WO2023025111A1 - Ranging method and apparatus - Google Patents

Abstract

A ranging method and apparatus, which are used for realizing accurate ranging. The method comprises: firstly, a first apparatus receiving a first ranging response signal from a second apparatus, wherein the first ranging response signal is generated on the basis of a first zero correlation zone (ZCZ) sequence, and the first ZCZ sequence is a sequence among a plurality of pre-configured ZCZ sequences; and then, the first apparatus determining the distance between the first apparatus and the second apparatus on the basis of the first ranging response signal. A ranging response signal is generated by means of a ZCZ sequence, such that accurate ranging can be realized.

Description

A distance measuring method and device

Cross References to Related Applications

This application claims the priority of a Chinese patent application filed with the Intellectual Property Office of the People's Republic of China on August 26, 2021, with the application number 202110987224.6 and the invention title "A SPS Scheduling Method", the entire contents of which are incorporated by reference in this application middle; this application claims the priority of a Chinese patent application filed with the China Patent Office on October 13, 2021, with the application number 202111194381.8, and the application title "A Method and Device for Distance Measurement", the entire contents of which are incorporated herein by reference Applying.

technical field

The embodiments of the present application relate to fields such as ranging, and in particular, to a ranging method and device.

Background technique

With the development of science and technology, the application of ranging and positioning technology is becoming more and more extensive. Among them, the traditional global positioning system (global positioning system, GPS) needs to receive satellite signals, but indoor positioning applications cannot receive satellite signals, so GPS cannot achieve indoor positioning. In addition, the positioning accuracy of GPS is generally within the range of meters, which cannot meet the needs of high-precision positioning. Wireless local area network (wireless fidelity, WiFi), Bluetooth (bluetooth, BT) and other communication systems can achieve indoor ranging and positioning, but the accuracy is low, usually within the range of 1 to 10 meters.

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

Contents of the invention

Embodiments of the present application provide a ranging method and device, so as to realize accurate ranging.

In a first aspect, a ranging method is provided. First, a first device receives a first ranging response signal from a second device, and the first ranging response signal is based on a first zero correlation zone (ZCZ ) sequence generation, the first ZCZ sequence belongs to a sequence in a plurality of pre-configured ZCZ sequences. The first device then determines a distance between the first device and the second device based on the first ranging response signal.

In the present application, the ranging response signal is generated through the ZCZ sequence, which can realize accurate ranging.

In a second aspect, a ranging method is provided. First, a second device generates a first ranging response signal based on a first ZCZ sequence, and the first ZCZ sequence belongs to a sequence in a plurality of preconfigured ZCZ sequences. Then, the second device sends a first ranging response signal to the first device.

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

In a possible implementation, the multiple ZCZ sequences are all binary sequences.

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

In a possible implementation, among the multiple ZCZ sequences: the length of the ZCZ interval of the ZCZ sequence with a length of 32 is 5 or 9 or 17; or the length of the ZCZ interval of a ZCZ sequence with a length of 128 is 9 or 17 or 33; or, the ZCZ interval length of a ZCZ sequence with a length of 256 is 17 or 33 or 65. Different ZCZ intervals can meet different ranging requirements, making ranging more flexible.

In a possible implementation, the multiple ZCZ sequences include one or more of the following: 8 ZCZ sequences with a length of 32 and a ZCZ interval length of 5; 4 ZCZ sequences with a length of 32 and a ZCZ interval length of 9 Sequence; 2 ZCZ sequences with length 32 and ZCZ interval length 17; 16 ZCZ sequences with length 128 and ZCZ interval length 9; 8 ZCZ sequences with length 128 and ZCZ interval length 17; 4 lengths 128 ZCZ sequences with a ZCZ interval length of 33; 16 ZCZ sequences with a length of 256 and a ZCZ interval length of 17; 8 ZCZ sequences with a length of 256 and a ZCZ interval length of 33; 4 ZCZ sequences with a length of 256 and a ZCZ interval A ZCZ sequence of length 65. For the same ZCZ interval length, there are multiple ZCZ sequences, which can realize one-to-many ranging requirements and make ranging more flexible.

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

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

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

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

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

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

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

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

-1 1 1-1-1 1 1-1 1 1-1-1 1 1-1-1 1-1 1-1 1-1 1-1-1-1-1-1-1 -1-1 -1.

In a possible implementation, the ZCZ sequence with a length of 32 and a ZCZ interval length of 9 includes at least one sequence in Table 5 in the detailed description of the specification.

In a possible implementation, the ZCZ sequence with a length of 32 and a ZCZ interval length of 17 includes at least one sequence in Table 6 in the detailed description of the specification.

In a possible implementation, the ZCZ sequence with a length of 128 and a ZCZ interval length of 9 includes at least one sequence in Table 4 in the detailed description of the specification.

In a possible implementation, the ZCZ sequence with a length of 128 and a ZCZ interval length of 17 includes at least one sequence in Table 7 in the detailed description of the specification.

In a possible implementation, the ZCZ sequence with a length of 128 and a ZCZ interval length of 33 includes at least one sequence in Table 8 in the detailed description of the specification.

In a possible implementation, the ZCZ sequence with a length of 256 and a ZCZ interval length of 17 includes at least one sequence in Table 9 in the detailed description of the specification.

In a possible implementation, the ZCZ sequence with a length of 256 and a ZCZ interval length of 33 includes at least one sequence in Table 10 in the detailed description of the specification.

In a possible implementation, the ZCZ sequence with a length of 256 and a ZCZ interval length of 65 includes at least one sequence in Table 11 in the detailed description of the specification.

In a possible implementation, the generation of the first ranging response signal based on the first ZCZ sequence includes: adding 15 0s to each symbol in the first ZCZ sequence with a length of 32 to obtain the first ranging Response signal; add 3 0s after each symbol in the first ZCZ sequence with a length of 128 to obtain the first ranging response signal; add 3 after each symbol in the first ZCZ sequence with a length of 32 0 to get the first ranging response signal.

In a possible implementation, when there are multiple second devices, the first ZCZ sequences sent by different second devices are different, and the multiple first ZCZ sequences corresponding to multiple second devices The parameter information is the same, and the parameter information includes at least one of the following: the length of the ZCZ interval, the maximum supported ranging delay difference, and the supported maximum ranging range.

The parameters of the multiple first ZCZ sequences are the same, which can improve the ranging accuracy. In addition, the parameter information may also include: sequence length and/or chip length.

In a possible implementation, the first device may also send a first message to the second device, the first message is used to determine whether the second device supports the first ZCZ sequence, and then the first device receives the A second message from the second device, where the second message is used to indicate that the second device supports the first ZCZ sequence or does not support the first ZCZ sequence.

The multiple ZCZ sequences preconfigured in the first device and the second device may be completely the same, or may be partly the same or partly different. The first device and the second device mutually determine which sequences each supports (that is, pre-configures), so as to adopt the sequences supported by both parties for ranging.

The third aspect provides a distance measuring device, the device has the function of realizing the above first aspect and any possible implementation of the first aspect, or realizing the above second aspect and any possible implementation of the second aspect function. These functions may be implemented by hardware, or may be implemented by executing corresponding software through hardware. The hardware or software includes one or more functional modules corresponding to the above functions.

In a fourth aspect, a distance measuring device is provided, including a processor, and optionally, a memory; the processor is coupled to the memory; the memory is used to store computer programs or instructions; the processor , for executing part or all of the computer programs or instructions in the memory, when the part or all of the computer programs or instructions are executed, for implementing the above first aspect and any possible implementation method of the first aspect The function of the first device, or the function of the second device in any possible implementation of the above-mentioned second aspect and the second aspect.

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

In a fifth aspect, the present application provides a chip system, the chip system includes one or more processors (also referred to as processing circuits), and the electrical coupling between the processors and memories (also referred to as storage media) The memory may or may not be located in the chip system; the memory is used to store computer programs or instructions; the processor is used to execute part or all of the memory A computer program or instruction, when the part or all of the computer program or instruction is executed, is used to realize the function of the first device in the above first aspect and any possible implementation method of the first aspect, or to realize the above second aspect and the function of the second device in any possible implementation of the second aspect.

In a possible implementation, the chip system may further include an input-output interface (also called a ranging interface), and the input-output interface is used to output the signal processed by the processor, or receive an input to signal to the processor. The input-output interface can perform the sending action or receiving action performed by the first device in the first aspect and any possible implementation of the first aspect; or, execute the second aspect and the second device in any possible implementation of the second aspect The send action or receive action performed. Specifically, the output interface performs a sending action, and the input interface performs a receiving action.

In a possible implementation, the system-on-a-chip may consist of chips, or may include chips and other discrete devices.

In a sixth aspect, there is provided a computer-readable storage medium for storing a computer program, the computer program including instructions for realizing the functions in the first aspect and any possible implementation of the first aspect, or for realizing Instructions for the functions of the second aspect and any possible implementation of the second aspect.

Alternatively, a computer-readable storage medium is used to store a computer program. When the computer program is executed by a computer, the computer can execute the first aspect and the first device in any possible implementation method of the first aspect. Execute the method, or execute the second aspect and the method executed by the second device in any possible implementation of the second aspect.

In a seventh aspect, a computer program product is provided, and the computer program product includes: computer program code, when the computer program code is run on a computer, the computer is made to execute the above-mentioned first aspect and any possible method of the first aspect. The method executed by the first device in the implementation, or the method executed by the second device in the second aspect and any possible implementation of the second aspect.

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

For the technical effects of the above third to eighth aspects, reference may be made to the descriptions in the first to second aspects, and repeated descriptions will not be repeated.

Description of drawings

FIG. 1 is a schematic diagram of a ranging scene provided in an embodiment of the present application;

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

Figure 3a, Figure 3b, Figure 3c, Figure 3d, Figure 3e, and Figure 3f are respectively a schematic diagram of a simulation provided in the embodiment of the present application;

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

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

FIG. 6 is a structural diagram of a ranging device provided in an embodiment of the present application.

Detailed ways

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

In order to facilitate the understanding of the embodiments of the present application, the application scenarios of the present application are introduced next. The network architecture and business scenarios described in the embodiments of the present application are for the purpose of more clearly explaining the technical solutions of the embodiments of the present application, and do not constitute a reference to the implementation of this application. Those skilled in the art know that, with the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

In one-to-many and high-precision short-range ranging scenarios such as smart car key positioning and smart home positioning, ultra-wideband (UWB) signals are usually used for ranging. Ultra-wideband signals generally refer to signals with a phase-to-absolute bandwidth greater than 500 MHz. The ultra-wideband signal directly adopts pulse modulation, which has strong anti-multipath interference ability and ultra-high time resolution, and has unique advantages in high-precision short-range ranging.

At present, the main technical standards for UWB ranging are IEEE 802.15.4 and the revised version IEEE 802.15.4z. According to these standards, UWB ranging is mainly realized through the preamble code (preamble code) in the synchronization header (SHR) in the physical layer protocol data unit (physical layer protocol data unit, PPDU). The IEEE 802.15.4 and IEEE 802.15.4z standards stipulate that the distance measuring device needs to support preambles with lengths of 31, 91 and 127 respectively (the preamble can also be called a sequence), and the symbols in these preambles (the symbols can also be called element) takes the value -1, 0 or 1. When the element of the preamble is 1, a forward pulse is sent, when the element is -1, a reverse pulse is sent, and when the element is 0, no pulse is sent. When performing ranging, in order to combat multi-user interference and multi-path interference, you can add 0 after each symbol of the preamble. These preambles will form different preamble symbols (preamble symbols) after being extended with 0, and correspond to different pulse repetition frequencies (pulse repetition frequency, PRF). Taking a preamble with a length of 31 as an example, when the preamble is used for ranging, 15 0s are added after each symbol of the preamble. The whole preamble symbol includes 31*16=496 symbols, and each symbol corresponds to a pulse width of about 2ns, so the period of the whole preamble symbol is about 993.59ns.

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

As shown in Figure 1, a schematic diagram of one-to-many ranging is provided. During the ranging process, the ranging device (ie, the responding object Responder) transmits a ranging response signal containing a preamble to the ranging device (ie, the initiating object Initiator) . After the Initiator receives the ranging response signal, it decodes the preamble, and makes a cycle with the locally stored preamble (the locally stored preamble can be used for timing, and each element in the preamble corresponds to a pulse width of about 2ns). Autocorrelation, by detecting the position where the largest autocorrelation peak appears, to estimate the arrival time (time of arrival, TOA) Δt of the ranging response signal from the Responder, and calculate the distance between the Responder and the Initiator by L=c*Δt , where c is the speed of light, c=3*10 ⁸ .

In order to accurately find the maximum autocorrelation peak and at the same time reduce the interference caused by different responder ranging response signals, this ranging method requires the preamble to have better periodic autocorrelation properties, and there is a better relationship between different preambles. periodic cross-correlation properties.

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

For preambles a=[a ₁ ,a ₂ ,…,a _N ] and b=[b ₁ ,b ₂ ,…,b _N ], the periodic cross-correlation is defined as:

When calculating the periodic autocorrelation value or periodic cross-correlation value, each value of τ is calculated once, and there are N values for autocorrelation and cross-correlation respectively. τ refers to the offset of the element, for example, a=[1,0,-1];

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

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

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

If τ=3 (equivalent to τ=0), then φ _aa (τ)=1*1+0*0+(-1)*(-1). It can be seen that when there is no offset (ie τ=0), the autocorrelation value is the largest.

For the UWB ranging preamble, it is expected to have a perfect periodic autocorrelation property. The perfect periodic autocorrelation property requires that except for τ=0, the autocorrelation peaks at other τ are all 0, that is:

At the same time, it is expected that different preambles have perfect periodic cross-correlation properties, that is, the cross-correlation values at all τ are 0, that is:

φ _ab (τ)=0, τ=0,1,2,…,N-1

For example, in a 1-to-2 ranging scenario, the preamble assigned to Responder1 is preamble 1, and the preamble assigned to Responder2 is preamble 2. The preamble locally stored by the distance measuring device (that is, the initiator) is called The preambles a1 and a2, the preambles sent from the distance measuring device (ie Responder) to the distance measuring device (ie Initiator) are called b1 and b2. Preambles 1 and 2 are different, preambles a1 and b1 are the same, and preambles a2 and b2 are the same.

For the ranging device, it is unclear whether the currently received preamble is the preamble b1 or the preamble b2. The ranging device may correlate the received preamble with the current preamble generated based on the locally stored preamble a1. On the premise that the preamble satisfies the perfect autocorrelation property, if there is no maximum correlation peak within a cycle, it means that the received preamble is not the preamble b1 corresponding to the preamble a1, and the received preamble is the same as The preamble b2 corresponding to the preamble a2; when the received preamble is correlated with the current preamble generated based on the locally stored preamble a1, if the maximum correlation peak appears within one cycle, it means that the received preamble is related to The preamble b1 corresponding to the preamble a1.

The ranging device (that is, the Initiator) uses the preamble for timing. For example, in a larger time dimension, a ranging response signal is received in the third cycle. Optionally, the ranging device (that is, the Initiator) does not mark multiple elements in one cycle, so it is not known on which element the ranging response signal is received, and the autocorrelation property can be used to determine the Ranging response signals received on several elements.

For example, the received preamble is [-1,-1,1,0,1], shifting to the right by 1 bit (equivalent to shifting to the left by 4 bits) is: -1,1,0,1,- 1. Shifting 2 bits to the right (equivalent to shifting 3 bits to the left) is: 1,0,1,-1,-1, shifting 3 bits to the right (equivalent to shifting 2 bits to the left) is: 0,1,-1-1,1, shifting to the right by 4 bits (equivalent to shifting to the left by 1 bit) is: 1,-1-1,11,0.

When the ranging response signal is received, the current preamble generated based on the locally stored preamble is 1, 0, 1, -1, -1. Then, when performing autocorrelation, it can be seen that when the received preamble is shifted to the right by 2 bits (equivalent to shifting to the left by 3 bits), the maximum autocorrelation peak appears. Then it can be explained that the offset is 3, that is, the third element receives the ranging response signal. In an optional situation, when it is determined that the ranging response signal is received when the third element is generated, the arrival time Δt can be measured to be 13 2ns, that is, 26ns. Based on the speed of light, the distance between the Responder and the Initiator can be measured. It can be understood that the above example is the basic principle of preamble ranging, and the ranging process can be adjusted according to the actual situation in actual use, which is not limited in this application.

In the existing standards IEEE 802.15.4 and IEEE 802.15.4z, the preamble used is the Ipatov sequence. The number of Ipatov sequences in existing standards is relatively small, and the periodic cross-correlation between different sequences is poor. Therefore, the sequence ranging capacity is small, and it cannot support multiple Responders for synchronous ranging. As shown in Table 2, taking the Ipatov sequence with a length of 31 as an example, the periodic cross-correlation peaks between pairs of 8 sequences after normalization are listed. Among them, normalization can be understood as dividing the maximum cross-correlation value of the sequence by the maximum autocorrelation value of the sequence, and the maximum autocorrelation value of these sequences with a length of 31 is 16.

Table 2: Periodic cross-correlation peaks of 8 Ipatov sequences with a length of 31 (normalized results).

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

It can be seen that the cross-correlation peaks of different sequences are all above 0.25, and the cross-correlation peaks of sequence 1 and sequence 5 even reach 0.6875. Therefore, if multiple Ipatov sequences are used for ranging at the same time, false peaks may be generated when searching for autocorrelation peaks, resulting in inaccurate calculation of time of arrival TOA and large ranging errors. In order to solve this problem, the current standard stipulates that only sequence pairs with good periodic cross-correlation (such as sequences 1 and 2, sequences 3 and 4, sequences 5 and 6, and sequences 7 and 8) can be used in the same channel, and other sequences can be used in the same channel. used in different channels. Therefore, the Ipatov sequence in the current standard can only support synchronous ranging of two Responders in the same channel at most, which is far from meeting the one-to-many ranging requirements in many application scenarios (such as smart car key positioning, smart home positioning).

Based on this, the present application proposes a new ranging sequence. These sequences may not have perfect autocorrelation properties throughout the period, but have zero correlation zone (ZCZ) properties, that is, in the zero correlation interval (ie, ZCZ interval), these sequences have perfect autocorrelation properties and perfect cross-correlation properties. relevant nature. For example, the ZCZ interval is defined as [-L _zcz , L _zcz ], and within this ZCZ interval, the cyclic shift autocorrelation and cyclic shift cross correlation of all sequences are 0. For example, φ _aa (τ)=0,-L _zcz ≤τ≤L _zcz , φ _ab (τ)=0,-L _zcz ≤τ≤L _zcz . Since the sequence has the ZCZ property, when assigning different sequences to different Responders for ranging, as long as the arrival delay difference of the ranging response signals from different Responders falls within the time corresponding to the ZCZ interval, multiple Responder's interference-free precise ranging. The present application refers to these sequences with ZCZ properties as ZCZ sequences. In addition, it can be understood that the present application can be applied to a one-to-one ranging scenario, and can also be applied to a one-to-many ranging scenario.

Next, the scheme will be introduced in detail with reference to the accompanying drawings. The features or contents marked with dotted lines in the drawings can be understood as optional operations or optional structures of the embodiments of the present application.

Example 1:

As shown in Figure 2, a distance measuring method is provided, the first device described below may be the distance measuring device (ie Initiator) mentioned above, and the second device described below may be the device to be ranged previously mentioned (i.e. Responder). In a one-to-one ranging scenario, there is one second device; in a one-to-many ranging scenario, there are multiple second devices. Figure 2 uses one-to-one (i.e. a second device) as an example to introduce the ranging method, including the following steps:

Step 201: the second device sends a first ranging response signal to the first device, and correspondingly, the first device receives the first ranging response signal from the second device.

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

The first ranging response signal is generated based on a first ZCZ sequence, and the first ZCZ sequence belongs to a sequence in a plurality of preconfigured ZCZ sequences. The preconfiguration here may be preconfiguration in the first device, or preconfiguration in the second device. Multiple ZCZ sequences are pre-configured in the first device, and multiple ZCZ sequences are pre-configured in the second device. For ease of distinction, the ranging response signal sent by the second device to the first device is called the first ranging response signal, and the ZCZ sequence used to generate the first ranging response signal is called the first ZCZ sequence. In a one-to-many ranging scenario, the first ranging response signals sent by different second apparatuses are different, that is, the first ZCZ sequences on which the different first ranging response signals are based are different.

The ZCZ sequence in the request itself is located in the synchronization header (SHR) in the physical layer protocol data unit PPDU. In this scenario, the ZCZ sequence can also be called a preamble.

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

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

In an optional example, a ZCZ sequence can be understood as a sequence with ZCZ properties. The ZCZ sequence has perfect periodic autocorrelation properties in the ZCZ interval. The multiple ZCZ sequences pre-configured in this application have perfect periodic cross-correlation properties in the ZCZ interval.

The lengths of the preconfigured multiple ZCZ sequences may be the same or different. In an optional example, the lengths of the preconfigured multiple ZCZ sequences include but are not limited to: one or more of 32, 128, and 256.

The ZCZ interval lengths of the multiple pre-configured ZCZ sequences may be the same or different. In an optional example, the ZCZ interval lengths of the preconfigured multiple ZCZ sequences include, but are not limited to: one or more of 5, 9, 17, 33, and 65. Different ZCZ intervals can meet different ranging requirements, making ranging more flexible.

Different sequence lengths correspond to different ZCZ interval lengths. In an optional example, among the pre-configured multiple ZCZ sequences: the ZCZ interval length of the ZCZ sequence with a length of 32 is 5 or 9 or 17; Alternatively, the length of the ZCZ interval of the ZCZ sequence with a length of 128 is 9, 17, or 33; or, the length of the ZCZ interval of a ZCZ sequence with a length of 256 is 17, 33, or 65.

For ZCZ sequences of the same length and the same ZCZ interval length, one or more ZCZ sequences can be preconfigured. In an optional example, the preconfigured multiple ZCZ sequences include one or more of the following:

8 ZCZ sequences with length 32 and ZCZ interval length 5;

4 ZCZ sequences with length 32 and ZCZ interval length 9;

2 ZCZ sequences with length 32 and ZCZ interval length 17;

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

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

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

16 ZCZ sequences with length 256 and ZCZ interval length 17;

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

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

For the same ZCZ interval length, there are multiple ZCZ sequences, which can realize one-to-many ranging requirements and make ranging more flexible.

An optional example, the ZCZ sequence can be generated by the following method:

basis matrix

And based on the matrix recursive method:

After N rounds of recursion, 2 ^N+1 ZCZ sequences with a length of 2 ^2N+1 can be generated, and these ZCZ sequences have ZCZ intervals with a length of 2 ^N +1.

For example, using the basis matrix

After N=2 rounds of matrix recursion, 8 ZCZ sequences with a length of 32 can be generated. As shown in Table 3, the length of the ZCZ interval of these sequences is 5.

After N=3 rounds of matrix recursion, 16 ZCZ sequences with a length of 128 can be generated. As shown in Table 4, the length of the ZCZ interval of these sequences is 9.

It should be noted that the serial numbers (such as 1, 2, 3, ... 16) of the ZCZ sequences in the multiple tables involved in this application are only for convenience of description, and do not imply sequence.

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

The 8 ZCZ sequences with a length of 32 and a ZCZ interval length of 5 listed in Table 3 do not have perfect autocorrelation properties in the full period (namely [-31, 0] and [0, 31]), but in the ZCZ In the interval (namely [-2, 2]), the 8 ZCZ sequences have perfect autocorrelation and cross-correlation properties.

As shown in Figure 3a, the autocorrelation property of the ZCZ sequence numbered 1 in Table 3 is introduced. It can be seen that within [-2, 2], it has perfect autocorrelation properties.

As shown in Figure 3b, the cross-correlation properties of the ZCZ sequences with serial numbers 1 and 2 in Table 3 are introduced, and it can be seen that within [-2, 2], they have perfect cross-correlation properties.

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

As shown in Figure 3d, the cross-correlation properties of the ZCZ sequences with serial numbers 1 and 3 in Table 3 are introduced, and it can be seen that within [-2, 2], they have perfect cross-correlation properties.

As shown in Figure 3e, the autocorrelation property of the ZCZ sequence numbered 3 in Table 3 is introduced, and it can be seen that within [-2, 2], it has perfect autocorrelation properties.

As shown in Figure 3f, the cross-correlation properties of the ZCZ sequences with serial numbers 2 and 3 in Table 3 are introduced, and it can be seen that within [-2, 2], they have perfect cross-correlation properties.

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

An optional example, the ZCZ sequence can be generated by the following method:

Using the base vector [X ⁰ ,Y ⁰ ], and based on the following vector recursive method [X ^m ,Y ^m ]=[X ^m-1 Y ^m-1 ,(-X ^m-1 )Y ^m-1 ], after After M rounds of vector recursion, the following basis matrix can be constructed

Then use the matrix recursive method:

After N rounds of matrix recursion, 2 ^N+1 ZCZ sequences with a length of 2 ^2N+M+ 1 can be generated, and these ZCZ sequences have ZCZ intervals with a length of 2 ^N+M +1.

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

After M=2 rounds of vector recursion and N=1 round of matrix recursion, four ZCZ sequences with a length of 32 can be generated. As shown in Table 5, the length of the ZCZ interval of these sequences is 9.

After M=4 rounds of vector recursion and N=0 rounds of matrix recursion, two ZCZ sequences with a length of 32 can be generated. As shown in Table 6, the length of the ZCZ interval of these sequences is 17.

After M=2 rounds of vector recursion and N=2 rounds of matrix recursion, 8 ZCZ sequences with a length of 128 can be generated. As shown in Table 7, the length of the ZCZ interval of these sequences is 17.

After M=4 rounds of vector recursion and N=1 round of matrix recursion, four ZCZ sequences with a length of 128 can be generated. As shown in Table 8, the length of the ZCZ interval of these sequences is 33.

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

After M=3 rounds of vector recursion and N=2 rounds of matrix recursion, 8 sequences with a length of 256 can be generated. As shown in Table 10, the length of the ZCZ interval of these sequences is 33.

After M=5 rounds of vector recursion and N=1 round of matrix recursion, four sequences with a length of 256 can be generated. As shown in Table 11, the length of the ZCZ interval of these sequences is 65.

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

Table 6: Two ZCZ sequences with a length of 32 and a ZCZ interval length of 17.

Table 7: Eight ZCZ sequences with a length of 128 and a ZCZ interval length of 17.

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

Table 9: 16 ZCZ sequences with a length of 256 and a ZCZ interval length of 17.

Table 10: 8 ZCZ sequences with a length of 256 and a ZCZ interval length of 33.

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

For example, the ZCZ sequence with a length of 32 and a ZCZ interval length of 5 preconfigured in the first device and the second device includes at least one sequence in Table 3.

For example, the ZCZ sequence with a length of 32 and a ZCZ interval length of 9 preconfigured in the first device and the second device includes at least one sequence in Table 5.

For example, the ZCZ sequence with a length of 32 and a ZCZ interval length of 17 preconfigured in the first device and the second device includes at least one sequence in Table 6.

For example, the ZCZ sequence with a length of 128 and a ZCZ interval length of 9 preconfigured in the first device and the second device includes at least one sequence in Table 4.

For example, the ZCZ sequence with a length of 128 and a ZCZ interval length of 17 preconfigured in the first device and the second device includes at least one sequence in Table 7.

For example, the ZCZ sequence with a length of 128 and a ZCZ interval length of 33 preconfigured in the first device and the second device includes at least one sequence in Table 8.

For example, the ZCZ sequence with a length of 256 and a ZCZ interval length of 17 preconfigured in the first device and the second device includes at least one sequence in Table 9.

For example, the ZCZ sequence with a length of 256 and a ZCZ interval length of 33 preconfigured in the first device and the second device includes at least one sequence in the above Table 10.

For example, the ZCZ sequence with a length of 256 and a ZCZ interval length of 65 preconfigured in the first device and the second device includes at least one sequence in the above Table 11.

In summary, it can be understood that the multiple ZCZ sequences preconfigured in the first device can be all the sequences in Table 3-Table 11; they can be part of the sequences in Table 3-Table 11; or they can be part of the sequences from Table 3. - Table 11, without limiting the origin of the other part. In other words, all the sequences in Table 3-Table 11 are configured in the first device, or part of the sequences in Table 3-Table 11 are configured in the first device. Optionally, in addition to all or part of the sequences in Table 3-Table 11 being pre-configured in the first device, other sequences other than the sequences provided in Table 3-Table 11 may also be configured.

The second device is similar to the first device. The multiple ZCZ sequences preconfigured in the second device can be all sequences in Table 3-Table 11; can be part of the sequences in Table 3-Table 11; can also be partly from Table 3-Table 11, for another part Sources are not limited. In other words, all the sequences in Table 3-Table 11 are configured in the second device, or part of the sequences in Table 3-Table 11 are configured in the second device. Optionally, in addition to all or part of the sequences in Table 3-Table 11 being pre-configured in the second device, other sequences other than the sequences provided in Table 3-Table 11 may also be configured.

The multiple ZCZ sequences preconfigured in the first device and the second device may be completely the same, or may be partly the same or partly different. Optionally, the first device and the second device mutually determine which sequences are supported (preconfigured, that is, supported), so as to use the sequences supported by both parties for ranging.

In an optional example, the first device sends a first message to the second device, where the first message is used to determine whether the second device supports the first ZCZ sequence. Correspondingly, the second device receives the first message from the first device. The second device sends a second message to the first device, where the second message is used to indicate that the second device supports the first ZCZ sequence or does not support the first ZCZ sequence. Correspondingly, the first device receives the second message from the second device. In this example, the first device may first select a specific sequence for the second device, and then inquire whether the second device supports the specific sequence. If supported, the sequence can be used for ranging later. If not supported, the first device can re-select, re-ask.

In an optional example, the first device sends a first message to the second device, where the first message is used to determine a ZCZ sequence supported by the second device. Correspondingly, the second device receives the first message from the first device. The second device sends a second message to the first device, where the second message is used to indicate the ZCZ sequence supported by the second device. Correspondingly, the first device receives the second message from the second device. In this example, the first device inquires which ZCZ sequences are supported by the second device, and then selects a certain sequence from the ZCZ sequences supported by the second device for ranging.

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

Optionally, parameter information corresponding to multiple ZCZ sequences may also be preconfigured in the first device. The parameter information corresponding to multiple ZCZ sequences may also be preconfigured in the second device. Parameter information includes but not limited to one or more of the following: sequence length, sequence number, sequence ZCZ interval length, sequence ZCZ interval range, sequence chip length, sequence can support the maximum number of ranging devices (or called sequence can support The maximum number of synchronous ranging Responders), the sequence can support the maximum ranging delay difference, and the sequence can support the maximum ranging range.

The ranging delay difference is: in a one-to-many ranging scenario, among the ranging response signals received by the first device from multiple second devices (Responders), the first ranging response signal received is The difference between the time and the time of the last ranging response signal received.

The ranging range is: in a one-to-many ranging scenario, there is a distance between each second device and the first device, and among the multiple distances, the difference between the largest distance and the smallest distance.

The maximum ranging range supported by the sequence is determined based on the maximum ranging delay difference supported by the sequence.

The parameter information can be stored in the form of a table, or can be stored in other forms (such as a correspondence relationship), without limitation. When stored in table form, all parameter information may be located in one table, each parameter information may be located in one table, and part of parameter information may also be located in one table. When multiple parameter information is located in multiple tables, the multiple tables may be independent tables, or multi-level tables with associated relationships. The multi-level tables here can be understood as another table can be found according to a certain parameter information.

Refer to Table 12 for the parameter information corresponding to the ZCZ sequence provided in Table 3-Table 11. Some or all of the sequences in each table in Table 3-Table 11 can be called a cluster of sequences or a set of sequences, and the parameter information of some or all of the sequences in each table (ie, a cluster of sequences or a set of sequences) is the same .

Table 12: Parameter information for the ZCZ sequence.

In Table 12, different sequence lengths and sequence numbers correspond to different ZCZ sequences, for example, 8 sequences with a length of 32 correspond to Table 3, and 4 sequences with a length of 32 correspond to Table 5. The number of sequences is the same as the maximum number of supported ranging devices.

The length of the sequence ZCZ mentioned above is related to the range of the sequence ZCZ interval. For example, when the sequence ZCZ length is 5, the corresponding sequence ZCZ interval range is [-2,2]; for example, when the sequence ZCZ length is 9, the corresponding sequence ZCZ interval range is [-4,4]; for example, the sequence ZCZ When the length is 17, the corresponding sequence ZCZ interval range is [-8,8]; for example, when the sequence ZCZ length is 33, the corresponding sequence ZCZ interval range is [-16,16]; for example, when the sequence ZCZ length is 65 , the corresponding sequence ZCZ interval range is [-32,32]. The supported maximum ranging delay difference is determined based on the ZCZ interval length, and the supported maximum ranging range is determined based on the supported maximum ranging delay difference. Referring to the IEEE 802.15.4 standard, for a sequence with a length of 32, 15 0s are filled after each symbol to form a chip (Chip) with a total length of 16. Therefore, after spreading, three clusters (clusters, also known as Group) ZCZ interval lengths of ZCZ sequences are extended to 80, 144 and 272 symbols respectively. Assuming that the pulse width corresponding to one symbol is 2ns, the maximum tolerable ranging delay difference corresponding to the ZCZ interval length is 160ns, 288ns and 544ns respectively. Optionally, as shown in the first three rows of the last column of Table 12, considering the two-way transmission process of the signal Initiator→Responder→Initiator during the ranging process, the maximum Responder ranging range c*Δt/2 corresponding to these ZCZ intervals are respectively 24m, 43.2m and 81.6m.

Similarly, as shown in the last six rows of the last column of Table 12, for sequences with lengths of 128 and 256, 3 0s can be filled after each symbol to form a chip (Chip) with a total length of 4, three clusters (or three The maximum ranging ranges corresponding to ZCZ sequences with a length of 128 are 10.8m, 20.4m and 39.6m respectively, and the maximum ranging ranges corresponding to three clusters (or three groups) of ZCZ sequences with a length of 256 are 20.4m and 39.6m respectively. m and 78m.

In an optional example, generating the first ranging response signal based on the first ZCZ sequence includes:

After each symbol in the first ZCZ sequence with a length of 32, 15 0s are added to obtain the first ranging response signal;

After each symbol in the first ZCZ sequence with a length of 128, three 0s are added to obtain the first ranging response signal;

Each symbol in the first ZCZ sequence with a length of 32 is supplemented with three 0s to obtain a first ranging response signal.

In an optional example, in a one-to-many ranging scenario, when there are multiple second devices, the first ZCZ sequences corresponding to different second devices are different, and the multiple first ZCZ sequences The parameter information of a ZCZ sequence is the same, and the parameter information includes but is not limited to at least one of the following: the length of the ZCZ interval, the maximum supported ranging delay difference, and the supported maximum ranging range.

Combined with Table 3-Table 11, in the one-to-many ranging scenario, the multiple ZCZ sequences used (ie multiple first ZCZ sequences used in this application) belong to the same cluster (group or table) of ZCZ sequences.

As shown in Figure 4, another ranging method is provided, including the following steps:

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

Before the ranging is initiated, the Initiator and the Responder are synchronized based on the IEEE 802.15.4 standard. For example, the Initiator broadcasts (the broadcast can also be replaced by multicast or unicast) a synchronization request signal to the Responder. After receiving the synchronization request signal, the Responder sends a synchronization signal to the Initiator. The synchronization signal includes but is not limited to the Responder ID.

The Initiator can learn the number M of Responders according to the number of received synchronization signals.

The initiator can record the time delay difference ΔT of the synchronization signal, or estimate the Responder distribution range ΔR according to the time delay difference of the received synchronization signal. The delay difference of the synchronization signal can be understood as the difference between the time of the first synchronization signal received and the time of the last synchronization signal received. The distribution range can be understood as a distance difference, and the distance difference is determined based on a time delay difference and a signal propagation rate (such as the speed of light).

Step 402: The initiator selects a suitable cluster (or a group or a table in Table 3-Table 11) of ZCZ sequences according to the number M of Responders and the distribution range ΔR (or delay difference ΔT).

After the Initiator obtains the number of Responders M and the distribution range ΔR (or delay difference ΔT), it can select an appropriate cluster (or a group) of ZCZ sequences for measurement according to the preconfigured sequence parameter information (such as the parameter information in Table 12). distance. When the Initiator selects a suitable cluster (or group) of ZCZ sequences, the principles considered include: the number of sequences in the cluster (or group) is greater than the number M of Responders, and the maximum number of sequences supported by the cluster (or group) The ranging range is greater than the Responder distribution range ΔR. Optionally, the maximum ranging range that the sequences in the cluster (or group) can support is greater than the Responder distribution range ΔR, or it can be replaced by the maximum ranging delay difference that the sequences in the cluster (or group) can support is greater than The delay difference ΔT of the synchronization signal.

For example, a typical UWB application scenario: using a smart car key to measure the distance of the terminal in the car. In this application scenario, the typical distribution range of Responders is less than 10m, and the number of Responders is more than 10. At this time, you can use a length of 128 and a number of 16 A cluster (or a group) of ZCZ sequences is used for ranging.

Step 403: The Initiator assigns a corresponding ZCZ sequence to each Responder.

After selecting a cluster of ZCZ sequences, the Initiator can select M ZCZ sequences in a cluster of ZCZ sequences, and assign a sequence to each Responder. Since the ZCZ sequence allocation scheme is relatively flexible, for example, assign ZCZ sequences 1,...,M to Responder 0, Responder 1,...,Responder M respectively.

The Initiator can send the index (or number, or sequence number) of the ZCZ sequence to the Responder. For example, the Initiator may send the sequence configuration information to the M Responders by using a ranging control message (RCM). The sequence configuration information includes but is not limited to the index (or number, or sequence number) of the ZCZ sequence.

Optionally, step 404: the Responder uses the allocated ZCZ sequence to generate a ranging response signal.

For example, after receiving the Initiator RCM, different Responders decode the sequence configuration information in it, and use the allocated ZCZ sequence as the preamble to generate a ranging response signal.

For example, according to the assigned ZCZ sequence, the ranging response signal is generated after the zero-filled spreading shown in Table 12. For the process of adding 0 to the ZCZ sequence, refer to the process of generating the first ranging response signal based on the first ZCZ sequence described above, which will not be repeated here.

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

For example, the Initiator sends a ranging initiation message (RIM) to M Responders, for example, by broadcast, or by unicast or multicast.

Optionally, according to the IEEE 802.15.4 standard, the Initiator may broadcast a ranging initiation signal RIM to M Responders at time _t1,0 . Responder m records the time stamp t _Rm,0 at this time after receiving the ranging initiation signal, where m=1...M. After a fixed time interval t _reply , each Responder sends a ranging response signal to the Initiator.

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

Step 406: After the Initiator receives the ranging response signals from different Responders, it decodes the preamble (ZCZ sequence) therein, performs periodic autocorrelation between the decoded preamble (ZCZ sequence) and the local preamble (ZCZ sequence), and detects The position where the maximum correlation peak appears, the TOA is estimated, the distance is calculated, and the ranging is completed.

After the Initiator receives the ranging response signal from the Responder, it decodes the ZCZ sequence, and detects the TOA by performing cyclic shift autocorrelation with the local ZCZ sequence. Since the distribution range ΔR of M Responders is smaller than the ZCZ interval of the cluster ZCZ sequence, the maximum ranging range can be supported, so for the ranging response signal of Responder m (m=1...M), other Responder ranging response signals correspond to Both autocorrelation and cross-correlation are 0, so the position of the maximum autocorrelation peak corresponding to Responder m can be accurately found.

Assuming that the time corresponding to the maximum autocorrelation peak position of the Responder m ranging response signal found is t _Rm,1 , then the distance between the Initiator and Responder m is

This application can use M ZCZ sequences to support M Responders for synchronous ranging, thereby improving the capacity of ranging sequences.

Example 2:

The above-mentioned embodiment 1 introduces that in the scenario of synchronous ranging of different Responders, multiple ZCZ sequences are selected from multiple pre-configured ZCZ sequences to perform synchronous ranging. In Embodiment 2, a cyclic shift of a ZCZ sequence may be used to support synchronous ranging of different Responders, thereby further increasing the sequence capacity.

In the case of at least two second devices (one-to-many), the first ZCZ sequence is not directly selected from a plurality of pre-configured ZCZ sequences, and the at least two first ZCZ sequences may be based on the second ZCZ sequence The sequence is determined by cyclic shift, and the second ZCZ sequence is one of the preconfigured multiple ZCZ sequences, that is, the second ZCZ sequence is directly selected from the preconfigured multiple ZCZ sequences.

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

Sequence 2 (rotate sequence 1 by 2 bits): -1 1-1-1-1-1 1 1 1 1 1-1 1-1-1 1-1 1 1 1-1-1-1-1 1 1 -1 1 1-1 1-1.

The first element in sequence 2 is the second-to-last element in sequence 1, the second element in sequence 2 is the first-to-last element in sequence 1, and the third element in sequence 2 is the second-to-last element in sequence 1 The first element of , the fourth element in sequence 2 is the second element in sequence 1, ..., the last element in sequence 2 is the third last element in sequence 1.

Embodiment 2 Compared with Embodiment 1, the supportable maximum ranging delay difference and the supportable maximum ranging range in the sequence parameter information will change. For example, as shown in the first row of Table 12, when the ZCZ interval is 5, if no cyclic shift is performed, the maximum supported ranging delay difference is 160 ns, and the supported maximum ranging range is 24 m. When the cyclic shift is 2 bits, the available ZCZ interval length becomes 3, correspondingly, the maximum supported ranging delay difference is 96ns, and the supported maximum ranging range is 14.4m. When the ZCZ interval is 9, if no cyclic shift is performed, the maximum supported ranging delay difference is 288ns, and the supported maximum ranging range is 43.2m. When the cyclic shift is 2 bits, the available ZCZ interval length becomes 7. Correspondingly, the maximum ranging delay difference that can be supported is 288*(7/9)=224ns, and the maximum ranging range that can be supported is 43.2* (7/9) = 33.6m.

As shown in Table 13, in the case of generating a new ZCZ sequence in a way that each cyclic shift is close to half (that is, (ZCZ interval length-1)/2), the ZCZ sequence provided in Table 3-Table 11 The corresponding parameter information is as follows:

When the cyclic shift of a ZCZ sequence is used to support the synchronous ranging of different Responders, when the first device (Initiator) sends sequence configuration information to the second device (Responder), the sequence configuration information includes: the index of the second sequence and Cyclic shift information; where different second apparatuses correspond to the same index of the second sequence, and different second apparatuses correspond to different cyclic shift information.

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

After the Initiator has a result on the distribution range of the Responder, it can use the cyclic shift of the same sequence to further increase the capacity of the ranging sequence on the premise that the distribution range of the Responder is much smaller than the maximum range that can be supported corresponding to the sequence ZCZ interval. Since the Responder distribution range is still smaller than the supported maximum ranging range corresponding to the available ZCZ interval corresponding to the cyclic shift, it is still possible to distinguish the maximum correlation peak corresponding to the ranging response signals of multiple Responders without interference.

For the rest of the process in Embodiment 2, reference may be made to Embodiment 1, and details are not repeated here.

Embodiment 2 can further increase the capacity of the ranging sequence at the cost of reducing the maximum range that can be supported by the sequence (the maximum time delay difference that can be supported for ranging). If the cyclic shift of each cluster (or group) of ZCZ sequences is close to half the length of the ZCZ interval, the sequence capacity can be doubled, and a number of M ZCZ sequences can be used to support 2M Responders for synchronous ranging.

The method in the embodiment of the present application is introduced above, and the device in the embodiment of the present application will be introduced in the following. The method and the device are based on the same technical concept. Since the principles of the method and the device to solve problems are similar, the implementation of the device and the method can be referred to each other, and the repetition will not be repeated.

The embodiment of the present application may divide the device into functional modules according to the above method example, for example, each function may be divided into each functional module, or two or more functions may be integrated into one module. These modules can be implemented not only in the form of hardware, but also in the form of software function modules. It should be noted that the division of the modules in the embodiment of the present application is schematic, and is only a logical function division, and there may be another division manner during specific implementation.

Based on the same technical concept as the above-mentioned method, referring to FIG. 5 , a schematic structural diagram of a ranging device 500 is provided. The device 500 may include: a processing module 510, and optionally, a receiving module 520a, a sending module 520b, and a storage module 530. The processing module 510 may be connected to the storage module 530 and the receiving module 520a and the sending module 520b respectively, and the storage module 530 may also be connected to the receiving module 520a and the sending module 520b.

In an example, the above-mentioned receiving module 520a and sending module 520b may also be integrated together and defined as a transceiver module.

In an example, the device 500 may be the first device, or may be a chip or a functional unit applied in the first device. The device 500 has any function of the first device in the above method, for example, the device 500 can execute the various steps performed by the first device in the above methods in FIG. 2 and FIG. 4 .

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

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

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

In an example, the receiving module 520a is configured to receive a first ranging response signal from the second device, the first ranging response signal is generated based on a first zero-correlation zone ZCZ sequence, and the first ZCZ The sequence belongs to a sequence among the pre-configured multiple ZCZ sequences;

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

In an example, the sending module 520b is configured to send a first message to the second device, where the first message is used to determine whether the second device supports the first ZCZ sequence;

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

In an example, the storage module 530 may store computer-executed instructions of the method executed by the first device, so that the processing module 510, the receiving module 520a, and the sending module 520b execute the method executed by the first device in the above examples.

Exemplarily, the storage module may include one or more memories, and the memories may be devices used to store programs or data in one or more devices and circuits. The storage module may be a register, cache or RAM, etc., and the storage module may be integrated with the processing module. The storage module can be ROM or other types of static storage devices that can store static information and instructions, and the storage module can be independent from the processing module.

The transceiver module may be an input or output interface, a pin or a circuit, and the like.

In an example, the device 500 may be the second device, or may be a chip or a functional unit applied in the second device. The device 500 has any function of the second device in the above method, for example, the device 500 can execute the various steps performed by the second device in the above methods in FIG. 2 and FIG. 4 .

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

The sending module 520b may execute the sending action performed by the second device in the above method embodiment.

The processing module 510 may execute other actions except the sending action and the receiving action among the actions performed by the second device in the above method embodiment.

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

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

In an example, the storage module 530 may store computer-executed instructions of the method executed by the second device, so that the processing module 510, the receiving module 520a, and the sending module 520b execute the method executed by the second device in the above examples.

Exemplarily, the storage module may include one or more memories, and the memories may be devices used to store programs or data in one or more devices and circuits. The storage module may be a register, cache or RAM, etc., and the storage module may be integrated with the processing module. The storage module can be ROM or other types of static storage devices that can store static information and instructions, and the storage module can be independent from the processing module.

The transceiver module may be an input or output interface, a pin or a circuit, and the like.

As a possible product form, the device can be realized by a general bus architecture.

As shown in FIG. 6 , a schematic block diagram of a ranging device 600 is provided.

The apparatus 600 may include: a processor 610 , and optionally, a transceiver 620 and a memory 630 . The transceiver 620 can be used to receive programs or instructions and transmit them to the processor 610, or the transceiver 620 can be used for the device 600 to communicate and interact with other communication devices, such as interactive control signaling and/or business data etc. The transceiver 620 may be a code and/or data read/write transceiver, or the transceiver 620 may be a signal transmission transceiver between the processor and the transceiver. The processor 610 is electrically coupled to the memory 630 .

In an example, the device 600 may be the first device, or may be a chip applied in the first device. It should be understood that the device has any function of the first device in the above method, for example, the device 600 can execute the various steps performed by the first device in the above methods in FIG. 2 and FIG. 4 . Exemplarily, the memory 630 is used to store computer programs; the processor 610 can be used to call the computer programs or instructions stored in the memory 630 to execute the method performed by the first device in the above example, or to use the The transceiver 620 performs the method performed by the first device in the above example.

In an example, the device 600 may be the second device, or may be a chip applied in the second device. It should be understood that the device has any function of the second device in the above method, for example, the device 600 can execute the various steps performed by the second device in the above methods in FIG. 2 and FIG. 4 . Exemplarily, the memory 630 is used to store computer programs; the processor 610 can be used to call the computer programs or instructions stored in the memory 630 to execute the method performed by the second device in the above examples, or to use the The transceiver 620 performs the method performed by the second device in the above example.

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

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

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

As a possible product form, the device may be implemented by a general-purpose processor (a general-purpose processor may also be referred to as a chip or system-on-a-chip).

In a possible implementation manner, implementing a general-purpose processor applied to the first device or the second device includes: a processing circuit (the processing circuit may also be referred to as a processor); optionally, further includes: The input and output interfaces for communication and the storage medium (storage medium may also be referred to as memory) are connected, and the storage medium is used to store instructions executed by the processing circuit to execute the method executed by the first device or the second device in the above examples.

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

The receiving module 520a and the sending module 520b in FIG. 5 can be realized through input and output interfaces. Alternatively, the input-output interface is divided into an input interface and an output interface, the input interface performs the function of the receiving module, and the output interface performs the function of the sending module.

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

As a possible product form, the device of the embodiment of the present application can also be realized using the following: one or more FPGAs (Field Programmable Gate Arrays), PLDs (Programmable Logic Devices), controllers, state machines, Any combination of gate logic, discrete hardware components, any other suitable circuitry, or circuitry capable of performing the various functions described throughout this application.

The embodiment of the present application also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a computer, the computer can be used to execute the distance measuring method. Or in other words: the computer program includes instructions for implementing the distance measuring method described above.

The embodiment of the present application also provides a computer program product, including: computer program code, when the computer program code is run on the computer, the computer can execute the distance measuring method provided above.

An embodiment of the present application also provides a distance measuring system, the distance measuring system comprising: a first transpose and a second device for performing the above distance measuring method.

In addition, the processor mentioned in the embodiment of the present application may be a central processing unit (central processing unit, CPU), a baseband processor, and the baseband processor and the CPU may be integrated or separated, or may be a network processor (network processing unit). processor, NP) or a combination of CPU and NP. Processors may further include hardware chips or other general-purpose processors. The aforementioned hardware chip may be an application-specific integrated circuit (application-specific integrated circuit, ASIC), a programmable logic device (programmable logic device, PLD) or a combination thereof. The above PLD can be complex programmable logic device (complex programmable logic device, CPLD), field programmable logic gate array (field-programmable gate array, FPGA), general array logic (generic array logic, GAL) and other programmable logic devices , discrete gate or transistor logic devices, discrete hardware components, etc., or any combination thereof. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, and the like.

The memory mentioned in the embodiments of the present application may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Among them, the non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electronically programmable Erase Programmable Read-Only Memory (Electrically EPROM, EEPROM) or Flash. The volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (Static RAM, SRAM), Dynamic Random Access Memory (Dynamic RAM, DRAM), Synchronous Dynamic Random Access Memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous connection dynamic random access memory (Synchlink DRAM, SLDRAM ) and Direct Memory Bus Random Access Memory (Direct Rambus RAM, DR RAM). It should be noted that the memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.

The transceiver mentioned in the embodiment of the present application may include a separate transmitter and/or a separate receiver, or the transmitter and the receiver may be integrated. Transceivers can operate under the direction of corresponding processors. Optionally, the transmitter may correspond to the transmitter in the physical device, and the receiver may correspond to the receiver in the physical device.

Those of ordinary skill in the art can realize that, in combination with the various method steps and units described in the embodiments disclosed herein, they can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the possibility of hardware and software For interchangeability, in the above description, the steps and components of each embodiment have been generally described according to their functions. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those of ordinary skill in the art may implement the described functionality using different methods for each particular application, but such implementation should not be considered as exceeding the scope of the present application.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may also be electrical, mechanical or other forms of connection.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present application.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of software products, and the computer software products are stored in a storage medium Among them, several instructions are included to make a computer device (which may be a personal computer, a server, or a second device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (read-only memory, ROM), random access memory (random access memory, RAM), magnetic disk or optical disc and other media that can store program codes. .

"And/or" in this application describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B, may mean: A exists alone, A and B exist simultaneously, and B exists independently. situation. The character "/" generally indicates that the contextual objects are an "or" relationship. A plurality referred to in this application refers to two or more than two. In addition, it should be understood that in the description of this application, words such as "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or imply order.

While preferred embodiments of the present application have been described, additional changes and modifications to these embodiments can be made by those skilled in the art once the basic inventive concept is appreciated. Therefore, the appended claims are intended to be construed to cover the preferred embodiment and all changes and modifications which fall within the scope of the application.

Apparently, those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the embodiments of the present application. In this way, if the modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims (26)

1. A distance measuring method, characterized in that, comprising:

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

   The first device determines a distance between the first device and the second device based on the first ranging response signal.
2. The method according to claim 1, further comprising:

   The first device sends a first message to the second device, and the first message is used to determine whether the second device supports the first ZCZ sequence;

   The first device receives a second message from the second device, where the second message is used to indicate that the second device supports the first ZCZ sequence or does not support the first ZCZ sequence.
3. A distance measuring method, characterized in that, comprising:

   The second device generates a first ranging response signal based on a first ZCZ sequence, and the first ZCZ sequence belongs to a sequence in a plurality of preconfigured ZCZ sequences;

   The second device sends the first ranging response signal to the first device.
4. The method according to claim 3, further comprising:

   The second device receives a first message from the first device, the first message is used to determine whether the second device supports the first ZCZ sequence;

   The second device sends a second message to the first device, where the second message is used to indicate that the second device supports the first ZCZ sequence or does not support the first ZCZ sequence.
5. The method according to any one of claims 1-4, wherein the plurality of ZCZ sequences are all binary sequences.
6. The method according to any one of claims 1-5, characterized in that the multiple ZCZ sequences have perfect periodic autocorrelation properties and perfect periodic cross-correlation properties in the ZCZ interval.
7. The method according to any one of claims 1-6, wherein in the multiple ZCZ sequences:

   The ZCZ interval length of the ZCZ sequence of length 32 is 5 or 9 or 17; or,

   The ZCZ interval length of a ZCZ sequence of length 128 is 9 or 17 or 33; or,

   The ZCZ interval length of a ZCZ sequence with a length of 256 is 17 or 33 or 65.
8. The method according to any one of claims 1-7, wherein the multiple ZCZ sequences include one or more of the following:

   8 ZCZ sequences with length 32 and ZCZ interval length 5;

   4 ZCZ sequences with length 32 and ZCZ interval length 9;

   2 ZCZ sequences with length 32 and ZCZ interval length 17;

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

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

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

   16 ZCZ sequences with length 256 and ZCZ interval length 17;

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

   4 ZCZ sequences with a length of 256 and a ZCZ interval length of 65.
9. The method according to claim 7 or 8, wherein the ZCZ sequence whose length is 32 and whose ZCZ interval length is 5 includes one or more of the following:

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

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

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

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

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

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

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

   -1 1 1 -1 -1 1 1 -1 1 1 -1 -1 1 1 -1 -1 1 -1 1 -1 1 -1 1 -1 -1 -1 -1 -1 -1 -1 -1 -1; and/or,

   The ZCZ sequence with a length of 32 and a ZCZ interval length of 9 includes one or more sequences in Table 5 in the specific embodiments of the specification; and/or,

   The ZCZ sequence with a length of 32 and a ZCZ interval length of 17 includes one or more sequences in Table 6 in the specific embodiments of the specification; and/or,

   The ZCZ sequence with a length of 128 and a ZCZ interval length of 9 includes one or more sequences in Table 4 in the specific embodiments of the specification; and/or,

   The ZCZ sequence with a length of 128 and a ZCZ interval length of 17 includes one or more sequences in Table 7 in the specific embodiments of the specification; and/or,

   The ZCZ sequence with a length of 128 and a ZCZ interval length of 33 includes one or more sequences in Table 8 in the specific embodiments of the specification; and/or,

   The ZCZ sequence with a length of 256 and a ZCZ interval length of 17 includes one or more sequences in Table 9 in the specific embodiments of the specification; and/or,

   The ZCZ sequence with a length of 256 and a ZCZ interval length of 33 includes one or more sequences in Table 10 in the specific embodiments of the specification; and/or,

   The ZCZ sequence with a length of 256 and a ZCZ interval length of 65 includes one or more sequences in Table 11 in the specific embodiments of the specification.
10. The method according to any one of claims 1-9, wherein generating the first ranging response signal based on the first ZCZ sequence comprises:

    After each symbol in the first ZCZ sequence with a length of 32, 15 0s are added to obtain the first ranging response signal;

    After each symbol in the first ZCZ sequence with a length of 128, three 0s are added to obtain the first ranging response signal;

    Each symbol in the first ZCZ sequence with a length of 32 is supplemented with three 0s to obtain a first ranging response signal.
11. The method according to any one of claims 1-10, wherein when there are multiple second devices, the first ZCZ sequences sent by different second devices are different, and the multiple second devices correspond to The parameter information of the multiple first ZCZ sequences is the same, and the parameter information includes one or more of the following: ZCZ interval length, supportable maximum ranging delay difference, and supportable maximum ranging range.
12. A distance measuring device, characterized in that it comprises:

    A receiving module, configured to receive a first ranging response signal from a second device, the first ranging response signal is generated based on a first zero-correlation zone ZCZ sequence, and the first ZCZ sequence belongs to a plurality of pre-configured ZCZ sequences sequence in

    A processing module, configured to determine the distance between the ranging device and the second device based on the first ranging response signal.
13. The device according to claim 12, further comprising:

    a sending module, configured to send a first message to the second device, where the first message is used to determine whether the second device supports the first ZCZ sequence;

    The receiving module is further configured to receive a second message from the second device, where the second message is used to indicate that the second device supports the first ZCZ sequence or does not support the first ZCZ sequence .
14. A distance measuring device, characterized in that it comprises:

    A processing module, configured to generate a first ranging response signal based on a first ZCZ sequence, where the first ZCZ sequence belongs to a sequence in a plurality of preconfigured ZCZ sequences;

    A sending module, configured to send the first ranging response signal to the first device.
15. The device according to claim 14, further comprising:

    A receiving module, configured to receive a first message from the first device, where the first message is used to determine whether the ranging device supports the first ZCZ sequence;

    A sending module, configured to send a second message to the first device, where the second message is used to indicate that the ranging device supports the first ZCZ sequence or does not support the first ZCZ sequence.
16. The device according to any one of claims 12-15, wherein the multiple ZCZ sequences are all binary sequences.
17. The device according to any one of claims 12-16, wherein the multiple ZCZ sequences have perfect periodic autocorrelation properties and perfect periodic cross-correlation properties in the ZCZ interval.
18. The device according to any one of claims 12-17, wherein in the multiple ZCZ sequences:

    The ZCZ interval length of the ZCZ sequence of length 32 is 5 or 9 or 17; or,

    The ZCZ interval length of a ZCZ sequence of length 128 is 9 or 17 or 33; or,

    The ZCZ interval length of a ZCZ sequence with a length of 256 is 17 or 33 or 65.
19. The device according to any one of claims 12-18, wherein the multiple ZCZ sequences include one or more of the following:

    8 ZCZ sequences with length 32 and ZCZ interval length 5;

    4 ZCZ sequences with length 32 and ZCZ interval length 9;

    2 ZCZ sequences with length 32 and ZCZ interval length 17;

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

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

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

    16 ZCZ sequences with length 256 and ZCZ interval length 17;

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

    4 ZCZ sequences with a length of 256 and a ZCZ interval length of 65.
20. The device according to claim 18 or 19, wherein the ZCZ sequence with a length of 32 and a ZCZ interval length of 5 includes one or more of the following:

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

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

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

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

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

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

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

    -1 1 1 -1 -1 1 1 -1 1 1 -1 -1 1 1 -1 -1 1 -1 1 -1 1 -1 1 -1 -1 -1 -1 -1 -1 -1 -1 -1; and/or,

    The ZCZ sequence with a length of 32 and a ZCZ interval length of 9 includes one or more sequences in Table 5 in the specific embodiments of the specification; and/or,

    The ZCZ sequence with a length of 32 and a ZCZ interval length of 17 includes one or more sequences in Table 6 in the specific embodiments of the specification; and/or,

    The ZCZ sequence with a length of 128 and a ZCZ interval length of 9 includes one or more sequences in Table 4 in the specific embodiments of the specification; and/or,

    The ZCZ sequence with a length of 128 and a ZCZ interval length of 17 includes one or more sequences in Table 7 in the specific embodiments of the specification; and/or,

    The ZCZ sequence with a length of 128 and a ZCZ interval length of 33 includes one or more sequences in Table 8 in the specific embodiments of the specification; and/or,

    The ZCZ sequence with a length of 256 and a ZCZ interval length of 17 includes one or more sequences in Table 9 in the specific embodiments of the specification; and/or,

    The ZCZ sequence with a length of 256 and a ZCZ interval length of 33 includes one or more sequences in Table 10 in the specific embodiments of the specification; and/or,

    The ZCZ sequence with a length of 256 and a ZCZ interval length of 65 includes one or more sequences in Table 11 in the specific embodiments of the specification.
21. The device according to any one of claims 12-20, wherein the generation of the first ranging response signal based on the first ZCZ sequence includes:

    After each symbol in the first ZCZ sequence with a length of 32, 15 0s are added to obtain the first ranging response signal;

    After each symbol in the first ZCZ sequence with a length of 128, three 0s are added to obtain the first ranging response signal;

    Each symbol in the first ZCZ sequence with a length of 32 is supplemented with three 0s to obtain a first ranging response signal.
22. The device according to any one of claims 12-21, wherein when there are multiple second devices, the first ZCZ sequences sent by different second devices are different, and the multiple second devices correspond to The parameter information of the plurality of first ZCZ sequences is the same, and the parameter information includes one or more of the following: ZCZ interval length, maximum ranging delay difference that can be supported, and maximum ranging range that can be supported.
23. A distance measuring device, characterized in that it includes a processor, and the processor is coupled with a memory;

    said memory for storing computer programs or instructions;

    The processor is configured to execute part or all of the computer programs or instructions in the memory, and when the part or all of the computer programs or instructions are executed, it is used to implement the method described in any one of claims 1-11. method.
24. A distance measuring device, characterized in that it includes a processor and a memory;

    said memory for storing computer programs or instructions;

    The processor is configured to execute part or all of the computer programs or instructions in the memory, and when the part or all of the computer programs or instructions are executed, it is used to implement the method described in any one of claims 1-11. method.
25. A computer-readable storage medium, characterized by being used for storing a computer program, the computer program including instructions for implementing the method according to any one of claims 1-11.
26. A computer program product, characterized in that the computer program product comprises: computer program code, when the computer program code is run on a computer, the computer is made to execute the method according to any one of claims 1-11.

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