Communication method and apparatus, and system

Abstract

The embodiments of the present application relate to the technical field of wireless communications, and provide a communication method and apparatus, and a system. The communication method is applied to a wireless communication system. The system comprises a master node and a sensing node, and the method comprises: when the master node establishes a communication connection with the sensing node, the master node and the sensing node respectively measuring a relative relationship between the master node and the sensing node in a physical space to obtain a spatial relationship parameter; the master node and the sensing node respectively generating a first key on the basis of the spatial relationship parameter; and the master node and the sensing node respectively performing wireless communication with each other on the basis of the first key. The embodiments of the present application can improve wireless communication system security.

Description

Communication methods, devices and systems Technical Field

[0001] This application relates to the field of wireless communication technology, and in particular to a communication method, apparatus and system. Background Technology

[0002] Wireless communication systems transmit data via electromagnetic waves through the air and are widely used in communications, the Internet of Things (IoT), and industrial control. Secure communication between nodes in wireless communication systems is crucial, especially in scenarios such as 360-degree surround-view systems in automobiles and drone swarms.

[0003] In related technologies, wireless communication systems typically involve a master node communicating with a sensor node via broadcast to securely negotiate and generate a session key between the two communicating parties. This session key is then used to establish a secure connection for encrypted data transmission, ensuring secure communication.

[0004] However, the data in the aforementioned security negotiation process is transmitted in plaintext. Therefore, the data can be received by any node within the coverage area of ​​the multi-node wireless communication system, among which there are likely to be risky nodes (such as nodes used to attack the system), leading to an increase in the security risk of the multi-node wireless communication system. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a communication method, apparatus, and system. In this communication method, the master node and the sensing node each generate a first key that is exclusive and does not require broadcast transmission, based on spatial relationship parameters indicating their relative relationship in physical space. This ensures that risky nodes cannot intervene in wireless communication based on the first key, significantly improving the communication security of the wireless communication system.

[0006] In a first aspect, this application provides a communication method applied to a wireless communication system, the system including a master node and a sensing node. The method includes: when a communication connection is established between the master node and the sensing node, the master node and the sensing node respectively measure the relative relationship between the master node and the sensing node in physical space to obtain spatial relationship parameters; the master node and the sensing node respectively generate a first key based on the spatial relationship parameters; and the master node and the sensing node respectively conduct wireless communication with each other based on the first key.

[0007] In this embodiment, when a communication connection is established between the master node and the sensing node, the spatial relationship parameter indicating the relative relationship between the master node and the sensing node in physical space is exclusive, and this spatial relationship parameter does not need to be broadcast, thus ensuring that risky nodes cannot obtain this spatial relationship parameter. In this way, risky nodes cannot obtain the first key generated based on this spatial relationship parameter, and therefore cannot intervene in the wireless communication between the master node and the sensing node based on the first key, thereby significantly improving the communication security of the wireless communication system. Furthermore, the aforementioned first key is generated by the master node and the sensing node respectively based on their respective obtained spatial relationship parameters, ensuring that each sensing node in the multi-node wireless communication system uses a different key, avoiding the problem of any single node potentially decrypting all communication data, and further improving the communication security of the multi-node wireless communication system.

[0008] According to the first aspect, the master node and the sensing node each generate a first key based on spatial relationship parameters, including: the master node and the sensing node respectively correct the measurement error of the spatial relationship parameters to obtain multiple candidate relationship parameters; the first node generates a first key to be aligned based on the target relationship parameter among the multiple candidate relationship parameters, the first node including the master node or the sensing node; the first node generates a notification message based on the first key to be aligned and sends the notification message to a second node, the second node including the peer of the first node; the second node determines the target relationship parameter from the multiple candidate relationship parameters based on the notification message and sends a confirmation message to the first node to indicate successful alignment; upon receiving the confirmation message, the first node uses the first key to be aligned as the first key; the second node generates the first key based on the target relationship parameter.

[0009] In this embodiment, the master node and the sensing node respectively correct the measurement errors of the spatial relationship parameters. One of the master node or the sensing node generates a first key to be aligned based on the corrected spatial relationship parameters (i.e., the target relationship parameter among multiple candidate relationship parameters), and sends a notification message to the peer based on this first key. The peer then determines the target relationship parameter from its own multiple candidate relationship parameters based on this notification message and sends back a confirmation message confirming successful alignment. The target relationship parameter is used to generate the first key. In this way, the master node and the sensing node can ensure that their generated first keys are consistent based on the same corrected spatial relationship parameters (i.e., the target relationship parameter), thereby avoiding security communication anomalies caused by inconsistent first keys when measurement errors exist, and further improving the security of the multi-node wireless communication system.

[0010] According to the first aspect, or any implementation of the first aspect above, the master node and the sensing node respectively correct the measurement error of the spatial relationship parameters to obtain multiple candidate relationship parameters, including: the master node and the sensing node respectively map the spatial relationship parameters into multiple candidate relationship parameters according to the agreed error range; the first node generates a notification message based on the first key to be aligned, including: the first node uses the first key to be aligned to encrypt plaintext used to indicate key alignment, and obtains the notification message; the second node determines the target relationship parameter from the multiple candidate relationship parameters based on the notification message, including: the second node determines the candidate relationship parameter that can decrypt the notification message from the multiple candidate relationship parameters as the target relationship parameter.

[0011] In this embodiment, error correction is performed by mapping spatial relationship parameters to the same error range, and the target parameters for generating the first key are determined by decrypting the notification message based on multiple candidate relationship parameters. Thus, the alignment of the spatial relationship parameters obtained by the master node and the sensing node can be achieved without complex algorithms, making it more convenient and efficient.

[0012] According to the first aspect, or any implementation of the first aspect above, the master node and the sensing node generate a first key based on spatial relationship parameters, including: the master node and the sensing node respectively obtain the synchronization timestamp of the wireless communication system; the master node and the sensing node respectively generate a first key based on spatial relationship parameters and synchronization timestamp.

[0013] In this embodiment, before generating the first key, the master node and the sensor node also obtain a synchronization timestamp respectively, and generate the first key according to the synchronization timestamp and spatial relationship parameters. This ensures that the time sequence of the first keys generated by the master node and the sensor is fresh and consistent, which can ensure the consistency and coordination of the system and avoid the security degradation of the communication system caused by the incorrect use of historically generated first keys or the failure of secure communication caused by inconsistent first keys.

[0014] According to the first aspect, or any implementation of the first aspect above, the master node and the sensing node communicate wirelessly with each other based on the first key, including any of the following: the master node and the sensing node negotiate a second key under the encryption of the first key, and use the second key to communicate wirelessly with each other; the master node and the sensing node negotiate a second key under the encryption of the first key, and use the first key and the second key to communicate wirelessly with each other; the master node and the sensing node use the first key to communicate wirelessly with each other.

[0015] In this embodiment of the application, the master node and the sensing node use a first key to protect the negotiation process of the second key, and use the second key to protect the wireless communication between the two parties. For example, the specific communication content transmitted by the two parties is encrypted or decrypted, thereby avoiding the security risks in the negotiation process of the second key through the encryption of the first key and improving the security of the wireless communication system.

[0016] The master node and sensing nodes use a first key to protect the negotiation process of the second key. Furthermore, the first and second keys jointly protect the wireless communication between the two parties. For example, after the second key encrypts the specific communication content transmitted between the two parties, the first key further encrypts this encrypted content, thereby enhancing the security of the multi-node wireless communication system through multiple layers of encryption. Additionally, when the second key uses asymmetric encryption, it is relatively more susceptible to being broken by quantum computing. This scheme uses a symmetric encryption method to encrypt the encryption result of the second key with the first key, avoiding the vulnerability of the second key to quantum computing and effectively improving the security of the communication system in scenarios where quantum computing applications are increasingly widespread.

[0017] The master node and the sensing node use a first key to protect the wireless communication between the two parties. For example, the specific communication content transmitted by both parties is encrypted, thereby balancing the efficiency and security of the multi-node wireless communication system.

[0018] According to the first aspect, or any implementation of the first aspect above, the master node establishes a communication connection with the sensing node, including: the master node broadcasting an initialization signal; upon receiving the initialization signal, the sensing node sends a connection request to the master node based on a first node identifier, the first node identifier being used to indicate the master node; upon receiving the connection request, the master node establishes a communication connection with the sensing node based on a second node identifier, the second node identifier being used to indicate the sensing node.

[0019] In this embodiment, the master node and the sensing node establish a communication connection based on a pre-agreed whitelist, namely the first node identifier and the second node identifier, to ensure that both parties establishing the communication connection are the expected communication nodes, thereby further improving the security of the multi-node wireless communication system.

[0020] According to the first aspect, or any implementation of the first aspect above, the master node broadcasts an initialization signal, including: the master node sending a broadcast frame when the master node is in a specified position.

[0021] In this embodiment, when the master node is in a designated location, it sends a broadcast frame to establish a communication connection with the sensing node, further improving the exclusivity of the relative relationship between the master node and the sensing node in physical space, avoiding the intervention of risky nodes, and thus further improving the security of the multi-node wireless communication system.

[0022] Secondly, this application provides a communication method applied to a first node of a wireless communication system, the system further comprising a second node. If the first node includes a master node, the second node includes a sensing node; or, if the first node includes a sensing node, the second node includes a master node. The method comprises: upon establishing a communication connection with the second node, measuring the relative relationship between the first node and the second node in physical space to obtain spatial relationship parameters; generating a first key based on the spatial relationship parameters; and conducting wireless communication with the second node based on the first key.

[0023] According to the second aspect, generating a first key based on spatial relationship parameters includes: correcting measurement errors of the spatial relationship parameters to obtain multiple candidate relationship parameters; generating a first key based on the multiple candidate relationship parameters; generating a first key based on the multiple candidate relationship parameters includes: generating a first key to be aligned based on a target relationship parameter among the multiple candidate relationship parameters; generating a notification message based on the first key to be aligned and sending the notification message to the second node; and, upon receiving a confirmation message from the second node indicating successful alignment, using the first key to be aligned as the first key; or, based on the notification message sent by the second node, determining the target relationship parameter from the multiple candidate relationship parameters, sending a confirmation message to the second node indicating successful alignment, and generating a first key based on the target relationship parameter, wherein the notification message is used to indicate alignment of the first key to be aligned generated by the second node, and the first key to be aligned is the key generated by the second node based on the target relationship parameter among the multiple candidate relationship parameters.

[0024] According to the second aspect, or any implementation of the second aspect above, the measurement error of the spatial relationship parameters is corrected to obtain multiple candidate relationship parameters, including: mapping the spatial relationship parameters to multiple candidate relationship parameters according to an agreed error range; generating a notification message based on the first key to be aligned, including: encrypting plaintext used to indicate key alignment using the first key to be aligned to obtain the notification message; determining the target relationship parameter from the multiple candidate relationship parameters based on the notification message sent by the second node, including: determining the candidate relationship parameter that can decrypt the notification message sent by the second node as the target relationship parameter.

[0025] According to the second aspect, or any implementation of the second aspect above, a first key is generated based on spatial relationship parameters, including: obtaining the synchronization timestamp of the wireless communication system; and generating the first key based on the spatial relationship parameters and the synchronization timestamp.

[0026] According to the second aspect, or any implementation of the second aspect above, wireless communication with the second node is conducted based on the first key, including any one of the following: negotiating a second key with the second node under the encryption of the first key, and using the second key to conduct wireless communication with the second node; negotiating a second key with the second node under the encryption of the first key, and using the first key and the second key to conduct wireless communication with the second node; or using the first key to conduct wireless communication with the second node.

[0027] According to the second aspect, or any implementation of the second aspect above, when the first node includes a master node, establishing a communication connection with the second node includes: broadcasting an initialization signal; receiving a connection request sent by the second node based on the identifier of the first node when the initialization signal is received, wherein the identifier of the first node is used to indicate the first node; and establishing a communication connection with the second node based on the identifier of the second node when the connection request is received, wherein the identifier of the second node is used to indicate the second node.

[0028] According to the second aspect, or any implementation of the second aspect above, the broadcast initialization signal includes: sending a broadcast frame when the first node is in a specified position.

[0029] The second aspect and any implementation thereof correspond to the first aspect and any implementation thereof, respectively. The technical effects of the second aspect and any implementation thereof are similar to those of the first aspect and any implementation thereof, and will not be repeated here.

[0030] Thirdly, this application provides a communication device applied to a first node of a wireless communication system, the system further comprising a second node. If the first node includes a master node, the second node includes a sensing node; or, if the first node includes a sensing node, the second node includes a master node. The device comprises: a measurement module for measuring the relative relationship between the first node and the second node in physical space, obtaining spatial relationship parameters, when a communication connection is established with the second node; a key generation module for generating a first key based on the spatial relationship parameters; and a communication module for conducting wireless communication with the second node based on the first key.

[0031] According to the third aspect, the key generation module is specifically used for: correcting measurement errors of spatial relationship parameters to obtain multiple candidate relationship parameters; generating a first key based on the multiple candidate relationship parameters; generating a first key to be aligned based on the target relationship parameter among the multiple candidate relationship parameters; generating a notification message based on the first key to be aligned and sending the notification message to the second node; and, upon receiving a confirmation message from the second node indicating successful alignment, using the first key to be aligned as the first key; or, based on the notification message sent by the second node, determining the target relationship parameter from the multiple candidate relationship parameters, sending a confirmation message to the second node indicating successful alignment, and generating a first key based on the target relationship parameter, wherein the notification message is used to indicate alignment of the first key to be aligned generated by the second node, and the first key to be aligned is the key generated by the second node based on the target relationship parameter among the multiple candidate relationship parameters.

[0032] According to the third aspect, or any implementation of the third aspect above, the key generation module is specifically used to: map the spatial relationship parameters into multiple candidate relationship parameters according to the agreed error range; encrypt the plaintext used to indicate key alignment using the first key to be aligned, and obtain a notification message; and determine the candidate relationship parameter that can decrypt the notification message sent by the second node among the multiple candidate relationship parameters as the target relationship parameter.

[0033] According to the third aspect, or any implementation of the third aspect above, the key generation module is specifically used for: obtaining the synchronization timestamp of the wireless communication system; and generating a first key based on the spatial relationship parameters and the synchronization timestamp.

[0034] According to the third aspect, or any implementation of the third aspect above, the communication module is specifically used to implement any of the following: negotiating a second key with the second node under the encryption of the first key, and using the second key to conduct wireless communication with the second node; negotiating a second key with the second node under the encryption of the first key, and using the first key and the second key to conduct wireless communication with the second node; using the first key to conduct wireless communication with the second node.

[0035] According to the third aspect, or any implementation of the third aspect above, if the first node includes a master node, the communication module is further configured to: broadcast an initialization signal; receive a connection request sent by the second node based on the identifier of the first node when the initialization signal is received, wherein the identifier of the first node is used to indicate the first node; and establish a communication connection with the second node based on the identifier of the second node when the connection request is received, wherein the identifier of the second node is used to indicate the second node.

[0036] According to the third aspect, or any of the above implementations of the third aspect, the communication module is specifically used to: send broadcast frames when the first node is in a specified position.

[0037] The third aspect and any implementation thereof correspond to the second aspect and any implementation thereof, respectively. The technical effects of the third aspect and any implementation thereof can be found in the technical effects of the second aspect and any implementation thereof, as described above, and will not be repeated here.

[0038] The communication device provided in the third aspect can be a master node or a sensing node, or it can be a device, module, circuit, or chip configured in the master node or sensing node, or a device that can be used in conjunction with the master node or sensing node. In one design, the communication device may include modules corresponding to the methods / operations / steps / actions described in the second aspect. These modules can be hardware circuits, software, or a combination of hardware circuits and software. In one design, the communication device may include a processing module and a communication module. The communication module is used to perform the communication actions in the method described in the second aspect, while the processing module is used to perform the processing actions in the method described in the second aspect.

[0039] Fourthly, this application provides a communication device including a processor and a storage medium storing instructions that, when executed by the processor, cause the methods in the first aspect, any possible implementation of the first aspect, the second aspect, or any possible implementation of the second aspect to be implemented.

[0040] Fifthly, this application provides a communication device including a processor for processing data and / or information to enable the methods described in the first aspect, any possible implementation of the first aspect, the second aspect, or any possible implementation of the second aspect to be implemented. Optionally, the communication device may further include a communication interface for receiving data and / or information and transmitting the received data and / or information to the processor. Optionally, the communication interface may also be used to output the data and / or information processed by the processor.

[0041] Sixthly, this application provides a chip including a processor for executing a program or instructions to cause the methods in any possible implementation of the first aspect to be implemented. Optionally, the chip may further include a memory for storing the program or instructions. Optionally, the chip may further include a transceiver.

[0042] In a seventh aspect, this application provides a computer-readable storage medium including instructions that, when executed by a processor, cause the methods in the first aspect, any possible implementation of the first aspect, the second aspect, or any possible implementation of the second aspect to be implemented.

[0043] Eighthly, this application provides a computer program product, which includes computer program code or instructions that, when executed, cause the methods in the first aspect, any possible implementation of the first aspect, the second aspect, or any possible implementation of the second aspect to be implemented.

[0044] Ninthly, this application provides a communication system comprising one or more of the following means: a communication device for performing the method of the first aspect, any possible implementation of the first aspect, the second aspect, or any possible implementation of the second aspect. Attached Figure Description

[0045] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 is one of the architectural examples of the communication system provided in the embodiments of this application;

[0047] Figure 2 is one of the architectural examples of the communication system provided in the embodiments of this application;

[0048] Figure 3 is one of the architectural examples of the communication system provided in the embodiments of this application;

[0049] Figure 4 is a flowchart illustrating one of the communication methods provided in an embodiment of this application;

[0050] Figure 5 is one of the schematic diagrams of the ranging process in the communication method provided in the embodiments of this application;

[0051] Figure 6 is one of the schematic diagrams of the ranging process in the communication method provided in the embodiments of this application;

[0052] Figure 7a is a schematic flowchart of one of the communication methods provided in an embodiment of this application;

[0053] Figure 7b is a schematic flowchart of one of the communication methods provided in an embodiment of this application;

[0054] Figure 8 is one of the example frame structure diagrams of the communication device provided in the embodiments of this application;

[0055] Figure 9 is one of the example frame structures of the communication device provided in the embodiments of this application;

[0056] Figure 10 is one of the example diagrams of the frame structure of the communication device provided in the embodiments of this application. Detailed Implementation

[0057] The technical solutions in the embodiments of this application will be described below with reference to the accompanying drawings. It should be understood that in this application, the indication includes direct indication (also called explicit indication) and implicit indication. Direct indication information A refers to information A; implicit indication information A refers to indicating information A through the correspondence between information A and information B and the direct indication information B. The correspondence between information A and information B can be predefined, pre-stored, pre-burned, or pre-configured.

[0058] It should be understood that in this application, information C is used to determine information D, including both situations where information D is determined solely based on information C and situations where it is determined based on information C and other information. Furthermore, information C can also be used to determine information D indirectly, for example, where information D is determined based on information E, and information E is determined based on information C.

[0059] Furthermore, in the embodiments of this application, "network element A sends information A to network element B" can be understood as network element B being the destination of information A or an intermediate network element in the transmission path between the destination and network element B, which may include sending information directly or indirectly to network element B. "Network element B receives information A from network element A" can be understood as network element A being the source of information A or an intermediate network element in the transmission path between the source and network element A, which may include receiving information directly or indirectly from network element A. Information may undergo necessary processing between the source and destination, such as format changes, but the destination can understand the valid information from the source. Similar expressions in this application can be understood in a similar way and will not be elaborated further here.

[0060] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0061] The terms "first" and "second," etc., used in the specification and claims of this application are used to distinguish different objects, not to describe a specific order of objects. For example, "first target object" and "second target object," etc., are used to distinguish different target objects, not to describe a specific order of target objects.

[0062] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0063] In the description of the embodiments in this application, unless otherwise stated, "multiple" means two or more. For example, multiple processing units means two or more processing units; multiple systems means two or more systems.

[0064] To facilitate understanding of this embodiment, some technical terms and background technologies involved in this embodiment will be introduced first:

[0065] (1) Multi-node wireless communication system: A wireless communication system comprising three or more nodes, widely used in communications, the Internet of Things, industrial control, and other fields. The specific form of a multi-node wireless communication system can be diverse, such as short-range wireless communication systems (e.g., communication systems using the Wireless Fidelity (Wi-Fi) protocol, communication systems using the Sparklink Basic (SLB) protocol, communication systems using the Bluetooth (BT) protocol, etc.), and wireless communication systems supporting longer distance communication, such as fourth-generation (4G) communication systems (e.g., Long Term Evolution (LTE) systems), fifth-generation (5G) communication systems (e.g., New Radio (NR) systems), and future mobile communication systems such as sixth-generation (6G) mobile communication systems. Any communication system comprising three or more wireless nodes capable of wireless communication can be considered a multi-node wireless communication system; this application does not limit this. Furthermore, for ease of description, the multi-node wireless communication system will be referred to simply as a communication system below.

[0066] (2) Public key: Part of the key pair used in asymmetric encryption algorithms, appearing in pairs with the private key. Its main uses are as follows:

[0067] Encrypted Messages: When a sender wants to send an encrypted message to a receiver, the sender encrypts the message using the receiver's public key. The encrypted ciphertext can only be decrypted using the corresponding private key, thus ensuring the confidentiality of the information during transmission.

[0068] Digital signature verification: The receiver uses the sender's public key to verify the digital signature generated by the sender using their private key. If the verification is successful, it confirms that the message was indeed sent by the sender who possesses the corresponding private key, and that the message has not been tampered with during transmission.

[0069] (3) Passive monitoring: Attackers, also known as risk nodes, obtain plaintext data transmitted in the wireless communication system and use this data to launch further attacks on the wireless communication system.

[0070] (4) Middle-of-the-Middle Attack: The attacker, also known as the risk node, intercepts and modifies the plaintext data (such as the public key) transmitted in the wireless communication system and inserts the risk node's own data (such as the public key) to establish two independent encrypted channels with the two communicating parties respectively. In this way, the attacker can use these two independent encrypted channels to mislead the two communicating parties to conduct normal communication in order to intercept and tamper with the data in the communication.

[0071] (5) Management node (grant node): A node that has resource scheduling function and sends control information and data, abbreviated as G node.

[0072] (6) Terminal node: A node that receives data scheduling information and sends data according to the data scheduling information, abbreviated as T node.

[0073] (7) Master node: A node in a multi-node wireless communication system that has coordination and management functions, can aggregate and process data from sensing nodes, and can control the communication system.

[0074] A sensor node is a node in a multi-node wireless communication system that possesses local data processing capabilities, enabling it to acquire, transmit, and execute commands from the master node. Sensor nodes can also be called sensor nodes.

[0075] In practical applications, the master node and sensing nodes can be configured according to the communication protocol adopted by the wireless communication system, and this application embodiment does not impose any restrictions on this. For example, under the Wi-F protocol, the master node can specifically be an access point (AP), and the sensing node can specifically be a client (station, STA) device; under the SLB protocol, the master node can specifically be a G node, and the sensing node can specifically be a T node.

[0076] (8) Service Set Identifier (SSID): An identifier used to distinguish different wireless networks, equivalent to the name of the wireless network. For example, a wireless LAN can be divided into several sub-networks that require different authentication methods. Devices that have been authenticated and set to the same SSID value can communicate with each other and enter the corresponding sub-network, thereby preventing unauthorized users from entering the network.

[0077] (9) Internet Protocol address (IP address): It is a unified address format provided by the Internet Protocol to assign a logical address to every network and every host on the Internet to mask the differences in physical addresses.

[0078] (10) Domain name: A hierarchical character identifier on the Internet that identifies and locates a computer. It corresponds to the computer's IP address and is used to identify the computer's electronic location during data transmission. Domain names are intended for users.

[0079] (11) Layer 2 identifier (L2ID): In the Layer 2 (data link layer) of computer networks, L2ID can be used to identify specific links, devices, or connections. The data link layer is mainly responsible for encapsulating network layer data into frames and transmitting them over the physical network. L2ID helps to distinguish and manage different entities at this layer, ensuring correct data transmission and isolation.

[0080] (12) Key derivation function (KDF): A cryptographic function that derives one or more keys from a given input (such as a master key, password, etc.).

[0081] In related technologies, data in wireless communication systems is transmitted through the air via electromagnetic waves, making it susceptible to interception by any node. To address this, wireless communication systems can use keys for data encryption and decryption to ensure security. Key negotiation is a crucial step in ensuring wireless communication security; communicating parties can generate a shared key (e.g., a public key) through key negotiation. However, some information used to generate the shared key during key negotiation is often transmitted in plaintext, making it vulnerable to passive monitoring and middle-of-the-middle attacks.

[0082] To address the aforementioned security risks, a pre-shared key (PSK) mechanism is applied to wireless networks. The PSK mechanism can include: all anticipated communication devices pre-configuring a shared key (PSK) before communication begins; during communication, these devices can use this shared key to encrypt and decrypt data to ensure the security of wireless communication.

[0083] However, in multi-node wireless communication systems, when a master node communicates with multiple (e.g., two or more) sensing nodes, each node uses the same key (e.g., PSK), which leads to a lack of isolation between nodes: any node may decrypt all communication data, thus posing a security risk.

[0084] Based on the above analysis, this application provides a communication method to solve the aforementioned problems. In this method, when a master node and a sensing node establish a communication connection, they respectively measure their relative relationship in physical space to obtain spatial relationship parameters. Then, the master node and the sensing node each generate a first key based on their respective spatial relationship parameters, thereby enabling wireless communication based on the first key. Specifically, when the master node and the sensing node establish a communication connection, the relative relationship in physical space indicated by the spatial relationship parameters is exclusive, and these parameters do not require broadcast transmission, ensuring that risky nodes cannot obtain them. Thus, risky nodes cannot obtain the first key generated based on these spatial relationship parameters and cannot intervene in the wireless communication between the master node and the sensing node based on the first key, significantly improving the communication security of the wireless communication system. Furthermore, since the first key is generated by the master node and the sensing node respectively based on their respective spatial relationship parameters, it ensures that each sensing node in a multi-node wireless communication system uses a different key, avoiding the problem of any single node potentially decrypting all communication data, thus improving the communication security of the multi-node wireless communication system.

[0085] Before describing the technical solutions of the embodiments of this application, the application scenarios of the communication methods of the embodiments of this application will first be described with reference to the accompanying drawings. The technical solutions of the embodiments of this application can be applied to wireless communication systems, such as communication systems using the Wi-Fi protocol, communication systems using the SLB protocol, communication systems using the BT protocol, LTE systems, NR systems, 6G mobile communication systems, etc. The embodiments of this application do not limit the specific type of wireless communication system. For ease of description, the wireless communication system will be referred to as a communication system below.

[0086] For ease of understanding, the architecture of the communication system provided in the embodiments of this application will be described below with reference to Figures 1 to 3.

[0087] For example, Figure 1 is one of the architectural examples of a communication system provided in an embodiment of this application. As shown in Figure 1, the communication system 100 may include a master node 101 and multiple (e.g., two or more) sensing nodes, such as sensing nodes 102 to 10n. The master node 101 is used to establish communication connections with any of the multiple sensing nodes. When such communication connections are established, each sensing node and the master node 101 are respectively used to perform the following functions: measuring the relative relationship between the master node 101 and the sensing node in physical space to obtain spatial relationship parameters; generating a first key based on the spatial relationship parameters obtained by itself; and performing wireless communication between the master node and the sensing node based on the first key generated by itself.

[0088] The main node 101 and sensing nodes 102 to 10n each include a sensing module. The sensing module measures the relative relationship between the main node 101 and the sensing node in physical space to obtain spatial relationship parameters. For example, when the spatial relationship parameters include the distance between the main node and the sensing node, the sensing module can specifically be a sensor for distance measurement; when the spatial relationship parameters include the angle between the main node and the sensing node, the sensing module can specifically be a sensor for angle measurement. In other words, the sensing node can specifically be a sensor, or it can be a device with sensing capabilities (such as a drone).

[0089] Optionally, the master node 100 and sensing nodes 102 to 10n may each include a timing module for obtaining a synchronization timestamp. The synchronization timestamp is used to generate a first key in conjunction with spatial relationship parameters. For example, the timing module may be a Global Navigation Satellite System (GNSS) module, which can utilize satellite signals to provide nanosecond-level timing accuracy, ensuring time synchronization between the master node and the sensing nodes, i.e., both communicating parties obtain consistent synchronization timestamps.

[0090] The embodiments of this application do not limit the specific types of the sensing module and the timing module, and can be set according to application requirements.

[0091] For example, Figure 2 is one of the architecture examples of the communication system provided in this application embodiment. As shown in Figure 2, taking a car 360-degree surround view system (also known as an in-vehicle 360° surround view system) as an example, the communication system can be integrated into a vehicle and may include: a master node 201 and sensing nodes 202 to 205. The master node 201 may be, for example, a vehicle control device, and the sensing nodes 202 to 205 may be, for example, sensing devices on the vehicle. The functions implemented by each node in this embodiment can refer to the existing description of the nodes with the same names in the embodiment of Figure 1. The difference is that the master node and sensing nodes in this embodiment are specifically configured to adapt to the scenario of the car 360-degree surround view system. In addition, Figure 2 is only an example and does not constitute a limitation on the installation position and number of master nodes and sensing nodes in the car 360-degree surround view system. The specific configuration can be set according to application requirements.

[0092] For example, Figure 3 is one of the architecture examples of the communication system provided in this application embodiment. As shown in Figure 3, taking a drone swarm communication system as an example, the communication system may include a master node 301 and sensing nodes 302 to 304. The master node 301 may be, for example, the master drone in the drone swarm responsible for swarm scheduling and control, and the sensing nodes 302 to 304 may be, for example, the sensing drones in the drone swarm that are scheduled and controlled. The functions implemented by each node in this embodiment can refer to the existing description of the nodes with the same names in the embodiment of Figure 1. The difference is that the master node and sensing nodes in this embodiment are specifically configured to adapt to the drone swarm scenario. In addition, Figure 3 is only an example and does not constitute a limitation on the position and number of master nodes and sensing nodes in the drone swarm. The specific configuration can be set according to application requirements. In specific applications, the master node 301 may be the same drone as the sensing nodes 302 to 304, or the master node 301 may be a different drone than the sensing nodes 302 to 304.

[0093] In the examples above, the master node (e.g., the G node) is located on the network side of the communication system to help the sensing node achieve wireless access. It is a device with wireless transceiver capabilities or a chip or chip system that can be installed on the device. For example, the master node may include, but is not limited to: network devices, access network devices, access network nodes, radio access network (RAN) nodes, RAN entities or access nodes, base stations, evolved NodeBs (eNodeBs), access points (APs), transmission reception points (TRPs or transmission points (TPs), next-generation NodeBs (gNBs), next-generation base stations in sixth-generation (6G) mobile communication systems, base stations in future mobile communication systems, or access points (APs) in wireless fidelity (Wi-Fi) systems. The master node can be a macro base station, micro base station, indoor station, relay node, donor node, or radio controller in an open radio access network (ORAN) or centralized radio access network (CRAN) scenario. The master node can also be one or a group of antenna panels (including multiple antenna panels) in a 5th generation (5G) base station. Alternatively, it can be a network node constituting a gNB, TRP, TP, or transmission measurement function (TMF), such as a central unit (CU), distributed unit (DU), CU-control plane (CP), CU-user plane (UP), or radio unit (RU), or roadside unit (RSU) with base station functionality. Optionally, the master node can also be a server, wearable device, vehicle, or in-vehicle equipment. For example, in vehicle-to-everything (V2X) technology, the master node can be an RSU. Optionally, the master node can also be a control unit in autonomous driving, a central controller in a smart factory / smart home, or a handheld or automatic control remote sensing device for flight equipment.Optionally, the master node can also be a control device such as a central control unit or control panel, like a drone controller or a control unit in industrial control. All or part of the functions of the master node in this embodiment can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (e.g., a cloud platform). The master node in this embodiment can also be a logical node, logical module, or software capable of implementing all or part of the master node's functions.

[0094] In this application embodiment, the form of the master node is not limited. The device used to implement the function of the master node can be the master node itself; it can also be a device that supports the master node in implementing this function, such as a chip system. The device can be installed in the master node or used in conjunction with the master node.

[0095] The sensing nodes (e.g., T nodes) in the above examples are devices, equipment, modules, chips, or chip systems with transceiver and sensing functions. These sensing nodes can also be referred to as terminal equipment, user equipment (UE), access terminal, subscriber unit, user station, mobile station (MS), mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user agent, or user equipment. For example, the sensing nodes in this application embodiment can specifically be mobile phones, cellular phones, smartphones, tablets, mice, remote controls, styluses, set-top boxes, routers, cameras, screens, smart screens, wireless data cards, personal digital assistant computers (PDAs), wireless modems, handsets, laptop computers, smartwatches, smart bracelets, wireless headphones, electronic whiteboards, machine-type communication (MTC) terminals, computers with wireless transceiver capabilities, virtual reality (VR) terminals, augmented reality (AR) terminals, smart home devices (e.g., refrigerators, televisions, air conditioners, washing machines, rice cookers, table lamps, electricity meters, etc.), smart robots, robotic arms, workshop equipment, wireless terminals in autonomous driving, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical care, and smart grids. Wireless terminals in various applications include those in the following categories: grid, transportation safety, smart city, smart home, vehicle-mounted terminals, vehicle-mounted screens, vehicle audio systems, car keys, roadside units (RSUs) with terminal functions, and flying equipment (e.g., intelligent robots, hot air balloons, drones, airplanes). The sensing node in this application embodiment can also be an onboard module, onboard unit, onboard component, onboard chip, or onboard unit built into a vehicle as one or more components or units. The sensing node can also be other devices with terminal functions; for example, it can be a device that functions as a terminal in device-to-device (D2D) communication.

[0096] By way of example and not limitation, in this embodiment, the terminal device can also be a wearable device. Wearable devices, also known as wearable smart devices, are a general term for devices that utilize wearable technology to intelligently design and develop everyday wearables, such as glasses, gloves, watches, clothing, and shoes. Wearable devices are portable devices that are worn directly on the body or integrated into the user's clothing or accessories. Wearable devices are not merely hardware devices, but also achieve powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include those that are feature-rich, large in size, and can achieve complete or partial functions without relying on a smartphone, such as smartwatches or smart glasses, as well as those that focus on a specific type of application function and require the use of other devices such as smartphones, such as various smart bracelets and smart jewelry for vital sign monitoring.

[0097] In this embodiment, the device for implementing the functions of the terminal device can be the terminal device itself, or it can be a device that supports the terminal device in implementing the functions, such as a chip system. This device can be installed in the terminal device or used in conjunction with the terminal device. In this embodiment, the chip system can be composed of chips, or it can include chips and other discrete components.

[0098] It should be noted that Figures 1 to 3 are simplified schematic diagrams for ease of understanding. For example, the communication system may also include other devices, such as wireless relay devices and / or wireless backhaul devices, which are not shown in Figures 1 to 3.

[0099] The communication method provided in the embodiments of this application will be described in detail below with reference to Figures 4 to 7.

[0100] For example, Figure 4 is a schematic flowchart of a communication method provided in an embodiment of this application. As shown in Figure 4, this communication method can be applied to the communication systems shown in Figures 1 to 3, and the method may include:

[0101] S401, the master node establishes a communication connection with the sensor node.

[0102] The sensing node may include any sensing node in the communication system. For example, when the communication system includes one sensing node, the master node establishes a communication connection with the sensing node. When the communication system includes two or more sensing nodes, the master node may establish a communication connection with any one of the two or more sensing nodes, depending on the communication requirements. This application embodiment does not impose any restrictions on this.

[0103] For example, establishing a communication connection between the master node and the sensing node may specifically include: the master node broadcasting an initialization signal; upon receiving the initialization signal, the sensing node initiating a connection request to the master node; and the master node responding to the connection request, thereby establishing a communication connection with the sensing node. The initialization signal is used to indicate the master node's identification information (e.g., the master node's IP address, SSID, and / or domain name) and to indicate to the sensing node that it can begin establishing a communication connection.

[0104] In one optional implementation, the master node establishes a communication connection with the sensing node, which may specifically include:

[0105] The master node broadcasts an initialization signal;

[0106] Upon receiving the initialization signal, the sensing node sends a connection request to the master node based on the first node identifier, which is used to indicate the master node.

[0107] Upon receiving a connection request, the master node establishes a communication connection with the sensing node based on the second node identifier, which is used to indicate the sensing node.

[0108] In practical applications, before establishing a communication connection, the master node and the sensing node can verify each other's identities through an agreed-upon whitelist to ensure that the communicating parties belong to the expected set of communication nodes. The agreed-upon whitelist can be pre-configured in the sensing node and the master node, or it can be requested by the sensing node and the master node from a designated entity (e.g., a designated security agency, a service center designated by the communication system vendor, etc.), or it can be directly generated by the sensing node and the master node using preset list generation rules. Any method that can obtain the agreed-upon whitelist can be used in this application, and the specific settings can be configured according to application requirements; this embodiment does not impose any limitations on this. The agreed-upon whitelist obtained by the master node also indicates the information identifying the second node; the agreed-upon whitelist obtained by the sensing node also indicates the information identifying the first node.

[0109] In one example, if the communication system uses the SLB protocol, the agreed whitelist can take the form of the L2ID of the master node or the L2ID of the sensing node pre-configured according to the SLB protocol. Accordingly, when a sensing node receives an initialization signal, sending a connection request to the master node based on a first node identifier can include: the sensing node using the SLB protocol's whitelist mechanism to verify whether the master node is an expected communication node. For example, if the L2ID of the master node indicated by the initialization signal matches the L2ID of the master node indicated by the whitelist (i.e., the first node identifier), the sensing node sends a connection request to the master node indicated by that L2ID. Upon receiving the connection request, if the master node recognizes that the L2ID indicated by the connection request matches the L2ID of the sensing node indicated by the whitelist (i.e., the second node identifier), it establishes a communication connection with the sensing node. In an optional example, when the sensing node recognizes that the L2ID of the master node indicated by the initialization signal matches the L2ID, it can also measure the distance between the sensing node and the master node. If the distance meets a distance threshold, it sends a connection request to the master node.

[0110] In one example, if the communication system uses the Wi-Fi protocol, the agreed-upon whitelist can be in the form of the master node's MAC address or the sensor node's MAC address. This example is similar to the example using the SLB protocol, the difference being the format of the configured whitelist. Accordingly, the information processed in the whitelist agreement, node authentication, and connection response phases is adaptively adjusted to the MAC addresses of both communicating parties. In the specific implementation, the master node pre-configures a whitelist of sensor node MAC addresses, while the sensor nodes pre-configure the master node's MAC address for mutual authentication. For the common parts, refer to the example using the SLB protocol above; further details will not be repeated here.

[0111] In this embodiment, the master node and the sensing node establish a communication connection based on a pre-agreed whitelist, namely the first node identifier and the second node identifier, to ensure that both parties establishing the communication connection are the expected communication nodes, thereby further improving the security of the multi-node wireless communication system.

[0112] In one alternative implementation, the master node broadcasts an initialization signal, which may specifically include:

[0113] The master node broadcasts an initialization signal when it is in the specified position.

[0114] Taking the main node as the control device in the vehicle-mounted 360-degree surround view system or the main drone in the drone as an example: when the vehicle or the main drone arrives at the designated location (e.g., cargo loading point, image acquisition point, etc.), the vehicle's control device needs to control the sensors to collect information at the designated location, and the main drone needs to control the sensing drone to collect information at the designated location. At this time, the vehicle's sensors or sensing drone are usually near the designated location, which can further improve the exclusivity of the relative relationship between the main node and the sensing node in physical space. Therefore, the vehicle's control device or the main drone can broadcast an initialization signal when it is at the designated location.

[0115] In this embodiment, when the master node is in a designated location, it sends a broadcast frame to establish a communication connection with the sensing node, further improving the exclusivity of the relative relationship between the master node and the sensing node in physical space, avoiding the intervention of risky nodes, and thus further improving the security of the multi-node wireless communication system.

[0116] S402, the master node measures the relative relationship between the master node and the sensing node in the physical space to obtain spatial relationship parameters; the sensing node measures the relative relationship between the master node and the sensing node in the physical space to obtain spatial relationship parameters.

[0117] Once the master node and the sensing node establish a communication connection, it indicates a need for wireless communication between them and that their relative relationship in physical space is stable. Both can then execute step S402 to ensure the security of wireless communication through spatial relationship parameters. These spatial relationship parameters instruct the master node to measure the relative relationship between the master node and the sensing node in physical space. This relative relationship can be, for example, the relative position, distance, and / or angle between the master node and the sensing node.

[0118] For example, the master node or sensing node can measure the distance between them using single-sided two-way ranging (SS-TWR). The ranging principle of SS-TWR includes: one device (usually called the initiator or tag) sends a signal to another device (usually called the responder or anchor), and the responder then sends a signal back to the initiator, i.e., a feedback response signal. The initiator can calculate the distance between the two devices by measuring the round-trip time of the signal. Figure 5 is one of the schematic diagrams of the ranging process in the communication method provided in this application embodiment. As shown in Figure 5, the communication process in which the master node and sensing node measure the distance between them may include:

[0119] At T11, the master node sends a signal to the sensor node; at T12, the sensor node sends a response signal back to the master node. The master node uses T11 and T12 to measure the distance between itself and the sensor node.

[0120] At time T21, the sensing node sends a signal to the master node; at time T22, the master node sends a response signal back to the sensing node. The sensing node uses T21 and T22 to measure the distance between itself and the master node.

[0121] It is understood that Figure 5 is merely an example and does not constitute a restriction on the order of the ranging processes of the master node and the sensing node.

[0122] For example, the master node or sensing node can measure the distance between themselves using double-sided two-way ranging (DS-TWR). The ranging principle of DS-TWR includes: accurately measuring the distance between two devices through two-way communication, with each device participating in the ranging process as both an initiator and a responder, thereby reducing the impact of system clock skew and processing latency. Figure 6 is one of the schematic diagrams of the ranging process in the communication method provided in this application embodiment. As shown in Figure 6, the communication process for the node and sensing node to measure the distance between themselves may include:

[0123] At time T11, the master node sends signal S1 to the sensor node; at time T12, the sensor node sends a response signal R1 to the master node in response to signal S1; at time T41, the master node sends signal S4 to the sensor node; at time T42, the sensor node sends a response signal R4 to the master node in response to signal S4. The master node measures the distance between itself and the sensor node using times T11 and T12, as well as times T41 and T42.

[0124] At time T21, the sensing node sends signal S2 to the master node; at time T22, the master node sends a response signal R2 to the sensing node, corresponding to signal S2; at time T31, the sensing node sends signal S3 to the master node; at time T32, the master node sends a response signal R3 to the sensing node, corresponding to signal S3. The sensing node measures the distance between itself and the master node using times T21 and T22, and times T31 and T32.

[0125] It is understood that Figure 6 is merely an example and does not constitute a restriction on the order in which the master node and the sensing node measure distances.

[0126] In addition, the master node and the sensing node can also measure the distance between them using laser and / or radar. This application embodiment does not limit the above-mentioned distance measurement method and can be set according to application requirements.

[0127] For example, the angle between the master node and the sensing node describes their directional relationship in physical space. For instance, it could be the angle between the line connecting the master node and the sensing node and a reference direction (such as true north, coordinate axis direction, etc.), or it could be the rotation angle of one of the communicating parties relative to the other. In one example, the master node and the sensing node can measure the angle by acquiring images of their respective environments and performing image recognition. This application does not limit the method of measuring the angle; it can be set according to application requirements.

[0128] S403, the master node generates the first key based on the spatial relationship parameters; the sensing node generates the first key based on the spatial relationship parameters.

[0129] For example, the master node can input its obtained spatial relationship parameters into the key generation model to obtain a first key; the sensing node can also input its obtained spatial relationship parameters into the key generation model to obtain a first key. The master node and the sensing node use the same key generation model to ensure that the same first key is generated to decrypt encrypted data used for secure communication. The key generation model can be, for example, a key derivation function (KDF). This application embodiment does not limit the specific choice of KDF and can set it according to application requirements.

[0130] In one optional implementation, the master node and the sensing node each generate a first key based on spatial relationship parameters, which may specifically include:

[0131] The master node and the sensing node respectively obtain the synchronization timestamp of the wireless communication system;

[0132] The master node and the sensing node generate the first key based on the spatial relationship parameters and the synchronization timestamp, respectively.

[0133] The synchronization timestamp of the wireless communication system can ensure the time synchronization of each node in the system. For example, the master node and the sensing node obtain the synchronization timestamp of the wireless communication system respectively. The master node can request the synchronization timestamp from the GNSS through its own configured GNSS module, and the sensing node can request the synchronization timestamp from the GNSS through its own configured GNSS module.

[0134] The master node and the sensing node each generate a first key based on the aforementioned synchronization timestamp. This is equivalent to aligning the generation time of the first key for the master node and the sensing node. This ensures that the first keys generated based on the same timestamp (i.e., the synchronization timestamp) are identical, and also ensures that the first keys generated at different times are different, thereby avoiding the incorrect use of historically generated first keys.

[0135] Furthermore, the master node and the sensing node generate a first key based on spatial relationship parameters and a synchronization timestamp, respectively. Specifically, the master node inputs its obtained spatial relationship parameters and synchronization timestamp into the key generation model to obtain the first key; the sensing node inputs its obtained spatial relationship parameters and synchronization timestamp into the key generation model to obtain the first key. In other words, the master node and the sensing node use their obtained spatial relationship parameters and synchronization timestamp together as the materials for generating the first key.

[0136] In this embodiment, before generating the first key, the master node and the sensor node also obtain a synchronization timestamp respectively, and generate the first key according to the synchronization timestamp and spatial relationship parameters. This ensures that the time sequence of the first keys generated by the master node and the sensor is fresh and consistent, which can ensure the consistency and coordination of the system and avoid the security degradation of the communication system caused by the incorrect use of historically generated first keys or the failure of secure communication caused by inconsistent first keys.

[0137] In an optional implementation, Figure 7a is a flowchart illustrating one of the communication methods provided in an embodiment of this application. As shown in Figure 7a, based on the communication method provided in the embodiment of Figure 4 of this application, in step S403, the master node generates a first key based on spatial relationship parameters; the sensing node generates a first key based on spatial relationship parameters, which may specifically include:

[0138] S4031, the master node corrects the measurement error of the spatial relationship parameters, obtains multiple candidate relationship parameters, generates a first key to be aligned based on the target relationship parameter among the multiple candidate relationship parameters, and generates a notification message based on the first key to be aligned.

[0139] Optionally, the master node corrects the measurement error of the spatial relationship parameters to obtain multiple candidate relationship parameters. Based on the target relationship parameter among the multiple candidate relationship parameters, a first key to be aligned is generated, and based on the first key to be aligned, a notification message is generated, which may specifically include:

[0140] The master node maps the spatial relationship parameters into multiple candidate relationship parameters according to the agreed error range. Based on the target relationship parameter among the multiple candidate relationship parameters, it generates a first key to be aligned. Using the first key to be aligned, it encrypts the plaintext used to indicate key alignment and obtains a notification message.

[0141] For example, an agreed-upon error range is used to adjust the values ​​of spatial relationship parameters to a predetermined range. Within this range, the difference between the spatial relationship parameters obtained by the master node and those obtained by the sensing node due to measurement errors can be eliminated. For instance, the agreed-upon error range can be a rounding or modulo operation on the spatial relationship parameters. Taking rounding the spatial relationship parameters as an example, if the spatial relationship parameter measured by the master node is a distance of 10.2 meters, then by introducing an agreed-upon error range, the measurement results of both communicating parties can be mapped to the same integer distance. In this case, the spatial relationship parameter of the master node can be an integer between [9.2, 11.2] or an integer around 10.2: 10 and 11, resulting in multiple candidate relationship parameters: a distance of 10 meters and a distance of 11 meters.

[0142] The first key to be aligned in S4031 is similar to the first key in S403, except that the first key to be aligned needs to be aligned between the master node and the sensing node. Therefore, the first key to be aligned can be generated in the same way as the first key in S403. That is, the master node generates the first key to be aligned based on the target relationship parameter among multiple candidate relationship parameters. For example, this could include: the master node inputting the target relationship parameter into the key generation model to obtain the first key to be aligned; or, the master node obtaining the synchronization timestamp and using both the target relationship parameter and the synchronization timestamp as key generation materials to generate the first key to be aligned. The details regarding the key generation model and synchronization timestamp can be found in the description already provided in S403, and will not be repeated here.

[0143] In one example, the target relationship parameter determined by the master node can include any one of multiple candidate relationship parameters, such as the aforementioned distance of 10 meters or 11 meters. In another example, the target relationship parameter determined by the master node can include multiple candidate relationship parameters, such as the aforementioned distances of 10 meters and 11 meters. In this case, there are multiple target relationship parameters. Accordingly, the master node generates a first key to be aligned based on the target relationship parameter among the multiple candidate relationship parameters. This can include the master node generating multiple first keys to be aligned based on each of the multiple target relationship parameters. That is, one target relationship parameter can be used to generate one first key to be aligned.

[0144] The notification message generated by the master node is used to instruct the sensing nodes to align the first key to be aligned. Regarding this:

[0145] In one optional example, the master node generates a notification message based on the first key to be aligned. Specifically, this may include the master node encapsulating the first key to be aligned into a notification message instructing key alignment to be performed. This allows for quick and concise generation of notification messages, improving the efficiency of the communication system.

[0146] In another alternative example, the master node generates a notification message based on the first key to be aligned. Specifically, this may include the master node encrypting plaintext indicating key alignment using the first key to be aligned, thus obtaining the notification message. For example, the master node can encrypt the plaintext using a symmetric encryption algorithm and the first key to be aligned to obtain the notification message. This avoids the risk of leakage of the first key to be aligned, further improving the security of the communication system.

[0147] It is understood that the above symmetric encryption algorithm is merely an example, and any encryption algorithm capable of encrypting the above plaintext can be used in the scheme of this application; this embodiment does not impose any limitations on it. Additionally, a first key to be aligned can be used to generate a notification message.

[0148] S4032, the master node sends a notification message to the sensor node.

[0149] When there is only one first key to be aligned, there is only one notification message, which the master node can send to the sensing nodes. When there are multiple first keys to be aligned, there are multiple notification messages. In this case, the master node can send each of the multiple notification messages to the sensing nodes; or, if the master node does not receive a confirmation message from the sensing nodes indicating successful alignment, it can send multiple notification messages one by one. If it receives the confirmation message, it can stop sending notification messages.

[0150] S4033, the sensing node corrects the measurement error of the spatial relationship parameters, obtains multiple candidate relationship parameters, and determines the target relationship parameter from the multiple candidate relationship parameters based on the notification message;

[0151] The aforementioned S4033, where the sensing node corrects the measurement error of the spatial relationship parameter to obtain multiple candidate relationship parameters, is similar to the S4031 process where the master node corrects the measurement error of the spatial relationship parameter to obtain multiple candidate relationship parameters. The difference is that in S4033, this process is performed by the sensing node. For the common parts, please refer to the description already provided in S4031, which will not be repeated here. For example, taking the rounding of the spatial relationship parameter as an example, the spatial relationship parameter measured by the sensing node is a distance, and the distance value is 9.7 meters. In this case, by introducing an agreed error range so that the measurement results of both communicating parties can be mapped to the same integer distance, the spatial relationship parameter of the sensing node can be an integer between [8.7, 10.7] or an integer around 9.7, such as 9 or 10, resulting in multiple candidate relationship parameters: a distance of 9 meters and a distance of 10 meters.

[0152] In one example, where the master node encapsulates the first key to be aligned into a notification message indicating key alignment, the sensing node may determine the target relation parameter from multiple candidate relation parameters based on the notification message. This may include the sensing node identifying the candidate relation parameter that matches the first key to be aligned indicated by the received notification message as the target relation parameter.

[0153] In another example, when the master node uses the first key to be aligned to encrypt plaintext indicating key alignment and receives a notification message, the sensing node can determine the target relationship parameter from multiple candidate relationship parameters based on the notification message. This can include the sensing node determining the candidate relationship parameter that can decrypt the received notification message as the target relationship parameter.

[0154] For example, the master node can encrypt the plaintext using a symmetric encryption algorithm and the first key to be aligned, obtain a notification message, and transmit it to the sensing node. The sensing node attempts to decrypt the notification message using any of the multiple candidate relation parameters. If decryption is successful, it means that the candidate relation parameter used for decryption matches the target relation parameter corresponding to the first key to be aligned, i.e., key alignment has been achieved, and decryption can end, with the successfully decrypted candidate relation parameter being designated as the target relation parameter. If decryption fails, it means that the candidate relation parameter used for decryption does not match the target relation parameter corresponding to the first key to be aligned, and decryption can continue using any candidate relation parameter other than the one that failed to decrypt, and so on, until decryption is successful.

[0155] For example, the master node obtains multiple candidate relationship parameters including distances of 10 meters and 11 meters, while the sensing node obtains multiple candidate relationship parameters including distances of 9 meters and 10 meters. Assume the master node generates a first key to be aligned, key1, based on a distance of 10 meters, and uses key1 to encrypt plaintext to obtain a notification message. The sensing node attempts to decrypt the notification message using a distance of 9 meters, but fails; it then attempts to decrypt the notification message again using a distance of 10 meters, and succeeds, thus determining distance 10 meters as the target relationship parameter. Assume the master node generates a first key to be aligned, key1, based on a distance of 11 meters, and uses key1 to encrypt plaintext to obtain a notification message. The sensing node attempts to decrypt the notification message using a distance of 9 meters, but fails; it then attempts to decrypt the notification message again using a distance of 10 meters, but still fails. In this case, the sensing node can send a negative message indicating alignment failure to the master node. Upon receiving the negative message, the master node changes the first key to be aligned, i.e., generates the first key to be aligned, key1, based on a distance of 10 meters.

[0156] S4034, the sensing node sends a confirmation message to the master node to indicate that the alignment was successful.

[0157] Once the sensing node determines the target relationship parameters, it indicates that the sensing node and the master node have achieved alignment of the spatial relationship parameters. Correspondingly, the first key to be aligned has also been aligned. At this point, the sensing node can send a confirmation message to the master node to indicate that the alignment was successful.

[0158] S4035, upon receiving the confirmation message, the master node uses the first key to be aligned as the first key.

[0159] The master node receives an acknowledgment message indicating that the sensing node has determined the target relation parameters that can be used to generate the first key to be aligned, thus achieving key alignment with the master node: ensuring that the master node and the sensing node use the same first key. At this point, the master node can use the first key to be aligned as its first key. For example, the master node might use the first key to be aligned generated based on a distance of 10 meters as its first key.

[0160] S4036, the sensing node generates the first key based on the target relationship parameters.

[0161] When the sensing node sends back a confirmation message indicating successful alignment, it signifies that it has determined the target relation parameters that can be used to generate the first key to be aligned, thus achieving key alignment with the master node: ensuring that the master node and the sensing node use the same first key. At this point, the sensing node can generate the first key based on the target relation parameters. The specific method by which the sensing node generates the first key can be found in the description of the first key generation method in S403 above, and will not be repeated here.

[0162] In this embodiment, error correction is performed by mapping spatial relationship parameters to the same error range, and the target parameters for generating the first key are determined by decrypting the notification message based on multiple candidate relationship parameters. Thus, the alignment of the spatial relationship parameters obtained by the master node and the sensing node can be achieved without complex algorithms, making it more convenient and efficient.

[0163] For example, Figure 7b is a schematic flowchart of a communication method provided in an embodiment of this application. As shown in Figure 7b, in S4031 to S4036 of the communication method provided in the embodiment of Figure 7a of this application, the functions implemented by the master node and the sensing node can be interchanged, as follows:

[0164] S5031, the sensing node corrects the measurement error of the spatial relationship parameters, obtains multiple candidate relationship parameters, generates a first key to be aligned based on the target relationship parameter among the multiple candidate relationship parameters, and generates a notification message based on the first key to be aligned.

[0165] S5032, the sensing node sends a notification message to the master node;

[0166] S5033, the master node corrects the measurement error of the spatial relationship parameters, obtains multiple candidate relationship parameters, and determines the target relationship parameter from the multiple candidate relationship parameters based on the notification message;

[0167] S5034, The master node sends a confirmation message to the sensor node to indicate that the alignment was successful;

[0168] S5035, upon receiving an acknowledgment message, the sensing node uses the first key to be aligned as the first key;

[0169] S5036, the master node generates the first key based on the target relationship parameters.

[0170] The above-mentioned S5031 to S5036 are similar to S4031 to S4036 in the embodiment of FIG7a. The difference is that the function implemented by the master node in FIG7a is adaptively adjusted to be implemented by the sensing node in FIG7b, and the function implemented by the sensing node in FIG7a is adaptively adjusted to be implemented by the master node in FIG7b. The same parts will not be described again here, but can be referred to the existing description in FIG7a.

[0171] In this embodiment, the master node and the sensing node respectively correct the measurement errors of the spatial relationship parameters. One of the master node or the sensing node generates a first key to be aligned based on the corrected spatial relationship parameters (i.e., the target relationship parameter among multiple candidate relationship parameters), and sends a notification message to the peer based on this first key. The peer then determines the target relationship parameter from its own multiple candidate relationship parameters based on this notification message and sends back a confirmation message confirming successful alignment. The target relationship parameter is used to generate the first key. In this way, the master node and the sensing node can ensure that their generated first keys are consistent based on the same corrected spatial relationship parameters (i.e., the target relationship parameter), thereby avoiding security communication anomalies caused by inconsistent first keys when measurement errors exist, and further improving the security of the multi-node wireless communication system.

[0172] S404, the master node and the sensor node communicate wirelessly with each other based on the first key.

[0173] In one alternative implementation, the master node and the sensing node communicate wirelessly with each other based on a first key, which may specifically include any one of the following (1) to (3):

[0174] (1) The master node and the sensor node negotiate the second key under the encryption of the first key, and use the second key to conduct wireless communication between the master node and the sensor node.

[0175] For example, the master node and the sensing node establish a unicast (one-to-one) communication connection under the protection of a first-level session key, i.e., a first key (e.g., key1). This connection is secure, allowing the two parties to negotiate a second-level session key, i.e., a second key (e.g., key2), under the protection of the first-level session key and a first encryption algorithm: encAlg1(negotiated key2, key1), where encAlg1 represents the first encryption algorithm, and key1 is used to protect the communication process of negotiating key2. For example, key1 and the first encryption algorithm can be used to encrypt or decrypt the data used to negotiate key2. After negotiating key2, the two parties can provide security protection for their wireless communication under the protection of the second-level session key and the second encryption algorithm (e.g., encAlg2). For example, key2 and the second encryption algorithm can be used to encrypt or decrypt data transmitted during wireless communication (e.g., environmental images around the vehicle, location data of a drone, etc.).

[0176] In this embodiment of the application, the master node and the sensing node use their respective generated first keys to protect the negotiation process of the second key, and use the second key to protect the wireless communication between the two parties, i.e., each other. For example, the specific communication content transmitted by the two parties is encrypted or decrypted, thereby avoiding the security risks in the negotiation process of the second key through the encryption of the first key and improving the security of the wireless communication system.

[0177] (2) The master node and the sensor node negotiate the second key under the encryption of the first key, and use the first key and the second key to conduct wireless communication between the master node and the sensor node.

[0178] The process of negotiating the second key under the encryption of the first key between the master node and the sensor node can be referred to the existing description of negotiating the second key in (1) above, and will not be repeated here. The wireless communication between the master node and the sensor node using the first key and the second key can specifically include: encrypting the data to be transmitted in the wireless communication between the master node and the sensor node using the second key, encrypting the encrypted data to be transmitted using the first key to obtain transmittable data, and transmitting the transmittable data.

[0179] For example, after the master node and the sensing node negotiate the second key key2, in addition to the encryption operation based on key2 described in (1), a layer of symmetric encryption protection based on the first key key1 can be added on the outer layer of the encryption operation: encAlg1[encAlg2(data to be transmitted, key2), key1]

[0180] In this embodiment, the master node and the sensing node use a first key to protect the negotiation process of the second key. Furthermore, the first and second keys jointly protect the wireless communication between the two parties. For example, after the second key encrypts the specific communication content transmitted by both parties, the first key further encrypts the encrypted content, thereby enhancing the security of the multi-node wireless communication system through multi-layered encryption. Additionally, when the second key uses asymmetric encryption, it is relatively more susceptible to being compromised by quantum computing. This solution uses a symmetric encryption method to encrypt the encryption result of the second key, avoiding the vulnerability of the second key to quantum computing and effectively improving the security of the communication system in scenarios where quantum computing applications are increasingly widespread.

[0181] (3) The master node and the sensor node use the first key to conduct wireless communication between the master node and the sensor node.

[0182] In one scenario, the master node and the sensing node can also bypass Layer 2 key negotiation and directly use a Layer 1 key, i.e., the first secret key, to encrypt and protect the actual data transmission: encAlg2(data to be transmitted, key1). It is understood that this scenario can be one with relatively lower security requirements, and the specific configuration can be tailored to application needs; this application embodiment does not impose any limitations on this.

[0183] In this embodiment of the application, the master node and the sensing node use a first key to protect the wireless communication between the two parties. For example, the specific communication content transmitted by both parties is encrypted, thereby balancing the efficiency and security of the multi-node wireless communication system.

[0184] In one alternative implementation, after the master node and the sensing node generate their respective first keys, they can also verify each other's node identifiers before conducting wireless communication. If the verification is successful, the master node and the sensing node can then conduct wireless communication with each other based on their respective first keys.

[0185] For example, the master node and the sensor node exchange their L2IDs and verify whether the L2IDs they receive match a pre-agreed whitelist. If they match, the verification is successful, and the master node and the sensor node can then communicate wirelessly with each other based on their respective first keys. This further authentication ensures that both communicating parties are legitimate nodes as expected, thus enhancing the security of the communication system.

[0186] For example, Figure 8 is one of the example diagrams of the framework structure of a communication device provided in an embodiment of this application. As shown in Figure 8, the communication device 800 can be applied to a first node of a wireless communication system. The system also includes a second node. If the first node includes a master node, the second node includes a sensing node; or, if the first node includes a sensing node, the second node includes a master node. The communication device 800 may include:

[0187] Measurement module 801 is used to measure the relative relationship between the first node and the second node in physical space when a communication connection is established with the second node, and to obtain spatial relationship parameters.

[0188] The key generation module 802 is used to generate the first key based on spatial relationship parameters;

[0189] The communication module 803 is used for wireless communication with the second node based on the first key.

[0190] The aforementioned measurement module 801 may be a sensing module; the aforementioned key generation module 802 may be a processing module.

[0191] It is understood that the communication device shown in Figure 8 above is an example. In specific applications, this device can be a master node or a sensing node, or it can be a device, module, circuit, or chip configured in a management node or terminal node, or it can be a device that can be used in conjunction with a management node or terminal node. In one design, the steps or functions implemented by the modules in this communication device can be implemented through hardware circuits, through software, or through a combination of hardware circuits and software.

[0192] For example, Figure 9 is one of the example diagrams of the framework structure of a communication device provided in an embodiment of this application. As shown in Figure 9, the communication device 900 includes a processing module 910, a communication module 920, and a sensing module 930. The communication device 900 is used to implement the functions of the master node or sensing node in the above method embodiments.

[0193] For example, Figure 10 is one of the example diagrams of the framework structure of a communication device provided in an embodiment of this application. As shown in Figure 10, the communication device 1000 includes a processor 1010, a communication interface 1020, and a sensor 1040. The processor 1010, the communication interface 1020, and the sensor 1040 are coupled to each other. It is understood that the communication interface 1020 can be a transceiver or an input / output interface. Optionally, the communication device 1000 may also include a storage medium 1030 for storing instructions executed by the processor 1010, or storing input data required by the processor 1010 to run the instructions, or storing data generated after the processor 1010 runs the instructions. Optionally, the communication device 1000 may also include a timing module 1050 for obtaining a synchronization timestamp and providing the synchronization timestamp to the processor 1010 to generate a first key. The timing module 1050 may specifically be a GNSS module, which can use satellite signals to provide nanosecond-level timing accuracy to ensure time synchronization between the master node and the sensing node, that is, both communicating parties obtain consistent synchronization timestamps.

[0194] When the communication device 1000 is used to implement the functions of the master node or the sensing node in the above method embodiments, the processor 1010 is used to implement the functions of the processing module 910 in FIG. 9, the communication interface 1020 is used to implement the functions of the communication module 920 in FIG. 9, and the sensor 1040 is used to implement the functions of the sensing module 930 in FIG. 9. For example, when the spatial relationship parameters in the above method embodiments include the distance between the master node and the sensing node, the sensor 1040 can specifically be a distance-measuring sensor; when the spatial relationship parameters include the angle between the master node and the sensing node, the sensor 1040 can specifically be a angle-measuring sensor.

[0195] It is understood that Figures 8 and 10 are schematic diagrams of possible communication devices provided in the embodiments of this application. These communication devices can be used to implement the functions of the master node or sensing node in the above method embodiments, and therefore can also achieve the beneficial effects of the above method embodiments.

[0196] In this application embodiment, the communication module and processing module can be deployed simultaneously in the StarScan module, Bluetooth (BT) module, or Wi-Fi module; or, in this application embodiment, the communication module can be deployed in the StarScan module, Bluetooth module, or Wi-Fi module, and the processing module can be deployed in other modules besides the StarScan module, Bluetooth module, or Wi-Fi module; or, in this application embodiment, the processing module can be deployed in the StarScan module, Bluetooth module, or Wi-Fi module, and the communication module can be deployed in other modules besides the StarScan module, Bluetooth module, or Wi-Fi module. This application embodiment does not specifically limit this.

[0197] Furthermore, the frameworks shown in Figures 1 to 3 and Figures 8 to 10 of this application, in order to realize the functions of the communication methods described in the embodiments of this application, include hardware and / or software modules corresponding to the execution of each function. In conjunction with the algorithm steps of the various examples described in the embodiments disclosed herein, the steps and functions in the embodiments of this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application in conjunction with the embodiments, but such implementation should not be considered beyond the scope of this application.

[0198] The solutions provided in this application can be applied to at least one of wireless communications, such as Bluetooth communication, SparkLink (or NearLink) communication, and Wi-Fi communication. In this application, BT and Bluetooth Low Energy (BLE) can refer to each other. SparkLink can include at least one of the following: SparkLink Low Energy (SLE), SparkLink Basic (SLB), or SparkLink Position (SLP). In this application, SparkLink can refer to SparkLink Low Energy (SLE), SparkLink Basic (SLB), or SparkLink Position (SLP).

[0199] This embodiment also provides a computer storage medium storing computer instructions. When the computer instructions are executed on an electronic device, the electronic device performs the aforementioned related method steps to implement the communication method in the above embodiment.

[0200] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement the communication method described in the above embodiment.

[0201] In this embodiment, the electronic device, computer storage medium, computer program product or chip are all used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding method provided above, and will not be repeated here.

[0202] Any content in the various embodiments of this application, as well as any content in the same embodiment, can be freely combined. Any combination of the above content is within the scope of this application.

[0203] Those skilled in the art will recognize that the functions described in the embodiments of this application in one or more of the above examples can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transfer of a computer program from one place to another. Storage media can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0204] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A communication method, characterized in that, Applied to a wireless communication system, the system including a master node and sensing nodes, the method includes: When the master node and the sensing node establish a communication connection, the master node and the sensing node respectively measure the relative relationship between the master node and the sensing node in physical space to obtain spatial relationship parameters. The master node and the sensing node each generate a first key based on the spatial relationship parameters; The master node and the sensing node communicate with each other wirelessly based on the first key.

2. The method according to claim 1, characterized in that, The master node and the sensing node each generate a first key based on the spatial relationship parameters, including: The master node and the sensing node respectively correct the measurement error of the spatial relationship parameters to obtain multiple candidate relationship parameters; The first node generates a first key to be aligned based on the target relationship parameter among the multiple candidate relationship parameters. The first node includes the master node or the sensing node. The first node generates a notification message based on the first key to be aligned and sends the notification message to the second node, the second node being the peer of the first node; Based on the notification message, the second node determines the target relationship parameter from the plurality of candidate relationship parameters and sends a confirmation message to the first node to indicate that the alignment was successful. Upon receiving the confirmation message, the first node uses the first key to be aligned as the first key. The second node generates a first key based on the target relationship parameters.

3. The method according to claim 2, characterized in that, The master node and the sensing node respectively correct the measurement error of the spatial relationship parameters to obtain multiple candidate relationship parameters, including: The master node and the sensing node respectively map the spatial relationship parameters into multiple candidate relationship parameters according to the agreed error range; The first node generates a notification message based on the first key to be aligned, including: The first node uses the first key to be aligned to encrypt plaintext used to indicate key alignment, and obtains the notification message; The second node determines the target relationship parameter from the plurality of candidate relationship parameters based on the notification message, including: The second node determines the candidate relationship parameter that can decrypt the notification message from among the multiple candidate relationship parameters as the target relationship parameter.

4. The method according to any one of claims 1 to 3, characterized in that, The master node and the sensing node each generate a first key based on the spatial relationship parameters, including: The master node and the sensing node respectively obtain the synchronization timestamp of the wireless communication system; The master node and the sensing node generate a first key based on the spatial relationship parameters and the synchronization timestamp, respectively.

5. The method according to any one of claims 1 to 4, characterized in that, The master node and the sensing node communicate wirelessly with each other based on the first key, including any one of the following: The master node and the sensing node negotiate a second key under the encryption of the first key, and use the second key to conduct wireless communication between the master node and the sensing node; The master node and the sensing node negotiate a second key under the encryption of the first key, and use the first key and the second key to conduct wireless communication between the master node and the sensing node; The master node and the sensor node use the first key to conduct wireless communication between the master node and the sensor node.

6. The method according to any one of claims 1 to 5, characterized in that, The master node establishes a communication connection with the sensing node, including: The master node broadcasts an initialization signal; Upon receiving the initialization signal, the sensing node sends a connection request to the master node based on a first node identifier, whereby the first node identifier is used to indicate the master node. Upon receiving the connection request, the master node establishes a communication connection with the sensing node based on the second node identifier, which is used to indicate the sensing node.

7. The method according to claim 6, characterized in that, The master node broadcasts initialization signals, including: The master node sends the broadcast frame when it is in the specified position.

8. A communication method, characterized in that, A first node is applied to a wireless communication system, the system further comprising a second node, wherein if the first node includes a master node, the second node includes a sensing node; or, if the first node includes a sensing node, the second node includes a master node; the method includes: When a communication connection is established with the second node, the relative relationship between the first node and the second node in physical space is measured to obtain spatial relationship parameters; Based on the spatial relationship parameters, a first key is generated; Based on the first key, wireless communication is conducted with the second node.

9. The method according to claim 8, characterized in that, The step of generating the first key based on the spatial relationship parameters includes: By correcting the measurement error of the spatial relationship parameters, multiple candidate relationship parameters are obtained; Based on the multiple candidate relationship parameters, a first key is generated; The step of generating a first key based on the plurality of candidate relationship parameters includes: Based on the target relation parameter among the multiple candidate relation parameters, a first key to be aligned is generated. Based on the first key to be aligned, a notification message is generated and sent to the second node. If the second node receives a confirmation message indicating successful alignment in response to the notification message, the first key to be aligned is used as the first key. or, Based on the notification message sent by the second node, the target relationship parameter is determined from the plurality of candidate relationship parameters, and a confirmation message indicating successful alignment is sent back to the second node. Based on the target relationship parameter, a first key is generated. The notification message is used to instruct the alignment of the first key to be aligned generated by the second node. The first key to be aligned is the key generated by the second node based on the target relationship parameter among the plurality of candidate relationship parameters.

10. The method according to claim 9, characterized in that, The measurement error of the spatial relationship parameters is corrected to obtain multiple candidate relationship parameters, including: Based on the agreed error range, the spatial relationship parameters are mapped to multiple candidate relationship parameters; The step of generating a notification message based on the first key to be aligned includes: Using the first key to be aligned, encrypt the plaintext used to indicate key alignment to obtain the notification message; The step of determining the target relationship parameter from the plurality of candidate relationship parameters based on the notification message sent by the second node includes: The candidate relationship parameter that can decrypt the notification message sent by the second node among the multiple candidate relationship parameters is determined as the target relationship parameter.

11. The method according to any one of claims 8 to 10, characterized in that, The step of generating the first key based on the spatial relationship parameters includes: Obtain the synchronization timestamp of the wireless communication system; A first key is generated based on the spatial relationship parameters and the synchronization timestamp.

12. The method according to any one of claims 8 to 11, characterized in that, The wireless communication with the second node based on the first key includes any one of the following: Under the encryption of the first key, negotiate the second key with the second node, and use the second key to conduct wireless communication with the second node; Under the encryption of the first key, negotiate the second key with the second node, and use the first key and the second key to conduct wireless communication with the second node; Use the first key to conduct wireless communication with the second node.

13. The method according to any one of claims 8 to 12, characterized in that, When the first node includes a master node, establishing a communication connection with the second node includes: Broadcast initialization signal; Upon receiving the initialization signal, the second node sends a connection request based on the identifier of the first node, where the first node identifier is used to indicate the first node. Upon receiving the connection request, a communication connection is established with the second node based on the second node identifier, which is used to indicate the second node.

14. The method according to claim 13, characterized in that, The broadcast initialization signal includes: The broadcast frame is sent when the first node is in the specified position.

15. A communication system, characterized in that, The system includes a master node and a sensing node, and the master node and the sensing node establish a wireless communication connection. The master node is used to measure the relative relationship between the master node and the sensing node in physical space, obtain spatial relationship parameters, and generate a first key based on the spatial relationship parameters; The sensing node is used to measure the relative relationship, obtain the spatial relationship parameters, and generate the first key based on the spatial relationship parameters; The first key is used for wireless communication between the master node and the sensing node.

16. A communication device, characterized in that, include: Processor and storage media; The processor is connected to the storage medium; The storage medium is used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1 to 14.

17. A communication device comprising a processor for processing data and / or information such that the method of any one of claims 1 to 14 is implemented.

18. A computer-readable storage medium, characterized in that, The method includes instructions, characterized in that, when the instructions are executed by a processor, the method described in any one of claims 1 to 14 is implemented.

19. A chip, characterized in that, It includes one or more processors; when said processors execute programs or instructions, the method described in any one of claims 1 to 14 is implemented.

20. A computer program product, characterized in that, It includes computer program code or instructions that, when executed, cause the method described in any one of claims 1 to 14 to be implemented.

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