CN116847288A

CN116847288A - Information interaction method and related device

Info

Publication number: CN116847288A
Application number: CN202210728173.XA
Authority: CN
Inventors: 郭湛; 王康; 李卫华
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2022-03-25
Filing date: 2022-06-25
Publication date: 2023-10-03

Abstract

The application relates to a ranging and positioning scene in the field of wireless communication perception, in particular to an information interaction method and a related device, wherein the method comprises the following steps: the two communication parties (such as the first equipment and the second equipment) negotiate parameters used in the ranging process by utilizing respective narrowband communication modules (such as Wi-Fi, bluetooth, NFC, zigbee and the like), and then the two communication parties negotiate the parameters determined by the negotiation of the narrowband communication modules by utilizing the respective UWB modules to perform ranging. By adopting the embodiment of the application, the complexity of the UWB module can be reduced, and the power consumption of the UWB module can be reduced. The application is applied to a wireless personal area network system based on UWB, a perception system and a WLAN system supporting 802.11 series protocols.

Description

Information interaction method and related device

Technical Field

The present application relates to the field of wireless communications technologies, and in particular, to an information interaction method and a related device.

Background

With the development of indoor positioning technology, ultra-wideband (UWB) ranging and positioning technologies are increasingly used. Ultra Wideband (UWB) technology is a wireless carrier communication technology. The data is transmitted by utilizing non-sinusoidal narrow pulses of nanosecond level, and the impulse pulses with steep rising and falling time are modulated, so that the frequency spectrum occupied by the non-sinusoidal narrow pulses is wide, and the signal has bandwidth of gigahertz (GHz) level. The UWB has the advantages of strong multipath resolution capability, low power consumption, strong confidentiality and the like, and can realize ranging and positioning in a complex multipath environment because the UWB pulse is narrower and the radiation spectrum density is low.

In the existing UWB ranging process, not only a personal area network (personal area network, PAN) needs to be built, but also time division multiple access (time division multiple address, TDMA) time slot allocation needs to be completed, and ranging and/or positioning functions and the like need to be completed. The device for realizing the UWB technology has high complexity, needs to simultaneously consider two functions of communication and ranging, and has long working time and high power consumption.

Disclosure of Invention

The embodiment of the application provides an information interaction method and a related device, which can reduce the complexity of a UWB module and reduce the power consumption of the UWB module.

The application is described below in terms of various aspects, with the understanding that the embodiments and advantages of the various aspects below may be referenced to one another.

The technical scheme of the application is mainly applied to the ranging and positioning scene in the wireless communication sensing field. The first device of the present application comprises at least a narrowband communication module, optionally also a UWB module, and the second device comprises at least a UWB module and a narrowband communication module. UWB modules can be understood as devices or chips, etc. implementing UWB technology; accordingly, a narrowband communication module may be understood as a device or chip or the like implementing narrowband communication technologies such as near field communication, wi-Fi, bluetooth, or Zigbee (Zigbee protocol), or the like. In one device (device), the UWB module and the narrowband communication module may be different devices or chips, and of course, the UWB module and the narrowband communication module may be integrated on one device or chip.

In a first aspect, the present application provides an information interaction method, including: the narrowband communication module of the first device sends a first message for discovering the second device; the narrowband communication module of the first device sends a second message to the discovered second device, wherein the second message carries ranging parameter information and is used for ranging by the UWB module of the second device. The ranging parameter information includes various ranging parameters used in the ranging process, such as ranging character, ranging slot allocation, etc.

Optionally, the narrowband communication module of the first device acquires the ranging parameter information configured by the upper layer, or acquires the ranging parameter information from its own UWB module.

Generally, after the UWB module is awakened, not only a Personal Area Network (PAN) needs to be built, but also allocation of ranging time slots (i.e., TDMA time slots) needs to be completed, ranging and/or positioning functions need to be completed, and the like; thus leading to long operating time, high power consumption and high implementation complexity of the UWB module. The first device in the application uses the own narrow-band communication module (such as Wi-Fi, NFC, bluetooth, zigbee (Zigbee protocol) and the like) to interact or negotiate the ranging parameter information (such as ranging roles, ranging time slot allocation and the like) with the second device, so as to reduce the working time of the UWB module, reduce the power consumption, reduce the realization complexity of the UWB module and reduce the cost.

With reference to the first aspect, in one possible implementation manner, the second message is an extended broadcast frame, and the ranging parameter information is carried in a data content field of the extended broadcast frame. The extended broadcast frame further includes a data type field for indicating a type of broadcast data carried in the extended broadcast frame. The data type field is set to a reserved value, such as any one of 7 to 255, for indicating that ranging parameter information is carried in the extended broadcast frame. It will be appreciated that the narrowband communication module of the first device then transmits the second message in a broadcast manner.

According to the application, the distance measurement parameter information is sent in a broadcast mode, so that a plurality of devices can be allowed to perform distance measurement at the same time, for example, one device can perform distance measurement with a plurality of devices, or a plurality of devices can perform distance measurement with a plurality of devices, and the distance measurement efficiency can be improved.

With reference to the first aspect, in one possible implementation manner, the ranging parameter information is carried in a payload (payload) of the second message. The narrowband communication module of the first device, prior to sending the second message to the discovered second device, further comprises: the method comprises the steps that a narrowband communication module of first equipment receives an access request message sent by a narrowband communication module of second equipment, wherein the access request message is used for requesting to establish connection with the narrowband communication module of the first equipment; the narrowband communication module of the first device transmits an access response message for granting the request for the access request message. It can be appreciated that after the narrowband communication module of the second device receives the access response message, connection establishment between the narrowband communication module of the first device and the narrowband communication module of the second device is completed.

The first equipment and the second equipment of the application firstly establish connection through the respective narrowband communication modules, then negotiate to determine the ranging parameter information in the connection state, which can support one-to-one ranging, and determine the ranging parameter information in a negotiation mode of the first equipment and the second equipment, thereby being more beneficial to the two sides of ranging to acquire the information (such as the capability information) of the other side and facilitating the implementation of the subsequent ranging process.

With reference to the first aspect, in one possible implementation manner, the ranging parameter information is content included in a payload (payload) information element (information element, IE) in ranging control information (ranging control message, RCM). Illustratively, the ranging parameter information described above includes, but is not limited to, one or more of the following: ranging method, identification of ranging equipment, ranging role of ranging equipment, ranging mode, ranging frame format, ranging time slot allocation, angle measurement requirement or measurement reporting mode. The ranging method includes single-side two-way ranging (SS-TWR) and double-side two-way ranging (double-sided two way ranging, DS-TWR). The identification of the ranging device may refer to a medium access control (medium access control, MAC) address, an ID (identifier), or the like of each device participating in ranging. The ranging role of a ranging device may refer to which devices among devices participating in ranging are initiators (initiators) and which devices are respondents (respondents). Ranging modes include one or more of one device to one device ranging (i.e., one-to-one ranging), one device to multiple device ranging (i.e., one-to-many ranging), or multiple device to multiple device ranging (i.e., many-to-many ranging). The goniometric requirement can be understood as: whether there is a positioning requirement, or whether there is a requirement to measure the relative Angle (or relative orientation), or whether there is a requirement to measure the Angle-of-Arrival (AoA) horizontal Angle and AoA pitch Angle of the first device relative to the second device (or the second device relative to the first device). The measurement report mode may refer to whether the measurement (or ranging result) is transmitted from the initiator to the responder or the responder to the initiator.

With reference to the first aspect, in one possible implementation manner, after the narrowband communication module of the first device sends the second message to the discovered second device, the method further includes: the UWB module of the first device receives a first ranging frame sent by the UWB module of the second device; the UWB module of the first device transmits a second ranging frame according to the ranging parameter information.

According to the application, UWB modules of both communication parties (namely the first equipment and the second equipment) perform ranging by utilizing the ranging parameter information broadcasted or negotiated by the narrowband communication module, so that the working time of the UWB module can be reduced, and the power consumption is reduced; and the implementation complexity of the UWB module can be reduced, and the cost is reduced.

With reference to the first aspect, in one possible implementation manner, after the UWB module of the first device receives the first ranging frame sent by the UWB module of the second device, the method further includes: the narrowband communication module of the first device sends a third message, where the third message carries a first ranging result, and the first ranging result includes a receiving time of the first ranging frame and a sending time of the second ranging frame.

Optionally, before the narrowband communication module of the first device sends the second message, the method further includes: the UWB module of the first device transmits the first ranging result to the narrowband communication module of the first device.

Optionally, the first ranging result further includes reliability of a receiving time of the first ranging frame.

Optionally, when the angular requirement in the ranging parameter information is that there is a positioning requirement, that is, a relative angle (or relative azimuth) needs to be measured, the first ranging result further includes one or more of the following: the spatial positioning coordinates (x ₁ ,y ₁ ,z ₁ ) Or the relative positioning coordinates (x ₂₁ ,y ₂₁ ,z ₂₁ ) The AOA horizontal angle of the second device relative to the first device, or the AOA pitch angle of the second device relative to the first device.

With reference to the first aspect, in a possible implementation manner, after the UWB module of the first device sends the second ranging frame according to the ranging parameter information, the method further includes: the narrowband communication module of the first device receives a fourth message sent by the narrowband communication module of the second device, wherein the fourth message carries a second ranging result, and the second ranging result comprises the receiving time of the second ranging frame and the sending time of the first ranging frame.

Optionally, the second ranging result further includes reliability of the receiving time of the second ranging frame.

Optionally, when the angular requirement in the ranging parameter information is that there is a positioning requirement, that is, a relative angle (or relative azimuth) needs to be measured, the second ranging result may further include one or more of the following: the spatial positioning coordinates (x ₂ ,y ₂ ,z ₂ ) Or the relative positioning coordinates (x ₁₂ ,y ₁₂ ,z ₁₂ ) The AOA horizontal angle of the first device relative to the second device, or the AOA pitch angle of the first device relative to the second device.

In a second aspect, the present application provides an information interaction method, including: the narrowband communication module of the second device receives a first message sent by the narrowband communication module of the first device, wherein the first message is used for discovering the second device; the narrowband communication module of the second device receives a second message sent by the narrowband communication module of the first device, wherein the second message carries ranging parameter information, and the ranging parameter information is used for ranging by the UWB module of the second device.

With reference to the second aspect, in one possible implementation manner, the second message is an extended broadcast frame, and the ranging parameter information is carried in a data content field of the extended broadcast frame. The extended broadcast frame further includes a data type field for indicating a type of broadcast data carried in the extended broadcast frame. The data type field is set to a reserved value, such as any one of 7 to 255, for indicating that ranging parameter information is carried in the extended broadcast frame. It will be appreciated that the narrowband communication module of the first device then transmits the second message in a broadcast manner.

With reference to the second aspect, in one possible implementation manner, the ranging parameter information is carried in a payload (payload) of the second message. Before the narrowband communication module of the second device receives the second message sent by the narrowband communication module of the first device, the method further comprises: the narrowband communication module of the second device sends an access request message, wherein the access request message is used for requesting to establish connection with the narrowband communication module of the first device; the narrowband communication module of the second device receives an access response message sent by the narrowband communication module of the first device, where the access response message is used to grant the request of the access request message.

With reference to the second aspect, in one possible implementation manner, the ranging parameter information is content included in a payload (payload) Information Element (IE) in ranging control information (RCM). Illustratively, the ranging parameter information described above includes, but is not limited to, one or more of the following: ranging method, identification of ranging equipment, ranging role of ranging equipment, ranging mode, ranging frame format, ranging time slot allocation, angle measurement requirement or measurement reporting mode.

With reference to the second aspect, in one possible implementation manner, after the narrowband communication module of the second device receives the second message sent by the narrowband communication module of the first device, the method further includes: the narrowband communication module of the second device transmits the ranging parameter information to the UWB module of the second device.

With reference to the second aspect, in one possible implementation manner, after the narrowband communication module of the second device transmits the ranging parameter information to the UWB module of the second device, the method further includes: the UWB module of the second equipment sends a first ranging frame according to the ranging parameter information; the UWB module of the second device receives the second ranging frame transmitted by the UWB module of the first device.

With reference to the second aspect, in one possible implementation manner, after the UWB module of the second device sends the first ranging frame according to the ranging parameter information, the method further includes: the narrowband communication module of the second device receives a third message sent by the narrowband communication module of the first device, wherein the third message carries a first ranging result, and the first ranging result comprises the receiving time of the first ranging frame and the sending time of the second ranging frame.

With reference to the second aspect, in one possible implementation manner, after the UWB module of the second device receives the second ranging frame sent by the UWB module of the first device, the method further includes: the narrowband communication module of the second device sends a fourth message, where the fourth message carries a second ranging result, where the second ranging result includes a receiving time of the second ranging frame and a sending time of the first ranging frame.

Optionally, before the narrowband communication module of the second device sends the fourth message, the method further includes: the UWB module of the second device transmits the second ranging result to the narrowband communication module of the second device.

In a third aspect, the present application provides a communication apparatus, in particular a first device or a chip therein, for performing the method of the first aspect or any possible implementation of the first aspect. The communication device comprises a unit with means for performing the method of the first aspect or any possible implementation of the first aspect.

In a fourth aspect, the present application provides a communication apparatus, in particular a second device or a chip therein, for performing the method of the second aspect or any possible implementation of the second aspect. The communication device comprises a unit with means for performing the second aspect or any possible implementation of the second aspect.

In the third or fourth aspect, the communication apparatus may include a transceiver unit and a processing unit. Reference may also be made to the device embodiments shown below for a specific description of the transceiver unit and the processing unit. Advantageous effects of the above third aspect to the fourth aspect may be referred to the relevant descriptions of the above first aspect and the second aspect, and are not repeated here.

In a fifth aspect, the present application provides a communication apparatus comprising a narrowband communication circuit for performing the steps or functions etc. performed by the narrowband communication module of the first device in the first aspect or any possible implementation of the first aspect; the UWB circuit is configured to perform the steps or functions performed by the UWB module of the first device in the first aspect or any possible implementation of the first aspect. For a detailed description of narrowband communication circuits and UWB circuits reference is also made to the device embodiments shown below.

In a sixth aspect, the present application provides a communication apparatus comprising a narrowband communication circuit and a UWB circuit, the narrowband communication circuit being configured to perform the steps or functions etc. performed by the narrowband communication module of the second device in the second aspect or any possible implementation of the second aspect; the UWB circuit is configured to perform the steps or functions etc. performed by the UWB module of the second device in the second aspect or any possible implementation of the second aspect. For a detailed description of narrowband communication circuits and UWB circuits reference is also made to the device embodiments shown below.

In a seventh aspect, the present application provides a system on chip (SoC) chip, the SoC chip including a transceiver, a processor, and an internal memory and an external memory coupled to the processor, the transceiver being configured to receive and transmit messages, the processor being configured to execute program instructions stored in the internal memory and the external memory, so that the SoC chip performs the method shown in the first aspect, or any possible implementation of the first aspect, or the second aspect, or any possible implementation of the second aspect. The SoC chip may be formed by a chip, or may include a chip and other discrete devices.

In an eighth aspect, embodiments of the present application provide a computer readable storage medium for storing a computer program which, when run on a computer, causes the method of the first aspect or any of the possible implementations of the first aspect to be performed.

In a ninth aspect, embodiments of the present application provide a computer readable storage medium for storing a computer program which, when run on a computer, causes the method of the second aspect or any possible implementation of the second aspect to be performed.

In a tenth aspect, embodiments of the present application provide a computer program product comprising a computer program or computer code which, when run on a computer, causes the method of the first aspect or any of the possible implementations of the first aspect to be performed.

In an eleventh aspect, embodiments of the present application provide a computer program product comprising a computer program or computer code which, when run on a computer, causes the method of the second aspect described above or any possible implementation of the second aspect described above to be performed.

In a twelfth aspect, embodiments of the present application provide a computer program which, when run on a computer, performs the method of the first aspect or any possible implementation of the first aspect.

In a thirteenth aspect, embodiments of the present application provide a computer program which, when run on a computer, performs the method of the second aspect described above or any possible implementation of the second aspect described above.

In a fourteenth aspect, an embodiment of the present application provides a communication system, including a first device for performing the method shown in the first aspect or any possible implementation manner of the first aspect, and a second device for performing the method shown in the second aspect or any possible implementation manner of the second aspect.

In the embodiment of the present application, the two communication parties (i.e., the first device and the second device) broadcast or negotiate the parameters related to the ranging (i.e., the ranging parameter information in the present application) by using respective narrowband communication modules (such as Wi-Fi, NFC, bluetooth, zigbee (Zigbee protocol), etc.), so that the UWB modules of the two communication parties (i.e., the first device and the second device) perform the ranging by using the ranging parameter information determined by the broadcasting or negotiating; thereby reducing the working time of the UWB module and reducing the power consumption; and the implementation complexity of the UWB module can be reduced, and the cost is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the description of the embodiments will be briefly described below.

Fig. 1 is a schematic diagram of a ranging positioning system according to an embodiment of the present application;

fig. 2 is a schematic diagram of a ranging principle provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of a UWB ranging procedure provided by an embodiment of the present application;

fig. 4 is a schematic flow chart of an information interaction method according to an embodiment of the present application;

fig. 5 is a schematic diagram of a frame format of an extended broadcast frame according to an embodiment of the present application;

fig. 6 is a schematic flow chart of narrowband auxiliary wideband ranging according to an embodiment of the present application;

Fig. 7 is a schematic diagram of another flow chart of narrowband auxiliary wideband ranging provided by an embodiment of the application;

fig. 8 is a schematic flow chart of a narrowband auxiliary wideband ranging method according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a communication device according to an embodiment of the present application;

fig. 10 is another schematic structural diagram of a communication device according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a communication device 1000 according to an embodiment of the present application;

fig. 12 is a schematic structural diagram of a communication device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

The terms "first" and "second" and the like in the present application are used only to distinguish different objects and are not used to describe a particular sequence. Furthermore, the terms "comprising," "including," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion. Such as a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to the list of steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In the description of the present application, "at least one (item)" means one or more, "a plurality" means two or more, and "at least two (items)" means two or three and three or more. In addition, "and/or" is used to describe association relationships of association objects, meaning that there may be three relationships, for example, "a and/or B" may mean: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of (a) or a similar expression thereof means any combination of these items. For example, at least one (one) of a, b or c may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c".

In the present application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary," "by way of example," or "such as" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "by way of example," or "such as" is intended to present related concepts in a concrete fashion.

Elements referred to in the singular are intended to be used in the present disclosure as "one or more" rather than "one and only one" unless specifically stated otherwise.

The technical scheme provided by the application can be applied to wireless personal area networks (wireless personal area network, WPAN) based on UWB technology. The method provided by the application can be applied to the institute of electrical and electronics engineers (institute of electrical and electronics engineers, IEEE) 802.15 series of protocols, such as 802.15.4a protocol, 802.15.4z protocol or 802.15.4ab protocol, or future generation UWB WPAN standard, etc., and is not listed here. The method provided by the application can be applied to various communication systems, such as an internet of things (internet of things, ioT) system, a vehicle to X (V2X), a narrowband internet of things (narrow band internet of things, NB-IoT) system, devices in the internet of vehicles, internet of things nodes, sensors and the like in the internet of things (IoT, internet of things), intelligent cameras in smart homes, intelligent remote controllers, intelligent water meter meters, sensors and the like in smart cities. The method provided by the application can be also suitable for LTE frequency division duplex (frequency division duplex, FDD) systems, LTE time division duplex (time division duplex, TDD), universal mobile telecommunication systems (universal mobile telecommunication system, UMTS), worldwide interoperability for microwave access (worldwide interoperability for microwave access, wiMAX) communication systems, long term evolution (long term evolution, LTE) systems, fifth generation (5 th-generation, 5G) communication systems, sixth generation (6 th-generation, 6G) communication systems and the like.

Ultra Wideband (UWB) technology is a new type of wireless communication technology. The data is transmitted by utilizing non-sinusoidal narrow pulses of nanosecond level, and the impulse pulses with steep rising and falling time are modulated, so that the occupied frequency spectrum range is wide, and the signal has bandwidth of gigahertz (GHz) level. The UWB system has the advantages of wide frequency spectrum, low average power spectral density, strong multipath resolution, low power consumption, strong confidentiality and the like, and is beneficial to coexistence with other systems, thereby improving the frequency spectrum utilization rate and the system capacity. In addition, in short-range communication applications, the transmission power of an Ultra Wideband (UWB) transmitter can be typically lower than 1mW (milliwatt), and in theory, the interference generated by the Ultra Wideband (UWB) signal is only equivalent to white noise with respect to the narrowband system, which facilitates good coexistence between the ultra wideband and the existing narrowband communications. Thus, UWB systems may operate concurrently with Narrowband (NB) communication systems without interfering with each other.

Although the embodiments of the present application are mainly described by taking WPAN as an example, for example, a network applied to IEEE 802.15 series standards is described. Those skilled in the art will readily appreciate that the various aspects of the present application are amenable to extension to other networks employing a variety of standards or protocols. Such as wireless local area networks (wireless local area networks, WLAN), BLUETOOTH (BLUETOOTH), zigbee (Zigbee), near field communication (near field communication, NFC), high performance wireless LANs (High Performance Radio LAN, HIPERLAN), a wireless standard similar to the IEEE 802.11 standard, used mainly in europe, and Wide Area Networks (WANs) or other now known or later developed networks. Accordingly, the various aspects provided by the present application may be applicable to any suitable wireless network, regardless of the coverage area and wireless access protocol used.

The method provided by the application can be realized by a communication device in a wireless communication system. The communication device may be a device involved in a UWB system. For example, the communication device may include, but is not limited to, a communication server, router, switch, bridge, computer, cell phone, etc. that supports UWB technology and narrowband communication technology (including, but not limited to Wi-Fi, bluetooth, NFC, zigbee). As another example, the communication apparatus may include a User Equipment (UE) that may include various handheld devices, in-vehicle devices (e.g., automobiles or components mounted on automobiles, etc.), wearable devices, internet of things (internet of things, ioT) devices, computing devices, or other processing devices connected to wireless modems, etc., that support UWB technology and narrowband communication technology, which are not further listed herein. As another example, the communication device may include a central control point, such as a personal area network (personal area network, PAN) or PAN coordinator (coordinator), or the like. The PAN coordinator or PAN may be a mobile phone, a vehicle-mounted device, an Anchor point (Anchor), a tag (tag), or a smart home, etc. For another example, the communication device may include a chip, which may be provided in a communication server, a router, a switch, or a terminal device, etc., which are not listed here. It will be appreciated that the above description of the communication apparatus applies to the first and second devices in the present application.

In an embodiment of the present application, the communication device may include a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system layer. The hardware layer includes hardware such as a central processing unit (central processing unit, CPU), a memory management unit (memory management unit, MMU), and a memory (also referred to as a main memory). The operating system may be any one or more computer operating systems that implement business processes through processes (processes), such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a windows operating system. The application layer comprises applications such as a browser, an address book, word processing software, instant messaging software and the like. Further, the embodiment of the present application is not particularly limited to the specific structure of the execution body of the method provided by the embodiment of the present application, as long as communication can be performed by the method provided according to the embodiment of the present application by running a program in which the code of the method provided by the embodiment of the present application is recorded.

The technical scheme provided by the application can be applied to a wireless communication perceived ranging positioning scene. In the ranging positioning scene, the ranging two sides can carry out authentication and negotiation according to related protocols to establish wireless communication connection, after the wireless communication connection is established, a sending end sends a wireless ranging frame to a receiving end, the receiving end calculates the arrival time after receiving the wireless ranging frame, and replies another ranging wireless frame to the sending end. The distance between the two (i.e., the transmitting end and the receiving end) is calculated by calculating the time of flight (ToF), and the ranging process is completed.

In embodiments of the application, the term "transmission" may refer to the exchange of information within a device or chip or apparatus.

Referring to fig. 1, fig. 1 is a schematic diagram of a ranging positioning system according to an embodiment of the present application. As shown in fig. 1, the ranging positioning system includes a plurality of devices (such as device 1 and device 2 in fig. 1), each including at least a UWB module and a narrowband communication module. The UWB modules of the device 1 and the device 2 may perform positioning and/or ranging, and the narrowband communication modules of the device 1 and the device 2 may perform data transmission through a wireless link.

In the present application, UWB modules may be understood as devices, chips, systems, etc. implementing UWB technology; accordingly, a narrowband communication module may be understood as a device, chip, system, etc. implementing narrowband communication technologies, such as Wi-Fi, bluetooth, or Zigbee (Zigbee protocol), etc. In one device (device), the UWB module and the narrowband communication module may be different devices or chips, and of course, the UWB module and the narrowband communication module may also be integrated on one device or chip.

The following presents a simplified summary of some aspects, terms, or nouns involved in the application.

1. Basic principle of distance measurement

The basic principle of ranging is: the two sides of the ranging calculate the distance between them by measuring the round trip time of the message. The sending end sends a ranging frame carrying a ranging sequence, the receiving end carries out correlation operation on the ranging sequence in the received ranging frame and a locally stored sequence, and arrival time (namely t2 and t 4) is obtained according to the position of a correlation peak. Referring to fig. 2, fig. 2 is a schematic diagram of a ranging principle according to an embodiment of the present application. As shown in fig. 2, the first device transmits a ranging frame 1 at time t1, and the ranging frame 1 arrives at the second device at time t 2; the second device then sends a ranging frame 2 to the first device at time t3, the ranging frame 2 reaching the first device at time t 4.

Then, the distance d between the first device and the second device can be calculated according to the following formulas (1-1), (1-2), and (1-3):

t _RTT ＝(t4-t1)..............................................(1-2)

t _reply ＝(t3-t2).............................................(1-3)

wherein c represents the speed of light.

The specific frame format of the ranging frame mentioned in the present application is referred to the description of the existing 802.15 series protocols (such as 802.15.4a, or 802.15.4z, or 802.15.4ab), and will not be described in detail here.

2. UWB ranging process

The UWB system generally uses narrowband signals such as near field communication (near field communication, NFC), bluetooth, zigbee, wi-Fi, etc. as a drive, and wakes up the UWB module in a user demand scenario, where the waken UWB module can construct a personal area network, allocate time division multiple access (time division multiple address, TDMA) time slots, complete ranging and positioning functions, etc.

Referring to fig. 3, fig. 3 is a schematic diagram of a UWB ranging procedure according to an embodiment of the present application. Fig. 3 illustrates 2 devices, each of which includes a UWB module. As shown in fig. 3, one beacon (interval) period may include 3 periods: beacon period, ranging management period (ranging management period), ranging period (ranging period). The ranging management period includes one or more ranging contention access periods (ranging contention access period, RCAP), and one or more ranging contention free periods (ranging contention free period, RCFP). The ranging management period is also referred to as contention and non-contention slots.

The UWB ranging process shown in fig. 3 includes the following:

the UWB module in the device wakes up through bluetooth low energy (bluetooth low energy, BLE) before starting. The awakened UWB module is started using default parameters such as initialization channel number (channel number), synchronization code (preamble code), rate, etc.

After the UWB modules in the device 1 and the device 2 are awakened and started, networking and ranging are performed. In a beacon period in a beacon interval, the device 1 is defined as a coordinator (coordinator) and is responsible for transmitting beacon frames, so as to realize time synchronization of UWB Personal Area Network (PAN) and broadcasting of network parameters; after receiving the beacon frame, the device 2 joins the personal area network of the device 1 (coordinator) as required. The device 1 (coordinator) may also indicate whether a ranging management period (i.e., contention and non-contention slots) is required through a beacon frame. If a ranging management period is required (ranging management period), other devices (e.g., device n) may access the personal area network established by device 1 during this period. If the ranging management period is not required, maintaining the relevant devices in the current and personal area networks. The Ranging Contention Access Period (RCAP) may enable a device to access a network (access a personal area network), and the ranging contention free period (ranging contention free period, RCFP) is used for time slot allocation required for interaction between devices. That is, during the ranging management period, device access to the network and designated device interaction are completed.

In the ranging period (ranging period), there are a total of 4 character definitions, and the device 1 simultaneously performs a controller and an initiator, and the device 2 simultaneously performs a controller and a responder. Wherein the controller is responsible for transmitting ranging control information (ranging control message, RCM) including information of ranging roles (i.e., which devices participate in ranging as initiators and which devices participate in ranging as responders), ranging slot allocation (time slices are allocated based on TDMA), etc. Then, the initiator initiates an initial ranging frame, and the responder feeds back the ranging frame to the initiator after receiving the initial ranging frame. Each device calculates the arrival time (namely the receiving time) of the ranging frame, and broadcasts a ranging result through the UWB technology, wherein the ranging result comprises the arrival time of the ranging frame, and ranging among the devices is completed according to the ranging result. Such as calculating the distance between devices according to the above formulas (1-1), (1-2) and (1-3). And a new ranging wheel is repeatedly executed according to the steps.

Herein, a frame format of ranging control information (RCM) may be referred to a description of the related art, and will not be described in detail herein.

As can be seen from the UWB ranging process shown in fig. 3, although the UWB system wakes up the UWB module in the device by means of BLE in the scenario where the user needs, the woken-up UWB module needs to construct a personal area network, allocate TDMA time slots, and complete ranging and positioning functions, so that the UWB module has long working time and high power consumption. In addition, the awakened UWB module needs to simultaneously consider communication (such as building a personal area network, allocating TDMA time slots and the like) and ranging functions, and has high complexity.

Therefore, the embodiment of the application provides an information interaction method which is applied to a ranging and positioning scene in the field of wireless communication perception. The method completes the communication function of the UWB module (such as ranging role negotiation, allocation of TDMA time slots and the like) by means of the narrowband communication module in the equipment, and the UWB module is only responsible for the ranging function (such as receiving and transmitting ranging frames or calculating the arrival time of the ranging frames or the distance between the equipment and the like), thereby reducing the complexity of the UWB module and reducing the power consumption of the UWB module. In other words, in the method provided by the embodiment of the present application, the two communication parties (i.e., the first device and the second device) use respective narrowband communication modules (such as Wi-Fi, NFC, bluetooth, zigbee (Zigbee protocol), etc.) to interact or negotiate parameters related to ranging (including allocation of ranging time slots (referred to as TDMA time slots described above); therefore, the working time of the UWB module is reduced, and the power consumption is reduced; and the implementation complexity of the UWB module can be reduced, and the cost is reduced. Further, UWB modules of both communication parties (i.e., the first device and the second device) are responsible for ranging only.

The technical scheme provided by the application will be described in detail below with reference to more drawings.

In the present application, the same or similar parts between the various embodiments or implementations may be referred to each other unless specifically stated otherwise. In the embodiments of the present application, and the respective implementation/implementation methods in the embodiments, if there is no specific description and logic conflict, terms and/or descriptions between different embodiments, and between the respective implementation/implementation methods in the embodiments, may be consistent and may refer to each other, and technical features in the different embodiments, and the respective implementation/implementation methods in the embodiments, may be combined to form a new embodiment, implementation, or implementation method according to their inherent logic relationship. The embodiments of the present application described below do not limit the scope of the present application.

Alternatively, the first device and the second device in the present application may be different electronic devices, for example, the first device is the device 1 in fig. 1, and the second device is the device 2 in fig. 1. The first device comprises at least a narrowband communication module, optionally the first device further comprises a UWB module; the second device includes at least a UWB module and a narrowband communication module. In some embodiments, the first device and the second device may be located in different geographic locations, that is, the distance d between the first device and the second device may not be 0.

Referring to fig. 4, fig. 4 is a flow chart of an information interaction method according to an embodiment of the present application. Wherein the first device and the second device both support 802.15 series standards, such as 802.15.4a protocol, 802.15.4z protocol, or 802.15.4ab protocol, or future generation UWB WPAN standards, etc.; the first device and the second device also support narrowband communication standards, such as Wi-Fi standards (i.e., 802.11 family standards), NFC standards, bluetooth standards, zigbee, or the like.

As shown in fig. 4, the information interaction method includes, but is not limited to, the following steps:

s101, a narrowband communication module of a first device sends a first message, wherein the first message is used for discovering a second device.

Accordingly, the narrowband communication module of the second device receives the first message.

S102, the narrowband communication module of the first device sends a second message to the discovered second device, wherein the second message carries ranging parameter information, and the ranging parameter information is used for ranging by the UWB module of the second device.

Accordingly, the narrowband communication module of the second device receives the second message.

In one possible implementation, the narrowband communication module of the first device broadcasts a first message, which is used to discover the device. The device that receives the first message (for convenience of description, the device that receives the first message is referred to as the second device) may send a request message by using its own narrowband communication module, where the request message may carry information such as an identifier, an address, or a serial number of the device, and the request message may be used to request the first device to broadcast more information. After the narrowband communication module of the first device receives the request message, the first device can discover the second device according to the request message because the request message carries information such as an identifier, an address or a serial number of the second device. Since there may be a plurality of devices that receive the first message and there may be a plurality of devices that all sent the request message, the narrowband communication module of the first device may receive the plurality of request messages and thereby discover the plurality of devices.

When the user has UWB ranging positioning requirements or triggers UWB ranging positioning functions, the narrowband communication module of the first device can acquire ranging parameter information configured by an upper layer, or the narrowband communication module of the first device acquires the ranging parameter information from the UWB module of the first device. The narrowband communication module of the first device may then broadcast a second message to the discovered one or more second devices, the second message carrying the ranging parameter information therein, the ranging parameter information including various ranging parameters used in the ranging process, such as ranging roles, ranging slot assignments, etc. The ranging parameter information may be used for ranging by the UWB module of the second device, and in particular, how to perform ranging according to the ranging parameter information is described below. Wherein the second message may be an extended broadcast frame, and the ranging parameter information may be carried in a data content field of the extended broadcast frame. In other words, the narrowband communication module of the first device may pack and fill the acquired ranging parameter information into the data content field of the extended broadcast frame, and transmit the data content field in a broadcast form.

Referring to fig. 5, fig. 5 is a schematic diagram of a frame format of an extended broadcast frame according to an embodiment of the present application. As shown in fig. 5, the extended broadcast frame includes, but is not limited to, a data type field and a data content field, and optionally one or more of the following: the method comprises the steps of broadcasting frame structure indication, a local access layer identification type, an opposite access layer identification type, a local access layer identification, an analysis key identification, an opposite access layer identification, expanding broadcasting frame resource allocation information or data length. Wherein, the data content field carries the ranging parameter information, for example, the content (i.e. the ranging parameter information in the present application) included in the payload information element (information element, IE) in the ranging control information (RCM) is carried in the data content field of the extended broadcast frame. The data type field is used to indicate the type of broadcast data carried by the extended broadcast frame. When the value of the data type field is 0, it indicates that the data content field carries transmission resource configuration information. When the value of the data type field is 1, it indicates that the data content field carries transmission indicating information of the system management frame which is not started. When the value of the data type field is 2, it indicates that the data content field carries access basic information for starting the system management frame. When the value of the data type field is 3, it indicates that the data content field carries access request information. When the value of the data type field is 4, it means that the data content field carries access response information. When the value of the data type field is 5, it means that the data content field carries startup system management frame information. When the value of the data type field is 6, the data content field carries non-connection state broadcast link information. When the data type field is set to a reserved value, the data type field is set to any one of 7 to 255 (including 7 and 255) for indicating that the data type field of the extended broadcast frame carries ranging-related information, such as ranging parameter information in the present application. It should be understood that the values and meanings of other fields (referring to fields other than the data type field and the data content field) in the extended broadcast frame are referred to in the description of the prior art and are not described in detail herein.

It will be appreciated that the lengths and names of the various fields shown in fig. 5 described above are merely examples, and embodiments of the present application are not limited in this respect.

Optionally, after the narrowband communication module of each second device receives the extended broadcast frame (i.e. the second message), each second device may parse the extended broadcast frame to obtain the ranging parameter information therein. For example, in connection with the frame format shown in fig. 5, the narrowband communication module of the second device parses the extended broadcast frame, and when parsing the data type field, because the data type field is set to a value of 7-255, it can be known that the subsequent data content field carries information related to ranging (such as ranging parameter information in the present application). The narrowband communication module of the second device continues to analyze, and when the data length field is analyzed, the length of the subsequent data content field can be obtained; however, because the data content field carries the ranging parameter information, and the narrowband communication module of the second device may not be able to correctly parse the data content field, the narrowband communication module of the second device may transmit the content (i.e., the data content field) that satisfies the length indicated by the data length field after the data length field to the UWB module of the second device, and the UWB module of the second device parses the data content field to obtain the ranging parameter information carried in the data content field. The narrowband communication module of the second device parses the extended broadcast frame, which can be understood as: the second device parses the extended broadcast frame according to the narrowband communication standard. Similarly, the UWB module of the second device parses the data content field, which may be understood as: the second device parses the data content field according to the UWB standard. In other words, the second device parses the field preceding the data content field of the extended broadcast frame using the narrowband communication standard, and the second device parses the data content field of the extended broadcast frame using the UWB standard.

Alternatively, the first message and the second message may be one message, that is, the ranging parameter information may be carried in a message for discovering a device. In other words, the narrowband communication module of the first device may broadcast a message that is used to both discover the device and carry ranging parameter information.

According to the embodiment of the application, the distance measurement parameter information is sent in a broadcast mode, so that a plurality of devices can be allowed to perform distance measurement at the same time, for example, one device can perform distance measurement with a plurality of devices, or a plurality of devices can perform distance measurement with a plurality of devices, and the distance measurement efficiency can be improved.

In another possible implementation, the narrowband communication module of the first device broadcasts a first message, the first message being used to discover the device. When a device receiving the first message (this device is referred to as a second device for convenience of description) wants to establish a connection with the first device, the second device may send an access request message using its narrowband communication module, where the access request message is used to request that a connection be established with the narrowband communication module of the first device. After the narrowband communication module of the first device receives the access request message, an access response message may be sent, where the access response message is used to grant the request for the access request message. After the narrowband communication module of the second device receives the access response message, connection establishment between the narrowband communication module of the first device and the narrowband communication module of the second device is completed.

After connection establishment of the first device and the second device is completed, the first device and the second device can negotiate to determine various ranging parameters used in the ranging process through respective narrowband communication modules, namely, negotiate ranging parameter information. Illustratively, the narrowband communication module of the first device sends a second message to the second device, where the second message carries the ranging parameter information determined by the first device, where the ranging parameter information includes various ranging parameters used in the ranging process, such as ranging roles, ranging slot allocations, and the like; if the second device agrees to use the ranging parameter information carried in the second message for ranging, the narrowband communication module of the second device may reply an acknowledgement message for acknowledging the ranging parameter information carried in the second message, or the second device does not need to reply an acknowledgement message, and the UWB module of the second device performs ranging according to the ranging parameter information carried in the second message. If the second device does not agree to use the ranging parameter information carried in the second message for ranging, the narrowband communication module of the second device can send a message i carrying the ranging parameter information determined by the second device; if the first device agrees to use the ranging parameter information carried in the message i for ranging, the narrowband communication module of the first device can reply an acknowledgement message for acknowledging the ranging parameter information carried in the message i, or the first device does not need to reply an acknowledgement message, and the UWB module of the first device performs ranging according to the ranging parameter information carried in the message i. If the first device does not agree to use the ranging parameter information carried in the message i for ranging, continuing negotiation.

The ranging parameter information may be carried in a payload (payload) of the second message or the message i. The ranging parameter information determined by the first device and the second device through negotiation of the respective narrowband communication modules may be used for ranging by the UWB module of the first device and the UWB module of the second device, and for details, how to perform ranging according to the ranging parameter information is described below.

Alternatively, the ranging parameter information may be configured by an upper layer, or may be generated by a UWB module.

According to the embodiment of the application, the first equipment and the second equipment establish connection through the respective narrowband communication modules, and then negotiate to determine the ranging parameter information in the connection state, so that one-to-one ranging can be supported, the ranging parameter information is determined in a negotiation mode of the first equipment and the second equipment, the information (such as the capability information) of the other party can be better obtained by the two sides of ranging, and the implementation of a subsequent ranging process is facilitated.

Alternatively, the ranging parameter information in the above two implementations may be content included in a payload information element (information element, IE) in the ranging control information (RCM). Illustratively, the ranging parameter information includes, but is not limited to, one or more of the following: ranging method, identification of ranging equipment, ranging role of ranging equipment, ranging mode, ranging frame format, ranging time slot allocation, angle measurement requirement or measurement reporting mode. Among them, ranging methods include single-side-sided two way ranging (SS-TWR) and double-side-TWR (double-sided two way ranging, DS-TWR), and specific implementations of SS-TWR and DS-TWR are referred to in the prior art, and are not described in detail herein. The identification of the ranging device may refer to a medium access control (medium access control, MAC) address, an ID (identifier), or the like of each device participating in ranging. The ranging role of the ranging device may refer to which devices are initiator and which devices are responder among the devices participating in ranging. Ranging modes include one or more of one device to one device ranging (i.e., one-to-one ranging), one device to multiple device ranging (i.e., one-to-many ranging), or multiple device to multiple device ranging (i.e., many-to-many ranging). The goniometric requirement can be understood as: whether there is a positioning requirement, or whether there is a requirement to measure the relative Angle (or relative orientation), or whether there is a requirement to measure the Angle-of-Arrival (AoA) horizontal Angle and AoA pitch Angle of the first device relative to the second device (or the second device relative to the first device). The measurement report mode may refer to whether the measurement (or ranging result) is transmitted from the initiator to the responder or the responder to the initiator.

It can be appreciated that, in the second implementation manner of the two implementation manners, the ranging mode included in the ranging parameter information is one-to-one ranging; the identification of the ranging device comprises an identification of the first device and an identification of the second device, that is to say both the first device and the second device participate in ranging.

It can be appreciated that in a first implementation of the two implementations described above, the first device may not participate in ranging, but rather ranging between multiple second devices; the first device may not need a UWB module at this time, the ranging device includes the second device and does not include the first device. Of course, in the first implementation manner, the first device may also participate in ranging, where the first device also includes a UWB module, and the ranging device includes the first device and the second device. In the first implementation manner, the ranging mode included in the ranging parameter information may be one-to-one ranging, one-to-many ranging, or many-to-many ranging.

For convenience of description, the embodiment of the application is described below by taking one-to-one ranging between the first device and the second device in the ranging process. In other words, in the ranging procedure described below, the ranging mode in the ranging parameter information is one-to-one ranging, and the identification of the ranging device includes the identification of the first device and the identification of the second device.

Optionally, after step S102, the information interaction method further includes one or more of the following steps:

s103, the UWB module of the second device sends a first ranging frame according to the ranging parameter information.

Accordingly, the UWB module of the first device receives the first ranging frame.

S104, the UWB module of the first device sends a second ranging frame according to the ranging parameter information.

Accordingly, the UWB module of the second device receives the second ranging frame.

Optionally, if the ranging method in the ranging parameter information is SS-TWR, the UWB module of the first device and the UWB module of the second device perform ranging according to the SS-TWR method, and the SS-TWR method is specifically described in the prior art, which is not described in detail herein. If the ranging method in the ranging parameter information is DS-TWR, the UWB module of the first device and the UWB module of the second device range according to the DS-TWR method, and the DS-TWR method is specifically described in the prior art, and is not described in detail herein. For convenience of description, the embodiment of the present application will be described by taking SS-TWR as an example of the ranging method in the ranging parameter information.

Optionally, the ranging method in the ranging parameter information is SS-TWR, and the ranging mode is one-to-one ranging. If the ranging role of the ranging device in the ranging parameter information is that the second device is initiator and the first device is responder, the UWB module of the second device sends a first ranging frame on the ranging slot (i.e., a TDMA slot) determined by allocation or negotiation, where the frame format of the first ranging frame is the same as the ranging frame format in the ranging parameter information. Accordingly, the UWB module of the first device receives the first ranging frame. After the UWB module of the first device receives the first ranging frame, on one hand, the UWB module of the first device sends a second ranging frame on the ranging slot (i.e., a TDMA slot) determined by allocation or negotiation, where the frame format of the second ranging frame is the same as the ranging frame format in the ranging parameter information. On the other hand, the UWB module of the first device may parse the first ranging frame according to the ranging frame format in the ranging parameter information to obtain a ranging sequence therein; and the first device may also perform a correlation operation on the ranging sequence and a locally stored ranging sequence to obtain an arrival time (i.e., a receiving time) of the first ranging frame. It will be appreciated that the correlation operations may be performed in either a UWB module or a narrowband communication module, as the embodiments of the application are not limited in this respect. If the angular measurement requirement in the ranging parameter information is that there is a positioning requirement, that is, a relative angle (or relative azimuth) needs to be measured, the UWB module of the first device may measure the AOA horizontal angle and AOA pitch angle of the second device with respect to the first device after receiving the first ranging frame, and may obtain the spatial positioning coordinates (x ₁ ,y ₁ ,z ₁ ) Or the relative positioning coordinates (x ₂₁ ,y ₂₁ ,z ₂₁ ). It will be appreciated that measuring the AOA horizontal angle and of the second device relative to the first deviceAn AOA pitch angle, a spatial positioning coordinate (x ₁ ,y ₁ ,z ₁ ) Or acquiring the relative positioning coordinates (x ₂₁ ,y ₂₁ ,z ₂₁ ) May be performed in either UWB modules or narrowband communication modules, as embodiments of the application are not limited in this respect.

After the UWB module of the second equipment receives the second ranging frame, the second ranging frame can be analyzed according to the ranging frame format in the ranging parameter information to obtain a ranging sequence in the second ranging frame; and the second device may also perform a correlation operation on the ranging sequence and a locally stored ranging sequence to obtain an arrival time (i.e., a receiving time) of the second ranging frame. If the angular measurement requirement in the ranging parameter information is that there is a positioning requirement, that is, a relative angle (or relative azimuth) needs to be measured, the UWB module of the second device may measure the AOA horizontal angle and AOA pitch angle of the first device with respect to the second device after receiving the second ranging frame, and may obtain the spatial positioning coordinates (x ₂ ,y ₂ ,z ₂ ) Or the relative positioning coordinates (x ₁₂ ,y ₁₂ ,z ₁₂ )。

Optionally, the ranging method in the ranging parameter information is SS-TWR, and the ranging mode is one-to-one ranging. If the ranging role of the ranging device in the ranging parameter information is that the first device is initiator, the second device is responder, and the difference between the first device and the second device is initiator is that: the UWB module of the first device first transmits a second ranging frame over the allocated or negotiated ranging slot (i.e., a TDMA slot), and the UWB module of the second device replies with the first ranging frame over the allocated or negotiated ranging slot. The operation of the UWB module of the second device after receiving the second ranging frame refers to the foregoing description, which is not repeated herein. Similarly, the operation of the UWB module of the first device after receiving the first ranging frame refers to the foregoing description, and is not repeated herein.

It will be appreciated that either the first device acts as an initiator or the second device acts as an initiator, the initiator initiates one ranging frame and the responder replies with another ranging frame. It is also understood that the first device is an initiator and the second device is a responder, and the difference between the second device being an initiator and the first device being a responder is that: the execution sequence of step S103 and step S104. Illustratively, when the second device is an initiator and the first device is a responder, the execution sequence of step S103 precedes step S104; when the first device is an initiator and the second device is a responder, the execution sequence of step S103 follows step S104.

Optionally, after the first device and the second device use the respective UWB modules to exchange the ranging frames (for example, after step S104), the first device and the second device may collect the ranging results into one device for processing according to the measurement value reporting manner in the ranging parameter information, so as to obtain the direct distance between the first device and the second device. In the embodiment of the application, the reporting mode of the measured value is that the response is transmitted to the initiator.

In a possible implementation manner, if the first device is a response device and the second device is an initiator, the first device may aggregate the ranging result into the second device, and the second device determines a distance between the first device and the second device and/or a relative position of the first device and the second device according to the aggregated ranging result. Illustratively, after step S104, the narrowband communication module of the first device may send a third message, where the third message carries a first ranging result, where the first ranging result includes a time of receipt of the first ranging frame (i.e., an arrival time obtained through a correlation operation) and a time of transmission of the second ranging frame. After the narrowband communication module of the second device receives the third message, the distance between the first device and the second device may be calculated according to the above formula (1-1) to the above formula (1-3) according to the reception time of the first ranging frame, the transmission time of the second ranging frame, and the reception time of the second ranging frame. Optionally, the first ranging result may further include reliability of a reception time of the first ranging frame. The reliability of the reception time of the first ranging frame may be used to determine whether this reception time is valid or not, and whether it is authentic or not; when the receiving time of the first ranging frame is valid or trusted, the second device calculates the distance between the first device and the second device by using the receiving time of the first ranging frame, the transmitting time of the second ranging frame and the receiving time of the second ranging frame. If the reception time of the first ranging frame is invalid or not trusted, the first device and the second device may re-perform the ranging process, such as re-interacting the ranging frame, etc.; of course, the ranging parameter information may be rebroadcast or negotiated and the ranging frame may be interacted again, which is not limited in the embodiment of the present application.

Optionally, when the angular requirement in the ranging parameter information is that there is a positioning requirement, that is, a relative angle (or relative azimuth) needs to be measured, the first ranging result may further include one or more of the following: the spatial positioning coordinates (x ₁ ,y ₁ ,z ₁ ) Or the relative positioning coordinates (x ₂₁ ,y ₂₁ ,z ₂₁ ) The AOA horizontal angle of the second device relative to the first device, or the AOA pitch angle of the second device relative to the first device. After the narrowband communication module of the second device receives the third message, the narrowband communication module may further determine, according to the spatial location coordinates (x ₁ ,y ₁ ,z ₁ ) Or the relative positioning coordinates (x ₂₁ ,y ₂₁ ,z ₂₁ ) The spatial positioning coordinates (x ₂ ,y ₂ ,z ₂ ) And determining the relative position of the first device and the second device relative to the AOA horizontal angle and AOA pitch angle of the first device.

It will be appreciated that if all or part of the information included in the first ranging result is determined in the UWB module of the first device, the UWB module of the first device needs to transmit all or part of the information included in the first ranging result to the narrowband communication module of the first device before the narrowband communication module of the first device transmits the third message. For example, assuming that the reception time of the first ranging frame and the transmission time of the second ranging frame are determined in the UWB module of the first device and other information included in the first ranging result is determined in the narrowband communication module of the first device, the UWB module of the first device needs to transmit the reception time of the first ranging frame and the transmission time of the second ranging frame to the narrowband communication module of the first device.

In another possible implementation manner, if the first device is an initiator and the second device is a responder, the second device aggregates the ranging results into the first device, and the first device determines the distance between the second device and the first device and/or the relative position of the first device and the second device according to the aggregated ranging results. For example, the narrowband communication module of the second device may send a fourth message, where the fourth message carries a second ranging result, where the second ranging result includes a time of receipt of the second ranging frame (i.e., a time of arrival obtained through a correlation operation) and a time of transmission of the first ranging frame. After the narrowband communication module of the first device receives the fourth message, the distance between the first device and the second device may be calculated according to the above formula (1-1) to the above formula (1-3) according to the reception time of the first ranging frame, the transmission time of the second ranging frame, and the reception time of the second ranging frame. Optionally, the first ranging result may further include reliability of a reception time of the first ranging frame.

Optionally, when the angular requirement in the ranging parameter information is that there is a positioning requirement, that is, a relative angle (or relative azimuth) needs to be measured, the second ranging result may further include one or more of the following: the spatial positioning coordinates (x ₂ ,y ₂ ,z ₂ ) Or the relative positioning coordinates (x ₁₂ ,y ₁₂ ,z ₁₂ ) The AOA horizontal angle of the first device relative to the second device, or the AOA pitch angle of the first device relative to the second device. After the narrowband communication module of the first device receives the fourth message, the narrowband communication module may further determine, according to the spatial location coordinates (x ₂ ,y ₂ ,z ₂ ) Or the relative positioning coordinates (x ₁₂ ,y ₁₂ ,z ₁₂ ) Empty of the first deviceInter-positioning coordinates (x) ₁ ,y ₁ ,z ₁ ) And determining the relative position of the first device and the second device relative to the AOA horizontal angle and AOA pitch angle of the second device.

It will be appreciated that if all or part of the information included in the second ranging result is determined in the UWB module of the second device, the UWB module of the second device needs to transmit all or part of the information included in the second ranging result to the narrowband communication module of the second device before the narrowband communication module of the second device transmits the fourth message.

Optionally, in the embodiment of the present application, when the narrowband communication module in the device works, the UWB module may enter a sleep state, whereas when the UWB module in the device works, the narrowband communication module may enter the sleep state, so as to save power consumption. In other words, the narrowband communication modules of the first device and the second device operate in the above-described step S101 and step S102, and the UWB modules of the first device and the second device may enter the sleep state to save power consumption. When the UWB module is required to work, the UWB module may be awakened by the narrowband communication module, for example, the first device and the second device wake up their UWB modules respectively before step S103 and step S104, and after the first device and the second device wake up the UWB module, the narrowband communication modules of the first device and the second device may enter a sleep state, so as to further save power consumption. And when the narrowband communication module is required to work, the narrowband communication module is awakened. It can be seen that the embodiment of the application further saves power consumption by dormancy of one module (the narrowband communication module or the UWB module) in the device when the other module (the UWB module or the narrowband communication module) is in operation.

In the embodiment of the application, the communication parties (i.e. the first equipment and the second equipment) broadcast or negotiate the parameters related to the ranging (i.e. the ranging parameter information in the application) by utilizing the respective narrowband communication modules (such as Wi-Fi, NFC, bluetooth, zigbee (Zigbee protocol) and the like), so that the UWB modules of the communication parties (i.e. the first equipment and the second equipment) perform the ranging by utilizing the ranging parameter information determined by broadcasting or negotiating; thereby reducing the working time of the UWB module and reducing the power consumption; and the implementation complexity of the UWB module can be reduced, and the cost is reduced.

The technical solutions provided by the embodiments of the present application are described below by way of several examples. The following examples each take two devices for one-to-one ranging as an example, where the first device includes a Narrowband (NB) communication module and a UWB module, and the second device also includes a UWB module and a Narrowband (NB) communication module.

Example 1: referring to fig. 6, fig. 6 is a schematic flow chart of narrowband auxiliary wideband ranging according to an embodiment of the present application. As shown in fig. 6, the flow of narrowband-assisted wideband ranging includes, but is not limited to, the following: (1) A link is established between narrowband communication modules (denoted as NB in fig. 6) of the first device and the second device, and parameters used in the ranging process (i.e., ranging parameter information in the present application is negotiated) such as ranging role, ranging slot, ranging method, ranging frame format, etc. are negotiated through the established link. The specific implementation of the ranging parameter information is referred to in the foregoing description, and is not repeated here. (2) The narrowband communication modules of the first device and the second device wake up respective UWB modules (denoted by UWB in fig. 6) respectively, start up operation, and inform the respective UWB modules of ranging parameter information determined by negotiation of the narrowband communication modules, ready for ranging. (3) And the UWB module of the first equipment broadcasts a ranging frame to the second equipment in the allocated ranging time slot according to the ranging parameter information, and starts ranging. It can be understood that the detailed ranging procedure refers to the related descriptions in the foregoing step S103 and step S104, and is not repeated here. (4) After the first equipment and the second equipment finish ranging, respectively informing the ranging results to the respective narrowband communication modules; the narrowband communication module uses the link established before to broadcast the ranging result to inform the required equipment. The procedure for broadcasting the ranging result may refer to the related descriptions in the foregoing step S103 and step S104, which are not repeated here.

The embodiment of the application completes the establishment of the personal area network, the negotiation of the ranging parameters, the allocation of the ranging time slots and the like through the narrow-band communication modules in the two devices, and the UWB modules in the two devices are responsible for executing the ranging process (the ranging process comprises the broadcasting of the ranging frame but does not comprise the interaction of the ranging control information RCM), thereby reducing the working time of the UWB modules, and realizing the purposes of reducing the power consumption and the complexity.

Example 2: referring to fig. 7, fig. 7 is another schematic flow chart of narrowband auxiliary wideband ranging according to an embodiment of the present application. In fig. 7, bluetooth communication is taken as an example of the narrowband communication modules (denoted by NB in fig. 7) of the first device and the second device. As shown in fig. 7, the flow of narrowband assisted wideband ranging includes, but is not limited to, the following: (1) The narrowband communication module of the first device sends a broadcast frame for discovering the device; the narrowband communication module of the second device initiates a scan to scan for nearby bluetooth devices. (2) The narrowband communication module of the first device packages and fills the ranging parameter information into the data content field of the extended broadcast frame and sends out in a broadcast form. The specific frame format of the extended broadcast frame and the specific content of the ranging parameter information are referred to the related descriptions in the foregoing step S101 and step S102, and are not repeated here. (3) And after the narrowband communication module of the second equipment scans the extended broadcast frame and analyzes the ranging parameter information, the establishment of a ranging event is completed according to the ranging parameter information. (4) The first device and the second device wake up respective UWB modules (denoted by UWB in fig. 7) and issue the ranging parameter information to the respective UWB modules, respectively, in preparation for ranging. (5) And the UWB modules of the first equipment and the second equipment finish ranging according to the ranging parameter information respectively. (6) After ranging, the first device and the second device can wake up their narrowband communication modules respectively, and after waking up, the narrowband communication module of the second device sends a ranging result message frame (i.e. the fourth message in the foregoing), where the ranging result message frame includes the second ranging result; the narrowband communication module of the first device starts to receive the ranging result message frame, so that the ranging result is summarized into the first device (of course, the ranging result can also be summarized into the second device); ranging calculation between the first device and the second device is completed.

According to the embodiment of the application, parameters (namely ranging parameter information) used in the ranging process, the establishment of a personal area network and the like are informed to the two ranging parties through a broadcasting mode of the narrowband communication module; the working time of the UWB module is reduced, the power consumption is reduced, and the ranging efficiency is improved; meanwhile, the implementation complexity of the UWB module can be reduced, and the cost is reduced.

Example 3: referring to fig. 8, fig. 8 is a schematic flow chart of a narrowband auxiliary wideband ranging according to an embodiment of the present application. As shown in fig. 8, the flow of narrowband-assisted wideband ranging includes, but is not limited to, the following: (1) A narrowband communication module (denoted NB in fig. 8) of the first device transmits a broadcast frame for discovering the device; the narrowband communication module of the second device initiates a scan to scan for nearby devices. (2) The narrowband communication module of the second device sends an access request message for requesting to establish connection with the narrowband communication module of the first device; the narrowband communication module of the first device sends an access response message for granting the request for the access request message. (3) After the narrowband communication modules of the first device and the second device establish connection, the narrowband communication modules of the first device and the second device negotiate the ranging parameter information. (4) The first device and the second device wake up respective UWB modules (denoted by UWB in fig. 8) respectively, and respectively transmit the ranging parameter information determined by negotiation to the respective UWB modules, so as to prepare ranging. (5) The UWB modules of the first equipment and the second equipment finish ranging according to the ranging parameter information determined through negotiation respectively. (6) After the distance measurement is finished, the first equipment and the second equipment can wake up the narrowband communication modules of the first equipment and the second equipment respectively, and after the first equipment and the second equipment wake up, UWB modules of the first equipment and the second equipment report measurement results to the narrowband communication modules respectively; the narrowband communication module of the second device sends a ranging result message frame (i.e., the fourth message in the foregoing) including the second ranging result; the narrowband communication module of the first device starts to receive the ranging result message frame, so that the ranging result is summarized into the first device (of course, the ranging result can also be summarized into the second device); ranging calculation between the first device and the second device is completed.

The two devices of the embodiment of the application complete the establishment of a personal area network, the negotiation of ranging parameters, the allocation of ranging time slots and the like in a mode of establishing connection through a narrowband communication module; the working time of the UWB module is reduced, the power consumption is reduced, and the ranging efficiency is improved; meanwhile, the implementation complexity of the UWB module can be reduced, and the cost is reduced.

It is understood that examples 1 to 3 are not limited to ranging between two devices, but can be extended to n (n is an integer greater than or equal to 2) devices to complete ranging requirements between different devices.

The foregoing details of the method provided by the present application, and in order to facilitate implementation of the foregoing aspects of the embodiments of the present application, the embodiments of the present application further provide corresponding apparatuses or devices.

According to the method embodiment, the first device and the second device are divided into the functional modules, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated modules may be implemented in hardware or in software functional modules. It should be noted that, the division of the modules in the present application is illustrative, and is merely a logic function division, and other division manners may be implemented in practice. The first device and the second device of the embodiment of the present application will be described in detail below with reference to fig. 9 to 12.

Referring to fig. 9, fig. 9 is a schematic structural diagram of a communication device according to an embodiment of the present application. As shown in fig. 9, the communication device includes a transceiver unit 10 and a processing unit 20.

In some embodiments of the application, the communication means may be the first device shown above. I.e. the communication means shown in fig. 9 may be adapted to perform the steps or functions etc. performed by the first device in the above method embodiments.

A transceiver unit 10 for transmitting a first message for discovering a second device; the transceiver unit 10 is further configured to send a second message to the discovered second device.

Illustratively, the processing unit 20 is configured to generate a first message and a second message, and to send the first message and the second message through or by controlling the transceiver unit 10.

In a possible implementation, the transceiver unit 10 is further configured to receive an access request message and send an access response message.

Illustratively, the processing unit 20 is further configured to generate an access response message, and send the access response message through or by controlling the transceiver unit 10.

In a possible implementation, the processing unit 20 is further configured to obtain ranging parameter information.

In a possible implementation, the transceiver unit 10 is further configured to receive the first ranging frame and send the second ranging frame according to the ranging parameter information.

The processing unit 20 is further configured to generate a second ranging frame according to the ranging parameter information, and send the second ranging frame through or control the transceiver unit 10.

In a possible implementation, the transceiver unit 10 is further configured to send a third message.

The processing unit 20 is also configured to generate a third message, and to send the third message through or to control the transceiver unit 10.

In a possible implementation, the transceiver unit 10 is further configured to receive a fourth message.

It is understood that specific descriptions regarding the first message, the second message, the third message, the fourth message, the ranging parameter information, the first ranging frame, the second ranging frame, the access request message, the access response message, and the like may refer to the method embodiments shown above, and will not be described in detail herein.

It should be understood that the specific descriptions of the transceiver unit and the processing unit shown in the embodiments of the present application are merely examples, and reference may be made to the above-described method embodiments (e.g. fig. 4) for specific functions or steps performed by the transceiver unit and the processing unit, which are not described in detail herein.

Multiplexing fig. 9, in other embodiments of the application, the communication means may be the second device shown above. I.e. the communication means shown in fig. 9 may be adapted to perform the steps or functions etc. performed by the second device in the above method embodiments.

A transceiver unit 10 for receiving the first message and receiving the second message.

In a possible implementation, the transceiver unit 10 is further configured to send an access request message and receive an access response message.

Illustratively, the processing unit 20 is configured to generate an access request message, and transmit the access request message through or by controlling the transceiver unit 10.

In a possible implementation, the transceiver unit 10 is further configured to send a first ranging frame and receive a second ranging frame according to the ranging parameter information.

The processing unit 20 is further configured to generate a first ranging frame according to the ranging parameter information, and send the first ranging frame through or control the transceiver unit 10.

In a possible implementation, the transceiver unit 10 is further configured to receive a third message.

In a possible implementation, the transceiver unit 10 is further configured to send a fourth message.

Illustratively, the processing unit 20 is further configured to generate a fourth message, and send the fourth message through or to control the transceiver unit 10.

The first device and the second device according to the embodiments of the present application are described above, and possible product forms of the first device and the second device are described below. It should be understood that any form of product having the function of the first device described above with respect to fig. 9, or any form of product having the function of the second device described above with respect to fig. 9, falls within the scope of the embodiments of the present application. It should also be understood that the following description is only exemplary, and not limiting the product forms of the first device and the second device according to the embodiments of the present application.

Referring to fig. 10, fig. 10 is another schematic structural diagram of a communication device according to an embodiment of the present application. The communication means may be the first device or the second device, or a chip therein. Fig. 10 shows only the main components of the communication device. Wherein the narrowband communication circuit 100 and the UWB circuit 200 may be connected by a bus. The narrowband communication circuit 100 may be configured to perform the steps or functions of the narrowband communication module in the method embodiments described above, and the UWB circuit 200 may be configured to perform the steps or functions of the UWB module in the method embodiments described above.

In some embodiments of the present application, the communication apparatus shown in fig. 10 may be used to perform the functions of the first device in the foregoing method embodiments. The narrowband communication circuit 100 is configured to transmit a first message for discovering a second device; the narrowband communication circuit 100 is further configured to send a second message to the discovered second device, where the second message carries ranging parameter information, where the ranging parameter information is used for ranging by a UWB module of the second device.

In one possible implementation, the narrowband communication circuit 100 is further configured to receive an access request message and send an access response message, where the access request message is configured to request a connection to be established with a narrowband communication module of the first device; the access response message is used to grant the request for the access request message.

In one possible implementation, narrowband communication circuit 100 is also configured to obtain ranging parameter information from UWB circuit 200.

In one possible implementation, UWB circuit 200 is configured to receive a first ranging frame and to transmit a second ranging frame based on the ranging parameter information.

In one possible implementation, the narrowband communication circuit 100 is further configured to send a third message, where the third message carries a first ranging result, where the first ranging result includes a reception time of the first ranging frame and a transmission time of the second ranging frame.

In one possible implementation, UWB circuit 200 is also configured to transmit the first ranging result to a narrowband communication module of the first device.

In one possible implementation, the narrowband communication circuit 100 is further configured to receive a fourth message, where the fourth message carries a second ranging result, where the second ranging result includes a reception time of the second ranging frame and a transmission time of the first ranging frame.

In other embodiments of the present application, the communication apparatus shown in fig. 10 may be used to perform the functions of the second device in the foregoing method embodiments. The narrowband communication circuit 100 is configured to receive a first message, where the first message is used to discover the second device, and receive a second message, where the second message carries ranging parameter information, where the ranging parameter information is used for ranging by an ultra wideband UWB module of the second device.

In one possible implementation, the narrowband communication circuit 100 is further configured to send an access request message and receive an access response message, where the access request message is configured to request a connection to be established with a narrowband communication module of the first device; the access response message is used to grant the request for the access request message.

In one possible implementation, narrowband communication circuit 100 is also configured to transmit the ranging parameter information to UWB circuit 200.

In one possible implementation, UWB circuit 200 is configured to transmit a first ranging frame and receive a second ranging frame based on the ranging parameter information.

In one possible implementation, the narrowband communication circuit 100 is further configured to receive a third message, where the third message carries a first ranging result, where the first ranging result includes a reception time of the first ranging frame and a transmission time of the second ranging frame.

In one possible implementation, the narrowband communication circuit 100 is further configured to send a fourth message, where the fourth message carries a second ranging result, where the second ranging result includes a time of receipt of the second ranging frame and a time of transmission of the first ranging frame.

In one possible implementation, UWB circuit 200 is also configured to transmit a second ranging result to narrowband communication circuit 100.

In a possible implementation, in the communication apparatus shown in fig. 9, the processing unit 20 may be one or more processors, the transceiver unit 10 may be a transceiver, or the transceiver unit 10 may also be a transmitting unit and a receiving unit, the transmitting unit may be a transmitter, and the receiving unit may be a receiver, where the transmitting unit and the receiving unit are integrated into one device, such as a transceiver. In the embodiment of the present application, the processor and the transceiver may be coupled, etc., and the embodiment of the present application is not limited to the connection manner of the processor and the transceiver. In performing the above method, the process of sending a message (e.g., sending a first message, a second message, a third message, a fourth message, etc.) in the above method may be understood as a process of outputting the above message by a processor. Upon outputting the message, the processor outputs the message to the transceiver for transmission by the transceiver. The message may also need to be processed further after being output by the processor before reaching the transceiver. Similarly, the process of receiving a message (e.g., receiving a first message, a second message, a third message, a fourth message, etc.) in the above method may be understood as a process in which a processor receives an input of the above message. When the processor receives an incoming message, the transceiver receives the message and inputs it to the processor. Further, after the transceiver receives the message, the message may need to be further processed before being input to the processor.

Referring to fig. 11, fig. 11 is a schematic structural diagram of a communication device 1000 according to an embodiment of the present application. The communication apparatus 1000 may be a first device or a second device, or a chip therein. Fig. 11 shows only the main components of the communication device 1000. The communication device may further comprise a memory 1003, and input-output means (not shown) in addition to the processor 1001 and the transceiver 1002.

The processor 1001 is mainly used for processing communication protocols and communication data, controlling the entire communication apparatus, executing software programs, and processing data of the software programs. The memory 1003 is mainly used for storing software programs and data. The transceiver 1002 may include a control circuit and an antenna, the control circuit being mainly used for conversion of baseband signals and radio frequency signals and processing of radio frequency signals. The antenna is mainly used for receiving and transmitting radio frequency signals in the form of electromagnetic waves. Input and output devices, such as touch screens, display screens, keyboards, etc., are mainly used for receiving data input by a user and outputting data to the user.

When the communication device is powered on, the processor 1001 may read the software program in the memory 1003, interpret and execute instructions of the software program, and process data of the software program. When data needs to be transmitted wirelessly, the processor 1001 performs baseband processing on the data to be transmitted, and outputs a baseband signal to the radio frequency circuit, and the radio frequency circuit performs radio frequency processing on the baseband signal and then transmits the radio frequency signal to the outside in the form of electromagnetic waves through the antenna. When data is transmitted to the communication device, the radio frequency circuit receives a radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 1001, and the processor 1001 converts the baseband signal into data and processes the data.

In another implementation, the radio frequency circuitry and antenna may be provided separately from the processor performing the baseband processing, e.g., in a distributed scenario, the radio frequency circuitry and antenna may be in a remote arrangement from the communication device.

The processor 1001, the transceiver 1002, and the memory 1003 may be connected by a communication bus.

In one design, the communication apparatus 1000 may be configured to perform the functions of the first device in the foregoing method embodiments: processor 1001 may be configured to generate the first message sent in step S101, the second message sent in step S102, and the second ranging frame sent in step S104 in fig. 4, and/or to perform other processes for the techniques described herein; the transceiver 1002 may be used to perform step S101, step S102, step S104, etc. in fig. 4, and/or other processes for the techniques described herein.

In another design, the communication apparatus 1000 may be configured to perform the functions of the second device in the foregoing method embodiment: processor 1001 may be configured to generate the first ranging frame transmitted in step S103 in fig. 4, and/or to perform other processes for the techniques described herein; the transceiver 1002 may be used to perform step S103 in fig. 4, and/or other processes for the techniques described herein.

In either of the designs described above, a transceiver for implementing the receive and transmit functions may be included in the processor 1001. For example, the transceiver may be a transceiver circuit, or an interface circuit. The transceiver circuitry, interface or interface circuitry for implementing the receive and transmit functions may be separate or may be integrated. The transceiver circuit, interface or interface circuit may be used for reading and writing codes/data, or the transceiver circuit, interface or interface circuit may be used for transmitting or transferring signals.

In any of the above designs, the processor 1001 may store instructions, which may be a computer program, running on the processor 1001, which may cause the communication device 1000 to perform the method described in the above method embodiments. The computer program may be solidified in the processor 1001, in which case the processor 1001 may be implemented in hardware.

In one implementation, the communications apparatus 1000 can include circuitry that can implement the functions of transmitting or receiving or communicating in the foregoing method embodiments. The processors and transceivers described in the present application may be implemented on integrated circuits (integrated circuit, ICs), analog ICs, wireless radio frequency integrated circuits (radio frequency integrated circuit, RFIC), mixed signal ICs, application specific integrated circuits (application specific integrated circuit, ASIC), printed circuit boards (printed circuit board, PCB), electronics, and the like. The processor and transceiver may also be fabricated using a variety of IC process technologies such as complementary metal oxide semiconductor (complementary metal oxide semiconductor, CMOS), N-type metal oxide semiconductor (NMOS), P-type metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (bipolar junction transistor, BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

The scope of the communication device described in the present application is not limited thereto, and the structure of the communication device may not be limited by fig. 11. The communication means may be a stand-alone device or may be part of a larger device. For example, the communication device may be:

(1) A stand-alone integrated circuit IC, or chip, or a system-on-a-chip or subsystem;

(2) A set of one or more ICs, optionally including storage means for storing data, a computer program;

(3) An ASIC, such as a Modem (Modem);

(4) Modules that may be embedded within other devices;

(5) Receivers, terminals, smart terminals, cellular telephones, wireless devices, handsets, mobile units, vehicle devices, network devices, cloud devices, artificial intelligence devices, etc.;

(6) Others, and so on.

In another possible implementation, in the communication device shown in fig. 9, the processing unit 20 may be one or more logic circuits, and the transceiver unit 10 may be an input-output interface, which is also referred to as a communication interface, or an interface circuit, or an interface, or the like. Alternatively, the transceiver unit 10 may be a transmitting unit and a receiving unit, the transmitting unit may be an output interface, and the receiving unit may be an input interface, and the transmitting unit and the receiving unit are integrated into one unit, for example, the input/output interface. Referring to fig. 12, fig. 12 is a schematic structural diagram of a communication device according to an embodiment of the present application. As shown in fig. 12, the communication apparatus shown in fig. 12 includes a logic circuit 901 and an interface 902. That is, the processing unit 20 may be implemented by a logic circuit 901, and the transceiver unit 10 may be implemented by an interface 902. The logic circuit 901 may be a chip, a processing circuit, an integrated circuit, or a system on chip (SoC) chip, and the interface 902 may be a communication interface, an input/output interface, a pin, or the like. Fig. 12 exemplifies the communication device described above as a chip including a logic circuit 901 and an interface 902.

In the embodiment of the application, the logic circuit and the interface can be coupled with each other. The embodiment of the present application is not limited to the specific connection manner of the logic circuit and the interface.

Illustratively, when the communications apparatus is configured to perform a method or function or step performed by the first device in the foregoing method embodiment, the logic 901 is configured to generate a first message and a second message; an interface 902 for outputting the first message and the second message.

Illustratively, when the communications apparatus is configured to perform a method or function or step performed by the second device in the foregoing method embodiment, the interface 902 is configured to input the first message and the second message; logic 901 is configured to parse the second message to obtain ranging parameter information therein.

It will be appreciated that specific descriptions of the first message, the second message, the ranging parameter information, etc. may refer to the method embodiments shown above, and will not be described in detail here.

It may be understood that the communication device shown in the embodiment of the present application may implement the method provided in the embodiment of the present application in a hardware manner, or may implement the method provided in the embodiment of the present application in a software manner, which is not limited to this embodiment of the present application.

Reference may also be made to the above embodiments for a specific implementation of the embodiments shown in fig. 12, which are not described in detail herein.

The embodiment of the application also provides a communication device, which comprises a system on chip (SoC) chip. The SoC chip includes a transceiver, a processor coupled to the transceiver, and optionally an internal memory and an external memory coupled to the processor. The transceiver is for transceiving messages, and the processor is for executing program instructions stored in the internal memory and the external memory for causing the communication device to perform the method of the foregoing method embodiments.

The SoC is a system-on-chip, meaning that it is a product, an integrated circuit with a dedicated target, containing the entire system and having embedded software. It is also a technique to achieve the whole process from determining the system functions, to software/hardware partitioning, and to complete the design.

The embodiment of the application also provides a communication system which comprises a first device and a second device, wherein the first device and the second device can be used for executing the method in the embodiment of the method.

Furthermore, the present application provides a computer program for implementing the operations and/or processes performed by the first device in the method provided by the present application.

The present application also provides a computer program for implementing the operations and/or processes performed by the second device in the method provided by the present application.

The present application also provides a computer readable storage medium having computer code stored therein which, when run on a computer, causes the computer to perform the operations and/or processes performed by the first device in the method provided by the present application.

The present application also provides a computer readable storage medium having computer code stored therein which, when run on a computer, causes the computer to perform the operations and/or processes performed by the second device in the method provided by the present application.

The present application also provides a computer program product comprising computer code or a computer program which, when run on a computer, causes the operations and/or processes performed by the first device in the method provided by the present application to be performed.

The application also provides a computer program product comprising computer code or a computer program which, when run on a computer, causes the operations and/or processes performed by the second device in the method provided by the application to be performed.

In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.

The units described as separate units may or may not be physically separate, and units shown 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 technical effects of the scheme provided by the embodiment of the application.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a readable storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned readable storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An information interaction method, comprising:

the method comprises the steps that a narrowband communication module of a first device sends a first message, wherein the first message is used for discovering a second device;

the narrowband communication module of the first device sends a second message to the second device, wherein the second message carries ranging parameter information, and the ranging parameter information is used for ranging by the ultra wideband UWB module of the second device.

2. The method of claim 1, wherein the second message is an extended broadcast frame, and the ranging parameter information is carried in a data content field of the extended broadcast frame;

the extended broadcast frame comprises a data type field, the data type field is used for indicating the type of broadcast data carried in the extended broadcast frame, and the data type field is set to a reserved value and used for indicating that the extended broadcast frame carries the ranging parameter information.

3. The method of claim 1, wherein the ranging parameter information is carried in a payload of the second message;

before the narrowband communication module of the first device sends the second message to the discovered second device, the method further comprises:

the narrowband communication module of the first device receives an access request message sent by the narrowband communication module of the second device, wherein the access request message is used for requesting to establish connection with the narrowband communication module of the first device;

the narrowband communication module of the first device sends an access response message, where the access response message is used to grant the request of the access request message.

4. A method according to any of claims 1-3, wherein before the narrowband communication module of the first device sends a second message to the discovered second device, the method further comprises:

the narrowband communication module of the first device obtains ranging parameter information from the UWB module of the first device.

5. The method of any of claims 1-4, wherein the ranging parameter information comprises one or more of:

the method comprises a ranging method, an identification of a ranging device, a ranging role, a ranging mode, a ranging frame format, ranging time slot allocation, a ranging angle requirement or a measurement value reporting mode of the ranging device;

The ranging method comprises single-side two-way ranging and double-side two-way ranging, the ranging equipment comprises second equipment, and the ranging mode comprises one-to-one ranging, one-to-many ranging or many-to-many ranging.

6. The method of any of claims 1-5, wherein after the narrowband communication module of the first device sends a second message to the discovered second device, the method further comprises:

the UWB module of the first device receives a first ranging frame sent by the UWB module of the second device;

and the UWB module of the first equipment sends a second ranging frame according to the ranging parameter information.

7. The method of claim 6, wherein after the UWB module of the first device receives the first ranging frame transmitted by the UWB module of the second device, the method further comprises:

the narrowband communication module of the first device sends a third message, wherein the third message carries a first ranging result, and the first ranging result comprises the receiving time of the first ranging frame and the sending time of the second ranging frame.

8. The method of claim 7, wherein before the narrowband communication module of the first device transmits the second message, the method further comprises:

The UWB module of the first device transmits a first ranging result to the narrowband communication module of the first device.

9. The method of claim 7 or 8, wherein the first ranging result further comprises one or more of:

positioning coordinates, an angle of arrival, AOA, horizontal angle of arrival, of a second device relative to the first device, an AOA pitch angle of the second device relative to the first device, or reliability of a time of receipt of the first ranging frame.

10. The method of claim 6, wherein after the UWB module of the first device transmits the second ranging frame according to the ranging parameter information, the method further comprises:

the narrowband communication module of the first device receives a fourth message sent by the narrowband communication module of the second device, wherein the fourth message carries a second ranging result, and the second ranging result comprises the receiving time of the second ranging frame and the sending time of the first ranging frame.

11. The method of claim 10, wherein the second ranging result further comprises one or more of:

positioning coordinates, an AOA horizontal angle of the first device relative to a second device, an AOA pitch angle of the first device relative to the second device, or reliability of a time of receipt of the second ranging frame.

12. An information interaction method, comprising:

the method comprises the steps that a narrowband communication module of second equipment receives a first message sent by a narrowband communication module of first equipment, wherein the first message is used for discovering the second equipment;

the narrowband communication module of the second device receives a second message sent by the narrowband communication module of the first device, wherein the second message carries ranging parameter information, and the ranging parameter information is used for ranging by the ultra wideband UWB module of the second device.

13. The method of claim 12, wherein the second message is an extended broadcast frame, and the ranging parameter information is carried in a data content field of the extended broadcast frame;

14. The method of claim 12, wherein the ranging parameter information is carried in a payload of the first message;

before the narrowband communication module of the second device receives the second message sent by the narrowband communication module of the first device, the method further includes:

The narrowband communication module of the second device sends an access request message, wherein the access request message is used for requesting to establish connection with the narrowband communication module of the first device;

the narrowband communication module of the second device receives an access response message sent by the narrowband communication module of the first device, where the access response message is used to grant the request of the access request message.

15. The method according to any one of claims 12-14, wherein the ranging parameter information comprises one or more of:

16. The method of any of claims 12-15, wherein after the narrowband communication module of the second device receives the second message sent by the narrowband communication module of the first device, the method further comprises:

The narrowband communication module of the second device transmits the ranging parameter information to the UWB module of the second device.

17. The method of claim 16, wherein after the narrowband communication module of the second device transmits the ranging parameter information to the UWB module of the second device, the method further comprises:

the UWB module of the second equipment sends a first ranging frame according to the ranging parameter information;

and the UWB module of the second device receives a second ranging frame sent by the UWB module of the first device.

18. The method of claim 17, wherein after the UWB module of the second device transmits the first ranging frame according to the ranging parameter information, the method further comprises:

the narrowband communication module of the second device receives a third message sent by the narrowband communication module of the first device, wherein the third message carries a first ranging result, and the first ranging result comprises the receiving time of the first ranging frame and the sending time of the second ranging frame.

19. The method of claim 18, wherein the first ranging result further comprises one or more of:

Positioning coordinates, an angle of arrival ranging AOA horizontal angle of a second device relative to the first device, an AOA pitch angle of the second device relative to the first device, or reliability of a time of receipt of the first ranging frame.

20. The method of claim 16, wherein after the UWB module of the second device receives the second ranging frame transmitted by the UWB module of the first device, the method further comprises:

the narrowband communication module of the second device sends a fourth message, wherein the fourth message carries a second ranging result, and the second ranging result comprises the receiving time of the second ranging frame and the sending time of the first ranging frame.

21. The method of claim 20, wherein before the narrowband communication module of the second device transmits the fourth message, the method further comprises:

and the UWB module of the second device transmits a second ranging result to the narrowband communication module of the second device.

22. The method of claim 20 or 21, wherein the second ranging result further comprises one or more of:

positioning coordinates, an AOA horizontal angle of a first device relative to the second device, an AOA pitch angle of the first device relative to the second device, or reliability of a time of receipt of the second ranging frame.

23. A communication device comprising a narrowband communication circuit and a UWB circuit, wherein:

the narrowband communication circuit for performing the method of any of claims 1, 3-4, 7, 10, the UWB circuit for performing the method of any of claims 6, 8;

alternatively, the narrowband communication circuit is for performing the method of any of claims 12, 14, 16, 18, 20, and the UWB circuit is for performing the method of any of claims 17, 21.

24. A system-on-chip, characterized in that the SoC chip comprises a transceiver for transceiving messages, a processor for executing program instructions stored in the internal memory and the external memory, and an internal memory and an external memory coupled to the processor, such that the SoC chip performs the method of any of claims 1-22.

25. A communication system comprising a first device according to any of claims 1-11 and a second device according to any of claims 12-22.