future evolved public land mobile network (PLMN), a station (STA) in wireless fidelity (Wi-Fi), or a T-node in Starlink, etc. It can be understood that the terminal device and the mobile user can be completely independent. All information related to the user can be stored in a subscriber identity module (SIM) card, which can be used on the terminal device. The terminal device can send and / or receive signals through the air interface to complete interaction with the network side device.

[0104] It can be understood that the above Figure 4 is only a schematic diagram, and does not constitute a limitation on the applicable scenarios of the technical solutions provided in the present application. Those skilled in the art should understand that, in the specific implementation process, the communication system shown in Figure 4 can also include fewer devices than those shown in Figure 4, or the communication system shown in Figure 4 can also include other devices, and the number of devices in the communication system shown in Figure 4 can also be determined according to specific needs, and is not limited.

[0105] Optionally, each device (for example, the first device, the second device) in Figure 4 can also be referred to as a communication apparatus, which can be a general-purpose device or a special-purpose device, and the embodiments of the present application do not make specific limitations thereon.

[0106] Optionally, the related functions of each device in Figure 4 of the present application can be implemented by one device, or can be implemented by multiple devices together, or can be implemented by one or more functional modules in a device, and the embodiments of the present application do not make specific limitations thereon. It can be understood that the above functions can be network elements in a hardware device, or software functions running on a special-purpose hardware, or a combination of hardware and software, or virtualized functions instantiated on a platform (for example, a cloud platform).

[0107] The ranging compensation method provided in the embodiments of the present application will be described below in combination with the communication system shown in Figure 4. The actions, terms, etc. involved in the following embodiments can be mutually referred to, and the message names or parameter names in the messages exchanged between devices in each embodiment are only an example, and other names can also be used in specific implementation. For example, “corresponding” in the following embodiments can be replaced by “associated” or the like, and “transmission” in the following embodiments can be replaced by “sending” or the like.

[0108] Figure 5 is a flow diagram of a ranging compensation method provided in an embodiment of the present application, as shown in Figure 5, which can include:

[0109] S501: The second device sends a reference ranging value and first information to the first device, and the first device receives the reference ranging value and the first information from the second device.

[0110] Optionally, the first device is the first device in Figure 4, and the second device is the second device in Figure 4.

[0111] For example, in the case of a communication system being a super wideband wireless communication system, the first device can be a first anchor point, and the second device can be a first tag. The first tag (tag) refers to a mobile device that communicates with a UWB receiver using UWB technology to determine the position of a tagged object (i.e., an object to which a tag is attached). The first anchor point (anchor) refers to a UWB device fixed at a known position, which functions as a reference node in a super wideband wireless communication system (such as a super wideband positioning system).

[0112] The first information is used to indicate a reference signal source type corresponding to the reference ranging value. Optionally, the reference signal source type corresponding to the reference ranging value can include the second device and other devices except the second device.

[0113] Optionally, the first information can include a binary bit. In a case where the binary bit takes a first value, the first information indicates that the reference signal source type corresponding to the reference ranging value is the second device; in a case where the binary bit takes a second value, the first information indicates that the reference signal source type corresponding to the reference ranging value is other devices except the second device.

[0114] The reference ranging value is used to determine whether the first compensation value is reliable. The first compensation value is used to compensate for a current ranging value. For related description of the current ranging value, please refer to S502, which is not repeated here. In this application, the manner in which the second device obtains the reference ranging value is not limited. For example, the second device can obtain the reference ranging value according to its own data, or the second device can receive the reference ranging value from other devices except the second device.

[0115] In an example, the second device obtains the reference ranging value according to its own data, and sends the reference ranging value to the first device. At this time, the reference ranging value can include a ranging value between the second device and the first device obtained by the second device and the first device performing a ranging process at a time point before the current time point. For detailed process, please refer to the method shown in FIG. 6 below.

[0116] In another example, the second device receives the reference ranging value from other devices except the second device, and sends the reference ranging value to the first device. At this time, the reference ranging value is calculated by the other devices according to the position information of the second device. For detailed process, please refer to the method shown in FIG. 7 below.

[0117] In this application, the type of the ranging process is not limited. For example, the ranging process is a single-sided two-way ranging (SS-TWR) process shown in FIG. 1, or the ranging process is a double-sided two-way ranging (DS-TWR) process shown in FIG. 2, or the ranging process is a one-way ranging (OWR) process, etc.

[0118] In this application, the second device can actively or triggeredly send the reference ranging value and the first information to the first device. For example, the second device can send the reference ranging value and the first information to the first device according to a configured or protocol default period / frequency. Alternatively, the second device can send the reference ranging value and the first information to the first device after receiving indication information for reporting the reference ranging value and the first information.

[0119] In addition, in this application, the second device can use one signaling to send the reference ranging value and the first information to the first device, or the second device can use different signaling to send the reference ranging value and the first information to the first device.

[0120] S502: The first device sends the current ranging value and the second information to the second device according to the reference ranging value and the first information; and the second device receives the current ranging value and the second information from the first device.

[0121] The second information is used to indicate whether the first compensation value is reliable.

[0122] In this application, the manner in which the first device obtains the first compensation value is not limited. For example, in the case where the first information indicates that the reference signal source corresponding to the reference ranging value is the second device in S501, the first device can receive the first compensation value from the second device to obtain the first compensation value. In the case where the first information indicates that the reference signal source corresponding to the reference ranging value is a device other than the second device in S501, the first device can obtain the first compensation value according to the reference ranging value and the current ranging value.

[0123] In this application, the second information can directly or indirectly indicate whether the first compensation value is reliable. For example, in the case where the second information directly indicates whether the first compensation value is reliable, the second information can include second information indicating that the first compensation value is unreliable or second information indicating that the first compensation value is reliable. In the case where the second information indirectly indicates whether the first compensation value is reliable, the second information can include the confidence of the first compensation value, which is used to represent whether the first compensation value is reliable.

[0124] The current ranging value is the distance value between the second device and the first device obtained by currently performing the ranging process. For details of the ranging process, please refer to S501.

[0125] Optionally, the current ranging value can include a ranging value compensated according to the first compensation value, or a ranging value not compensated according to the first compensation value. In the case where the current ranging value is the ranging value not compensated according to the first compensation value, the process of obtaining the current ranging value can refer to the method shown in FIG. 6, which is not described here. In the case where the current ranging value is the ranging value compensated according to the first compensation value, the process of obtaining the current ranging value can refer to the method shown in FIG. 7, which is not described here.

[0126] Specifically, the first device sends the second information to the second device according to the reference ranging value and the first information, which can be divided into the following three possible examples based on the reference signal source corresponding to the reference ranging value indicated by the first information:

[0127] In an example, the first information indicates that the reference ranging value corresponds to a reference signal source being a second device, the first device receives a first compensation value from the second device, and the first device sends second information to the second device indicating that the first compensation value is reliable in a case that an absolute value of a difference between the current ranging value and the reference ranging value is less than or equal to the first compensation value, and the first device sends second information to the second device indicating that the first compensation value is unreliable in a case that the absolute value of the difference between the current ranging value and the reference ranging value is greater than the first compensation value.

[0128] In another example, the first information indicates that the reference ranging value corresponds to a reference signal source being a device other than the second device, and the first device sends second information to the second device including a confidence of the first compensation value. The confidence of the first compensation value is used to indicate whether the first compensation value is reliable. For example, a protocol predefines or the first device and the second device default that the first compensation value is reliable in a case that the confidence of the first compensation value is greater than or equal to a first threshold, and the first compensation value is unreliable in a case that the confidence of the first compensation value is less than the first threshold. The first threshold is pre-defined by the protocol, or the first threshold is default by the first device and the second device, or the first threshold is determined by negotiation between the first device and the second device.

[0129] In another example, the first information indicates that the reference ranging value corresponds to a reference signal source being a device other than the second device, and the first device sends second information to the second device including a binary bit. The second information indicates that the first compensation value is reliable in a case that the binary bit takes a first value, and the second information indicates that the first compensation value is unreliable in a case that the binary bit takes a second value. Optionally, the value of the binary bit can be obtained according to the confidence of the first compensation value.

[0130] In the present application, the first value can be 0 or 1, and the second value can be 0 or 1, and the first value and the second value take different values.

[0131] In the present application, the first device can actively or triggeredly send the current ranging value and the second information to the second device. For example, the first device can send the current ranging value and the second information to the second device according to a configured or protocol default period / frequency. Alternatively, the first device can send the current ranging value and the second information to the second device after receiving request information requesting the current ranging value and the second information.

[0132] In addition, in the present application, the first device can use one signaling to send the current ranging value and the second information to the second device, or the first device can use different signaling to send the current ranging value and the second information to the second device.

[0133] Based on the ranging compensation method shown in FIG. 5, the first device can send, to the second device according to the reference ranging value and the first information sent by the first device, a distance value between the second device and the first device obtained by currently performing the ranging procedure and second information indicating whether the first compensation value is reliable, so as to introduce the first compensation value in the ranging procedure of the first device and the second device, so that the second device can compensate the current ranging value by the first compensation value, so as to reduce or eliminate the ranging bias introduced by the system and the environment in the ranging procedure. In addition, the mechanism of compensating the current ranging value in the ranging procedure of the first device and the second device has lower complexity and smaller signaling overhead compared with reducing or eliminating the ranging bias in other processes or other devices outside the ranging procedure of the first device and the second device.

[0134] Optionally, the ranging compensation method shown in FIG. 5 can further include the following S503 and / or S504:

[0135] S503: The first device sends the first compensation value to the second device, and the second device receives the first compensation value from the first device.

[0136] S503 is an optional execution step. When the first information in S501 indicates that the reference signal source corresponding to the reference ranging value is other device than the second device, S503 is executed, so that the second device can receive the first compensation value. When the first information in S501 indicates that the reference signal source corresponding to the reference ranging value is the second device, the first device can receive the first compensation value from the second device, and the first device no longer needs to send the first compensation value to the second device, so S503 can not be executed.

[0137] S504: The first device sends at least one of the current ranging value, the second information or the first compensation value to the third device, and the third device receives at least one of the current ranging value, the second information or the first compensation value from the first device.

[0138] Optionally, the third device can be a device without explicit and direct reference source or data source, such as a passive tag.

[0139] S504 is an optional execution step. In the multi-device positioning / tracking, and the first information in S501 indicates that the reference signal source corresponding to the reference ranging value is a device other than the second device, S504 is executed to provide at least one of the current ranging value, the second information, or the first compensation value to a third device in the multi-device, the third device being a device other than the second device in the multi-device, so that the third device can compensate the ranging value obtained by the third device performing the ranging procedure according to at least one of the current ranging value, the second information, or the first compensation value, to improve the robustness of the multi-device positioning / tracking. In the case of non-multi-device positioning / tracking, there is no third device, and therefore S504 can not be executed.

[0140] The communication system shown in FIG. 4 includes a first device and a second device. In the scenario where the current ranging value is obtained by the first device and the second device performing the two-way ranging TWR procedure shown in FIG. 1 or FIG. 2, the first device in FIG. 4 is the first anchor, and the second device in FIG. 4 is the first tag. The ranging compensation method shown in FIG. 5 is described below in conjunction with FIG. 6.

[0141] FIG. 6 is a flowchart of a ranging compensation method provided by an embodiment of the present application. As shown in FIG. 6, the method can include the following steps:

[0142] S600: The first tag obtains a reference ranging value and / or a first compensation value.

[0143] The reference ranging value is used to determine whether the first compensation value is reliable. Optionally, the reference ranging value can be a ranging value between the first tag and the first anchor obtained by the first tag and the first anchor performing the TWR procedure shown in FIG. 1 or FIG. 2 at a time point before the current time point. The reference ranging value is described in detail in S501, and is not described here.

[0144] As a possible implementation, the first tag and the first anchor record the ranging value between the first tag and the first anchor obtained by the ranging procedure each time the ranging procedure is performed, and store the ranging value in the local device. Therefore, the first tag can obtain the reference ranging value according to the data of the first tag itself.

[0145] In an example, the reference ranging value can be a ranging value between the first tag and the first anchor obtained by the first tag and the first anchor performing the TWR ranging procedure shown in FIG. 1 or FIG. 2 at the previous time point. In this case, the first tag can directly obtain the reference ranging value from the locally stored data.

[0146] In another example, the reference ranging value can be a ranging value obtained by processing a ranging value between the first tag and the first anchor obtained by performing the TWR ranging procedure shown in FIG. 1 or FIG. 2 at a time point before the current time point. For example, the reference ranging value can be a ranging value obtained by performing a weighted average operation on ranging values between the first tag and the first anchor obtained by performing the TWR ranging procedure shown in FIG. 1 or FIG. 2 at a time point before the current time point, i.e., the reference ranging value can be represented as f(d1, …, dn-1). Wherein f() is a weighted average operation, n is an integer greater than 1, d1 is a ranging value between the first tag and the first anchor obtained by performing the TWR ranging procedure shown in FIG. 1 or FIG. 2 at a previous time point, and dn-1 is a ranging value between the first tag and the first anchor obtained by performing the TWR ranging procedure shown in FIG. 1 or FIG. 2 at a time point n-1 before the current time point.

[0147] The first compensation value can be predefined by a protocol, or the first compensation value can be defined by the first tag, and the value of the first compensation value is not limited. For example, in the case where the first compensation value is defined by the first tag, the first tag can determine the first compensation value according to a specific scenario to obtain the first compensation value defined by the first tag.

[0148] S601: The first tag sends the reference ranging value, the first information, and the first compensation value to the first anchor, and the first anchor receives the reference ranging value, the first information, and the first compensation value from the first tag.

[0149] The first information can indicate that the reference signal source type corresponding to the reference ranging value is the first tag.

[0150] As a possible implementation, the first information can include a binary bit, and the binary bit is valued as 0 to indicate that the reference signal source type corresponding to the reference ranging value is the first tag.

[0151] As a possible implementation, the first tag can use at least one signaling to send the reference ranging value, the first information, and the first compensation value to the first anchor.

[0152] In one example, the first tag carries the reference ranging value, the first information, and the first compensation value in the same signaling, and sends the signaling to the first anchor to send the reference ranging value, the first information, and the first compensation value to the first anchor.

[0153] In another example, the first tag carries the reference ranging value in the first signaling, carries the first information in the second signaling, and carries the first compensation value in the third signaling, and sends the first signaling, the second signaling, and the third signaling to the first anchor point to send the reference ranging value, the first information, and the first compensation value to the first anchor point.

[0154] In another example, the first tag carries the reference ranging value and the first information in the first signaling, and carries the first compensation value in the second signaling, and sends the first signaling and the second signaling to the first anchor point to send the reference ranging value, the first information, and the first compensation value to the first anchor point.

[0155] As a possible implementation, the first tag periodically or triggeredly sends the reference ranging value, the first information, and the first compensation value to the first anchor point.

[0156] In an example, the first tag is configured with a reporting period / frequency N, N being an integer greater than or equal to 1, and the first tag can send the reference ranging value, the first information, and the first compensation value to the first anchor point every N times of performing the ranging procedure.

[0157] In another example, the first tag can send the reference ranging value, the first information, and the first compensation value to the first anchor point after receiving first indication information from the first anchor point, the first indication information being used to indicate reporting the reference ranging value, the first information, and the first compensation value.

[0158] S602: The first anchor point and the first tag perform a TWR ranging procedure to obtain a current ranging value.

[0159] The current ranging value is a ranging value that is not compensated according to the first compensation value, i.e., the current ranging value is a distance value between the first tag and the first anchor point obtained by the first anchor point and the first tag currently performing the bidirectional ranging TWR ranging procedure shown in FIG. 1 or FIG. 2.

[0160] S603: The first anchor point obtains second information according to the reference ranging value, the current ranging value, and the first compensation value.

[0161] The second information can be used to indicate whether the first compensation value is reliable.

[0162] The first anchor point obtaining the second information according to the reference ranging value, the current ranging value, and the first compensation value can include the following two possible cases:

[0163] 1) In a case where an absolute value of a difference between the current ranging value and the reference ranging value is less than or equal to the first compensation value, the second information is information used to indicate that the first compensation value is reliable.

[0164] 2) in the case that the absolute value of the difference between the current ranging value and the reference ranging value is greater than the first compensation value, the second information is information indicating that the first compensation value is not reliable.

[0165] In one possible implementation, the second information can include a binary bit. The binary bit takes a first value, and the second information indicates that the first compensation value is reliable; the binary bit takes a second value, and the second information indicates that the first compensation value is not reliable. The first value is 0 or 1, and the second value is 0 or 1, and the first value is different from the second value.

[0166] In one example, the second information includes a binary bit, the first value is 1, and the second value is 0. In the case that the absolute value of the difference between the current ranging value and the reference ranging value is less than or equal to the first compensation value, the second information is information including 1; in the case that the absolute value of the difference between the current ranging value and the reference ranging value is greater than the first compensation value, the second information is information including 0.

[0167] S604: The first anchor point sends the current ranging value and the second information to the first tag, and the first tag receives the current ranging value and the second information from the first anchor point.

[0168] The current ranging value is the current ranging value in S602, and the second information is the second information in S603.

[0169] As one possible implementation, the first anchor point can use at least one signaling to send the current ranging value and the second information to the first tag.

[0170] In one example, the first anchor point carries the current ranging value and the second information in the same signaling, and sends the signaling to the first tag to send the current ranging value and the second information to the first tag.

[0171] In another example, the first anchor point carries the current ranging value in a first signaling and carries the second information in a second signaling, and sends the first signaling and the second signaling to the first tag to send the current ranging value and the second information to the first tag.

[0172] Based on the ranging compensation method shown in FIG. 6, the first tag can obtain the reference ranging value according to its own data, and send the reference ranging value to the first anchor point, so that the first anchor point can send the current ranging value and the second information indicating whether the first compensation value is reliable to the first tag according to the reference ranging value sent by the first tag, thereby introducing the first compensation value in the ranging process of the first tag and the first anchor point, so that the first tag can compensate the current ranging value according to whether the first compensation value is reliable, to reduce or eliminate the ranging bias introduced by the system and the environment in the ranging process.

[0173] For example, in the current ranging environment is poor, resulting in system instability, and then produce jump phenomenon, based on the method shown in FIG. 6, the first anchor can send the current ranging value to the first label and the second information whether the first compensation value is reliable, in the case of reliable first compensation value, the first label can compensate the current ranging value according to the first compensation value, improve the accuracy of ranging value, so as to improve the positioning / tracking accuracy; in the case of unreliable first compensation value, the first label can use other methods to compensate the current ranging value, so as to improve the accuracy of the current ranging value.

[0174] In addition, based on the ranging compensation method shown in FIG. 6, the mechanism for compensating the current ranging value in the ranging process between the first label and the first anchor, compared with the first label and the first anchor executing the ranging process and sending other information to the server in addition to the ranging value, in order to reduce or eliminate the ranging bias on the server side, the ranging compensation method shown in FIG. 6 has lower complexity and smaller signaling overhead.

[0175] The following is an example of the communication system shown in FIG. 4 including a first device, a second device, and other devices, in the case of the first device and the second device executing the two-way ranging TWR process to obtain the current ranging value, the first device in FIG. 4 is the first anchor, the second device in FIG. 4 is the first label, and the other devices in FIG. 4 are the server. Optionally, the communication system shown in FIG. 4 can also include a third device, taking the third device as an example of the second label. Among them, the first label is an active label, and the second label is a passive label. The ranging compensation method shown in FIG. 5 is introduced below in combination with FIG. 7.

[0176] S700: The server sends the reference ranging value to the first label, and the first label receives the reference ranging value from the server.

[0177] Among them, the reference ranging value is used to determine whether the first compensation value is reliable.

[0178] Optionally, the reference ranging value is obtained by the server according to the reference positioning value. For example, based on the reference positioning value, the distance value between the first label and the first anchor is deduced, and thus the reference ranging value is obtained.

[0179] Among them, the reference positioning value can be used to represent the current position of the first label. The reference positioning value can be the positioning value of the first label obtained by using a wireless positioning technology, such as the positioning value of the first label obtained by using real-time kinematic (RTK). The reference positioning value can come from an external data source of the server, such as a core network device.

[0180] One possible implementation is that the server periodically or triggeredly sends the reference ranging value to the first label.

[0181] S701: The first tag sends a reference ranging value and first information to the first anchor point, and the first anchor point receives the reference ranging value and the first information from the first tag.

[0182] The reference ranging value is described in S700 and is not repeated here.

[0183] The first information can indicate that the reference ranging value corresponds to a reference signal source type other than the first tag.

[0184] As a possible implementation, the first information can include a binary bit, and the binary bit is valued as 1 to indicate that the reference ranging value corresponds to a reference signal source type other than the first tag.

[0185] As a possible implementation, the first tag can use at least one signaling to send the reference ranging value, the first information, and the first compensation value to the first anchor point.

[0186] As a possible implementation, the first tag periodically or triggeredly sends the reference ranging value and the first information to the first anchor point.

[0187] S702: The first anchor point and the first tag perform a TWR ranging procedure to obtain a current ranging value and a first compensation value.

[0188] The first anchor point and the first tag perform a TWR ranging procedure to obtain a current ranging value can include that the first anchor point and the first tag perform a DS-TWR ranging procedure to obtain a current ranging value, or the first anchor point and the first tag perform a SS-TWR ranging procedure to obtain a current ranging value. The DS-TWR procedure is shown in FIG. 2, and the SS-TWR procedure is shown in FIG. 1.

[0189] The current ranging value is a ranging value compensated according to the first compensation value.

[0190] As a possible implementation, the current ranging value is a sum of a ranging value d obtained by the first anchor point and the first tag performing the DS-TWR procedure shown in FIG. 2 and the first compensation value. At this time, the first compensation value can be obtained by the first anchor point according to the reference ranging value and the ranging value obtained by the first anchor point and the first tag performing the DS-TWR procedure shown in FIG. 2.

[0191] For example, the first anchor point performs the DS-TWR procedure shown in FIG. 2 with the first tag to obtain a ranging value d, receives a reference ranging value d' from the first tag, and subtracts the difference between the reference ranging value d' and the ranging value d to obtain the first compensation value.

[0192] In another possible implementation, the current ranging value is a sum of the ranging value d obtained by the first anchor point performing the SS-TWR procedure shown in FIG. 1 with the first tag and the first compensation value. In this case, the first compensation value can be obtained by the first anchor point according to the reference ranging value and the ranging value obtained by the first anchor point performing the SS-TWR procedure shown in FIG. 1 with the first tag.

[0193] For example, the first anchor point performs the SS-TWR procedure shown in FIG. 1 with the first tag to obtain a ranging value d, receives a reference ranging value d' from the first tag, and subtracts the difference between the reference ranging value d' and the ranging value d to obtain the first compensation value. In this case, the first anchor point performs the SS-TWR procedure shown in FIG. 1 with the first tag to obtain the ranging value d, which is not repeated here.

[0194] In this application, in the case where the first anchor point subtracts the difference between the reference ranging value d' and the ranging value d to obtain the first compensation value, and the current ranging value is a sum of the ranging value d obtained by the first anchor point performing the ranging procedure with the first tag and the first compensation value, the current ranging value is equal to the reference ranging value d', and therefore the first anchor point can send the reference ranging value from the first tag to the first tag as the current ranging value.

[0195] S703: The first anchor point obtains second information according to the first compensation value.

[0196] The second information is used to indicate whether the first compensation value is reliable. The first compensation value is the first compensation value in S702, and details are described in S702, which are not repeated here.

[0197] As a possible implementation, the second information can include a confidence degree of the first compensation value, and the confidence degree of the first compensation value is used to indicate whether the first compensation value is reliable. In this case, the first anchor point obtaining the second information according to the first compensation value can include: the first anchor point processes the first compensation value to obtain the confidence degree of the first compensation value, and carries the confidence degree of the first compensation value in the second information.

[0198] As another possible implementation, the second information can include a binary bit, in a case where the binary bit takes a first value, the second information indicates that the first compensation value is trusted; in a case where the binary bit takes a second value, the second information indicates that the first compensation value is not trusted. At this time, the first anchor obtaining the second information according to the first compensation value can include: the first anchor processing the first compensation value to obtain a confidence degree of the first compensation value, comparing the confidence degree of the first compensation value with a first threshold, in a case where the confidence degree of the first compensation value is greater than or equal to the first threshold, the first compensation value is trusted, and setting a value of the binary bit in the second information to the first value; in a case where the confidence degree of the first compensation value is less than the first threshold, the first compensation value is not trusted, and setting the value of the binary bit in the second information to the second value.

[0199] It should be noted that the first anchor can process the first compensation value according to the prior art to obtain the confidence degree of the first compensation value, which is not repeated here.

[0200] S704: The first anchor sends the current ranging value, the first compensation value and the second information to the first tag, and the first tag receives the current ranging value, the first compensation value and the second information from the first anchor.

[0201] The current ranging value and the first compensation value are described in S702, and the second information is described in S703, which is not repeated here.

[0202] As a possible implementation, the first anchor can use at least one signaling to send the current ranging value, the first compensation value and the second information to the first tag.

[0203] In an example, the first anchor carries the current ranging value, the first compensation value and the second information in the same signaling, and sends the signaling to the first tag to send the current ranging value, the first compensation value and the second information to the first tag.

[0204] In another example, the first anchor carries the current ranging value in a first signaling, carries the first compensation value in a second signaling, and carries the second information in a third signaling, and sends the first signaling, the second signaling and the third information to the first tag to send the current ranging value, the first compensation value and the second information to the first tag.

[0205] In another example, the first anchor carries the current ranging value in a first signaling, carries the first compensation value and the second information in a second signaling, and sends the first signaling and the second signaling to the first tag to send the current ranging value, the first compensation value and the second information to the first tag.

[0206] S705: The first anchor sends the current ranging value, the first compensation value and the second information to the second tag, and the second tag receives the current ranging value, the first compensation value and the second information from the first anchor.

[0207] The current ranging value and the first compensation value are described in S702, and the second information is described in S703, which are not repeated here.

[0208] As a possible implementation, the first anchor can use at least one signaling to send the current ranging value, the first compensation value and the second information to the second tag.

[0209] S705 is an optional step. In the case that the communication system shown in FIG. 4 includes a third device (i.e., the second tag), S705 is performed to provide the second tag with the current ranging value, the second information and the first compensation value of the first tag, so that the second tag can compensate the ranging value obtained by the second tag in the TWR ranging process according to at least one of the current ranging value, the second information and the first compensation value of the first tag, to improve the robustness of the positioning / tracking of the second tag. In the case that the communication system shown in FIG. 4 does not include a third device (i.e., the second tag), S705 is not performed.

[0210] The steps S704-S705 are only exemplary to describe the flow of the ranging compensation method. The execution sequence between S704 and S705 is not limited. For example, S704 can be performed before S705; or S704 can be performed simultaneously with S705; or S704 can be performed after S705.

[0211] Based on the ranging compensation method shown in FIG. 7, the first tag can obtain a reference ranging value based on external data (e.g., a reference ranging value from a server), and send the reference ranging value to the first anchor, so that the first anchor can obtain the first compensation value based on the reference ranging value sent by the first tag, and send the ranging value obtained by the first anchor and the first tag in the current ranging process after the first compensation value to the first tag as the current ranging value, to reduce or eliminate the ranging deviation introduced by the system and the environment in the ranging process, to improve the accuracy of the current ranging value, and to improve the accuracy of the positioning / tracking.

[0212] In addition, based on the ranging compensation method shown in FIG. 7, the first anchor can also send the first compensation value and the second information indicating whether the first compensation value is reliable to the first tag, to enhance the flexibility and robustness of the ranging method. For example, the first tag can further process / optimize the current ranging value based on the first compensation value and the confidence of the first compensation value.

[0213] In addition, based on the ranging compensation method shown in FIG. 7, in the multi-tag positioning scenario, the second tag without a reference data source can compensate the ranging value obtained by the second tag performing the ranging process according to at least one of the current ranging value of the first tag with a reference data source, the second information, and the first compensation value, to reduce or eliminate the ranging deviation introduced by the system and the environment in the ranging process, and improve the robustness of multi-device positioning / tracking.

[0214] The above mainly introduces the scheme provided by the embodiments of the present application from the perspective of interaction between devices. It can be understood that each device, such as the first device, the second device, etc., contains a hardware structure and / or software module for executing each function in order to implement the above functions. Those skilled in the art should easily realize that, in combination with the algorithm steps of each example described in the embodiments disclosed herein, the present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians 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.

[0215] The embodiments of the present application can group the functional modules of the first device, the second device, etc. according to the above method examples, for example, each functional module can be grouped according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be realized in the form of hardware or in the form of a software functional module. It should be noted that the grouping of modules in the embodiments of the present application is illustrative, and is only a logical grouping, and another grouping method can be used in actual implementation.

[0216] FIG. 8 shows a structural diagram of a communication apparatus 800, which can be used to execute the functions of the first device involved in the above embodiments. As a realizable manner, the communication apparatus 800 shown in FIG. 8 includes a transceiver unit 801, a processing unit 802;

[0217] The transceiver unit 801 is configured to receive a reference ranging value and first information from the second device; the reference ranging value is used to determine whether the first compensation value is reliable; and the first information is used to indicate the reference signal source type corresponding to the reference ranging value. For example, the transceiver unit 801 can support the communication apparatus 800 to execute S501, or can support the communication apparatus 800 to execute S601, or can support the communication apparatus 800 to execute S701.

[0218] The processing unit 802 is configured to send, to the second device, a current ranging value and second information according to the reference ranging value and the first information, the second information being used to indicate whether the first compensation value is reliable, the first compensation value being used to compensate the current ranging value, the current ranging value being a distance value between the second device and the first device obtained by currently performing a ranging procedure. For example, the processing unit 802 can enable the communication apparatus 800 to perform S502, or can enable the communication apparatus 800 to perform S602-S604, or can enable the communication apparatus 800 to perform S702-S704.

[0219] For details of the reference ranging value, the first information, the first compensation value, the reference signal source type corresponding to the reference ranging value, the current ranging value, and the second information, refer to the descriptions in the foregoing method embodiments.

[0220] Specifically, all the related contents of the steps performed by the first device (e.g., the first anchor point) in the method embodiments shown in FIG. 5, FIG. 6, and FIG. 7 can be referred to the function descriptions of the corresponding function modules, which will not be repeated here. The communication apparatus 800 is configured to perform the functions of the first device in the ranging compensation methods shown in FIG. 5, FIG. 6, and FIG. 7, and thus can achieve the same effects as the foregoing ranging compensation methods.

[0221] FIG. 9 shows a structural diagram of a communication apparatus 900, which can be configured to perform the functions of the second device in the foregoing embodiments. As a possible implementation, the communication apparatus 900 shown in FIG. 9 includes a transceiver unit 901;

[0222] The transceiver unit 901 is configured to send, to the first device, a reference ranging value and first information, the reference ranging value being used to determine whether a first compensation value is reliable, and the first information being used to indicate a reference signal source type corresponding to the reference ranging value. For example, the transceiver unit 901 can enable the communication apparatus 900 to perform S501, or can enable the communication apparatus 900 to perform S601, or can enable the communication apparatus 900 to perform S701.

[0223] The transceiver unit 901 is further configured to receive, from the first device, a current ranging value and second information, the second information being used to indicate whether the first compensation value is reliable, the first compensation value being used to compensate the current ranging value, and the current ranging value being a distance value between the second device and the first device obtained by currently performing a ranging procedure. For example, the transceiver unit 901 can enable the communication apparatus 900 to perform S502, or can enable the communication apparatus 900 to perform S604, or can enable the communication apparatus 900 to perform S704.

[0224] For details of the reference ranging value, the first information, the first compensation value, the reference signal source type corresponding to the reference ranging value, the current ranging value, and the second information, refer to the descriptions in the foregoing method embodiments.

[0225] Specifically, all the related content of the steps involved by the second device (e.g., the first tag) in the method embodiments shown in FIG. 5, FIG. 6 and FIG. 7 can be cited to the function description of the corresponding function module, which will not be repeated here. The communication apparatus 900 is configured to perform the functions of the second device in the ranging compensation method shown in FIG. 5, FIG. 6 and FIG. 7, and thus the same effects as the ranging compensation method described above can be achieved.

[0226] The processing unit mentioned above can be a processing module, or a processor or a controller. It can implement or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure. The processor can also be a combination of computing functions, such as one or more microprocessor combinations, DSP and microprocessor combinations, etc. The transceiver unit can be a communication module, or a transceiver circuit or a communication interface, etc. Any of the communication apparatuses mentioned above can also include a storage unit for storing the program code and data of any communication apparatus. The storage unit can be a storage module or a memory. When the processing module is a processor, the communication module is a communication interface, and the storage module is a memory, the communication apparatus 800 and the communication apparatus 900 involved in the embodiments of the present application can be a communication apparatus 1000 shown in FIG. 10. For example, the first device and the second device mentioned above can adopt the constituent structure shown in FIG. 10 or include the components shown in FIG. 10. FIG. 10 is a constituent diagram of a communication apparatus 1000 according to an embodiment of the present application. As shown in FIG. 10, the communication apparatus 1000 can include a processor 1001, and optionally, a communication line 1002 and a communication interface 1003.

[0227] Further, the communication apparatus 1000 can also include a memory 1004. The processor 1001, the memory 1004 and the communication interface 1003 can be connected through the communication line 1002.

[0228] The processor 1001 can be a central processing unit (CPU), a general processor network processor (NP), a digital signal processing (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD) or any combination thereof. The processor 1001 can also be other communication apparatuses with processing functions, such as circuits, devices or software modules, etc.

[0229] The communication line 1002 is configured to transmit information between the components included in the communication apparatus 1000.

[0230] The communication interface 1003 is configured to communicate with other devices or other communication networks. The other communication networks can be an Ethernet, a radio access network (RAN), a wireless local area network (WLAN), or the like. The communication interface 1003 can be a radio frequency module, a transceiver, or any communication device capable of communication. In this embodiment of this application, the communication interface 1003 is taken as a radio frequency module for example, and the radio frequency module can include an antenna, a radio frequency circuit, and the like. The radio frequency circuit can include a radio frequency integrated chip, a power amplifier, and the like.

[0231] The memory 1004 is configured to store instructions. The instructions can be a computer program.

[0232] The memory 1004 can be a read-only memory (ROM) or another type of static storage device that can store static information and / or instructions, or can be a random access memory (RAM) or another type of dynamic storage device that can store information and / or instructions, or can be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or another optical disk storage, a magneto-optical disk, a magnetic disk storage medium, or another magnetic storage device, or the like.

[0233] It should be noted that the memory 1004 can exist independently of the processor 1001, or can be integrated with the processor 1001. The memory 1004 can be configured to store instructions or program codes or some data, and the like. The memory 1004 can be located in the communication device 1000, or can be located outside the communication device 1000, without limitation. The processor 1001 is configured to execute the instructions stored in the memory 1004, to implement the random access process preamble sending method provided in the embodiments of this application.

[0234] In an example, the processor 1001 can include one or more CPUs, such as CPU0 and CPU1 in FIG. 10.

[0235] As an optional implementation, the communication device 1000 includes a plurality of processors, for example, in addition to the processor 1001 in FIG. 10, the processor 1007 can also be included.

[0236] As an optional implementation, the communication apparatus 1000 further includes an output device 1005 and an input device 1006. The input device 1006 is a keyboard, a mouse, a microphone, a joystick or the like, and the output device 1005 is a display screen, a speaker or the like.

[0237] It should be noted that the communication apparatus 1000 can be a desktop computer, a laptop computer, a network server, a mobile phone, a tablet computer, a wireless terminal, an embedded device, a chip system or a device having a similar structure as shown in FIG. 10. In addition, the constituent structure shown in FIG. 10 does not constitute a limitation on the communication apparatus, and the communication apparatus can include more or fewer components than those shown in FIG. 10, or combine certain components, or have a different arrangement of components.

[0238] In the embodiments of the present application, the chip system can be composed of a chip, or can include a chip and other discrete devices.

[0239] The embodiments of the present application further provide a computer readable storage medium. All or part of the processes of the above method embodiments can be instructed by a computer program to relevant hardware, and the program can be stored in the above computer readable storage medium. When the program is executed, the processes of the above method embodiments can be included. The computer readable storage medium can be the terminal device of any of the preceding embodiments, such as an internal storage unit including a data transmission end and / or a data receiving end, for example, a hard disk or a memory of the terminal device. The above computer readable storage medium can also be an external storage device of the terminal device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card and the like equipped on the terminal device. Further, the above computer readable storage medium can include both the internal storage unit and the external storage device of the terminal device. The above computer readable storage medium is used to store the above computer program and other programs and data required by the terminal device. The above computer readable storage medium can also be used to temporarily store data that has been output or will be output.

[0240] It should be understood that, in the technical solutions of the present application, the collection, storage, use, processing, transmission, provision and disclosure of user personal information and the like processing comply with relevant legal provisions and do not violate public order and good customs. For example, the processing of user personal information in the technical solutions of the present application is performed under the authorization of the user, and the same description is not repeated here.

[0241] It should be noted that the terms "first", "second", and the like in the description, claims and drawings of the application are intended to distinguish between similar objects, but are not intended to describe a particular sequential order. Moreover, the terms "comprises", "comprising", and the like are intended to encompass non-exclusive inclusions. For example, processes, methods, articles, or apparatuses that comprise a list of steps or elements are not limited to the listed steps or elements, but can optionally include additional steps or elements not listed. The terms "comprises", "comprising", and the like can be used interchangeably with "includes", "including", and the like.

[0242] 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 more, and "and / or" is used to describe the association between the associated objects, indicating that there can be three relationships, for example, "A and / or B" can represent three cases: only A, only B, 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 associated objects. "At least one of the following" or the like means any combination of these items, including any combination of single or multiple items. 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.

[0243] It should be understood that in the embodiments of the present application, "B corresponding to A" means that B is associated with A. For example, B can be determined according to A. It should also be understood that determining B according to A does not mean that B is determined only according to A, but B can also be determined according to A and / or other information. In addition, "connection" appearing in the embodiments of the present application means direct connection or indirect connection and various connection modes to achieve communication between devices, which is not limited in the embodiments of the present application.

[0244] The "transmit" (transmit / transmission) appearing in the embodiments of the present application means bidirectional transmission, including sending and / or receiving actions, unless otherwise specified. Specifically, "transmit" in the embodiments of the present application includes data sending, data receiving, or data sending and data receiving. Or, the data transmission here includes uplink and / or downlink data transmission. The data can include channels and / or signals, uplink data transmission is uplink channel and / or uplink signal transmission, and downlink data transmission is downlink channel and / or downlink signal transmission. The "network" and "system" appearing in the embodiments of the present application represent the same concept, and the communication system is a communication network.

[0245] Those skilled in the art can clearly understand the communication device and method disclosed in the above embodiments, for the convenience and brevity of description, only the grouping of the above functional modules is exemplified, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is grouped into different functional modules to complete all or part of the functions described above.

[0246] In several embodiments provided in the present application, it should be understood that the disclosed communication device and method can be implemented in other ways. For example, the above-described communication device embodiments are only illustrative, for example, the grouping of the modules or units is only a logical function grouping, and actual implementation can have another grouping manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0247] The units described as separate components can or can not be physically separated, and the components displayed as units can be one physical unit or multiple physical units, that is, they can be located in one place or distributed to multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0248] In addition, each functional unit in each embodiment 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. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0249] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application essentially or say the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium, including a plurality of instructions for causing an apparatus, such as a single-chip microcomputer, a chip, or a processor, to execute all or part of the steps of the method described in the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various storage program codes.

[0250] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any changes or replacements that are easily thought of by those skilled in the art within the technical scope of the present application should be covered within 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 ranging compensation method, characterized in that, The method is performed by a first device, and the method comprises: receiving a reference ranging value and first information from a second device; the reference ranging value is used to determine whether a first compensation value is credible; the first information is used to indicate a reference signal source type corresponding to the reference ranging value; sending, to the second device, a current ranging value and second information according to the reference ranging value and the first information, the second information being used to indicate whether the first compensation value is credible, the first compensation value being used to compensate the current ranging value, the current ranging value being a distance value between the second device and the first device obtained by currently performing a ranging process.

2. The method of claim 1, wherein: the reference ranging value comprises a ranging value between the second device and the first device obtained by the second device performing a ranging process at a time point before a current time point; or the reference ranging value is obtained by a third device according to position information of the second device.

3. The method of claim 1 or 2, wherein: the current ranging value is a ranging value compensated according to the first compensation value; or the current ranging value is a ranging value not compensated according to the first compensation value.

4. The method according to any one of claims 1 to 3, characterized in that, the first information indicates that the reference signal source corresponding to the reference ranging value is the second device, and the method further comprises: receiving the first compensation value from the second device; the sending, to the second device, of the second information comprises: in a case where an absolute value of a difference between the current ranging value and the reference ranging value is less than or equal to the first compensation value, sending, to the second device, the second information indicating that the first compensation value is credible; or in a case where the absolute value of the difference between the current ranging value and the reference ranging value is greater than the first compensation value, sending, to the second device, the second information indicating that the first compensation value is not credible.

5. The method according to any one of claims 1 to 3, characterized in that, the first information indicates that the reference signal source corresponding to the reference ranging value is a third device other than the second device, the second information comprises a confidence level of the first compensation value, the confidence level being used to indicate whether the first compensation value is credible; or the second information comprises a binary bit, in a case where the binary bit takes a first value, the second information indicates that the first compensation value is credible, and in a case where the binary bit takes a second value, the second information indicates that the first compensation value is not credible.

6. The method according to any one of claims 1 to 5, characterized in that, the first information indicates that the reference signal source corresponding to the reference ranging value is a third device other than the second device, and the method further comprises: sending, to the second device, the first compensation value.

7. The method according to any one of claims 1 to 6, characterized in that, the first information indicates that the reference signal source corresponding to the reference ranging value is a third device other than the second device, and the method further comprises: sending, to a third device, at least one of the current ranging value, the second information, or the first compensation value.

8. A ranging compensation method, characterized in that, The method is performed by a second device, and the method comprises: sending, to a first device, a reference ranging value and first information; the reference ranging value is used to determine whether a first compensation value is credible; the first information is used to indicate a reference signal source type corresponding to the reference ranging value; receiving, from the first device, a current ranging value and second information; the second information is used to indicate whether the first compensation value is credible; the first compensation value is used to compensate the current ranging value; the current ranging value is a distance value between the second device and the first device obtained by currently performing a ranging procedure.

9. The method of claim 8, wherein the reference ranging value comprises a ranging value between the second device and the first device obtained by the second device performing a ranging procedure at a time point before a current time point; or the reference ranging value is obtained by a third device other than the second device according to position information of the second device.

10. The method of claim 8 or 9, wherein the current ranging value is a ranging value compensated according to the first compensation value; or the current ranging value is a ranging value not compensated according to the first compensation value.

11. The method according to any one of claims 8-10, characterized in that, the first information indicates that the reference signal source corresponding to the reference ranging value is the second device, and the method further comprises: sending, to the first device, the first compensation value; the receiving, from the first device, the second information comprises: in a case where an absolute value of a difference between the current ranging value and the reference ranging value is less than or equal to the first compensation value, receiving, from the first device, the second information indicating that the first compensation value is credible; or in a case where the absolute value of the difference between the current ranging value and the reference ranging value is greater than the first compensation value, receiving, from the first device, the second information indicating that the first compensation value is not credible.

12. The method according to any one of claims 8-10, characterized in that, the first information indicates that the reference signal source corresponding to the reference ranging value is a third device other than the second device, the second information comprises a confidence level of the first compensation value; the confidence level of the first compensation value is used to indicate whether the first compensation value is credible; or the second information comprises a binary bit; in a case where the binary bit takes a first value, the second information indicates that the first compensation value is credible; in a case where the binary bit takes a second value, the second information indicates that the first compensation value is not credible.

13. The method according to any one of claims 8-12, characterized in that, the first information indicates that the reference signal source corresponding to the reference ranging value is a third device other than the second device, and the method further comprises: receiving, from the first device, the first compensation value.

14. A communications device, characterized by The communication device comprises a module or unit for performing the method of any one of claims 1-7, or the communication device comprises a module or unit for performing the method of any one of claims 8-13.

15. A communications device, characterized by The communication device comprises a processor configured to support the communication device to perform the method according to any one of claims 1-7, or to perform the method according to any one of claims 8-13.

16. A communication system, characterized by The communication system comprises a communication device configured to perform the method according to any one of claims 1-7, and a communication device configured to perform the method according to any one of claims 8-13.

17. A computer readable storage medium characterized by: The computer readable storage medium stores computer instructions which, when executed on a computer, cause the computer to perform the method according to any one of claims 1-7, or cause the computer to perform the method according to any one of claims 8-13.

18. A computer program product, characterised in that, The computer program product comprises computer instructions which, when executed on a computer, cause the computer to perform the method according to any one of claims 1-7, or cause the computer to perform the method according to any one of claims 8-13.

Images