WO2023061011A1 - 一种测距方法和装置 - Google Patents

一种测距方法和装置 Download PDF

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Publication number
WO2023061011A1
WO2023061011A1 PCT/CN2022/111191 CN2022111191W WO2023061011A1 WO 2023061011 A1 WO2023061011 A1 WO 2023061011A1 CN 2022111191 W CN2022111191 W CN 2022111191W WO 2023061011 A1 WO2023061011 A1 WO 2023061011A1
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Prior art keywords
ranging
signal
ranging signal
dedicated synchronization
response signal
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PCT/CN2022/111191
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English (en)
French (fr)
Inventor
李俊
李雪茹
吴海兵
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华为技术有限公司
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Publication of WO2023061011A1 publication Critical patent/WO2023061011A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location

Definitions

  • the embodiments of the present application relate to the communication field, and more specifically, relate to a ranging method and device.
  • ultra wideband (UWB) technology can realize high-precision ranging and positioning, so it has been widely used.
  • time division multiplexing is used to allow multiple users to stagger responses in time to avoid conflicts after receiving the ranging signal sent by the same initiator.
  • ranging negotiation stage different response times are pre-allocated for different users, so that after receiving the ranging signal, each user will feed back the ranging response signal after receiving the ranging signal, so that the response signals of different users arrive at the initiator There will be no overlap between the squares, thus avoiding interference with each other.
  • the initiator needs to allocate a different response time for each responder after pairing, and the process is relatively cumbersome.
  • the crystal oscillator of the device usually has an error, there is a deviation between the actual measured time and the real time, thus generating a ranging error.
  • the different processing speeds of the responding parties have different effects on the measurement error, thereby affecting the distance measurement accuracy.
  • Embodiments of the present application provide a ranging method and device, which can improve ranging accuracy and reduce requirements on processing speed of a responding party.
  • a ranging method is provided, and the method may be executed by a first device, or may also be executed by a chip or a circuit used for the first device, which is not limited in the present application.
  • the following uses execution by the first device as an example for description.
  • the method includes: the first device sends a plurality of ranging signals, the plurality of ranging signals include a first ranging signal and a second ranging signal, the first ranging signal is sent earlier than the second ranging signal, and the first ranging signal
  • the sending time interval between the ranging signal and the second ranging signal is t A1 ;
  • the first device receives the ranging response signal from the second device, and determines the receiving time of the ranging response signal and the sending time of the second ranging signal
  • the interval is t A2 , wherein the ranging response signal includes the time interval t B1 between the second device receiving the second ranging signal and the first ranging signal, the second device receiving the second ranging signal and sending the ranging signal
  • the time interval t B2 between the response signals, or, the ranging response signal includes N, N is a value determined according to t B1 and t B2 , and N is a constant greater than zero; the first device according to t A1 , t A2 , t
  • a ranging method is provided, and the method may be executed by a second device, or may also be executed by a chip or a circuit used for the second device, which is not limited in the present application.
  • the following uses execution by the second device as an example for description.
  • the method includes: the second device receives a plurality of ranging signals from the first device, the plurality of ranging signals include a first ranging signal and a second ranging signal, and determines the second ranging signal and the first ranging signal The receiving time interval between them is t B1 ; the second device sends a ranging response signal to the first device, wherein the ranging response signal includes the time between the second device receiving the second ranging signal and the first ranging signal Interval t B1 , time interval t B2 between the second device receiving the second ranging signal and sending the ranging response signal, or the ranging response signal includes N, N is a value determined according to t B1 and t B2 , N is a constant greater than zero.
  • the second device when the ranging response signal includes t B1 and t B2 , the second device sends the ranging response signal to the first device after t B2 time; when the ranging response signal includes N, the second device sends the ranging response signal to the first device after Nt B1 time A device sends a ranging response signal.
  • N is a value determined according to t B2 /t B1 .
  • N is the value of t B2 /t B1 under a preset accuracy requirement.
  • N a non-integer number
  • the ranging response signal includes a receiving time interval t B1 between the second ranging signal and the first ranging signal, and the second device receives the second ranging signal.
  • the time interval t B2 between the signal and the sending of the ranging response signal, the distance between the first device and the second device is:
  • the ranging response signal includes N, and the distance between the first device and the second device is:
  • a first device may send ranging signals to multiple second devices; for another example, multiple first devices may send ranging signals to one or more second devices, etc., which is not specifically limited in this application.
  • a ranging method is provided, and the method may be executed by a first device, or may also be executed by a chip or a circuit used for the first device, which is not limited in the present application.
  • the following uses execution by the first device as an example for description.
  • the method includes: the first device sends a plurality of ranging signals, the plurality of ranging signals include a first ranging signal and a second ranging signal, the first ranging signal is sent earlier than the second ranging signal, and the first ranging signal
  • the transmission time interval between the ranging signal and the second ranging signal is t A1 ;
  • the first device detects the ranging response signal from the second device within the time period from Pt A1 to (P+1)t A1 , and determines the ranging
  • the receiving time of the response signal and the sending time interval of the second ranging signal are t A2 , and the value of P is a positive integer;
  • the first device determines the distance between the first device and the second device according to M, t A1 , and t A2 , M is the value of P when the first device detects the ranging response signal.
  • the first device when the first device is uncertain about the sending and/or receiving time of the ranging response signal, it performs traversal detection within one or more different time periods from Pt A1 to (P+1)t A1 until it detects The ranging response signal is sufficient.
  • the values of P are all positive integers in the preset integer value set.
  • the set of preset integer values is predefined by the protocol.
  • the preset integer value set includes at least one integer. For example, 1, 3, 5. According to the solution provided by the present application, it is possible to realize distance measurement without pairing, and reduce the requirement on the processing speed of the responder under the condition of ensuring the accuracy of distance measurement.
  • the first device has been blindly detecting, and M is determined according to Mt A1 ⁇ t A2 ⁇ (M+1)t A1 to calculate the distance between the first device and the second device .
  • the first device After the first device detects the ranging response signal from the second device, it records the synchronization time stamp and subtracts it from the sending time stamp of the second ranging signal to obtain t A2 , and then calculates t A2 /t A1 , and then determine the specific M value. in, is the floor operator.
  • a sliding window is used to detect the ranging response signal, and the position of each window (Pt A1 to (P+1)t A1 ) is determined by the value of P.
  • P a sliding window
  • the data value of P is determined as M, and the M is used to determine the distance between the first device and the device sending the ranging response signal.
  • the first device sending multiple ranging signals includes: the first device sending multiple ranging signals within a period T, where T is a constant greater than zero.
  • a ranging method is provided, and the method may be executed by a second device, or may also be executed by a chip or a circuit used for the second device, which is not limited in the present application.
  • the following uses execution by the second device as an example for description.
  • the method includes: the second device receives a plurality of ranging signals from the first device, the plurality of ranging signals include a first ranging signal and a second ranging signal, and determines the second ranging signal and the first ranging signal
  • the receiving time interval between is t B1 ; after receiving the second ranging signal, the second device sends a ranging response signal to the first device after a time interval of Mt B1 , and t B1 is the second ranging signal and the first
  • the receiving time interval between ranging signals, M is any positive integer in the preset integer value set.
  • the second device receiving multiple ranging signals from the first device includes: the second device receiving multiple ranging signals from the first device within a period T signal, T is a constant greater than zero.
  • the first ranging signal and/or the second ranging signal includes a preset integer value set.
  • the set of preset integer values is predefined by the protocol.
  • the first device needs to traverse the detection within the time period from t A1 to 2t A1 , the time period from 3t A1 to 4t A1 , and the time period from 5t A1 to 6t A1 .
  • the above-mentioned different time periods may be understood as different windows, that is, each time period is a detection window.
  • the first device detects the ranging response signal at the second window, that is, within the time period from 3t A1 to 4t A1 .
  • the first ranging signal and/or the second ranging signal carry information for identifying the first device.
  • the ranging response signal carries information for identifying the first device.
  • the information used to identify the first device may be explicitly indicated, that is, the information is the identification information of the first device; or may be implicitly indicated, for example, according to a sequence, etc., to implicitly indicate that the information is the identification information of the first device information, which is not specifically limited in this application.
  • the ranging response signal further carries information for identifying the second device.
  • the information used to identify the second device may be explicitly indicated, that is, the information is the identification information of the second device; or may be implicitly indicated, for example, according to a sequence, etc., to implicitly indicate that the information is the identification information of the second device information, which is not specifically limited in this application.
  • the information used to identify the first device is carried in a physical signal of at least one of the first ranging signal, the second ranging signal, and the ranging response signal.
  • the information for identifying the first device is determined according to a media access control (media access control address, MAC) address of the first device.
  • media access control media access control address, MAC
  • the information used to identify the first device may be directly determined by the MAC address of the first device, where the MAC address may be understood as an Ethernet address (ethernet address) or a physical address (physical address) of the first device. For example, fixed ID. Even if N 1 bits in the MAC address (64 bits) of the first device are used as the ID, no change occurs.
  • the information for identifying the first device may also be determined according to the current time stamp and the MAC address. For example, random ID. XOR the N 2 bits in the current timestamp (32bit) and the N 2 bits in the MAC address (64bit) to get a new N 2 bit random number as the ID, which will change every cycle.
  • the synchronization field (synchronization, SYNC) and the start-of-frame delimiter field (start-of-frame delimiter, SFD) of the first ranging signal and the second ranging signal ), at least one of the physical layer header (PHY header, PHR), and payload is different.
  • the PHR or payload of the first ranging signal includes first indication information, and the first indication information is used to indicate that the current ranging signal is the first ranging signal, and the PHR or payload of the second ranging signal Including second indication information, the second indication information is used to indicate that the current ranging signal is the second ranging signal; and/or, the SFD of the first ranging signal indicates that the current ranging signal is the first ranging signal, and the second ranging signal The SFD of the ranging signal indicates that the current ranging signal is the second ranging signal, and the SFD of the first ranging signal is different from the SFD of the second ranging signal; and/or, the SYNC of the first ranging signal indicates that the current ranging signal is The SYNC of the first ranging signal and the second ranging signal indicates that the current ranging signal is the second ranging signal, and the SYNC of the first ranging signal is different from the SYNC of the second ranging signal.
  • the current ranging signal is the first ranging signal or the second ranging signal. That is, the first ranging signal and the second ranging signal are different.
  • the synchronization field SYNC of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence, and the dedicated synchronization sequence is used for pairless ranging.
  • ranging without pairing can be understood as a process in which a certain device broadcasts or sends a ranging signal within the first range, and at least one device within the first range feeds back a ranging response signal to the device. There is no need to establish a connection in advance, etc.
  • the distance measurement application between the device A and the device B can be performed without pairing operations such as mutual verification of identities and connection establishment between the device A and the device B.
  • the synchronization field SYNC of the ranging response signal includes a first dedicated synchronization sequence
  • the first dedicated synchronization sequence is any dedicated synchronization sequence in the set of dedicated synchronization sequences
  • the dedicated synchronization sequence The sequence set is predefined by the protocol.
  • the dedicated synchronization sequence set includes a first set of dedicated synchronization sequence sets and a second set of dedicated synchronization sequences. The dedicated synchronization sequences in the first set of dedicated synchronization sequences and the second set of dedicated synchronization sequences are mutually exclusive.
  • the synchronization field SYNC of the ranging response signal includes the first set of dedicated synchronization sequences Dedicated synchronization sequence in; when the synchronization fields SYNC of the first ranging signal and the second ranging signal include the dedicated synchronization sequence in the second group of dedicated synchronization sequence sets, the synchronization field SYNC of the ranging response signal includes the second group of dedicated synchronization sequences A dedicated sync sequence in the sync sequence collection.
  • the dedicated synchronization sequences used by the first ranging signal (or the second ranging signal) and its corresponding ranging response signal belong to the same set of dedicated synchronization sequences.
  • one of the sequences is used as a dedicated synchronization sequence for the ranging signal sent by the first device.
  • each group contains 10 mutually different dedicated synchronization sequences.
  • the first set of dedicated synchronization sequences includes:
  • the second set of dedicated synchronization sequences includes:
  • the second device uses the dedicated synchronization sequence (for example, "-+0--+-++00+-- -++-++++-+0+++0-0") to perform correlation calculations to identify the ranging signal as an unpaired ranging signal.
  • the second device starts from the group where the dedicated synchronization sequence is located (for example, "++-+++--0+++0+0-+0++-+-" in the first group of dedicated synchronization sequence set) -00--+-+"), randomly select a dedicated synchronization sequence, carry it in the ranging response signal and send it to the first device.
  • the dedicated synchronization sequences selected in the first ranging signal, the second ranging signal and the ranging response signal in the embodiment of the present application may be the same or different, which is not specifically limited in the present application.
  • the distance between the first device and the second device is:
  • a first device may send ranging signals to multiple second devices; for another example, multiple first devices may send ranging signals to one or more second devices, etc., which is not specifically limited in this application.
  • a ranging device which is characterized in that it includes a transceiver unit, configured to: the first device sends a plurality of ranging signals, and the plurality of ranging signals include a first ranging signal and a second ranging signal , the first ranging signal is sent earlier than the second ranging signal, and the time interval between the first ranging signal and the second ranging signal is t A1 ; the first device receives the ranging response signal from the second device , and determine the receiving time of the ranging response signal and the sending time interval of the second ranging signal as t A2 , wherein the ranging response signal includes the interval between the second device receiving the second ranging signal and the first ranging signal Time interval t B1 , time interval t B2 between the second device receiving the second ranging signal and sending the ranging response signal, or the ranging response signal includes N, where N is a value determined according to t B1 and t B2 , N is a constant greater than zero; the first device determines
  • a sixth aspect provides a ranging device, characterized in that the transceiver unit is configured to: the second device receives a plurality of ranging signals from the first device, and the plurality of ranging signals include the first ranging signal and the second ranging signal. second ranging signal, and determine that the receiving time interval between the second ranging signal and the first ranging signal is t B1 ; the second device sends a ranging response signal to the first device, wherein the ranging response signal includes the second The time interval t B1 between the device receiving the second ranging signal and the first ranging signal, the time interval t B2 between the second device receiving the second ranging signal and sending the ranging response signal, or, ranging
  • the response signal includes N, where N is a value determined according to t B1 and t B2 , and N is a constant greater than zero.
  • the second device when the ranging response signal includes t B1 and t B2 , the second device sends the ranging response signal to the first device after t B2 time; when the ranging response signal includes N, the second device sends the ranging response signal to the first device after Nt B1 time A device sends a ranging response signal.
  • N is a value determined according to t B2 /t B1 .
  • N is the value of t B2 /t B1 under a preset accuracy requirement.
  • the ranging response signal includes a receiving time interval t B1 between the second ranging signal and the first ranging signal, and the second device receives the second ranging signal.
  • the time interval t B2 between the signal and the sending of the ranging response signal, the distance between the first device and the second device is:
  • the ranging response signal includes N, and the distance between the first device and the second device is:
  • a ranging device which is characterized in that it includes a transceiver unit, configured to: the first device sends a plurality of ranging signals, and the plurality of ranging signals include a first ranging signal and a second ranging signal , the first ranging signal is sent earlier than the second ranging signal, and the sending time interval between the first ranging signal and the second ranging signal is t A1 ; the processing unit is used for: the first device is between Pt A1 and Detect the ranging response signal from the second device within the (P+1)t A1 time period, and determine the receiving time of the ranging response signal and the sending time interval of the second ranging signal as t A2 , where t A1 is the first ranging response signal.
  • the sending time interval between the ranging signal and the second ranging signal the value of P is a positive integer; the distance between the first device and the second device is determined according to M, t A1 , and t A2 , and M is the distance detected by the first device
  • the value of P when the ranging responds to the signal. That is to say, when the first device is uncertain about the sending and/or receiving time of the ranging response signal, it performs traversal detection within one or more different time periods from Pt A1 to (P+1)t A1 until it detects The ranging response signal is sufficient.
  • the values of P are all positive integers in the preset integer value set.
  • the set of preset integer values is predefined by the protocol.
  • the preset integer value set includes at least one integer. For example, 1, 3, 5.
  • the first device has been blindly detecting, and M is determined according to Mt A1 ⁇ t A2 ⁇ (M+1)t A1 to calculate the distance between the first device and the second device .
  • the first device After the first device detects the ranging response signal from the second device, it records the synchronization time stamp and subtracts it from the sending time stamp of the second ranging signal to obtain t A2 , and then calculates t A2 /t A1 , and then determine the specific M value.
  • the ranging response signal is detected in a sliding window manner, and the position (Pt A1 to (P+1)t A1 ) of each window is determined by the value of P.
  • P takes a certain value and a ranging response signal is detected within the window
  • the data value of P is determined as M, and the M is used to determine the first device and the device sending the ranging response signal the distance between.
  • the transceiver unit is further configured to: the first device sends multiple ranging signals within a period T, where T is a constant greater than zero.
  • a ranging device configured to: the second device receives a plurality of ranging signals from the first device, and the plurality of ranging signals include the first ranging signal and the second ranging signal. Two ranging signals, and determine that the receiving time interval between the second ranging signal and the first ranging signal is t B1 ; after the second device receives the second ranging signal, after the time interval of Mt B1 , the second device sends to the first ranging signal The device sends a ranging response signal, t B1 is the receiving time interval between the second ranging signal and the first ranging signal, and M is any positive integer in the preset integer value set.
  • the transceiver unit is further configured to: the second device receives multiple ranging signals from the first device within a period T, where T is a constant greater than zero.
  • the first ranging signal and/or the second ranging signal includes a preset integer value set.
  • the set of preset integer values is predefined by the protocol.
  • the first device needs to traverse the detection within the time period from t A1 to 2t A1 , the time period from 3t A1 to 4t A1 , and the time period from 5t A1 to 6t A1 .
  • the above-mentioned different time periods may be understood as different windows, that is, each time period is a detection window.
  • the first device detects the ranging response signal at the second window, that is, within the time period from 3t A1 to 4t A1 .
  • the first ranging signal and/or the second ranging signal carry information for identifying the first device.
  • the ranging response signal carries information for identifying the first device.
  • the information used to identify the first device may be explicitly indicated, that is, the information is the identification information of the first device; or may be implicitly indicated, for example, according to a sequence, etc., to implicitly indicate that the information is the identification information of the first device information, which is not specifically limited in this application.
  • the ranging response signal further carries information for identifying the second device.
  • the information used to identify the second device may be explicitly indicated, that is, the information is the identification information of the second device; or may be implicitly indicated, for example, according to a sequence, etc., to implicitly indicate that the information is the identification information of the second device information, which is not specifically limited in this application.
  • the information for identifying the first device is carried in the physical signal of at least one of the first ranging signal, the second ranging signal, and the ranging response signal.
  • the information for identifying the first device is determined according to a media access control (media access control address, MAC) address of the first device.
  • media access control media access control address, MAC
  • the information used to identify the first device may be directly determined by the MAC address of the first device, where the MAC address may be understood as an Ethernet address (ethernet address) or a physical address (physical address) of the first device. For example, fixed ID. Even if N 1 bits in the MAC address (64 bits) of the first device are used as the ID, no change occurs.
  • the information for identifying the first device may also be determined according to the current time stamp and the MAC address. For example, random ID. XOR the N 2 bits in the current timestamp (32bit) and the N 2 bits in the MAC address (64bit) to get a new N 2 bit random number as the ID, which will change every cycle.
  • the synchronization field (synchronization, SYNC) and the start-of-frame delimiter field (start-of-frame delimiter, SFD) of the first ranging signal and the second ranging signal ), at least one of the physical layer header (PHY header, PHR), and payload is different.
  • the PHR or payload of the first ranging signal includes first indication information, and the first indication information is used to indicate that the current ranging signal is the first ranging signal, and the PHR or payload of the second ranging signal Including second indication information, the second indication information is used to indicate that the current ranging signal is the second ranging signal; and/or, the SFD of the first ranging signal is used to indicate that the current ranging signal is the first ranging signal, the second The SFD of the second ranging signal is used to indicate that the current ranging signal is the second ranging signal, and the SFD of the first ranging signal is different from the SFD of the second ranging signal; and/or, the SYNC of the first ranging signal is used for Indicating that the current ranging signal is the first ranging signal, the SYNC of the second ranging signal is used to indicate that the current ranging signal is the second ranging signal, and the SYNC of the first ranging signal is different from the SYNC of the second ranging signal.
  • the current ranging signal is the first ranging signal or the second ranging signal. That is, the first ranging signal and the second ranging signal are different.
  • the synchronization field SYNC of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence, and the dedicated synchronization sequence is used for pairless ranging.
  • ranging without pairing can be understood as a process in which a certain device broadcasts or sends a ranging signal within the first range, and at least one device within the first range feeds back a ranging response signal to the device. There is no need to establish a connection in advance, etc.
  • the distance measurement application between the device A and the device B can be performed without pairing operations such as mutual verification of identities and connection establishment between the device A and the device B.
  • the synchronization field SYNC of the ranging response signal includes a first dedicated synchronization sequence
  • the first dedicated synchronization sequence is any dedicated synchronization sequence in the set of dedicated synchronization sequences
  • the dedicated synchronization sequence The collection of sequences is predefined by the protocol
  • the set of dedicated synchronization sequences includes a first set of dedicated synchronization sequences and a second set of dedicated synchronization sequences.
  • the dedicated synchronization sequences in the first set of dedicated synchronization sequences and the second set of dedicated synchronization sequences are different from each other.
  • the synchronization field SYNC of the ranging response signal includes a dedicated synchronization sequence in the first set of dedicated synchronization sequences; when the second When the synchronization field SYNC of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence in the second set of dedicated synchronization sequences, the synchronization field SYNC of the ranging response signal includes a dedicated synchronization sequence in the second set of dedicated synchronization sequences .
  • the dedicated synchronization sequences used by the first ranging signal (or the second ranging signal) and its corresponding ranging response signal belong to the same set of dedicated synchronization sequences.
  • one of the sequences is used as a dedicated synchronization sequence for the ranging signal sent by the first device.
  • each group contains 10 mutually different dedicated synchronization sequences.
  • the first set of dedicated synchronization sequences includes:
  • the second set of dedicated synchronization sequences includes:
  • the second device uses the dedicated synchronization sequence (for example, "-+0--+-++00+-- -++-++++-+0+++0-0") to perform correlation calculations to identify the ranging signal as an unpaired ranging signal.
  • the second device starts from the group where the dedicated synchronization sequence is located (for example, "++-+++--0+++0+0-+0++-+-" in the first group of dedicated synchronization sequence set) -00--+-+"), randomly select a dedicated synchronization sequence, carry it in the ranging response signal and send it to the first device.
  • the dedicated synchronization sequences selected in the first ranging signal, the second ranging signal and the ranging response signal in the embodiment of the present application may be the same or different, which is not specifically limited in the present application.
  • the distance between the first device and the second device is:
  • a first device including a processor, and optionally, a memory
  • the processor is used to control the transceiver to send and receive signals
  • the memory is used to store a computer program
  • the processor is used to read from the memory Invoking and running the computer program, so that the first device executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect, or executes the above-mentioned third aspect or any possible implementation manner of the third aspect Methods.
  • processors there are one or more processors, and one or more memories.
  • the memory can be integrated with the processor, or the memory can be set separately from the processor.
  • the first device further includes a transceiver, and the transceiver may specifically be a transmitter (transmitter) and a receiver (receiver).
  • the transceiver may specifically be a transmitter (transmitter) and a receiver (receiver).
  • a second device including a processor, and optionally, a memory
  • the processor is used to control the transceiver to send and receive signals
  • the memory is used to store a computer program
  • the processor is used to read from the memory Invoking and running the computer program, so that the second device executes the method in the above-mentioned second aspect or any possible implementation manner of the second aspect, or executes the above-mentioned fourth aspect or any possible implementation manner of the fourth aspect method in .
  • processors there are one or more processors, and one or more memories.
  • the memory can be integrated with the processor, or the memory can be set separately from the processor.
  • the second device further includes a transceiver, and the transceiver may specifically be a transmitter (transmitter) and a receiver (receiver).
  • the transceiver may specifically be a transmitter (transmitter) and a receiver (receiver).
  • a communication device including: each module or unit for implementing the method in the first aspect or any possible implementation manner of the first aspect, and/or for implementing the second aspect or the first aspect
  • a communication system including: a first device, configured to execute the method in the above first aspect or any possible implementation manner of the first aspect, or to execute the above third aspect or the third The method in any possible implementation manner of the aspect; and the second device, configured to execute the method in the above-mentioned second aspect or any possible implementation manner of the second aspect, or, used to execute the above-mentioned fourth aspect or the fourth aspect A method in any of the possible implementations.
  • a computer-readable storage medium stores computer programs or codes, and when the computer programs or codes run on a computer, the computer executes the above-mentioned first aspect or the first A method in any possible implementation of the aspect, and/or a method in the second aspect or any possible implementation of the second aspect, and/or a third aspect or a method in any possible implementation of the third aspect , and/or the fourth aspect or the method in any possible implementation manner of the fourth aspect.
  • a chip including at least one processor, the at least one processor is coupled with a memory, the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the installation
  • the first device having the system-on-a-chip executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect, or executes the above-mentioned third aspect or the method in any possible implementation manner of the third aspect; and makes
  • the second device installed with the system-on-a-chip executes the method in the second aspect or any possible implementation manner of the second aspect, or executes the method in the above fourth aspect or any possible implementation manner of the fourth aspect.
  • the chip may include an input circuit or interface for sending information or data, and an output circuit or interface for receiving information or data.
  • a computer program product comprising: computer program code, when the computer program code is executed by the first device, the first device executes the first aspect or any one of the first aspect A method in a possible implementation manner, or, causing the first device to execute the method in the third aspect or any of the possible implementation manners of the third aspect, and when the computer program code is run by the second device, the The second device executes the method in the second aspect or any possible implementation manner of the second aspect, or causes the second device to execute the method in the fourth aspect or any possible implementation manner of the fourth aspect.
  • a ranging method and device which can realize pairless ranging, and reduce requirements on the processing speed and response time of the responding party while ensuring the ranging accuracy.
  • FIG. 1 is a schematic diagram of an example of a unilateral two-way ranging method applicable to the present application.
  • FIG. 2 is a schematic diagram of an example of an ultra-wideband physical layer frame structure applicable to the present application.
  • FIG. 3 is a schematic diagram of an example of a ranging method applicable to the present application.
  • FIG. 4 is a schematic diagram of an example of a ranging method applicable to the present application.
  • FIG. 5 is a schematic diagram of an example of a broadcast signal design to which this application is applied.
  • FIG. 6 is a schematic diagram of an example of a ranging signal indication method applicable to the present application.
  • Fig. 7 is a schematic diagram of an example of the calculation principle of the time-of-flight of the pulse signal between the initiator (initiator) and the responder (responder) applicable to the present application.
  • FIG. 8 is a schematic diagram of another example of a ranging method applicable to the present application.
  • FIG. 9 is a schematic diagram of another example of a ranging method applicable to the present application.
  • Fig. 10 is a schematic diagram of another example of a ranging method applicable to the present application.
  • FIG. 11 is a schematic diagram of an example of a distance measuring device to which the present application is applied.
  • Fig. 12 is a schematic diagram of another example of a distance measuring device to which the present application is applied.
  • LTE long term evolution
  • FDD frequency division duplex
  • TDD time division duplex
  • UMTS universal mobile telecommunications system
  • WiMAX worldwide interoperability for microwave access
  • the mobile communication system will not only support traditional communication, but also support such as device to device (device to device, D2D) communication, machine to machine (machine to machine, M2M) communication, machine type communication (machine type communication, MTC), vehicle to everything (V2X) communication, vehicle to vehicle (V2V) communication, vehicle to infrastructure (V2I) communication, vehicle to pedestrian (vehicle to pedestrian, V2P) communication, vehicle to network (vehicle to network, V2N) communication, etc., vehicle-to-vehicle communication long term evolution technology (long term evolution-vehicle, LTE-V), machine type communication (machine type communication, MTC), Internet of Things (Internet of Things) Things, IoT), industrial Internet, long term evolution-machine (LTE-M), new wireless unlicensed spectrum (NR in unlicensed spectrum, NR-U), vehicle networking unlicensed spectrum (V2X in unlicensed spectrum, V2X-U), etc.
  • device to device device to device
  • machine to machine machine to machine,
  • the first device and/or the second device in the embodiments of the present application may refer to user equipment, access terminal, subscriber unit, subscriber station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, A wireless communication device, user agent, or user device.
  • the first device may also be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a wireless Communication-capable handheld devices, computing devices or other processing devices connected to wireless modems, vehicle-mounted devices, wearable devices, first devices in 5G networks or future evolutions of public land mobile networks (PLMN)
  • SIP session initiation protocol
  • WLL wireless local loop
  • PDA personal digital assistant
  • PLMN public land mobile networks
  • Ultra wide band UWB
  • Ultra-wideband UWB technology is a new type of wireless communication technology. It directly modulates the impulse pulse with a very steep rise and fall time, so that the signal has a bandwidth of GHz order.
  • Ultra-wideband technology has insensitivity to channel fading, stronger anti-interference performance, low power spectral density of transmitted signals, high transmission rate, low interception capability, extremely wide bandwidth, low system complexity, large system capacity, and can provide several centimeters Positioning accuracy, good confidentiality, short communication distance, multi-path resolution, portability and other advantages.
  • Ultra-wideband was used in short-distance high-speed data transmission in the early days, and in recent years, it has used its sub-nanosecond ultra-narrow pulse for short-distance precise indoor positioning.
  • Crystal oscillator also known as quartz crystal, is one of the most commonly used components in electronic products, mainly used in oscillator circuits.
  • the crystal oscillator is mainly composed of chips, conductive glue, electrodes and other devices.
  • the main parameters of the crystal oscillator include nominal frequency, load capacitance, frequency accuracy, frequency stability, etc. These parameters determine the quality and performance of the crystal oscillator.
  • Crystal oscillator is the abbreviation of quartz crystal oscillator, also known as active crystal oscillator, quartz crystal or crystal, crystal oscillator. It can generate the clock frequency signal necessary for the central processing unit (CPU) to execute instructions. The execution of all instructions of the CPU is based on this. The higher the frequency of the clock signal, the faster the CPU usually runs. quick.
  • a crystal oscillator refers to cutting a thin slice (referred to as a wafer) from a quartz crystal at a certain azimuth angle.
  • ultra-wideband UWB technology can achieve centimeter-level high-precision ranging and positioning, and has been widely used.
  • FIG. 1 is a schematic diagram of an example of the current unilateral two-way ranging method.
  • UWB device A sends a ranging request signal to UWB device B at its own time stamp T A1
  • UWB device B receives the ranging request signal at its own time stamp T B1
  • UWB device B sends a ranging response signal to UWB device A at its own time stamp T B2
  • UWB device A receives the ranging response signal at its own time stamp T A2 .
  • the UWB device A can calculate the time-of-flight TOF of the pulse signal between the two UWB devices by using the round-trip time t round and the response time t reply .
  • the unilateral two-way distance measurement method does not require clock synchronization between different devices (for example, UWB device A and device B), but only needs to report the difference between the time stamps of each device.
  • the determination of the time stamp is obtained by using the synchronization signal part in the signal.
  • FIG 2 is a schematic diagram of an example of a UWB PHY frame structure.
  • a high-speed pulse (high rate pulse, HRP) UWB physical layer (physical layer, PHY) frame consists of two parts: preamble and data.
  • the leading part includes a synchronization header (synchronization header, SHR), which is composed of a synchronization field (synchronization, SYNC) and a frame start delimiter field (start-of-frame delimiter, SFD).
  • the data part includes a physical layer frame header (PHY Header, PHR) and a PHY payload (payload).
  • PHR physical layer frame header
  • PHY payload payload
  • SYNC is composed of repeated synchronization symbols, and the number of repetitions can be 16, 64, 1024, or 4096 times.
  • Each synchronization symbol is obtained by spreading a sequence with a length of 31, 91 or 127, and there are relatively few sequences with good cross-correlation supported on the same channel.
  • a signal or a field includes a sequence, which may mean that the signal or field carries the sequence itself, or carries a sequence obtained according to the sequence, for example, a sequence obtained by cyclically shifting, interpolating, or spreading the step sequence .
  • the SFD part is a known sequence (currently the protocol supports two sequences), when the receiving end detects the SFD sequence, it can know that the preamble part is about to end and the data part is coming.
  • the PHR of the data part is generally used to indicate information such as the length of the data field and the data rate.
  • responders can receive ranging signals sent by the same initiator (initiator) through time division multiplexing (TDM)
  • responses can be staggered in time to avoid collisions.
  • Response signals so that when the response signals of different users arrive at the initiator, there will be no overlap, so that mutual interference can be avoided.
  • this implementation method needs to pair the initiator (initiator) and the responder (responder) and establish a connection, and then assign different reply times to each responder, and the process is relatively cumbersome.
  • the TOF time of flight of the pulse signal between UWB device A and device B in FIG. 1 is analyzed below.
  • the crystal oscillator error of device A is e A
  • the crystal oscillator error of device B is e B
  • the timestamps actually recorded by device A are and The timestamps actually recorded by device B are and Therefore, the quantities actually substituted into the formula for TOF estimation (round-trip time, response time) are respectively and Then the TOF estimation with error is obtained, namely:
  • the ranging error is related to the response time t reply and the time-of-flight TOF of the pulse signal between the device A and the device B.
  • the value of t reply is much larger than TOF, and it can be considered that t reply plays a dominant role in the ranging error. Therefore, the ranging error will increase as the reply time increases.
  • the current ranging method needs to pair the initiator (initiator) and responder (responder), complete the connection establishment, and assign different response time (reply time) to each responder.
  • response time response time
  • the response time of the responder increases, the ranging error introduced by the crystal oscillator will also increase.
  • the process of the current unilateral two-way ranging method is relatively cumbersome, and has high requirements on the processing speed of the responder.
  • the embodiment of the present application provides a ranging method.
  • the initiator realizes one-to-many unpaired ranging by periodically broadcasting the ranging signal twice, and the responder is flexible according to the time stamp difference between the two broadcast ranging signals.
  • Selecting reply time can simplify the one-to-many ranging process, and reduce the requirements for responder processing speed while ensuring ranging accuracy, that is, it needs to be as small as possible to avoid excessive errors.
  • "at least two kinds” means two or more kinds.
  • "And/or” describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B can be singular or plural.
  • a and/or B which can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B can be singular or plural.
  • the character "/" generally indicates that the contextual objects are an "or” relationship.
  • "for indicating” may include both for direct indicating and for indirect indicating.
  • indication information for indicating A it may include that the indication information directly indicates A or indirectly indicates A, but it does not mean that A must be carried in the indication information.
  • specific indication manners may also be various existing indication manners, such as but not limited to, the above indication manners and various combinations thereof.
  • various indication manners reference may be made to the prior art, which will not be repeated herein. It can be seen from the above that, for example, when multiple pieces of information of the same type need to be indicated, there may be situations where different information is indicated in different ways.
  • the required indication method can be selected according to the specific needs.
  • the embodiment of the present application does not limit the selected indication method. In this way, the indication method involved in the embodiment of the present application should be understood as covering the There are various methods by which a party can obtain the information to be indicated.
  • the "indication information" and "configuration information" in the embodiments of the present application may be explicit indications, that is, direct indications through signaling, or obtained by combining other rules or parameters or derivation according to parameters indicated by signaling. It can also be an implicit indication, that is, it can be obtained according to a rule or relationship, or according to other parameters, or derived. This application does not specifically limit it.
  • the bearing manners of the first ranging information and ranging response information involved in this application may be but not limited to: one of radio resource control signaling and media access control (media access control, MAC) layer signaling one or a combination of two.
  • the radio resource control signaling includes radio resource control (radio resource control, RRC) signaling
  • the MAC layer signaling includes MAC control element (MAC control element, MAC CE) signaling
  • scheduling information can be carried in the physical layer (physical, In the PHY signaling, the physical layer signaling includes downlink control information (DCI) signaling and the like.
  • Fig. 3 is a schematic flowchart of a ranging method 300 provided in the embodiment of the present application, and the specific implementation steps include:
  • the first device sends multiple ranging signals.
  • the second device receives multiple ranging signals from the first device.
  • the plurality of ranging signals include a first ranging signal and a second ranging signal, the first ranging signal is sent earlier than the second ranging signal, and the transmission between the first ranging signal and the second ranging signal
  • the time interval is t A1 .
  • the first device sends multiple ranging signals within a period T.
  • the second device receives multiple ranging signals from the first device within a period T, where T is a constant greater than zero.
  • the second device sends a ranging response signal to the first device.
  • the first device receives the ranging response signal from the second device, and determines the receiving time of the ranging response signal and the sending time interval of the second ranging signal as t A2 .
  • the ranging response signal carries the time interval t B1 between the second device receiving the second ranging signal and the first ranging signal, and the time interval between the second device receiving the second ranging signal and sending the ranging response signal.
  • the time interval t B2 or, the ranging response signal carries N, where N is a value determined according to t B1 and t B2 , and N is a constant greater than zero.
  • the second device when the ranging response signal carries t B1 and t B2 , the second device sends the ranging response signal to the first device after t B2 time; when the ranging response signal carries N, the second device sends the ranging response signal to the first device after Nt B1 time A device sends a ranging response signal.
  • N is a value determined according to t B2 /t B1 .
  • N is the value of t B2 /t B1 under a preset accuracy requirement.
  • N a non-integer number
  • the first ranging signal and/or the second ranging signal carry information for identifying the first device.
  • the ranging response signal further carries information for identifying the first device.
  • the information used to identify the first device may be explicitly indicated, that is, the information is the identification information of the first device; or may be implicitly indicated, for example, according to a sequence, it is implicitly indicated that the information is the identification information of the first device , this application does not specifically limit it.
  • the ranging response signal also carries information for identifying the second device.
  • the information used to identify the second device may be explicitly indicated, that is, the information is the identification information of the second device; or may be implicitly indicated, for example, according to a sequence, etc., to implicitly indicate that the information is the identification information of the second device information, which is not specifically limited in this application.
  • the information used to identify the first device is carried in the physical layer frame header (PHY header, PHR) of at least one signal among the first ranging signal, the second ranging signal and the ranging response signal or payload.
  • PHY header, PHR physical layer frame header
  • the information used to identify the first device is determined according to a media access control (media access control address, MAC) address of the first device.
  • media access control media access control address, MAC
  • the information used to identify the first device may be directly determined by the MAC address of the first device, where the MAC address may be understood as an Ethernet address (ethernet address) or a physical address (physical address) of the first device.
  • the MAC address may be understood as an Ethernet address (ethernet address) or a physical address (physical address) of the first device.
  • a fixed identifier ID
  • N 1 bits in the MAC address (64 bits) of the first device are used as the ID, no change occurs.
  • the information for identifying the first device may also be determined according to the current time stamp and the MAC address. For example, random ID. XOR the N 2 bits in the current timestamp (32bit) and the N 2 bits in the MAC address (64bit) to get a new N 2 bit random number as the ID, which will change every cycle.
  • the synchronization field (synchronization, SYNC) of the first ranging signal and the second ranging signal, the start-of-frame delimiter field (start-of-frame delimiter, SFD), the physical layer frame header (PHY header , PHR), and at least one of the payload is different.
  • the PHR or payload of the first ranging signal includes first indication information, and the first indication information is used to indicate that the current ranging signal is the first ranging signal, and the PHR or payload of the second ranging signal Including second indication information, the second indication information is used to indicate that the current ranging signal is the second ranging signal; and/or, the SFD of the first ranging signal indicates that the current ranging signal is the first ranging signal, and the second ranging signal The SFD of the ranging signal indicates that the current ranging signal is the second ranging signal, and the SFD of the first ranging signal is different from the SFD of the second ranging signal; and/or, the SYNC of the first ranging signal indicates that the current ranging signal is The SYNC of the first ranging signal and the second ranging signal indicates that the current ranging signal is the second ranging signal, and the SYNC of the first ranging signal is different from the SYNC of the second ranging signal.
  • the current ranging signal is the first ranging signal or the second ranging signal. That is, the first ranging signal and the second ranging signal are different.
  • the synchronization fields SYNC of the first ranging signal and the second ranging signal include a dedicated synchronization sequence, and the dedicated synchronization sequence is used for pairless ranging.
  • ranging without pairing can be understood as a process in which a certain device broadcasts or sends a ranging signal within the first range, and at least one device within the first range feeds back a ranging response signal to the device. There is no need to establish a connection in advance, etc.
  • the distance measurement application between the device A and the device B can be performed without pairing operations such as mutual verification of identities and connection establishment between the device A and the device B.
  • the synchronization field SYNC of the ranging response signal is the first dedicated synchronization sequence
  • the first dedicated synchronization sequence is any dedicated synchronization sequence in the dedicated synchronization sequence set, which is predefined by the protocol.
  • the set of dedicated synchronization sequences includes a first set of dedicated synchronization sequences and a second set of dedicated synchronization sequences, and the dedicated synchronization sequences in the first set of dedicated synchronization sequences and the second set of dedicated synchronization sequences are different from each other.
  • the synchronization fields SYNC of the first ranging signal and the second ranging signal include the dedicated synchronization sequences in the first set of dedicated synchronization sequences
  • the synchronization field SYNC of the ranging response signal includes the first set of dedicated synchronization sequences.
  • the synchronization field SYNC of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence in the second set of dedicated synchronization sequences
  • the synchronization field SYNC of the ranging response signal includes the second dedicated synchronization sequence A dedicated synchronization sequence in a sequence collection.
  • the dedicated synchronization sequences used by the first ranging signal (or the second ranging signal) and its corresponding ranging response signal belong to the same set of dedicated synchronization sequences.
  • one of the sequences is used as a dedicated synchronization sequence for the ranging signal sent by the first device.
  • each group contains 10 mutually different dedicated synchronization sequences.
  • the first set of dedicated synchronization sequences includes:
  • the second set of dedicated synchronization sequences includes:
  • the second device uses the dedicated synchronization sequence (for example, "-+0--+-++00+-- -++-++++-+0+++0-0") to perform correlation calculations to identify the ranging signal as an unpaired ranging signal.
  • the second device starts from the group where the dedicated synchronization sequence is located (for example, "++-+++--0+++0+0-+0++-+-" in the first group of dedicated synchronization sequence set) -00--+-+"), randomly select a dedicated synchronization sequence, carry it in the ranging response signal and send it to the first device.
  • the dedicated synchronization sequences selected in the first ranging signal, the second ranging signal and the ranging response signal in the embodiment of the present application may be the same or different, which is not specifically limited in the present application.
  • the first device determines the distance between the first device and the second device according to t A1 , t A2 , t B1 , and t B2 ; or, determines the distance between the first device and the second device according to t A1 , t A2 and N distance.
  • the ranging response signal carries a receiving time interval t B1 between the second ranging signal and the first ranging signal, and the interval between the second device receiving the second ranging signal and sending the ranging response signal is The time interval t B2 , the distance between the first device and the second device is:
  • a first device may send ranging signals to multiple second devices; for another example, multiple first devices may send ranging signals to one or more second devices, etc., which is not specifically limited in this application.
  • the technical solution provided by the present application will be illustrated below by taking the initiator (initiator) and the responder (responder) as examples.
  • FIG. 4 is a schematic diagram of an example of a distance measuring method 400 provided by an embodiment of the present application.
  • the ranging response signal is sent after t B2 , wherein the dedicated synchronization sequence included in the synchronization field SYNC is randomly selected from the dedicated sequence set, and the PHR or payload carries the ID generated by the initiator and t B1 and t B2 .
  • the specific implementation steps include:
  • the initiator broadcasts the ranging signal 1 and the ranging signal 2 respectively.
  • responder #1 receives ranging signal 1 and ranging signal 2 .
  • ranging signal 1 and ranging signal 2 include SYNC, SFD, PHR and payload.
  • the PHR or the payload payload in the two ranging signals carries the identification information ID of the initiator.
  • the SYNC part can be randomly selected from the dedicated sequence set.
  • the initiator uses sequence 1 in the first group of sequences in Table 1 as the SYNC part in the broadcast signal.
  • the interval between broadcasting the two ranging signals by the initiator is t A1 .
  • the initiator needs to broadcast the ranging signal 1 and the ranging signal 2 within the same period T.
  • this embodiment of the present application also includes other responders (for example, responder #2, ..., responder #N), and can also receive the detected ranging signal 1 and the ranging signal 2 .
  • responders for example, responder #2, ..., responder #N
  • two ranging signals are taken as an example to calculate distances between the initiator and multiple responding parties.
  • FIG. 5 is a schematic diagram of an example of a broadcast signal design to which this application is applied.
  • the broadcast period is T
  • the initiator sends the ranging signal 1 and the ranging signal 2 within one period.
  • the ranging signal 1 is sent first
  • the ranging signal 2 is sent later
  • the time interval between sending the two ranging signals is t A1 .
  • the ranging signal 1 includes a synchronization field SYNC, a frame start delimiter field SFD1, a physical layer frame header PHR and a payload (payload).
  • the ranging signal 2 includes a synchronization field SYNC, a frame start delimiter field SFD 2, a physical layer frame header PHR and a payload (payload).
  • the SYNC part of the ranging signal 1 and the ranging signal 2 is a dedicated synchronization sequence, which is used to indicate that the corresponding broadcast signal is an unpaired ranging signal.
  • Table 1 is two sets of 31 long dedicated synchronization sequences applicable to the embodiment of the present application. As shown in Table 1, "+” means 1, "-" means -1, and the cross-correlation between sequences within the group is better. That is, when multiple response directions send ranging response signals to the same initiator, the sequence indexes in the same group used respectively have a high probability of being different, and the sequence indexes 1-10 in the sequence group with index 1 or 2 interfere with each other smaller.
  • responder #1 After receiving the broadcast signal from the sender, responder #1 uses the dedicated synchronization sequence to perform correlation calculations, thereby identifying the signal as an unpaired ranging signal.
  • the SFD part of the ranging signal 1 and the ranging signal 2 can include different SFD sequences to distinguish; or, the SFD part can also be the same, and it is necessary to carry indication information in the PHR or payload to indicate the ranging signal 1 and the ranging signal. distance signal 2.
  • the PHR or payload part of the ranging signal 1 and the ranging signal 2 carries the ID generated by the initiator, and the ID used by the ranging signal 1 and the ranging signal 2 is the same.
  • the methods of generating the initiator ID carried in ranging signal 1 and ranging signal 2 include but are not limited to the following two methods:
  • Method 1 Fixed ID. For example, use N 1 bits in the initiator's MAC address (64 bits) as the initiator ID, and do not change.
  • Method 2 Random ID. XOR the N 2 bits in the current timestamp (32bit) and the N 2 bits in the MAC address (64bit) to obtain a new random number N 2 bits as the initiator ID. Among them, each cycle will change.
  • FIG. 6 is a schematic diagram of an example of an indication manner of a ranging signal (for example, a ranging signal 1 and a ranging signal 2 ) applicable to the embodiment of the present application.
  • a ranging signal for example, a ranging signal 1 and a ranging signal 2
  • the SYNC part of the two ranging signals uses different dedicated sequences (for example, sequence 1 and sequence 2 in Group 1 in Table 1 correspond to SYNC1 and SYNC2 respectively) to distinguish the ranging Signal 1 and ranging signal 2, the SFD (for example, SFD1), PHR, and payload parts of the two ranging signals are completely the same.
  • the SFD part of the two ranging signals includes different SFD sequences (for example, SFD1 and SFD2) to distinguish ranging signal 1 from ranging signal 2, and the SYNC of the two ranging signals (for example, SYNC 1 ), PHR, and payload parts are exactly the same.
  • the sequences of the SYNC part and the SFD part of ranging signal 1 and ranging signal 2 are different (for example, SYNC1 and SYNC2, SFD1 and SFD2 correspond to ranging signal 1 and ranging signal 2 respectively), two The PHR and payload parts of the ranging signal are exactly the same.
  • the PHR or payload part of the ranging signal carries indication information, which is used to indicate that the current signal is ranging signal 1 or ranging signal 2 (for example, using a 1-bit indicating bit, "0" indicates ranging signal 1, "1” means ranging signal 2).
  • the above indication manner of the ranging signal is only an exemplary description, and does not constitute any limitation to the technical solution of the present application. Meanwhile, the above methods can be used independently or in combination, which is not specifically limited in this application.
  • the responder #1 detects the ranging signal 1 and the ranging signal 2, and determines that the difference between the time stamps when the two ranging signals are received is t B1 .
  • the responder #1 sends a ranging response signal to the initiator after t B2 elapses.
  • the initiator receives the ranging response signal from the responder #1.
  • the ranging response signal includes SYNC, SFD, PHR and payload.
  • the pilot of the SYNC part in the ranging response signal can be randomly selected from the dedicated sequence set (for example, if the sender uses sequence 1 in the first group of sequences in Table 1 as the SYNC part in the broadcast signal, then the responder Sequence 2-10 in the first group of sequences can be randomly selected as the SYNC part in the response ranging signal), PHR or payload carries sender ID, t B1 , t B2 ;
  • the initiator determines the time stamp t 5 when the ranging response signal is received, and calculates the distance between the initiator and the responder.
  • FIG. 7 is a schematic diagram of an example of the calculation principle of the time-of-flight (TOF) between the initiator and the responder (initiator) and the responder (responder) of the pulse signal applicable to the present application.
  • TOF time-of-flight
  • the initiator sends the ranging signal twice continuously in one cycle, and the time interval between the two is t A1 .
  • responder #1 receives the two ranging signals continuously, and the difference between the two time stamps is t B1 .
  • the time-of-flight of the pulse signal between the initiator and responder #1 is:
  • the distance between initiator and responder #1 is:
  • the ranging error is only related to TOF, and does not increase with the increase of the response time (reply time) of responder #1.
  • the broadcast signal of the initiator is designed.
  • the SYNC part is a dedicated synchronization sequence, which is used to indicate that the broadcast signal is a non-paired ranging signal, and
  • the ID generated by the initiator is carried in the broadcast signal to realize distance measurement without pairing.
  • the responder will initiate a response after detecting the broadcast signal, and the response signal carries the ID in the broadcast signal of the initiator.
  • the initiator can estimate the distance after receiving the response signal carrying the ID.
  • the responder randomly selects a pilot frequency from the pilot set for the SYNC part while randomly selecting the reply time.
  • the initiator will broadcast the ranging signal twice in one cycle.
  • the ranging accuracy does not decrease with the increase of the reply time, and there is no constraint on the ranging response time, thus relaxing the processing speed requirements of the responding party.
  • FIG. 8 is a schematic diagram of another example of a distance measuring method 800 provided in an embodiment of the present application.
  • the ranging response signal is sent after Nt B1 , wherein the dedicated synchronization sequence included in the SYNC is randomly selected from the dedicated sequence set, and the PHR or payload carries the ID and N generated by the initiator.
  • the specific implementation steps include:
  • the initiator broadcasts the ranging signal 1 and the ranging signal 2 respectively.
  • responder #2 receives ranging signal 1 and ranging signal 2 .
  • ranging signal 1 and ranging signal 2 include SYNC, SFD, PHR and payload.
  • the PHR or the payload payload in the two ranging signals carries the identification information ID of the initiator.
  • the SYNC part can be randomly selected from the dedicated sequence set. For example, the sender uses sequence 1 in the first group of sequences in Table 1 as the SYNC part in the broadcast signal.
  • the interval between broadcasting the two ranging signals by the initiator is t A1 .
  • the initiator needs to broadcast the ranging signal 1 and the ranging signal 2 within the same period T.
  • this embodiment of the present application also includes other responders (for example, responder #1, ..., responder #N), and can also receive the detected ranging signal 1 and the ranging signal 2 .
  • responders for example, responder #1, ..., responder #N
  • two ranging signals are taken as an example to calculate distances between the initiator and multiple responding parties.
  • the frame structure of the ranging signal 1 and the ranging signal 2 may specifically refer to the schematic diagram of FIG. 5 .
  • the schematic diagram in FIG. 6 For the sake of brevity, details are not repeated here.
  • the responder #2 detects the ranging signal 1 and the ranging signal 2, and determines that the difference between the time stamps of the two ranging signals is t B1 .
  • the responder #2 sends a ranging response signal to the initiator after passing through Nt B1 , where N is a positive number.
  • the initiator receives the ranging response signal from the responder #2.
  • the ranging response signal includes SYNC, SFD, PHR and payload.
  • the pilot of the SYNC part in the ranging response signal can be randomly selected from the dedicated sequence set (for example, if the sender uses sequence 1 in the first group of sequences in Table 1 as the SYNC part in the broadcast signal, then the responder Sequences 2 to 10 in the first group of sequences can be randomly selected as the SYNC part of the response ranging signal), PHR or payload carries the sender ID and N;
  • the initiator determines the time stamp t 5 when the ranging response signal is received, and calculates the distance between the initiator and the responder.
  • FIG. 7 is a schematic diagram of an example of the calculation principle of time-of-flight (TOF) between the initiator and the responder (initiator) and the responder (responder) of the pulse signal applicable to the present application.
  • TOF time-of-flight
  • the initiator sends the ranging signal twice continuously in one period, and the time interval between them is t A1 .
  • the responder #2 feeds back the ranging response signal after time t B2 , and the difference between the time stamp of the initiator receiving the ranging response signal and the time stamp of the second sending of the ranging signal is t A2 . Therefore, the following two equations can be obtained:
  • the time-of-flight of the pulse signal between the initiator and responder #2 is:
  • the ranging error is only related to TOF, and does not increase with the increase of the response time (reply time) of responder #2.
  • the broadcast signal of the initiator is designed.
  • the SYNC part is a dedicated synchronization sequence, which is used to indicate that the broadcast signal is a non-paired ranging signal, and
  • the ID generated by the initiator is carried in the broadcast signal to realize distance measurement without pairing.
  • the responder will initiate a response after detecting the broadcast signal, and the response signal carries the ID in the broadcast signal of the initiator.
  • the initiator can estimate the distance after receiving the response signal carrying the ID.
  • the responder randomly selects a pilot frequency from the pilot set for the SYNC part while randomly selecting the reply time.
  • the initiator will broadcast the ranging signal twice in one cycle.
  • the ranging accuracy does not decrease with the increase of the reply time, and there is no constraint on the ranging response time, thus relaxing the processing speed requirements of the responding party.
  • the responder no longer feeds back t B1 and t B2 , but feeds back the ratio N of t B1 and t B2 , which reduces the amount of feedback and signaling overhead.
  • FIG. 9 is a schematic flow chart of a distance measuring method 900 provided in an embodiment of the present application.
  • the specific implementation steps include:
  • the first device sends multiple ranging signals.
  • the second device receives multiple ranging signals from the first device.
  • the plurality of ranging signals include a first ranging signal and a second ranging signal, the first ranging signal is sent earlier than the second ranging signal, and the transmission between the first ranging signal and the second ranging signal
  • the time interval is t A1 ;
  • the first device sends multiple ranging signals within a period T.
  • the second device receives multiple ranging signals from the first device within a period T, where T is a constant greater than zero.
  • the second device After receiving the second ranging signal, the second device sends a ranging response signal to the first device after a time interval of Mt B1 .
  • t B1 is the receiving time interval between the second ranging signal and the first ranging signal
  • M is any positive integer in the preset integer value set.
  • the first device detects the ranging response signal from the second device within the time period from Pt A1 to (P+1)t A1 , and determines the receiving time of the ranging response signal and the sending time interval of the second ranging signal as t A2 and t A1 are the sending time intervals between the first ranging signal and the second ranging signal, and the value of P is a positive integer.
  • the first device when the first device is uncertain about the sending and/or receiving time of the ranging response signal, it performs traversal detection within one or more different time periods from Pt A1 to (P+1)t A1 until it detects The ranging response signal is sufficient.
  • the values of P are all positive integers in the preset integer value set.
  • the set of preset integer values is predefined by the protocol.
  • the preset integer value set includes at least one integer. For example, 1, 3, 5.
  • the first device has been blindly detecting, and M is determined according to Mt A1 ⁇ t A2 ⁇ (M+1)t A1 to calculate the distance between the first device and the second device .
  • the first device After the first device detects the ranging response signal from the second device, it records the synchronization time stamp and subtracts it from the sending time stamp of the second ranging signal to obtain t A2 , and then calculates t A2 /t A1 , and then determine the specific M value.
  • a sliding window is used to detect the ranging response signal, and the position of each window (Pt A1 to (P+1)t A1 ) is determined by the value of P.
  • P a sliding window
  • the data value of P is determined as M, and the M is used to determine the distance between the first device and the device sending the ranging response signal.
  • the first ranging signal and/or the second ranging signal includes a preset integer value set.
  • the preset integer value set may be predefined by the protocol. This application does not specifically limit it.
  • the first device needs to traverse the detection within the time period from t A1 to 2t A1 , the time period from 3t A1 to 4t A1 , and the time period from 5t A1 to 6t A1 .
  • the above-mentioned different time periods may be understood as different windows, that is, each time period is a detection window.
  • the first device detects the ranging response signal at the second window, that is, within the time period from 3t A1 to 4t A1 .
  • the first ranging signal and/or the second ranging signal carry information for identifying the first device.
  • the ranging response signal carries information for identifying the first device.
  • the information used to identify the first device may be explicitly indicated, that is, the information is the identification information of the first device; or may be implicitly indicated, for example, according to a sequence, etc., to implicitly indicate that the information is the identification information of the first device information, which is not specifically limited in this application.
  • the ranging response signal also carries information for identifying the second device.
  • the information used to identify the second device may be explicitly indicated, that is, the information is the identification information of the second device; or may be implicitly indicated, for example, according to a sequence, etc., to implicitly indicate that the information is the identification information of the second device information, which is not specifically limited in this application.
  • the information used to identify the first device is carried in the physical layer frame header (PHY header, PHR) of at least one signal among the first ranging signal, the second ranging signal and the ranging response signal or payload.
  • PHY header, PHR physical layer frame header
  • the information used to identify the first device is determined according to a media access control (media access control address, MAC) address of the first device.
  • media access control media access control address, MAC
  • the information used to identify the first device may be directly determined by the MAC address of the first device, where the MAC address may be understood as an Ethernet address (ethernet address) or a physical address (physical address) of the first device.
  • the MAC address may be understood as an Ethernet address (ethernet address) or a physical address (physical address) of the first device.
  • a fixed identifier ID
  • N 1 bits in the MAC address (64 bits) of the first device are used as the ID, no change occurs.
  • the information for identifying the first device may also be determined according to the current time stamp and the MAC address. For example, random ID. XOR the N 2 bits in the current timestamp (32bit) and the N 2 bits in the MAC address (64bit) to get a new N 2 bit random number as the ID, which will change every cycle.
  • the synchronization field (synchronization, SYNC) of the first ranging signal and the second ranging signal, the start-of-frame delimiter field (start-of-frame delimiter, SFD), the physical layer frame header (PHY header , PHR), and at least one of the payload is different.
  • the PHR or payload of the first ranging signal includes first indication information, and the first indication information is used to indicate that the current ranging signal is the first ranging signal, and the PHR or payload of the second ranging signal Including second indication information, the second indication information is used to indicate that the current ranging signal is the second ranging signal; and/or, the SFD of the first ranging signal indicates that the current ranging signal is the first ranging signal, and the second ranging signal The SFD of the ranging signal indicates that the current ranging signal is the second ranging signal, and the SFD of the first ranging signal is different from the SFD of the second ranging signal; and/or, the SYNC of the first ranging signal indicates that the current ranging signal is The SYNC of the first ranging signal and the second ranging signal indicates that the current ranging signal is the second ranging signal, and the SYNC of the first ranging signal is different from the SYNC of the second ranging signal.
  • the current ranging signal is the first ranging signal or the second ranging signal. That is, the first ranging signal and the second ranging signal are different.
  • the synchronization fields SYNC of the first ranging signal and the second ranging signal include a dedicated synchronization sequence, and the dedicated synchronization sequence is used for pairless ranging.
  • ranging without pairing can be understood as a process in which a certain device broadcasts or sends a ranging signal within the first range, and at least one device within the first range feeds back a ranging response signal to the device. There is no need to establish a connection in advance, etc.
  • the distance measurement application between the device A and the device B can be performed without pairing operations such as mutual verification of identities and connection establishment between the device A and the device B.
  • the synchronization field SYNC of the ranging response signal includes a first dedicated synchronization sequence, where the first dedicated synchronization sequence is any dedicated synchronization sequence in a set of dedicated synchronization sequences, and the set of dedicated synchronization sequences is predefined by the protocol.
  • the set of dedicated synchronization sequences includes a first set of dedicated synchronization sequences and a second set of dedicated synchronization sequences.
  • the dedicated synchronization sequences in the first set of dedicated synchronization sequences and the second set of dedicated synchronization sequences are different from each other.
  • the synchronization field SYNC of the ranging response signal includes a dedicated synchronization sequence in the first set of dedicated synchronization sequences; when the second When the synchronization field SYNC of the first ranging signal and the second ranging signal includes a dedicated synchronization sequence in the second set of dedicated synchronization sequences, the synchronization field SYNC of the ranging response signal includes a dedicated synchronization sequence in the second set of dedicated synchronization sequences .
  • the dedicated synchronization sequences used by the first ranging signal (or the second ranging signal) and its corresponding ranging response signal belong to the same set of dedicated synchronization sequences.
  • one of the sequences is used as a dedicated synchronization sequence for the ranging signal sent by the first device.
  • each group contains 10 mutually different dedicated synchronization sequences.
  • the first set of dedicated synchronization sequences includes:
  • the second set of dedicated synchronization sequences includes:
  • the second device uses the dedicated synchronization sequence (for example, "-+0--+-++00+-- -++-++++-+0+++0-0") to perform correlation calculations to identify the ranging signal as an unpaired ranging signal.
  • the second device starts from the group where the dedicated synchronization sequence is located (for example, "++-+++--0+++0+0-+0++-+-" in the first group of dedicated synchronization sequence set) -00--+-+"), randomly select a dedicated synchronization sequence, carry it in the ranging response signal and send it to the first device.
  • the dedicated synchronization sequences selected in the first ranging signal, the second ranging signal and the ranging response signal in the embodiment of the present application may be the same or different, which is not specifically limited in the present application.
  • the first device determines the distance between the first device and the second device according to M, t A1 , and t A2 , where M is a value of P when the ranging response signal is detected.
  • the distance between the first device and the second device is:
  • a first device may send ranging signals to multiple second devices; for another example, multiple first devices may send ranging signals to one or more second devices, etc., which is not specifically limited in this application.
  • FIG. 10 is a schematic diagram of another example of a distance measuring method 1000 provided in an embodiment of the present application.
  • the ranging response signal is sent after Mt B1 , wherein the dedicated synchronization sequence included in the SYNC is randomly selected from the dedicated sequence set, and the PHR or payload carries the ID generated by the Initiator.
  • the specific implementation steps include:
  • the initiator broadcasts the ranging signal 1 and the ranging signal 2 respectively.
  • the responder #3 receives the ranging signal 1 and the ranging signal 2 .
  • ranging signal 1 and ranging signal 2 include SYNC, SFD, PHR and payload.
  • the PHR or the payload payload in the two ranging signals carries the identification information ID of the initiator.
  • the SYNC part can be randomly selected from the dedicated sequence set. For example, the sender uses sequence 1 in the first group of sequences in Table 1 as the SYNC part in the broadcast signal.
  • the interval between broadcasting the two ranging signals by the initiator is t A1 .
  • the initiator needs to broadcast the ranging signal 1 and the ranging signal 2 within the same period T.
  • this embodiment of the present application also includes other responders (for example, responder #1, ..., responder #N), and can also receive the detected ranging signal 1 and the ranging signal 2 .
  • responders for example, responder #1, ..., responder #N
  • two ranging signals are taken as an example to calculate distances between the initiator and multiple responding parties.
  • the frame structure of the ranging signal 1 and the ranging signal 2 may specifically refer to the schematic diagram of FIG. 5 .
  • the schematic diagram in FIG. 6 For the sake of brevity, details are not repeated here.
  • the responder #3 detects the ranging signal 1 and the ranging signal 2, and determines that the difference between the time stamps of the two ranging signals is t B1 .
  • the responder #3 sends a ranging response signal to the initiator after passing Mt B1 , M is a positive integer
  • the initiator detects and receives the ranging response signal from the responder #3.
  • the initiator detects the ranging response signal in different detection windows (that is, within different time periods from Pt A1 to (P+1)t A1 ).
  • the detection starting point of the detection window is later than the time stamp of sending the ranging signal 2 by Pt A1
  • the detection end point of the detection window is (P+1)t A1 later than the time stamp of sending the ranging signal 2 .
  • the detection range may be determined according to the maximum detection distance, which is not specifically limited in the present application.
  • the ranging response signal includes SYNC, SFD, PHR and payload.
  • the pilot of the SYNC part in the ranging response signal can be randomly selected from the dedicated sequence set (for example, if the sender uses sequence 1 in the first group of sequences in Table 1 as the SYNC part in the broadcast signal, then the responder Sequence 2-10 in the first group of sequences can be randomly selected as the SYNC part in the response ranging signal), PHR or payload carries the sender ID;
  • the PHR part of the ranging response signal may also carry M.
  • the initiator determines the time stamp t 5 when the ranging response signal is received, and calculates the distance between the initiator and the responder.
  • FIG. 7 is a schematic diagram of an example of the calculation principle of the time-of-flight (TOF) between the initiator and the responder (initiator) and the responder (responder) of the pulse signal applicable to the present application.
  • TOF time-of-flight
  • the initiator sends the ranging signal twice continuously in one cycle, and the time interval between the two is t A1 .
  • the responder #3 feeds back the ranging response signal after time t B2 , and the difference between the time stamp of the initiator receiving the ranging response signal and the time stamp of the second sending of the ranging signal is t A2 . Therefore, the following two equations can be obtained:
  • the time-of-flight of the pulse signal between the initiator and responder #2 is:
  • the ranging error is only related to TOF, and does not increase with the increase of the response time (reply time) of responder #3.
  • the broadcast signal of the initiator is designed.
  • SYNC includes a dedicated synchronization sequence to indicate that the broadcast signal is a non-paired ranging signal, and the broadcast
  • the ID generated by the initiator is carried in the signal to realize distance measurement without pairing.
  • the responder will initiate a response after detecting the broadcast signal, and the response signal carries the ID in the broadcast signal of the initiator.
  • the initiator can estimate the distance after receiving the response signal carrying the ID.
  • the responder randomly selects a pilot frequency from the pilot set for the SYNC part while randomly selecting the reply time.
  • the initiator will broadcast the ranging signal twice in one cycle.
  • the ranging accuracy does not decrease with the increase of the reply time, and there is no constraint on the ranging response time, thus relaxing the processing speed requirements of the responding party.
  • the responder no longer feeds back t B1 and t B2 , but feeds back the ratio N of t B1 and t B2 , which reduces the amount of feedback and signaling overhead.
  • N ranging response signal
  • the initiator can determine the value of N by detecting the ranging response signal in different detection windows N, without the responder feeding back N.
  • the ranging method provided by the embodiment of the present application has been described in detail above with reference to FIG. 3 to FIG. 10 .
  • the distance measuring device provided by the embodiment of the present application will be described in detail with reference to FIG. 11 and FIG. 12 . It should be understood that the descriptions of the embodiments of the distance measuring device correspond to the descriptions of the embodiments of the distance measuring method. Therefore, for parts not described in detail, reference may be made to the foregoing method embodiments.
  • FIG. 11 is a schematic block diagram of a communication device 10 provided by an embodiment of the present application. As shown in FIG. 11 , the communication device 10 may include a transceiver unit 11 and a processing unit 12 .
  • the communications apparatus 10 may correspond to the first device (or initiator) in the above method embodiments.
  • the communication device 10 may correspond to the first device (or initiator) in the method 300 or the method 400 or the method 800 or the method 900 or the method 1000 according to the embodiment of the present application, and the communication device 10 may include a Modules for executing the method executed by the first device (or initiator) in FIG. 3 , FIG. 4 , FIG. 8 , FIG. 9 , and FIG. 10 .
  • each unit and the above-mentioned other operations and/or functions in the communication device 10 are for realizing the corresponding processes of the methods shown in FIG. 3 , FIG. 4 , FIG. 8 , FIG. 9 , and FIG. 10 .
  • the transceiver unit 11 is configured for the first device to send multiple ranging signals, the multiple ranging signals include a first ranging signal and a second ranging signal, and the first ranging signal is earlier than the second ranging signal sending, and the sending time interval between the first ranging signal and the second ranging signal is t A1 ;
  • the transceiver unit 11 is also used for the first device to receive the ranging response signal from the second device, and determine the receiving time of the ranging response signal and the sending time interval of the second ranging signal as t A2 , wherein the ranging response signal Including the time interval t B1 between the second device receiving the second ranging signal and the first ranging signal, the time interval t B2 between the second device receiving the second ranging signal and sending the ranging response signal, or,
  • the ranging response signal includes N, where N is a value determined according to t B1 and t B2 , and N is a constant greater than zero.
  • the processing unit 12 is used for the first device to determine the distance between the first device and the second device according to t A1 , t A2 , t B1 , and t B2 ; or, to determine the distance between the first device and the second device according to t A1 , t A2 and N. The distance between the two devices.
  • the transceiver unit 11 in the communication device 10 executes the receiving and sending operations performed by the first device (or initiator) in the above method embodiments, and the processing unit 12 executes other than the receiving and sending operations operate.
  • the communication device 10 may also correspond to the second device (or responder) in the above method embodiments.
  • the communication device 10 may correspond to the second device (or the responder responder) in the method 300 or the method 400 or the method 800 or the method 900 or the method 1000 according to the embodiment of the present application, and the communication device 10 may include a Modules for executing the method performed by the second device in FIG. 3 , FIG. 4 , FIG. 8 , FIG. 9 , and FIG. 10 .
  • each unit and the above-mentioned other operations and/or functions in the communication device 10 are for realizing the corresponding processes of the methods shown in FIG. 3 , FIG. 4 , FIG. 8 , FIG. 9 , and FIG. 10 .
  • the transceiver unit 11 is used for the second device to receive a plurality of ranging signals from the first device, the plurality of ranging signals include a first ranging signal and a second ranging signal, and determine the second ranging signal and the receiving time interval between the first ranging signal is t B1 ;
  • the transceiver unit 11 is further configured for the second device to send a ranging response signal to the first device, wherein the ranging response signal includes a time interval t B1 between the second device receiving the second ranging signal and the first ranging signal, The time interval t B2 between the second device receiving the second ranging signal and sending the ranging response signal, or the ranging response signal includes N, where N is a value determined according to t B1 and t B2 , and N is greater than zero constant.
  • the transceiver unit 11 in the communication device 10 executes the receiving and sending operations performed by the second device (or the responder responder) in the above method embodiments, and the processing unit 12 executes other than the receiving and sending operations operate.
  • FIG. 12 is a schematic diagram of a communication device 20 provided in an embodiment of the present application. As shown in FIG. 12 , the device 20 may be a first device or a second device.
  • the device 20 may include a processor 21 (ie, an example of a processing unit) and a memory 22 .
  • the memory 22 is used to store instructions
  • the processor 21 is used to execute the instructions stored in the memory 22, so that the apparatus 20 implements the steps performed by the first device or the second device in the methods corresponding to FIG. 3 to FIG. 10 .
  • the device 20 may further include an input port 23 (ie, an example of a transceiver unit) and an output port 24 (ie, another example of a transceiver unit).
  • an input port 23 ie, an example of a transceiver unit
  • an output port 24 ie, another example of a transceiver unit
  • the processor 21 , the memory 22 , the input port 23 and the output port 24 can communicate with each other through internal connection paths, and transmit control and/or data signals.
  • the memory 22 is used to store a computer program, and the processor 21 can be used to call and run the computer program from the memory 22 to control the input port 23 to receive signals and control the output port 24 to send signals to complete the first device in the above method or second device steps.
  • the memory 22 can be integrated in the processor 21 or can be set separately from the processor 21 .
  • the input port 23 is a receiver
  • the output port 24 is a transmitter.
  • the receiver and the transmitter may be the same or different physical entities. When the receiver and the transmitter are the same physical entity, they may be collectively referred to as a transceiver.
  • the input port 23 is an input interface
  • the output port 24 is an output interface
  • the functions of the input port 23 and the output port 24 may be realized by a transceiver circuit or a dedicated chip for transceiver.
  • the processor 21 may be realized by a dedicated processing chip, a processing circuit, a processor or a general-purpose chip.
  • a general-purpose computer to implement the communication device provided in the embodiment of the present application.
  • the program codes to realize the functions of the processor 21 , the input port 23 and the output port 24 are stored in the memory 22 , and the general processor realizes the functions of the processor 21 , the input port 23 and the output port 24 by executing the codes in the memory 22 .
  • the disclosed systems, devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • 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 this embodiment.
  • 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 functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used 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 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. .

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Abstract

一种测距方法(300)，包括：第一设备发送多个测距信号，包括第一测距信号和第二测距信号，第一测距信号早于第二测距信号发送，且第一测距信号和第二测距信号之间的发送时间间隔为tA1(310)；接收来自第二设备的测距响应信号，并确定测距响应信号的接收时间和第二测距信号的发送时间间隔为tA2，测距响应信号包括第二设备接收到的第二测距信号和第一测距信号之间的时间间隔tB1、第二设备接收到第二测距信号与发送测距响应信号之间的时间间隔t B2，或者N，N是根据t B1和t B2确定的值，N为大于零的常数(320)；根据tA1、tA2、tB1、tB2或者，tA1、tA2和N确定第一设备与第二设备之间的距离(330)。测距方法能够提高测距精度，降低对第二设备的处理速度和响应时间的要求。

Description

一种测距方法和装置
本申请要求于2021年10月15日提交国家知识产权局、申请号为202111205179.0、申请名称为“一种无配对测距方法”的中国专利申请的优先权，以及要求于2021年10月29日提交国家知识产权局、申请号为202111275931.9、申请名称为“一种测距方法和装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及通信领域，并且更具体地，涉及一种测距方法和装置。
背景技术
超宽带(ultra wide band，UWB)技术由于低功耗、高时间分辨率等特性，能够实现高精度测距及定位，从而得到广泛的应用。
当前支持在一对多、多对多测距场景下，通过时分复用的方式让多个用户收到同一个发起方发送的测距信号后，能够在时间上错开响应以避免冲突。通过测距协商阶段为不同用户预分配不同的响应时间，使得每个用户在收到测距信号后，经过各自分配的响应时间，再反馈测距响应信号，从而使得不同用户的应答信号到达发起方时不会发生重叠，因而可以避免彼此之间的干扰。
然而，在当前测距方案中，发起方需要在配对后为每个响应方分配不同的响应时间，流程较为繁琐。并且，由于设备晶振通常具有误差，导致实际测量的时间与真实时间存在偏差，因而产生测距误差。另外，响应方的处理速度的不同，对测量误差的影响也不同，从而影响了测距精度。
因此，如何提高测距精度是亟待解决的问题。
发明内容
本申请实施例提供一种测距方法和装置，能够提高测距精度，降低对响应方处理速度的要求。
第一方面，提供了一种测距方法，该方法可以由第一设备执行，或者，也可以由用于第一设备的芯片或电路执行，本申请对此不作限定。为了便于描述，下面以由第一设备执行为例进行说明。
该方法包括：第一设备发送多个测距信号，多个测距信号包括第一测距信号和第二测距信号，第一测距信号早于第二测距信号发送，且第一测距信号和第二测距信号之间的发送时间间隔为t A1；第一设备接收来自第二设备的测距响应信号，并确定测距响应信号的接收时间和第二测距信号的发送时间间隔为t A2，其中，测距响应信号包括第二设备接收到第二测距信号和第一测距信号之间的时间间隔t B1、第二设备接收到第二测距信号与发送测距响应信号之间的时间间隔t B2，或者，测距响应信号包括N，N是根据t B1和t B2确 定的值，N为大于零的常数；第一设备根据t A1、t A2、t B1、t B2确定第一设备与第二设备之间的距离；或者，根据t A1、t A2和N确定第一设备与第二设备之间的距离。
根据本申请提供的方案，能够实现无配对测距，在保证测距精度的情况下，降低对响应方处理速度的要求。
第二方面，提供了一种测距方法，该方法可以由第二设备执行，或者，也可以由用于第二设备的芯片或电路执行，本申请对此不作限定。为了便于描述，下面以由第二设备执行为例进行说明。
该方法包括：第二设备接收来自第一设备的多个测距信号，多个测距信号包括第一测距信号和第二测距信号，并确定第二测距信号和第一测距信号之间的接收时间间隔为t B1；第二设备向第一设备发送测距响应信号，其中，测距响应信号包括第二设备接收到第二测距信号和第一测距信号之间的时间间隔t B1、第二设备接收到第二测距信号与发送测距响应信号之间的时间间隔t B2，或者，测距响应信号包括N，N是根据t B1和t B2确定的值，N为大于零的常数。
也就是说，当测距响应信号包括t B1和t B2，第二设备经过t B2时间向第一设备发送测距响应信号；当测距响应信号包括N，第二设备经过Nt B1时间向第一设备发送测距响应信号。
根据本申请提供的方案，能够实现无配对测距，在保证测距精度的情况下，降低对响应方处理速度的要求。
结合第一方面或第二方面，在某些实现方式中，N是根据t B2/t B1确定的值。在一具体实现方式中，N满足：N＝t B2/t B1。在另一具体实现方式中，N是t B2/t B1在预设精度要求下的值。
需要说明的是，当N为非整数时，可以根据协议预定义将数值N保留小数点后两位。例如，当t B2＝4s，t B1＝2s，则N＝t B2/t B1＝2s。又例如，当t B2＝4s，t B1＝3s，则N＝t B2/t B1≈1.33s。以上仅是示例性说明，不应构成对本申请技术方案的任何限定。
结合第一方面或第二方面，在某些实现方式中，测距响应信号包括第二测距信号和第一测距信号之间的接收时间间隔t B1、第二设备接收到第二测距信号与发送测距响应信号之间的时间间隔t B2，第一设备与第二设备之间的距离为：
Figure PCTCN2022111191-appb-000001
其中，c为光速。
结合第一方面或第二方面，在某些实现方式中，测距响应信号包括N，第一设备与第二设备之间的距离为：
Figure PCTCN2022111191-appb-000002
其中，c为光速。
需要说明的是，上述以第二设备作为响应方进行示例性说明，不应对本申请的技术方案构成任何限定。例如，第一设备可以向多个第二设备发送测距信号；又例如，多个第一设备可以向一个或多个第二设备发送测距信号等等，本申请对此不作具体限定。
第三方面，提供了一种测距方法，该方法可以由第一设备执行，或者，也可以由用于第一设备的芯片或电路执行，本申请对此不作限定。为了便于描述，下面以由第一设备执行为例进行说明。
该方法包括：第一设备发送多个测距信号，多个测距信号包括第一测距信号和第二测距信号，第一测距信号早于第二测距信号发送，且第一测距信号和第二测距信号之间的发送时间间隔为t A1；第一设备在Pt A1至(P+1)t A1时间段内检测来自第二设备的测距响应信号，并确定测距响应信号的接收时间和第二测距信号的发送时间间隔为t A2，P的取值是正整数；第一设备根据M、t A1、t A2确定第一设备与第二设备之间的距离，M为第一设备检测到测距响应信号时P的数值。也就是说，第一设备在不确定测距响应信号的发送和/或接收时间时，在一个或多个不同的Pt A1至(P+1)t A1时间段内进行遍历检测，直至检测到测距响应信号即可。
示例性的，P的取值是预设整数值集合中的所有正整数。
可选地，预设整数值集合是协议预定义的。例如，预设整数值集合中包括至少一个整数。例如，1、3、5。根据本申请提供的方案，能够实现无配对测距，在保证测距精度的情况下，降低对响应方处理速度的要求。
可选地，在不设置检测窗口的情况下，第一设备一直盲检测，根据Mt A1<t A2<(M+1)t A1确定M，以计算第一设备与第二设备之间的距离。
在一种可能的实施方式中，第一设备在检测到来自第二设备的测距响应信号后，记录同步时间戳，并与第二测距信号的发送时间戳相减得到t A2，然后计算t A2/t A1，进而确定具体的M数值。其中，
Figure PCTCN2022111191-appb-000003
Figure PCTCN2022111191-appb-000004
为向下取整运算符。
在另一种可能的实施方式，采用滑窗的方式来检测测距响应信号，每个窗的位置(Pt A1至(P+1)t A1)由P的值来确定，当P取到某一数值时，且在该窗内检测到测距响应信号，就将P的该数据值确定为M，该M用于确定第一设备与发送所述测距响应信号的设备之间的距离。
结合第一方面或第三方面，在某些实现方式中，第一设备发送多个测距信号，包括：第一设备在周期T内发送多个测距信号，T为大于零的常数。
第四方面，提供了一种测距方法，该方法可以由第二设备执行，或者，也可以由用于第二设备的芯片或电路执行，本申请对此不作限定。为了便于描述，下面以由第二设备执行为例进行说明。
该方法包括：第二设备接收来自第一设备的多个测距信号，多个测距信号包括第一测距信号和第二测距信号，并确定第二测距信号和第一测距信号之间的接收时间间隔为t B1；第二设备在接收到第二测距信号后，经过Mt B1时间间隔后向第一设备发送测距响应信号，t B1为第二测距信号和第一测距信号之间的接收时间间隔，M是预设整数值集合中的任意一个正整数。
根据本申请提供的方案，能够实现无配对测距，在保证测距精度的情况下，降低对响应方处理速度的要求。
结合第二方面或第四方面，在某些实现方式中，第二设备接收来自第一设备的多个测距信号，包括：第二设备在周期T内接收来自第一设备的多个测距信号，T为大于零的常 数。
结合第三方面或第四方面，在某些实现方式中，第一测距信号和/或第二测距信号中包括预设整数值集合。
可选地，预设整数值集合是协议预定义的。
示例性的，预设整数值集合中包括至少一个整数。例如，1、3、5。那么，第二设备在接收第二测距信号后，可以经过3t B1发送测距响应信号，即M＝3。对应的，第一设备需要在多个不同的Pt A1至(P+1)t A1时间段内遍历检测，直至检测到来自第二设备的测距响应信号。
也就是，第一设备需要在t A1至2t A1时间段、3t A1至4t A1时间段、以及5t A1至6t A1时间段内遍历检测。其中，可以将上述不同的时间段理解为不同的窗口，即每个时间段就是一个检测窗口。根据遍历检测，第一设备在第2个窗口处，也就是在3t A1至4t A1时间段内检测到该测距响应信号。
结合第一方面至第四方面，在某些实现方式中，第一测距信号和/或第二测距信号携带用于标识第一设备的信息。
结合第一方面至第四方面，在某些实现方式中，测距响应信号携带用于标识第一设备的信息。
其中，用于标识第一设备的信息可以显式指示，即该信息就是第一设备的标识信息；或者，也可以隐式指示，例如，根据序列等隐式指示该信息为第一设备的标识信息，本申请对此不作具体限定。
结合第一方面至第四方面，在某些实现方式中，测距响应信号还携带用于标识第二设备的信息。
其中，用于标识第二设备的信息可以显式指示，即该信息就是第二设备的标识信息；或者，也可以隐式指示，例如，根据序列等隐式指示该信息为第二设备的标识信息，本申请对此不作具体限定。
结合第一方面至第四方面，在某些实现方式中，用于标识第一设备的信息承载于第一测距信号、第二测距信号和测距响应信号中的至少一种信号的物理层帧头PHR或有效载荷。
结合第一方面至第四方面，在某些实现方式中，用于标识第一设备的信息是根据第一设备的媒体接入控制(media access control address，MAC)地址确定的。
示例性的，用于标识第一设备的信息可以是通过第一设备的MAC地址直接确定的，这里MAC地址可以理解为第一设备的以太网地址(ethernet address)或物理地址(physical address)。例如，固定ID。即使用第一设备的MAC地址(64bit)中的N 1bit作为ID，不发生变化。
进一步地，用于标识第一设备的信息还可以是根据当前时间戳与MAC地址确定的。例如，随机ID。将当前的时间戳(32bit)中的N 2bit与MAC地址(64bit)中的N 2bit进行异或操作，得到新的N 2bit随机数作为ID，每个周期都会发生变化。
结合第一方面至第四方面，在某些实现方式中，第一测距信号与第二测距信号的同步字段(synchronization，SYNC)、帧开始分隔符字段(start-of-frame delimiter，SFD)、物理层帧头(PHY header，PHR)、有效载荷中的至少一项不同。
示例性的，第一测距信号的PHR或有效载荷中包括第一指示信息，第一指示信息用于指示当前测距信号为第一测距信号，第二测距信号的PHR或有效载荷中包括第二指示信息，第二指示信息用于指示当前测距信号为第二测距信号；和/或，第一测距信号的SFD指示当前测距信号为第一测距信号，第二测距信号的SFD指示当前测距信号为第二测距信号，第一测距信号的SFD与第二测距信号的SFD不同；和/或，第一测距信号的SYNC指示当前测距信号为第一测距信号，第二测距信号的SYNC指示当前测距信号为第二测距信号，第一测距信号的SYNC与第二测距信号的SYNC不同。
根据上述几种可能的实现方式，可以进一步指示当前测距信号是第一测距信号或第二测距信号。即，第一测距信号和第二测距信号不同。
结合第一方面至第四方面，在某些实现方式中，第一测距信号和第二测距信号的同步字段SYNC包括专用同步序列，专用同步序列用于无配对测距。
其中，无配对测距可以理解为某一设备在第一范围内广播或发送测距信号，该第一范围内的至少一个设备向该设备反馈测距响应信号的过程，发送方和响应方之间无需提前建立连接等。例如，设备A与设备B之间无需相互验证身份、建立连接等配对操作即可进行设备A与设备B之间的测距应用。
结合第一方面至第四方面，在某些实现方式中，测距响应信号的同步字段SYNC包括第一专用同步序列，第一专用同步序列是专用同步序列集合中任意一个专用同步序列，专用同步序列集合是协议预定义的，专用同步序列集合包括第一组专用同步序列集合和第二组专用同步序列集合，第一组专用同步序列集合和第二组专用同步序列集合中的专用同步序列互不相同，当第一测距信号和第二测距信号的同步字段SYNC包括第一组专用同步序列集合中的专用同步序列时，测距响应信号的同步字段SYNC包括第一组专用同步序列集合中的专用同步序列；当第一测距信号和第二测距信号的同步字段SYNC包括第二组专用同步序列集合中的专用同步序列时，测距响应信号的同步字段SYNC包括第二组专用同步序列集合中的专用同步序列。
也就是说，第一测距信号(或第二测距信号)及其对应的测距响应信号所使用的专用同步序列属于同一组专用同步序列集合。
示例性的，可以通过协议规定，将其中一个序列作为第一设备发送的测距信号的专用同步序列。
在本申请实施例中，提供两组共20个31长的专用同步序列，每组包含10个互不相同的专用同步序列。
示例性的，第一组专用同步序列集合包括：
“-+0--+-++00+---++-++++-+0+++0-0、
++-+++--0+++0+0-+0++-+--00--+-+、
+-+++--+0+-+----0+++-++0+0-+00+、
0-++-+++-+0-++++--0-+---+0+0++0、
00++--0-+++++-+++-0++-0--+-+-0+、
0+00+-++0+-+-+++++--0--+0--+++-、
00++0--++-0-0-+-+0-++++++--+-++、
+++++0+0---+0+--++-+-+--++00+-0、
+++-0---0+-++-0+-+-+++--+++00+0、
00+0+-+-0++-0+-+++0-++++-++----”。
第二组专用同步序列集合包括：
“00++-+--++++++-0+-+-0-0-++--0++、
-+00++--+-+-++--+0+---0+0+++++0、
0+00+++--+++-+-+0-++-+0---0-+++、
----++-++++-0+++-+0-++0-+-+0+00、
-0+++0+-++++-++---+00++-+--0+-0、
+-+--00--+-++0+-0+0+++0--+++-++、
-+++--0+--0--+++++-+-+0++-+00+0、
00+0-+-+--0-++0-+++-+++++-0--++、
++0+0+---+-0--++++-0+-+++-++-00、
+00+-0+0++-+++0----+-+0+--+++-+”。
其中，“+”表示1，“-”表示-1。每一组内的专用同步序列之间互相关性较好。
具体地，第二设备在接收到第一设备发送的测距信号后，使用该专用同步序列(例如，第一组专用同步序列集合中的“-+0--+-++00+---++-++++-+0+++0-0”)进行相关运算，从而识别出该测距信号为无配对测距信号。对应的，第二设备从该专用同步序列所在的组(例如，第一组专用同步序列集合中的“++-+++--0+++0+0-+0++-+--00--+-+”)中随机选取一个专用同步序列，携带在测距响应信号中发送给第一设备。
需要说明的是，本申请实施例中的第一测距信号、第二测距信号和测距响应信号中选取的专用同步序列可以相同，也可以不同，本申请对此不作具体限定。
结合第三方面或第四方面，在某些实现方式中，第一设备与第二设备之间的距离为：
Figure PCTCN2022111191-appb-000005
其中，c为光速。
需要说明的是，上述以第二设备作为响应方进行示例性说明，不应对本申请的技术方案构成任何限定。例如，第一设备可以向多个第二设备发送测距信号；又例如，多个第一设备可以向一个或多个第二设备发送测距信号等等，本申请对此不作具体限定。
第五方面，提供了一种测距装置，其特征在于，包括收发单元，用于：第一设备发送多个测距信号，多个测距信号包括第一测距信号和第二测距信号，第一测距信号早于第二测距信号发送，且第一测距信号和第二测距信号之间的发送时间间隔为t A1；第一设备接收来自第二设备的测距响应信号，并确定测距响应信号的接收时间和第二测距信号的发送时间间隔为t A2，其中，测距响应信号包括第二设备接收到第二测距信号和第一测距信号之间的时间间隔t B1、第二设备接收到第二测距信号与发送测距响应信号之间的时间间隔t B2，或者，测距响应信号包括N，N是根据t B1和t B2确定的值，N为大于零的常数；第一设备根据t A1、t A2、t B1、t B2确定第一设备与第二设备之间的距离；或者，根据t A1、t A2和N确定第一设备与第二设备之间的距离。
第六方面，提供了一种测距装置，其特征在于，收发单元，用于：第二设备接收来自第一设备的多个测距信号，多个测距信号包括第一测距信号和第二测距信号，并确定第二 测距信号和第一测距信号之间的接收时间间隔为t B1；第二设备向第一设备发送测距响应信号，其中，测距响应信号包括第二设备接收到第二测距信号和第一测距信号之间的时间间隔t B1、第二设备接收到第二测距信号与发送测距响应信号之间的时间间隔t B2，或者，测距响应信号包括N，N是根据t B1和t B2确定的值，N为大于零的常数。
也就是说，当测距响应信号包括t B1和t B2，第二设备经过t B2时间向第一设备发送测距响应信号；当测距响应信号包括N，第二设备经过Nt B1时间向第一设备发送测距响应信号。
根据本申请提供的方案，能够实现无配对测距，在保证测距精度的情况下，降低对响应方处理速度的要求。
结合第五方面或第六方面，在某些实现方式中，N是根据t B2/t B1确定的值。在一具体实现方式中，N满足：N＝t B2/t B1。在另一具体实现方式中，N是t B2/t B1在预设精度要求下的值。需要说明的是，当N为非整数时，可以根据协议预定义将数值N保留小数点后两位。例如，当t B2＝4s，t B1＝2s，则N＝t B2/t B1＝2s。又例如，当t B2＝4s，t B1＝3s，则N＝t B2/t B1≈1.33s。以上仅是示例性说明，不应构成对本申请技术方案的任何限定。
结合第五方面或第六方面，在某些实现方式中，测距响应信号包括第二测距信号和第一测距信号之间的接收时间间隔t B1、第二设备接收到第二测距信号与发送测距响应信号之间的时间间隔t B2，第一设备与第二设备之间的距离为：
Figure PCTCN2022111191-appb-000006
其中，c为光速。
结合第五方面或第六方面，在某些实现方式中，测距响应信号包括N，第一设备与第二设备之间的距离为：
Figure PCTCN2022111191-appb-000007
其中，c为光速。
第七方面，提供了一种测距装置，其特征在于，包括收发单元，用于：第一设备发送多个测距信号，多个测距信号包括第一测距信号和第二测距信号，第一测距信号早于第二测距信号发送，且第一测距信号和第二测距信号之间的发送时间间隔为t A1；处理单元，用于：第一设备在Pt A1至(P+1)t A1时间段内检测来自第二设备的测距响应信号，并确定测距响应信号的接收时间和第二测距信号的发送时间间隔为t A2，t A1为第一测距信号和第二测距信号之间的发送时间间隔，P的取值是正整数；根据M、t A1、t A2确定第一设备与第二设备之间的距离，M为第一设备检测到测距响应信号时P的数值。也就是说，第一设备在不确定测距响应信号的发送和/或接收时间时，在一个或多个不同的Pt A1至(P+1)t A1时间段内进行遍历检测，直至检测到测距响应信号即可。
示例性的，P的取值是预设整数值集合中的所有正整数。
可选地，预设整数值集合是协议预定义的。例如，预设整数值集合中包括至少一个整数。例如，1、3、5。
根据本申请提供的方案，能够实现无配对测距，在保证测距精度的情况下，降低对响应方处理速度的要求。
可选地，在不设置检测窗口的情况下，第一设备一直盲检测，根据Mt A1<t A2<(M+1)t A1确定M，以计算第一设备与第二设备之间的距离。
在一种可能的实施方式中，第一设备在检测到来自第二设备的测距响应信号后，记录同步时间戳，并与第二测距信号的发送时间戳相减得到t A2，然后计算t A2/t A1，进而确定具体的M数值。
其中，
Figure PCTCN2022111191-appb-000008
Figure PCTCN2022111191-appb-000009
为向下取整运算符。
在另一种可能的实施方式，采用滑窗的方式来检测测距响应信号，每个窗的位置(Pt A1至(P+1)t A1)由P的值来确定。当P取到某一数值时，且在该窗内检测到测距响应信号，就将P的该数据值确定为M，该M用于确定第一设备与发送所述测距响应信号的设备之间的距离。
结合第五方面或第七方面，在某些实现方式中，收发单元，还用于：第一设备在周期T内发送多个测距信号，T为大于零的常数。
第八方面，提供了一种测距装置，其特征在于，收发单元，用于：第二设备接收来自第一设备的多个测距信号，多个测距信号包括第一测距信号和第二测距信号，并确定第二测距信号和第一测距信号之间的接收时间间隔为t B1；第二设备在接收到第二测距信号后，经过Mt B1时间间隔后向第一设备发送测距响应信号，t B1为第二测距信号和第一测距信号之间的接收时间间隔，M是预设整数值集合中的任意一个正整数。
根据本申请提供的方案，能够实现无配对测距，在保证测距精度的情况下，降低对响应方处理速度的要求。
结合第六方面或第八方面，在某些实现方式中，收发单元，还用于：第二设备在周期T内接收来自第一设备的多个测距信号，T为大于零的常数。
结合第七方面或第八方面，在某些实现方式中，第一测距信号和/或第二测距信号中包括预设整数值集合。
可选地，预设整数值集合是协议预定义的。
示例性的，预设整数值集合中包括至少一个整数。例如，1、3、5。那么，第二设备在接收第二测距信号后，可以经过3t B1发送测距响应信号，即M＝3。对应的，第一设备需要在Pt A1至(P+1)t A1时间段内遍历检测，直至检测到来自第二设备的测距响应信号。
也就是，第一设备需要在t A1至2t A1时间段、3t A1至4t A1时间段、以及5t A1至6t A1时间段内遍历检测。其中，可以将上述不同的时间段理解为不同的窗口，即每个时间段就是一个检测窗口。根据遍历检测，第一设备在第2个窗口处，也就是在3t A1至4t A1时间段内检测到该测距响应信号。
结合第五方面至第八方面，在某些实现方式中，第一测距信号和/或第二测距信号携带用于标识第一设备的信息。
结合第五方面至第八方面，在某些实现方式中，测距响应信号携带用于标识第一设备的信息。
其中，用于标识第一设备的信息可以显式指示，即该信息就是第一设备的标识信息；或者，也可以隐式指示，例如，根据序列等隐式指示该信息为第一设备的标识信息，本申请对此不作具体限定。
结合第五方面至第八方面，在某些实现方式中，测距响应信号还携带用于标识第二设备的信息。
其中，用于标识第二设备的信息可以显式指示，即该信息就是第二设备的标识信息；或者，也可以隐式指示，例如，根据序列等隐式指示该信息为第二设备的标识信息，本申请对此不作具体限定。
结合第五方面至第八方面，在某些实现方式中，用于标识第一设备的信息承载于第一测距信号、第二测距信号和测距响应信号中的至少一种信号的物理层帧头PHR或有效载荷。
结合第五方面至第八方面，在某些实现方式中，用于标识第一设备的信息是根据第一设备的媒体接入控制(media access control address，MAC)地址确定的。
示例性的，用于标识第一设备的信息可以是通过第一设备的MAC地址直接确定的，这里MAC地址可以理解为第一设备的以太网地址(ethernet address)或物理地址(physical address)。例如，固定ID。即使用第一设备的MAC地址(64bit)中的N 1bit作为ID，不发生变化。
进一步地，用于标识第一设备的信息还可以是根据当前时间戳与MAC地址确定的。例如，随机ID。将当前的时间戳(32bit)中的N 2bit与MAC地址(64bit)中的N 2bit进行异或操作，得到新的N 2bit随机数作为ID，每个周期都会发生变化。
结合第五方面至第八方面，在某些实现方式中，第一测距信号与第二测距信号的同步字段(synchronization，SYNC)、帧开始分隔符字段(start-of-frame delimiter，SFD)、物理层帧头(PHY header，PHR)、有效载荷中的至少一项不同。
示例性的，第一测距信号的PHR或有效载荷中包括第一指示信息，第一指示信息用于指示当前测距信号为第一测距信号，第二测距信号的PHR或有效载荷中包括第二指示信息，第二指示信息用于指示当前测距信号为第二测距信号；和/或，第一测距信号的SFD用于指示当前测距信号为第一测距信号，第二测距信号的SFD用于指示当前测距信号为第二测距信号，第一测距信号的SFD与第二测距信号的SFD不同；和/或，第一测距信号的SYNC用于指示当前测距信号为第一测距信号，第二测距信号的SYNC用于指示当前测距信号为第二测距信号，第一测距信号的SYNC与第二测距信号的SYNC不同。
根据上述几种可能的实现方式，可以进一步指示当前测距信号是第一测距信号或第二测距信号。即，第一测距信号和第二测距信号不同。
结合第五方面至第八方面，在某些实现方式中，第一测距信号和第二测距信号的同步字段SYNC包括专用同步序列，专用同步序列用于无配对测距。
其中，无配对测距可以理解为某一设备在第一范围内广播或发送测距信号，该第一范围内的至少一个设备向该设备反馈测距响应信号的过程，发送方和响应方之间无需提前建立连接等。例如，设备A与设备B之间无需相互验证身份、建立连接等配对操作即可进行设备A与设备B之间的测距应用。
结合第五方面至第八方面，在某些实现方式中，测距响应信号的同步字段SYNC包括第一专用同步序列，第一专用同步序列是专用同步序列集合中任意一个专用同步序列，专用同步序列集合是协议预定义的，
专用同步序列集合包括第一组专用同步序列集合和第二组专用同步序列集合，第一组 专用同步序列集合和第二组专用同步序列集合中的专用同步序列互不相同，当第一测距信号和第二测距信号的同步字段SYNC包括第一组专用同步序列集合中的专用同步序列时，测距响应信号的同步字段SYNC包括第一组专用同步序列集合中的专用同步序列；当第一测距信号和第二测距信号的同步字段SYNC包括第二组专用同步序列集合中的专用同步序列时，测距响应信号的同步字段SYNC包括第二组专用同步序列集合中的专用同步序列。
也就是说，第一测距信号(或第二测距信号)及其对应的测距响应信号所使用的专用同步序列属于同一组专用同步序列集合。
示例性的，可以通过协议规定，将其中一个序列作为第一设备发送的测距信号的专用同步序列。
在本申请实施例中，提供两组共20个31长的专用同步序列，每组包含10个互不相同的专用同步序列。
示例性的，第一组专用同步序列集合包括：
“-+0--+-++00+---++-++++-+0+++0-0、
++-+++--0+++0+0-+0++-+--00--+-+、
+-+++--+0+-+----0+++-++0+0-+00+、
0-++-+++-+0-++++--0-+---+0+0++0、
00++--0-+++++-+++-0++-0--+-+-0+、
0+00+-++0+-+-+++++--0--+0--+++-、
00++0--++-0-0-+-+0-++++++--+-++、
+++++0+0---+0+--++-+-+--++00+-0、
+++-0---0+-++-0+-+-+++--+++00+0、
00+0+-+-0++-0+-+++0-++++-++----”。
第二组专用同步序列集合包括：
“00++-+--++++++-0+-+-0-0-++--0++、
-+00++--+-+-++--+0+---0+0+++++0、
0+00+++--+++-+-+0-++-+0---0-+++、
----++-++++-0+++-+0-++0-+-+0+00、
-0+++0+-++++-++---+00++-+--0+-0、
+-+--00--+-++0+-0+0+++0--+++-++、
-+++--0+--0--+++++-+-+0++-+00+0、
00+0-+-+--0-++0-+++-+++++-0--++、
++0+0+---+-0--++++-0+-+++-++-00、
+00+-0+0++-+++0----+-+0+--+++-+”。
其中，“+”表示1，“-”表示-1。每一组内的专用同步序列之间互相关性较好。
具体地，第二设备在接收到第一设备发送的测距信号后，使用该专用同步序列(例如，第一组专用同步序列集合中的“-+0--+-++00+---++-++++-+0+++0-0”)进行相关运算，从而识别出该测距信号为无配对测距信号。对应的，第二设备从该专用同步序列所在的组(例如，第一组专用同步序列集合中的“++-+++--0+++0+0-+0++-+--00--+-+”)中随机选取一个专用同步序列，携带在测距响应信号中发送给第一设备。
需要说明的是，本申请实施例中的第一测距信号、第二测距信号和测距响应信号中选取的专用同步序列可以相同，也可以不同，本申请对此不作具体限定。
结合第七方面或第八方面，在某些实现方式中，第一设备与第二设备之间的距离为：
Figure PCTCN2022111191-appb-000010
其中，c为光速。
第九方面，提供了一种第一设备，包括，处理器，可选地，还包括存储器，该处理器用于控制收发器收发信号，该存储器用于存储计算机程序，该处理器用于从存储器中调用并运行该计算机程序，使得该第一设备执行上述第一方面或第一方面中任一种可能实现方式中的方法，或者执行上述第三方面或第三方面中任一种可能实现方式中的方法。
可选地，该处理器为一个或多个，该存储器为一个或多个。
可选地，该存储器可以与该处理器集成在一起，或者该存储器与处理器分离设置。
可选地，该第一设备还包括收发器，收发器具体可以为发射机(发射器)和接收机(接收器)。
第十方面，提供了一种第二设备，包括，处理器，可选地，还包括存储器，该处理器用于控制收发器收发信号，该存储器用于存储计算机程序，该处理器用于从存储器中调用并运行该计算机程序，使得该第二设备执行上述第二方面或第二方面中任一种可能实现方式中的方法，或者，执行上述第四方面或第四方面中任一种可能实现方式中的方法。
可选地，该处理器为一个或多个，该存储器为一个或多个。
可选地，该存储器可以与该处理器集成在一起，或者该存储器与处理器分离设置。
可选地，该第二设备还包括收发器，收发器具体可以为发射机(发射器)和接收机(接收器)。
第十一方面，提供了一种通信装置，包括：用于实现第一方面或第一方面任一种可能实现方式中的方法的各个模块或单元，和/或用于实现第二方面或第二方面任一种可能实现方式中的方法的各个模块或单元，和/或用于实现第三方面或第三方面任一种可能实现方式中的方法的各个模块或单元，和/或用于实现第四方面或第四方面任一种可能实现方式中的方法的各个模块或单元。
第十二方面，提供了一种通信系统，包括：第一设备，用于执行上述第一方面或第一方面任一种可能实现方式中的方法，或者用于执行上述第三方面或第三方面任一种可能实现方式中的方法；以及第二设备，用于执行上述第二方面或第二方面任一种可能实现方式中的方法，或者，用于执行上述第四方面或第四方面任一种可能实现方式中的方法。
第十三方面，提供了一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序或代码，该计算机程序或代码在计算机上运行时，使得该计算机执行上述第一方面或第一方面任一种可能实现方式中的方法，和/或第二方面或第二方面任一种可能实现方式中的方法，和/或第三方面或第三方面任一种可能实现方式中的方法，和/或第四方面或第四方面任一种可能实现方式中的方法。
第十四方面，提供了一种芯片，包括至少一个处理器，该至少一个处理器与存储器耦合，该存储器用于存储计算机程序，该处理器用于从存储器中调用并运行该计算机程序，使得安装有该芯片系统的第一设备执行上述第一方面或第一方面任一种可能实现方式中 的方法，或者，执行上述第三方面或第三方面任一种可能实现方式中的方法；以及使得安装有该芯片系统的第二设备执行第二方面或第二方面任一种可能实现方式中的方法，或者，执行上述第四方面或第四方面任一种可能实现方式中的方法。
其中，该芯片可以包括用于发送信息或数据的输入电路或者接口，以及用于接收信息或数据的输出电路或者接口。
第十五方面，提供了一种计算机程序产品，该计算机程序产品包括：计算机程序代码，当该计算机程序代码被第一设备运行时，使得该第一设备执行上述第一方面或第一方面任一种可能实现方式中的方法，或者，使得该第一设备执行上述第三方面或第三方面任一种可能实现方式中的方法，以及当该计算机程序代码被第二设备运行时，使得该第二设备执行第二方面或第二方面任一种可能实现方式中的方法，或者，使得该第二设备执行第四方面或第四方面任一种可能实现方式中的方法。
根据本申请实施例的方案，提供了一种测距方法和装置，能够实现无配对测距，在保证测距精度的情况下，降低对响应方处理速度和响应时间的要求。
附图说明
图1是适用本申请的单边双向测距方法的一例示意图。
图2是适用本申请的超宽带物理层帧结构的一例示意图。
图3是适用于本申请的测距方法的一例示意图。
图4是适用于本申请的测距方法的一例示意图。
图5是适用本申请的广播信号设计的一例示意图。
图6是适用本申请的测距信号指示方式的一例示意图。
图7是适用本申请的脉冲信号在发起方(initiator)和响应方(responder)之间的飞行时间计算原理的一例示意图。
图8是适用于本申请的测距方法的另一例示意图。
图9是适用于本申请的测距方法的又一例示意图。
图10是适用于本申请的测距方法的又一例示意图。
图11是适用本申请的测距装置的一例示意图。
图12是适用本申请的测距装置的另一例示意图。
具体实施方式
下面将结合附图，对本申请实施例中的技术方案进行描述。
本申请实施例的技术方案可以应用于同步、测距、定位等各种通信系统。例如，长期演进(long term evolution，LTE)系统、LTE频分双工(frequency division duplex，FDD)系统、LTE时分双工(time division duplex，TDD)、通用移动通信系统(universal mobile telecommunication system，UMTS)、全球互联微波接入(worldwide interoperability for microwave access，WiMAX)通信系统、第五代(5th Generation，5G)系统或新无线(new radio，NR)等。
随着通信技术的发展，移动通信系统将不仅支持传统的通信，还将支持例如设备到设备(device to device，D2D)通信，机器到机器(machine to machine，M2M)通信，机器 类型通信(machine type communication，MTC)，车联网(vehicle to everything，V2X)通信，车到车(vehicle to vehicle，V2V)通信、车到基础设施(vehicle to infrastructure，V2I)通信，车到行人(vehicle to pedestrian，V2P)通信，车到网络(vehicle to network，V2N)通信等，车间通信长期演进技术(long term evolution-vehicle，LTE-V)、机器类通信(machine type communication，MTC)、物联网(Internet of Things，IoT)、工业互联网、机器间通信长期演进技术(long term evolution-machine，LTE-M)、新无线无许可频谱(NR in unlicensed spectrum，NR-U)、车联网无许可频谱(V2X in unlicensed spectrum，V2X-U)等。
本申请实施例中的第一设备和/或第二设备可以指用户设备、接入终端、用户单元、用户站、移动站、移动台、远方站、远程终端、移动设备、用户终端、终端、无线通信设备、用户代理或用户装置。第一设备还可以是蜂窝电话、无绳电话、会话启动协议(session initiation protocol，SIP)电话、无线本地环路(wireless local loop，WLL)站、个人数字处理(personal digital assistant，PDA)、具有无线通信功能的手持设备、计算设备或连接到无线调制解调器的其它处理设备、车载设备、可穿戴设备，5G网络中的第一设备或者未来演进的公用陆地移动通信网络(public land mobile network，PLMN)中的第一设备等，本申请实施例对此并不限定。
为便于理解本申请实施例，下面首先对本申请中涉及的几个术语进行简单说明。
1、超宽带(ultra wide band，UWB)
超宽带UWB技术是一种新型的无线通信技术。它通过对具有很陡上升和下降时间的冲激脉冲进行直接调制，使信号具有GHz量级的带宽。
超宽带技术具有对信道衰落不敏感、更强的抗干扰性能、发射信号功率谱密度低、传输速率高、低截获能力、带宽极宽、系统复杂度低、系统容量大、能提供数厘米的定位精度、保密性好、通信距离短、多径分辨率、便携等优点。
超宽带(UWB)在早期应用在近距离高速数据传输，近年来利用其亚纳秒级超窄脉冲进行近距离精确室内定位。
2、晶振
晶振又称石英晶体，是电子产品中最常用的元件之一，主要用于振荡器电路中。晶振主要由晶片、导电胶、电极等器件组成。
晶振的主要参数有标称频率、负载电容、频率精度、频率稳定度等，这些参数决定了晶振的品质和性能。
晶振是石英晶体谐振器(quartz crystal oscillator)的简称，也称有源晶振、石英晶体或晶体、晶振。它能够产生中央处理器(central procession unit，CPU)执行指令所必需的时钟频率信号，CPU一切指令的执行都是建立在这个基础上的，时钟信号频率越高，通常CPU的运行速度也就越快。晶体振荡器(crystal oscillator)是指从一块石英晶体上按一定方位角切下薄片(简称为晶片)。
超宽带UWB技术由于低功耗、高时间分辨率等特性，能够实现厘米级别的高精度测距及定位，得到了广泛的应用。
图1是当前单边双向测距方法的一例示意图。如图1所示，UWB设备A在自己的时间戳T A1时刻向UWB设备B发送测距请求信号，UWB设备B在自己的时间戳T B1时刻接 收到该测距请求信号。然后，UWB设备B在自己的时间戳T B2时刻向UWB设备A发送测距响应信号，UWB设备A在自己的时间戳T A2时刻接收该测距响应信号。最终，UWB设备A利用往返时间t round和响应时间t reply可以计算出脉冲信号在两个UWB设备之间的飞行时间TOF。
其中，往返时间：t round＝T A2-T A1   (1)
响应时间：t reply＝T B2-T B1   (2)
两个UWB设备之间的飞行时间：
Figure PCTCN2022111191-appb-000011
进一步地，确定UWB设备A和设备B之间的距离为：
Figure PCTCN2022111191-appb-000012
其中，c为光速，即c＝3×10 -8m/s。
需要说明的是，单边双向测距法不需要不同设备(例如，UWB设备A和设备B)之间时钟保持同步，只需要各设备上报时间戳之差即可。其中，时间戳的确定是利用信号中的同步信号部分得到的。
图2是UWB PHY帧结构的一例示意图。如图2所示，高速脉冲(high rate pulse，HRP)UWB物理层(physical layer，PHY)帧由前导(preamble)和数据(data)两部分组成。其中，前导部分包含同步头(synchronization header，SHR)，由同步字段(synchronization，SYNC)和帧开始分隔符字段(start-of-frame delimiter，SFD)组成。数据部分包含物理层帧头(PHY Header，PHR)和PHY有效载荷(payload)。
需要说明的是，SYNC由重复的同步符号组成，重复次数可以为16、64、1024、4096次。每个同步符号由长度为31、91或者127的序列经过扩频得到，且同一信道上支持的互相关性较好的序列比较少。
在本申请中，信号或者字段包括序列，可以是指该信号或者字段携带有序列本身，或者携带根据该序列得到的序列，例如，对该步序列进行循环移位或者插值或者扩频得到的序列。
在一对多测距场景下，同一信道上不同用户如果采用相同的同步序列，那么彼此之间会存在严重的干扰。如果采用不同的序列，可支持的用户数量也十分有限。其中，SFD部分是已知的序列(目前协议支持两种序列)，当接收端检测到SFD的序列时，就可以知道前导部分即将结束，数据部分即将到来。数据部分的PHR一般用于指示数据字段的长度以及数据速率等信息。
当前支持在一对多、多对多测距场景下，通过时分复用(time division multiplexing，TDM)的方式让多个responder(响应方)收到同一个initiator(发起方)发送的测距信号后，能够在时间上错开响应以避免冲突。通过测距协商阶段为不同responder(响应方)预分配不同的响应时间(reply time)，使得每个responder在收到测距请求信号后，经过各自分配的reply time时长，再向initiator反馈测距响应信号，从而使得不同用户的应答信号到达initiator时不会发生重叠，因而可以避免彼此之间的干扰。
然而，该实现方式需要将initiator(发起方)和responder(响应方)配对并建立连接，后为每个responder分配不同的reply time，流程较为繁琐。
另外，由于设备晶振一般存在误差，导致实际测量的飞行时间与真实的飞行时间之间存在偏差，因而会引入测距误差。
示例性的，下面对图1的TOF(脉冲信号在UWB设备A和设备B之间的飞行时间)进行误差分析。假设设备A的晶振误差为e A，设备B的晶振误差为e B，那么设备A实际记录的时间戳分别为
Figure PCTCN2022111191-appb-000013
和
Figure PCTCN2022111191-appb-000014
设备B实际记录的时间戳分别为
Figure PCTCN2022111191-appb-000015
和
Figure PCTCN2022111191-appb-000016
因而，实际代入公式中进行TOF估计的量(往返时间、响应时间)分别为
Figure PCTCN2022111191-appb-000017
和
Figure PCTCN2022111191-appb-000018
进而得到带有误差的TOF估计，即：
Figure PCTCN2022111191-appb-000019
因此，估计值
Figure PCTCN2022111191-appb-000020
与真实TOF的偏差为：
Figure PCTCN2022111191-appb-000021
由公式(6)可知，测距误差与响应时间t reply、脉冲信号在设备A和设备B之间的飞行时间TOF有关。通常而言，t reply的数值远大于TOF，可以认为t reply在测距误差中占主导影响。因此，测距误差会随着reply time增大而增大。为了尽量减小晶振引入的测距误差，需要保证t reply尽量小，从而对responder的处理速度有较高要求。
综上所述，当前测距方法需要对initiator(发起方)和responder(响应方)进行配对，完成建立连接，并为每个responder分配不同的响应时间(reply time)。另外，随着responder响应时间reply time的增加，晶振引入的测距误差也越大。
换句话说，当前单边双向测距方法的流程较为繁琐，而且对responder的处理速度有较高要求。
有鉴于此，本申请实施例提供了一种测距方法，initiator通过周期广播两次测距信号实现一对多无配对测距，responder根据测量的两次广播测距信号的时间戳之差灵活选择reply time，能够简化一对多测距流程，并且在保证测距精度的前提下，降低对responder处理速度的要求，即需要尽量小以避免误差过高。
为了便于理解本申请实施例，作出以下几点说明：
本申请中，“至少两种”是指两种或两种以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A，B可以是单数或者复数。在本申请的文字描述中，字符“/”，一般表示前后关联对象是一种“或”的关系。
可以理解的是，在本申请的实施例中涉及的各种数字编号仅为描述方便进行的区分，并不用来限制本申请的实施例的范围。上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
在本申请实施例中“第一”、“第二”以及各种数字编号指示为了描述方便进行的区分，并不用来限制本申请实施例的范围。例如，区分不同的指示信息等。
在本申请中，“用于指示”可以包括用于直接指示和用于间接指示。当描述某一指示信息用于指示A时，可以包括该指示信息直接指示A或间接指示A，而并不代表该指示信息中一定携带有A。
此外，具体的指示方式还可以是现有各种指示方式，例如但不限于，上述指示方式及其各种组合等。各种指示方式的具体细节可以参考现有技术，本文不再赘述。由上文所述 可知，举例来说，当需要指示相同类型的多个信息时，可能会出现不同信息的指示方式不相同的情形。具体实现过程中，可以根据具体的需要选择所需的指示方式，本申请实施例对选择的指示方式不做限定，如此一来，本申请实施例涉及的指示方式应理解为涵盖可以使得待指示方获知待指示信息的各种方法。
在本申请实施例中，“当……时”、“在……情况下”以及“如果”等描述均指在某种客观情况下设备会做出相应的处理，并非是限定时间，且也不要求设备在实现时一定要有判断的动作，也不意味着存在其它限定。
本申请实施例中的“指示信息”和“配置信息”可以是显式指示，即通过信令直接指示，或者根据信令指示的参数，结合其他规则或结合其他参数或通过推导获得。也可以是隐式指示，即根据规则或关系，或根据其他参数，或推导获得。本申请对此不作具体限定。
应理解，本申请所涉及的第一测距信息、测距响应信息等承载方式可以是但不限于：无线资源控制信令、媒体接入控制(media access control，MAC)层信令中的一种或者两种的组合。其中，无线资源控制信令包括无线资源控制(radio resource control，RRC)信令；MAC层信令包括MAC控制元素(MAC control element，MAC CE)信令；调度信息可以承载在物理层(physical，PHY)信令中，物理层信令包括下行控制信息(downlink control information，DCI)信令等。
下面结合附图对本申请实施例中测距方法进行详细说明。
图3是本申请实施例提供的一种测距方法300的示意性流程图，具体实现步骤包括：
S310，第一设备发送多个测距信号。
对应的，第二设备接收来自第一设备的多个测距信号。
其中，多个测距信号包括第一测距信号和第二测距信号，第一测距信号早于第二测距信号发送，且第一测距信号和第二测距信号之间的发送时间间隔为t A1。
一种可能的实现方式，第一设备在周期T内发送多个测距信号。
对应的，第二设备在周期T内接收来自第一设备的多个测距信号，T为大于零的常数。
S320，第二设备向第一设备发送测距响应信号。
对应的，第一设备接收来自第二设备的测距响应信号，并确定测距响应信号的接收时间和第二测距信号的发送时间间隔为t A2。
其中，测距响应信号携带第二设备接收到第二测距信号和第一测距信号之间的时间间隔t B1、第二设备接收到第二测距信号与发送测距响应信号之间的时间间隔t B2，或者，测距响应信号携带N，N是根据t B1和t B2确定的值，N为大于零的常数。
也就是说，当测距响应信号携带t B1和t B2，第二设备经过t B2时间向第一设备发送测距响应信号；当测距响应信号携带N，第二设备经过Nt B1时间向第一设备发送测距响应信号。
作为示例而非限定，N是根据t B2/t B1确定的值。在一具体实现方式中，N满足：N＝t B2/t B1。在另一具体实现方式中，N是t B2/t B1在预设精度要求下的值。
需要说明的是，当N为非整数时，可以根据协议预定义将数值N保留小数点后两位。例如，当t B2＝4s，t B1＝2s，则N＝t B2/t B1＝2s。又例如，当t B2＝4s，t B1＝3s，则N＝t B2/t B1≈1.33s。以上仅是示例性说明，不应构成对本申请技术方案的任何限定。
示例性的，第一测距信号和/或第二测距信号携带用于标识第一设备的信息。
一种可能的实现方式，测距响应信号还携带用于标识第一设备的信息。
其中，用于标识第一设备的信息可以显式指示，即该信息就是第一设备的标识信息；或者，也可以隐式指示，例如，根据序列隐式指示该信息为第一设备的标识信息，本申请对此不作具体限定。
类似的，测距响应信号还携带用于标识第二设备的信息。
其中，用于标识第二设备的信息可以显式指示，即该信息就是第二设备的标识信息；或者，也可以隐式指示，例如，根据序列等隐式指示该信息为第二设备的标识信息，本申请对此不作具体限定。
一种可能的实现方式，用于标识第一设备的信息承载于第一测距信号、第二测距信号和测距响应信号中的至少一种信号的物理层帧头(PHY header，PHR)或有效载荷。
示例性的，用于标识第一设备的信息是根据第一设备的媒体接入控制(media access control address，MAC)地址确定的。
示例性的，用于标识第一设备的信息可以是通过第一设备的MAC地址直接确定的，这里MAC地址可以理解为第一设备的以太网地址(ethernet address)或物理地址(physical address)。例如，固定标识符(identity，ID)。即使用第一设备的MAC地址(64bit)中的N 1bit作为ID，不发生变化。
进一步地，用于标识第一设备的信息还可以是根据当前时间戳与MAC地址确定的。例如，随机ID。将当前的时间戳(32bit)中的N 2bit与MAC地址(64bit)中的N 2bit进行异或操作，得到新的N 2bit随机数作为ID，每个周期都会发生变化。
一种可能的实现方式，第一测距信号与第二测距信号的同步字段(synchronization，SYNC)、帧开始分隔符字段(start-of-frame delimiter，SFD)、物理层帧头(PHY header，PHR)、有效载荷中的至少一项不同。
示例性的，第一测距信号的PHR或有效载荷中包括第一指示信息，第一指示信息用于指示当前测距信号为第一测距信号，第二测距信号的PHR或有效载荷中包括第二指示信息，第二指示信息用于指示当前测距信号为第二测距信号；和/或，第一测距信号的SFD指示当前测距信号为第一测距信号，第二测距信号的SFD指示当前测距信号为第二测距信号，第一测距信号的SFD与第二测距信号的SFD不同；和/或，第一测距信号的SYNC指示当前测距信号为第一测距信号，第二测距信号的SYNC指示当前测距信号为第二测距信号，第一测距信号的SYNC与第二测距信号的SYNC不同。
根据上述几种可能的实现方式，可以进一步指示当前测距信号是第一测距信号或第二测距信号。即，第一测距信号和第二测距信号不同。
一种可能的实现方式，第一测距信号和第二测距信号的同步字段SYNC包括专用同步序列，专用同步序列用于无配对测距。
其中，无配对测距可以理解为某一设备在第一范围内广播或发送测距信号，该第一范围内的至少一个设备向该设备反馈测距响应信号的过程，发送方和响应方之间无需提前建立连接等。例如，设备A与设备B之间无需相互验证身份、建立连接等配对操作即可进行设备A与设备B之间的测距应用。
一种可能的实现方式，测距响应信号的同步字段SYNC是第一专用同步序列，第一专用同步序列是专用同步序列集合中任意一个专用同步序列，专用同步序列集合是协议预定 义的。
一种可能的实现方式，专用同步序列集合包括第一组专用同步序列集合和第二组专用同步序列集合，第一组专用同步序列集合和第二组专用同步序列集合中的专用同步序列互不相同，当第一测距信号和第二测距信号的同步字段SYNC包括第一组专用同步序列集合中的专用同步序列时，测距响应信号的同步字段SYNC包括第一组专用同步序列集合中的专用同步序列；当第一测距信号和第二测距信号的同步字段SYNC包括第二组专用同步序列集合中的专用同步序列时，测距响应信号的同步字段SYNC包括第二组专用同步序列集合中的专用同步序列。
也就是说，第一测距信号(或第二测距信号)及其对应的测距响应信号所使用的专用同步序列属于同一组专用同步序列集合。
示例性的，可以通过协议规定，将其中一个序列作为第一设备发送的测距信号的专用同步序列。
在本申请实施例中，提供两组共20个31长的专用同步序列，每组包含10个互不相同的专用同步序列。
示例性的，第一组专用同步序列集合包括：
“-+0--+-++00+---++-++++-+0+++0-0、
++-+++--0+++0+0-+0++-+--00--+-+、
+-+++--+0+-+----0+++-++0+0-+00+、
0-++-+++-+0-++++--0-+---+0+0++0、
00++--0-+++++-+++-0++-0--+-+-0+、
0+00+-++0+-+-+++++--0--+0--+++-、
00++0--++-0-0-+-+0-++++++--+-++、
+++++0+0---+0+--++-+-+--++00+-0、
+++-0---0+-++-0+-+-+++--+++00+0、
00+0+-+-0++-0+-+++0-++++-++----”。
第二组专用同步序列集合包括：
“00++-+--++++++-0+-+-0-0-++--0++、
-+00++--+-+-++--+0+---0+0+++++0、
0+00+++--+++-+-+0-++-+0---0-+++、
----++-++++-0+++-+0-++0-+-+0+00、
-0+++0+-++++-++---+00++-+--0+-0、
+-+--00--+-++0+-0+0+++0--+++-++、
-+++--0+--0--+++++-+-+0++-+00+0、
00+0-+-+--0-++0-+++-+++++-0--++、
++0+0+---+-0--++++-0+-+++-++-00、
+00+-0+0++-+++0----+-+0+--+++-+”。
其中，“+”表示1，“-”表示-1。每一组内的专用同步序列之间互相关性较好。
具体地，第二设备在接收到第一设备发送的测距信号后，使用该专用同步序列(例如，第一组专用同步序列集合中的“-+0--+-++00+---++-++++-+0+++0-0”)进行相关运算，从 而识别出该测距信号为无配对测距信号。对应的，第二设备从该专用同步序列所在的组(例如，第一组专用同步序列集合中的“++-+++--0+++0+0-+0++-+--00--+-+”)中随机选取一个专用同步序列，携带在测距响应信号中发送给第一设备。
需要说明的是，本申请实施例中的第一测距信号、第二测距信号和测距响应信号中选取的专用同步序列可以相同，也可以不同，本申请对此不作具体限定。
S330，第一设备根据t A1、t A2、t B1、t B2确定第一设备与第二设备之间的距离；或者，根据t A1、t A2和N确定第一设备与第二设备之间的距离。
一种可能的实现方式，测距响应信号携带第二测距信号和第一测距信号之间的接收时间间隔t B1、第二设备接收到第二测距信号与发送测距响应信号之间的时间间隔t B2，第一设备与第二设备之间的距离为：
Figure PCTCN2022111191-appb-000022
其中，c为光速。
另一种可能的实现方式，测距响应信号包括N，N＝t B2/t B1，第一设备与第二设备之间的距离为：
Figure PCTCN2022111191-appb-000023
其中，c为光速。
需要说明的是，上述以第二设备作为响应方进行示例性说明，不应对本申请的技术方案构成任何限定。例如，第一设备可以向多个第二设备发送测距信号；又例如，多个第一设备可以向一个或多个第二设备发送测距信号等等，本申请对此不作具体限定。
根据本申请提供的方案，能够实现无配对测距，在保证测距精度的情况下，降低对响应方处理速度的要求。
为便于理解本申请实施例，下面以发起方(initiator)、响应方(responder)为例，对本申请提供的技术方案进行示例性说明。
图4是本申请实施例提供的一种测距方法400的一例示意图。在该实现方式中，经过t B2时间发送测距响应信号，其中同步字段SYNC包括的专用同步序列是从专用序列集合中随机选择的，PHR或payload携带Initiator生成的ID及t B1、t B2。具体实现步骤包括：
S410，发起方分别广播测距信号1和测距信号2。
对应的，响应方#1接收测距信号1和测距信号2。
应理解，测距信号1和测距信号2包括SYNC、SFD、PHR和有效载荷payload。其中，两个测距信号中的PHR或有效载荷payload携带发起方的标识信息ID。SYNC部分可以从专用序列集合中随机选择，例如，发起方使用表1中第1组序列中的序列1作为广播信号中的SYNC部分。
另外，发起方广播该两个测距信号的间隔为t A1。示例性的，发起方在自己的时间戳t 1时刻先发射测距信号1，并经过t A1后，在自己的时间戳t 2发射测距信号2，即t 2-t 1＝t A1。
可选地，发起方需要在同一周期T内广播测距信号1和测距信号2。
需要说明的是，本申请实施例适用于一对多、多对多的同步、定位、测距等场景。为了理解本申请方案，这仅里以响应方#1为例进行说明。
应理解，本申请实施例中还包括其他响应方(例如，响应方#2、…、响应方#N)，同样可以接收检测到测距信号1和测距信号2。另外，本申请实施例以两个测距信号(例如，测距信号1和测距信号2)为例，计算发起方与多个响应方之间的距离。以上仅是示例性说明，不应构成对本申请技术方案的任何限定。
图5是适用本申请的广播信号设计的一例示意图。如图5所示，广播周期为T，发起方在一个周期内发送测距信号1和测距信号2。其中，测距信号1先发送，测距信号2后发送，两个测距信号发送时间间隔为t A1。
具体地，测距信号1包含同步字段SYNC、帧开始分隔符字段SFD 1、物理层帧头PHR和有效载荷(payload)。测距信号2包含同步字段SYNC、帧开始分隔符字段SFD 2、物理层帧头PHR和有效载荷(payload)。
其中，测距信号1和测距信号2的SYNC部分为专用同步序列，用于指示对应的广播信号为无配对测距信号。在一个例子中，表1是适用于本申请实施例的两组31长的专用同步序列。如表1所示，“+”表示1，“-”表示-1，组内序列之间互相关性较好。即在多个响应方向同一发起方发送测距响应信号时，分别使用的同一组内的序列索引大概率是不同的，且索引1或2的序列组内的序列索引1-10之间相互干扰较小。
在本申请实施例中，通过协议规定可以将某一个序列作为发起方的专用同步序列(例如，将索引1的序列组中的序列索引1对应的专用同步序列作为测距信号1的SYNC)，响应方#1在接收到发送方的广播信号后，使用该专用同步序列进行相关运算，从而识别出该信号为无配对测距信号。
表1
Figure PCTCN2022111191-appb-000024
Figure PCTCN2022111191-appb-000025
其中，测距信号1和测距信号2的SFD部分可以包括不同的SFD序列进行区分；或者，SFD部分也可以相同，需要在PHR或payload中携带指示信息，用于指示测距信号1和测距信号2。
其中，测距信号1和测距信号2的PHR或payload部分携带initiator生成的ID，且测距信号1和测距信号2使用的ID相同。
具体地，测距信号1和测距信号2中携带的initiator ID的生成方式包括但不限于以下两种方式：
方式1：固定ID。例如，使用initiator的MAC地址(64bit)中的N 1bit作为initiator ID，且不发生变化。
方式2：随机ID。将当前的时间戳(32bit)中的N 2bit与MAC地址(64bit)中的N 2bit进行异或操作，得到新的随机数N 2bit，作为initiator ID。其中，每个周期都会发生变化。
图6是适用于本申请实施例的测距信号(例如，测距信号1和测距信号2)指示方式的一例示意图。如图6所示，在方式1中，两个测距信号的SYNC部分使用不同的专用序列(例如，表1中第1组的序列1和序列2分别对应SYNC1和SYNC2)，以区分测距信号1和测距信号2，两个测距信号的SFD(例如，SFD1)、PHR、payload部分完全相同。在方式2中，两个测距信号的SFD部分包括不同的SFD序列(例如，SFD1和SFD2)，以区分测距信号1和测距信号2，两个测距信号的SYNC(例如，SYNC 1)、PHR、payload部分完全相同。在方式3中，测距信号1和测距信号2的SYNC部分和SFD部分的序列均不相同(例如，SYNC1和SYNC2、SFD1和SFD2分别对应测距信号1和测距信号2)，两个测距信号的PHR、payload部分完全相同。在方式4中，测距信号的PHR或payload部分携带指示信息，用于指示当前信号是测距信号1或测距信号2(例如，使用1个bit的指示位，“0”表示测距信号1，“1”表示测距信号2)。
需要说明的是，以上测距信号的指示方式仅是示例性说明，不用构成对本申请技术方案的任何限定。同时，上述方式可以独立使用，也可以结合使用，本申请对此不作具体限定。
S420，响应方#1检测测距信号1和测距信号2，并确定接收到两个测距信号时的时间戳之差为t B1。
示例性的，响应方#1在自己的时间戳t 3时刻接收到测距信号1，并在同一周期T内自己的时间戳t 4时刻接收到测距信号2，即t 4-t 3＝t B1。
S430，响应方#1经过t B2后向发起方发送测距响应信号。
对应的，发起方接收来自响应方#1的测距响应信号。
应理解，测距响应信号包括SYNC、SFD、PHR和有效载荷payload。
具体地，测距响应信号中SYNC部分的导频可以从专用序列集合中随机选择(例如，如果发送方使用表1中第1组序列中的序列1作为广播信号中的SYNC部分，那么响应方可以在第1组序列中的序列2-10中随机选择作为响应测距信号中的SYNC部分)，PHR或payload携带发送方ID、t B1、t B2；
S440，发起方确定接收到测距响应信号的时间戳t 5，并计算发起方与响应方之间的距离。
具体地，发起方根据接收测距响应信号的时间戳t 5、发射测距信号2时的时间戳t 2，获取t A2＝t 5-t 2。进一步解调出t B1、t B2，再计算发送方与响应方之间的距离为：
Figure PCTCN2022111191-appb-000026
图7是适用本申请的脉冲信号在发起方(initiator)和响应方(responder)之间的飞行时间TOF计算原理的一例示意图。如图7所示，发起方在一个周期内连续发送两次测距信号，二者时间间隔为t A1。对应的，响应方#1连续接收该两次测距信号，两次时间戳之差为t B1。
应理解，理想状态下t A1＝t B1。并且，响应方#1经过时间t B2后反馈测距响应信号，发起方接收测距响应信号的时间戳与第二次发送测距信号的时间戳之差为t A2。因而，可以得到以下两个等式：
Figure PCTCN2022111191-appb-000027
于是，
Figure PCTCN2022111191-appb-000028
从而得到脉冲信号在发起方和响应方#1之间的飞行时间为：
Figure PCTCN2022111191-appb-000029
即，发起方和响应方#1之间的距离为：
Figure PCTCN2022111191-appb-000030
其中，c为光速，即c＝3×10 -8m/s。
在本申请技术方案中，由于设备晶振的存在，根据实际测量得到的TOF估计：
Figure PCTCN2022111191-appb-000031
其中，
Figure PCTCN2022111191-appb-000032
同时，
t A1＝t B1   (13)
因此，带有晶振误差的测量值与真实值之间的误差为：
Figure PCTCN2022111191-appb-000033
由上可以看到，测距误差只与TOF有关，且不再随响应方#1的响应时间(reply time)增大而增大。
在该实现方式中，为了避免配对测距，简化一对多测距流程，对发起方广播信号进行了设计，SYNC部分为专用同步序列，用于指示该广播信号为无配对测距信号，且广播信号中携带了发起方生成的ID，实现无配对测距。这样响应方在检测到该广播信号后就会发起响应，且响应信号中携带发起方广播信号中的ID。发起方在收到携带该ID的响应信号后即可估计距离。
另外，为了尽量减少多个响应方的响应信号碰撞概率，响应方在随机选择reply time的同时，也会随机从导频集合中选择一种导频用于SYNC部分。发起方一个周期内会广播两次测距信号，在这种架构下测距精度不随reply time增大而降低，对测距响应时间无约束，从而放松了对响应方处理速度的要求。
图8是本申请实施例提供的一种测距方法800的另一例示意图。与方法400不同之处在于，响应方#2(responder)不再反馈t B1、t B2，而是反馈t B1、t B2的比值N(N可以为小数)，即N＝t B2/t B1。在该实现方式中，经过Nt B1时间发送测距响应信号，其中SYNC包括的专用同步序列是从专用序列集合中随机选择的，PHR或payload携带发起方(initiator)生成的ID及N。具体实现步骤包括：
S810，发起方分别广播测距信号1和测距信号2。
对应的，响应方#2接收测距信号1和测距信号2。
应理解，测距信号1和测距信号2包括SYNC、SFD、PHR和有效载荷payload。其 中，两个测距信号中的PHR或有效载荷payload携带发起方的标识信息ID。SYNC部分可以从专用序列集合中随机选择，例如，发送方使用表1中第1组序列中的序列1作为广播信号中的SYNC部分。
另外，发起方广播该两个测距信号的间隔为t A1。示例性的，发起方在自己的时间戳t 1时刻先发射测距信号1，并经过t A1后，在自己的时间戳t 2发射测距信号2，即t 2-t 1＝t A1。
可选地，发起方需要在同一周期T内广播测距信号1和测距信号2。
需要说明的是，本申请实施例适用于一对多、多对多的同步、定位、测距等场景。为了理解本申请方案，这仅里以响应方#2为例进行说明。
应理解，本申请实施例中还包括其他响应方(例如，响应方#1、…、响应方#N)，同样可以接收检测到测距信号1和测距信号2。另外，本申请实施例以两个测距信号(例如，测距信号1和测距信号2)为例，计算发起方与多个响应方之间的距离。以上仅是示例性说明，不应构成对本申请技术方案的任何限定。
其中，测距信号1和测距信号2的帧结构具体可以参照图5的示意图。测距信号1和测距信号2的指示方式具体可以参照图6的示意图。为了简洁，此处不再赘述。
S820，响应方#2检测测距信号1和测距信号2，并确定两个测距信号的时间戳之差为t B1。
示例性的，响应方#2在自己的时间戳t3时刻接收到测距信号1，并在同一周期T内自己的时间戳t 4时刻接收到测距信号2，即t 4-t 3＝t B1。
S830，响应方#2经过Nt B1后向发起方发送测距响应信号，N为正数。
对应的，发起方接收来自响应方#2的测距响应信号。
应理解，测距响应信号包括SYNC、SFD、PHR和有效载荷payload。
具体地，测距响应信号中SYNC部分的导频可以从专用序列集合中随机选择(例如，如果发送方使用表1中第1组序列中的序列1作为广播信号中的SYNC部分，那么响应方可以在第1组序列中的序列2～10中随机选择作为响应测距信号中的SYNC部分)，PHR或payload携带发送方ID、N；
S840，发起方确定接收到测距响应信号的时间戳t 5，并计算发起方与响应方之间的距离。
具体地，发起方根据接收测距响应信号的时间戳t 5、发射测距信号2时的时间戳t 2，获取t A2＝t 5-t 2。进一步解调出t B1、t B2，再计算发送方与响应方之间的距离：
Figure PCTCN2022111191-appb-000034
图7是适用本申请的脉冲信号在发起方(initiator)和响应方(responder)之间的飞行时间TOF计算原理的一例示意图。如图7所示，发起方在一个周期内连续发送两次测距信号，二者时间间隔为t A1。对应的，响应方#2连续接收该两次测距信号，两次时间戳之差为t B1。应理解，理想状态下t A1＝t B1。并且，响应方#2经过时间t B2后反馈测距响应信号，发起方接收测距响应信号的时间戳与第二次发送测距信号的时间戳之差为t A2。因而，可以得到以下两个等式：
Figure PCTCN2022111191-appb-000035
于是，
(N+1)t A2-N(t A1+t A2)＝2TOF   (17)
从而得到脉冲信号在发起方和响应方#2之间的飞行时间为：
Figure PCTCN2022111191-appb-000036
在本申请技术方案中，由于设备晶振的存在，根据实际测量得到的TOF估计：
Figure PCTCN2022111191-appb-000037
其中，
Figure PCTCN2022111191-appb-000038
同时，t A1＝t B1   (13)。
因此，带有晶振误差的测量值与真实值之间的误差为：
Figure PCTCN2022111191-appb-000039
由上可以看到，测距误差只与TOF有关，且不再随响应方#2的响应时间(reply time)增大而增大。
在该实现方式中，为了避免配对测距，简化一对多测距流程，对发起方广播信号进行了设计，SYNC部分为专用同步序列，用于指示该广播信号为无配对测距信号，且广播信号中携带了发起方生成的ID，实现无配对测距。这样响应方在检测到该广播信号后就会发起响应，且响应信号中携带发起方广播信号中的ID。发起方在收到携带该ID的响应信号后即可估计距离。
另外，为了尽量减少多个响应方的响应信号碰撞概率，响应方在随机选择reply time的同时，也会随机从导频集合中选择一种导频用于SYNC部分。发起方一个周期内会广播两次测距信号，在这种架构下测距精度不随reply time增大而降低，对测距响应时间无约束，从而放松了对响应方处理速度的要求。
相比上述测距方法400，该实现方式中responder不再反馈t B1、t B2，而是反馈t B1、t B2的比值N，减少了反馈量，减少信令开销。
图9是本申请实施例提供的一种测距方法900的示意性流程图，具体实现步骤包括：
S910，第一设备发送多个测距信号。
对应的，第二设备接收来自第一设备的多个测距信号。
其中，多个测距信号包括第一测距信号和第二测距信号，第一测距信号早于第二测距信号发送，且第一测距信号和第二测距信号之间的发送时间间隔为t A1；
一种可能的实现方式，第一设备在周期T内发送多个测距信号。
对应的，第二设备在周期T内接收来自第一设备的多个测距信号，T为大于零的常数。
S920，第二设备在接收到第二测距信号后，经过Mt B1时间间隔后向第一设备发送测距响应信号。
其中，t B1为第二测距信号和第一测距信号之间的接收时间间隔，M是预设整数值集合中的任意一个正整数。
S930，第一设备在Pt A1至(P+1)t A1时间段内检测来自第二设备的测距响应信号，并确定测距响应信号的接收时间和第二测距信号的发送时间间隔为t A2，t A1为第一测距信号和第二测距信号之间的发送时间间隔，P的取值是正整数。
也就是说，第一设备在不确定测距响应信号的发送和/或接收时间时，在一个或多个不同的Pt A1至(P+1)t A1时间段内进行遍历检测，直至检测到测距响应信号即可。
示例性的，P的取值是预设整数值集合中的所有正整数。
可选地，预设整数值集合是协议预定义的。例如，预设整数值集合中包括至少一个整数。例如，1、3、5。
可选地，在不设置检测窗口的情况下，第一设备一直盲检测，根据Mt A1<t A2<(M+1)t A1确定M，以计算第一设备与第二设备之间的距离。
在一种可能的实施方式中，第一设备在检测到来自第二设备的测距响应信号后，记录同步时间戳，并与第二测距信号的发送时间戳相减得到t A2，然后计算t A2/t A1，进而确定具体的M数值。
其中，
Figure PCTCN2022111191-appb-000040
Figure PCTCN2022111191-appb-000041
为向下取整运算符。
在另一种可能的实施方式，采用滑窗的方式来检测测距响应信号，每个窗的位置(Pt A1至(P+1)t A1)由P的值来确定，当P取到某一数值时，且在该窗内检测到测距响应信号，就将P的该数据值确定为M，该M用于确定第一设备与发送所述测距响应信号的设备之间的距离。
一种可能的实现方式中，第一测距信号和/或第二测距信号中包括预设整数值集合。
可选地，该预设整数值集合可以是协议预定义的。本申请对此不作具体限定。
示例性的，预设整数值集合中包括至少一个整数。例如，1、3、5。那么，第二设备在接收第二测距信号后，可以经过3t B1发送测距响应信号，即M＝3。对应的，第一设备需要在多个不同的Pt A1至(P+1)t A1时间段内遍历检测，直至检测到来自第二设备的测距响应信号。
也就是，第一设备需要在t A1至2t A1时间段、3t A1至4t A1时间段、以及5t A1至6t A1时间段内遍历检测。其中，可以将上述不同的时间段理解为不同的窗口，即每个时间段就是一个检测窗口。根据遍历检测，第一设备在第2个窗口处，也就是在3t A1至4t A1时间段内检测到该测距响应信号。
示例性的，第一测距信号和/或第二测距信号携带用于标识第一设备的信息。
一种可能的实现方式，测距响应信号携带用于标识第一设备的信息。
其中，用于标识第一设备的信息可以显式指示，即该信息就是第一设备的标识信息；或者，也可以隐式指示，例如，根据序列等隐式指示该信息为第一设备的标识信息，本申请对此不作具体限定。
类似的，测距响应信号还携带用于标识第二设备的信息。
其中，用于标识第二设备的信息可以显式指示，即该信息就是第二设备的标识信息；或者，也可以隐式指示，例如，根据序列等隐式指示该信息为第二设备的标识信息，本申请对此不作具体限定。
一种可能的实现方式，用于标识第一设备的信息承载于第一测距信号、第二测距信号和测距响应信号中的至少一种信号的物理层帧头(PHY header，PHR)或有效载荷。
示例性的，用于标识第一设备的信息是根据第一设备的媒体接入控制(media access control address，MAC)地址确定的。
示例性的，用于标识第一设备的信息可以是通过第一设备的MAC地址直接确定的，这里MAC地址可以理解为第一设备的以太网地址(ethernet address)或物理地址(physical address)。例如，固定标识符(identity，ID)。即使用第一设备的MAC地址(64bit)中的N 1bit作为ID，不发生变化。
进一步地，用于标识第一设备的信息还可以是根据当前时间戳与MAC地址确定的。例如，随机ID。将当前的时间戳(32bit)中的N 2bit与MAC地址(64bit)中的N 2bit进行异或操作，得到新的N 2bit随机数作为ID，每个周期都会发生变化。
一种可能的实现方式，第一测距信号与第二测距信号的同步字段(synchronization，SYNC)、帧开始分隔符字段(start-of-frame delimiter，SFD)、物理层帧头(PHY header，PHR)、有效载荷中的至少一项不同。
示例性的，第一测距信号的PHR或有效载荷中包括第一指示信息，第一指示信息用于指示当前测距信号为第一测距信号，第二测距信号的PHR或有效载荷中包括第二指示信息，第二指示信息用于指示当前测距信号为第二测距信号；和/或，第一测距信号的SFD指示当前测距信号为第一测距信号，第二测距信号的SFD指示当前测距信号为第二测距信号，第一测距信号的SFD与第二测距信号的SFD不同；和/或，第一测距信号的SYNC指示当前测距信号为第一测距信号，第二测距信号的SYNC指示当前测距信号为第二测距信号，第一测距信号的SYNC与第二测距信号的SYNC不同。
根据上述几种可能的实现方式，可以进一步指示当前测距信号是第一测距信号或第二测距信号。即，第一测距信号和第二测距信号不同。
一种可能的实现方式，第一测距信号和第二测距信号的同步字段SYNC包括专用同步序列，专用同步序列用于无配对测距。
其中，无配对测距可以理解为某一设备在第一范围内广播或发送测距信号，该第一范围内的至少一个设备向该设备反馈测距响应信号的过程，发送方和响应方之间无需提前建立连接等。例如，设备A与设备B之间无需相互验证身份、建立连接等配对操作即可进行设备A与设备B之间的测距应用。
一种可能的实现方式，测距响应信号的同步字段SYNC包括第一专用同步序列，第一专用同步序列是专用同步序列集合中任意一个专用同步序列，专用同步序列集合是协议预定义的，
专用同步序列集合包括第一组专用同步序列集合和第二组专用同步序列集合，第一组专用同步序列集合和第二组专用同步序列集合中的专用同步序列互不相同，当第一测距信号和第二测距信号的同步字段SYNC包括第一组专用同步序列集合中的专用同步序列时， 测距响应信号的同步字段SYNC包括第一组专用同步序列集合中的专用同步序列；当第一测距信号和第二测距信号的同步字段SYNC包括第二组专用同步序列集合中的专用同步序列时，测距响应信号的同步字段SYNC包括第二组专用同步序列集合中的专用同步序列。
也就是说，第一测距信号(或第二测距信号)及其对应的测距响应信号所使用的专用同步序列属于同一组专用同步序列集合。
示例性的，可以通过协议规定，将其中一个序列作为第一设备发送的测距信号的专用同步序列。
在本申请实施例中，提供两组共20个31长的专用同步序列，每组包含10个互不相同的专用同步序列。
示例性的，第一组专用同步序列集合包括：
“-+0--+-++00+---++-++++-+0+++0-0、
++-+++--0+++0+0-+0++-+--00--+-+、
+-+++--+0+-+----0+++-++0+0-+00+、
0-++-+++-+0-++++--0-+---+0+0++0、
00++--0-+++++-+++-0++-0--+-+-0+、
0+00+-++0+-+-+++++--0--+0--+++-、
00++0--++-0-0-+-+0-++++++--+-++、
+++++0+0---+0+--++-+-+--++00+-0、
+++-0---0+-++-0+-+-+++--+++00+0、
00+0+-+-0++-0+-+++0-++++-++----”。
第二组专用同步序列集合包括：
“00++-+--++++++-0+-+-0-0-++--0++、
-+00++--+-+-++--+0+---0+0+++++0、
0+00+++--+++-+-+0-++-+0---0-+++、
----++-++++-0+++-+0-++0-+-+0+00、
-0+++0+-++++-++---+00++-+--0+-0、
+-+--00--+-++0+-0+0+++0--+++-++、
-+++--0+--0--+++++-+-+0++-+00+0、
00+0-+-+--0-++0-+++-+++++-0--++、
++0+0+---+-0--++++-0+-+++-++-00、
+00+-0+0++-+++0----+-+0+--+++-+”。
其中，“+”表示1，“-”表示-1。每一组内的专用同步序列之间互相关性较好。
具体地，第二设备在接收到第一设备发送的测距信号后，使用该专用同步序列(例如，第一组专用同步序列集合中的“-+0--+-++00+---++-++++-+0+++0-0”)进行相关运算，从而识别出该测距信号为无配对测距信号。对应的，第二设备从该专用同步序列所在的组(例如，第一组专用同步序列集合中的“++-+++--0+++0+0-+0++-+--00--+-+”)中随机选取一个专用同步序列，携带在测距响应信号中发送给第一设备。
需要说明的是，本申请实施例中的第一测距信号、第二测距信号和测距响应信号中选取的专用同步序列可以相同，也可以不同，本申请对此不作具体限定。
S940，第一设备根据M、t A1、t A2确定第一设备与第二设备之间的距离，M为检测到测距响应信号时P的数值。
一种可能的实现方式中，第一设备与第二设备之间的距离为：
Figure PCTCN2022111191-appb-000042
其中，c为光速。
需要说明的是，上述以第二设备作为响应方进行示例性说明，不应对本申请的技术方案构成任何限定。例如，第一设备可以向多个第二设备发送测距信号；又例如，多个第一设备可以向一个或多个第二设备发送测距信号等等，本申请对此不作具体限定。
根据本申请提供的方案，能够实现无配对测距，在保证测距精度的情况下，降低对响应方处理速度的要求。
图10是本申请实施例提供的一种测距方法1000的又一例示意图。与方法800不同之处在于，响应方#3(responder)从预设整数值集合中随机挑选M，经过t B2＝Mt B1的时间反馈测距响应信号，并且无需反馈t B1、t B2或M。
在该实现方式中，经过Mt B1时间发送测距响应信号，其中SYNC包括的专用同步序列是从专用序列集合中随机选择的，PHR或payload携带Initiator生成的ID。具体实现步骤包括：
S1010，发起方分别广播测距信号1和测距信号2。
对应的，响应方#3接收测距信号1和测距信号2。
应理解，测距信号1和测距信号2包括SYNC、SFD、PHR和有效载荷payload。其中，两个测距信号中的PHR或有效载荷payload携带发起方的标识信息ID。SYNC部分可以从专用序列集合中随机选择，例如，发送方使用表1中第1组序列中的序列1作为广播信号中的SYNC部分。
另外，发起方广播该两个测距信号的间隔为t A1。示例性的，发起方在自己的时间戳t1时刻先发射测距信号1，并经过t A1后，在自己的时间戳t2发射测距信号2，即t 2-t 1＝t A1。
可选地，发起方需要在同一周期T内广播测距信号1和测距信号2。
需要说明的是，本申请实施例适用于一对多、多对多的同步、定位、测距等场景。为了理解本申请方案，这仅里以响应方#3为例进行说明。
应理解，本申请实施例中还包括其他响应方(例如，响应方#1、…、响应方#N)，同样可以接收检测到测距信号1和测距信号2。另外，本申请实施例以两个测距信号(例如，测距信号1和测距信号2)为例，计算发起方与多个响应方之间的距离。以上仅是示例性说明，不应构成对本申请技术方案的任何限定。
其中，测距信号1和测距信号2的帧结构具体可以参照图5的示意图。测距信号1和测距信号2的指示方式具体可以参照图6的示意图。为了简洁，此处不再赘述。
S1020，响应方#3检测测距信号1和测距信号2，并确定两个测距信号的时间戳之差为t B1。
示例性的，响应方#3在自己的时间戳t 3时刻接收到测距信号1，并在同一周期T内自己的时间戳t 4时刻接收到测距信号2，即t 4-t 3＝t B1。
S1030，响应方#3经过Mt B1后向发起方发送测距响应信号，M正整数
对应的，发起方检测并接收来自响应方#3的测距响应信号。
示例性的，发起方在不同检测窗口(即，不同的Pt A1至(P+1)t A1时间段内)进行检测测距响应信号。其中，检测窗口检测起点比发送测距信号2的时间戳晚Pt A1，检测窗口检测终点比发送测距信号2的时间戳晚(P+1)t A1。
可选地，检测范围可以根据最大检测距离确定，本申请对此不作具体限定。
应理解，测距响应信号包括SYNC、SFD、PHR和有效载荷payload。
具体地，测距响应信号中SYNC部分的导频可以从专用序列集合中随机选择(例如，如果发送方使用表1中第1组序列中的序列1作为广播信号中的SYNC部分，那么响应方可以在第1组序列中的序列2-10中随机选择作为响应测距信号中的SYNC部分)，PHR或payload携带发送方ID；
可选地，测距响应信号的PHR部分也可以携带M。
S1040，发起方确定接收到测距响应信号的时间戳t 5，并计算发起方与响应方之间的距离。
具体地，发起方根据接收测距响应信号的时间戳t 5、发射测距信号2时的时间戳t 2，获取t A2＝t 5-t 2。进一步解调出t B1、t B2，再计算发送方与响应方之间的距离：
Figure PCTCN2022111191-appb-000043
可选地，发起方可以不设置检测窗口，一直盲检测距信号，通过判断获得Mt A1<t A2<(M+1)t A1，然后利用s＝c·TOF＝c/2(t A2-Mt A1)计算发起方与响应方之间的距离。
图7是适用本申请的脉冲信号在发起方(initiator)和响应方(responder)之间的飞行时间TOF计算原理的一例示意图。如图7所示，发起方在一个周期内连续发送两次测距信号，二者时间间隔为t A1。对应的，响应方#3连续接收该两次测距信号，两次时间戳之差为t B1。应理解，理想状态下t A1＝t B1。并且，响应方#3经过时间t B2后反馈测距响应信号，发起方接收测距响应信号的时间戳与第二次发送测距信号的时间戳之差为t A2。因而，可以得到以下两个等式：
Figure PCTCN2022111191-appb-000044
于是，
(M+1)t A2-M(t A1+t A2)＝2TOF   (23)
从而得到脉冲信号在发起方和响应方#2之间的飞行时间为：
Figure PCTCN2022111191-appb-000045
在本申请技术方案中，由于设备晶振的存在，根据实际测量得到的TOF估计：
Figure PCTCN2022111191-appb-000046
其中，
Figure PCTCN2022111191-appb-000047
同时，t A1＝t B1   (13)。
因此，带有晶振误差的测量值与真实值之间的误差为：
Figure PCTCN2022111191-appb-000048
由上可以看到，测距误差只与TOF有关，且不再随响应方#3的响应时间(reply time)增大而增大。
在该实现方式中，为了避免配对测距，简化一对多测距流程，对发起方广播信号进行了设计，SYNC包括专用同步序列，用于指示该广播信号为无配对测距信号，且广播信号中携带了发起方生成的ID，实现无配对测距。这样响应方在检测到该广播信号后就会发起响应，且响应信号中携带发起方广播信号中的ID。发起方在收到携带该ID的响应信号后即可估计距离。
另外，为了尽量减少多个响应方的响应信号碰撞概率，响应方在随机选择reply time的同时，也会随机从导频集合中选择一种导频用于SYNC部分。发起方一个周期内会广播两次测距信号，在这种架构下测距精度不随reply time增大而降低，对测距响应时间无约束，从而放松了对响应方处理速度的要求。
相比上述测距方法400，该实现方式中responder不再反馈t B1、t B2，而是反馈t B1、t B2的比值N，减少了反馈量，减少信令开销。
在该实现方式中，通过简化一对多测距流程，实现无配对测距，对测距响应时间无约束，放松对responder处理速度的要求。此外，该实现方式的测距响应信号不需要反馈N。
相比上述测距方法800，该实现方式中预先固定几种可选的N值，responder随机选择一种N值后就以t B2＝Nt B1的反馈时间发送测距响应信号。initiator在不同检测窗口N检测到测距响应信号即可确定N值，而无需responder反馈N。
需要说明的是，上述提供的实施例仅是示例性说明，不用构成对本申请技术方案的任何限定。同时，上述实施例可以独立使用，也可以结合使用。
以上，结合图3至图10详细说明了本申请实施例提供的测距方法。以下，结合图11和图12详细说明本申请实施例提供的测距装置。应理解，测距装置的实施例的描述与测距方法实施例的描述相互对应，因此，未详细描述的部分可以参见前面方法实施例。
图11是本申请实施例提供的通信装置10的示意性框图。如图11所示，该通信装置10可以包括收发单元11和处理单元12。
在一种可能的设计中，该通信装置10可对应于上文方法实施例中的第一设备(或发起方initiator)。
示例性地，该通信装置10可对应于根据本申请实施例的方法300或方法400或方法800或方法900或方法1000中的第一设备(或发起方initiator)，该通信装置10可以包括用于执行图3、图4、图8、图9、图10中的第一设备(或发起方initiator)所执行的方法的模块。并且，该通信装置10中的各单元和上述其他操作和/或功能分别为了实现图3、图4、图8、图9、图10所示方法的相应流程。
示例性的，收发单元11，用于第一设备发送多个测距信号，多个测距信号包括第一测距信号和第二测距信号，第一测距信号早于第二测距信号发送，且所第一测距信号和第二测距信号之间的发送时间间隔为t A1；
收发单元11，还用于第一设备接收来自第二设备的测距响应信号，并确定测距响应信号的接收时间和第二测距信号的发送时间间隔为t A2，其中，测距响应信号包括第二设备接收第二测距信号和第一测距信号之间的时间间隔t B1、第二设备接收到第二测距信号与发送测距响应信号之间的时间间隔t B2，或者，测距响应信号包括N，N是根据t B1和t B2确定的值，N为大于零的常数。
处理单元12，用于第一设备根据t A1、t A2、t B1、t B2确定第一设备与第二设备之间的距离；或者，根据t A1、t A2和N确定第一设备与第二设备之间的距离。
该通信装置10中的该收发单元11执行上述各方法实施例中的第一设备(或发起方initiator)所执行的接收和发送操作，该处理单元12则执行除了该接收和发送操作之外的操作。
在另一种可能的设计中，该通信装置10还可对应于上文方法实施例中的第二设备(或响应方responder)。
示例性地，该通信装置10可对应于根据本申请实施例的方法300或方法400或方法800或方法900或方法1000中的第二设备(或响应方responder)，该通信装置10可以包括用于执行图3、图4、图8、图9、图10中的第二设备执行的方法的模块。并且，该通信装置10中的各单元和上述其他操作和/或功能分别为了实现图3、图4、图8、图9、图10所示方法的相应流程。
示例性的，收发单元11，用于第二设备接收来自第一设备的多个测距信号，多个测距信号包括第一测距信号和第二测距信号，并确定第二测距信号和第一测距信号之间的接收时间间隔为t B1；
收发单元11，还用于第二设备向第一设备发送测距响应信号，其中，测距响应信号包括第二设备接收第二测距信号和第一测距信号之间的时间间隔t B1、第二设备接收到第二测距信号与发送测距响应信号之间的时间间隔t B2，或者，测距响应信号包括N，N是根据t B1和t B2确定的值，N为大于零的常数。
该通信装置10中的该收发单元11执行上述各方法实施例中的第二设备(或响应方responder)所执行的接收和发送操作，该处理单元12则执行除了该接收和发送操作之外的操作。
根据前述方法，图12为本申请实施例提供的通信装置20的示意图，如图12所示，该装置20可以为第一设备，也可以为第二设备。
该装置20可以包括处理器21(即，处理单元的一例)和存储器22。该存储器22用于存储指令，该处理器21用于执行该存储器22存储的指令，以使该装置20实现如图3 至图10对应的方法中第一设备或第二设备执行的步骤。
进一步地，该装置20还可以包括输入口23(即，收发单元的一例)和输出口24(即，收发单元的另一例)。
进一步地，该处理器21、存储器22、输入口23和输出口24可以通过内部连接通路互相通信，传递控制和/或数据信号。该存储器22用于存储计算机程序，该处理器21可以用于从该存储器22中调用并运行该计算机程序，以控制输入口23接收信号，控制输出口24发送信号，完成上述方法中第一设备或第二设备的步骤。该存储器22可以集成在处理器21中，也可以与处理器21分开设置。
可选地，若该通信装置20为通信设备，该输入口23为接收器，该输出口24为发送器。其中，接收器和发送器可以为相同或者不同的物理实体。接收器和发送器为相同的物理实体时，可以统称为收发器。
可选地，若该通信装置20为芯片或电路，该输入口23为输入接口，该输出口24为输出接口。
作为一种实现方式，输入口23和输出口24的功能可以考虑通过收发电路或者收发的专用芯片实现。处理器21可以考虑通过专用处理芯片、处理电路、处理器或者通用芯片实现。
作为另一种实现方式，可以考虑使用通用计算机的方式来实现本申请实施例提供的通信设备。即将实现处理器21、输入口23和输出口24功能的程序代码存储在存储器22中，通用处理器通过执行存储器22中的代码来实现处理器21、输入口23和输出口24的功能。
该装置20所涉及的与本申请实施例提供的技术方案相关的概念，解释和详细说明及其他步骤请参见前述方法或其他实施例中关于这些内容的描述，此处不做赘述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者第二设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(read-only memory，ROM)、随机存取存储器(random access memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (26)

  1. 一种测距方法，其特征在于，包括：
    第一设备发送多个测距信号，所述多个测距信号包括第一测距信号和第二测距信号，所述第一测距信号早于所述第二测距信号发送，且所述第一测距信号和所述第二测距信号之间的发送时间间隔为t A1；
    所述第一设备接收来自第二设备的测距响应信号，并确定所述测距响应信号的接收时间和所述第二测距信号的发送时间间隔为t A2，其中，所述测距响应信号包括所述第二设备接收到所述第二测距信号和所述第一测距信号之间的时间间隔t B1、所述第二设备接收到所述第二测距信号与发送所述测距响应信号之间的时间间隔t B2，或者，所述测距响应信号包括N，N是根据所述t B1和t B2确定的值，N为大于零的常数；
    所述第一设备根据所述t A1、t A2、t B1、t B2确定所述第一设备与所述第二设备之间的距离；或者，根据所述t A1、t A2和N确定所述第一设备与所述第二设备之间的距离。
  2. 一种测距方法，其特征在于，包括：
    第二设备接收来自第一设备的多个测距信号，所述多个测距信号包括第一测距信号和第二测距信号，并确定所述第二测距信号和所述第一测距信号之间的接收时间间隔为t B1；
    所述第二设备向所述第一设备发送测距响应信号，其中，所述测距响应信号包括所述第二设备接收到所述第二测距信号和所述第一测距信号之间的时间间隔t B1、所述第二设备接收到所述第二测距信号与发送所述测距响应信号之间的时间间隔t B2，或者，所述测距响应信号包括N，N是根据所述t B1和t B2确定的值，N为大于零的常数。
  3. 根据权利要求1或2所述的方法，其特征在于，所述N满足：N＝t B2/t B1。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，所述测距响应信号包括所述第二测距信号和所述第一测距信号之间的接收时间间隔t B1、所述第二设备接收到所述第二测距信号与发送所述测距响应信号之间的时间间隔t B2，所述第一设备与所述第二设备之间的距离为：
    Figure PCTCN2022111191-appb-100001
    其中，c为光速。
  5. 根据权利要求1至3中任一项所述的方法，其特征在于，所述测距响应信号包括N，所述第一设备与所述第二设备之间的距离为：
    Figure PCTCN2022111191-appb-100002
    其中，c为光速。
  6. 一种测距方法，其特征在于，包括：
    第一设备发送多个测距信号，所述多个测距信号包括第一测距信号和第二测距信号，所述第一测距信号早于所述第二测距信号发送，且所述第一测距信号和所述第二测距信号之间的发送时间间隔为t A1；
    所述第一设备在Pt A1至(P+1)t A1时间段内检测来自第二设备的测距响应信号，并确定所述测距响应信号的接收时间和所述第二测距信号的发送时间间隔为t A2，P的取值是 正整数；
    所述第一设备根据M、t A1、t A2确定所述第一设备与所述第二设备之间的距离，M为所述第一设备检测到所述测距响应信号时P的数值。
  7. 一种测距方法，其特征在于，包括：
    第二设备接收来自第一设备的多个测距信号，所述多个测距信号包括第一测距信号和第二测距信号，并确定所述第二测距信号和所述第一测距信号之间的接收时间间隔为t B1；
    所述第二设备在接收到所述第二测距信号后，经过Mt B1时间间隔后向所述第一设备发送测距响应信号，t B1为所述第二测距信号和所述第一测距信号之间的接收时间间隔，M是预设整数值集合中的任一正整数。
  8. 根据权利要求6或7所述的方法，其特征在于，所述第一测距信号和/或所述第二测距信号中包括所述预设整数值集合。
  9. 根据权利要求1至8中任一项所述的方法，其特征在于，所述第一测距信号和/或所述第二测距信号还携带用于标识所述第一设备的信息。
  10. 根据权利要求1至9中任一项所述的方法，其特征在于，所述测距响应信号携带用于标识所述第一设备的信息。
  11. 根据权利要求1或10所述的方法，其特征在于，所述用于标识所述第一设备的信息承载于所述第一测距信号、所述第二测距信号和所述测距响应信号中的至少一种信号的物理层帧头PHR或有效载荷。
  12. 根据权利要求1至11中任一项所述的方法，其特征在于，所述用于标识所述第一设备的信息是根据所述第一设备的媒体接入控制MAC地址确定的。
  13. 根据权利要求1至12中任一项所述的方法，其特征在于，所述测距响应信号还携带用于标识所述第二设备的信息。
  14. 根据权利要求1至13中任一项所述的方法，其特征在于，所述第一测距信号与所述第二测距信号的同步字段SYNC、帧开始分隔符字段SFD、物理层帧头PHR、有效载荷中的至少一项不同。
  15. 根据权利要求1至14中任一项所述的方法，其特征在于，所述第一测距信号和所述第二测距信号的同步字段SYNC包括专用同步序列，所述专用同步序列用于无配对测距。
  16. 根据权利要求1至15中任一项所述的方法，其特征在于，所述测距响应信号的同步字段SYNC包括第一专用同步序列，所述第一专用同步序列是专用同步序列集合中任意一个专用同步序列，所述专用同步序列集合是协议预定义的，
    其中，所述专用同步序列集合包括第一组专用同步序列集合和第二组专用同步序列集合，所述第一组专用同步序列集合和所述第二组专用同步序列集合中的专用同步序列互不相同，
    当所述第一测距信号和所述第二测距信号的同步字段SYNC包括所述第一组专用同步序列集合中的专用同步序列时，所述测距响应信号的同步字段SYNC包括所述第一组专用同步序列集合中的专用同步序列；
    当所述第一测距信号和所述第二测距信号的同步字段SYNC包括所述第二组专用同步序列集合中的专用同步序列时，所述测距响应信号的同步字段SYNC包括所述第二组专 用同步序列集合中的专用同步序列。
  17. 根据权利要求6至16中任一项所述的方法，其特征在于，所述第一设备与所述第二设备之间的距离为：
    Figure PCTCN2022111191-appb-100003
    其中，c为光速。
  18. 一种测距装置，其特征在于，包括：
    用于实现权利要求1、3至5、9至16中任一项所述的方法的单元。
  19. 一种测距装置，其特征在于，包括：
    用于实现权利要求2至5、9至16中任一项所述的方法的单元。
  20. 一种测距装置，其特征在于，包括：
    用于实现权利要求6、8至17中任一项所述的方法的单元。
  21. 一种测距装置，其特征在于，包括：
    用于实现权利要求7至17中任一项所述的方法的单元。
  22. 一种通信装置，其特征在于，包括：
    存储器，用于存储计算机指令；
    处理器，用于执行所述存储器中存储的计算机程序，以使得所述通信装置执行如权利要求1至17中任一项所述的方法。
  23. 一种通信系统，其特征在于，包括：
    第一设备，用于执行如权利要求1、3至6、8至16中任一项所述的方法；
    第二设备，用于执行如权利要求2至5、7至17任一项所述的方法。
  24. 一种计算机可读存储介质，其特征在于，包括：
    所述计算机可读存储介质上存储有计算机程序，当所述计算机程序运行时，使得所述计算机执行如权利要求1至17中任一项所述的方法。
  25. 一种芯片，其特征在于，包括：处理器，用于从存储器中调用并运行计算机程序，使得安装有所述芯片的测距装置执行如权利要求1至17中任一项所述的方法。
  26. 一种计算机程序产品，其特征在于，所述计算机程序产品在计算机上执行时，使得所述计算机执行如权利要求1至17中任一项所述的方法。
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