WO2022011650A1 - 同步系统中的测距方法、装置、设备及可读存储介质 - Google Patents

同步系统中的测距方法、装置、设备及可读存储介质 Download PDF

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Publication number
WO2022011650A1
WO2022011650A1 PCT/CN2020/102459 CN2020102459W WO2022011650A1 WO 2022011650 A1 WO2022011650 A1 WO 2022011650A1 CN 2020102459 W CN2020102459 W CN 2020102459W WO 2022011650 A1 WO2022011650 A1 WO 2022011650A1
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WIPO (PCT)
Prior art keywords
time difference
terminal device
ranging signal
moment
terminal
Prior art date
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PCT/CN2020/102459
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English (en)
French (fr)
Inventor
赵群
Original Assignee
北京小米移动软件有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京小米移动软件有限公司 filed Critical 北京小米移动软件有限公司
Priority to PCT/CN2020/102459 priority Critical patent/WO2022011650A1/zh
Priority to EP20945446.1A priority patent/EP4184206A4/en
Priority to CN202080001607.5A priority patent/CN111989592B/zh
Priority to CN202410346487.2A priority patent/CN118068311A/zh
Priority to US18/012,905 priority patent/US20230258789A1/en
Publication of WO2022011650A1 publication Critical patent/WO2022011650A1/zh

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/08Systems for determining distance or velocity not using reflection or reradiation using radio waves using synchronised clocks
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/765Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W64/00Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/003Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W56/00Synchronisation arrangements
    • H04W56/001Synchronization between nodes
    • H04W56/0015Synchronization between nodes one node acting as a reference for the others

Definitions

  • the present disclosure relates to the field of communications, and in particular, to a ranging method, apparatus, device and readable storage medium in a synchronization system.
  • Terminal devices that support the ranging function can be controlled and operated more conveniently, and the functional modes of various application scenarios can be expanded, such as: commodity display scenarios, smart home scene, smart city scene, etc.
  • the time-based ranging methods include unilateral two-way ranging (Single Side-Two Way Ranging, SS-TWR) and bilateral two-way ranging (Double Side-Two Way Ranging, DS-TWR).
  • the embodiments of the present disclosure provide a ranging method, apparatus, device, and readable storage medium in a synchronization system, which can provide a ranging method for the synchronization system.
  • the technical solution is as follows:
  • a ranging method in a synchronization system which is applied to a first terminal device, and the method includes:
  • the first time difference is the time difference between the moment when the first terminal device sends the first ranging signal and the timing of the first terminal
  • the first time difference is used to determine the distance between the first terminal device and the second terminal device in combination with the second time difference, where the second time difference is the time when the second terminal device receives the first ranging signal.
  • the time difference between the time instant and the timing of the second terminal.
  • a ranging method in a synchronization system which is applied to a second terminal device, and the method includes:
  • the second time difference is the time difference between the moment when the second terminal device receives the first ranging signal and the timing of the second terminal
  • the second time difference is used to determine the distance between the first terminal device and the second terminal device in combination with the first time difference, where the first time difference is the difference between the time when the first terminal device sends the first ranging signal.
  • a ranging apparatus in a synchronization system which is applied to a first terminal device, and the apparatus includes:
  • a sending module configured to send the first ranging signal to the second terminal device
  • a processing module configured to determine a first time difference, where the first time difference is the time difference between the moment when the first terminal device sends the first ranging signal and the timing of the first terminal;
  • the first time difference is used to determine the distance between the first terminal device and the second terminal device in combination with the second time difference, where the second time difference is the time when the second terminal device receives the first ranging signal.
  • the time difference between the time instant and the timing of the second terminal.
  • a ranging apparatus in a synchronization system which is applied to a second terminal device, and the apparatus includes:
  • a receiving module configured to receive the first ranging signal from the first terminal device
  • a processing module configured to determine a second time difference, where the second time difference is the time difference between the moment when the second terminal device receives the first ranging signal and the timing of the second terminal;
  • the second time difference is used to determine the distance between the first terminal device and the second terminal device in combination with the first time difference, where the first time difference is the difference between the time when the first terminal device sends the first ranging signal.
  • a terminal comprising:
  • transceiver connected to the processor
  • the processor is configured to load and execute executable instructions to implement the ranging method in the synchronization system as described in the above embodiments of the present disclosure.
  • a computer-readable storage medium stores at least one instruction, at least one piece of program, code set or instruction set, the above-mentioned at least one instruction, at least one piece of program, code set or instruction set
  • the set is loaded and executed by the processor to implement the ranging method in the synchronization system as described in the above embodiments of the present disclosure.
  • a computer program product in another aspect, includes computer instructions stored in a computer-readable storage medium.
  • the processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the ranging method in the synchronization system described in any of the foregoing embodiments.
  • the first ranging signal is sent to the second terminal device through the first terminal device, and the second time difference is determined according to the time when the first ranging signal is received and the timing of the second terminal, and the second time difference is determined according to the time when the first ranging signal is sent.
  • the first time difference is determined periodically with the first terminal, so that the distance between the first terminal device and the second terminal device is determined according to the second time difference and the first time difference, and a solution for distance measurement in a synchronous system is provided.
  • FIG. 1 is a block diagram of a communication system provided by an exemplary embodiment of the present disclosure
  • Fig. 2 is the SS-TWR method that utilizes transmission time to carry out ranging in the related art
  • Fig. 3 is the DS-TWR method that utilizes transmission time to carry out ranging in the related art
  • FIG. 4 is a flowchart of a ranging method in a synchronization system provided by an exemplary embodiment of the present disclosure
  • FIG. 6 is a flowchart of a ranging method in a synchronization system described on the side of a second terminal device provided by an exemplary embodiment of the present disclosure
  • FIG. 7 is a schematic diagram of a ranging method in a synchronization system provided by an exemplary embodiment of the present disclosure
  • FIG. 8 is a schematic diagram of a ranging method in a synchronization system provided by another exemplary embodiment of the present disclosure.
  • FIG. 9 is a flowchart of a distance detection method in a synchronization system provided by another exemplary embodiment of the present disclosure.
  • FIG. 10 is a flowchart of a method for distance detection in a synchronization system provided by another exemplary embodiment of the present disclosure.
  • FIG. 11 is a flowchart of a distance detection method in a synchronization system provided by another exemplary embodiment of the present disclosure.
  • FIG. 12 is a structural block diagram of a ranging apparatus in a synchronization system provided by an exemplary embodiment of the present disclosure
  • FIG. 13 is a structural block diagram of a ranging apparatus in a synchronization system provided by another exemplary embodiment of the present disclosure.
  • FIG. 14 is a structural block diagram of a terminal provided by an exemplary embodiment of the present disclosure.
  • FIG. 15 is a structural block diagram of a network device provided by an exemplary embodiment of the present disclosure.
  • FIG. 1 shows a block diagram of a communication system provided by an exemplary embodiment of the present disclosure.
  • the communication system may include: an access network 12 and a terminal 13 .
  • the access network 12 includes several access network devices 120 .
  • the access network device 120 may be a base station, and the base station is a device deployed in an access network to provide a wireless communication function for a terminal.
  • the base station may include various forms of macro base station, micro base station, relay station, access point and so on.
  • the names of devices with base station functions may be different.
  • LTE Long Term Evolution
  • eNodeB eNodeB
  • gNodeB 5G new air interface
  • base station may be descriptive and will change.
  • the foregoing apparatuses for providing a wireless communication function for a terminal are collectively referred to as access network equipment.
  • the terminal 13 may include various handheld devices with wireless communication functions, vehicle-mounted devices, wearable devices, computing devices or other processing devices connected to the wireless modem, as well as various forms of terminals (User Equipment, UE), mobile stations (Mobile Station, MS), terminal (terminal device), etc.
  • terminals User Equipment, UE
  • mobile stations Mobile Station, MS
  • terminal device terminal device
  • the access network device 120 and the terminal 13 communicate with each other through a certain air interface technology, such as a Uu interface.
  • the terminal 13 includes: a vehicle 131 , other vehicles 132 , infrastructure 133 and pedestrians 134 .
  • Vehicle to Vehicle refers to the communication between the vehicle 131 and other vehicles 132.
  • the vehicle on the side sends the relevant information of the vehicle to the vehicle on the other side.
  • the relevant information includes the driving speed, geographic location, driving direction and driving direction. status, etc.
  • V2I Vehicle to Infrastructure refers to the communication between the vehicle 131 and the infrastructure 133, and the infrastructure 133 includes all the infrastructure encountered by the vehicle during driving, including traffic lights, bus stops, buildings, and tunnels. facility.
  • Vehicle to Pedestrian refers to the communication between the vehicle 131 and the pedestrian 134 .
  • Pedestrian generally refers to electronic devices with mobile communication capabilities carried by pedestrians, such as mobile phones and wearable devices, wherein wearable devices include smart bracelets, smart watches, and smart rings.
  • the vehicle 131 is referred to as the first terminal, and the other vehicles 132, infrastructure 133, and pedestrians 134 are referred to as the second terminal for illustration, but the roles of the two can also be interchanged, which is not limited. .
  • the above-mentioned first terminal and the second terminal are both terminals that support direct connection communication, and the above-mentioned communication system may be an NR system or a subsequent evolution system.
  • the method of using transmission time for ranging includes unilateral two-way ranging SS-TWR and bilateral two-way ranging DS-TWR.
  • FIG. 2 shows the SS-TWR method in the related art using transmission time for ranging.
  • the device 210 sends the ranging signal A to the device 220 , the device 220 feeds back the ranging signal B to the device 210 according to the ranging signal A, and the device 210 measures the time between sending the ranging signal A and receiving the ranging signal B
  • the time difference T_round the device 220 measures the time difference T_reply from receiving the ranging signal A to sending the ranging signal B.
  • the ranging signals A and T_reply can be obtained according to the time difference measurement.
  • the propagation time T_prop of the ranging signal B, and the distance between the device 210 and the device 220 is calculated according to the propagation time.
  • FIG. 3 shows a DS-TWR method of using transmission time for ranging in the related art.
  • the device 310 and the device 320 respectively initiate a unilateral two-way ranging SS-TWR, and the two devices exchange the measured values of T_round1, T_round2, T_reply1 and T_reply2, and estimate the propagation time T_prop according to the propagation time T_prop.
  • Time calculates the distance between device 310 and device 320 .
  • WiFi, Bluetooth, and UWB are all asynchronous systems based on communication technologies
  • NR systems are synchronous systems.
  • user equipment needs to synchronize with the reference synchronization source, such as: synchronization according to the downlink synchronization signal of the base station, according to Signal transmission and reception are performed at a given timing. Therefore, in the embodiment of the present disclosure, the measurement of the time difference is simplified by utilizing the characteristics of the synchronization system.
  • FIG. 4 is a flowchart of a ranging method in a synchronization system provided by an exemplary embodiment of the present disclosure. The method is applied to a first terminal device as an example for description. As shown in FIG. 4 , the method includes:
  • Step 401 Send a first ranging signal to a second terminal device.
  • the first terminal device sends the first ranging signal to the second terminal device through a direct communication link.
  • the first ranging signal is a signal sent by the first terminal device to the second terminal device, and is used to measure the distance between the first terminal device and the second terminal device.
  • the first ranging signal is a signal sent when the first terminal device receives the ranging request, for example: the first terminal device receives a service trigger signal, and the service needs to be sent to the first terminal device and the second terminal device when triggered. The distance between the terminal devices is measured, and the first terminal device sends a first ranging signal to the second terminal device.
  • the moment when the first terminal device sends the first ranging signal is the first designated moment within the sending period of the first ranging signal.
  • the first specified moment includes: the start moment of the transmission period of the first ranging signal; or, the termination moment of the transmission period of the first ranging signal; or, the peak power in the transmission period of the first ranging signal the moment of appearance.
  • the sending period refers to a time period between the moment when the first terminal device starts sending the first ranging signal through the transmitter and the moment when the first terminal device ends sending the first ranging signal.
  • the first terminal device first determines the first synchronization clock according to the synchronization reference signal.
  • the first terminal device determines the time unit according to the downlink synchronization signal sent by the network device; or, the first terminal device determines the time unit according to its own global positioning system (Global Positioning System, GPS) signal; or, the first terminal device The time unit is determined according to the direct connection synchronization signal sent by the third terminal device.
  • the third terminal includes other terminals except the first terminal.
  • the time unit includes any one of an Orthogonal Frequency Division Multiplexing (Orthogonal Frequency Division Multiplexing, OFDM) symbol, a time slot, a subframe, a radio frame, a microsecond, a millisecond, and a second, or it may be Other division granularities are not limited in this embodiment of the present disclosure.
  • the process of determining the time unit is a process of synchronizing time-frequency resources.
  • the first ranging signal is sent to the second terminal device.
  • Step 402 determining the first time difference.
  • the first time difference is a time difference between the moment when the first terminal device sends the first ranging signal and the timing of the first terminal.
  • the first time difference is used to determine the distance between the first terminal device and the second terminal device in combination with the second time difference, where the second time difference is the time between the moment when the second terminal device receives the first ranging signal and the timing of the second terminal time difference.
  • the first terminal device determines the second time difference, and determines the distance between the first terminal device and the second terminal device according to the first time difference and the second time difference. distance.
  • the first terminal device receives first ranging information sent by the second terminal device, where the first ranging information includes the second time difference.
  • the moment when the second terminal device receives the first ranging signal is the second designated moment within the receiving period of the first ranging signal.
  • the second time difference is a time difference determined according to the second designated time and the first time unit, where the second designated time is the time when the second terminal device receives the first ranging signal.
  • the second time difference is determined according to the time when the first ranging signal is received and the timing of the second terminal.
  • the second terminal device first determines the second synchronization clock according to its own synchronization reference signal.
  • the second terminal device determines the time unit according to the downlink synchronization signal sent by the network device; or, the second terminal device determines the time unit according to its own GPS signal; or, the second terminal device determines the time unit according to the direct connection sent by the fourth terminal device.
  • the synchronization signal determines the time unit.
  • the fourth terminal device includes other terminal devices except the second terminal device.
  • the time unit includes any one of an OFDM symbol, a slot, a subframe, a frame, a microsecond, a millisecond, and a second, and may also be other division granularity, which is not limited in this embodiment of the present disclosure.
  • the process of determining the time unit is a process of synchronizing time-frequency resources.
  • the first terminal device and the second terminal device determine the time unit
  • the same synchronization method may be used, or different synchronization methods may be used.
  • the first terminal device and the second terminal device can be synchronized based on the same network device, or can be synchronized based on different
  • the first terminal device performs synchronization based on the downlink synchronization signal sent by base station A
  • the second terminal device performs synchronization based on the downlink synchronization signal sent by base station B
  • the synchronization signal performs synchronization
  • the second terminal device is outside the coverage of base station A and performs synchronization according to its own GPS signal.
  • the distance detection algorithm is used to reduce the influence of the difference between the time unit synchronization on the distance calculation, that is, through the design of the distance detection algorithm, the difference between the time unit synchronization is reduced in Influence in the distance calculation process.
  • the second terminal device when receiving the first ranging signal, receives the first ranging signal based on blind detection; Ranging signal is received. For example, if the first ranging signal is pre-configured by the base station sent in the first time unit, the base station sends configuration instructions to the first terminal equipment and the second terminal equipment respectively, and the configuration instructions are used to indicate that the first ranging signal is pre-configured in the first The time unit is sent, so that when the first terminal device transmits the first ranging signal, it is sent in the first time unit, and the second terminal device detects and receives the first ranging signal in the first time unit.
  • a time and frequency resource location and transmission parameters for sending the first ranging signal are pre-agreed; the second terminal device is based on the agreed time-frequency resource location and Transmission parameters are received.
  • the first terminal device periodically sends the first ranging signal
  • the second terminal device obtains the sending cycle and the start position of the time domain cycle in advance through the base station configuration, the direct connection information configuration or the pre-configuration, and periodically measures the first ranging signal.
  • a ranging signal is received.
  • the second terminal device when it receives the first ranging signal based on blind detection, it obtains the frequency domain range information, time domain range information, and blind detection resources of blind detection in advance through base station configuration, direct connection information configuration, or preconfiguration. Information such as the starting position and period of the regional time domain, so as to realize blind detection of the first ranging signal.
  • the second specified time in the receiving period of the first ranging signal includes: the starting time of the receiving period of the first ranging signal; or, the ending time of the receiving period of the first ranging signal; or, the first The time when the peak power occurs in the receiving period of the ranging signal.
  • the first specified moment in the transmission period of the first ranging signal and the second specified moment in the reception period of the first ranging signal are moments of the same type.
  • the first specified moment in the transmission period of the first ranging signal is the start moment of the transmission period
  • the second specified moment in the reception period of the first ranging signal is the start moment of the reception period.
  • the receiving period refers to a time period between the moment when the second terminal device starts to receive the first ranging signal through the receiver and the moment when the second terminal device ends receiving the first ranging signal.
  • the first terminal timing includes the start time of the first time unit determined according to the first synchronization clock of the first terminal device; or, the end time of the first time unit; or, the specified time in the first time unit , for example: the end moment of the Cyclic Prefix (CP) in the OFDM symbol is specified in the first time unit.
  • CP Cyclic Prefix
  • the second terminal timing includes the start time of the first time unit determined according to the second synchronous clock of the second terminal device; or, the end time of the first time unit; or, the specified time in the first time unit , for example: the end moment of the CP in the OFDM symbol is specified in the first time unit.
  • the first time unit is the Lth time domain symbol in slot N
  • the first time difference is the moment when the first terminal device sends the first ranging signal, which is different from the Lth time domain symbol.
  • the first time difference is the time difference between the start time when the first terminal device sends the first ranging signal and the start time of the Lth time domain symbol.
  • the first time difference when the first time difference is 0, it means that the start moment when the first terminal device sends the first ranging signal coincides with the start moment of the first time unit (that is, the Lth time domain symbol); when the first time difference is negative
  • the first time difference when the first time difference is a positive value, it means that the start time when the first terminal device sends the first ranging signal is before the start time of the first time unit; when the first time difference is a positive value, it means that the first terminal device sends the first ranging signal
  • the start time of the signal is after the start time of the first time unit.
  • the time unit grid is based on the downlink timing of the base station, and the first ranging signal is sent at a time after the uplink timing advance (Timing Advance, TA) is adjusted.
  • Timing Advance Timing Advance
  • the transmitting terminal 510 of the ranging signal determines t_A1 according to the moment when the ranging signal is sent and the Lth symbol in slot n
  • the receiving terminal 520 determines t_A1 according to the moment when the ranging signal is received and in slot n.
  • the L-th symbol of t_B1 is determined, thereby determining the distance between the two terminals according to t_A1 and t_B1.
  • the first terminal device uses and sends other signals, such as: Physical Direct Connect Control Channel (Physical Sidelink Control Channel, PSCCH), Physical Direct Connect Shared Channel (Physical Sidelink Share Channel, PSSCH), etc. compared to higher-frequency sampling clocks, so as to obtain more accurate time measurement accuracy, that is, according to the first time difference measured by the third synchronous clock of the first terminal device, the frequency of the third synchronous clock of the first terminal device , which is higher than the frequency of the first synchronization clock of the first terminal device.
  • PSCCH Physical Direct Connect Control Channel
  • PSSCH Physical Sidelink Share Channel
  • the first time difference is determined according to the sending moment of the first ranging signal as an example for description, that is, the first time difference is measured according to the third synchronization clock of the first terminal device.
  • the first time difference may also be pre-configured, that is, the first terminal device determines the first time difference according to the configuration or pre-configuration information; optionally, the second terminal device determines the first time difference according to the configuration or pre-configuration The information determines the first time difference.
  • the first terminal device sends second ranging information to the second terminal device, where the second ranging information includes the first time difference.
  • FIG. 6 is a flowchart of the ranging method in the synchronization system described by the second terminal device side. As shown in FIG. 6 , the process includes:
  • Step 601 Receive a first ranging signal from a first terminal.
  • the detection starts from before the start position of the first time unit.
  • Step 602 determining a second time difference.
  • the second time difference is a time difference between the moment when the second terminal device receives the first ranging signal and the timing of the second terminal.
  • the second time difference is used to determine the distance between the first terminal device and the second terminal device in combination with the first time difference, where the first time difference is the time when the first terminal device sends the first ranging signal and the timing of the first terminal. time difference between.
  • the second terminal device needs to determine the distance from the first terminal device
  • the first time difference is acquired, and the distance from the first terminal device is determined according to the first time difference and the second time difference.
  • the second terminal device receives second ranging information sent by the first terminal device, where the second ranging information includes the first time difference.
  • the second terminal device sends first ranging information to the first terminal device, where the first ranging information includes the second time difference.
  • the first ranging signal is sent to the second terminal device through the first terminal device, and is determined according to the time when the first ranging signal is received and the timing of the second terminal.
  • the second time difference, the first time difference is determined according to the time when the first ranging is sent and the timing of the first terminal, so that the distance between the first terminal device and the second terminal device is determined according to the second time difference and the first time difference, and the synchronization is provided.
  • FIG. 7 it shows a schematic diagram of a ranging method provided by an exemplary embodiment of the present disclosure.
  • the first terminal device 710 sends the first measurement to the second terminal device 720 .
  • the second terminal device 720 determines the second time difference according to the received first ranging signal.
  • the first terminal device 710 sends the first ranging signal according to the preconfigured or predefined first time difference.
  • the second terminal device 720 determines the distance between the first terminal device 710 and the second terminal device 720 according to the preconfigured or predefined first time difference and the second time difference.
  • the second terminal device 720 feeds back the second time difference to the first terminal device 710, so that the first terminal device 710 determines the distance between the first terminal device 710 and the second terminal device 720 according to the second time difference and the first time difference.
  • the first time difference involved in this process is preconfigured or predefined, and the involved ranging is unidirectional ranging, that is, only the first terminal device needs to send the first ranging signal to the second terminal device unidirectionally.
  • FIG. 8 which shows a schematic diagram of a ranging method provided by another exemplary embodiment of the present disclosure
  • the first terminal device 810 sends the first terminal device 820 to the second terminal device 820
  • the second terminal device 820 determines the second time difference according to the received first ranging signal.
  • the first terminal device 810 determines the first time difference according to the transmission of the first ranging signal.
  • the second terminal device 820 feeds back the second time difference to the first terminal device 810, so that the first terminal device 810 determines the distance between the first terminal device 810 and the second terminal device 820 according to the second time difference and the first time difference.
  • the first terminal device 810 sends the first time difference to the second terminal device 820, so that the second terminal device determines the distance between the first terminal device 810 and the second terminal device 820 according to the second time difference and the first time difference.
  • the first time difference involved in this process is determined by the first terminal device 810 according to the transmission of the first ranging signal, and the involved ranging is unidirectional ranging, that is, only the one-way
  • the second terminal device sends the first ranging signal.
  • the distance detection between the first terminal device and the second terminal device is implemented by a unilateral two-way ranging method.
  • FIG. 9 is a middle distance in a synchronization system provided by another exemplary embodiment of the present disclosure.
  • the flowchart of the detection method, as shown in 9, the method includes:
  • Step 901 the first terminal device sends a first ranging signal to the second terminal device.
  • the first terminal device first determines the first synchronization clock according to its own synchronization reference signal.
  • the first terminal device sends the first ranging signal to the second terminal device through the direct communication link.
  • the first ranging signal is used to measure the distance between the first terminal device and the second terminal device.
  • Step 902 the second terminal device receives the first ranging signal from the first terminal device.
  • the second terminal device first determines the second synchronization clock according to its own synchronization reference signal. It is worth noting that when the first terminal device and the second terminal device determine the first synchronization clock and the second synchronization clock, the same synchronization method may be used, or different synchronization methods may be used.
  • Step 903 the first terminal device determines the first time difference.
  • the first time difference is a time difference between the moment when the first terminal device sends the first ranging signal and the timing of the first terminal.
  • Step 904 the second terminal device determines the second time difference.
  • the second time difference is a time difference between the moment when the second terminal device receives the first ranging signal and the timing of the second terminal.
  • Step 905 the second terminal device sends a second ranging signal to the first terminal device.
  • the second terminal device sends the second ranging signal to the first terminal device through a direct communication link.
  • the second ranging signal is a signal sent to the first terminal device when the second terminal device receives the first ranging signal.
  • the second ranging signal is used to complete the ranging between the first terminal device and the second terminal device through unidirectional bilateral ranging in combination with the first ranging signal.
  • the moment when the second terminal device sends the second ranging signal is a third designated moment within the sending period of the second ranging signal.
  • the third specified moment on the second ranging signal includes: the start moment of the sending period of the second ranging signal; or, the ending moment of the sending period of the second ranging signal; or, the The moment when the peak power occurs during the transmission period.
  • Step 906 the first terminal device receives a second ranging signal from the second terminal device.
  • Step 907 the first terminal device determines a third time difference.
  • the third time difference is a time difference between the moment when the first terminal device receives the second ranging signal and the timing of the third terminal.
  • the third terminal timing includes a start time, an end time or a specified time in the second time unit of the second time unit determined according to the first synchronization clock of the first terminal device.
  • Step 908 the second terminal device determines a fourth time difference.
  • the fourth time difference is a time difference between the moment when the second terminal device sends the second ranging signal and the timing of the fourth terminal.
  • the fourth terminal timing includes a start time, an end time or a designated time in the second time unit of the second time unit determined according to the second synchronization clock of the second terminal device.
  • the moment when the first terminal device receives the second ranging signal is a fourth designated moment within the receiving period of the second ranging signal.
  • the fourth specified time includes: the start time of the receiving period of the second ranging signal; or, the ending time of the receiving period of the second ranging signal; or, the occurrence of peak power within the receiving period of the second ranging signal time.
  • the third specified moment in the transmission period of the second ranging signal and the fourth specified moment in the reception period of the second ranging signal are moments of the same type.
  • Step 909 the first terminal device sends the first time difference and the third time difference to the second terminal device.
  • the second terminal device when it needs to perform distance detection, it receives second ranging information sent by the first terminal device, where the second ranging information includes the first time difference and the third time difference.
  • the first terminal device may directly send the values of the first time difference and the third time difference, or may send the difference between the first time difference and the third time difference.
  • Step 910 the second terminal device sends the second time difference and the fourth time difference to the first terminal device.
  • the first terminal device when it needs to perform distance detection, it receives first ranging information sent by the second terminal device, where the first ranging information includes the second time difference and the fourth time difference.
  • the second terminal device may directly send the values of the second time difference and the fourth time difference, or may send the difference between the second time difference and the fourth time difference.
  • Step 911 the first terminal device determines the distance between the first terminal device and the second terminal device according to the first time difference, the second time difference, the third time difference and the fourth time difference.
  • Step 912 the second terminal device determines the distance between the first terminal device and the second terminal device according to the first time difference, the second time difference, the third time difference and the fourth time difference.
  • the first ranging signal is sent by the first terminal device to the second terminal device at the lth symbol of the nth slot
  • the second ranging signal is sent by the second terminal device at the kth symbol of the mth slot. to the first terminal device.
  • the first terminal device obtains the first time difference t1 of the first ranging signal and the fourth time difference t4 of the second ranging signal
  • the second terminal device obtains the second time difference t2 of the first ranging signal and the first time difference t2 of the second ranging signal.
  • Three time difference t3 Since the time units used for the transmission of the first ranging signal and the second ranging signal are known to the sending and receiving user equipment, the Reply time and the Round trip time can be calculated according to the time difference.
  • RD_time (m-n) ⁇ T_slot+(k-l) ⁇ T_symbol-(t1+t4);
  • T_slot is the duration of a slot
  • T_symbol is the duration of a symbol
  • the propagation delay is calculated as:
  • T_prop (t1+t2+t3+t4)/2;
  • the distance between the two terminals can be predicted according to Reply_time, RD_time and T_prop.
  • the distance detection between the first terminal device and the second terminal device is implemented by a bilateral two-way ranging method, and the distance between the first terminal device and the second terminal device is performed by sending three ranging signals.
  • 10 is a flowchart of a distance detection method in a synchronization system provided by another exemplary embodiment of the present disclosure. As shown in 10, the method includes:
  • Step 1001 a first terminal device sends a first ranging signal to a second terminal device.
  • the first terminal device first determines the first synchronization clock according to its own synchronization reference signal.
  • the first terminal device sends the first ranging signal to the second terminal device through the direct communication link.
  • the first ranging signal is used to measure the distance between the first terminal device and the second terminal device.
  • Step 1002 the second terminal device receives the first ranging signal from the first terminal device.
  • the second terminal device first determines the second synchronization clock according to its own synchronization reference signal. It is worth noting that when the first terminal device and the second terminal device determine the first synchronization clock and the second synchronization clock, the same synchronization method may be used, or different synchronization methods may be used.
  • Step 1003 the first terminal device determines the first time difference.
  • the first time difference is a time difference between the moment when the first terminal device sends the first ranging signal and the timing of the first terminal.
  • Step 1004 the second terminal device determines the second time difference.
  • the second time difference is a time difference between the moment when the second terminal device receives the first ranging signal and the timing of the second terminal.
  • Step 1005 the second terminal device sends a second ranging signal to the first terminal device.
  • the moment when the second terminal device sends the second ranging signal is a third designated moment within the sending period of the second ranging signal.
  • the third specified moment on the second ranging signal includes: the start moment of the sending period of the second ranging signal; or, the ending moment of the sending period of the second ranging signal; or, the The moment when the peak power occurs during the transmission period.
  • Step 1006 the first terminal device receives the second ranging signal.
  • Step 1007 the first terminal device determines a third time difference.
  • the third time difference is a time difference between the moment when the first terminal device receives the second ranging signal and the timing of the third terminal.
  • Step 1008 the second terminal device determines a fourth time difference.
  • the fourth time difference is a time difference between the moment when the second terminal device sends the second ranging signal and the timing of the fourth terminal.
  • the moment when the first terminal device receives the second ranging signal is a fourth designated moment within the receiving period of the second ranging signal.
  • the fourth specified moment includes: the start moment of the receiving period of the second ranging signal; or, the ending moment of the receiving period of the second ranging signal; or, the peak power in the receiving period of the second ranging signal the moment of appearance.
  • the third specified moment in the transmission period of the second ranging signal and the fourth specified moment in the reception period of the second ranging signal are moments of the same type.
  • Step 1009 the first terminal device sends a third ranging signal to the second terminal device.
  • the first terminal device after sending the first ranging signal, the first terminal device sends a third ranging signal; or, after receiving the second ranging signal, the first terminal device sends a third ranging signal.
  • the moment when the first terminal device sends the third ranging signal is the fifth designated moment within the sending period of the third ranging signal.
  • the fifth specified moment on the third ranging signal includes: the start moment of the sending period of the third ranging signal; or, the ending moment of the sending period of the third ranging signal; or, the The moment when the peak power occurs during the transmission period.
  • Step 1010 the second terminal device receives a third ranging signal.
  • Step 1011 the first terminal device determines a fifth time difference.
  • the fifth time difference is a time difference between the moment when the first terminal device sends the third ranging signal and the timing of the fifth terminal.
  • the fifth terminal timing includes a start time, an end time or a specified time in the third time unit determined according to the first synchronization clock of the first terminal device.
  • Step 1012 the second terminal device determines a sixth time difference.
  • the sixth time difference is a time difference between the moment when the second terminal device receives the third ranging signal and the timing of the sixth terminal.
  • the sixth terminal timing includes a start time, an end time or a specified time in the second time unit of the third time unit determined according to the second synchronization clock of the second terminal device.
  • the moment when the second terminal device receives the third ranging signal is a sixth designated moment within the receiving period of the third ranging signal.
  • the sixth specified moment includes: the start moment of the receiving period of the third ranging signal; or, the ending moment of the receiving period of the third ranging signal; or, the peak power in the receiving period of the third ranging signal the moment of appearance.
  • the fifth specified moment in the transmission period of the third ranging signal and the sixth specified moment in the reception period of the third ranging signal are moments of the same type.
  • Step 1013 the first terminal device sends the first time difference, the third time difference and the fifth time difference to the second terminal device.
  • the second terminal device when it needs to perform distance detection, it receives second ranging information sent by the first terminal device, where the second ranging information includes the first time difference, the third time difference, and the fifth time difference.
  • the first terminal device may directly send the numerical values of the first time difference, the third time difference, and the fifth time difference, or may send the first time difference and the third time difference. at least two of the difference between the third time difference and the fifth time difference; and the difference between the first time difference and the fifth time difference.
  • Step 1014 the second terminal device sends the second time difference, the fourth time difference and the sixth time difference to the first terminal device.
  • the first terminal device when it needs to perform distance detection, it receives first ranging information sent by the second terminal device, where the first ranging information includes the second time difference, the fourth time difference, and the sixth time difference.
  • the second terminal device may directly send the numerical values of the second time difference, the fourth time difference, and the sixth time difference, or may send the second time difference and the fourth time difference. at least two of the difference between the fourth time difference and the sixth time difference; and the difference between the second time difference and the sixth time difference.
  • Step 1015 the first terminal device determines the distance between the first terminal device and the second terminal device according to the second time difference, the first time difference, the third time difference, the fourth time difference, the fifth time difference and the sixth time difference.
  • Step 1016 the second terminal device determines the distance between the first terminal device and the second terminal device according to the second time difference, the first time difference, the third time difference, the fourth time difference, the fifth time difference and the sixth time difference.
  • the distance detection between the first terminal device and the second terminal device is implemented by a bilateral two-way ranging method, and the distance between the first terminal device and the second terminal device is performed by sending four ranging signals.
  • 11 is a flowchart of a distance detection method in a synchronization system provided by another exemplary embodiment of the present disclosure. As shown in 11, the method includes:
  • Step 1101 The first terminal device sends a first ranging signal to the second terminal device.
  • the first terminal device first determines the first synchronization clock according to its own synchronization reference signal.
  • the first terminal device sends the first ranging signal to the second terminal device through the direct communication link.
  • the first ranging signal is used to measure the distance between the first terminal device and the second terminal device.
  • Step 1102 the second terminal device receives the first ranging signal from the first terminal device.
  • the second terminal device first determines the second synchronization clock according to its own synchronization reference signal. It is worth noting that when the first terminal device and the second terminal device determine the first synchronization clock and the second synchronization clock, the same synchronization method may be used, or different synchronization methods may be used.
  • Step 1103 the first terminal device determines the first time difference.
  • the first time difference is a time difference between the moment when the first terminal device sends the first ranging signal and the timing of the first terminal.
  • Step 1104 the second terminal device determines the second time difference.
  • the second time difference is a time difference between the moment when the second terminal device receives the first ranging signal and the timing of the second terminal.
  • Step 1105 the second terminal device sends a second ranging signal to the first terminal device.
  • the second terminal device sends the second ranging signal to the first terminal device through a direct communication link.
  • the second ranging signal is a signal sent to the first terminal device when the second terminal device receives the first ranging signal.
  • the second ranging signal is used to complete the ranging between the first terminal device and the second terminal device through unidirectional bilateral ranging in combination with the first ranging signal.
  • Step 1106 the first terminal device receives a second ranging signal from the second terminal device.
  • Step 1107 the first terminal device determines a third time difference.
  • the third time difference is a time difference between the moment when the first terminal device receives the second ranging signal and the timing of the third terminal.
  • Step 1108 the second terminal device determines a fourth time difference.
  • the fourth time difference is a time difference between the moment when the second terminal device sends the second ranging signal and the timing of the fourth terminal.
  • Step 1109 the first terminal device sends a third ranging signal to the second terminal device.
  • the moment when the first terminal device sends the third ranging signal is the fifth designated moment within the sending period of the third ranging signal.
  • the fifth specified moment on the third ranging signal includes: the start moment of the sending period of the third ranging signal; or, the ending moment of the sending period of the third ranging signal; or, the The moment when the peak power occurs during the transmission period.
  • Step 1110 the second terminal device receives a third ranging signal from the first terminal device.
  • Step 1111 the first terminal device determines a fifth time difference.
  • the fifth time difference is a time difference between the moment when the first terminal device sends the third ranging signal and the timing of the fifth terminal.
  • Step 1112 the second terminal device determines a sixth time difference.
  • the sixth time difference is a time difference between the moment when the second terminal device receives the third ranging signal and the timing of the sixth terminal.
  • Step 1113 the second terminal device sends a fourth ranging signal to the second terminal device.
  • the second terminal device sends a fourth ranging signal to the first terminal device through a direct communication link.
  • the fourth ranging signal is a signal sent to the first terminal device when the second terminal device receives the third ranging signal.
  • the moment when the second terminal device sends the fourth ranging signal is a seventh designated moment in the sending period of the fourth ranging signal.
  • the seventh specified time on the fourth ranging signal includes: the start time of the sending period of the fourth ranging signal; or, the ending time of the sending period of the fourth ranging signal; or, the The moment when the peak power occurs during the transmission period.
  • Step 1114 the first terminal device receives a fourth ranging signal from the second terminal device.
  • Step 1115 the first terminal device determines a seventh time difference.
  • the seventh time difference is a time difference between the moment when the first terminal device receives the fourth ranging signal and the timing of the seventh terminal.
  • the seventh terminal timing includes a start time, an end time or a designated time in the fourth time unit determined according to the first synchronization clock of the first terminal device.
  • Step 1116 the second terminal device determines an eighth time difference.
  • the eighth time difference is a time difference between the moment when the second terminal device sends the fourth ranging signal and the timing of the eighth terminal.
  • the eighth terminal timing includes a start time, an end time or a designated time in the fourth time unit determined according to the second synchronization clock of the second terminal device.
  • the moment when the first terminal device receives the fourth ranging signal is an eighth designated moment within the receiving period of the fourth ranging signal.
  • the eighth specified time includes: the start time of the receiving period of the fourth ranging signal; or, the ending time of the receiving period of the fourth ranging signal; or, the peak power in the receiving period of the fourth ranging signal the moment of appearance.
  • the seventh specified moment in the sending period of the fourth ranging signal and the eighth specified moment in the receiving period of the fourth ranging signal are moments of the same type.
  • Step 1117 The first terminal device sends the first time difference, the third time difference, the fifth time difference and the seventh time difference to the second terminal device.
  • the second terminal device when it needs to perform distance detection, it receives second ranging information sent by the first terminal device, where the second ranging information includes the first time difference, the third time difference, the fifth time difference, and the seventh time difference. .
  • the first terminal device may directly send the numerical values of the first time difference, the third time difference, the fifth time difference, and the seventh time difference, or may Send the difference between the first time difference and the third time difference; the difference between the fifth time difference and the seventh time difference.
  • Step 1118 the second terminal device sends the second time difference, the fourth time difference, the sixth time difference and the eighth time difference to the first terminal device.
  • the first terminal device when it needs to perform distance detection, it receives first ranging information sent by the second terminal device, where the first ranging information includes the second time difference, the fourth time difference, the sixth time difference, and the eighth time difference. .
  • the second terminal device may directly send the numerical values of the second time difference, the fourth time difference, the sixth time difference, and the eighth time difference, or may Send the difference between the second time difference and the fourth time difference; the difference between the sixth time difference and the eighth time difference.
  • Step 1119 the first terminal device determines the difference between the first terminal device and the second terminal device according to the first time difference, the second time difference, the third time difference, the fourth time difference, the fifth time difference, the sixth time difference, the seventh time difference and the eighth time difference. distance between.
  • Step 1120 the second terminal device determines the difference between the first terminal device and the second terminal device according to the first time difference, the second time difference, the third time difference, the fourth time difference, the fifth time difference, the sixth time difference, the seventh time difference and the eighth time difference. distance between.
  • FIG. 12 is a structural block diagram of a ranging apparatus in a synchronization system provided by an exemplary embodiment of the present disclosure, which is applied to a first terminal device. As shown in FIG. 12 , the apparatus includes:
  • the sending module 1210 is configured to send the first ranging signal to the second terminal device
  • the processing module 1220 is configured to determine a first time difference, where the first time difference is the time difference between the moment when the first terminal device sends the first ranging signal and the timing of the first terminal;
  • the first time difference is used to determine the distance between the first terminal device and the second terminal device in combination with the second time difference, where the second time difference is the time when the second terminal device receives the first ranging signal.
  • the time difference between the time instant and the timing of the second terminal.
  • the processing module 1220 is further configured to acquire the second time difference; determine the difference between the first terminal device and the second time difference according to the second time difference and the first time difference Distance between end devices.
  • the moment when the first terminal device sends the first ranging signal is a first designated moment within the sending period of the first ranging signal
  • the moment when the second terminal device receives the first ranging signal is a second designated moment within a receiving period of the first ranging signal.
  • the first specified moment in the transmission period of the first ranging signal includes:
  • the peak power occurrence moment in the transmission period of the first ranging signal is the peak power occurrence moment in the transmission period of the first ranging signal.
  • the first specified moment in the transmission period of the first ranging signal and the second specified moment in the reception period of the first ranging signal are moments of the same type.
  • the first terminal timing includes a start time, an end time of a first time unit, or a time within the first time unit determined according to a first synchronization clock of the first terminal device. specified time.
  • the processing module 1220 is further configured to determine the first synchronization clock according to the synchronization reference signal.
  • the processing module 1220 is further configured to determine the time unit according to the downlink synchronization signal sent by the network device;
  • the processing module 1220 is further configured to determine the time unit according to the GPS signal
  • the processing module 1220 is further configured to determine the time unit according to the direct connection synchronization signal sent by the third terminal device.
  • the processing module 1220 is further configured to determine the first time difference according to configuration or pre-configuration information; or,
  • the processing module 1220 is further configured to measure the first time difference according to the third synchronous clock of the first terminal device.
  • the frequency of the third synchronization clock of the first terminal device is higher than the frequency of the first synchronization clock of the first terminal device.
  • the apparatus further includes:
  • the receiving module 1230 is configured to receive first ranging information sent by the second terminal device, where the first ranging information includes the second time difference.
  • the sending module 1210 is further configured to send second ranging information to the second terminal device, where the second ranging information includes the first time difference.
  • the apparatus further includes:
  • a receiving module 1230 configured to receive a second ranging signal from the second terminal device
  • the processing module 1220 is further configured to determine a third time difference, where the third time difference is the time difference between the moment when the first terminal device receives the second ranging signal and the timing of the third terminal;
  • the third time difference is used to combine the first time difference, the second time difference and the fourth time difference to determine the distance between the first terminal device and the second terminal device, and the fourth time difference is the first time difference.
  • the time difference between the moment when the second terminal device sends the second ranging signal and the timing of the fourth terminal.
  • the sending module 1210 is further configured to send a third ranging signal to the second terminal device;
  • the processing module 1220 is further configured to determine a fifth time difference, where the fifth time difference is the time difference between the moment when the first terminal device sends the third ranging signal and the timing of the fifth terminal;
  • the fifth time difference is used to combine the first time difference, the second time difference, the third time difference, the fourth time difference, and the sixth time difference to determine the difference between the first terminal device and the second terminal device
  • the sixth time difference is the time difference between the moment when the second terminal device receives the third ranging signal and the timing of the sixth terminal.
  • the apparatus further includes:
  • a receiving module 1230 configured to receive a fourth ranging signal from the second terminal device
  • the processing module 1220 is further configured to determine a seventh time difference, where the seventh time difference is the time difference between the moment when the first terminal device receives the fourth ranging signal and the timing of the seventh terminal;
  • the seventh time difference is used to combine the first time difference, the second time difference, the third time difference, the fourth time difference, the fifth time difference, the sixth time difference and the eighth time difference to determine the the distance between the first terminal device and the second terminal device, and the eighth time difference is the time difference between the moment when the second terminal device sends the fourth ranging signal and the timing of the eighth terminal.
  • FIG. 13 is a structural block diagram of a ranging apparatus in a synchronization system provided by an exemplary embodiment of the present disclosure, which is applied to a second terminal device. As shown in FIG. 13 , the apparatus includes:
  • a receiving module 1310 configured to receive a first ranging signal from a first terminal device
  • the processing module 1320 is configured to determine a second time difference, where the second time difference is the time difference between the moment when the second terminal device receives the first ranging signal and the timing of the second terminal;
  • the second time difference is used to determine the distance between the first terminal device and the second terminal device in combination with the first time difference, where the first time difference is the difference between the time when the first terminal device sends the first ranging signal.
  • the processing module 1320 is further configured to acquire the first time difference; determine the difference between the first terminal device and the second time difference according to the second time difference and the first time difference Distance between end devices.
  • the moment when the first terminal device sends the first ranging signal is a first designated moment within the sending period of the first ranging signal
  • the moment when the second terminal device receives the first ranging signal is a second designated moment within a receiving period of the first ranging signal.
  • the first specified moment in the transmission period of the first ranging signal includes:
  • the peak power occurrence moment in the transmission period of the first ranging signal is the peak power occurrence moment in the transmission period of the first ranging signal.
  • the first specified moment in the transmission period of the first ranging signal and the second specified moment in the reception period of the first ranging signal are moments of the same type.
  • the timing of the second terminal includes a start time, an end time of the first time unit, or a specified time in the first time unit determined according to the second synchronization clock of the second terminal.
  • the processing module 1320 is further configured to determine the second synchronization clock according to the synchronization reference signal.
  • the processing module 1320 is further configured to determine the time unit according to the downlink synchronization signal sent by the network device;
  • the processing module 1320 is further configured to determine the time unit according to the GPS signal
  • the processing module 1320 is further configured to determine the time unit according to the direct connection synchronization signal sent by the fourth terminal device.
  • the processing module 1320 is further configured to determine the first time difference according to configuration or pre-configuration information.
  • the processing module 1320 is further configured to measure the second time difference according to a fourth synchronous clock of the second terminal device.
  • the frequency of the fourth synchronization clock of the second terminal device is higher than the frequency of the second synchronization clock of the second terminal device.
  • the receiving module 1310 is further configured to receive second ranging information sent by the first terminal, where the second ranging information includes the first time difference.
  • the apparatus further includes:
  • the sending module 1330 is configured to send first ranging information to the first terminal device, where the first ranging information includes the second time difference.
  • the apparatus further includes:
  • a sending module 1330 configured to send a second ranging signal to the first terminal device
  • the processing module 1320 is further configured to determine a fourth time difference, where the fourth time difference is the time difference between the moment when the second terminal device sends the second ranging signal and the timing of the fourth terminal;
  • the fourth time difference is used to combine the first time difference, the second time difference, and the third time difference to determine the distance between the first terminal device and the second terminal device, and the third time difference is the first time difference.
  • the time difference between the moment when a terminal device receives the second ranging signal and the timing of the third terminal.
  • the receiving module 1310 is further configured to receive a third ranging signal from the first terminal device
  • the processing module 1320 is further configured to determine a sixth time difference, where the sixth time difference is the time difference between the moment when the second terminal device receives the third ranging signal and the timing of the sixth terminal;
  • the sixth time difference is used to combine the first time difference, the second time difference, the third time difference, the fourth time difference, and the fifth time difference to determine the distance between the first terminal device and the second terminal device
  • the fifth time difference is the time difference between the moment when the first terminal device sends the third ranging signal and the timing of the fifth terminal.
  • the apparatus further includes:
  • a sending module 1330 configured to send a fourth ranging signal to the first terminal device
  • the processing module 1320 is further configured to determine an eighth time difference, where the eighth time difference is the time difference between the moment when the second terminal device sends the fourth ranging signal and the timing of the eighth terminal;
  • the seventh time difference is used to combine the first time difference, the second time difference, the third time difference, the fourth time difference, the fifth time difference, the sixth time difference and the seventh time difference to determine the the distance between the first terminal device and the second terminal device, and the seventh time difference is the time difference between the moment when the first terminal device receives the fourth ranging signal and the timing of the seventh terminal.
  • FIG. 14 shows a schematic structural diagram of a terminal provided by an exemplary embodiment of the present disclosure.
  • the terminal includes: a processor 1401 , a receiver 1402 , a transmitter 1403 , a memory 1404 and a bus 1405 .
  • the processor 1401 includes one or more processing cores, and the processor 1401 executes various functional applications and information processing by running software programs and modules.
  • the receiver 1402 and the transmitter 1403 may be implemented as a communication component, which may be a communication chip.
  • the memory 1404 is connected to the processor 1401 through the bus 1405 .
  • the memory 1404 may be configured to store at least one instruction, and the processor 1401 may be configured to execute the at least one instruction to implement the various steps in the above method embodiments.
  • memory 1404 may be implemented by any type or combination of volatile or non-volatile storage devices including, but not limited to, magnetic or optical disks, electrically erasable programmable Read Only Memory (Electrically Erasable Programmable Read Only Memory, EEPROM), Erasable Programmable Read Only Memory (EPROM), Static Random-Access Memory (SRAM), Read Only Memory (Read Only Memory, ROM), magnetic memory, flash memory, programmable read only memory (Programmable Read Only Memory, PROM).
  • volatile or non-volatile storage devices including, but not limited to, magnetic or optical disks, electrically erasable programmable Read Only Memory (Electrically Erasable Programmable Read Only Memory, EEPROM), Erasable Programmable Read Only Memory (EPROM), Static Random-Access Memory (SRAM), Read Only Memory (Read Only Memory, ROM), magnetic memory, flash memory, programmable read only memory (Programmable Read Only Memory, PROM).
  • volatile or non-volatile storage devices including, but not limited to, magnetic or optical disk
  • a non-transitory computer-readable storage medium including instructions such as a memory including instructions, is also provided, and the instructions can be executed by the processor of the terminal to complete the above-mentioned device switching method executed by the terminal side.
  • the non-transitory computer-readable storage medium may be a ROM, a random access memory (Random Access Memory, RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
  • a non-transitory computer-readable storage medium when an instruction in the non-transitory computer storage medium is executed by a processor of a terminal, enables the terminal to execute the ranging method in the synchronization system.
  • FIG. 15 is a block diagram of a network device 1500 according to an exemplary embodiment.
  • the network device 1500 is a base station.
  • the network device 1500 includes: a processor 1501 , a receiver 1502 , a transmitter 1503 and a memory 1504 .
  • the receiver 1502, the transmitter 1503 and the memory 1504 are respectively connected to the processor 1501 through a bus.
  • the processor 1501 includes one or more processing cores, and the processor 1501 executes the method performed by the network device in the device switching method provided by the embodiment of the present disclosure by running software programs and modules.
  • Memory 1504 may be used to store software programs and modules. Specifically, the memory 1504 can store the operating system 1541 and an application program module 1542 required for at least one function.
  • the receiver 1502 is used for receiving communication data sent by other devices, and the transmitter 1503 is used for sending communication data to other devices.
  • a non-transitory computer-readable storage medium when the instructions in the non-transitory computer storage medium are executed by a processor of a network device, enable the network device to execute the ranging method in the above synchronization system.
  • An exemplary embodiment of the present disclosure also provides a communication system, the system includes: a terminal and a network device;
  • the terminal includes the ranging device in the synchronization system provided in the embodiment shown in FIG. 12 or 13 .
  • An exemplary embodiment of the present disclosure also provides a communication system, the communication system includes: a terminal and a network device;
  • the terminal includes the terminal provided by the embodiment shown in FIG. 14;
  • the network device includes the network device provided by the embodiment shown in FIG. 15 .
  • An exemplary embodiment of the present disclosure further provides a computer-readable storage medium, where at least one instruction, at least one piece of program, code set or instruction set is stored in the computer-readable storage medium, the at least one instruction, the At least one piece of program, the code set or the instruction set is loaded and executed by the processor to implement the steps executed by the terminal or the access network device in the ranging method in the synchronization system provided by the above method embodiments.
  • references herein to "a plurality” means two or more.
  • "And/or" which describes the association relationship of the associated objects, means that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone.
  • the character “/” generally indicates that the associated objects are an "or" relationship.

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Abstract

本公开提供了一种同步系统中的测距方法、装置、设备及可读存储介质,涉及通信领域。该方法包括:向第二终端发送第一测距信号;确定第一时间差,第一时间差为第一终端设备发送第一测距信号的时刻与第一终端定时之间的时间差;第一时间差用于结合第二时间差,确定第一终端设备和第二终端设备之间的距离,第二时间差为第二终端设备接收第一测距信号的时刻与第二终端定时之间的时间差。在同步系统中,通过第一终端设备向第二终端设备发送第一测距信号,并根据接收第一测距信号的时刻与第二终端定时确定第二时间差,根据发送第一测距的时刻与第一终端定时确定第一时间差,从而根据第二时间差和第一时间差确定第一终端设备和第二终端设备之间的距离。

Description

同步系统中的测距方法、装置、设备及可读存储介质 技术领域
本公开涉及通信领域,特别涉及一种同步系统中的测距方法、装置、设备及可读存储介质。
背景技术
当前基于用户设备之间距离和角度的应用正在快速发展中,支持测距功能的终端设备可以更方便的进行控制和操作,且可以扩展各应用场景的功能模式,如:商品展示场景、智能家居场景、智慧城市场景等。
相关技术中,使用用户之间的直连通信链路进行距离和角度测量已在无线保真网络WiFi、超宽带(Ultra Wide Band,UWB)、蓝牙等局与通信技术中实现,其中,利用传输时间进行测距的方法包括单边双向测距(Single Side-Two Way Ranging,SS-TWR)和双边双向测距(Double Side-Two Way Ranging,DS-TWR)。
然而,WiFi、UWB和蓝牙等局域通信技术都是非同步系统,而针对如NR系统的同步系统,尚不存在距离测量的方法对两个终端设备之间的距离进行确定。
发明内容
本公开实施例提供了一种同步系统中的测距方法、装置、设备及可读存储介质,能够针对同步系统提供测距的方法。所述技术方案如下:
一方面,提供了一种同步系统中的测距方法,应用于第一终端设备中,所述方法包括:
向第二终端设备发送第一测距信号;
确定第一时间差,所述第一时间差为所述第一终端设备发送所述第一测距信号的时刻与第一终端定时之间的时间差;
所述第一时间差用于结合第二时间差,确定所述第一终端设备和第二终端设备之间的距离,所述第二时间差为所述第二终端设备接收所述第一测距信号的时刻与第二终端定时之间的时间差。
另一方面,提供了一种同步系统中的测距方法,应用于第二终端设备中, 所述方法包括:
从第一终端设备接收第一测距信号;
确定第二时间差,所述第二时间差为所述第二终端设备接收所述第一测距信号的时刻与第二终端定时之间的时间差;
所述第二时间差用于结合第一时间差,确定第一终端设备和第二终端设备之间的距离,所述第一时间差为所述第一终端设备发送所述第一测距信号的时刻与第一终端定时之间的时间差。
另一方面,提供了一种同步系统中的测距装置,应用于第一终端设备中,所述装置包括:
发送模块,被配置为向第二终端设备发送第一测距信号;
处理模块,被配置为确定第一时间差,所述第一时间差为所述第一终端设备发送所述第一测距信号的时刻与第一终端定时之间的时间差;
所述第一时间差用于结合第二时间差,确定所述第一终端设备和第二终端设备之间的距离,所述第二时间差为所述第二终端设备接收所述第一测距信号的时刻与第二终端定时之间的时间差。
另一方面,提供了一种同步系统中的测距装置,应用于第二终端设备中,所述装置包括:
接收模块,被配置为从第一终端设备接收第一测距信号;
处理模块,被配置为确定第二时间差,所述第二时间差为所述第二终端设备接收所述第一测距信号的时刻与第二终端定时之间的时间差;
所述第二时间差用于结合第一时间差,确定第一终端设备和第二终端设备之间的距离,所述第一时间差为所述第一终端设备发送所述第一测距信号的时刻与第一终端定时之间的时间差。
另一方面,提供了一种终端,该终端包括:
处理器;
与处理器相连的收发器;
用于存储所述处理器的可执行信令的存储器;
其中,处理器被配置为加载并执行可执行指令以实现如上述本公开实施例所述的同步系统中的测距方法。
另一方面,提供了一种计算机可读存储介质,该计算机可读存储介质中存储有至少一条指令、至少一段程序、代码集或指令集,上述至少一条指令、至 少一段程序、代码集或指令集由处理器加载并执行以实现如上述本公开实施例所述的同步系统中的测距方法。
另一方面,提供了一种计算机程序产品,该计算机程序产品包括计算机指令,该计算机指令存储在计算机可读存储介质中。计算机设备的处理器从计算机可读存储介质读取该计算机指令,处理器执行该计算机指令,使得该计算机设备执行上述实施例中任一所述的同步系统中的测距方法。
本公开实施例提供的技术方案带来的有益效果至少包括:
在同步系统中,通过第一终端设备向第二终端设备发送第一测距信号,并根据接收第一测距信号的时刻与第二终端定时确定第二时间差,根据发送第一测距的时刻与第一终端定时确定第一时间差,从而根据第二时间差和第一时间差确定第一终端设备和第二终端设备之间的距离,提供了在同步系统中进行测距的方案。
附图说明
为了更清楚地说明本公开实施例中的技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本公开的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1是本公开一个示例性实施例提供的通信系统的框图;
图2是相关技术中利用传输时间进行测距的SS-TWR方法;
图3是相关技术中利用传输时间进行测距的DS-TWR方法;
图4是本公开一个示例性实施例提供的同步系统中的测距方法的流程图;
图5是本公开一个示例性实施例提供的测距过程的流程图;
图6是本公开一个示例性实施例提供的第二终端设备侧进行说明的同步系统中的测距方法流程图;
图7是本公开一个示例性实施例提供的同步系统中的测距方法的示意图;
图8是本公开另一个示例性实施例提供的同步系统中的测距方法的示意图;
图9是本公开另一个示例性实施例提供的同步系统中距离检测方法的流程图;
图10是本公开另一个示例性实施例提供的同步系统中距离检测方法的流程 图;
图11是本公开另一个示例性实施例提供的同步系统中距离检测方法的流程图;
图12是本公开一个示例性实施例提供的同步系统中的测距装置的结构框图;
图13是本公开另一个示例性实施例提供的同步系统中的测距装置的结构框图;
图14是本公开一个示例性实施例提供的终端的结构框图;
图15是本公开一个示例性实施例提供的网络设备的结构框图。
具体实施方式
为使本公开的目的、技术方案和优点更加清楚,下面将结合附图对本公开实施方式作进一步地详细描述。
图1示出了本公开一个示意性实施例提供的通信系统的框图,该通信系统可以包括:接入网12和终端13。
接入网12中包括若干个接入网设备120。接入网设备120可以是基站,所述基站是一种部署在接入网中用以为终端提供无线通信功能的装置。基站可以包括各种形式的宏基站,微基站,中继站,接入点等等。在采用不同的无线接入技术的系统中,具备基站功能的设备的名称可能会有所不同,例如在长期演进(Long Term Evolution,LTE)系统中,称为eNodeB或者eNB;在5G新空口(New Radio,NR)系统中,称为gNodeB或者gNB。随着通信技术的演进,“基站”这一名称可能描述,会变化。为方便本公开实施例中,上述为终端提供无线通信功能的装置统称为接入网设备。
终端13可以包括各种具有无线通信功能的手持设备、车载设备、可穿戴设备、计算设备或连接到无线调制解调器的其他处理设备,以及各种形式的终端(User Equipment,UE),移动台(Mobile Station,MS),终端(terminal device)等等。为方便描述,上面提到的设备统称为终端。接入网设备120与终端13之间通过某种空口技术互相通信,例如Uu接口。
在本公开实施例中,终端13包括:车辆131、其它车辆132、基础设施133和行人134。
车辆对车辆(Vehicle to Vehicle,V2V)是指车辆131与其它车辆132之间的通信,本方车辆将本方的相关信息发送给对方车辆,相关信息包括行驶速度、地理位置、行驶方向和行驶状态等。
车辆对基础设施(Vehicle to Infrastructure,V2I)是指车辆131与基础设施133之间的通信,基础设施133包括车辆行驶过程中遇到的所有基础设施,包括红绿灯、公交站、大楼和隧道等建筑设施。
车辆对行人(Vehicle to Pedestrian,V2P)是指车辆131与行人134之间的通信。行人(Pedestrian)泛指行人携带的具有移动通信能力的电子设备,比如,手机和可穿戴设备,其中,可穿戴设备包括智能手环、智能手表和智能戒指等。
在本公开实施例中,将车辆131称为第一终端,将其它车辆132、基础设施133和行人134称为第二终端来举例说明,但是两者也可以互换角色,对此不加以限定。
可选地,上述第一终端和第二终端均为支持直连通信的终端,上述通信系统可以是NR系统及后续演进系统。
相关技术中,在WiFi、UWB、蓝牙等局域通信系统中,利用传输时间进行测距的方法包括单边双向测距SS-TWR和双边双向测距DS-TWR。
示意性的,请参考图2,其示出了相关技术中利用传输时间进行测距的SS-TWR方法。如图2所示,设备210向设备220发送测距信号A,设备220根据测距信号A向设备210反馈测距信号B,设备210测量从发送测距信号A到接收测距信号B之间的时间差T_round,设备220测量从接收到测距信号A到发送测距信号B之间的时间差T_reply,设备210和设备220交换时间差T_round和时间差T_reply后,即可根据时间差测量得到测距信号A和测距信号B的传播时间T_prop,并根据传播时间计算设备210和设备220之间的距离。
示意性的,请参考图3,其示出了相关技术中利用传输时间进行测距的DS-TWR方法。如图3所示,设备310和设备320分别发起一次单边双向测距SS-TWR,两个设备之间交换T_round1、T_round2、T_reply1和T_reply2的测量值,据此估计传播时间T_prop,并根据传播时间计算设备310和设备320之间的距离。
然而,WiFi、蓝牙和UWB等根据与通信技术都是非同步系统,而NR系统为同步系统,在NR系统中,用户设备需要与参考同步源同步,如:根据基站下 行的同步信号进行同步,按照给定的定时进行信号发送和接收,因此,本公开实施例中,利用同步系统的特点,对时间差的测量进行简化。
图4是本公开一个示例性实施例提供的同步系统中的测距方法的流程图,以该方法应用于第一终端设备中为例进行说明,如图4所示,该方法包括:
步骤401,向第二终端设备发送第一测距信号。
可选地,第一终端设备通过直连通信链路向第二终端设备发送第一测距信号。
可选地,第一测距信号为第一终端设备向第二终端设备发送的信号,用于测量第一终端设备和第二终端设备之间的距离。
可选地,第一测距信号为第一终端设备接收到测距请求时发送的信号,如:第一终端设备接收到业务触发信号,该业务在触发时需要对第一终端设备和第二终端设备之间的距离进行测量,则第一终端设备向第二终端设备发送第一测距信号。
可选地,第一终端设备发送第一测距信号的时刻为第一测距信号的发送时段内的第一指定时刻。
可选地,第一指定时刻包括:第一测距信号的发送时段的开始时刻;或,第一测距信号的发送时段的终止时刻;或,第一测距信号的发送时段内的峰值功率出现时刻。
可选地,发送时段是指第一终端设备通过发射器开始发送第一测距信号的时刻,到第一终端设备结束发送第一测距信号的时刻之间的时间段。
可选地,第一终端设备首先按照同步参考信号确定第一同步时钟。
示意性的,第一终端设备根据网络设备发送的下行同步信号确定时间单元;或,第一终端设备根据自身的全球定位系统(Global Positioning System,GPS)信号确定时间单元;或,第一终端设备根据第三终端设备发送的直连同步信号确定时间单元。其中,第三终端包括除第一终端以外的其他终端。
可选地,时间单元包括正交频分复用(Orthogonal Frequency Division Multiplexing,OFDM)符号、时隙slot、子帧subframe、无线帧frame、微秒、毫秒、秒中的任意一种,也可以是其他划分粒度,本公开实施例对此不加以限定。可选地,确定时间单元的过程为进行时频资源同步的过程。
可选地,在确定时间单元后,向第二终端设备发送第一测距信号。
步骤402,确定第一时间差。
可选地,第一时间差为第一终端设备发送第一测距信号的时刻与第一终端定时之间的时间差。
第一时间差用于结合第二时间差,确定第一终端设备和第二终端设备之间的距离,其中,第二时间差为第二终端设备接收第一测距信号的时刻与第二终端定时之间的时间差。
可选地,响应于第一终端设备需要获取与第二终端设备之间的距离信息,则第一终端设备确定第二时间差,并根据第一时间差和第二时间差确定与第二终端设备之间的距离。可选地,第一终端设备接收第二终端设备发送的第一测距信息,该第一测距信息中包括第二时间差。
第二终端设备接收第一测距信号的时刻为第一测距信号的接收时段内的第二指定时刻。
可选地,第二时间差为根据第二指定时刻与第一时间单元确定的时间差,其中,第二指定时刻为第二终端设备接收第一测距信号的时刻。
也即,第二终端设备接收到第一测距信号时,根据接收第一测距信号的时刻与第二终端定时,确定第二时间差。
可选地,第二终端设备首先根据自身的同步参考信号确定第二同步时钟。示意性的,第二终端设备根据网络设备发送的下行同步信号确定时间单元;或,第二终端设备根据自身的GPS信号确定时间单元;或,第二终端设备根据第四终端设备发送的直连同步信号确定时间单元。其中,第四终端设备包括除第二终端设备以外的其他终端设备。
可选地,时间单元包括OFDM符号、slot、subframe、frame、微秒、毫秒、秒中的任意一种,也可以是其他划分粒度,本公开实施例对此不加以限定。可选地,确定时间单元的过程为进行时频资源同步的过程。
值得注意的是,第一终端设备和第二终端设备在确定时间单元时,可以采用相同的同步方式,也可以采用不同的同步方式。可选地,当第一终端设备和第二终端设备都采用网络设备发送的下行同步信号确定时间单元时,第一终端设备和第二终端设备可以基于同一个网络设备进行同步,也可以基于不同的网络设备进行同步,如:第一终端设备基于基站A发送的下行同步信号进行同步,第二终端设备基于基站B发送的下行同步信号进行同步;或,第一终端设备基于基站A发送的下行同步信号进行同步,第二终端设备在基站A的覆盖范围之 外,根据自身GPS信号进行同步。
当第一终端设备和第二终端设备采用不同的同步方式确定时间单元时,第一终端设备和第二终端设备之间的时间单元同步存在微小差异,可选地,在确定第一终端设备和第二终端设备之间的距离时,通过距离检测算法减小时间单元同步之间的差异对距离计算产生的影响,也即,通过距离检测算法的设计,减小时间单元同步之间的差异在距离计算过程中的影响力。
可选地,第二终端设备在接收第一测距信号时,基于盲检接收第一测距信号;或,第二终端设备在预先获取第一测距信号的发送信息的基础上对第一测距信号进行接收。如:第一测距信号在第一时间单元内发送为基站预配置的,则基站向第一终端设备和第二终端设备分别发送配置指令,配置指令用于指示第一测距信号在第一时间单元发送,从而,第一终端设备在发送第一测距信号时,在第一时间单元发送,而第二终端设备在第一时间单元检测并接收第一测距信号。
可选的,第一终端设备和第二终端设备之间通过直连通信,预先约定发送第一测距信号的时间和频率资源位置和传输参数;第二终端设备按照约定的时间频率资源位置和传输参数进行接收。
可选地,第一终端设备周期性的发送第一测距信号,第二终端设备预先通过基站配置、直连信息配置或者预配置得知发送周期和时域周期开始位置,周期性的对第一测距信号进行接收。
可选地,在第二终端设备基于盲检接收第一测距信号时,预先通过基站配置、直连信息配置或者预配置得知盲检测的频域范围信息、时域范围信息、盲检测资源区域时域起始位置以及周期等信息,从而实现对第一测距信号的盲检。
可选地,第一测距信号的接收时段内的第二指定时刻包括:第一测距信号的接收时段的开始时刻;或,第一测距信号的接收时段的终止时刻;或,第一测距信号的接收时段内的峰值功率出现时刻。
可选地,第一测距信号的发送时段内的第一指定时刻和第一测距信号的接收时段内的第二指定时刻为类型相同的时刻。示意性的,第一测距信号的发送时段内的第一指定时刻为发送时段的开始时刻,第一测距信号的接收时段内的第二指定时刻为接收时段的开始时刻。
可选地,接收时段是指第二终端设备通过接收器开始接收第一测距信号的时刻,到第二终端设备结束接收第一测距信号的时刻之间的时间段。
可选地,第一终端定时包括根据第一终端设备的第一同步时钟确定的第一时间单元的起始时刻;或,第一时间单元的终止时刻;或,第一时间单元内的指定时刻,如:第一时间单元内指定OFDM符号内循环前缀(Cyclic Prefix,CP)的结束时刻。
可选地,第二终端定时包括根据第二终端设备的第二同步时钟确定的第一时间单元的起始时刻;或,第一时间单元的终止时刻;或,第一时间单元内的指定时刻,如:第一时间单元内指定OFDM符号内CP的结束时刻。
示意性的,在NR系统中,第一时间单元为slot N中的第L个时域符号,则第一时间差为第一终端设备发送第一测距信号的时刻,与第L个时域符号中的指定时刻之间的时间差。如:第一时间差为第一终端设备发送第一测距信号的起始时刻,与第L个时域符号的起始时刻之间的时间差。则当第一时间差为0时,表示第一终端设备发送第一测距信号的起始时刻与第一时间单元(即第L个时域符号)的起始时刻重合;当第一时间差为负值时,则表示第一终端设备发送第一测距信号的起始时刻在第一时间单元的起始时刻之前;当第一时间差为正值时,则表示第一终端设备发送第一测距信号的起始时刻在第一时间单元的起始时刻之后。其中,当第一时间差为负值时,存在如:时间单元栅格以基站下行定时为准,而第一测距信号在上行时间提前量(Timing Advance,TA)调整之后的时刻进行发送。
示意性的,请参考图5,测距信号的发送终端510根据发送测距信号的时刻和slot n中的第L个symbol确定t_A1,接收终端520根据接收到测距信号的时刻和slot n中的第L个symbol确定t_B1,从而根据t_A1和t_B1确定两个终端之间的距离。
可选地,第一终端设备在发送第一测距信号时,使用与发送其他信号,如:物理直连控制信道(Physical Sidelink Control Channel,PSCCH)、物理直连共享信道(Physical Sidelink Share Channel,PSSCH)等相比更高频的采样时钟,从而获取更准确的时间测量精度,也即,根据第一终端设备的第三同步时钟测量第一时间差,第一终端设备的第三同步时钟的频率,高于第一终端设备的第一同步时钟的频率。
值得注意的是,在基于传输时间进行测距的相关技术中,需要在整个T_round期间使用高采样率时钟进行时间测量,而本公开实施例中,仅需要在发送第一测距信号的第一时间单元内使用高采样速率进行精确时间测量,从而降 低测量复杂度和能耗。
可选地,上述说明中,以第一时间差为根据第一测距信号的发送时刻确定的为例进行说明,也即,根据第一终端设备的第三同步时钟测量第一时间差。在一个可选的实施例中,第一时间差还可以是预配置的,即,第一终端设备接根据配置或者预配置信息确定第一时间差;可选地,第二终端设备根据配置或者预配置信息确定第一时间差。
可选地,第一终端设备向第二终端设备发送第二测距信息,第二测距信息中包括第一时间差。
可选地,对应第一终端设备侧,图6是第二终端设备侧进行说明的同步系统中的测距方法流程图,如图6所示,该过程包括:
步骤601,从第一终端接收第一测距信号。
可选地,第二终端设备在第一时间单元接收第一测距信号时,为避免时间同步上的微小差距,从第一时间单元起始位置之前开始进行检测。
步骤602,确定第二时间差。
可选地,第二时间差为第二终端设备接收第一测距信号的时刻与第二终端定时之间的时间差。
可选地,第二时间差用于结合第一时间差,确定第一终端设备和第二终端设备之间的距离,第一时间差为第一终端设备发送第一测距信号的时刻与第一终端定时之间的时间差。
可选地,当第二终端设备需要确定与第一终端设备之间的距离时,获取第一时间差,并根据第一时间差和第二时间差确定与第一终端设备之间的距离。
可选地,第二终端设备接收第一终端设备发送的第二测距信息,第二测距信息中包括第一时间差。
可选地,第二终端设备向第一终端设备发送第一测距信息,第一测距信息中包括第二时间差。
综上所述,本实施例提供的方法,在同步系统中,通过第一终端设备向第二终端设备发送第一测距信号,并根据接收第一测距信号的时刻与第二终端定时确定第二时间差,根据发送第一测距的时刻与第一终端定时确定第一时间差,从而根据第二时间差和第一时间差确定第一终端设备和第二终端设备之间的距离,提供了在同步系统中进行测距的方案。
示意性的,如图7所示,其示出了本公开一个示例性实施例提供的测距方法的示意图,如图7所示,第一终端设备710向第二终端设备720发送第一测距信号,第二终端设备720根据接收到的第一测距信号确定第二时间差。
其中,第一终端设备710根据预配置或预定义的第一时间差进行第一测距信号的发送。
从而第二终端设备720根据预配置或预定义的第一时间差,与第二时间差结合,确定第一终端设备710和第二终端设备720之间的距离。
第二终端设备720将第二时间差反馈至第一终端设备710,从而第一终端设备710根据第二时间差和第一时间差确定第一终端设备710和第二终端设备720之间的距离。
该过程中涉及的第一时间差为预配置或预定义的,且涉及的测距为单向测距,也即,仅需要第一终端设备单向向第二终端设备发送第一测距信号。
示意性的,如图8所示,其示出了本公开另一个示例性实施例提供的测距方法的示意图,如图8所示,第一终端设备810向第二终端设备820发送第一测距信号,第二终端设备820根据接收到的第一测距信号确定第二时间差。
第一终端设备810根据第一测距信号的发送确定第一时间差。
第二终端设备820将第二时间差反馈至第一终端设备810,从而第一终端设备810根据第二时间差和第一时间差确定第一终端设备810和第二终端设备820之间的距离。
第一终端设备810将第一时间差发送至第二终端设备820,从而第二终端设备根据第二时间差和第一时间差确定第一终端设备810和第二终端设备820之间的距离。
该过程中涉及的第一时间差为第一终端设备810根据第一测距信号的发送确定得到的,且涉及的测距为单向测距,也即,仅需要第一终端设备单向向第二终端设备发送第一测距信号。
在一个可选的实施例中,第一终端设备和第二终端设备之间的距离检测,通过单边双向测距方法实现,图9是本公开另一个示例性实施例提供的同步系统中距离检测方法的流程图,如9所示,该方法包括:
步骤901,第一终端设备向第二终端设备发送第一测距信号。
可选地,第一终端设备首先按照自身同步参考信号确定第一同步时钟。
第一终端设备通过直连通信链路向第二终端设备发送第一测距信号。可选地,第一测距信号用于测量第一终端设备和第二终端设备之间的距离。
步骤902,第二终端设备从第一终端设备接收第一测距信号。
可选地,第二终端设备首先根据自身的同步参考信号确定第二同步时钟。值得注意的是,第一终端设备和第二终端设备在确定第一同步时钟和第二同步时钟时,可以采用相同的同步方式,也可以采用不同的同步方式。
步骤903,第一终端设备确定第一时间差。
可选地,第一时间差为第一终端设备发送第一测距信号的时刻与第一终端定时之间的时间差。
步骤904,第二终端设备确定第二时间差。
可选地,第二时间差为第二终端设备接收第一测距信号的时刻与第二终端定时之间的时间差。
步骤905,第二终端设备向第一终端设备发送第二测距信号。
可选地,第二终端设备通过直连通信链路向第一终端设备发送第二测距信号。
可选地,第二测距信号为第二终端设备接收到第一测距信号时,向第一终端设备发送的信号。第二测距信号用于结合第一测距信号通过单向双边测距完成第一终端设备和第二终端设备之间的测距。
可选地,第二终端设备发送第二测距信号的时刻为第二测距信号的发送时段内的第三指定时刻。
可选地,第二测距信号上第三指定时刻包括:第二测距信号的发送时段的开始时刻;或,第二测距信号的发送时段的终止时刻;或,第二测距信号的发送时段内的峰值功率出现时刻。
步骤906,第一终端设备从第二终端设备接收第二测距信号。
步骤907,第一终端设备确定第三时间差。
可选地,第三时间差为第一终端设备接收第二测距信号的时刻与第三终端定时之间的时间差。
可选地,第三终端定时包括根据第一终端设备的第一同步时钟确定的第二时间单元的起始时刻、终止时刻或第二时间单元内的指定时刻。
步骤908,第二终端设备确定第四时间差。
可选地,第四时间差为第二终端设备发送第二测距信号的时刻与第四终端定时之间的时间差。
可选地,第四终端定时包括根据第二终端设备的第二同步时钟确定的第二时间单元的起始时刻、终止时刻或第二时间单元内的指定时刻。
可选地,第一终端设备接收第二测距信号的时刻为第二测距信号的接收时段内的第四指定时刻。
可选地,第四指定时刻包括:第二测距信号的接收时段开始时刻;或,第二测距信号的接收时段的终止时刻;或,第二测距信号的接收时段内的峰值功率出现时刻。
可选地,第二测距信号的发送时段内的第三指定时刻和所述第二测距信号的接收时段内的第四指定时刻为类型相同的时刻。
步骤909,第一终端设备将第一时间差和第三时间差发送至第二终端设备。
可选地,当第二终端设备需要进行距离检测时,接收第一终端设备发送的第二测距信息,第二测距信息中包括第一时间差和第三时间差。
可选地,第一终端设备在发送第一时间差和第三时间差时,可以直接发送第一时间差和第三时间差的数值,也可以发送第一时间差和第三时间差的差值。
步骤910,第二终端设备将第二时间差和第四时间差发送至第一终端设备。
可选地,当第一终端设备需要进行距离检测时,接收第二终端设备发送的第一测距信息,第一测距信息中包括第二时间差和第四时间差。
可选地,第二终端设备在发送第二时间差和第四时间差时,可以直接发送第二时间差和第四时间差的数值,也可以发送第二时间差和第四时间差的差值。
步骤911,第一终端设备根据第一时间差、第二时间差、第三时间差和第四时间差确定第一终端设备和第二终端设备之间的距离。
步骤912,第二终端设备根据第一时间差、第二时间差、第三时间差和第四时间差确定第一终端设备和第二终端设备之间的距离。
示意性的,第一测距信号在第n个slot第l个symbol由第一终端设备发送至第二终端设备,第二测距信号在第m个slot第k个symbol由第二终端设备发送至第一终端设备。第一终端设备获得第一测距信号的第一时间差t1和第二测距信号的第四时间差t4;第二终端设备获得第一测距信号的第二时间差t2和第二测距信号的第三时间差t3。由于第一测距信号和第二测距信号传输使用的时 间单元对于发送和接收的用户设备都是已知,所以可以根据时间差计算出Reply time和Round trip time。
其中,Reply_time=(m-n)×T_slot+(k-l)×T_symbol-(t3+t2);
RD_time=(m-n)×T_slot+(k-l)×T_symbol-(t1+t4);
其中,T_slot为一个slot的时长,T_symbol为一个symbol的时长。
按照单边双向测距公式,计算得到传播时延为:
T_prop=(t1+t2+t3+t4)/2;
从而,根据Reply_time、RD_time和T_prop能够预测得到两个终端之间的距离。
在一个可选的实施例中,第一终端设备和第二终端设备之间的距离检测,通过双边双向测距方法实现,通过发送三个测距信号进行第一终端设备和第二终端设备之间的距离检测,图10是本公开另一个示例性实施例提供的同步系统中距离检测方法的流程图,如10所示,该方法包括:
步骤1001,第一终端设备向第二终端设备发送第一测距信号。
可选地,第一终端设备首先按照自身同步参考信号确定第一同步时钟。
第一终端设备通过直连通信链路向第二终端设备发送第一测距信号。可选地,第一测距信号用于测量第一终端设备和第二终端设备之间的距离。
步骤1002,第二终端设备从第一终端设备接收第一测距信号。
可选地,第二终端设备首先根据自身的同步参考信号确定第二同步时钟。值得注意的是,第一终端设备和第二终端设备在确定第一同步时钟和第二同步时钟时,可以采用相同的同步方式,也可以采用不同的同步方式。
步骤1003,第一终端设备确定第一时间差。
可选地,第一时间差为第一终端设备发送第一测距信号的时刻与第一终端定时之间的时间差。
步骤1004,第二终端设备确定第二时间差。
可选地,第二时间差为第二终端设备接收第一测距信号的时刻与第二终端定时之间的时间差。
步骤1005,第二终端设备向第一终端设备发送第二测距信号。
可选地,第二终端设备发送第二测距信号的时刻为第二测距信号的发送时段内的第三指定时刻。
可选地,第二测距信号上第三指定时刻包括:第二测距信号的发送时段的 开始时刻;或,第二测距信号的发送时段的终止时刻;或,第二测距信号的发送时段内的峰值功率出现时刻。
步骤1006,第一终端设备接收第二测距信号。
步骤1007,第一终端设备确定第三时间差。
可选地,第三时间差为第一终端设备接收第二测距信号的时刻与第三终端定时之间的时间差。
步骤1008,第二终端设备确定第四时间差。
可选地,第四时间差为第二终端设备发送第二测距信号的时刻与第四终端定时之间的时间差。
可选地,第一终端设备接收第二测距信号的时刻为第二测距信号的接收时段内的第四指定时刻。
可选地,第四指定时刻包括:第二测距信号的接收时段的开始时刻;或,第二测距信号的接收时段的终止时刻;或,第二测距信号的接收时段内的峰值功率出现时刻。
可选地,第二测距信号的发送时段内的第三指定时刻和所述第二测距信号的接收时段内的第四指定时刻为类型相同的时刻。
步骤1009,第一终端设备向第二终端设备发送第三测距信号。
可选地,第一终端设备在发送第一测距信号后,发送第三测距信号;或,第一终端设备接收到第二测距信号后,发送第三测距信号。
可选地,第一终端设备发送第三测距信号的时刻为第三测距信号的发送时段内的第五指定时刻。
可选地,第三测距信号上第五指定时刻包括:第三测距信号的发送时段的开始时刻;或,第三测距信号的发送时段的终止时刻;或,第三测距信号的发送时段内的峰值功率出现时刻。
步骤1010,第二终端设备接收第三测距信号。
步骤1011,第一终端设备确定第五时间差。
可选地,第五时间差为第一终端设备发送第三测距信号的时刻与第五终端定时之间的时间差。
可选地,第五终端定时包括根据第一终端设备的第一同步时钟确定的第三时间单元的起始时刻、终止时刻或第三时间单元内的指定时刻。
步骤1012,第二终端设备确定第六时间差。
可选地,第六时间差为第二终端设备接收第三测距信号的时刻与第六终端定时之间的时间差。
可选地,第六终端定时包括根据第二终端设备的第二同步时钟确定的第三时间单元的起始时刻、终止时刻或第二时间单元内的指定时刻。
可选地,第二终端设备接收第三测距信号的时刻为第三测距信号的接收时段内的第六指定时刻。
可选地,第六指定时刻包括:第三测距信号的接收时段的开始时刻;或,第三测距信号的接收时段的终止时刻;或,第三测距信号的接收时段内的峰值功率出现时刻。
可选地,第三测距信号的发送时段内的第五指定时刻和所述第三测距信号的接收时段内的第六指定时刻为类型相同的时刻。
步骤1013,第一终端设备向第二终端设备发送第一时间差、第三时间差和第五时间差。
可选地,当第二终端设备需要进行距离检测时,接收第一终端设备发送的第二测距信息,第二测距信息中包括第一时间差、第三时间差和第五时间差。
可选地,第一终端设备在发送第一时间差、第三时间差和第五时间差时,可以直接发送第一时间差、第三时间差和第五时间差的数值,也可以发送第一时间差和第三时间差的差值;第三时间差和第五时间差的差值;第一时间差和第五时间差的差值中的至少两项。
步骤1014,第二终端设备向第一终端设备发送第二时间差、第四时间差和第六时间差。
可选地,当第一终端设备需要进行距离检测时,接收第二终端设备发送的第一测距信息,第一测距信息中包括第二时间差、第四时间差和第六时间差。
可选地,第二终端设备在发送第二时间差、第四时间差和第六时间差时,可以直接发送第二时间差、第四时间差和第六时间差的数值,也可以发送第二时间差和第四时间差的差值;第四时间差和第六时间差的差值;第二时间差和第六时间差的差值中的至少两项。
步骤1015,第一终端设备根据第二时间差、第一时间差、第三时间差、第四时间差、第五时间差和第六时间差确定第一终端设备和第二终端设备之间的距离。
步骤1016,第二终端设备根据第二时间差、第一时间差、第三时间差、第 四时间差、第五时间差和第六时间差确定第一终端设备和第二终端设备之间的距离。
在一个可选的实施例中,第一终端设备和第二终端设备之间的距离检测,通过双边双向测距方法实现,通过发送四个测距信号进行第一终端设备和第二终端设备之间的距离检测,图11是本公开另一个示例性实施例提供的同步系统中距离检测方法的流程图,如11所示,该方法包括:
步骤1101,第一终端设备向第二终端设备发送第一测距信号。
可选地,第一终端设备首先按照自身同步参考信号确定第一同步时钟。
第一终端设备通过直连通信链路向第二终端设备发送第一测距信号。可选地,第一测距信号用于测量第一终端设备和第二终端设备之间的距离。
步骤1102,第二终端设备从第一终端设备接收第一测距信号。
可选地,第二终端设备首先根据自身的同步参考信号确定第二同步时钟。值得注意的是,第一终端设备和第二终端设备在确定第一同步时钟和第二同步时钟时,可以采用相同的同步方式,也可以采用不同的同步方式。
步骤1103,第一终端设备确定第一时间差。
可选地,第一时间差为第一终端设备发送第一测距信号的时刻与第一终端定时之间的时间差。
步骤1104,第二终端设备确定第二时间差。
可选地,第二时间差为第二终端设备接收第一测距信号的时刻与第二终端定时之间的时间差。
步骤1105,第二终端设备向第一终端设备发送第二测距信号。
可选地,第二终端设备通过直连通信链路向第一终端设备发送第二测距信号。
可选地,第二测距信号为第二终端设备接收到第一测距信号时,向第一终端设备发送的信号。第二测距信号用于结合第一测距信号通过单向双边测距完成第一终端设备和第二终端设备之间的测距。
步骤1106,第一终端设备从第二终端设备接收第二测距信号。
步骤1107,第一终端设备确定第三时间差。
可选地,第三时间差为第一终端设备接收第二测距信号的时刻与第三终端定时之间的时间差。
步骤1108,第二终端设备确定第四时间差。
可选地,第四时间差为第二终端设备发送第二测距信号的时刻与第四终端定时之间的时间差。
步骤1109,第一终端设备向第二终端设备发送第三测距信号。
可选地,第一终端设备发送第三测距信号的时刻为第三测距信号的发送时段内的第五指定时刻。
可选地,第三测距信号上第五指定时刻包括:第三测距信号的发送时段的开始时刻;或,第三测距信号的发送时段的终止时刻;或,第三测距信号的发送时段内的峰值功率出现时刻。
步骤1110,第二终端设备从第一终端设备接收第三测距信号。
步骤1111,第一终端设备确定第五时间差。
可选地,第五时间差为第一终端设备发送第三测距信号的时刻与第五终端定时之间的时间差。
步骤1112,第二终端设备确定第六时间差。
可选地,第六时间差为第二终端设备接收第三测距信号的时刻与第六终端定时之间的时间差。
步骤1113,第二终端设备向第二终端设备发送第四测距信号。
可选地,第二终端设备通过直连通信链路向第一终端设备发送第四测距信号。
可选地,第四测距信号为第二终端设备接收到第三测距信号时,向第一终端设备发送的信号。
可选地,第二终端设备发送第四测距信号的时刻为第四测距信号的发送时段内的第七指定时刻。
可选地,第四测距信号上第七指定时刻包括:第四测距信号的发送时段的开始时刻;或,第四测距信号的发送时段的终止时刻;或,第四测距信号的发送时段内的峰值功率出现时刻。
步骤1114,第一终端设备从第二终端设备接收第四测距信号。
步骤1115,第一终端设备确定第七时间差。
可选地,第七时间差为第一终端设备接收第四测距信号的时刻与第七终端定时之间的时间差。
可选地,第七终端定时包括根据第一终端设备的第一同步时钟确定的第四 时间单元的起始时刻、终止时刻或第四时间单元内的指定时刻。
步骤1116,第二终端设备确定第八时间差。
可选地,第八时间差为第二终端设备发送第四测距信号的时刻与第八终端定时之间的时间差。
可选地,第八终端定时包括根据第二终端设备的第二同步时钟确定的第四时间单元的起始时刻、终止时刻或第四时间单元内的指定时刻。
可选地,第一终端设备接收第四测距信号的时刻为第四测距信号的接收时段内的第八指定时刻。
可选地,第八指定时刻包括:第四测距信号的接收时段的开始时刻;或,第四测距信号的接收时段的终止时刻;或,第四测距信号的接收时段内的峰值功率出现时刻。
可选地,第四测距信号的发送时段内的第七指定时刻和所述第四测距信号的接收时段内的第八指定时刻为类型相同的时刻。
步骤1117,第一终端设备向第二终端设备发送第一时间差、第三时间差、第五时间差和第七时间差。
可选地,当第二终端设备需要进行距离检测时,接收第一终端设备发送的第二测距信息,第二测距信息中包括第一时间差、第三时间差、第五时间差和第七时间差。
可选地,第一终端设备在发送第一时间差、第三时间差、第五时间差和第七时间差时,可以直接发送第一时间差、第三时间差、第五时间差和第七时间差的数值,也可以发送第一时间差和第三时间差的差值;第五时间差和第七时间差的差值。
步骤1118,第二终端设备向第一终端设备发送第二时间差、第四时间差、第六时间差和第八时间差。
可选地,当第一终端设备需要进行距离检测时,接收第二终端设备发送的第一测距信息,第一测距信息中包括第二时间差、第四时间差、第六时间差和第八时间差。
可选地,第二终端设备在发送第二时间差、第四时间差、第六时间差和第八时间差时,可以直接发送第二时间差、第四时间差、第六时间差和第八时间差的数值,也可以发送第二时间差和第四时间差的差值;第六时间差和第八时间差的差值。
步骤1119,第一终端设备根据第一时间差、第二时间差、第三时间差、第四时间差、第五时间差、第六时间差、第七时间差和第八时间差确定第一终端设备和第二终端设备之间的距离。
步骤1120,第二终端设备根据第一时间差、第二时间差、第三时间差、第四时间差、第五时间差、第六时间差、第七时间差和第八时间差确定第一终端设备和第二终端设备之间的距离。
图12是本公开一个示例性实施例提供的同步系统中的测距装置的结构框图,应用于第一终端设备中,如图12所示,所述装置包括:
发送模块1210,被配置为向第二终端设备发送第一测距信号;
处理模块1220,被配置为确定第一时间差,所述第一时间差为所述第一终端设备发送所述第一测距信号的时刻与第一终端定时之间的时间差;
所述第一时间差用于结合第二时间差,确定所述第一终端设备和第二终端设备之间的距离,所述第二时间差为所述第二终端设备接收所述第一测距信号的时刻与第二终端定时之间的时间差。
在一个可选的实施例中,所述处理模块1220,还被配置为获取所述第二时间差;根据所述第二时间差和所述第一时间差确定所述第一终端设备与所述第二终端设备之间的距离。
在一个可选的实施例中,所述第一终端设备发送所述第一测距信号的时刻为所述第一测距信号的发送时段内的第一指定时刻;
所述第二终端设备接收所述第一测距信号的时刻为所述第一测距信号的接收时段内的第二指定时刻。
所述第一测距信号的发送时段内的第一指定时刻包括:
第一测距信号的发送时段的开始时刻;或,
第一测距信号的发送时段的终止时刻;或,
第一测距信号的发送时段内的峰值功率出现时刻。
在一个可选的实施例中,所述第一测距信号的发送时段内的第一指定时刻和所述第一测距信号的接收时段内的第二指定时刻为类型相同的时刻。
在一个可选的实施例中,所述第一终端定时包括根据所述第一终端设备的第一同步时钟确定的第一时间单元的起始时刻、终止时刻或所述第一时间单元内的指定时刻。
在一个可选的实施例中,所述处理模块1220,还被配置为根据同步参考信号确定第一同步时钟。
在一个可选的实施例中,所述处理模块1220,还被配置为根据网络设备发送的下行同步信号确定时间单元;
或,
所述处理模块1220,还被配置为根据全球定位系统信号确定时间单元;
或,
所述处理模块1220,还被配置为根据第三终端设备发送的直连同步信号确定时间单元。
在一个可选的实施例中,所述处理模块1220,还被配置为根据配置或者预配置信息确定所述第一时间差;或者,
所述处理模块1220,还被配置为根据所述第一终端设备的第三同步时钟测量所述第一时间差。
在一个可选的实施例中,所述第一终端设备的第三同步时钟的频率,高于所述第一终端设备的第一同步时钟的频率。
在一个可选的实施例中,所述装置还包括:
接收模块1230,被配置为接收所述第二终端设备发送的第一测距信息,所述第一测距信息中包括所述第二时间差。
在一个可选的实施例中,所述发送模块1210,还被配置为向第二终端设备发送第二测距信息,所述第二测距信息中包括所述第一时间差。
在一个可选的实施例中,所述装置还包括:
接收模块1230,被配置为从第二终端设备接收第二测距信号;
所述处理模块1220,还被配置为确定第三时间差,所述第三时间差为所述第一终端设备接收所述第二测距信号的时刻与第三终端定时之间的时间差;
所述第三时间差用于结合所述第一时间差、所述第二时间差与第四时间差,确定所述第一终端设备和第二终端设备之间的距离,所述第四时间差为所述第二终端设备发送所述第二测距信号的时刻与第四终端定时之间的时间差。
在一个可选的实施例中,所述发送模块1210,还被配置为向第二终端设备发送第三测距信号;
所述处理模块1220,还被配置为确定第五时间差,所述第五时间差为所述第一终端设备发送所述第三测距信号的时刻与第五终端定时之间的时间差;
所述第五时间差用于结合所述第一时间差、所述第二时间差、所述第三时间差、所述第四时间差以及第六时间差,确定所述第一终端设备和第二终端设备之间的距离,所述第六时间差为所述第二终端设备接收所述第三测距信号的时刻与第六终端定时之间的时间差。
在一个可选的实施例中,所述装置还包括:
接收模块1230,被配置为从第二终端设备接收第四测距信号;
所述处理模块1220,还被配置为确定第七时间差,所述第七时间差为所述第一终端设备接收所述第四测距信号的时刻与第七终端定时之间的时间差;
所述第七时间差用于结合所述第一时间差、所述第二时间差、所述第三时间差、所述第四时间差、所述第五时间差、所述第六时间差和第八时间差,确定所述第一终端设备和所述第二终端设备之间的距离,所述第八时间差为所述第二终端设备发送所述第四测距信号的时刻与第八终端定时之间的时间差。
图13是本公开一个示例性实施例提供的同步系统中的测距装置的结构框图,应用于第二终端设备中,如图13所示,所述装置包括:
接收模块1310,被配置为从第一终端设备接收第一测距信号;
处理模块1320,被配置为确定第二时间差,所述第二时间差为所述第二终端设备接收所述第一测距信号的时刻与第二终端定时之间的时间差;
所述第二时间差用于结合第一时间差,确定第一终端设备和第二终端设备之间的距离,所述第一时间差为所述第一终端设备发送所述第一测距信号的时刻与第一终端定时之间的时间差。
在一个可选的实施例中,所述处理模块1320,还被配置为获取所述第一时间差;根据所述第二时间差和所述第一时间差确定所述第一终端设备与所述第二终端设备之间的距离。
在一个可选的实施例中,所述第一终端设备发送所述第一测距信号的时刻为所述第一测距信号的发送时段内的第一指定时刻;
所述第二终端设备接收所述第一测距信号的时刻为所述第一测距信号的接收时段内的第二指定时刻。
在一个可选的实施例中,所述第一测距信号的发送时段内的第一指定时刻包括:
第一测距信号的发送时段的开始时刻;或,
第一测距信号的发送时段的终止时刻;或,
第一测距信号的发送时段内的峰值功率出现时刻。
在一个可选的实施例中,所述第一测距信号的发送时段内的第一指定时刻和所述第一测距信号的接收时段内的第二指定时刻为类型相同的时刻。
在一个可选的实施例中,所述第二终端定时包括根据第二终端的第二同步时钟确定的第一时间单元的起始时刻、终止时刻或所述第一时间单元内的指定时刻。
在一个可选的实施例中,所述处理模块1320,还被配置为根据同步参考信号确定第二同步时钟。
在一个可选的实施例中,所述处理模块1320,还被配置为根据网络设备发送的下行同步信号确定时间单元;
或,
所述处理模块1320,还被配置为根据全球定位系统信号确定时间单元;
或,
所述处理模块1320,还被配置为根据第四终端设备发送的直连同步信号确定时间单元。
在一个可选的实施例中,所述处理模块1320,还被配置为根据配置或者预配置信息确定所述第一时间差。
在一个可选的实施例中,所述处理模块1320,还被配置为根据所述第二终端设备的第四同步时钟测量所述第二时间差。
在一个可选的实施例中,所述第二终端设备的所述第四同步时钟的频率,高于所述第二终端设备的所述第二同步时钟的频率。
在一个可选的实施例中,所述接收模块1310,还被配置为接收第一终端发送的第二测距信息,所述第二测距信息中包括所述第一时间差。
在一个可选的实施例中,所述装置还包括:
发送模块1330,被配置为向所述第一终端设备发送第一测距信息,所述第一测距信息中包括所述第二时间差。
在一个可选的实施例中,所述装置还包括:
发送模块1330,被配置为向第一终端设备发送第二测距信号;
所述处理模块1320,还被配置为确定第四时间差,所述第四时间差为所述第二终端设备发送所述第二测距信号的时刻与第四终端定时之间的时间差;
所述第四时间差用于结合所述第一时间差、所述第二时间差与第三时间差,确定所述第一终端设备和第二终端设备之间的距离,所述第三时间差为所述第一终端设备接收所述第二测距信号的时刻与第三终端定时之间的时间差。
在一个可选的实施例中,所述接收模块1310,还被配置为从第一终端设备接收第三测距信号;
所述处理模块1320,还被配置为确定第六时间差,所述第六时间差为所述第二终端设备接收所述第三测距信号的时刻与第六终端定时之间的时间差;
所述第六时间差用于结合所述第一时间差、所述第二时间差、所述第三时间差、所述第四时间差以及第五时间差,确定所述第一终端设备和第二终端设备之间的距离,所述第五时间差为所述第一终端设备发送所述第三测距信号的时刻与第五终端定时之间的时间差。
在一个可选的实施例中,所述装置还包括:
发送模块1330,被配置为向第一终端设备发送第四测距信号;
所述处理模块1320,还被配置为确定第八时间差,所述第八时间差为所述第二终端设备发送所述第四测距信号的时刻与第八终端定时之间的时间差;
所述第七时间差用于结合所述第一时间差、所述第二时间差、所述第三时间差、所述第四时间差、所述第五时间差、所述第六时间差和第七时间差,确定所述第一终端设备和所述第二终端设备之间的距离,所述第七时间差为所述第一终端设备接收所述第四测距信号的时刻与第七终端定时之间的时间差。
图14示出了本公开一个示例性实施例提供的终端的结构示意图,该终端包括:处理器1401、接收器1402、发射器1403、存储器1404和总线1405。
处理器1401包括一个或者一个以上处理核心,处理器1401通过运行软件程序以及模块,从而执行各种功能应用以及信息处理。
接收器1402和发射器1403可以实现为一个通信组件,该通信组件可以是一块通信芯片。
存储器1404通过总线1405与处理器1401相连。
存储器1404可用于存储至少一个指令,处理器1401用于执行该至少一个指令,以实现上述方法实施例中的各个步骤。
此外,存储器1404可以由任何类型的易失性或非易失性存储设备或者它们的组合实现,易失性或非易失性存储设备包括但不限于:磁盘或光盘,电可擦 除可编程只读存储器(Electrically Erasable Programmable Read Only Memory,EEPROM),可擦除可编程只读存储器(Erasable Programmable Read Only Memory,EPROM),静态随时存取存储器(Static Random-Access Memory,SRAM),只读存储器(Read Only Memory,ROM),磁存储器,快闪存储器,可编程只读存储器(Programmable Read Only Memory,PROM)。
在示例性实施例中,还提供了一种包括指令的非临时性计算机可读存储介质,例如包括指令的存储器,上述指令可由终端的处理器执行以完成上述设备切换方法中由终端侧执行的方法。例如,所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(Random Access Memory,RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
一种非临时性计算机可读存储介质,当所述非临时性计算机存储介质中的指令由终端的处理器执行时,使得终端能够执行上述同步系统中的测距方法。
图15是根据一示例性实施例示出的一种网络设备1500的框图。在一些实施例中,该网络设备1500是基站。
网络设备1500包括:处理器1501、接收机1502、发射机1503和存储器1504。接收机1502、发射机1503和存储器1504分别通过总线与处理器1501连接。
其中,处理器1501包括一个或者一个以上处理核心,处理器1501通过运行软件程序以及模块以执行本公开实施例提供的设备切换方法中网络设备所执行的方法。存储器1504可用于存储软件程序以及模块。具体的,存储器1504可存储操作系统1541、至少一个功能所需的应用程序模块1542。接收机1502用于接收其他设备发送的通信数据,发射机1503用于向其他设备发送通信数据。
一种非临时性计算机可读存储介质,当所述非临时性计算机存储介质中的指令由网络设备的处理器执行时,使得网络设备能够执行上述同步系统中的测距方法。
本公开一示例性实施例还提供了一种通信系统,所述系统包括:终端和网络设备;
所述终端包括如图12或13所示实施例提供的同步系统中的测距装置。
本公开一示例性实施例还提供了一种通信系统,所述通信系统包括:终端 和网络设备;
所述终端包括如图14所示实施例提供的终端;
所述网络设备包括如图15所示实施例提供的网络设备。
本公开一示例性实施例还提供了一种计算机可读存储介质,所述计算机可读存储介质中存储有至少一条指令、至少一段程序、代码集或指令集,所述至少一条指令、所述至少一段程序、所述代码集或指令集由所述处理器加载并执行以实现上述各个方法实施例提供的同步系统中的测距方法中由终端或者接入网设备执行的步骤。
应当理解的是,在本文中提及的“多个”是指两个或两个以上。“和/或”,描述关联对象的关联关系,表示可以存在三种关系,例如,A和/或B,可以表示:单独存在A,同时存在A和B,单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。
本领域技术人员在考虑说明书及实践这里公开的发明后,将容易想到本公开的其它实施方案。本公开旨在涵盖本公开的任何变型、用途或者适应性变化,这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的,本公开的真正范围和精神由下面的权利要求指出。
应当理解的是,本公开并不局限于上面已经描述并在附图中示出的精确结构,并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。

Claims (35)

  1. 一种同步系统中的测距方法,其特征在于,应用于第一终端设备中,所述方法包括:
    向第二终端设备发送第一测距信号;
    确定第一时间差,所述第一时间差为所述第一终端设备发送所述第一测距信号的时刻与第一终端定时之间的时间差;
    所述第一时间差用于结合第二时间差,确定所述第一终端设备和所述第二终端设备之间的距离,所述第二时间差为所述第二终端设备接收所述第一测距信号的时刻与第二终端定时之间的时间差。
  2. 根据权利要求1所述的方法,其特征在于,所述方法还包括:
    获取所述第二时间差;
    根据所述第二时间差和所述第一时间差确定所述第一终端设备与所述第二终端设备之间的距离。
  3. 根据权利要求1所述的方法,其特征在于,
    所述第一终端设备发送所述第一测距信号的时刻为所述第一测距信号的发送时段内的第一指定时刻;
    所述第二终端设备接收所述第一测距信号的时刻为所述第一测距信号的接收时段内的第二指定时刻。
  4. 根据权利要求3所述的方法,其特征在于,
    所述第一测距信号的发送时段内的第一指定时刻包括:
    第一测距信号的发送时段的开始时刻;或,
    第一测距信号的发送时段的终止时刻;或,
    第一测距信号的发送时段内的峰值功率出现时刻。
  5. 根据权利要求3所述的方法,其特征在于,
    所述第一测距信号的发送时段内的第一指定时刻和所述第一测距信号的接 收时段内的第二指定时刻为类型相同的时刻。
  6. 根据权利要求1至5任一所述的方法,其特征在于,
    所述第一终端定时包括根据所述第一终端设备的第一同步时钟确定的第一时间单元的起始时刻、终止时刻或所述第一时间单元内的指定时刻。
  7. 根据权利要求6所述的方法,其特征在于,所述方法还包括:
    根据同步参考信号确定第一同步时钟。
  8. 根据权利要求7所述的方法,其特征在于,所述方法还包括:
    根据网络设备发送的下行同步信号确定时间单元;
    或,
    根据全球定位系统信号确定时间单元;
    或,
    根据第三终端设备发送的直连同步信号确定时间单元。
  9. 根据权利要求1至5任一所述的方法,其特征在于,所述确定第一时间差包括:
    根据配置或者预配置信息确定所述第一时间差;或者,
    根据所述第一终端设备的第三同步时钟测量所述第一时间差。
  10. 根据权利要求9所述的方法,其特征在于,
    所述第一终端设备的第三同步时钟的频率,高于所述第一终端设备的第一同步时钟的频率。
  11. 根据权利要求2所述的方法,其特征在于,所述获取所述第二时间差,包括:
    接收所述第二终端设备发送的第一测距信息,所述第一测距信息中包括所述第二时间差。
  12. 根据权利要求1至5任一所述的方法,其特征在于,所述方法还包括:
    向第二终端设备发送第二测距信息,所述第二测距信息中包括所述第一时间差。
  13. 根据权利要求1至5任一所述的方法,其特征在于,所述方法还包括:
    从所述第二终端设备接收第二测距信号;
    确定第三时间差,所述第三时间差为所述第一终端设备接收所述第二测距信号的时刻与第三终端定时之间的时间差;
    所述第三时间差用于结合所述第一时间差、所述第二时间差与第四时间差,确定所述第一终端设备和第二终端设备之间的距离,所述第四时间差为所述第二终端设备发送所述第二测距信号的时刻与第四终端定时之间的时间差。
  14. 根据权利要求13所述的方法,其特征在于,所述方法还包括:
    向所述第二终端设备发送第三测距信号;
    确定第五时间差,所述第五时间差为所述第一终端设备发送所述第三测距信号的时刻与第五终端定时之间的时间差;
    所述第五时间差用于结合所述第一时间差、所述第二时间差、所述第三时间差、所述第四时间差以及第六时间差,确定所述第一终端设备和第二终端设备之间的距离,所述第六时间差为所述第二终端设备接收所述第三测距信号的时刻与第六终端定时之间的时间差。
  15. 根据权利要求14所述的方法,其特征在于,所述方法还包括:
    从所述第二终端设备接收第四测距信号;
    确定第七时间差,所述第七时间差为所述第一终端设备接收所述第四测距信号的时刻与第七终端定时之间的时间差;
    所述第七时间差用于结合所述第一时间差、所述第二时间差、所述第三时间差、所述第四时间差、所述第五时间差、所述第六时间差和第八时间差,确定所述第一终端设备和所述第二终端设备之间的距离,所述第八时间差为所述第二终端设备发送所述第四测距信号的时刻与第八终端定时之间的时间差。
  16. 一种同步系统中的测距方法,其特征在于,应用于第二终端设备中,所述方法包括:
    从第一终端设备接收第一测距信号;
    确定第二时间差,所述第二时间差为所述第二终端设备接收所述第一测距信号的时刻与第二终端定时之间的时间差;
    所述第二时间差用于结合第一时间差,确定所述第一终端设备和第二终端设备之间的距离,所述第一时间差为所述第一终端设备发送所述第一测距信号的时刻与第一终端定时之间的时间差。
  17. 根据权利要求16所述的方法,其特征在于,所述方法还包括:
    获取所述第一时间差;
    根据所述第二时间差和所述第一时间差确定所述第一终端设备与所述第二终端设备之间的距离。
  18. 根据权利要求16所述的方法,其特征在于,
    所述第一终端设备发送所述第一测距信号的时刻为所述第一测距信号的发送时段内的第一指定时刻;
    所述第二终端设备接收所述第一测距信号的时刻为所述第一测距信号的接收时段内的第二指定时刻。
  19. 根据权利要求18所述的方法,其特征在于,
    所述第一测距信号的发送时段内的第一指定时刻包括:
    第一测距信号的发送时段的开始时刻;或,
    第一测距信号的发送时段的终止时刻;或,
    第一测距信号的发送时段内的峰值功率出现时刻。
  20. 根据权利要求18所述的方法,其特征在于,
    所述第一测距信号的发送时段内的第一指定时刻和所述第一测距信号的接收时段内的第二指定时刻为类型相同的时刻。
  21. 根据权利要求16至20任一所述的方法,其特征在于,
    所述第二终端定时包括根据第二终端的第二同步时钟确定的第一时间单元的起始时刻、终止时刻或所述第一时间单元内的指定时刻。
  22. 根据权利要求21所述的方法,其特征在于,所述方法还包括:
    根据同步参考信号确定第二同步时钟。
  23. 根据权利要求22所述的方法,其特征在于,所述方法还包括:
    根据网络设备发送的下行同步信号确定时间单元;
    或,
    根据全球定位系统信号确定时间单元;
    或,
    根据第四终端设备发送的直连同步信号确定时间单元。
  24. 根据权利要求17所述的方法,其特征在于,所述获取第一时间差,包括:
    根据配置或者预配置信息确定所述第一时间差。
  25. 根据权利要求21所述的方法,其特征在于,所述确定第二时间差,包括:
    根据所述第二终端设备的第四同步时钟测量所述第二时间差。
  26. 根据权利要求25所述的方法,其特征在于,
    所述第二终端设备的所述第四同步时钟的频率,高于所述第二终端设备的所述第二同步时钟的频率。
  27. 根据权利要求16至20任一所述的方法,其特征在于,所述获取第一时间差,包括:
    接收第一终端发送的第二测距信息,所述第二测距信息中包括所述第一时间差。
  28. 根据权利要求16至20任一所述的方法,其特征在于,所述方法还包括:
    向所述第一终端设备发送第一测距信息,所述第一测距信息中包括所述第二时间差。
  29. 根据权利要求16至20任一所述的方法,其特征在于,所述方法还包括:
    向所述第一终端设备发送第二测距信号;
    确定第四时间差,所述第四时间差为所述第二终端设备发送所述第二测距信号的时刻与第四终端定时之间的时间差;
    所述第四时间差用于结合所述第一时间差、所述第二时间差与第三时间差,确定所述第一终端设备和第二终端设备之间的距离,所述第三时间差为所述第一终端设备接收所述第二测距信号的时刻与第三终端定时之间的时间差。
  30. 根据权利要求28所述的方法,其特征在于,所述方法还包括:
    从所述第一终端设备接收第三测距信号;
    确定第六时间差,所述第六时间差为所述第二终端设备接收所述第三测距信号的时刻与第六终端定时之间的时间差;
    所述第六时间差用于结合所述第一时间差、所述第二时间差、所述第三时间差、所述第四时间差以及第五时间差,确定所述第一终端设备和第二终端设备之间的距离,所述第五时间差为所述第一终端设备发送所述第三测距信号的时刻与第五终端定时之间的时间差。
  31. 根据权利要求30所述的方法,其特征在于,所述方法还包括:
    向所述第一终端设备发送第四测距信号;
    确定第八时间差,所述第八时间差为所述第二终端设备发送所述第四测距信号的时刻与第八终端定时之间的时间差;
    所述第七时间差用于结合所述第一时间差、所述第二时间差、所述第三时间差、所述第四时间差、所述第五时间差、所述第六时间差和第七时间差,确 定所述第一终端设备和所述第二终端设备之间的距离,所述第七时间差为所述第一终端设备接收所述第四测距信号的时刻与第七终端定时之间的时间差。
  32. 一种同步系统中的测距装置,其特征在于,应用于第一终端设备中,所述装置包括:
    发送模块,被配置为向第二终端设备发送第一测距信号;
    处理模块,被配置为确定第一时间差,所述第一时间差为所述第一终端设备发送所述第一测距信号的时刻与第一终端定时之间的时间差;
    所述第一时间差用于结合第二时间差,确定所述第一终端设备和第二终端设备之间的距离,所述第二时间差为所述第二终端设备接收所述第一测距信号的时刻与第二终端定时之间的时间差。
  33. 一种同步系统中的测距装置,其特征在于,应用于第二终端设备中,所述装置包括:
    接收模块,被配置为从第一终端设备接收第一测距信号;
    处理模块,被配置为确定第二时间差,所述第二时间差为所述第二终端设备接收所述第一测距信号的时刻与第二终端定时之间的时间差;
    所述第二时间差用于结合第一时间差,确定第一终端设备和第二终端设备之间的距离,所述第一时间差为所述第一终端设备发送所述第一测距信号的时刻与第一终端定时之间的时间差。
  34. 一种终端,其特征在于,所述终端包括:
    处理器;
    与所述处理器相连的收发器;
    用于存储所述处理器的可执行信令的存储器;
    其中,所述处理器被配置为加载并执行可执行指令以实现如权利要求1至31任一所述的同步系统中的测距方法。
  35. 一种计算机可读存储介质,所述计算机可读存储介质中存储有至少一条指令、至少一段程序、代码集或指令集,所述至少一条指令、所述至少一段 程序、所述代码集或所述指令集由处理器加载并执行以实现如权利要求1至31任一所述的同步系统中的测距方法。
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