WO2023160195A1 - 测距方法和装置及测距控制方法和装置 - Google Patents

测距方法和装置及测距控制方法和装置 Download PDF

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Publication number
WO2023160195A1
WO2023160195A1 PCT/CN2022/141265 CN2022141265W WO2023160195A1 WO 2023160195 A1 WO2023160195 A1 WO 2023160195A1 CN 2022141265 W CN2022141265 W CN 2022141265W WO 2023160195 A1 WO2023160195 A1 WO 2023160195A1
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Prior art keywords
ranging
time period
task
beacon frame
distance
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PCT/CN2022/141265
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English (en)
French (fr)
Inventor
马超
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华为技术有限公司
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Publication of WO2023160195A1 publication Critical patent/WO2023160195A1/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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/08—Systems for determining direction or position line
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/68—Marker, boundary, call-sign, or like beacons transmitting signals not carrying directional information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
    • H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/40—Network security protocols
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the present application relates to the technical field of distance measurement, and more particularly, to a distance measurement method and device, and a distance measurement control method and device.
  • Ranging technology and positioning technology have extensive and extremely important application value in many scenarios, such as positioning function, ranging function, and search function in mobile phones.
  • ranging is the basis for positioning.
  • the ranging control device broadcasts a ranging control message (ranging control message, RCM) within the ranging time period in the sending cycle of the beacon frame, and the RCM is used for the ranging parameter for Publishing a ranging task and allocating ranging resources for the ranging task.
  • RCM ranging control message
  • all ranging devices with the ranging function need to monitor the RCM to confirm whether to participate in the ranging task, and determine the ranging resources used for the ranging task.
  • the present application provides a ranging method and device, and a ranging control method and device, which can reduce the power consumption of the ranging device.
  • the present application provides a distance measurement control method, which can be used in a distance measurement control device, and the method can include: generating a beacon frame, the beacon frame includes a distance measurement parameter, and the distance measurement parameter is used for Publish a ranging task and allocate ranging resources for the ranging task; send the beacon frame.
  • the existing beacon frame sending period may include a first time period, a ranging management time period, and a ranging time period in chronological order. This first period of time is used to deliver existing beacon frames.
  • the ranging management time period is used for transmitting network access requests and data interaction between network-connected devices.
  • the ranging time period may include a third time period and a second time period in chronological order, the third time period is used for sending RCM, the RCM includes ranging parameters, and the second time period is used by the distance measuring device based on the Ranging parameters for ranging.
  • the ranging device In the existing ranging method, if the ranging control device sends an RCM within the third time period, the ranging device needs to keep listening until the RCM message is received within the third time period, and then it can be used in the second time period. Ranging is performed based on the ranging parameters within the time period; or, if the ranging control device does not send RCM in the current sending cycle, the ranging device needs to keep listening until the ranging time period ends. Therefore, the power consumption of the ranging device is large.
  • the sending period of the beacon frame provided in this application may include the first time period, the ranging management time period and the ranging time period in chronological order.
  • the first time period is used to transmit the beacon frame provided by the embodiment of the present application, and the beacon frame includes ranging parameters.
  • the ranging management time period is used for transmitting network access requests and data interaction between network-connected devices.
  • the ranging time period may include a second time period, and the second time period is used for the ranging device to perform ranging based on the ranging parameter.
  • the ranging control device sends a beacon frame within the first time period, and carries the ranging parameters in the beacon frame, that is, the third time period in the prior art
  • the ranging parameters sent in the first time period are sent in advance, then after entering the ranging time period, the distance measuring device can directly perform ranging based on the ranging parameters, that is, the distance measuring device does not need to be sent in the third time period Monitor the RCM within the period to obtain ranging parameters; in addition, if the ranging control device sends a beacon frame within the first time period, the beacon frame does not carry ranging parameters, that is, there is no ranging task at present, then enter After the ranging time period, the ranging device may directly enter the sleep state. Therefore, the power consumption of the ranging device can be reduced by adopting the ranging method provided in the present application.
  • the ranging parameter includes at least one of the following items: ranging device management information, where the ranging device management information is used to indicate multiple ranging devices participating in the ranging task, the The role of each ranging device in the ranging task in the plurality of ranging devices, and the time when each ranging device performs the ranging task, the role includes the main ranging party and the ranging party; ranging Request information, the ranging request information is used to indicate whether the ranging task includes a request for measuring the direction angle or a request for measuring the range; ranging configuration information, the ranging configuration information is used to indicate the ranging mode of the ranging task and/or a ranging method; or, ranging key information, where the ranging key information is used to indicate the key used by each ranging device to encrypt data or decrypt data during the ranging process.
  • ranging device management information is used to indicate multiple ranging devices participating in the ranging task, the The role of each ranging device in the ranging task in the plurality of ranging devices, and the time when each ranging device perform
  • the beacon frame includes a frame header, where the frame header is used to bear the ranging parameter.
  • the sending the beacon frame includes: sending the beacon frame within a first time period, and the starting moment of the first time period is the beginning of the sending period of the beacon frame time, and the duration of the first time period is shorter than the duration of the sending cycle.
  • the present application provides a ranging method, which can be used in a ranging device, and the method can include: receiving a beacon frame, the beacon frame includes a ranging parameter, and the ranging parameter is used for the ranging The distance parameter is used to issue a ranging task and allocate ranging resources for the ranging task; perform ranging based on the ranging parameter.
  • the existing beacon frame sending period may include a first time period, a ranging management time period, and a ranging time period in chronological order. This first period of time is used to deliver existing beacon frames.
  • the ranging management time period is used for transmitting network access requests and data interaction between network-connected devices.
  • the ranging time period may include a third time period and a second time period in chronological order, the third time period is used for sending RCM, the RCM includes ranging parameters, and the second time period is used by the distance measuring device based on the Ranging parameters for ranging.
  • the ranging device In the existing ranging method, if the ranging control device sends an RCM within the third time period, the ranging device needs to keep listening until the RCM message is received within the third time period, and then it can be used in the second time period. Ranging is performed based on the ranging parameters within the time period; or, if the ranging control device does not send RCM in the current sending cycle, the ranging device needs to keep listening until the ranging time period ends. Therefore, the power consumption of the ranging device is large.
  • the sending period of the beacon frame provided in the present application may include a first time period, a ranging management time period, and a ranging time period in chronological order.
  • the first time period is used to transmit the beacon frame provided by the embodiment of the present application, and the beacon frame includes ranging parameters.
  • the ranging management time period is used for transmitting network access requests and data interaction between network-connected devices.
  • the ranging time period may include a second time period, and the second time period is used for the ranging device to perform ranging based on the ranging parameter.
  • the ranging control device sends a beacon frame within the first time period, and carries the ranging parameters in the beacon frame, that is, the third time period in the prior art
  • the ranging parameters sent in the first time period are sent in advance, then after entering the ranging time period, the distance measuring device can directly perform ranging based on the ranging parameters, that is, the distance measuring device does not need to be sent in the third time period Monitor the RCM within the period to obtain ranging parameters; in addition, if the ranging control device sends a beacon frame within the first time period, the beacon frame does not carry ranging parameters, that is, there is no ranging task at present, then enter After the ranging time period, the ranging device may directly enter the sleep state. Therefore, the power consumption of the ranging device can be reduced by adopting the ranging method provided in the present application.
  • the ranging parameter includes at least one of the following items: ranging device management information, where the ranging device management information is used to indicate multiple ranging devices participating in the ranging task, the The role of each ranging device in the ranging task in the plurality of ranging devices, and the time when each ranging device performs the ranging task, the role includes the main ranging party and the ranging party; ranging Request information, the ranging request information is used to indicate whether the ranging task includes a request for measuring the direction angle or a request for measuring the range; ranging configuration information, the ranging configuration information is used to indicate the ranging mode of the ranging task and/or a ranging method; or, ranging key information, where the ranging key information is used to indicate the key used by each ranging device to encrypt data or decrypt data during the ranging process.
  • ranging device management information is used to indicate multiple ranging devices participating in the ranging task, the The role of each ranging device in the ranging task in the plurality of ranging devices, and the time when each ranging device perform
  • the beacon frame includes a frame header, where the frame header is used to bear the ranging parameter.
  • the receiving the beacon frame includes: receiving the beacon frame within a first time period, and the starting moment of the first time period is the beginning of the sending period of the beacon frame time, and the duration of the first time period is shorter than the duration of the sending cycle.
  • the sending cycle includes a ranging time period for ranging, the starting time of the ranging time period is later than the ending time of the first time period, and the distance measurement is performed based on the ranging parameter.
  • Ranging including: performing ranging based on the ranging parameter within a second time period, the starting moment of the second time period is the starting moment of the ranging time period, and the duration of the second time period is less than or Equal to the duration of the ranging period.
  • the present application also provides a ranging control device, which may include: a processor and a communication interface, the processor is coupled to the communication interface, and the processor is used to: generate a beacon frame, in the beacon frame It includes a ranging parameter, and the ranging parameter is used for issuing a ranging task and allocating ranging resources for the ranging task; sending the beacon frame through the communication interface.
  • a ranging control device which may include: a processor and a communication interface, the processor is coupled to the communication interface, and the processor is used to: generate a beacon frame, in the beacon frame It includes a ranging parameter, and the ranging parameter is used for issuing a ranging task and allocating ranging resources for the ranging task; sending the beacon frame through the communication interface.
  • the ranging parameter includes at least one of the following items: ranging device management information, where the ranging device management information is used to indicate multiple ranging devices participating in the ranging task, the The role of each ranging device in the ranging task in the plurality of ranging devices, and the time when each ranging device performs the ranging task, the role includes the main ranging party and the ranging party; ranging Request information, the ranging request information is used to indicate whether the ranging task includes a request for measuring the direction angle or a request for measuring the range; ranging configuration information, the ranging configuration information is used to indicate the ranging mode of the ranging task and/or a ranging device; or, ranging key information, where the ranging key information is used to indicate a key used by each ranging device to encrypt data or decrypt data during the ranging process.
  • ranging device management information is used to indicate multiple ranging devices participating in the ranging task, the The role of each ranging device in the ranging task in the plurality of ranging devices, and the time when each ranging device
  • the beacon frame includes a frame header, where the frame header is used to bear the ranging parameter.
  • the processor is specifically configured to: send the beacon frame through the communication interface within a first time period, where the starting moment of the first time period is the sending period of the beacon frame , and the duration of the first time period is shorter than the duration of the sending cycle.
  • the present application also provides a ranging device, which may include: a processor and a communication interface, the processor is coupled to the communication interface, and the processor is configured to: receive a beacon frame through the communication interface, the signal The marking frame includes a ranging parameter, and the ranging parameter is used for issuing a ranging task and allocating ranging resources for the ranging task; performing ranging based on the ranging parameter.
  • a ranging device which may include: a processor and a communication interface, the processor is coupled to the communication interface, and the processor is configured to: receive a beacon frame through the communication interface, the signal The marking frame includes a ranging parameter, and the ranging parameter is used for issuing a ranging task and allocating ranging resources for the ranging task; performing ranging based on the ranging parameter.
  • the ranging parameter includes at least one of the following items: ranging device management information, where the ranging device management information is used to indicate multiple ranging devices participating in the ranging task, the The role of each ranging device in the ranging task in the plurality of ranging devices, and the time when each ranging device performs the ranging task, the role includes the main ranging party and the ranging party; ranging Request information, the ranging request information is used to indicate whether the ranging task includes a request for measuring the direction angle or a request for measuring the range; ranging configuration information, the ranging configuration information is used to indicate the ranging mode of the ranging task and/or a ranging device; or, ranging key information, where the ranging key information is used to indicate a key used by each ranging device to encrypt data or decrypt data during the ranging process.
  • ranging device management information is used to indicate multiple ranging devices participating in the ranging task, the The role of each ranging device in the ranging task in the plurality of ranging devices, and the time when each ranging device
  • the beacon frame includes a frame header, where the frame header is used to bear the ranging parameter.
  • the processor is specifically configured to: receive the beacon frame through the communication interface within a first time period, where the starting moment of the first time period is the sending period of the beacon frame , and the duration of the first time period is shorter than the duration of the sending cycle.
  • the sending cycle includes a ranging time period for ranging, the starting time of the ranging time period is later than the ending time of the first time period, and the processor is specifically configured to: In the second time period, ranging is performed based on the ranging parameter, the starting moment of the second time period is the starting moment of the ranging time period, and the duration of the second time period is less than or equal to the ranging time The duration of the segment.
  • the present application further provides a ranging control device, which may include a unit for implementing the method described in the above first aspect or various possible implementations thereof.
  • the present application further provides a ranging device, which may include a unit for implementing the method described in the above second aspect or various possible implementations thereof.
  • the present application also provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by at least one processor, it is used to realize the above-mentioned aspects or any possible implementation thereof method described in the method.
  • the present application further provides a computer program product, which is used to implement the methods described in the above aspects or any possible implementation thereof when the computer program product is executed by at least one processor.
  • the distance measurement control device, distance measurement device, computer storage medium and computer program product provided in this application are all used to implement the corresponding method provided above, therefore, the beneficial effects it can achieve can refer to the corresponding method provided above The beneficial effects of the method will not be repeated here.
  • FIG. 1 is a schematic diagram of the architecture of a ranging system 100 provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a ranging method 200 provided in an embodiment of the present application.
  • Fig. 3 is a schematic diagram of the format of the beacon frame provided by the embodiment of the present application.
  • FIG. 4 is a schematic diagram of a sending cycle of a beacon frame provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of an existing sending cycle of a beacon frame
  • FIG. 6 is a schematic structural diagram of a ranging control device 300 provided in an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a ranging control device 400 provided in an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a ranging device 500 provided in an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a ranging device 600 provided in an embodiment of the present application.
  • the ranging method and device provided in the present application and the ranging system applied to the ranging control method and device are introduced.
  • FIG. 1 shows a schematic diagram of a ranging system 100 provided by an embodiment of the present application.
  • the system 100 may include a ranging control device 110 and a plurality of ranging devices (such as the ranging device 120 and the ranging device 130 shown in FIG. 1 ), the ranging control device 110, the ranging Communication can be performed between the distance device 120 and the distance measuring device 130 .
  • the ranging control device 110 mentioned in this application refers to a device capable of managing a ranging device.
  • the distance measuring device mentioned in this application refers to the device that can listen to the management of the distance measurement control device 110 and has the ability to use the resources allocated by the distance measurement control device 110 to perform distance measurement (such as measuring the distance with other distance measurement devices) device.
  • the present application does not limit the specific forms of the ranging control device 110 , the ranging device 120 and the ranging device 130 .
  • the distance measuring control device 110, the distance measuring device 120 and the distance measuring device 130 are (or integrated in) three independent devices; or, the distance measuring control device 110 and the distance measuring device The distance measuring device 120 is integrated in the same device, and the distance measuring device 130 is (or is integrated in) another device; or, the distance measuring control device 110 and the distance measuring device 130 are integrated in the same device, and the distance measuring device 120 is (or integrated in) another device.
  • the distance measuring device 110 is (or is integrated in) a distance measuring controller
  • the distance measuring device 120 is (or is integrated in) a first terminal
  • the distance measuring device 130 is (or is integrated in) a second terminal.
  • the distance measuring device 110 and the distance measuring device 120 are integrated in the first terminal, and the distance measuring device 130 is integrated in the second terminal.
  • the terminal described in the embodiments of the present application may be a device that provides voice/data connectivity to users, for example: a handheld device with a wireless connection function, a vehicle-mounted device, and the like.
  • examples of some terminals are: mobile phone (mobile phone), tablet computer, notebook computer, palmtop computer, mobile internet device (mobile internet device, MID), wearable device, virtual reality (virtual reality, VR) device, augmented reality (augmented reality, AR) equipment, wireless terminals in self driving, cellular phones, cordless phones, session initiation protocol (session initiation protocol, SIP) phones, personal digital assistants (personal digital assistant, PDA), with Handheld devices, computing devices, vehicle-mounted devices, wearable devices with wireless communication functions, terminal devices in the 5G network or terminal devices in the public land mobile network (PLMN) that will evolve in the future, etc., the embodiments of this application This is not limited.
  • PLMN public land mobile network
  • wearable devices can also be called wearable smart devices, which is a general term for the application of wearable technology to intelligently design daily wear and develop wearable devices, such as glasses, gloves, watches, clothing and shoes. wait.
  • a wearable device is a portable device that is worn directly on the body or integrated into the user's clothing or accessories.
  • the distance measuring control device 110, the distance measuring device 120 and the distance measuring device 130 may communicate in various ways, which is not limited in this application.
  • the distance measurement control device 110, the distance measurement device 120 and the distance measurement device 130 may communicate in a wired manner.
  • the above-mentioned wired manner may be to implement communication through a data line connection or through an internal bus connection.
  • the distance measurement control device 110, the distance measurement device 120 and the distance measurement device 130 may communicate in a wireless manner.
  • the foregoing wireless manner may implement communication through a communication network.
  • the communication network may be a local area network, or a wide area network switched through a relay (relay) device, or include a local area network and a wide area network.
  • the communication network is a local area network
  • the communication network can be a wifi hotspot network, a wifi P2P network, a bluetooth network, a zigbee network or a near field communication (near field communication, NFC) network or possible future general short-distance communication network.
  • the communication network may be a third-generation mobile communication technology (3rd-generation wireless telephone technology, 3G) network, a fourth-generation mobile communication technology (the 4th generation mobile communication technology, 4G ) network, fifth-generation mobile communication technology (5th-generation mobile communication technology, 5G) network, PLMN or the Internet, etc., which are not limited in this embodiment of the present application.
  • 3G third-generation mobile communication technology
  • 4G fourth-generation mobile communication technology
  • 5th-generation mobile communication technology 5th-generation mobile communication technology
  • PLMN public Land Mobile Network
  • the Internet etc.
  • the ranging system provided by the embodiment of the present application is described above with reference to FIG. 1 , and the ranging method used in the above ranging system will be further introduced below.
  • FIG. 2 shows a schematic flowchart of a ranging method 200 provided by an embodiment of the present application.
  • the method 200 may be used in the distance measuring system 100 described above.
  • the method 200 may include the following steps. It should be noted that the steps listed below may be executed in various orders and/or concurrently, and are not limited to the execution order shown in FIG. 2 .
  • the distance measurement control device generates a beacon frame, where the beacon frame includes a distance measurement parameter, and the distance measurement parameter is used for issuing a distance measurement task and allocating a distance measurement resource for the distance measurement task.
  • the ranging parameter may include but not limited to at least one of the following information: ranging device management information, ranging request information, ranging configuration information, or ranging key information.
  • the distance measuring device management information is used to indicate multiple distance measuring devices participating in the distance measuring task, the role of each distance measuring device in the distance measuring task and the performance of each distance measuring device.
  • the time of the ranging task, the role includes the main ranging party and the ranging party;
  • the ranging request information is used to indicate whether the ranging task includes a request for measuring the direction angle or a request for measuring the range;
  • the ranging configuration The information is used to indicate the ranging mode and/or the ranging method of the ranging task;
  • the ranging key information is used to indicate the key used by each ranging device to encrypt data or decrypt data during the ranging process.
  • the beacon frame may include a frame header, where the frame header is used to bear the ranging parameter.
  • FIG. 3 shows a schematic diagram of the format of the beacon frame provided by the embodiment of the present application.
  • the beacon frame can be composed of a frame header (header), also known as a frame header, a variable-length frame body (frame body), and a frame check sequence of 4 bytes (or 2 bytes). (frame check sequence, FCS) composition.
  • header also known as a frame header
  • frame body variable-length frame body
  • FCS frame check sequence
  • the frame body and the frame header may include: a 2-byte frame control (frame control) field, a 2-byte duration (duration) field, and a 6-byte address field field, an auxiliary security header (auxiliary security header) field of 1 to 10 bytes, and at least one information element (information element, IE) field of variable length (IE1 in Figure 3).
  • a 2-byte frame control (frame control) field may include: a 2-byte frame control (frame control) field, a 2-byte duration (duration) field, and a 6-byte address field field, an auxiliary security header (auxiliary security header) field of 1 to 10 bytes, and at least one information element (information element, IE) field of variable length (IE1 in Figure 3).
  • IE information element
  • the at least one IE field may include but not limited to at least one of the following fields:
  • the ranging device management (ranging device management, RDM) IE field is used to carry the above-mentioned ranging device management information.
  • the distance measuring device management IE field may include but not limited to at least one field in the following fields: address field, role field or time field.
  • address field is used to carry the MAC addresses of multiple ranging devices participating in this ranging task
  • role field is used to indicate that each ranging device in the multiple ranging devices is in this ranging task
  • the role includes the main ranging party or the ranging party
  • the time field is used to indicate the time when each ranging device performs the ranging task.
  • the SP3 ranging request report IE field may include but not limited to at least one of the following fields: an angle of arrival ranging (angle-of-arrival, AOA) field or a reply time report (report of reply time, RRT) field.
  • AOA angle-of-arrival
  • RRT reply time report
  • the enhanced ranging control (advanced ranging control, ARC) IE field is used to carry the above-mentioned ranging configuration information.
  • the ARC IE field may include but not limited to at least one of the following fields: a ranging mode field or a ranging method field.
  • the ranging mode field is used to indicate the ranging mode of this ranging task, and the ranging mode may include a 1-to-1 mode (that is, a main measuring party and a measured party) or a 1-to-many mode ( That is, one main measuring party and multiple measured parties)
  • the ranging method field is used to indicate the ranging method used for this ranging task, and the ranging method may include single-sided two-way ranging (single-sided two- way ranging, SS-TWR), double-sided two-way ranging (double-sided two-way ranging, DS-TWR) or scrambled timestamp sequence (STS) packet format.
  • STS scrambled timestamp sequence
  • the ranging STS key and data (ranging STS key and data, RSKD) IE field is used to carry the above ranging key information.
  • the Ranging STS Key and Data IE field may carry a seed for generating the STS key.
  • the ranging control device sends the beacon frame. Accordingly, the ranging device receives the beacon frame.
  • the ranging control device may send the beacon frame through multiple sending methods.
  • the ranging control device may send the beacon frame in a unicast manner. That is to say, all ranging devices participating in this ranging task can receive the beacon frame.
  • the ranging control device may send the beacon frame to a group of ranging devices participating in the ranging task in a multicast manner. That is to say, the distance measuring devices in the distance measuring device group share the same MAC address, and only the distance measuring devices belonging to the distance measuring device group can receive the beacon frame.
  • the ranging control device may broadcast the beacon frame. That is, all ranging devices can receive the beacon frame.
  • the ranging control device may periodically send the beacon frame based on a preset sending cycle.
  • the ranging control device may send the beacon frame within a first time period, where the starting moment of the first time period is the beginning of the sending period of the beacon frame time, and the duration of the first time period is shorter than the duration of the sending cycle.
  • the ranging device performs ranging based on the ranging parameter.
  • the ranging device may perform one or more rangings based on the ranging parameter, which is not limited in the present application.
  • the ranging device may perform ranging based on the ranging parameter within a second time period, and the starting moment of the second time period is the starting moment of the ranging time period, The duration of the second time period is less than or equal to the duration of the ranging time period.
  • FIG. 4 shows a schematic diagram of a sending period of a beacon frame provided by an embodiment of the present application.
  • the sending period may include a first time period, a ranging management time period, and a ranging time period.
  • the first time period is used to transmit the beacon frame provided by the embodiment of the present application, and the beacon frame includes ranging parameters.
  • the ranging management time period is used to transmit network access requests and data interaction between networked devices.
  • the ranging management time period may include a contention access period (contention access period, RCAP) and a non-contention access period (contention-free) period, RCFP).
  • the ranging time period may include a second time period, and the second time period is used for the ranging device to perform ranging based on the ranging parameter.
  • Fig. 5 shows a schematic diagram of an existing sending cycle of a beacon frame.
  • the sending period may include a first time period, a ranging management time period, and a ranging time period. This first period of time is used to deliver existing beacon frames.
  • the ranging management time period is used to transmit network access requests and data interaction between network-connected devices, and the ranging management time period may include RCAP and RCFP.
  • the ranging time period may include a third time period and a second time period, the third time period is used to send RCM, the RCM includes ranging parameters, and the second time period is used by the ranging device to Do ranging.
  • the ranging device In the existing ranging method, if the ranging control device sends an RCM within the third time period, the ranging device needs to keep listening until the RCM message is received within the third time period, and then it can be used in the second time period. Ranging is performed based on the ranging parameters within the time period; or, if the ranging control device does not send RCM in the current sending cycle, the ranging device needs to keep listening until the ranging time period ends. Therefore, the power consumption of the ranging device is large.
  • the ranging control device sends a beacon frame within the first time period, and carries the ranging parameters in the beacon frame, that is, the third time period in the prior art
  • the ranging parameter sent within the first time period is sent in advance, then after entering the ranging time period, the ranging device can directly perform ranging based on the ranging parameter, that is, the ranging device does not need to be in the third time period Internally monitor the RCM to obtain the ranging parameters; in addition, if the ranging control device sends a beacon frame within the first time period, the beacon frame does not carry the ranging parameters, that is, there is no ranging task at present, then enter the After the time period, the ranging device can directly enter the dormant state. Therefore, the power consumption of the ranging device can be reduced by adopting the ranging method provided in the present application.
  • the distance measuring method provided by the embodiment of the present application is shown above with reference to FIG. 2 to FIG. 4 .
  • the distance measuring device and the distance measuring control device provided in the embodiments of the present application will be further introduced below.
  • FIG. 6 shows a schematic structural diagram of a ranging control device 300 provided by an embodiment of the present application.
  • the device 300 may be the distance measurement control device in the above method 200 .
  • the apparatus 300 may include: a generating unit 301 and a sending unit 302 .
  • the generation unit 301 is used to generate a beacon frame
  • the beacon frame includes a ranging parameter
  • the ranging parameter is used to issue a ranging task and allocate ranging resources for the ranging task
  • the sending unit 302 uses to send the beacon frame.
  • the ranging parameter includes at least one of the following items: ranging device management information, where the ranging device management information is used to indicate multiple ranging devices participating in the ranging task, the The role of each ranging device in the ranging task in the plurality of ranging devices, and the time when each ranging device performs the ranging task, the role includes the main ranging party and the ranging party; ranging Request information, the ranging request information is used to indicate whether the ranging task includes a request for measuring the direction angle or a request for measuring the range; ranging configuration information, the ranging configuration information is used to indicate the ranging mode of the ranging task and/or a ranging method; or, ranging key information, where the ranging key information is used to indicate the key used by each ranging device to encrypt data or decrypt data during the ranging process.
  • ranging device management information is used to indicate multiple ranging devices participating in the ranging task, the The role of each ranging device in the ranging task in the plurality of ranging devices, and the time when each ranging device perform
  • the beacon frame includes a frame header, where the frame header is used to bear the ranging parameter.
  • the sending unit 302 is specifically configured to: send the beacon frame within a first time period, and the starting moment of the first time period is the beginning of the sending period of the beacon frame time, and the duration of the first time period is shorter than the duration of the sending cycle.
  • One or more of the various units in the embodiment shown in FIG. 6 may be implemented by software, hardware, firmware or a combination thereof.
  • the software or firmware includes but is not limited to computer program instructions or codes, and can be executed by a hardware processor.
  • the hardware includes but not limited to various integrated circuits, such as central processing unit (central processing unit, CPU), digital signal processor (digital signal processor, DSP), field programmable gate array (field programmable gate array, FPGA) or dedicated Integrated circuit (application specific integrated circuit, ASIC).
  • FIG. 7 shows a schematic block diagram of a ranging control device 400 provided by an embodiment of the present application.
  • the device 400 may include a processor 401 and a communication interface 402 , and the processor 401 is coupled to the communication interface 402 .
  • the processor 401 in this embodiment of the present application may include one or more processing units.
  • the processing unit includes, but is not limited to, a CPU, a general processor, a DSP, an ASIC, an FPGA, a discrete gate or transistor logic device, or a discrete hardware component.
  • a general-purpose processor may be a microprocessor, a microcontroller, or any conventional processor or the like.
  • the processor 401 is configured to generate a beacon frame, which includes a ranging parameter, and the ranging parameter is used to issue a ranging task and allocate ranging resources for the ranging task; Beacon frame.
  • the device 400 can be the distance measurement control device described in the above-mentioned embodiment of the method 200, and the device 400 can be used to implement the distance measurement control device in the embodiment of the method 200 Corresponding processes and/or steps are not repeated here to avoid repetition.
  • the apparatus 400 may further include a memory 403 .
  • Memory 403 may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory.
  • the non-volatile memory can be read-only memory (read-only memory, ROM), programmable read-only memory (programmable ROM, PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically programmable Erases programmable read-only memory (electrically EPROM, EEPROM) or flash memory.
  • Volatile memory can be random access memory (RAM), which acts as external cache memory.
  • RAM random access memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • SDRAM double data rate synchronous dynamic random access memory
  • double data rate SDRAM double data rate SDRAM
  • DDR SDRAM enhanced synchronous dynamic random access memory
  • ESDRAM enhanced synchronous dynamic random access memory
  • serial link DRAM SLDRAM
  • direct memory bus random access memory direct rambus RAM, DR RAM
  • the memory 403 is used to store program codes and instructions of the ranging control device.
  • the memory 403 is also used to store data obtained by the processor 401 during execution of the foregoing method 200 embodiment, such as beacon frames and the like.
  • the memory 403 may be an independent device or integrated in the processor 401 .
  • FIG. 7 only shows a simplified design of the device 400 .
  • the device 400 can also include other necessary components, including but not limited to any number of communication interfaces, processors, selectors, memories, etc., and all devices 400 that can implement this application are listed in the scope of this application. within the scope of protection.
  • the device 400 may be a chip.
  • the chip may further include one or more memories for storing computer-executable instructions.
  • the processor may execute the computer-executable instructions stored in the memory, so that the chip performs the test in the above-mentioned method 200. The steps performed by the control device.
  • the chip device can be a field programmable gate array, an ASIC, a system chip, a central processing unit, a network processor, a digital signal processing circuit, a microcontroller, or a programmable controller for realizing related functions. or other integrated chips.
  • FIG. 8 shows a schematic structural diagram of a ranging device 500 provided by an embodiment of the present application.
  • the device 500 may be the ranging device in the above-mentioned method 200 .
  • the apparatus 500 may include: a receiving unit 501 and a ranging unit 502 .
  • the receiving unit 501 is used to receive a beacon frame
  • the beacon frame includes a ranging parameter
  • the ranging parameter is used for issuing a ranging task and allocating ranging resources for the ranging task.
  • the ranging unit 502 is used for performing ranging based on the ranging parameter.
  • the ranging parameter includes at least one of the following items: ranging device management information, where the ranging device management information is used to indicate multiple ranging devices participating in the ranging task, the The role of each ranging device in the ranging task in the plurality of ranging devices, and the time when each ranging device performs the ranging task, the role includes the main ranging party and the ranging party; ranging Request information, the ranging request information is used to indicate whether the ranging task includes a request for measuring the direction angle or a request for measuring the range; ranging configuration information, the ranging configuration information is used to indicate the ranging mode of the ranging task and/or a ranging method; or, ranging key information, where the ranging key information is used to indicate the key used by each ranging device to encrypt data or decrypt data during the ranging process.
  • ranging device management information is used to indicate multiple ranging devices participating in the ranging task, the The role of each ranging device in the ranging task in the plurality of ranging devices, and the time when each ranging device perform
  • the beacon frame includes a frame header, where the frame header is used to bear the ranging parameter.
  • the receiving unit 501 is specifically configured to: receive the beacon frame within a first time period, and the starting moment of the first time period is the beginning of the sending period of the beacon frame time, and the duration of the first time period is shorter than the duration of the sending cycle.
  • the sending period includes a ranging time period for ranging, and the starting time of the ranging time period is later than the ending time of the first time period, and the ranging unit 502 specifically uses During: In the second time period, the ranging is performed based on the ranging parameter, the starting moment of the second time period is the starting moment of the ranging time period, and the duration of the second time period is less than or equal to the The duration from the time period.
  • One or more of the various units in the embodiment shown in FIG. 8 may be implemented by software, hardware, firmware or a combination thereof.
  • the software or firmware includes but is not limited to computer program instructions or codes, and can be executed by a hardware processor.
  • the hardware includes but is not limited to various integrated circuits, such as CPU, DSP, FPGA or ASIC.
  • FIG. 9 shows a schematic block diagram of a ranging device 600 provided by an embodiment of the present application.
  • the device 600 may include a processor 601 and a communication interface 602 , and the processor 601 is coupled to the communication interface 602 .
  • the processor 601 in this embodiment of the present application may include one or more processing units.
  • the processing unit includes, but is not limited to, a CPU, a general processor, a DSP, an ASIC, an FPGA, a discrete gate or transistor logic device, or a discrete hardware component.
  • a general-purpose processor may be a microprocessor, a microcontroller, or any conventional processor or the like.
  • the processor 601 is used for the communication interface 602 to receive a beacon frame, the beacon frame includes a ranging parameter, and the ranging parameter is used for issuing a ranging task and allocating the ranging task. distance resources; perform ranging based on the ranging parameters.
  • the device 600 can be the distance measuring device described in the above-mentioned embodiment of the method 200, and the device 600 can be used to implement the method corresponding to the distance measuring device in the embodiment of the method 200. Various processes and/or steps are not repeated here to avoid repetition.
  • the apparatus 600 may further include a memory 603 .
  • Memory 603 may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory.
  • the non-volatile memory may be ROM, PROM, EPROM, EEPROM or flash memory.
  • Volatile memory can be RAM, which acts as external cache memory.
  • many forms of RAM are available such as SRAM, DRAM, SDRAM, DDR SDRAM, ESDRAM, SLDRAM, and DR RAM.
  • the memory 603 is used to store program codes and instructions of the distance measuring device.
  • the memory 603 is also used to store data obtained by the processor 601 during execution of the foregoing method 200 embodiment, such as beacon frames and the like.
  • the memory 603 may be an independent device or integrated in the processor 601 .
  • FIG. 9 only shows a simplified design of the device 600 .
  • the device 600 may also include other necessary components, including but not limited to any number of communication interfaces, processors, selectors, memories, etc., and all devices 600 that can implement this application are listed in the within the scope of protection.
  • the device 600 may be a chip.
  • the chip may further include one or more memories for storing computer-executable instructions.
  • the processor may execute the computer-executable instructions stored in the memory, so that the chip performs the test in the above-mentioned method 200. Steps performed by the device.
  • the chip device can be a field programmable gate array, an ASIC, a system chip, a central processing unit, a network processor, a digital signal processing circuit, a microcontroller, or a programmable controller for realizing relevant functions. or other integrated chips.
  • the embodiment of the present application also provides a ranging system, which may include the ranging control device as shown in Figure 6 and a plurality of ranging devices as shown in Figure 8; or, the ranging system may include: The ranging control device shown in FIG. 7 and a plurality of ranging devices as shown in FIG. 9 .
  • the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and when the computer instructions are run on the computer, the distance-measuring method described in the above-mentioned method embodiments (that is, the distance-measuring method) is implemented.
  • the method executed by the device) or the distance measurement control method that is, the method executed by the distance measurement control device.
  • the embodiment of the present application also provides a computer program product.
  • the distance measuring method that is, the method executed by the distance measuring device
  • the distance measurement control method that is, the method executed by the distance measuring device described in the above method embodiments is implemented.
  • the method executed by the ranging control device The method executed by the ranging control device).
  • the distance measuring device, distance measuring control device, computer-readable storage medium, computer program product or chip provided in the embodiments of the present application are all used to execute the corresponding method provided above, therefore, the beneficial effects it can achieve can refer to The beneficial effects described in the corresponding method provided above will not be repeated here.
  • sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, and should not be used in the embodiments of the present application.
  • the implementation process constitutes any limitation.
  • the disclosed systems, devices and methods can 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 network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: various media capable of storing program codes such as U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk.

Abstract

本申请提供一种测距方法和装置及测距控制方法和装置，能够降低测距装置的功耗。该测距控制方法可以包括：生成信标帧，该信标帧中包括测距参数，该测距参数用于发布测距任务和分配该测距任务用的测距资源；发送该信标帧。

Description

测距方法和装置及测距控制方法和装置
本申请要求于2022年02月22日递交的申请号为202210160255.9、申请名称为“测距方法和装置及测距控制方法和装置”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
本申请涉及测距技术领域，并且更具体地，涉及一种测距方法和装置及测距控制方法和装置。
背景技术
测距技术和定位技术在很多场景中都有着广泛并且极为重要的应用价值，如手机中的定位功能、测距功能、寻找功能等。其中，测距是实现定位的基础。
现有的测距方法中，测距控制装置在信标帧的发送周期中的测距时间段内广播测距控制消息(ranging control message，RCM)，该RCM用于所述测距参数用于发布测距任务和分配所述测距任务用的测距资源。相应地，所有具有测距功能的测距装置需要监听该RCM以确认是否参与测距任务，以及确定所述测距任务用的测距资源。
然而，在现有的测距方法中，监听范围内的所有测距装置都需要等读完整个RCM才能获知是否参与测距任务，以及确定测距任务用的测距资源，即使该测距控制装置在该发送周期内未发布RCM，所有测距装置也需要在整个用于测距的时间段内保持监听状态。因此，测距装置的功耗较大。
发明内容
本申请提供一种测距方法和装置及测距控制方法和装置，能够降低测距装置的功耗。
第一方面，本申请提供一种测距控制方法，该方法可以用于测距控制装置，该方法可以包括：生成信标帧，该信标帧中包括测距参数，该测距参数用于发布测距任务和分配该测距任务用的测距资源；发送该信标帧。
现有的信标帧的发送周期按照时间顺序可以包括第一时间段、测距管理时间段和测距时间段。该第一时间段用于传递现有的信标帧。该测距管理时间段用于传递入网请求以及已入网装置间的数据交互。该测距时间段按照时间顺序可以包括第三时间段和第二时间段，该第三时间段用于发送RCM，该RCM中包括测距参数，该第二时间段用于测距装置基于该测距参数进行测距。
在现有的测距方法中，若测距控制装置在该第三时间段内发送RCM，则测距装置需要一直保持监听状态直到第三时间段内接收到该RCM消息，然后才能在第二时间段内基于测距参数进行测距；或者，若该测距控制装置在本轮发送周期内不发送RCM，则测距装置需要一直保持监听状态直到测距时间段结束。因此，测距装置的功耗较大。
本申请提供的信标帧的发送周期按照时间顺序可以包括第一时间段、测距管理时间段 和测距时间段。该第一时间段用于传递本申请实施例提供的信标帧，该信标帧中包括测距参数。该测距管理时间段用于传递入网请求以及已入网装置间的数据交互。该测距时间段可以包括第二时间段，该第二时间段用于测距装置基于该测距参数进行测距。
在本申请提供的测距方法中，若测距控制装置在第一时间段内发送信标帧，并在该信标帧中携带测距参数，也即是将现有技术中在第三时间段内发送的测距参数提前至第一时间段内发送，则在进入测距时间段后，测距装置可以直接基于该测距参数进行测距，也即是测距装置无需在第三时间段内监听RCM以获得测距参数；此外，若测距控制装置在第一时间段内发送信标帧，该信标帧中未携带测距参数，也即是当前没有测距任务，则进入测距时间段之后，测距装置可以直接进入休眠状态。因此，采用本申请提供的测距方法可以降低测距装置的功耗。
在一种可能的实现方式中，该测距参数包括以下各项中的至少一项：测距装置管理信息，该测距装置管理信息用于指示参与测距任务的多个测距装置、该多个测距装置中每个测距装置在该测距任务中的角色，以及该每个测距装置执行该测距任务的时间，该角色包括主测距方和被测距方；测距请求信息，该测距请求信息用于指示该测距任务中是否包括测量方向角的请求或测量量程的请求；测距配置信息，该测距配置信息用于指示该测距任务的测距模式和/或测距方法；或者，测距密钥信息，该测距密钥信息用于指示该每个测距装置在测距过程中加密数据或解密数据用的密钥。
在一种可能的实现方式中，该信标帧包括帧头，该帧头用于承载该测距参数。
在一种可能的实现方式中，该发送该信标帧包括：在第一时间段内，发送该信标帧，该第一时间段的起始时刻为该信标帧的发送周期的起始时刻，且该第一时间段的时长小于该发送周期的时长。
第二方面，本申请提供一种测距方法，该方法可以用于测距装置，该方法可以包括：接收信标帧，该信标帧中包括测距参数，该测距参数用于该测距参数用于发布测距任务和分配该测距任务用的测距资源；基于该测距参数进行测距。
现有的信标帧的发送周期按照时间顺序可以包括第一时间段、测距管理时间段和测距时间段。该第一时间段用于传递现有的信标帧。该测距管理时间段用于传递入网请求以及已入网装置间的数据交互。该测距时间段按照时间顺序可以包括第三时间段和第二时间段，该第三时间段用于发送RCM，该RCM中包括测距参数，该第二时间段用于测距装置基于该测距参数进行测距。
在现有的测距方法中，若测距控制装置在该第三时间段内发送RCM，则测距装置需要一直保持监听状态直到第三时间段内接收到该RCM消息，然后才能在第二时间段内基于测距参数进行测距；或者，若该测距控制装置在本轮发送周期内不发送RCM，则测距装置需要一直保持监听状态直到测距时间段结束。因此，测距装置的功耗较大。
本申请提供的信标帧的发送周期按照时间顺序可以包括第一时间段、测距管理时间段和测距时间段。该第一时间段用于传递本申请实施例提供的信标帧，该信标帧中包括测距参数。该测距管理时间段用于传递入网请求以及已入网装置间的数据交互。该测距时间段可以包括第二时间段，该第二时间段用于测距装置基于该测距参数进行测距。
在本申请提供的测距方法中，若测距控制装置在第一时间段内发送信标帧，并在该信标帧中携带测距参数，也即是将现有技术中在第三时间段内发送的测距参数提前至第一时 间段内发送，则在进入测距时间段后，测距装置可以直接基于该测距参数进行测距，也即是测距装置无需在第三时间段内监听RCM以获得测距参数；此外，若测距控制装置在第一时间段内发送信标帧，该信标帧中未携带测距参数，也即是当前没有测距任务，则进入测距时间段之后，测距装置可以直接进入休眠状态。因此，采用本申请提供的测距方法可以降低测距装置的功耗。
在一种可能的实现方式中，该测距参数包括以下各项中的至少一项：测距装置管理信息，该测距装置管理信息用于指示参与测距任务的多个测距装置、该多个测距装置中每个测距装置在该测距任务中的角色，以及该每个测距装置执行该测距任务的时间，该角色包括主测距方和被测距方；测距请求信息，该测距请求信息用于指示该测距任务中是否包括测量方向角的请求或测量量程的请求；测距配置信息，该测距配置信息用于指示该测距任务的测距模式和/或测距方法；或者，测距密钥信息，该测距密钥信息用于指示该每个测距装置在测距过程中加密数据或解密数据用的密钥。
在一种可能的实现方式中，该信标帧包括帧头，该帧头用于承载该测距参数。
在一种可能的实现方式中，该接收信标帧，包括：在第一时间段内，接收该信标帧，该第一时间段的起始时刻为该信标帧的发送周期的起始时刻，且该第一时间段的时长小于该发送周期的时长。
在一种可能的实现方式中，该发送周期包括用于测距的测距时间段，该测距时间段的起始时刻晚于该第一时间段的结束时刻，该基于该测距参数进行测距，包括：在第二时间段内，基于该测距参数进行测距，该第二时间段的起始时刻为该测距时间段的起始时刻，该第二时间段的时长小于或等于该测距时间段的时长。
第三方面，本申请还提供一种测距控制装置，该装置可以包括：处理器和通信接口，该处理器和该通信接口耦合，该处理器用于：生成信标帧，该信标帧中包括测距参数，该测距参数用于发布测距任务和分配该测距任务用的测距资源；通过该通信接口发送该信标帧。
在一种可能的实现方式中，该测距参数包括以下各项中的至少一项：测距装置管理信息，该测距装置管理信息用于指示参与测距任务的多个测距装置、该多个测距装置中每个测距装置在该测距任务中的角色，以及该每个测距装置执行该测距任务的时间，该角色包括主测距方和被测距方；测距请求信息，该测距请求信息用于指示该测距任务中是否包括测量方向角的请求或测量量程的请求；测距配置信息，该测距配置信息用于指示该测距任务的测距模式和/或测距装置；或者，测距密钥信息，该测距密钥信息用于指示该每个测距装置在测距过程中加密数据或解密数据用的密钥。
在一种可能的实现方式中，该信标帧包括帧头，该帧头用于承载该测距参数。
在一种可能的实现方式中，该处理器具体用于：在第一时间段内，通过该通信接口发送该信标帧，该第一时间段的起始时刻为该信标帧的发送周期的起始时刻，且该第一时间段的时长小于该发送周期的时长。
第四方面，本申请还提供一种测距装置，该装置可以包括：处理器和通信接口，该处理器和该通信接口耦合，该处理器用于：通过该通信接口接收信标帧，该信标帧中包括测距参数，该测距参数用于该测距参数用于发布测距任务和分配该测距任务用的测距资源；基于该测距参数进行测距。
在一种可能的实现方式中，该测距参数包括以下各项中的至少一项：测距装置管理信息，该测距装置管理信息用于指示参与测距任务的多个测距装置、该多个测距装置中每个测距装置在该测距任务中的角色，以及该每个测距装置执行该测距任务的时间，该角色包括主测距方和被测距方；测距请求信息，该测距请求信息用于指示该测距任务中是否包括测量方向角的请求或测量量程的请求；测距配置信息，该测距配置信息用于指示该测距任务的测距模式和/或测距装置；或者，测距密钥信息，该测距密钥信息用于指示该每个测距装置在测距过程中加密数据或解密数据用的密钥。
在一种可能的实现方式中，该信标帧包括帧头，该帧头用于承载该测距参数。
在一种可能的实现方式中，该处理器具体用于：在第一时间段内，通过该通信接口接收该信标帧，该第一时间段的起始时刻为该信标帧的发送周期的起始时刻，且该第一时间段的时长小于该发送周期的时长。
在一种可能的实现方式中，该发送周期包括用于测距的测距时间段，该测距时间段的起始时刻晚于该第一时间段的结束时刻，该处理器具体用于：在第二时间段内，基于该测距参数进行测距，该第二时间段的起始时刻为该测距时间段的起始时刻，该第二时间段的时长小于或等于该测距时间段的时长。
第五方面，本申请还提供一种测距控制装置，该装置可以包括用于实现上述第一方面或其各种可能的实现方式中所述的方法的单元。
第六方面，本申请还提供一种测距装置，该装置可以包括用于实现上述第二方面或其各种可能的实现方式中所述的方法的单元。
第七方面，本申请还提供一种计算机可读存储介质，该计算机可读存储介质中存储有计算机程序，该计算机程序被至少一个处理器执行时用于实现上述各个方面或其任意可能的实现方式中所述的方法。
第八方面，本申请还提供一种计算机程序产品，当该计算机程序产品被至少一个处理器执行时用于实现上述各个方面或其任意可能的实现方式中所述的方法。
本申请提供的测距控制装置、测距装置、计算机存储介质和计算机程序产品均用于执行上文所提供的对应的方法，因此，其所能达到的有益效果可参考上文所提供的对应的方法中的有益效果，此处不再赘述。
附图说明
图1是本申请实施例提供的测距系统100的架构示意图；
图2是本申请实施例提供的测距方法200的流程示意图；
图3是本申请实施例提供的信标帧的格式示意图；
图4是本申请实施例提供的信标帧的发送周期的示意图；
图5是现有的信标帧的发送周期的示意图；
图6是本申请实施例提供的测距控制装置300的结构示意图；
图7是本申请实施例提供的测距控制装置400的结构示意图；
图8是本申请实施例提供的测距装置500的结构示意图；
图9是本申请实施例提供的测距装置600的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述。
首先介绍一下本申请提供的测距方法和装置以及测距控制方法和装置所应用的测距系统。
图1示出了本申请实施例提供的测距系统100的架构示意图。如图1所示，该系统100可以包括测距控制装置110和多个测距装置(如图1中示出的测距装置120和测距装置130)，该测距控制装置110、该测距装置120和该测距装置130之间可以进行通信。
需要说明的是，本申请中所述的测距控制装置110是指具有管理测距装置的能力的装置。本申请中所述的测距装置是指能够听从测距控制装置110的管理、具有使用测距控制装置110分配的资源进行测距(如测量与其它测距装置之间的距离)的能力的装置。
可选地，本申请对该测距控制装置110、该测距装置120和该测距装置130的具体形态不做限定。
在一种可能的实现方式中，该测距控制装置110、该测距装置120和该测距装置130为(或集成于)三个独立的设备；或者，该测距控制装置110和该测距装置120集成于同一个设备，该测距装置130为(或集成于)另一设备；或者，该测距控制装置110和该测距装置130集成于同一个设备，该测距装置120为(或集成于)另一设备。
示例的，该测距装置110为(或集成于)测距控制器，该测距装置120为(或集成于)第一终端，该测距装置130为(或集成于)第二终端。
示例的，该测距装置110和该测距装置120集成于第一终端，该测距装置130集成于第二终端。
需要说明的是，本申请实施例中所述的终端可以是一种向用户提供语音/数据连通性的设备，例如：具有无线连接功能的手持式设备、车载设备等。目前，一些终端的举例为：手机(mobile phone)、平板电脑、笔记本电脑、掌上电脑、移动互联网设备(mobile internet device，MID)、可穿戴设备，虚拟现实(virtual reality，VR)设备、增强现实(augmented reality，AR)设备、无人驾驶(self driving)中的无线终端、蜂窝电话、无绳电话、会话启动协议(session initiation protocol，SIP)电话、个人数字助理(personal digital assistant，PDA)、具有无线通信功能的手持设备、计算设备、车载设备、可穿戴设备，5G网络中的终端设备或者未来演进的公用陆地移动通信网络(public land mobile network，PLMN)中的终端设备等，本申请实施例对此并不限定。
还需要说明的是，可穿戴设备也可以称为穿戴式智能设备，是应用穿戴式技术对日常穿戴进行智能化设计、开发出可以穿戴的设备的总称，如眼镜、手套、手表、服饰及鞋等。可穿戴设备即直接穿在身上，或是整合到用户的衣服或配件的一种便携式设备。
可选地，该测距控制装置110、该测距装置120和该测距装置130之间可以通过多种方式进行通信，本申请对此不做限定。
在一种可能的实现方式中，该测距控制装置110、该测距装置120和该测距装置130之间可以通过有线方式进行通信。
示例的，上述有线方式可以为通过数据线连接、或通过内部总线连接实现通信。
在另一种可能的实现方式中，该测距控制装置110、该测距装置120和该测距装置130之间可以通过无线方式进行通信。
示例的，上述无线方式可以为通过通信网络实现通信。
可选地，该通信网络可以是局域网，也可以是通过中继(relay)设备转接的广域网，或者包括局域网和广域网。当该通信网络为局域网时，示例性的，该通信网络可以是wifi热点网络、wifi P2P网络、蓝牙网络、zigbee网络或近场通信(near field communication，NFC)网或者未来可能的通用短距离通信网络。当该通信网络为广域网时，示例性的，该通信网络可以是第三代移动通信技术(3rd-generation wireless telephone technology，3G)网络、第四代移动通信技术(the 4th generation mobile communication technology，4G)网络、第五代移动通信技术(5th-generation mobile communication technology，5G)网络、PLMN或因特网等，本申请实施例对此不作限定。
上面结合图1介绍了本申请实施例提供的测距系统，下面将进一步介绍用于上述测距系统的测距方法。
图2示出了本申请实施例提供的测距方法200的流程示意图。如图2所示，该方法200可以用于上述测距系统100。该方法200可以包括以下步骤，需要说明的是，以下所列步骤可以以各种顺序执行和/或同时发生，不限于图2所示的执行顺序。
S201.测距控制装置生成信标帧，该信标帧中包括测距参数，该测距参数用于发布测距任务和分配该测距任务用的测距资源。
可选地，该测距参数可以包括但不限于以下信息中的至少一个：测距装置管理信息、测距请求信息、测距配置信息或测距密钥信息。其中，该测距装置管理信息用于指示参与测距任务的多个测距装置、该多个测距装置中每个测距装置在该测距任务中的角色和该每个测距装置执行该测距任务的时间，该角色包括主测距方和被测距方；该测距请求信息用于指示该测距任务中是否包括测量方向角的请求或测量量程的请求；该测距配置信息用于指示该测距任务的测距模式和/或测距方法；该测距密钥信息用于指示该每个测距装置在测距过程中加密数据或解密数据用的密钥。
在一种可能的实现方式中，该信标帧可以包括帧头，该帧头用于承载该测距参数。
示例的，以媒体接入控制(medium access control，MAC)信标帧为例，图3示出了本申请实施例提供的信标帧的格式示意图。如图3所示，该信标帧可以由帧头(header)也称为帧头、可变长度的帧体(frame body)和4个字节(或2个字节)的帧校验序列(frame check sequence，FCS)构成。
在一种可能的实现方式中，该帧体该帧头可以包括：2个字节的帧控制(frame control)字段、2个字节的持续时间(duration)字段、6个字节的地址域字段、1～10个字节的辅助安全头(auxiliary security header)字段和可变长度的至少一个信息元素(information element，IE)字段(如图3中的IE1)。需要说明的是，本段中除IE字段外的各字段均为现有字段，现有字段中承载的具体内容可以参考现有技术，此处不再赘述。
在一种可能的实现方式中，该至少一个IE字段可以包括但不限于以下字段中的至少一个字段：
(1)测距装置管理(ranging device management，RDM)IE字段，用于承载上述测距装置管理信息。
示例的，该测距装置管理IE字段可以包括但不限于以下字段中的至少一个字段：地址字段、角色字段或时间字段。其中，该地址字段用于承载参与本次测距任务的多个测距 装置的MAC地址，该角色字段用于指示该多个测距装置中的每个测距装置在本次测距任务中的角色，该角色包括主测距方或被测距方，该时间字段用于指示该每个测距装置执行本次测距任务的时间。
(2)加扰时间戳序列数据包配置选项三(scrambled timestamp sequence packet configuration option three，SP3)测距请求报告(SP3ranging request report，SRRR)IE字段，用于承载上述测距请求信息。
示例的，该SP3测距请求报告IE字段可以包括但不限于以下字段中的至少一个字段：到达角测距(angle-of-arrival，AOA)字段或回复时间报告(report of reply time，RRT)字段。其中，该AOA字段用于指示本次测距任务是否需要AOA，RRT字段用于指示本次测距任务是否需要RRT。
(3)增强测距控制(advanced ranging control，ARC)IE字段，用于承载上述测距配置信息。
示例的，该ARC IE字段可以包括但不限于以下字段中的至少一个字段：测距模式字段或测距方法字段。其中，该测距模式字段用于指示本次测距任务的测距模式，该测距模式可以包括1对1模式(即1个主测量方和1个被测量方)或1对多模式(即1个主测量方和多个被测量方)，该测距方法字段用于指示本次测距任务用的测距方法，该测距方法可以包括单面双向测距(single-sided two-way ranging，SS-TWR)、双面双向测距(double-sided two-way ranging，DS-TWR)或扰码时间戳序列(scrambled timestamp sequence，STS)包格式。
(4)测距STS密钥和数据(ranging STS key and data，RSKD)IE字段，用于承载上述测距密钥信息。
示例的，该测距STS密钥和数据IE字段可以承载用于生成STS密钥的种子。
S202.该测距控制装置发送该信标帧。相应地，测距装置接收该信标帧。
可选地，该测距控制装置可以通过多种发送方式发送该信标帧。
在一种可能的实现方式中，该测距控制装置可以采用单播方式发送该信标帧。也就是说，所有参与本次测距任务的测距装置都可以接收该信标帧。
在另一种可能的实现方式中，该测距控制装置可以采用组播方式向参与本次测距任务的测距装置组发送该信标帧。也就是说，该测距装置组中的测距装置共享同一个MAC地址，只有属于该测距装置组的测距装置可以接收该信标帧。
在又一种可能的实现方式中，该测距控制装置可以广播该信标帧。也就是说，所有测距装置都可以接收该信标帧。
可选地，该测距控制装置可以基于预设的发送周期，周期性发送该信标帧。
在一种可能的实现方式中，该测距控制装置可以在第一时间段内，发送该信标帧，其中，该第一时间段的起始时刻为该信标帧的发送周期的起始时刻，且该第一时间段的时长小于该发送周期的时长。
S203.该测距装置基于该测距参数进行测距。
可选地，该测距装置可以基于该测距参数进行一次或多次测距，本申请对此不做限定。
在一种可能的实现方式中，该测距装置可以在第二时间段内，基于该测距参数进行测距，该第二时间段的起始时刻为该测距时间段的起始时刻，该第二时间段的时长小于或等 于该测距时间段的时长。
示例的，图4示出了本申请实施例提供的信标帧的发送周期的示意图。如图4所示，该发送周期可以包括第一时间段、测距管理时间段和测距时间段。该第一时间段用于传递本申请实施例提供的信标帧，该信标帧中包括测距参数。该测距管理时间段用于传递入网请求以及已入网装置间的数据交互，该测距管理时间段可以包括竞争接入时间段(contention access period，RCAP)和非竞争接入时段(contention-free period，RCFP)。该测距时间段可以包括第二时间段，该第二时间段用于测距装置基于该测距参数进行测距。
图5示出了现有的信标帧的发送周期的示意图。如图5所示，该发送周期可以包括第一时间段、测距管理时间段和测距时间段。该第一时间段用于传递现有的信标帧。该测距管理时间段用于传递入网请求以及已入网装置间的数据交互，该测距管理时间段可以包括RCAP和RCFP。该测距时间段可以包括第三时间段和第二时间段，该第三时间段用于发送RCM，该RCM中包括测距参数，该第二时间段用于测距装置基于该测距参数进行测距。
在现有的测距方法中，若测距控制装置在该第三时间段内发送RCM，则测距装置需要一直保持监听状态直到第三时间段内接收到该RCM消息，然后才能在第二时间段内基于测距参数进行测距；或者，若该测距控制装置在本轮发送周期内不发送RCM，则测距装置需要一直保持监听状态直到测距时间段结束。因此，测距装置的功耗较大。
而本申请提供的测距方法，若测距控制装置在第一时间段内发送信标帧，并在该信标帧中携带测距参数，也即是将现有技术中在第三时间段内发送的测距参数提前至第一时间段内发送，则在进入测距时间段后，测距装置可以直接基于该测距参数进行测距，也即是测距装置无需在第三时间段内监听RCM以获得测距参数；此外，若测距控制装置在第一时间段内发送信标帧，该信标帧中未携带测距参数，也即是当前没有测距任务，则进入测距时间段之后，测距装置可以直接进入休眠状态。因此，采用本申请提供的测距方法可以降低测距装置的功耗。
上面结合图2至图4示出了本申请实施例提供的测距方法。下面将进一步介绍本申请实施例提供的测距装置和测距控制装置。
图6示出了本申请实施例提供的测距控制装置300的结构示意图。如图6所示，该装置300可以为上述方法200中的测距控制装置。该装置300可以包括：生成单元301和发送单元302。其中，该生成单元301用于生成信标帧，该信标帧中包括测距参数，该测距参数用于发布测距任务和分配该测距任务用的测距资源；该发送单元302用于发送该信标帧。
在一种可能的实现方式中，该测距参数包括以下各项中的至少一项：测距装置管理信息，该测距装置管理信息用于指示参与测距任务的多个测距装置、该多个测距装置中每个测距装置在该测距任务中的角色，以及该每个测距装置执行该测距任务的时间，该角色包括主测距方和被测距方；测距请求信息，该测距请求信息用于指示该测距任务中是否包括测量方向角的请求或测量量程的请求；测距配置信息，该测距配置信息用于指示该测距任务的测距模式和/或测距方法；或者，测距密钥信息，该测距密钥信息用于指示该每个测距装置在测距过程中加密数据或解密数据用的密钥。
在一种可能的实现方式中，该信标帧包括帧头，该帧头用于承载该测距参数。
在一种可能的实现方式中，该发送单元302具体用于：在第一时间段内，发送该信标帧，该第一时间段的起始时刻为该信标帧的发送周期的起始时刻，且该第一时间段的时长小于该发送周期的时长。
图6所示实施例中的各个单元中的一个或多个可以通过软件、硬件、固件或其结合实现。该软件或固件包括但不限于计算机程序指令或代码，并可以被硬件处理器所执行。该硬件包括但不限于各类集成电路，如中央处理单元(central processing unit，CPU)、数字信号处理器(digital signal processor，DSP)、现场可编程门阵列(field programmable gate array，FPGA)或专用集成电路(application specific integrated circuit，ASIC)。
图7示出了本申请实施例提供的测距控制装置400的示意性框图，该装置400可以包括处理器401和通信接口402，该处理器401与该通信接口402耦合。
本申请实施例中的处理器401可以包括一个或多个处理单元。可选地，该处理单元包括但不限于CPU、通用处理器、DSP、ASIC、FPGA、分立门或者晶体管逻辑器件或分立硬件组件等。通用处理器可以是微处理器、微控制器或者是任何常规的处理器等。
例如，处理器401用于生成信标帧，该信标帧中包括测距参数，该测距参数用于发布测距任务和分配该测距任务用的测距资源；通过通信接口402发送该信标帧。
在一个可选例子中，本领域技术人员可以理解，该装置400可以为上述方法200实施例中所述的测距控制装置，该装置400可以用于执行方法200实施例中与测距控制装置对应的各个流程和/或步骤，为避免重复，在此不再赘述。
可选地，该装置400还可以包括存储器403。
存储器403可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(random access memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，DR RAM)。
具体地，存储器403用于存储测距控制装置的程序代码和指令。可选地，存储器403还用于存储处理器401执行上述方法200实施例过程中获得的数据，如信标帧等。
可选地，存储器403可以为单独的器件或集成在处理器401中。
需要说明的是，图7仅仅示出了该装置400的简化设计。在实际应用中，该装置400还可以分别包含必要的其他元件，包含但不限于任意数量的通信接口、处理器、选择器、存储器等，而所有可以实现本申请的装置400都在本申请的保护范围之内。
在一种可能的设计中，该装置400可以为芯片。可选地，该芯片还可以包括一个或多个存储器，用于存储计算机执行指令，当该芯片装置运行时，处理器可执行存储器存储的计算机执行指令，以使芯片执行上述方法200中该测距控制装置执行的步骤。
可选地，该芯片装置可以为实现相关功能的现场可编程门阵列，专用集成芯片，系统芯片，中央处理器，网络处理器，数字信号处理电路，微控制器，还可以采用可编程控制器或其他集成芯片。
图8示出了本申请实施例提供的测距装置500的结构示意图。如图8所示，该装置500可以为上述方法200中的测距装置。该装置500可以包括：接收单元501和测距单元502。其中，该接收单元501用于接收信标帧，该信标帧中包括测距参数，该测距参数用于该测距参数用于发布测距任务和分配该测距任务用的测距资源；该测距单元502用于基于该测距参数进行测距。
在一种可能的实现方式中，该测距参数包括以下各项中的至少一项：测距装置管理信息，该测距装置管理信息用于指示参与测距任务的多个测距装置、该多个测距装置中每个测距装置在该测距任务中的角色，以及该每个测距装置执行该测距任务的时间，该角色包括主测距方和被测距方；测距请求信息，该测距请求信息用于指示该测距任务中是否包括测量方向角的请求或测量量程的请求；测距配置信息，该测距配置信息用于指示该测距任务的测距模式和/或测距方法；或者，测距密钥信息，该测距密钥信息用于指示该每个测距装置在测距过程中加密数据或解密数据用的密钥。
在一种可能的实现方式中，该信标帧包括帧头，该帧头用于承载该测距参数。
在一种可能的实现方式中，该接收单元501具体用于：在第一时间段内，接收该信标帧，该第一时间段的起始时刻为该信标帧的发送周期的起始时刻，且该第一时间段的时长小于该发送周期的时长。
在一种可能的实现方式中，该发送周期包括用于测距的测距时间段，该测距时间段的起始时刻晚于该第一时间段的结束时刻，该测距单元502具体用于：在第二时间段内，基于该测距参数进行测距，该第二时间段的起始时刻为该测距时间段的起始时刻，该第二时间段的时长小于或等于该测距时间段的时长。
图8所示实施例中的各个单元中的一个或多个可以通过软件、硬件、固件或其结合实现。该软件或固件包括但不限于计算机程序指令或代码，并可以被硬件处理器所执行。该硬件包括但不限于各类集成电路，如CPU、DSP、FPGA或ASIC。
图9示出了本申请实施例提供的测距装置600的示意性框图，该装置600可以包括处理器601和通信接口602，该处理器601与该通信接口602耦合。
本申请实施例中的处理器601可以包括一个或多个处理单元。可选地，该处理单元包括但不限于CPU、通用处理器、DSP、ASIC、FPGA、分立门或者晶体管逻辑器件或分立硬件组件等。通用处理器可以是微处理器、微控制器或者是任何常规的处理器等。
例如，处理器601用于通信接口602接收信标帧，该信标帧中包括测距参数，该测距参数用于该测距参数用于发布测距任务和分配该测距任务用的测距资源；基于该测距参数进行测距。
在一个可选例子中，本领域技术人员可以理解，该装置600可以为上述方法200实施例中所述的测距装置，该装置600可以用于执行方法200实施例中与测距装置对应的各个流程和/或步骤，为避免重复，在此不再赘述。
可选地，该装置600还可以包括存储器603。
存储器603可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储 器两者。其中，非易失性存储器可以是ROM、PROM、EPROM、EEPROM或闪存。易失性存储器可以是RAM，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如SRAM、DRAM、SDRAM、DDR SDRAM、ESDRAM、SLDRAM和DR RAM。
具体地，存储器603用于存储测距装置的程序代码和指令。可选地，存储器603还用于存储处理器601执行上述方法200实施例过程中获得的数据，如信标帧等。
可选地，存储器603可以为单独的器件或集成在处理器601中。
需要说明的是，图9仅仅示出了该装置600的简化设计。在实际应用中，该装置600还可以分别包含必要的其他元件，包含但不限于任意数量的通信接口、处理器、选择器、存储器等，而所有可以实现本申请的装置600都在本申请的保护范围之内。
在一种可能的设计中，该装置600可以为芯片。可选地，该芯片还可以包括一个或多个存储器，用于存储计算机执行指令，当该芯片装置运行时，处理器可执行存储器存储的计算机执行指令，以使芯片执行上述方法200中该测距装置执行的步骤。
可选地，该芯片装置可以为实现相关功能的现场可编程门阵列，专用集成芯片，系统芯片，中央处理器，网络处理器，数字信号处理电路，微控制器，还可以采用可编程控制器或其他集成芯片。
本申请实施例还提供一种测距系统，该测距系统可以包括如图6所述的测距控制装置和多个如图8所述的测距装置；或者，该测距系统可以包括如图7所述的测距控制装置和多个如图9所示的测距装置。
本申请实施例还提供一种计算机可读存储介质，该计算机可读存储介质中存储有计算机指令，当该计算机指令在计算机上运行时，实现上述方法实施例描述的测距方法(即测距装置执行的方法)或测距控制方法(即测距控制装置执行的方法)。
本申请实施例还提供一种计算机程序产品，当该计算机程序产品在处理器上运行时，实现上述方法实施例描述的测距方法(即测距装置执行的方法)或测距控制方法(即测距控制装置执行的方法)。
本申请实施例提供的测距装置、测距控制装置、计算机可读存储介质、计算机程序产品或芯片均用于执行上文所提供的对应的方法，因此，其所能达到的有益效果可参考上文所提供的对应的方法中所述的有益效果，此处不再赘述。
应理解，在本申请的各种实施例中，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。
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，或者网络设备等)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、ROM、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所述以权利要求的保护范围为准。

Claims (20)

  1. 一种测距控制方法，其特征在于，包括：
    生成信标帧，所述信标帧中包括测距参数，所述测距参数用于发布测距任务和分配所述测距任务用的测距资源；
    发送所述信标帧。
  2. 根据权利要求1所述的方法，其特征在于，所述测距参数包括以下各项中的至少一项：
    测距装置管理信息，所述测距装置管理信息用于指示参与测距任务的多个测距装置、所述多个测距装置中每个测距装置在所述测距任务中的角色，以及所述每个测距装置执行所述测距任务的时间，所述角色包括主测距方和被测距方；
    测距请求信息，所述测距请求信息用于指示所述测距任务中是否包括测量方向角的请求或测量量程的请求；
    测距配置信息，所述测距配置信息用于指示所述测距任务的测距模式和/或测距方法；或者，
    测距密钥信息，所述测距密钥信息用于指示所述每个测距装置在测距过程中加密数据或解密数据用的密钥。
  3. 根据权利要求1或2所述的方法，其特征在于，所述信标帧包括帧头，所述帧头用于承载所述测距参数。
  4. 根据权利要求1-3中任一项所述的方法，其特征在于，所述发送所述信标帧包括：
    在第一时间段内，发送所述信标帧，所述第一时间段的起始时刻为所述信标帧的发送周期的起始时刻，且所述第一时间段的时长小于所述发送周期的时长。
  5. 一种测距方法，其特征在于，包括：
    接收信标帧，所述信标帧中包括测距参数，所述测距参数用于所述测距参数用于发布测距任务和分配所述测距任务用的测距资源；
    基于所述测距参数进行测距。
  6. 根据权利要求5所述的方法，其特征在于，所述测距参数包括以下各项中的至少一项：
    测距装置管理信息，所述测距装置管理信息用于指示参与测距任务的多个测距装置、所述多个测距装置中每个测距装置在所述测距任务中的角色，以及所述每个测距装置执行所述测距任务的时间，所述角色包括主测距方和被测距方；
    测距请求信息，所述测距请求信息用于指示所述测距任务中是否包括测量方向角的请求或测量量程的请求；
    测距配置信息，所述测距配置信息用于指示所述测距任务的测距模式和/或测距方法；或者，
    测距密钥信息，所述测距密钥信息用于指示所述每个测距装置在测距过程中加密数据或解密数据用的密钥。
  7. 根据权利要求5或6所述的方法，其特征在于，所述信标帧包括帧头，所述帧头用于承载所述测距参数。
  8. 根据权利要求5-7中任一项所述的方法，其特征在于，所述接收信标帧，包括：
    在第一时间段内，接收所述信标帧，所述第一时间段的起始时刻为所述信标帧的发送周期的起始时刻，且所述第一时间段的时长小于所述发送周期的时长。
  9. 根据权利要求8所述的方法，其特征在于，所述发送周期包括用于测距的测距时间段，所述测距时间段的起始时刻晚于所述第一时间段的结束时刻，所述基于所述测距参数进行测距，包括：
    在第二时间段内，基于所述测距参数进行测距，所述第二时间段的起始时刻为所述测距时间段的起始时刻，所述第二时间段的时长小于或等于所述测距时间段的时长。
  10. 一种测距控制装置，其特征在于，包括：处理器和通信接口，所述处理器和所述通信接口耦合，所述处理器用于：
    生成信标帧，所述信标帧中包括测距参数，所述测距参数用于发布测距任务和分配所述测距任务用的测距资源；
    通过所述通信接口发送所述信标帧。
  11. 根据权利要求10所述的装置，其特征在于，所述测距参数包括以下各项中的至少一项：
    测距装置管理信息，所述测距装置管理信息用于指示参与测距任务的多个测距装置、所述多个测距装置中每个测距装置在所述测距任务中的角色，以及所述每个测距装置执行所述测距任务的时间，所述角色包括主测距方和被测距方；
    测距请求信息，所述测距请求信息用于指示所述测距任务中是否包括测量方向角的请求或测量量程的请求；
    测距配置信息，所述测距配置信息用于指示所述测距任务的测距模式和/或测距装置；或者，
    测距密钥信息，所述测距密钥信息用于指示所述每个测距装置在测距过程中加密数据或解密数据用的密钥。
  12. 根据权利要求10或11所述的装置，其特征在于，所述信标帧包括帧头，所述帧头用于承载所述测距参数。
  13. 根据权利要求10-12中任一项所述的装置，其特征在于，所述处理器具体用于：
    在第一时间段内，通过所述通信接口发送所述信标帧，所述第一时间段的起始时刻为所述信标帧的发送周期的起始时刻，且所述第一时间段的时长小于所述发送周期的时长。
  14. 一种测距装置，其特征在于，包括：处理器和通信接口，所述处理器和所述通信接口耦合，所述处理器用于：
    通过所述通信接口接收信标帧，所述信标帧中包括测距参数，所述测距参数用于所述测距参数用于发布测距任务和分配所述测距任务用的测距资源；
    基于所述测距参数进行测距。
  15. 根据权利要求14所述的装置，其特征在于，所述测距参数包括以下各项中的至少一项：
    测距装置管理信息，所述测距装置管理信息用于指示参与测距任务的多个测距装置、所述多个测距装置中每个测距装置在所述测距任务中的角色，以及所述每个测距装置执行所述测距任务的时间，所述角色包括主测距方和被测距方；
    测距请求信息，所述测距请求信息用于指示所述测距任务中是否包括测量方向角的请求或测量量程的请求；
    测距配置信息，所述测距配置信息用于指示所述测距任务的测距模式和/或测距装置；或者，
    测距密钥信息，所述测距密钥信息用于指示所述每个测距装置在测距过程中加密数据或解密数据用的密钥。
  16. 根据权利要求14或15所述的装置，其特征在于，所述信标帧包括帧头，所述帧头用于承载所述测距参数。
  17. 根据权利要求14-16中任一项所述的装置，其特征在于，所述处理器具体用于：
    在第一时间段内，通过所述通信接口接收所述信标帧，所述第一时间段的起始时刻为所述信标帧的发送周期的起始时刻，且所述第一时间段的时长小于所述发送周期的时长。
  18. 根据权利要求17所述的装置，其特征在于，所述发送周期包括用于测距的测距时间段，所述测距时间段的起始时刻晚于所述第一时间段的结束时刻，所述处理器具体用于：
    在第二时间段内，基于所述测距参数进行测距，所述第二时间段的起始时刻为所述测距时间段的起始时刻，所述第二时间段的时长小于或等于所述测距时间段的时长。
  19. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机程序，该计算机程序被至少一个处理器执行时用于实现如权利要求1-9中任一项所述的方法。
  20. 一种计算机程序产品，其特征在于，当所述计算机程序产品被至少一个处理器执行时用于实现如权利要求1-9中任一项所述的方法。
PCT/CN2022/141265 2022-02-22 2022-12-23 测距方法和装置及测距控制方法和装置 WO2023160195A1 (zh)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050282558A1 (en) * 2004-06-21 2005-12-22 Korea Electrotechnology Research Institute System and method for asynchronous wireless positioning by ordered transmission
CN101064963A (zh) * 2007-05-31 2007-10-31 北京威讯紫晶科技有限公司 一种信标无线个域网中中心节点与设备节点间的测距方法
CN112205008A (zh) * 2020-09-03 2021-01-08 北京小米移动软件有限公司 测距的方法、通信节点、通信设备及存储介质
CN112714394A (zh) * 2020-12-11 2021-04-27 成都四相致新科技有限公司 一种多标签测距方法、系统、存储介质及终端

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050282558A1 (en) * 2004-06-21 2005-12-22 Korea Electrotechnology Research Institute System and method for asynchronous wireless positioning by ordered transmission
CN101064963A (zh) * 2007-05-31 2007-10-31 北京威讯紫晶科技有限公司 一种信标无线个域网中中心节点与设备节点间的测距方法
CN112205008A (zh) * 2020-09-03 2021-01-08 北京小米移动软件有限公司 测距的方法、通信节点、通信设备及存储介质
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