CN115932725A

CN115932725A - Distance measuring method and device

Info

Publication number: CN115932725A
Application number: CN202111194381.8A
Authority: CN
Inventors: 段瑞洋; 李雪茹; 王碧钗
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-08-26
Filing date: 2021-10-13
Publication date: 2023-04-07

Abstract

The application relates to the technical field of distance measurement. A distance measuring method and device are provided for realizing accurate distance measurement. First, a first device receives a first ranging response signal from a second device, the first ranging response signal being generated based on a first zero correlation zone, ZCZ, sequence belonging to a sequence among a plurality of ZCZ sequences that are preconfigured. The first device then determines a distance between the first device and the second device based on the first ranging response signal. According to the method and the device, the ranging response signal is generated through the ZCZ sequence, and accurate ranging can be achieved.

Description

Distance measuring method and device

The present application claims priority of the chinese patent application entitled "an SPS scheduling method" filed by the intellectual property office of the people's republic of china on 26/8/2021 with application number 202110987224.6, the entire contents of which are incorporated herein by reference.

Technical Field

The embodiment of the application relates to the field of distance measurement and the like, in particular to a distance measurement method and device.

Background

With the development of science and technology, the application of ranging and positioning technology is also more and more extensive. In the conventional Global Positioning System (GPS), satellite signals need to be received, but the GPS cannot achieve indoor positioning because the GPS cannot receive the satellite signals. In addition, the positioning accuracy of the GPS is generally within a meter-level range, and the requirement for high-accuracy positioning cannot be met. Communication systems such as wireless fidelity (WiFi) and Bluetooth (BT) can achieve indoor ranging and positioning, but the accuracy is low, and is usually in the range of 1-10 meters.

Based on this, how to realize accurate ranging is a technical problem to be solved.

Disclosure of Invention

The embodiment of the application provides a distance measurement method and device, which are used for realizing accurate distance measurement.

In a first aspect, a ranging method is provided, in which a first device receives a first ranging response signal from a second device, the first ranging response signal being generated based on a first Zero Correlation Zone (ZCZ) sequence belonging to a sequence among a plurality of ZCZ sequences that are pre-configured. The first device then determines a distance between the first device and the second device based on the first ranging response signal.

According to the method and the device, the ranging response signal is generated through the ZCZ sequence, and accurate ranging can be achieved.

In a second aspect, a ranging method is provided, in which first, a second device generates a first ranging response signal based on a first ZCZ sequence belonging to a sequence among a plurality of ZCZ sequences that are preconfigured. Then, the second device transmits a first ranging response signal to the first device.

The following possible implementations may be applied to the first aspect as well as to the second aspect.

In one possible implementation, the plurality of ZCZ sequences are all binary sequences.

In one possible implementation, the plurality of ZCZ sequences have perfect periodic autocorrelation properties and perfect periodic cross-correlation properties within the ZCZ interval. The perfect periodic autocorrelation property and the perfect periodic cross-correlation property can avoid the mutual interference between sequences and improve the accuracy of ranging.

In one possible implementation, in the plurality of ZCZ sequences: the length of the ZCZ interval of the ZCZ sequence with the length of 32 is 5, 9 or 17; or the length of the ZCZ interval of the ZCZ sequence with the length of 128 is 9, 17 or 33; alternatively, the ZCZ interval length of the ZCZ sequence of length 256 is 17, 33, or 65. Different ZCZ intervals can meet different ranging requirements, so that the ranging is more flexible.

In one possible implementation, the plurality of ZCZ sequences comprises one or more of: 8 ZCZ sequences with the length of 32 and the length of a ZCZ interval of 5; 4 ZCZ sequences with the length of 32 and the length of a ZCZ interval of 9; 2 ZCZ sequences with the length of 32 and the length of a ZCZ interval of 17; 16 ZCZ sequences with the length of 128 and the ZCZ interval length of 9; 8 ZCZ sequences with the length of 128 and the length of a ZCZ interval of 17; 4 ZCZ sequences with the length of 128 and the ZCZ interval length of 33; 16 ZCZ sequences with the length of 256 and the length of a ZCZ interval of 17; 8 ZCZ sequences with the length of 256 and the length of a ZCZ interval of 33; 4 ZCZ sequences with the length of 256 and the length of a ZCZ interval of 65. Aiming at the length of the same ZCZ interval, a plurality of ZCZ sequences are arranged, so that the requirement of one-to-many distance measurement can be met, and the distance measurement is more flexible.

In one possible implementation, the ZCZ sequence of length 32 and ZCZ interval length 5 includes at least one of:

-1 -1 -1 -1 1 1 1 1 1 -1 1 -1 -1 1 -1 1 1 1 -1 -1 -1 -1 1 1 -1 1 1 -1 1 -1 -1 1；

-1 -1 -1 -1 -1 -1 -1 -1 1 -1 1 -1 1 -1 1 -1 1 1 -1 -1 1 1 -1 -1 -1 1 1 -1 -1 1 1 -1；

1 -1 1 -1 -1 1 -1 1 -1 -1 -1 -1 1 1 1 1 -1 1 1 -1 1 -1 -1 1 1 1 -1 -1 -1 -1 1 1；

1 -1 1 -1 1 -1 1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 1 1 -1 -1 1 1 -1 1 1 -1 -1 1 1 -1 -1；

1 1 -1 -1 -1 -1 1 1 -1 1 1 -1 1 -1 -1 1 -1 -1 -1 -1 1 1 1 1 1 -1 1 -1 -1 1 -1 1；

1 1 -1 -1 1 1 -1 -1 -1 1 1 -1 -1 1 1 -1 -1 -1 -1 -1 -1 -1 -1 -1 1 -1 1 -1 1 -1 1 -1；

-1 1 1 -1 1 -1 -1 1 1 1 -1 -1 -1 -1 1 1 1 -1 1 -1 -1 1 -1 1 -1 -1 -1 -1 1 1 1 1；

-1-1-1-1-1-1-1-1; and/or the presence of a gas in the gas,

the ZCZ sequence with the length of 32 and the ZCZ interval length of 9 comprises at least one sequence in the table 5 in the specific embodiment of the specification; and/or the ZCZ sequence having a length of 32 and a ZCZ interval length of 17 comprises at least one sequence in table 6 in the embodiments of the specification; and/or the ZCZ sequence with length 128 and ZCZ interval length 9 comprises at least one sequence in table 4 in the detailed embodiments of the specification; and/or the ZCZ sequence with length 128 and ZCZ interval length 17 comprises at least one sequence in table 7 in the detailed embodiments of the specification; and/or, the ZCZ sequence of length 128 and ZCZ interval length 33 comprises at least one sequence of table 8 in the detailed description; and/or the ZCZ sequence with a length of 256 and a ZCZ interval length of 17 comprises at least one sequence in table 9 in the embodiments of the specification; and/or the ZCZ sequence of length 256 and ZCZ interval length 33 comprises at least one sequence in table 10 in the embodiments of the specification; and/or, the ZCZ sequence of length 256 and ZCZ interval length 65 comprises at least one sequence of table 11 in the detailed description.

In one possible implementation, the first ranging response signal generated based on a first ZCZ sequence comprises: supplementing 15 0 s behind each code element in a first ZCZ sequence with the length of 32 to obtain a first ranging response signal; supplementing 30 s behind each code element in a first ZCZ sequence with the length of 128 to obtain a first ranging response signal; and supplementing 30 s behind each code element in the first ZCZ sequence with the length of 32 to obtain a first ranging response signal.

In one possible implementation, in the presence of a plurality of the second devices, the first ZCZ sequences transmitted by different second devices are different, and parameter information of the plurality of the first ZCZ sequences corresponding to the plurality of second devices is the same, where the parameter information includes at least one of: the ZCZ interval length can support the maximum ranging delay difference and the maximum ranging range.

The parameters of the first ZCZ sequences are the same, so that the ranging accuracy can be improved. In addition, the parameter information may further include: sequence length and/or chip length.

In one possible implementation, the first apparatus may also transmit a first message to the second apparatus, the first message to determine whether the second apparatus supports the first ZCZ sequence, and then receive a second message from the second apparatus, the second message to indicate that the second apparatus supports the first ZCZ sequence or does not support the first ZCZ sequence.

The plurality of ZCZ sequences pre-configured in the first device and the second device may be completely the same, or partially the same or partially different. The first device and the second device mutually determine which sequences are each supported (i.e., preconfigured) to take the sequences supported by both sides for ranging.

In a third aspect, a distance measuring device is provided, where the device has a function of implementing any one of the above first aspect and possible implementations of the first aspect, or a function of implementing any one of the above second aspect and possible implementations of the second aspect. These functions may be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more functional modules corresponding to the above functions.

In a fourth aspect, a ranging apparatus is provided, which includes a processor, and optionally, a memory; the processor and the memory are coupled; the memory for storing computer programs or instructions; the processor is configured to execute a part or all of the computer program or instructions in the memory, and when the part or all of the computer program or instructions are executed, the processor is configured to implement the function of the first apparatus in the method according to any one of the above-mentioned first aspect and first possible implementation, or implement the function of the second apparatus in any one of the above-mentioned second aspect and second possible implementation.

In a possible implementation, the apparatus may further include a transceiver configured to transmit a signal processed by the processor or receive a signal input to the processor. The transceiver may perform the sending action or the receiving action performed by the first apparatus in the first aspect and any possible implementation of the first aspect; alternatively, the sending act or the receiving act performed by the second apparatus in either possible implementation of the second aspect and the second aspect is performed.

In a fifth aspect, the present application provides a chip system, which includes one or more processors (also referred to as processing circuits) electrically coupled to a memory (also referred to as a storage medium); the memory may or may not be located in the system-on-chip; the memory for storing computer programs or instructions; the processor is configured to execute a part or all of the computer program or instructions in the memory, and when the part or all of the computer program or instructions are executed, the processor is configured to implement the function of the first apparatus in the method according to any one of the above-mentioned first aspect and first possible implementation, or implement the function of the second apparatus in any one of the above-mentioned second aspect and second possible implementation.

In a possible implementation, the chip system may further include an input/output interface (also referred to as a ranging interface) for outputting a signal processed by the processor or receiving a signal input to the processor. The input/output interface may perform the sending action or the receiving action performed by the first apparatus in the first aspect and any possible implementation of the first aspect; alternatively, the sending or receiving actions performed by the second apparatus in the second aspect and any possible implementation of the second aspect are performed. Specifically, the output interface performs a sending action, and the input interface performs a receiving action.

In one possible implementation, the system-on-chip may be formed by a chip, or may include a chip and other discrete devices.

A sixth aspect provides a computer readable storage medium for storing a computer program comprising instructions for implementing the functions of the first aspect and any possible implementation of the first aspect, or for implementing the functions of the second aspect and any possible implementation of the second aspect.

Alternatively, a computer-readable storage medium is used for storing a computer program, and when the computer program is executed by a computer, the computer may be enabled to execute a method performed by a first apparatus in the method according to any one of the first aspect and the first possible implementation, or execute a method performed by a second apparatus in any one of the second aspect and the second possible implementation.

In a seventh aspect, a computer program product is provided, the computer program product comprising: computer program code for causing a computer to perform a method performed by a first apparatus in any one of the possible implementations of the first aspect and the first aspect or a method performed by a second apparatus in any one of the possible implementations of the second aspect when the computer program code runs on a computer.

In an eighth aspect, a ranging system is provided, where the ranging system includes a first device in a method for performing any one of the above first aspect and possible implementations of the first aspect, and a second device in a method for performing any one of the above second aspect and possible implementations of the second aspect.

For technical effects of the third to eighth aspects, reference may be made to the descriptions of the first to second aspects, and repeated descriptions are omitted.

Drawings

Fig. 1 is a schematic view of a ranging scenario provided in an embodiment of the present application;

fig. 2 is a flowchart of a ranging method provided in an embodiment of the present application;

fig. 3a, fig. 3b, fig. 3c, fig. 3d, fig. 3e, and fig. 3f are schematic simulation diagrams provided in the embodiments of the present application, respectively;

fig. 4 is a flowchart of a ranging method provided in an embodiment of the present application;

fig. 5 is a structural diagram of a distance measuring device provided in an embodiment of the present application;

fig. 6 is a structural diagram of a distance measuring device provided in an embodiment of the present application.

Detailed Description

In order to facilitate understanding of the technical solutions of the embodiments of the present application, a system architecture of the method provided by the embodiments of the present application will be briefly described below. It can be understood that the system architecture described in the embodiment of the present application is for more clearly explaining the technical solutions in the embodiment of the present application, and does not constitute a limitation on the technical solutions provided in the embodiment of the present application.

For convenience of understanding the embodiment of the present application, an application scenario of the present application is introduced next, and the network architecture and the service scenario described in the embodiment of the present application are for more clearly explaining the technical solution of the embodiment of the present application, and do not form a limitation on the technical solution provided in the embodiment of the present application.

In one-to-many, high-precision short-range and other ranging scenes such as smart car key positioning, smart home positioning and the like, ultra-wideband (UWB) signals are generally used for ranging. Ultra-wideband signals generally refer to signals having a phase absolute bandwidth greater than 500 MHz. The ultra-wideband signal is directly modulated by pulses, has extremely strong anti-multipath interference capability and ultrahigh time resolution, and has unique advantages in the aspect of high-precision short-range distance measurement.

Currently, the main technical standard of UWB ranging is IEEE 802.15.4 and IEEE 802.15.4z revision. According to these standards, UWB ranging is mainly implemented by a preamble code (preamble code) in a Synchronization Header (SHR) in a physical layer protocol data unit (PPDU). IEEE 802.15.4 and IEEE 802.15.4z standards specify that a ranging device needs to support preambles (preambles may also be referred to as sequences) with lengths of 31, 91, and 127, respectively, and a symbol (symbol may also be referred to as an element) in the preambles takes a value of-1,0 or 1. When the element of the preamble is 1, a forward pulse is transmitted, when the element is-1, a reverse pulse is transmitted, and when the element is 0, a pulse is not transmitted. In performing ranging, to combat multi-user interference and multi-path interference, each symbol of the preamble may be supplemented with 0. The preambles are extended by padding 0 to form different preamble symbols (PRF) corresponding to different Pulse Repetition Frequencies (PRFs). Taking a preamble with a length of 31 as an example, when ranging is performed using the preamble, 15 0 s are complemented after each symbol of the preamble. The entire preamble symbol includes 31 × 16=496 symbols, each corresponding to a pulse width of about 2ns, so the period of the entire preamble symbol is about 993.59ns.

As shown in table 1, parameters corresponding to different preamble lengths specified in the current standard are introduced.

As shown in fig. 1, a schematic diagram of one-to-many ranging is provided, in the ranging process, a device to be measured (i.e., a response object Responder) transmits a ranging response signal containing a preamble to a ranging device (i.e., an initiating object Initiator). The Initiator decodes the preamble after receiving the ranging response signal, performs periodic autocorrelation with a locally stored preamble (the locally stored preamble can be used for timing, each element in the preamble corresponds to a pulse width of about 2 ns), estimates the time of arrival (TOA) Δ t of the ranging response signal from the Responder by detecting the position where the maximum autocorrelation peak occurs, and calculates the distance between the Responder and the Initiator by L = c Δ t, where c is the speed of light, and c =3 × 10 ⁸ 。

In order to accurately find out the maximum autocorrelation peak and simultaneously reduce the interference caused by different Responder ranging response signals, the ranging mode requires that lead codes have good periodic autocorrelation property, and different lead codes have good periodic cross-correlation property.

For preamble a = [ a = ₁ ,a ₂ ,…,a _N ]The periodic autocorrelation is defined as:

for preamble a = [ a = ₁ ,a ₂ ,…,a _N ]And b = [ b ] ₁ ,b ₂ ，…，b _N ]The periodic cross-correlation is defined as:

when a periodic autocorrelation value or a periodic cross-correlation value is calculated, the value of each tau is calculated once, and then the autocorrelation and the cross-correlation have N values respectively. τ refers to the offset of the element, e.g., a = [1,0, -1];

if τ =0, φ _aa (τ)＝1*1+0*0+(-1)*(-1)＝2；

If τ =1, φ _aa (τ)＝1*0+0*(-1)+(-1)*1＝-1；

If τ =2, φ _aa (τ)＝1*(-1)+0*1+(-1)*0＝-1；

If τ =3 (equivalent to τ = 0), then Φ _aa (τ) = 1+0 ((-1) — 1). It can be seen that: the autocorrelation value is maximum at no offset (i.e., τ = 0).

For the UWB ranging preamble, perfect periodic autocorrelation property is expected, which requires that autocorrelation peaks at τ are all 0 except τ =0, that is:

meanwhile, perfect periodic cross-correlation property is expected among different preambles, that is, all the cross-correlation values at τ are 0, that is:

φ _ab (τ)＝0，τ＝0,1,2,…，N-1

for example, in a 1-to-2 ranging scenario, a preamble allocated to response 1 is preamble 1, a preamble allocated to response 2 is preamble 2, preambles stored locally by a ranging device (i.e., initiator) are referred to as preambles a1 and a2, and preambles transmitted to the ranging device (i.e., initiator) by the device to be measured (i.e., response) are referred to as b1 and b2. Preambles 1 and 2 are different, preambles a1 and b1 are the same, and preambles a2 and b2 are the same.

It is unclear to the ranging apparatus whether the currently received preamble is the preamble b1 or the preamble b2. The ranging apparatus may correlate the received preamble with a current preamble generated based on the locally stored preamble a 1. On the premise that the preamble satisfies the perfect autocorrelation property, if the maximum correlation peak does not appear in one period, it indicates that the received preamble is not the preamble b1 corresponding to the preamble a1, and the received preamble is the preamble b2 corresponding to the preamble a 2; when the received preamble is correlated with the current preamble generated based on the locally stored preamble a1, if a maximum correlation peak occurs in one period, it indicates that the received preamble is the preamble b1 corresponding to the preamble a 1.

The ranging device (i.e., initiator) uses the preamble for timing. For example, in a larger time dimension, the ranging response signal is received within the 3 rd period. Optionally, the ranging device (i.e. Initiator) does not mark multiple elements in one period, and therefore does not know the ranging response signal received at the fifth element, and may determine the ranging response signal received at the fifth element by using autocorrelation property.

For example, the received preamble is [ -1, -1,1,0,1], a shift of 1 bit to the right (equivalent to a shift of 4 bits to the left) is: -1,1,0,1, -1, a shift of 2 bits to the right (equivalent to a shift of 3 bits to the left) is: 1,0,1, -1, -1, shifted 3 bits to the right (equivalent to 2 bits to the left) is: 0,1, -1-1,1, shifted 4 bits to the right (equivalent to 1 bit to the left) is: 1, -1-1, 11,0.

Upon receiving the ranging response signal, the current preamble generated based on the locally stored preamble is 1,0,1, -1, -1. Then when doing autocorrelation, it can be seen that: the maximum autocorrelation peak occurs when the received preamble is shifted 2 bits to the right (equivalent to 3 bits to the left). It can be said that the offset is 3, i.e. the 3 rd element receives the ranging response signal. Alternatively, when it is determined that the ranging response signal is received at the 3 rd element of generation, the arrival time Δ t may be measured to be 13 2ns, i.e., 26ns. Based on the speed of light, the distance between the Responder and the Initiator can be measured. It can be understood that the above example is a basic principle of preamble ranging, and the ranging procedure may be adjusted according to actual situations in practical use, which is not limited in this application.

In the existing standards IEEE 802.15.4 and IEEE 802.15.4z, the preamble used is an Ipatov sequence. In the existing standard, the number of Iptatv sequences is small, and the periodic cross-correlation property between different sequences is poor, so that the sequence ranging capacity is small, and a plurality of Responder synchronous ranging cannot be supported. As shown in table 2, the peak periodic cross-correlation between each two of the 8 normalized sequences is listed, taking the length of 31 ipotv sequence as an example. Where normalization is understood to be the maximum cross-correlation value of a sequence divided by the maximum autocorrelation value of the sequence, these maximum autocorrelation values of 31-length sequences are each 16.

Table 2: periodic cross-correlation peaks (normalized results) for 8 length-31 ipotv sequences.

Serial number	1	2	3	4	5	6	7	8
									1	1	0.25	0.25	0.375	0.6875	0.375	0.375	0.25
2	0.25	1	0.375	0.375	0.375	0.6875	0.25	0.375
									3	0.25	0.375	1	0.25	0.375	0.375	0.25	0.25
4	0.375	0.375	0.25	1	0.25	0.25	0.25	0.375
									5	0.6875	0.375	0.375	0.25	1	0.25	0.375	0.375
6	0.375	0.6875	0.375	0.25	0.25	1	0.375	0.25
									7	0.375	0.25	0.25	0.25	0.375	0.375	1	0.375
8	0.25	0.375	0.25	0.375	0.375	0.25	0.375	1

It can be seen that the cross-correlation peak values of different sequences are all above 0.25, and the cross-correlation peak values of sequence 1 and sequence 5 reach 0.6875. Therefore, if a plurality of Ipotov sequences are used for ranging at the same time, false peaks may be generated when searching for the autocorrelation peak, which may result in inaccurate TOA calculation of the arrival time and large ranging errors. To solve this problem, the current standard specifies that only pairs of sequences with good periodic cross-correlation (e.g., sequences 1 and 2, sequences 3 and 4, sequences 5 and 6, and sequences 7 and 8) can be used in the same channel, and other sequences in different channels. Therefore, the ipotv sequence in the current standard can only support two response synchronous ranging in the same channel at most, and the requirement of one-to-many ranging in many application scenarios (such as smart car key positioning and smart home positioning) can not be met.

Based on this, the present application proposes a new ranging sequence. These sequences may not have perfect autocorrelation properties throughout the entire period, but have Zero Correlation Zone (ZCZ) properties, i.e., within a zero correlation interval (i.e., ZCZ interval), these sequences have perfect autocorrelation properties and perfect cross-correlation properties. For example, the ZCZ interval is defined as [ -L _zcz ,L _zcz ]In the ZCZ interval, both cyclic shift autocorrelation and cyclic shift cross correlation of all sequences are 0. For example, i.e. + -.) _aa (τ)＝0,-L _zcz ≤τ≤L _zcz ，φ _ab (τ)＝0,-L _zcz ≤τ≤L _zcz . Due to the fact that the sequences have the ZCZ property, when different sequences are allocated to different responders for ranging, as long as the arrival time delay differences of ranging response signals from different responders fall in the time corresponding to the ZCZ interval, interference-free accurate ranging of multiple responders can be achieved. These sequences with ZCZ properties are referred to herein as ZCZ sequences. In addition, it can be understood that the present application may be applied to a one-to-one ranging scenario, and may also be applied to a one-to-many ranging scenario.

The following is a detailed description of the scheme with reference to the accompanying drawings. The features or contents identified in the drawings with broken lines can be understood as optional operations or optional structures of the embodiments of the present application.

Example 1:

as shown in fig. 2, a distance measuring method is provided, and the first device described below may be the distance measuring device (i.e., initiator) described above, and the second device described below may be the distance measuring device (i.e., responder) described above. In a one-to-one ranging scenario, the number of second devices is one; in the one-to-many ranging scenario, the number of second devices is multiple. Fig. 2 illustrates a ranging method by way of example in a one-to-one (i.e., a second device), which includes the following steps:

step 201: the second device transmits a first ranging response signal to the first device, and accordingly, the first device receives the first ranging response signal from the second device.

Step 202: the first device determines a distance between the first device and the second device based on the first ranging response signal.

The first ranging response signal is generated based on a first ZCZ sequence belonging to a sequence among a plurality of ZCZ sequences that are preconfigured. The pre-configuration here may be pre-configuration in the first device or pre-configuration in the second device. The first device is pre-configured with a plurality of ZCZ sequences, and the second device is pre-configured with a plurality of ZCZ sequences. For convenience of distinction, the ranging response signal transmitted from the second device to the first device is referred to as a first ranging response signal, and the ZCZ sequence used to generate the first ranging response signal is referred to as a first ZCZ sequence. In a one-to-many ranging scenario, the first ranging response signals transmitted by different second devices are different, i.e., the first ZCZ sequences on which the different first ranging response signals are based are different.

In this scenario, the ZCZ sequence may also be referred to as a preamble.

In an alternative example, the first ranging response signal is directly generated by using a pulse modulation method, or the first ranging response signal is a UWB signal.

In an alternative example, the ZCZ sequence is a binary sequence, and elements in the ZCZ sequence include 1 and-1, and do not include 0.

In an alternative example, a ZCZ sequence may be understood as a sequence having ZCZ properties. The ZCZ sequence has perfect periodic autocorrelation property in a ZCZ interval. A plurality of ZCZ sequences pre-configured in the method have perfect periodic cross-correlation properties in a ZCZ interval.

The preconfigured plurality of ZCZ sequences may be the same length or different lengths. In an alternative example, the length of the preconfigured plurality of ZCZ sequences includes, but is not limited to: 32. 128, 256.

The ZCZ intervals of the plurality of ZCZ sequences may be the same or different in length. In an alternative example, the ZCZ interval lengths of the preconfigured plurality of ZCZ sequences include, but are not limited to: 5. 9, 17, 33, 65. Different ZCZ intervals can meet different ranging requirements, and ranging is more flexible.

Different sequence lengths have corresponding relations with different ZCZ interval lengths, and in an alternative example, among the plurality of ZCZ sequences that are preconfigured: the length of the ZCZ interval of the ZCZ sequence with the length of 32 is 5, 9 or 17; or the length of the ZCZ interval of the ZCZ sequence with the length of 128 is 9, 17 or 33; alternatively, the ZCZ interval length of the ZCZ sequence of length 256 is 17 or 33 or 65.

1 or more ZCZ sequences with the same length and the same ZCZ interval length can be preconfigured. In an alternative example, the preconfigured plurality of ZCZ sequences comprise one or more of:

8 ZCZ sequences with the length of 32 and the length of a ZCZ interval of 5;

4 ZCZ sequences with the length of 32 and the length of a ZCZ interval of 9;

2 ZCZ sequences with the length of 32 and the length of a ZCZ interval of 17;

16 ZCZ sequences with the length of 128 and the ZCZ interval length of 9;

8 ZCZ sequences with the length of 128 and the ZCZ interval length of 17;

4 ZCZ sequences with the length of 128 and the ZCZ interval length of 33;

16 ZCZ sequences with the length of 256 and the length of a ZCZ interval of 17;

8 ZCZ sequences with the length of 256 and the length of a ZCZ interval of 33;

4 ZCZ sequences with the length of 256 and the length of a ZCZ interval of 65.

Aiming at the same ZCZ interval length, a plurality of ZCZ sequences are arranged, so that the requirement of one-to-many distance measurement can be met, and the distance measurement is more flexible.

In an alternative example, the ZCZ sequence may be generated by:

using a basis matrix

And based on a matrix recursion method:

/>

through N rounds of recursion, a length of 2 can be generated ^2N+1 2 of (2) ^N+1 A plurality of ZCZ sequences having a length of 2 ^N A ZCZ interval of + 1.

For example, using a base matrix

After N =2 matrix recursions, 8 ZCZ sequences of length 32 can be generated, as shown in table 3, with a ZCZ interval length of 5.

After N =3 matrix recursions, 16 ZCZ sequences of length 128 can be generated, as shown in table 4, with a ZCZ interval length of 9.

It should be noted that the serial numbers of ZCZ sequences in the tables (e.g., 1, 2,3, … …) are for convenience of description and do not have any sequential meaning.

Table 3: 8 ZCZ sequences with the length of 32 and the length of a ZCZ interval of 5.

The 8 ZCZ sequences listed in table 3, having a length of 32 and a ZCZ interval length of 5, do not have perfect autocorrelation properties over the full period (i.e., -31,0 and [0, 31 ]), but within the ZCZ interval (i.e., -2,2 ]), the 8 ZCZ sequences have perfect autocorrelation and cross-correlation properties.

As shown in FIG. 3a, the autocorrelation property of the ZCZ sequence with sequence number 1 in Table 3 is presented, and it can be seen that within [ -2,2], there is perfect autocorrelation property.

As shown in FIG. 3b, the cross-correlation properties of ZCZ sequences with numbers 1 and 2 in Table 3 are presented, and it can be seen that within [ -2,2], there is perfect cross-correlation property.

As shown in FIG. 3c, the autocorrelation property of the ZCZ sequence numbered 2 in Table 3 is presented, and it can be seen that within [ -2,2], there is perfect autocorrelation property.

As shown in FIG. 3d, the cross-correlation properties of ZCZ sequences with numbers 1 and 3 in Table 3 are presented, and it can be seen that within [ -2,2], there is perfect cross-correlation property.

As shown in FIG. 3e, the autocorrelation property of the ZCZ sequence number 3 in Table 3 is presented, and it can be seen that within [ -2,2], there is perfect autocorrelation property.

As shown in FIG. 3f, the cross-correlation properties of ZCZ sequences with numbers 2 and 3 in Table 3 are presented, and it can be seen that within [ -2,2], there is perfect cross-correlation property.

Table 4: 16 ZCZ sequences with the length of 128, and the ZCZ interval length is 9. These 16 ZCZ sequences do not have perfect autocorrelation properties over the full period (i.e., -127,0 and [0, 127 ]), but 8 ZCZ sequences have perfect autocorrelation and cross-correlation properties over the ZCZ interval (i.e., -4,4).

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As an alternative example, the ZCZ sequence may be generated by:

using basis vectors [ X ] ⁰ ,Y ⁰ ]And is based on the following vector recursion method [ X ] ^m ,Y ^m ]＝[X ^m-1 Y ^m-1 ,(-X ^m-1 )Y ^m-1 ]After M rounds of vector recursion, the following basis matrix may be constructed

And then adopting a matrix recursion method:

through N rounds of matrix recursion, a length of 2 can be generated ^2N+M+1 2 of (2) ^N+1 A plurality of ZCZ sequences having a length of 2 ^N+M A ZCZ interval of + 1.

For example, take the basis vector [1,1]:

through M =2 vector recursions and N =1 matrix recursions, 4 ZCZ sequences of length 32 can be generated, as shown in table 5, with a ZCZ interval length of 9.

After M =4 vector recursions and N =0 matrix recursions, 2 ZCZ sequences of length 32 can be generated, as shown in table 6, with a ZCZ interval length of 17.

Through M =2 vector recursions and N =2 matrix recursions, 8 ZCZ sequences of length 128, as shown in table 7, having a ZCZ interval length of 17, may be generated.

Through M =4 vector recursions and N =1 matrix recursions, 4 ZCZ sequences of length 128, as shown in table 8, having a ZCZ interval length of 33, may be generated.

After M =1 round of vector recursion and N =3 round of matrix recursion, 16 sequences of length 256 can be generated, as shown in table 9, the ZCZ interval length of these sequences is 17.

Through M =3 vector recursions and N =2 matrix recursions, 8 sequences of length 256 can be generated, as shown in table 10, with ZCZ interval length of 33.

After M =5 vector recursions and N =1 matrix recursions, 4 sequences of length 256 can be generated, as shown in table 11, with ZCZ interval length of 65.

Table 5: 4 ZCZ sequences with the length of 32 and the length of a ZCZ interval of 9.

Table 6: 2 ZCZ sequences with the length of 32, and the ZCZ interval length of 17.

Table 7: 8 ZCZ sequences with the length of 128, and the ZCZ interval length of 17.

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Table 8: 4 ZCZ sequences with the length of 128, and the ZCZ interval length of 33.

Table 9: the length of the band is 256, and the length of the ZCZ interval is 17.

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Table 10: the length of the ZCZ sequence is 256, and the length of the ZCZ interval is 33.

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Table 11: 4 ZCZ sequences with the length of 256 and the ZCZ interval length of 65.

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For example, the ZCZ sequences of length 32 and ZCZ interval length 5 preconfigured in the first and second devices include at least one sequence in table 3.

For example, the ZCZ sequences of length 32 and ZCZ interval length 9 preconfigured in the first and second devices include at least one sequence in table 5.

For example, the ZCZ sequences of length 32 and ZCZ interval length 17 preconfigured in the first and second devices include at least one sequence in table 6.

For example, the ZCZ sequences of length 128 and ZCZ interval length 9 preconfigured in the first and second devices include at least one sequence in table 4.

For example, the ZCZ sequences of length 128 and ZCZ interval length 17 preconfigured in the first and second devices include at least one sequence in table 7.

For example, the ZCZ sequences of length 128 and ZCZ interval length 33 preconfigured in the first and second devices include at least one sequence in table 8.

For example, the ZCZ sequences of length 256 and ZCZ interval length 17 preconfigured in the first and second devices include at least one sequence in table 9.

For example, the ZCZ sequences of length 256 and ZCZ interval length 33 preconfigured in the first and second devices include at least one sequence in table 10 above.

For example, the ZCZ sequence of length 256 and ZCZ interval length 65 preconfigured in the first and second devices includes at least one sequence in table 11 above.

In summary, it is understood that the plurality of ZCZ sequences preconfigured in the first apparatus may be all of the sequences in tables 3-11; may be a partial sequence in tables 3 to 11; it is also possible that some of the components are from tables 3 to 11, and the source of the other component is not limited. In other words, all the sequences in tables 3 to 11 may be configured in the first apparatus, or some of the sequences in tables 3 to 11 may be configured in the first apparatus. Alternatively, the first device may be configured with sequences other than those provided in tables 3 to 11, in addition to all or part of the sequences in tables 3 to 11.

The second device is similar to the first device. The plurality of ZCZ sequences preconfigured in the second apparatus may be all sequences in tables 3-11; may be a partial sequence in tables 3 to 11; it is also possible that some of the components are from tables 3 to 11, and the source of the other component is not limited. In other words, all the sequences in tables 3 to 11 are configured in the second apparatus, or some of the sequences in tables 3 to 11 may be configured in the second apparatus. Alternatively, the second device may be configured with sequences other than those provided in tables 3 to 11, in addition to all or part of the sequences in tables 3 to 11.

The plurality of ZCZ sequences pre-configured in the first device and the second device may be completely the same, or partially the same or partially different. Optionally, the first device and the second device mutually determine which sequences are supported (preconfigured, i.e. supported) by each device, so as to adopt the sequences supported by both devices for ranging.

In one optional example, a first apparatus transmits a first message to a second apparatus, the first message to determine whether the second apparatus supports a first ZCZ sequence. Accordingly, the second device receives the first message from the first device. The second apparatus transmits a second message to the first apparatus, the second message indicating that the second apparatus supports the first ZCZ sequence or does not support the first ZCZ sequence. Accordingly, the first device receives a second message from the second device. In this example, the first apparatus may first select a particular sequence for the second apparatus and then query the second apparatus whether the particular sequence is supported. If so, the sequence may be subsequently employed for ranging. If not, the first device may reselect and re-query.

In an alternative example, a first apparatus transmits a first message to a second apparatus, the first message for determining ZCZ sequences supported by the second apparatus. Accordingly, the second device receives the first message from the first device. The second apparatus transmits a second message to the first apparatus, the second message indicating ZCZ sequences supported by the second apparatus. Accordingly, the first device receives a second message from the second device. In this example, the first device queries which ZCZ sequences are supported by the second device and then selects a sequence for ranging from the ZCZ sequences supported by the second device.

The first device may send the first message to the second device in a multicast or unicast or broadcast manner.

Optionally, the first apparatus may further pre-configure parameter information corresponding to multiple ZCZ sequences. Parameter information corresponding to a plurality of ZCZ sequences can be pre-configured in the second device. The parameter information includes, but is not limited to, one or more of the following: the method comprises the steps of sequence length, sequence number, sequence ZCZ interval length, sequence ZCZ interval range, sequence chip length, the number of maximum distance measuring devices which can be supported by the sequence (or the number of maximum synchronous distance measuring reponders which can be supported by the sequence), the maximum distance measuring delay inequality which can be supported by the sequence and the maximum distance measuring range which can be supported by the sequence.

The ranging delay difference is as follows: in a one-to-many ranging scenario, a first device receives ranging response signals from a plurality of second devices (reponders) by a difference between a time of receiving a first ranging response signal and a time of receiving a last ranging response signal.

The range of the distance measurement is as follows: in a one-to-many ranging scenario, each second device has a distance to the first device, and among the distances, the difference between the largest distance and the smallest distance.

The maximum ranging range that the sequence can support is determined based on the maximum ranging delay difference that the sequence can support.

The parameter information may be stored in a table format, or may be stored in another format (for example, a correspondence relationship), without limitation. When stored in a table form, all the parameter information may be located in one table, or each parameter information may be located in one table, or part of the parameter information may be located in one table. When the plurality of parameter information are located in a plurality of tables, the plurality of tables may be independent tables or tables having an association relationship in a plurality of levels. The multi-level table here can be understood as another table can be found according to some parameter information.

Referring to table 12, parameter information corresponding to the ZCZ sequence provided in tables 3 to 11 is provided. Part or all of the sequences in each of tables 3-11 may be referred to as a cluster sequence or a group of sequences, and the parameter information of part or all of the sequences in each table (i.e., a cluster sequence or a group of sequences) is the same.

Table 12: parameter information of ZCZ sequence

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In table 12, different ZCZ sequences correspond to different sequence lengths and sequence numbers, for example, 8 sequences of length 32 correspond to table 3,4 sequences of length 32 correspond to table 5. The number of sequences is the same as the maximum number of range finding devices that can be supported.

The above mentioned length of the sequence ZCZ is related to the range of the sequence ZCZ interval. For example, when the length of the sequence ZCZ is 5, the corresponding sequence ZCZ interval is [ -2,2]; for example, when the length of the sequence ZCZ is 9, the corresponding range of the sequence ZCZ is [ -4,4]; for example, when the length of the sequence ZCZ is 17, the corresponding range of the sequence ZCZ is [ -8,8]; for example, when the length of the sequence ZCZ is 33, the corresponding range of the sequence ZCZ is [ -16,16]; for example, when the length of the sequence ZCZ is 65, the corresponding range of the sequence ZCZ is [ -32,32]. The method can support the determination of the maximum ranging delay difference based on the ZCZ interval length, and can support the determination of the maximum ranging range based on the supportable maximum ranging delay difference. Referring to the IEEE 802.15.4 standard, for a sequence of length 32, 15 0 s are padded after each symbol to constitute a Chip (Chip) of total length 16, and thus after spreading, the ZCZ interval lengths of three clusters (clusters, which may also be referred to as groups) of ZCZ sequences are extended to 80, 144, and 272 symbols, respectively. Assuming that the pulse width corresponding to one symbol is 2ns, the maximum tolerable ranging delay difference corresponding to the ZCZ interval length is 160ns, 288ns and 544ns, respectively. Optionally, as shown in the first three rows in the last column of table 12, in consideration of the two-way transmission process of the signal Initiator → response → Initiator in the ranging process, the maximum response ranging ranges c × Δ t/2 corresponding to these ZCZ intervals are 24m, 43.2m, and 81.6m, respectively.

Similarly, as shown in the last six rows of table 12, for the sequences with lengths of 128 and 256, 3 chips (Chip) with a total length of 4 may be formed by padding 0 s after each symbol, the maximum ranging ranges corresponding to three clusters (or three groups) of ZCZ sequences with a length of 128 are respectively 10.8m, 20.4m and 39.6m, and the maximum ranging ranges corresponding to three clusters (or three groups) of ZCZ sequences with a length of 256 are respectively 20.4m, 39.6m and 78m.

In an alternative example, the generating of the first ranging response signal based on the first ZCZ sequence comprises:

supplementing 15 0 s behind each code element in a first ZCZ sequence with the length of 32 to obtain a first ranging response signal;

supplementing 30 s behind each code element in a first ZCZ sequence with the length of 128 to obtain a first ranging response signal;

and supplementing 30 s behind each code element in the first ZCZ sequence with the length of 32 to obtain a first ranging response signal.

In an optional example, in a one-to-many ranging scenario, in a case that the second apparatus is multiple, corresponding first ZCZ sequences of different second apparatuses are different, and parameter information of the multiple first ZCZ sequences is the same, where the parameter information includes but is not limited to at least one of: the ZCZ interval length can support the maximum ranging delay difference and the maximum ranging range.

In combination with tables 3-11, in the one-to-many ranging scenario, the plurality of ZCZ sequences employed (i.e., the plurality of first ZCZ sequences employed in the present application) belong to the same cluster (group or table) of ZCZ sequences.

As shown in fig. 4, there is further provided a ranging method, including the steps of:

step 401: the first device (Initiator) synchronizes with the second device (Responder) and estimates the number and distribution range of the second devices (the distribution range can be replaced by a time delay difference).

Before ranging is initiated, based on the IEEE 802.15.4 standard, an Initiator and a Responder synchronize. For example, the Initiator broadcasts (broadcast may be replaced by multicast or unicast) a synchronization request signal to the Responder, and after receiving the synchronization request signal, the Responder transmits a synchronization signal to the Initiator, where the synchronization signal includes, but is not limited to, a Responder ID.

The Initiator can acquire the number M of the responders according to the number of the received synchronous signals.

The Initiator can record the delay difference Δ T of the synchronization signal or estimate the response distribution range Δ R according to the delay difference of the received synchronization signal. The delay difference of the synchronization signals can be understood as the difference between the time of receiving the first synchronization signal and the time of receiving the last synchronization signal. The distribution range can be understood as a distance difference, which is determined based on the delay difference and the signal propagation rate (e.g., the speed of light).

Step 402: the Initiator selects a suitable cluster (or a group or a certain table in tables 3-11) of ZCZ sequences according to the number M of responders and the distribution range delta R (or the time delay difference delta T).

After the Initiator obtains the number M of reponders and the distribution range Δ R (or the delay difference Δ T), it can select a suitable cluster (or group) of ZCZ sequences for ranging according to the preconfigured sequence parameter information (e.g., the parameter information in table 12). The principle considered by the Initiator in selecting an appropriate cluster (or set) of ZCZ sequences includes: the number of sequences in the cluster (or group) is greater than the number of reponders M, and the maximum range supportable by the sequences in the cluster (or group) is greater than the Responder distribution range Δ R. Optionally, the supportable maximum ranging range of the sequences in the cluster (or group) is greater than the response distribution range Δ R, alternatively, the supportable maximum ranging delay difference of the sequences in the cluster (or group) is greater than the delay difference Δ T of the synchronization signal.

For example, UWB typical application scenarios: in the application scenario, the typical distribution range of the reponders is less than 10m, the number of the reponders exceeds 10, and at this time, a cluster (or a group) of ZCZ sequences with the length of 128 and the number of 16 can be selected for ranging.

Step 403: the Initiator assigns each response a corresponding ZCZ sequence.

After selecting a cluster of ZCZ sequences, the Initiator may select M ZCZ sequences from a cluster of ZCZ sequences and allocate one sequence to each Responder. For example, ZCZ sequences 1, M are allocated to response 0, response 1, …, and response M, respectively, because ZCZ sequence allocation schemes are flexible.

The Initiator may send the index (or number, or sequence number) of the ZCZ sequence to the Responder. For example, the Initiator may transmit sequence configuration information to M responders by using Ranging Control Message (RCM). The sequence configuration information includes, but is not limited to, an index (or a number, or a sequence number) of the ZCZ sequence.

Optionally, step 404: the Responder generates a ranging response signal using the allocated ZCZ sequence.

For example, after receiving the Initiator RCM, the different responders decode the sequence configuration information therein, and generate the ranging response signal using the allocated ZCZ sequence as a preamble.

For example, after 0-padding spreading shown in table 12 is performed according to the assigned ZCZ sequence, a ranging response signal is generated. For the process of adding 0 to the ZCZ sequence, reference may be made to the process described above, and the process of generating the first ranging response signal based on the first ZCZ sequence is not repeated.

Step 405: the Initiator and the Responder perform a ranging process of a pair M.

For example, the Initiator sends a Ranging Initiation Message (RIM) to M decoders, for example, a broadcast transmission, or a unicast or multicast transmission.

Optionally, according to the IEEE 802.15.4 standard, the Initiator may be at time t _I,0 And broadcasting a ranging initiation signal RIM to the M responders. After receiving the ranging initiation signal, the Responder m records the time stamp t at the moment _Rm,0 M =1 … … M. Over a fixed time interval t _reply Thereafter, each response transmits a ranging response signal to the Initiator.

Step 404 may be performed after receiving the ranging initiation signal or before receiving the ranging initiation signal.

Step 406: after receiving different response ranging response signals, the Initiator decodes a lead code (ZCZ sequence) therein, performs periodic autocorrelation on the decoded lead code (ZCZ sequence) and a local lead code (ZCZ sequence), detects the position where the maximum correlation peak appears, estimates the TOA, calculates the distance and completes ranging.

After receiving the ranging response signal of the Responder, the Initiator decodes the ZCZ sequence therein and detects the TOA by performing cyclic shift autocorrelation with the local ZCZ sequence. Since the M response distribution ranges Δ R are smaller than the ZCZ interval of the ZCZ sequence of the cluster, the maximum ranging range can be supported, and therefore, for the ranging response signal of response M (M =1 … … M), the autocorrelation and the cross-correlation corresponding to other response ranging response signals are both 0, and therefore, the maximum autocorrelation peak position corresponding to response M can be accurately found.

Let t be the time corresponding to the maximum autocorrelation peak position of the found Responerm ranging response signal _Rm,1 Then Initiator and responseThe distance between inders m is

According to the method and the device, M ZCZ sequences can be used for supporting M response synchronous ranging, so that the capacity of the ranging sequences can be improved.

Example 2:

the above embodiment 1 describes that in the synchronous ranging scenario of different reponders, a plurality of ZCZ sequences are selected from a plurality of ZCZ sequences that are pre-configured to perform synchronous ranging. In embodiment 2, cyclic shift of one ZCZ sequence can be used to support synchronous ranging of different responders, thereby further improving sequence capacity.

In case the second means is at least two (one-to-many), the first ZCZ sequence is not directly selected from the preconfigured plurality of ZCZ sequences, which may be based on a cyclic shift determination of a second ZCZ sequence, which is one of the preconfigured plurality of ZCZ sequences, i.e. the second ZCZ sequence is directly selected from the preconfigured plurality of ZCZ sequences.

For example, sequence 1 (sequence number 1 in table 3): -1-1-1-1 11 11 1-1 1-1-1 1-1 11 1-1-1-1-1 1 1-1 1 1-1 1-1-1 1.

Sequence 2 (cyclic shift 2 bits to sequence 1): -1 1-1-1-1-1 11 11 1-1 1-1-1 1-1 11 1-1-1-1-1 1 1-1 1 1-1 1-1.

The 1 st element in sequence 2 is the 2 nd last element in sequence 1, the 2 nd element in sequence 2 is the 1 st last element in sequence 1, the 3 rd element in sequence 2 is the 1 st element in sequence 1, the 4 th element in sequence 2 is the 2 nd element in sequence 1, … …, and the last 1 element in sequence 2 is the 3 rd last element in sequence 1.

Embodiment 2 compared to embodiment 1, the supportable maximum ranging delay difference in the parameter information of the sequence may change the supportable maximum ranging range. For example, as shown in the first row of table 12, when the ZCZ interval is 5, if cyclic shift is not performed, the supportable maximum ranging delay difference is 160ns, and the supportable maximum ranging range is 24m. When cyclically shifted by 2 bits, the available ZCZ interval length becomes 3, and accordingly, the supportable maximum ranging delay difference is 96ns and the supportable maximum ranging range is 14.4m. When the ZCZ interval is 9, if cyclic shift is not performed, the supportable maximum ranging delay difference is 288ns, and the supportable maximum ranging range is 43.2m. When cyclically shifted by 2 bits, the available ZCZ interval length becomes 7, and accordingly, the supportable maximum ranging delay difference is 288 × 7/9) =224ns, and the supportable maximum ranging range is 43.2 × 7/9) =33.6m.

As shown in table 13, in the case of generating a new ZCZ sequence in such a manner that each cyclic shift is nearly half (i.e., (ZCZ interval length-1)/2), the parameter information corresponding to the ZCZ sequence provided in tables 3 to 11 is as follows:

when a first device (Initiator) transmits sequence configuration information to a second device (Responder) while supporting synchronous ranging of different responders using cyclic shift of one ZCZ sequence, the sequence configuration information includes: index and cyclic shift information of the second sequence; the indexes of the second sequences corresponding to different second devices are the same, and the cyclic shift information corresponding to different second devices is different.

In addition, the first device determines to the second device whether the second device supports a second ZCZ sequence, the second ZCZ sequence being one of a preconfigured plurality of ZCZ sequences. When the second ZCZ sequence is supported, the first ZCZ sequence obtained by circularly shifting the second ZCZ sequence is also supported.

After the Initiator has a result on the distribution range of the response, the Initiator can use the cyclic shift of the same sequence to further improve the capacity of the ranging sequence on the premise that the distribution range of the response is far smaller than the supportable maximum ranging range corresponding to the ZCZ interval of the sequence. Since the response distribution range is still smaller than the supportable maximum ranging range corresponding to the available ZCZ interval corresponding to the cyclic shift, the maximum correlation peak corresponding to the multiple response ranging response signals can still be resolved without interference.

The rest of the processes in embodiment 2 may refer to embodiment 1, and are not repeated.

Embodiment 2 may further improve the ranging sequence capacity by reducing the supportable maximum ranging range (supportable maximum ranging delay difference) of the sequence. If each cluster (or group) of ZCZ sequences is circularly shifted to be close to half of the ZCZ interval length, the sequence capacity can be doubled, and 2M Responder synchronous ranging can be supported by using M ZCZ sequences.

The method of the embodiments of the present application is described above, and the apparatus of the embodiments of the present application is described below. The method and the device are based on the same technical conception, and because the principles of solving the problems of the method and the device are similar, the implementation of the device and the method can be mutually referred, and repeated parts are not repeated.

In the embodiment of the present application, according to the method example, the device may be divided into the functional modules, for example, the functional modules may be divided into the functional modules corresponding to the functions, or two or more functions may be integrated into one module. The modules can be realized in a hardware mode, and can also be realized in a software functional module mode. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and when the logic function division is specifically implemented, another division manner may be provided.

Based on the same technical concept as the above method, referring to fig. 5, there is provided a schematic structural diagram of a distance measuring apparatus 500, where the apparatus 500 may include: the processing module 510 optionally further includes a receiving module 520a, a sending module 520b, and a storing module 530. The processing module 510 may be connected to the storage module 530 and the receiving module 520a and the sending module 520b, respectively, and the storage module 530 may also be connected to the receiving module 520a and the sending module 520 b.

In an example, the receiving module 520a and the transmitting module 520b may also be integrated together to define a transceiver module.

In one example, the apparatus 500 may be a first apparatus, and may also be a chip or a functional unit applied in the first apparatus. The apparatus 500 has any of the functions of the first apparatus in the above method, for example, the apparatus 500 can perform each step performed by the first apparatus in the above methods of fig. 2 and 4.

The receiving module 520a may perform the receiving action performed by the first apparatus in the above method embodiments.

The sending module 520b may execute the sending action executed by the first device in the foregoing method embodiment.

The processing module 510 may perform other actions than the sending action and the receiving action, among the actions performed by the first apparatus in the method embodiments described above.

In one example, the receiving module 520a is configured to receive a first ranging response signal from a second apparatus, the first ranging response signal being generated based on a first zero correlation zone ZCZ sequence belonging to a sequence of a preconfigured plurality of ZCZ sequences;

the processing module 510 is configured to determine a distance between the first apparatus and the second apparatus based on the first ranging response signal.

In one example, the transmitting module 520b is configured to transmit a first message to the second apparatus, the first message configured to determine whether the second apparatus supports the first ZCZ sequence;

the receiving module 520a is configured to receive a second message from the second apparatus, where the second message is used to indicate that the second apparatus supports the first ZCZ sequence or does not support the first ZCZ sequence.

In one example, the storage module 530 may store computer-executable instructions of a method performed by the first device to cause the processing module 510 and the receiving module 520a and the sending module 520b to perform the method performed by the first device in the above example.

For example, a memory module may include one or more memories, which may be devices in one or more devices, circuits, or the like for storing programs or data. The storage module may be a register, a cache, or a RAM, etc., and the storage module may be integrated with the processing module. The memory module may be a ROM or other type of static storage device that may store static information and instructions, which may be separate from the processing module.

The transceiver module may be an input or output interface, a pin or a circuit, etc.

In one example, the apparatus 500 may be a second apparatus, and may also be a chip or a functional unit applied to the second apparatus. The apparatus 500 has any function of the second apparatus in the above method, for example, the apparatus 500 can perform each step performed by the second apparatus in the above methods of fig. 2 and 4.

The receiving module 520a may perform the receiving action performed by the second apparatus in the above method embodiment.

The sending module 520b may perform the sending action performed by the second apparatus in the method embodiment.

The processing module 510 may perform other actions than the sending action and the receiving action among the actions performed by the second apparatus in the above method embodiments.

In one example, the processing module 510 is configured to generate a first ranging response signal based on a first ZCZ sequence belonging to a sequence of a preconfigured plurality of ZCZ sequences;

the sending module 520b is configured to send a first ranging response signal to the first apparatus.

In one example, the storage module 530 may store computer-executable instructions of a method performed by the second device to cause the processing module 510 and the receiving module 520a and the sending module 520b to perform the method performed by the second device in the above example.

For example, a memory module may include one or more memories, which may be devices in one or more devices or circuits for storing programs or data. The storage module may be a register, a cache, or a RAM, etc., and the storage module may be integrated with the processing module. The memory module may be a ROM or other type of static storage device that may store static information and instructions, which may be separate from the processing module.

As a possible product form, the device may be implemented by a generic bus architecture.

As shown in fig. 6, a schematic block diagram of a ranging apparatus 600 is provided.

The apparatus 600 may include: the processor 610, optionally, further includes a transceiver 620 and a memory 630. The transceiver 620 may be configured to receive a program or an instruction and transmit the program or the instruction to the processor 610, or the transceiver 620 may be configured to perform communication interaction between the apparatus 600 and other communication devices, such as interaction control signaling and/or service data. The transceiver 620 may be a code and/or data reading and writing transceiver, or the transceiver 620 may be a signal transmission transceiver between a processor and a transceiver. The processor 610 and the memory 630 are electrically coupled.

In one example, the apparatus 600 may be a first apparatus, or may be a chip applied to the first apparatus. It is to be understood that the apparatus has any of the functions of the first apparatus in the above-described method, for example, the apparatus 600 is capable of performing the steps performed by the first apparatus in the above-described methods of fig. 2 and 4. Illustratively, the memory 630 for storing a computer program; the processor 610 may be configured to call the computer program or the instructions stored in the memory 630 to perform the method performed by the first apparatus in the above example, or perform the method performed by the first apparatus in the above example through the transceiver 620.

In one example, the apparatus 600 may be a second apparatus, or a chip applied to the second apparatus. It is to be understood that the apparatus has any of the functions of the second apparatus in the above method, for example, the apparatus 600 can perform the steps performed by the second apparatus in the above methods of fig. 2 and 4. Illustratively, the memory 630 for storing a computer program; the processor 610 may be configured to call the computer program or the instructions stored in the memory 630 to perform the method performed by the second apparatus in the above example, or perform the method performed by the second apparatus in the above example through the transceiver 620.

The processing module 510 in fig. 5 may be implemented by the processor 610.

The receiving module 520a and the transmitting module 520b in fig. 5 may be implemented by the transceiver 620. Alternatively, the transceiver 620 is divided into a receiver that performs the function of the receiving module and a transmitter that performs the function of the transmitting module.

The storage module 530 in fig. 5 may be implemented by the memory 630.

As one possible product form, an apparatus may be implemented by a general purpose processor (which may also be referred to as a chip or a system of chips).

In one possible implementation, a general-purpose processor implemented for application to a first device or a second device includes: processing circuitry (which may also be referred to as a processor); optionally, the method further includes: an input/output interface in internal connection communication with the processing circuit, a storage medium (the storage medium may also be referred to as a memory) for storing instructions executed by the processing circuit to perform the method executed by the first apparatus or the second apparatus in the above example.

The processing module 510 in fig. 5 may be implemented by a processing circuit.

The receiving module 520a and the transmitting module 520b in fig. 5 may be implemented by an input-output interface. Or, the input/output interface is divided into an input interface and an output interface, the input interface performs the function of the receiving module, and the output interface performs the function of the sending module.

The storage module 530 in fig. 5 may be implemented by a storage medium.

As a possible product form, the apparatus according to the embodiment of the present application may be implemented using: one or more FPGAs (field programmable gate arrays), PLDs (programmable logic devices), controllers, state machines, gate logic, discrete hardware components, any other suitable circuitry, or any combination of circuitry capable of performing the various functions described throughout this application.

An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a computer, the computer program can enable the computer to perform the above ranging method. Or the following steps: the computer program comprises instructions for implementing the above-described ranging method.

An embodiment of the present application further provides a computer program product, including: computer program code which, when run on a computer, causes the computer to perform the ranging method provided above.

The embodiment of the present application further provides a system for ranging, the ranging system includes: a first transpose and a second device that perform the ranging method described above.

In addition, the processor mentioned in the embodiment of the present application may be a Central Processing Unit (CPU), a baseband processor, and the baseband processor and the CPU may be integrated together or separated, and may also be a Network Processor (NP) or a combination of the CPU and the NP. The processor may further include a hardware chip or other general purpose processor. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The aforementioned PLDs may be Complex Programmable Logic Devices (CPLDs), field-programmable gate arrays (FPGAs), general Array Logic (GAL) and other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., or any combination thereof. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory referred to in the embodiments of the present application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of example, but not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), dynamic Random Access Memory (DRAM), synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), double Data Rate Synchronous Dynamic random access memory (DDR SDRAM), enhanced Synchronous SDRAM (ESDRAM), synchronous link SDRAM (SLDRAM), and Direct Rambus RAM (DR RAM). It should be noted that the memory described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

The transceiver mentioned in the embodiments of the present application may include a separate transmitter and/or a separate receiver, or may be an integrated transmitter and receiver. The transceivers may operate under the direction of a corresponding processor. Alternatively, the sender may correspond to a transmitter in the physical device, and the receiver may correspond to a receiver in the physical device.

Those of ordinary skill in the art will appreciate that the various method steps and elements described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of both, and that the steps and elements of the various embodiments have been described above generally in terms of their functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present application.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially or partially contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a second apparatus) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

"and/or" in the present application, describing an association relationship of associated objects, means that there may be three relationships, for example, a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. The plural in the present application means two or more. In addition, it is to be understood that the terms first, second, etc. in the description of the present application are used for distinguishing between the descriptions and not necessarily for describing a sequential or chronological order.

While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various changes and modifications may be made in the embodiments of the present application without departing from the spirit and scope of the embodiments of the present application. Thus, if such modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include such modifications and variations.

Claims

1. A method of ranging, comprising:

a first device receives a first ranging response signal from a second device, the first ranging response signal being generated based on a first zero correlation zone ZCZ sequence belonging to a sequence of a pre-configured plurality of ZCZ sequences;

the first device determines a distance between the first device and the second device based on the first ranging response signal.

2. The method of claim 1, wherein the plurality of ZCZ sequences are all binary sequences.

3. The method of claim 1 or 2, wherein the plurality of ZCZ sequences have perfect periodic autocorrelation properties and perfect periodic cross-correlation properties within a ZCZ interval.

4. The method of any one of claims 1-3, wherein, in the plurality of ZCZ sequences:

the length of the ZCZ interval of the ZCZ sequence with the length of 32 is 5, 9 or 17; alternatively, the first and second electrodes may be,

the length of the ZCZ interval of the ZCZ sequence with the length of 128 is 9, 17 or 33; alternatively, the first and second liquid crystal display panels may be,

the length of the ZCZ interval of the ZCZ sequence with the length of 256 is 17, 33 or 65.

5. The method of any one of claims 1-4, wherein the plurality of ZCZ sequences comprises one or more of:

8 ZCZ sequences with the length of 32 and the length of a ZCZ interval of 5;

4 ZCZ sequences with the length of 32 and the length of a ZCZ interval of 9;

2 ZCZ sequences with the length of 32 and the length of a ZCZ interval of 17;

16 ZCZ sequences with the length of 128 and the ZCZ interval length of 9;

8 ZCZ sequences with the length of 128 and the ZCZ interval length of 17;

4 ZCZ sequences with the length of 128 and the ZCZ interval length of 33;

16 ZCZ sequences with the length of 256 and the length of a ZCZ interval of 17;

8 ZCZ sequences with the length of 256 and the length of a ZCZ interval of 33;

4 ZCZ sequences with the length of 256 and the length of a ZCZ interval of 65.

6. The method of claim 4 or 5, wherein the ZCZ sequences with a length of 32 and a ZCZ interval length of 5 comprise one or more of:

-1-1-1-1-1-1-1-1-1; and/or the presence of a gas in the gas,

the ZCZ sequences with the length of 32 and the ZCZ interval length of 9 comprise one or more sequences in a table 5 in the specific embodiment of the specification; and/or the presence of a gas in the atmosphere,

the ZCZ sequences with the length of 32 and the ZCZ interval length of 17 comprise one or more sequences in Table 6 in the specific embodiment of the specification; and/or the presence of a gas in the atmosphere,

the ZCZ sequences with the length of 128 and the ZCZ interval length of 9 comprise one or more sequences in Table 4 in the specific embodiment of the specification; and/or the presence of a gas in the atmosphere,

the ZCZ sequence having a length of 128 and a ZCZ interval length of 17 includes one or more sequences in table 7 in the detailed description; and/or the presence of a gas in the gas,

the ZCZ sequences with the length of 128 and the ZCZ interval length of 33 comprise one or more sequences in Table 8 in the specific embodiment of the specification; and/or the presence of a gas in the gas,

the ZCZ sequence having a length of 256 and a ZCZ interval length of 17 includes one or more sequences in table 9 in the embodiments of the specification; and/or the presence of a gas in the gas,

the ZCZ sequence having a length of 256 and a ZCZ interval length of 33 includes one or more sequences in table 10 in the detailed embodiment of the specification; and/or the presence of a gas in the gas,

the ZCZ sequence having a length of 256 and a ZCZ interval length of 65 includes one or more sequences in table 11 in the embodiments of the specification.

7. The method of any of claims 1-6, wherein generating the first ranging response signal based on a first ZCZ sequence comprises:

8. The method according to any of claims 1-7, wherein, in the presence of a plurality of the second apparatuses, different second apparatuses transmit different first ZCZ sequences, and parameter information of the plurality of first ZCZ sequences corresponding to the plurality of second apparatuses is the same, wherein the parameter information comprises one or more of: the ZCZ interval length can support the maximum ranging delay difference and the maximum ranging range.

9. The method according to any one of claims 1-8, further comprising:

the first apparatus transmitting a first message to the second apparatus, the first message to determine whether the second apparatus supports the first ZCZ sequence;

the first device receives a second message from the second device indicating that the second device supports the first ZCZ sequence or does not support the first ZCZ sequence.

10. A ranging device, comprising: functional module for implementing a method according to any of claims 1-9.

11. A ranging apparatus comprising a processor coupled to a memory;

the memory for storing a computer program or instructions;

the processor is configured to execute part or all of the computer program or instructions in the memory, and when the part or all of the computer program or instructions is executed, to implement the method according to any one of claims 1 to 9.

12. A ranging device comprising a processor and a memory;

the memory for storing computer programs or instructions;

13. A computer-readable storage medium for storing a computer program comprising instructions for implementing the method of any one of claims 1-9.

14. A computer program product, the computer program product comprising: computer program code which, when run on a computer, causes the computer to perform the method according to any one of claims 1-9.