WO2023207593A1 - 应用于超带宽uwb系统感知测量的方法和装置 - Google Patents

应用于超带宽uwb系统感知测量的方法和装置 Download PDF

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Publication number
WO2023207593A1
WO2023207593A1 PCT/CN2023/087787 CN2023087787W WO2023207593A1 WO 2023207593 A1 WO2023207593 A1 WO 2023207593A1 CN 2023087787 W CN2023087787 W CN 2023087787W WO 2023207593 A1 WO2023207593 A1 WO 2023207593A1
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Prior art keywords
sensing
sensing signal
responder
round
channel
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PCT/CN2023/087787
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English (en)
French (fr)
Inventor
孙黎
刘鹏
王宇威
吴宽
钱彬
杨讯
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华为技术有限公司
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Publication of WO2023207593A1 publication Critical patent/WO2023207593A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/69—Spread spectrum techniques
    • H04B1/7163—Spread spectrum techniques using impulse radio
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/08—Testing, supervising or monitoring using real traffic

Definitions

  • Embodiments of the present application relate to the field of communications, and more specifically, to a method and device for sensing measurement of ultra-bandwidth UWB systems.
  • Ultra wideband (UWB) technology is a wireless carrier communication technology that uses nanosecond-level non-sinusoidal narrow pulses to transmit data. Because its pulses are very narrow and the radiation spectrum density is extremely low, the UWB system has the advantages of strong multipath resolution, low power consumption, and strong confidentiality.
  • This application provides a method for sensing measurement of ultra-bandwidth UWB systems, in order to improve the accuracy of UWB sensing.
  • the first aspect provides a method for sensing measurement of ultra-bandwidth UWB systems.
  • This method can be performed by the initiating device, or it can also be performed by components (such as chips or circuits) of the initiating device. No further modifications are made to this. Limitation, for convenience of description, the following description takes execution by the initiating device as an example.
  • the method includes: the initiating device receives sensing signals in one or more sensing rounds, each sensing round including at least two time slots. Specifically, the initiating device receives the first time slot in the first sensing round. Receive the first sensing signal from the first responder device and the second sensing signal from the second responder device; the initiating device receives the first sensing signal from the first responder device in the second time slot in the first sensing round. The third sensing signal and the fourth sensing signal of the second responder device; the initiating device estimates the first channel based on the first sensing signal, the second sensing signal, the third sensing signal and the fourth sensing signal.
  • the channel impulse response CIR and the CIR of the second channel wherein the first channel is a channel between the initiator device and the first responder device, and the second channel is the initiator device and the second responder device channel between.
  • the first perception wheel is any perception wheel in the perception process.
  • the initiating device can receive multiple responses from multiple responding devices (such as the first responding device and the second responding device) in different time slots in the sensing wheel. a sensory signal, And jointly process the sensing signals received in the sensing round to obtain channel information between the initiating device and different responding devices to complete the sensing process. Since multiple responder devices cooperate and participate in the sensing process, compared to the sensing process in which one responder device participates, the power amplification factor of the signal when estimating channel information is twice the noise power amplification factor, thereby improving the equivalent signal Noise ratio, improve the accuracy of perception.
  • the initiating device receives the first sensing signal from the first responding device and the second sensing signal from the second responding device in the first time slot, including: the initiating device receives the first sensing signal from the first responding device in the first time slot.
  • the first sensing signal from the first responder device is received at the first time; the initiating device receives the second sensing signal from the second responder device at the second time in the first time slot.
  • the initiating device receives the third sensing signal from the first responding device and the fourth sensing signal from the second responding device in the second time slot, including: the initiating device receives the third sensing signal in the second time slot.
  • the third sensing signal from the first responder device is received at three times; the initiating device receives the fourth sensing signal from the second responder device at the fourth time in the second time slot.
  • the first time and the second time are the same, or the time difference between the first time and the second time is less than a first threshold; the third time and the fourth time are the same, or the third time and the third time are the same.
  • the time difference between the fourth moment is less than the first threshold, and the first threshold is related to the channel impulse response (Channel Impulse Response, CIR) value of the first channel and the second channel.
  • CIR Channel Impulse Response
  • the initiating device can receive sensing signals from different responding devices at the same time in a certain time slot of a sensing wheel, or due to limitations of device characteristics, unsatisfactory transmission environment and other factors, the initiating device may It is sufficient that the interval between the moments when sensing signals from different responder devices are received in a certain time slot of a sensing wheel meets a certain threshold limit. This allows multiple responder devices to participate in the sensing process in a collaborative manner, thereby improving the accuracy of CIR estimation of the initiating device and improving sensing accuracy.
  • the method further includes: the initiating device sending a first indication encrypted based on the first key to the first responding device and the second responding device.
  • Information the first indication information is used to indicate the codebook corresponding to each sensing round, the first sensing signal, the second sensing signal, the third sensing signal and the fourth sensing signal are based on the codebook corresponding to the first sensing round.
  • the codebook and public sequence are determined, wherein the first key is a key known to the first responder device, the second responder device and the initiator device.
  • the initiating device can encrypt the first indication information for instructing the codebook for generating the sensing signal and then send it to the responding device, so that the responding device can generate the sensing signal. Since the information indicating the codebook is encrypted , which can prevent other devices (such as malicious users) from accurately inferring the CIR of the channel based on the received sensing signals.
  • the method further includes: the initiating device receiving second indication information from the sensing request device, the second indication information being used to indicate the code corresponding to each sensing wheel.
  • the first sensing signal, the second sensing signal, the third sensing signal and the fourth sensing signal are determined based on the codebook and the public sequence corresponding to the first sensing round, wherein the second indication information includes based on the first sensing round.
  • the index of the codebook corresponding to each sensing round encrypted by two keys. The second key is known to the first responder device, the second responder device, the sensing requesting device and the initiating device. key.
  • the information used to indicate the codebook for generating the sensing signal can be encrypted by the sensing requesting device and then broadcast to the devices in the sensing system. Since the index of the codebook is encrypted It can prevent other devices (such as malicious users) from accurately inferring the CIR of the channel based on the received sensing signals.
  • the sensing requesting device is the first responder device.
  • the sensing requesting device in the sensing system can have the function of the responding device sending sensing signals, so that the initiating device in the sensing system including the sensing requesting device, a responding device and the initiating device can perform the sensing round.
  • Receive multiple sensing signals from multiple responder devices such as the sensing requesting device and the second responder device) in different time slots, and jointly process the sensing signals received in this sensing round to obtain the initiated Channel information between end devices and different responding end devices to complete the sensing process.
  • the sensing signal can be obtained from the codewords and public sequences in the codebook through simple multiplication operations, in order to reduce the complexity of the solution.
  • the codebook is any one of the following: ⁇ +C,+C,+C,-C ⁇ , ⁇ +C,+C,-C,+ C ⁇ , ⁇ +C,-C,+C,+C ⁇ , ⁇ +C,-C,-C,-C ⁇ , ⁇ -C,+C,+C ⁇ , ⁇ -C,+ C,-C,-C ⁇ , ⁇ -C,+C,+C ⁇ , ⁇ -C,+ C,-C,-C ⁇ , ⁇ -C,-C,+C,-C ⁇ , ⁇ -C,-C,+C ⁇ , where C is a real number.
  • the codebook corresponding to each sensing round can be one of the predefined codebook sets.
  • the selection of codebooks in each sensing round can be diverse.
  • the probability that other devices with unknown codebooks (such as malicious users) can correctly derive the codebook used in each sensing round during the entire sensing process is exponential times the number of sensing rounds. This reduces the problem and further prevents other devices with unknown codebooks from estimating the correct CIR, improving the security of the scheme.
  • the second aspect provides a method for sensing measurement of an ultra-bandwidth UWB system.
  • the method can be performed by the first responder device, or can also be performed by a component (such as a chip or circuit) of the first responder device. , there is no limitation on this.
  • the following description takes execution by the first responder device as an example.
  • Each sensing round in the one or more sensing rounds includes at least two time slots.
  • the method includes: the first responder device generating a first sensing signal for a first time slot in the first sensing round and a first sensing signal for the first sensing round.
  • the third sensing signal of the second time slot in the sensing round; the first responding device sends the first sensing signal and the third sensing signal to the initiating device, where the first sensing signal and the third sensing signal Used to estimate the channel impulse response CIR of the first channel and the CIR of the second channel.
  • the first channel is a channel between the initiator device and the first responder device.
  • the second channel is between the initiator device and the first responder device. The channel between the second responder devices.
  • the method further includes: the first responder device receiving first indication information encrypted based on the first key from the initiating end device, the first indication The information is used to indicate the codebook corresponding to each sensing round.
  • the first sensing signal and the third sensing signal are determined based on the codebook corresponding to the first sensing round and the public sequence, where the first key is the first sensing round.
  • the first responder device is a sensing requesting device
  • the method further includes: the first responder device sends second indication information to the initiator device, the The second indication information is used to indicate the codebook corresponding to each sensing round.
  • the first sensing signal and the third sensing signal are determined based on the codebook corresponding to the first sensing round and the public sequence, wherein the second indication information includes Based on the index of the codebook corresponding to each sensing round encrypted by the second key, the second key is a key known to the first responder device, the second responder device and the initiator device.
  • the first responder device is not a sensing requesting device, and there is a sensing requesting device in the sensing system.
  • the method further includes: the first responding device receives second indication information from the sensing requesting device, and the second indication information is used to Indicates the codebook corresponding to each sensing round, the first sensing signal and the third sensing signal are determined based on the codebook corresponding to the first sensing round and the public sequence, wherein the second indication information includes encryption based on the second key
  • the second key is a key known to the first responder device, the second responder device, the sensing requesting device and the initiating device.
  • the first sensing signal a ⁇ s[n]
  • a, c are the codewords in the codebook corresponding to the first sensing round.
  • the codebook is any of the following: ⁇ +C,+C,+C,-C ⁇ , ⁇ +C,+C,-C,+ C ⁇ , ⁇ +C,-C,+C,+C ⁇ , ⁇ +C,-C,-C,-C ⁇ , ⁇ -C,+C,+C ⁇ , ⁇ -C,+ C,-C,-C ⁇ , ⁇ -C,+C,+C ⁇ , ⁇ -C,+ C,-C,-C ⁇ , ⁇ -C,-C,+C,-C ⁇ , ⁇ -C,-C,+C ⁇ , where C is a real number.
  • beneficial effects of the method shown in the above second aspect and its possible designs may be referred to the beneficial effects of the first aspect and its possible designs.
  • a method for sensing measurement of an ultra-bandwidth UWB system is provided.
  • the method can be performed by a second responder device, or can also be performed by a component (such as a chip or circuit) of the second responder device. , there is no limitation on this.
  • the following description takes execution by the second responder device as an example.
  • Each sensing round in the one or more sensing rounds includes at least two time slots, and the method includes: the second responder device generating a second sensing signal for the first time slot in the first sensing round and a second sensing signal for the first sensing round.
  • the fourth sensing signal of the second time slot in the sensing round the second responder device sends the second sensing signal and the fourth sensing signal to the initiating device, wherein the second sensing signal and the fourth sensing signal Used to estimate the channel impulse response CIR of the first channel and the CIR of the second channel.
  • the first channel is a channel between the initiator device and the second responder device.
  • the second channel is between the initiator device and the second responder device.
  • the channel between the second responder devices.
  • the method further includes: the second responder device receiving first indication information encrypted based on the first key from the initiating end device, the first indication The information is used to indicate the codebook corresponding to each sensing round.
  • the second sensing signal and the fourth sensing signal are determined based on the codebook corresponding to the first sensing round and the public sequence, wherein the first key is the first sensing round.
  • the method further includes: the second responder device receiving second indication information encrypted based on the second key from the sensing requesting device, the second indication information Used to indicate the codebook corresponding to each sensing round, the second sensing signal and the fourth sensing signal are determined based on the codebook corresponding to the first sensing round and the public sequence, where the second key is the first response The key is known to the end device, the second responding end device, the sensing requesting device and the initiating end device.
  • the sensing requesting device is the first responder device.
  • the second sensing signal b ⁇ s[n]
  • b, d are the codewords in the codebook corresponding to the first sensing round.
  • the codebook is any of the following: ⁇ +C,+C,+C,-C ⁇ , ⁇ +C,+C,-C,+ C ⁇ , ⁇ +C,-C,+C,+C ⁇ , ⁇ +C,-C,-C,-C ⁇ , ⁇ -C,+C,+C ⁇ , ⁇ -C,+ C,-C,-C ⁇ , ⁇ -C,+C,+C ⁇ , ⁇ -C,+ C,-C,-C ⁇ , ⁇ -C,-C,+C,-C ⁇ , ⁇ -C,-C,+C ⁇ , where C is a real number.
  • beneficial effects of the method shown in the above third aspect and its possible designs can be referred to the first aspect and its possible designs. beneficial effects.
  • a fourth aspect provides a device for ultra-bandwidth UWB system perception measurement, which device is used to perform the method provided in the first aspect.
  • the device applied to ultra-bandwidth UWB system perception measurement may include units and/or modules for executing the method provided by any of the above implementations of the first aspect, such as a processing unit and an acquisition unit.
  • the transceiver unit may be a transceiver, or an input/output interface; the processing unit may be at least one processor.
  • the transceiver may be a transceiver circuit.
  • the input/output interface may be an input/output circuit.
  • the transceiver unit may be an input/output interface, interface circuit, output circuit, input circuit, pin or related circuit on the chip, chip system or circuit, etc.; the processing unit may be at least one processor , processing circuits or logic circuits, etc.
  • a fifth aspect provides a device for ultra-bandwidth UWB system perception measurement, which device is used to perform the method provided in the above-mentioned second aspect.
  • the device applied to ultra-bandwidth UWB system perception measurement may include units and/or modules for executing the method provided by any of the above implementations of the second aspect, such as a processing unit and an acquisition unit.
  • the transceiver unit may be a transceiver, or an input/output interface; the processing unit may be at least one processor.
  • the transceiver may be a transceiver circuit.
  • the input/output interface may be an input/output circuit.
  • the transceiver unit may be an input/output interface, interface circuit, output circuit, input circuit, pin or related circuit on the chip, chip system or circuit, etc.; the processing unit may be at least one processor , processing circuits or logic circuits, etc.
  • a sixth aspect provides a device for ultra-bandwidth UWB system perception measurement, which device is used to perform the method provided in the third aspect.
  • the device applied to ultra-bandwidth UWB system perception measurement may include units and/or modules for executing the method provided by any of the above implementations of the third aspect, such as a processing unit and an acquisition unit.
  • the transceiver unit may be a transceiver, or an input/output interface; the processing unit may be at least one processor.
  • the transceiver may be a transceiver circuit.
  • the input/output interface may be an input/output circuit.
  • the transceiver unit may be an input/output interface, interface circuit, output circuit, input circuit, pin or related circuit on the chip, chip system or circuit, etc.; the processing unit may be at least one processor , processing circuits or logic circuits, etc.
  • the device for sensing measurement of an ultra-bandwidth UWB system includes: a processing unit configured to generate a response for the first sensing round in the first sensing round.
  • the second sensing signal in a time slot and the fourth sensing signal for the second time slot in the first sensing round;
  • the sending unit is used to send the second sensing signal and the fourth sensing signal to the initiating end device, wherein , the second sensing signal and the fourth sensing signal are used to estimate the channel impulse response CIR of the first channel and the CIR of the second channel.
  • the first channel is the channel between the initiating end device and the second responding end device.
  • the second channel is a channel between the initiating device and the second responding device.
  • the device further includes: a receiving unit configured to receive first indication information encrypted based on the first key from the initiating end device, the first indication information used to indicate each The codebook corresponding to the sensing round, the second sensing signal and the fourth sensing signal are determined based on the codebook corresponding to the first sensing round and the public sequence, where the first key is applied to the sensing measurement of the ultra-bandwidth UWB system The device, the first responder device and the key known to the initiator device.
  • a receiving unit configured to receive first indication information encrypted based on the first key from the initiating end device, the first indication information used to indicate each The codebook corresponding to the sensing round, the second sensing signal and the fourth sensing signal are determined based on the codebook corresponding to the first sensing round and the public sequence, where the first key is applied to the sensing measurement of the ultra-bandwidth UWB system The device, the first responder device and the key known to the initiator device.
  • the device further includes: a receiving unit configured to receive second indication information encrypted based on the second key from the sensing requesting device, where the second indication information is In order to indicate the codebook corresponding to each sensing round, the second sensing signal and the fourth sensing signal are determined based on the codebook corresponding to the first sensing round and the public sequence, wherein the second key is applied to ultra-bandwidth A key known to the UWB system sensing measurement device, the second responder device, the sensing requesting device and the initiating device.
  • a receiving unit configured to receive second indication information encrypted based on the second key from the sensing requesting device, where the second indication information is In order to indicate the codebook corresponding to each sensing round, the second sensing signal and the fourth sensing signal are determined based on the codebook corresponding to the first sensing round and the public sequence, wherein the second key is applied to ultra-bandwidth A key known to the UWB system sensing measurement device, the second responder device, the sensing requesting device and the initiating device.
  • the sensing requesting device is the first responder device.
  • the second sensing signal b ⁇ s[n]
  • b, d are the codewords in the codebook corresponding to the first sensing round.
  • the codebook is any of the following: ⁇ +C,+C,+C,-C ⁇ , ⁇ +C,+C,-C,+ C ⁇ , ⁇ +C,-C,+C,+C ⁇ , ⁇ +C,-C,-C,-C ⁇ , ⁇ -C,+C,+C ⁇ , ⁇ -C,+ C,-C,-C ⁇ , ⁇ -C,+C,+C ⁇ , ⁇ -C,+ C,-C,-C ⁇ , ⁇ -C,-C,+C,-C ⁇ , ⁇ -C,-C,+C ⁇ , where C is a real number.
  • beneficial effects of the method shown in the above sixth aspect and its possible designs may be referred to the beneficial effects of the first aspect and its possible designs.
  • this application provides a processor for executing the methods provided in the above aspects.
  • processor output, reception, input and other operations can be understood as processor output, reception, input and other operations.
  • transmitting and receiving operations performed by the radio frequency circuit and the antenna, which is not limited in this application.
  • a computer-readable storage medium stores a program code for device execution.
  • the program code includes a method for executing any one of the above-mentioned first to third aspects. Methods.
  • a ninth aspect provides a computer program product containing instructions, which when the computer program product is run on a computer, causes the computer to execute the method provided by any one of the above implementations of the first to third aspects.
  • a chip in a tenth aspect, includes a processor and a communication interface.
  • the processor reads instructions stored in the memory through the communication interface and executes the method provided by any one of the above-mentioned implementations of the first to third aspects.
  • the chip also includes a memory, in which computer programs or instructions are stored.
  • the processor is used to execute the computer programs or instructions stored in the memory.
  • the processor is used to execute The method provided by any one of the above implementations of the first aspect to the third aspect.
  • a communication system including the device for sensing measurement of an ultra-bandwidth UWB system as described in the fourth aspect, the device for sensing measurement of an ultra-bandwidth UWB system as described in the fifth aspect, and the device as described in the sixth aspect.
  • the device described above is applied to ultra-bandwidth UWB system sensing measurement.
  • Figure 1 is a schematic diagram of two application scenarios provided by this application.
  • FIG. 3 is a schematic flow chart of a method for sensing measurement of ultra-bandwidth UWB systems provided by an embodiment of the present application.
  • FIG. 3 is a schematic flow chart of another method for sensing measurement of ultra-bandwidth UWB systems provided by the embodiment of the present application.
  • Figure 4 is a schematic flow chart of synchronization provided by an embodiment of the present application.
  • Figure 5 is a schematic flow chart of another synchronization provided by an embodiment of the present application.
  • FIG. 6 is a schematic block diagram of a device for sensing measurement of an ultra-bandwidth UWB system provided by an embodiment of the present application.
  • Figure 7 is a schematic diagram of a device 700 provided by an embodiment of the present application.
  • Figure 8 is a schematic diagram of a device 800 provided by an embodiment of the present application.
  • WPAN wireless personal area network
  • UWB Ultra-Wide Band
  • IEEE 802.15 series The current standard adopted by WPAN is the Institute of Electrical Engineering (Institute of Electrical Engineering). and electronics engineers, IEEE) 802.15 series.
  • the method provided in this application can be applied to the Institute of Electrical and Electronics Engineers (IEEE) 802.15 series protocols, such as 802.15.4a protocol, 802.15.4z protocol or 802.15.4ab Protocols, or a certain future generation of UWB WPAN standards, are not listed here.
  • IEEE Institute of Electrical and Electronics Engineers
  • WPAN can be used for communication between digital auxiliary equipment within a small range such as phones, computers, and accessory equipment. Its working range is generally within 10m.
  • WLAN Wireless Local Area Networks
  • HIPERLAN High Performance Wireless LAN
  • WAN Wide Area Networks
  • IoT Internet of Things
  • V2X Vehicle to X
  • NB-IoT Narrowband Internet of Things
  • LTE frequency division duplex (FDD) system LTE time division duplex (TDD), universal mobile telecommunication system (UMTS), global interconnection microwave access (worldwide interoperability for microwave access, WiMAX) communication system, long term evolution (long term evolution, LTE) system, or fifth generation (5th-generation, 5G) communication system, sixth generation (6th-generation, 6G) communication system, etc. .
  • FDD frequency division duplex
  • TDD LTE time division duplex
  • UMTS universal mobile telecommunication system
  • WiMAX global interconnection microwave access
  • WiMAX global interconnection microwave access
  • LTE long term evolution
  • 5G fifth generation
  • 6th-generation, 6G sixth generation
  • WPAN is located at the bottom of the entire network architecture and is used for wireless connections between devices within a small range, that is, point-to-point short-distance connections, which can be regarded as short-distance wireless communication networks.
  • WPAN is divided into high rate (HR)-WPAN and low rate (low rate)-WPAN.
  • HR-WPAN can be used to support various high-rate multimedia applications, including high-quality sound.
  • LR-WPAN can be used for general business in daily life.
  • WPAN In WPAN, according to the communication capabilities of the device, it can be divided into full-function device (FFD) and reduced-function device (RFD). Communication is possible between FFD devices and between FFD devices and RFD devices. RFD devices cannot communicate directly with each other and can only communicate with FFD devices or forward data through an FFD device.
  • the FFD device associated with the RFD is called the coordinator of the RFD.
  • the coordinator can also control the association of multiple FFDs. Coordinators are also called control nodes. There can be multiple coordinators in each ad hoc network.
  • RFD equipment is mainly used for simple control applications, such as light switches, passive infrared sensors, etc. The amount of data transmitted is small, and it does not occupy much transmission resources and communication resources. The cost of RFD equipment is low.
  • the coordinator can also be called a personal area network (personal area network, PAN) coordinator.
  • PAN personal area network
  • the PAN coordinator can be understood as a type of coordinator.
  • the PAN coordinator is also called the central control node of PAN, etc.
  • FFD can act as a PAN coordinator or coordinator, while RFD cannot act as a PAN coordinator or coordinator.
  • the PAN coordinator is the master control node of the entire network, and there can only be one PAN coordinator in each ad hoc network. It has membership management, link information management, and group forwarding functions.
  • the device in the embodiment of this application may be a device that supports multiple WPAN standards such as 802.15.4a, 802.15.4z, and 802.15.4ab or subsequent versions.
  • the above-mentioned equipment may be a device involved in the UWB system.
  • it may include but is not limited to communication servers, routers, switches, bridges, computers, mobile phones, etc.
  • a central control point such as a personal area network (PAN) or a PAN coordinator.
  • PAN personal area network
  • PAN coordinator a personal area network
  • UE user equipment
  • IoT Internet of things
  • the device may include a chip, and the chip may be installed in a communication server, router, switch or user terminal, etc., which will not be listed here.
  • the above-mentioned device includes a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system layer.
  • This hardware layer includes hardware such as central processing unit (CPU), memory management unit (MMU) and memory (also called main memory).
  • the operating system can be any one or more computer operating systems that implement business processing through processes, such as Linux operating system, Unix operating system, Android operating system, iOS operating system or windows operating system, etc.
  • This application layer includes applications such as browsers, address books, word processing software, and instant messaging software.
  • the embodiments of the present application do not specifically limit the specific structure of the execution subject of the method provided by the embodiment of the present application, as long as the program that records the code of the method provided by the embodiment of the present application can be run to provide according to the embodiment of the present application. It suffices to communicate using a method.
  • the execution subject of the method provided by the embodiment of the present application may be FFD or RFD, or a functional module in FFD or RFD that can call a program and execute the program.
  • various aspects or features of the present application may be implemented as methods, apparatus, or articles of manufacture using standard programming and/or engineering techniques.
  • article of manufacture encompasses a computer program accessible from any computer-readable device, carrier or medium.
  • computer-readable media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks, tapes, etc.), optical disks (e.g., compact discs (CD), digital versatile discs (DVD)) etc.), smart cards and flash memory devices (e.g. erasable programmable read-only memory (EPROM), cards, sticks or key drives, etc.).
  • various storage media described herein may represent one or more devices and/or other machine-readable media for storing information.
  • machine-readable medium may include, but is not limited to, wireless channels and various other media capable of storing, containing and/or carrying instructions and/or data.
  • FIG. 1 is a schematic diagram of two application scenarios provided by this application.
  • multiple FFD devices and multiple RFD devices form a star topology communication system.
  • One FFD is a PAN controller.
  • the PAN controller transmits data with one or more other devices, that is, multiple devices can establish a one-to-many or many-to-one data transmission architecture.
  • multiple FFD devices and one RFD device form a peer to peer topology or mesh topology communication system, in which one FFD is a PAN controller.
  • a many-to-many data transmission architecture can be established between multiple different devices.
  • both full function device (full function device) and low function device (reduced function device) can be understood as the devices shown in this application.
  • full-function devices and low-function devices are relative.
  • a low-function device cannot be a PAN coordinator.
  • Another example is that compared with a full-function device, a low-function device may not have coordination capabilities or may have a lower communication rate than a full-function device.
  • the PAN coordinator shown in (B) of Figure 1 is only an example.
  • the other three full-function devices shown in (B) of Figure 1 can also serve as the PAN coordinator, and will not be shown one by one here.
  • FIG. 1(A) and FIG. 1(B) are only simplified schematic diagrams for ease of understanding and do not constitute a limitation on the application scenarios of the present application.
  • the system 101 and/or the system 102 may also include other FFDs and/or RFDs.
  • the PAN coordinator in the system 101 and/or system 102 may also be a coordinator.
  • UWB technology It is a wireless carrier communication technology that uses nanosecond-level non-sinusoidal narrow pulses to transmit data. It modulates impulse pulses with very steep rise and fall times, so it occupies a very wide spectrum range. Wide, so that the signal has a bandwidth of the order of gigahertz (GHz). Because its pulses are very narrow and the radiation spectrum density is extremely low, the UWB system has the advantages of strong multipath resolution, low power consumption, and strong confidentiality. In addition, in short-distance communication applications, the transmit power of UWB transmitters can usually be less than 1mW (milliwatt). Theoretically, the interference generated by UWB signals is only equivalent to a wideband white noise. This facilitates good coexistence between UWB and existing narrowband communications. Therefore, the UWB system can work simultaneously with the narrowband (NB) communication system without interfering with each other, which can improve spectrum utilization and system capacity.
  • NB narrowband
  • ultra-wideband wireless communication has become one of the popular physical layer technologies for short-distance, high-speed wireless networks.
  • Many world-famous large companies, research institutions, and standardization organizations are actively involved in the research, development, and standardization of ultra-wideband wireless communication technology.
  • the Institute of Electrical and Electronics Engineers (IEEE) has classified UWB technology as Incorporated into its IEEE 802 series of wireless standards, the WPAN standard IEEE 802.15.4a based on UWB technology has been released, as well as its evolved version IEEE 802.15.4z.
  • the formulation of the next-generation UWB technology WPAN standard 802.15.4ab has also been put on the agenda.
  • the method provided by this application can be implemented by equipment in a wireless communication system.
  • a module that implements UWB system functions can be called a UWB module (for example, it can be used to send UWB pulses).
  • a module that implements narrowband communication system functions can be called a UWB module.
  • Called a narrowband communication module, the UWB module and the narrowband communication module may be different devices or chips, etc., which are not limited in the embodiments of the present application.
  • the UWB module and the narrowband communication module can also be integrated on one device or chip.
  • the embodiments of this application do not limit the implementation of the UWB module and the narrowband communication module in the device.
  • the equipment in this application can be understood as a communication device, etc., and is not limited here.
  • UWB sensing a pair of UWB devices serve as sending and receiving nodes respectively.
  • the sending node sends a sensing signal
  • the receiving node completes Channel Impulse Response (CIR) estimation based on the received sensing signal.
  • CIR Channel Impulse Response
  • environmental information can be inferred based on changes in CIR and supports a variety of applications, such as: presence detection, intrusion detection, fall detection, breathing/heart rate monitoring, environmental mapping, etc.
  • UWB sensing technology has received great attention from the International Standardization Organization.
  • the next-generation UWB standard IEEE 802.15.4ab working group has conducted heated discussions around UWB sensing, and has output a large number of proposals in sensing modes, CIR compression feedback, sensing waveforms, interference management, security and privacy, etc.
  • the device shown in the embodiment of this application may include a sensing initiator (also called an initiator device in this application), a sensing responder (responder) (also called a responder in this application) device) or sensing requester (also known as sensing requesting device or requesting device).
  • the perception initiator and the perception responder are relative terms. If the perception initiator is the party that initiates the perception process, the perception responder can be the party that responds based on the party that initiated the perception process.
  • the sensing initiator may be the transmitting end of the UWB signal, and the sensing responder may be the receiving end of the UWB signal.
  • the sensing initiator may be the receiving end of the UWB signal
  • the sensing responder may be the transmitting end of the UWB signal.
  • the sensing requester can be understood as the party that initiates the sensing request to the sensing initiator. It is understandable that the UWB signal sent by the sensing initiator first reaches the target and then reaches the sensing responder (for example, the UWB signal reaches the sensing responder after being reflected or scattered by the target).
  • the UWB signal shown in this application may also be called a sensing signal or UWB pulse, etc.
  • the information sent by the responder device first reaches the target and then reaches the initiator device (for example, the information reaches the initiator device after being reflected or scattered by the target).
  • the initiating device involved in the embodiment of this application receives information from the responding device, including but not limited to: the initiating device receives sensing signals from the responding device, sensing confirmation signals and other information sent by the responding device to the initiating device. information.
  • the sensing signal and the sensing confirmation signal please refer to the following specific embodiments (for example, (a) to FIG. 5 in Figure 3 ), and will not be described again here.
  • the specific process of the initiating device sending information to the responding device involved in the embodiment of this application includes:
  • the information sent by the initiating device first reaches the target and then reaches the responding device (for example, the information reaches the responding device after being reflected or scattered by the target).
  • the initiator device involved in the embodiment of the present application sends information to the responder device, including but not limited to: the initiator device sends a sensing request signal to the responder device and other information sent by the initiator device to the responder device.
  • the sensing request signal please refer to the following specific embodiments (for example, (a) to FIG. 5 in Figure 3), and will not be described again here.
  • the sensing signal sent by the initiating device reaches the responding device via the target, which can be simply described as: the initiating device sends sensing signal information to the responding device, or the responding device receives the sensing signal from the initiating device.
  • the sensing signal sent by the responding device Reaching the initiating device via the target can be simply described as: the responding device sends a sensing signal to the initiating device, or the initiating device receives the sensing signal from the responding device.
  • sensing modes There are three main sensing modes: dual-station mode, multi-station mode and agent mode.
  • the embodiment of the present application shows (a) to (c) in Figure 2 to introduce these three sensing modes as examples.
  • the responder in the dual-station mode, is the transmitter (TX) (or the device that sends the sensing signal), and the initiator (initiator) is the receiver (Receiver, RX) (or device that receives sensing signals), the responder sends sensing signals, and the initiator completes CIR estimation based on the received sensing signals that have been reflected or scattered (also called interference or influence) by the sensed object, and realizes the sensing function.
  • sensing request device As shown in (c) in Figure 2, in agent mode, there is a sensing request device, a responder, and an initiator.
  • the sensing request device has sensing needs, but it does not perform the sensing process itself. It will send the sensing request signal Sent to the initiator, the initiator initiates the sensing process after receiving the request signal, specifically: the responder sends the sensing signal to the initiator, and the initiator completes the CIR estimation after receiving the sensing signal. After the sensing process is completed, the initiator feeds back the CIR to the sensing requesting device, which can be called sensing by proxy.
  • the sensing mode also includes a radar mode.
  • radar mode there is only one sensing device.
  • the sensing device sends a sensing signal.
  • the sensing signal is reflected by the object and then received by the sensing device.
  • the sensing device uses the sensing signal sent and received by itself to estimate the CIR and thereby infer the reflecting object. nature.
  • this mode is not focused on in standardization.
  • a single device participates in the transmission of sensing signals, and the sensing accuracy is limited.
  • the sensing signal is sent by the responder and received by the initiator.
  • the initiator performs CIR estimation based on the received sensing signal.
  • the signal-to-noise ratio when the system is working will affect the CIR estimation.
  • the accuracy of the UWB system that is, affecting the perception accuracy
  • the sensing process between each responder and the initiator is similar to the two-station mode, which is equivalent to the relationship between multiple responders and the initiator.
  • the sensing process of the dual-station mode is carried out, so it is essentially the same as the dual-station mode.
  • the sensing signals originate from a single device. , so only partial features about environmental objects can be inferred based on the received sensory signals.
  • the sensing signal is a public measurement signal (such as pilot), any device can receive it. Therefore, unauthorized devices or malicious devices in the environment can use the received sensing signal to measure the channel and infer environmental characteristics and analyze user behavior ( For example, based on the measured change process of CIR, it can be inferred whether there is anyone in the room, etc.), which will lead to Lead to user privacy leakage.
  • this application provides a method for sensing measurement of ultra-bandwidth UWB systems, in order to improve the performance of UWB sensing.
  • the method provided by this application for sensing measurement of ultra-bandwidth UWB systems will be introduced in detail below with reference to the accompanying drawings.
  • the embodiments shown below do not specifically limit the specific structure of the execution body of the method provided by the embodiment of the present application, as long as it can be provided according to the embodiment of the present application by running a program that records the code of the method provided by the embodiment of the present application.
  • the execution subject of the method provided by the embodiment of the present application can be a transceiver device, or a functional module in the transceiver device that can call a program and execute the program.
  • for indicating may include direct instructions and indirect instructions.
  • direct instructions and indirect instructions When describing certain information to indicate A, it may include that the information directly indicates A or indirectly indicates A, but it does not mean that the information must contain A.
  • the information indicated by the information is called information to be indicated.
  • the information to be indicated can be directly indicated, such as the information to be indicated itself or the information to be indicated. Index of information, etc.
  • the information to be indicated may also be indirectly indicated by indicating other information, where there is an association relationship between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while other parts of the information to be indicated are known or agreed in advance.
  • the indication of specific information can also be achieved by means of a pre-agreed (for example, protocol stipulated) arrangement order of each piece of information, thereby reducing the indication overhead to a certain extent.
  • the common parts of each information can also be identified and indicated in a unified manner to reduce the instruction overhead caused by indicating the same information individually.
  • preconfigured may include predefined, for example, protocol definitions.
  • pre-definition can be realized by pre-saving corresponding codes, tables or other methods that can be used to indicate relevant information in the device (for example, including each network element). This application does not limit its specific implementation method.
  • the “save” involved in the embodiments of this application may refer to saving in one or more memories.
  • the one or more memories may be provided separately, or may be integrated in an encoder or decoder, a processor, or a communication device.
  • the one or more memories may also be partially provided separately and partially integrated in the decoder, processor, or communication device.
  • the type of memory can be any form of storage medium, and this application is not limited thereto.
  • the "protocol” involved in the embodiments of this application may refer to a standard protocol in the field of communication.
  • it may include the WiFi protocol and related protocols applied in future communication systems. This application does not limit this.
  • the initiating device may be a device with communication capabilities in the WPAN, such as FFD or RFD; similarly, the responder device may also be a device with communication capabilities in the WPAN, such as FFD or RFD.
  • FIG. 3 is a schematic flow chart of a method for sensing measurement of an ultra-bandwidth UWB system provided by an embodiment of the present application, in which the initiating device receives sensing signals in one or more sensing wheels, so Each sensing round includes at least two time slots, and the method includes the following steps:
  • the first responder device generates a sensing signal.
  • the first responding end generates a first sensing signal for a first time slot in a first sensing round and a third sensing signal for a second time slot in the first sensing round.
  • the first perception wheel is any one of one or more perception wheels in the perception process.
  • the second responder device generates a sensing signal.
  • the second responding end generates a second sensing signal for a first time slot in the first sensing round and a fourth sensing signal for a second time slot in the first sensing round.
  • the first responder device sends a sensing signal, or in other words, the initiating device receives the sensing signal from the first responder device.
  • the first responder device sends the first sensing signal to the initiating device in the first time slot of the first sensing round, and sends the third sensing signal to the initiating device in the second time slot of the first sensing round.
  • the second responder device sends a sensing signal, or in other words, the initiating device receives the sensing signal from the second responder device.
  • the second responder device sends the second sensing signal to the initiating device in the first time slot of the first sensing round, and sends the fourth sensing signal to the initiating device in the second time slot of the first sensing round.
  • the specific process involving sensing signals in the embodiments of the present application includes: the sensing signal sent by the responding device first reaches the sensed object, and then reaches the initiating device after being reflected or scattered by the sensed object.
  • S315 The initiating device estimates the channel CIR based on the multiple received sensing signals.
  • the sensing signals generated for different sensing rounds and at least two time slots in different sensing rounds are not exactly the same.
  • These non-identical sensing signals pass through different paths or channels in order to provide more accurate sensing results for the initiating device.
  • the laws followed by these non-identical sensing signals are not well-known, thus enhancing the effectiveness to a certain extent. to perceive the safety of the process.
  • the initiating device can jointly process sensing signals from different responding devices, and indicate the sensing signals from different responding devices.
  • the signals are not exactly the same.
  • the following is a detailed description of how the responding device generates sensing signals that are not identical, and how the initiating device estimates the CIR of the channel based on the sensing signal.
  • the above-mentioned non-identical sensing signals in the embodiments of the present application can be determined based on the codebook and the public sequence.
  • the codebooks corresponding to different sensing rounds during the sensing process may be the same or different.
  • the codebook corresponding to the sensing rounds is a codebook in a codebook set. That is to say, the codebook corresponding to each sensing round in the sensing process can be one of the known codebook sets.
  • the codebook set can be predefined by the protocol, or it can be between the initiating device and the responding device. It can be negotiated in advance, or it can be pre-configured by the management device. In the embodiment of the present application, there is no limitation on the determination of the codebook set.
  • the codebook set is a set known to the devices participating in the sensing process (such as the initiating device, the first responder device, and the second responder device), then in this implementation, Each sense can be indicated by The identification (such as index) of the codebook corresponding to each sensing round in the sensing process is used to achieve the purpose of indicating the codebook used in the sensing process.
  • the codebook used in the sensing process can be indicated by indicating the content of the codebook corresponding to each sensing wheel in each sensing process (for example, indicating the codewords included in the codebook). Purpose.
  • the index indicating the codebook is used as an example for explanation. It can be understood that using the identifier indicating the codebook to achieve the purpose of indicating the codebook used in the sensing process can effectively save signaling overhead.
  • the codebook used in a sensing process is taken as an example for description.
  • a sensing process includes multiple sensing wheels. If there are multiple sensing processes, then each sensing process can resend the codebook indication information of each sensing round in the sensing process, or can reuse the codebook indication information of the previous sensing process, which is not limited in this application.
  • (b) in FIG. 3 is a schematic flow chart of another method for sensing measurement of ultra-bandwidth UWB systems provided by the embodiment of the present application.
  • the device determines the codebook corresponding to the sensing round in the following two ways:
  • Method 1 The initiating device sends information indicating the codebook corresponding to each sensing round to the responding device. Corresponds to the scene shown in (c) in Figure 3, corresponds to (d) in Figure 3, or corresponds to the scene shown in (e) in Figure 3.
  • h[n] represents the CIR of the first channel between the first responder device and the initiator device
  • g[n] represents the CIR of the second channel between the second responder device and the initiator device.
  • the first responder device is the sensing requesting device.
  • the initiating device sends the first indication information #1 to the first responding device, or the first responding device receives the first indication information #1 from the initiating device.
  • the first indication information #1 is information encrypted based on the first key.
  • the first indication information #1 is used to indicate the codebook corresponding to each sensing round.
  • the first indication information #1 includes but is not limited to:
  • the initiator device sends the first indication information #2 to the second responder device, or the second responder device receives the first indication information #2 from the initiator device.
  • the first indication information #2 is information encrypted based on the first key.
  • the first indication information #2 is used to indicate the codebook corresponding to each sensing round.
  • the first indication information #2 includes but is not limited to:
  • the first key is a key known to the first responder device, the second responder device and the initiator device.
  • the first key is a key negotiated in advance by the first responder device, the second responder device and the initiator device, or; for another example, the first key is that the management device is the first responder device, the second responder device A key configured by the responder device and the initiator device. It should be understood that in the embodiment of this application, there is no limitation on how the first responder device, the second responder device and the initiator device obtain the first key.
  • the first key is the first responder device, the second responder device and the initiator device. The device and the initiator device are known.
  • first indication information #1 and first indication information #2 are both used to indicate the codebook corresponding to each sensing round. They have the same function and can be the same first indication information broadcast by the initiating end device. Instructions.
  • first indication information #1 and first indication information #2 may be sent by the initiating end device to the two responding end devices respectively to indicate the codebook corresponding to each sensing round. Two instructions.
  • the initiator device sends indication information indicating the codebook corresponding to each sensing round to different responder devices respectively.
  • the initiating device broadcasts an indication information
  • the indication information includes information received by different responder devices (for example, indicating the part parsed by different responder devices through the identifier of the responder device).
  • the following description takes the first indication information #1 and the first indication information #2 as the same first indication information broadcast by the initiating end device as an example.
  • the first indication information may be sent through a narrowband system (for example, the first indication information is a data stream), so as to save resources of the UWB system.
  • a narrowband system for example, the first indication information is a data stream
  • the first indication information is carried in a first acknowledgment frame, and the initiating end device broadcasts the first acknowledgment frame, and the first acknowledgment frame is used to start the sensing process.
  • the initiating device broadcasts the above-mentioned first indication information in the first confirmation frame used to start the sensing process, so that the third device participating in the sensing process A responder device and a second responder device learn the codebook corresponding to each sensing round.
  • one of the first responder device and the second responder device participating in the sensing process is the sensing requesting device, and the initiating device
  • the above-mentioned first indication information may also be broadcast in the first confirmation frame used to start the sensing process, so that the first responder device and the second responder device participating in the sensing process learn the codebook corresponding to each sensing round.
  • participating in the sensing process includes, in addition to the first responder device and the second responder device, a sensing requesting device.
  • the initiating device can still The above-mentioned first indication information is broadcast in the first confirmation frame used to start the sensing process, so that the first responder device and the second responder device participating in the sensing process learn the codebook corresponding to each sensing round.
  • the number of sensing rounds is not limited in the embodiment of the present application, and the first indication information may indicate the codebook corresponding to each sensing round among all sensing rounds.
  • the first indication information being the index of the codebook corresponding to the sensing round is only an example and does not constitute any limitation on the protection scope of the present application.
  • the first indication information may be other information that can indicate the codebook corresponding to the sensing round.
  • the content of the codebook corresponding to the sensing wheel, or other information that can identify the codebook corresponding to the sensing wheel, will not be explained one by one here.
  • the sensing requesting device sends information indicating the codebook corresponding to each sensing round to the responding device.
  • the above-mentioned first responder device is a sensing requesting device, and a device with sensing requirements corresponds to the scenario shown in (d) in Figure 3 .
  • the sensing system includes an initiator device, two responder devices, and a sensing requesting device, corresponding to the scenario shown in (e) in Figure 3 .
  • the method flow shown in (b) in Figure 3 includes the following steps S303 and S304:
  • the first responder device sends the second indication information #1 to the initiator device, or the initiator device receives the second indication information #1 from the first responder device.
  • the second indication information #1 is information encrypted based on the second key.
  • the second indication information #1 is used to indicate the codebook corresponding to each sensing round.
  • the second indication information #1 includes but is not limited to:
  • S304 The first responder device sends the second indication information #2 to the second responder device, or the second responder device receives the second indication information #2 from the first responder device.
  • the second indication information #2 is information encrypted based on the second key.
  • the second indication information #2 is used to indicate the codebook corresponding to each sensing round.
  • the second indication information #2 includes but is not limited to:
  • the second key is a key known to the first responder device, the second responder device and the initiator device.
  • the second key is a key negotiated in advance by the first responder device, the second responder device and the initiator device, or; for another example, the second key is that the management device is the first responder device, the second responder device A key configured by the responder device and the initiator device. It should be understood that in the embodiment of the present application, there is no limit on how the first responder device, the second responder device and the initiator device obtain the second key.
  • the second key is the first responder device, the second responder device and the initiator device. The device and the initiator device are known.
  • the above-mentioned second indication information #1 and second indication information #2 are both used to indicate the codebook corresponding to each sensing round. They have the same function and can be the same codebook broadcast by the first responder device. Second instruction information.
  • the above-mentioned second indication information #1 and second indication information #2 may be codes sent by the sensing requesting device to the responding device and the initiating device respectively to indicate the codes corresponding to each sensing wheel. Two instructions for this.
  • the sensing requesting device sends indication information indicating the codebook corresponding to each sensing round to the responding device and the initiating device respectively.
  • the sensing requesting device broadcasts an indication information, which includes information received by the responder device and the initiator device (for example, indicating that the responder device and the initiator device respectively parse through the identifiers of the responder device and the initiator device). part).
  • the following description takes the second indication information #1 and the second indication information #2 as the same second indication information broadcast by the sensing requesting device as an example.
  • the second indication information may be sent through a narrowband system (for example, the first indication information is a data stream), so as to save resources of the UWB system.
  • a narrowband system for example, the first indication information is a data stream
  • the second indication information is carried in a second sensing request signal, and the initiating end device broadcasts the second sensing request signal, and the second sensing request signal is used to request execution of the sensing process.
  • the number of sensing rounds is not limited in the embodiment of the present application, and the second indication information may indicate the codebook corresponding to each sensing round among all sensing rounds.
  • the above-mentioned second indication information being the index of the codebook corresponding to the sensing round is only an example and does not constitute any limitation on the protection scope of the present application.
  • the second indication information may be other information that can indicate the codebook corresponding to the sensing round. , for example, the content of the codebook corresponding to the sensing wheel, or other information that can identify the codebook corresponding to the sensing wheel, will not be discussed here. Give examples one by one.
  • the first responder device is a sensing requesting device as an example.
  • the second responder device may also be a sensing requesting device.
  • the second responder device is a sensing requesting device.
  • the process of role exchange between the first responder device and the second responder device is similar to the above-mentioned method 2, and will not be described again here.
  • the codebook is any one of the following: ⁇ +C,+C,+C,-C ⁇ , ⁇ +C,+C,-C,+C ⁇ , ⁇ +C,-C,+C, +C ⁇ , ⁇ +C,-C,-C,-C ⁇ , ⁇ -C,+C,+C,+C ⁇ , ⁇ -C,+C,-C,-C ⁇ , ⁇ -C, -C,+C,-C ⁇ , ⁇ -C,-C,+C ⁇ , where C is a real number.
  • the value of C may be "1", indicating that it affects the polarity of each symbol in the disclosed sequence; or, the value of C may also be a value greater than 1 or less than 1, indicating that it affects the polarity of each symbol in the disclosed sequence.
  • the polarity and amplitude of the symbol It should be understood that the value of C is not limited in the embodiments of this application.
  • the codebook index corresponding to each possibility can be recorded as 1 ⁇ 8.
  • three bits can be used for indication, and 000 to 111 respectively correspond to 8 different possibilities.
  • the number of codebooks carried in the first indication information or the second indication information in the application embodiment may be determined by the initiating end device or the sensing requesting device according to service requirements.
  • the initiating device or the sensing requesting device determines that the number of sensing rounds to be performed in the sensing process is N according to the service requirements, then the initiating device or the sensing requesting device determines that the number of codebooks is N, and one codebook corresponds to one sensing round.
  • the number of codebooks in this embodiment may be preconfigured, or may be negotiated between the initiating device and the responding device.
  • the relationship between the sensing wheel and the codebook can be negotiated between the initiating device and the responding device.
  • the number of codebooks is M
  • the number of sensing rounds in the sensing process is N.
  • the codebooks corresponding to the sensing round can be the first M codebooks among the N codebooks (or any N codebooks among the M codebooks); when N is greater than M,
  • the codebooks corresponding to the first M sensing rounds correspond to M codebooks respectively, and the codebooks corresponding to the last N-M sensing rounds can be the first N-M codebooks among the M codebooks (or any N-M codes among the M codebooks). ), which means that the codebook can be recycled.
  • the codebook index can also be 0 to 7.
  • more than 3 bits may be used for indication.
  • the codebook index used by each sensing round in the entire sensing process is randomly selected by the initiating end device, and the initiating end device uses the first indication information to set the codebook index used by each sensing round in the entire sensing process.
  • This index is sent to the first responder device and the second responder device; or, corresponding to the above method 2, the first responder device is the sensing requesting device.
  • the codebook index used in each sensing round during the entire sensing process is determined by the first responder.
  • the end device randomly selects, and the first responding end device sends the codebook index used in each sensing round in the entire sensing process to the initiating end device and the second responding end device through the second indication information.
  • the responding device can learn the codebook used to generate the sensing signal.
  • the method flow shown in (b) in Figure 3 also includes:
  • the first responder device generates a sensing signal based on the codebook.
  • the first responder device generates the first sensing signal based on the codebook in the first time slot of the first sensing round to and generating a third sensing signal based on the codebook in the second time slot of the first sensing round.
  • S320 The second responder device generates a sensing signal based on the codebook.
  • the second responder device generates the second sensing signal based on the codebook in the first time slot of the first sensing round, and generates the fourth sensing signal based on the codebook in the second time slot of the first sensing round.
  • the sensing signal generated by the responder device is associated with the codebook and the public sequence.
  • the first sensing signal a ⁇ s[n]
  • the second sensing signal b ⁇ s[n]
  • the third sensing signal c ⁇ s[n]
  • the fourth sensing signal d ⁇ s[n]
  • s[n] is the public sequence
  • the a, b, c, d constitute the codebook corresponding to the first sensing round.
  • the specific form of the disclosed sequence is not limited in the embodiments of the present application. It can be a pilot sequence, including but not limited to: Ipatov sequence, etc. You can refer to the specific description of the disclosed sequence provided in the IEEE 802.15.4z standard. The disclosed sequences will not be introduced in detail in the application examples.
  • each sensing wheel is divided into two time slots, and two responder devices send sensing signals in each time slot.
  • This embodiment can also be applied to more than two responses. In the scenario of terminal equipment.
  • each sensing round is divided into three time slots.
  • the sensing signal #2 sent by the responding device #2 a12 ⁇ s[n]
  • the sensing signal #4 sent by the responding device #1 in time slot #2 a21 ⁇ s[n]
  • the sensing signal #5 sent by the responding device #2 a22 ⁇ s[n]
  • the sensing signal #6 sent by the responding device #3 a23 ⁇ s[n]
  • the sensing signal #7 sent by the responding device #1 in time slot #3 a31 ⁇ s[n]
  • the sensing signal #8 sent by the responding device #2 a32 ⁇ s[n]
  • the sensing signal #9 sent by the responding device #3 a33 ⁇ s[n].
  • ⁇ a11, a12, a13, a21, a22, a23, a31, a32, a33 ⁇ constitute the codebook used in this round, and the following matrix formed by the codewords in the codebook is a full-rank matrix.
  • the above-mentioned first indication information includes the index of the codebook corresponding to each sensing round encrypted based on a first key, the first key being the first responder device, the third A key known to both the responder device and the initiator device.
  • the second indication information includes the index of the codebook corresponding to each sensing round encrypted based on the second key, which is the first responder device, the second responder device, and the second responder device. A key known to the device and the initiating device.
  • the first key and the second key are the same key.
  • the responding device After the responding device generates a sensing signal, it sends it to the initiating device through the channel between the responding device and the initiating device. (b) in Figure 3 also includes the following steps:
  • the initiating device receives a sensing signal from the first responding device, or in other words, the first responding device sends a sensing signal.
  • S340 The initiating device receives the sensing signal from the second responding device, or in other words, the second responding device sends the sensing signal.
  • the initiator device receives sensing signals from two responder devices as an example. This does not limit the scope of the present application. In the embodiment of the present application, the initiator device can receive signals from multiple responder devices. The sensing signal of one (two or more) responding devices.
  • the initiator device receives the first sensing signal from the first responder device and receives the second sensing signal from the second responder device in the first time slot in the first sensing round.
  • the initiating device receives the first sensing signal and the second sensing signal simultaneously in the first time slot.
  • the initiating device receives the first sensing signal at the first time in the first time slot, and receives the second sensing signal at the second time in the first time slot, where the first time and The interval between the second moments is less than the first threshold.
  • the first time is S microseconds earlier than the second time, or the first time is S microseconds later than the second time.
  • the initiating device receives the third sensing signal from the first responding device and the fourth sensing signal from the second responding device in the second time slot in the first sensing round.
  • the initiating device simultaneously receives the third sensing signal and the fourth sensing signal in the second time slot.
  • the initiating end device receives the third sensing signal at the third time in the second time slot, and receives the fourth sensing signal at the fourth time in the second time slot, where the third time and The interval between the fourth moments is less than the first threshold
  • the third time is S microseconds earlier than the fourth time, or the third time is S microseconds later than the fourth time.
  • the above-mentioned first threshold is related to the CIR value of the first channel between the initiator device and the first responder device, and to the CIR value of the second channel between the initiator device and the second responder device.
  • the size of the first threshold meets the following conditions: the first threshold should be less than the minimum value of the CIR length of the first channel and the CIR length of the second channel, where CIR is the unit impulse response of the channel and consists of multiple taps, and the CIR length Refers to the length of time the CIR lasts. For example, a CIR consists of 100 taps, and the time interval between two adjacent taps is 2ns, then the length of the CIR is 200ns. It should be understood that the time interval between two adjacent taps is determined by the sampling rate. The above 2 ns is only an example and does not constitute any limitation on the protection scope of the present application.
  • the initiating device receives sensing signals from different responding devices at the same reception time in different time slots of each sensing round, or the interval between the receiving moments is less than the first threshold.
  • the initiating end device and the above multiple responding end devices Before transmitting the sensing signal, the responding device can be instructed to determine the appropriate time to send the sensing signal through a synchronization process.
  • the synchronization process between devices will be described below in conjunction with Figures 4 and 5, which will not be described here.
  • the responding end device in order to ensure that the receiving time of the initiating end receiving the sensing signal satisfies the above conditions (the time is the same or the interval between the time is less than the first threshold), the responding end device can be configured to determine the appropriate transmission.
  • the time of sensing the signal for example, configure the time when the responder device sends the sensing signal.
  • the initiating device after receiving the above-mentioned sensing signals from multiple responder devices, the initiating device can jointly process the multiple sensing signals and estimate the channels between the initiating device and the multiple responding devices.
  • the method flow shown in (b) in Figure 3 also includes:
  • S350 The initiator device estimates the CIR of the channel based on multiple sensing signals.
  • the initiator device estimates the CIR of the first channel and the CIR of the second channel based on the first sensing signal, the second sensing signal, the third sensing signal and the fourth sensing signal.
  • the first channel is a channel between the initiating device and the first responding device
  • the second The channel is a channel between the initiator device and the second responder device.
  • the CIR of the first channel and the CIR of the second channel respectively reflect the channels corresponding to different links from the responder device to the initiator device, where the link from the responder device to the initiator device exists and the target links between (perceived objects).
  • the first channel is the channel between the initiator device and the target, and the channel between the target and the first responder device.
  • the intermediate targets may not be reflected, and they are directly called the initiator device and the first responder device.
  • Channels between devices; for example, the second channel is the channel between the initiator device and the target, and the channel between the target and the second responder device.
  • the intermediate target may not be reflected, and is directly called the initiator. The channel between the end device and the second responding end device.
  • the first perception signal a ⁇ s[n]
  • the second perception signal b ⁇ s[n]
  • the third perception signal c ⁇ s[n]
  • h[n] represents the CIR of the first channel
  • g[n] represents the CIR of the second channel
  • w 1 [n] represents the reception noise of the initiating end device in the first time slot
  • * represents the convolution operation
  • w 2 [n] represents the receiving noise of the initiating end device in the second time slot.
  • the initiating device first adds the received signals of the two time slots to get:
  • the initiating device subtracts the received signals of the two time slots to obtain:
  • h[n] and g[n] estimated by the initiating device reflect the characteristics of the same object being sensed, and can obtain a more comprehensive understanding of the object being sensed.
  • this embodiment can also effectively protect user privacy.
  • he [n] represents the CIR of channel #1 between the first responder device and the malicious user
  • g e [n] represents the CIR of channel #2 between the second responder device and the malicious user
  • w e ,1 [n] represents the reception noise of the malicious user in the first time slot
  • * represents the convolution operation
  • w e,1 [n] represents the reception noise of the malicious user in the second time slot.
  • a malicious user can estimate ah e [n] + bg e [n], and ch e [n] + dg e [n]. In other words, the malicious user can only estimate the linear combination of he [ n] and g e [n] based on the signal he receives.
  • the malicious user does not know the codebook ⁇ a used in this round ,b,c,d ⁇ . Therefore, a malicious user cannot infer he [n] and ge [n]. It can be seen from the above that there are 8 possible codebooks used in each perception round. A malicious user can only randomly guess the codebook. Therefore, the probability of a malicious user randomly guessing the correct codebook in each perception round is 1/8. For perception When the process contains N perception rounds, the probability that a malicious user guesses the CIR of the entire process correctly is
  • Figure 4 is a schematic flow chart of synchronization provided by an embodiment of the present application.
  • the time information used for synchronization is broadcast by the initiating device. Corresponds to the scene shown in (b) in Figure 2.
  • the method flow shown in Figure 4 includes the following steps:
  • the initiating device sends the first sensing request signal #1 to the first responding device, or the first responding device receives the first sensing request signal #1 from the initiating device.
  • the initiating device sends the first sensing request signal #2 to the second responding device, or the second responding device receives the first sensing request signal #2 from the initiating device.
  • the above-mentioned first sensing request signal #1 and the first sensing request signal #2 are both used to indicate the initiation of sensing. They have the same function and can be signals broadcast by the initiating end device. Therefore, the first sensing request signal #1 and the first sensing request signal #2 have the same function.
  • a sensing request signal #2 may be collectively referred to as the first sensing request signal.
  • the initiating device receives the first sensing confirmation signal #1 from the first responding device, or the first responding device sends the first sensing confirming signal #1 to the initiating device.
  • the initiating device receives the first sensing confirmation signal #1 from the second responding device, or the second responding device sends the first sensing confirmation signal #2 to the initiating device.
  • the above-mentioned first sensing confirmation signal #1 is used to indicate the successful reception of the first sensing request signal #1
  • the first sensing confirmation signal #2 is used to indicate the successful reception of the first sensing request signal #2.
  • the first perception confirmation signal #1 and the first perception confirmation signal #2 may be collectively referred to as the first perception confirmation signal.
  • S415 The initiating end device estimates the first round-trip delay and the second round-trip delay.
  • the first round-trip delay is the round-trip delay between the initiator device and the first responder device; the second round-trip delay is the round-trip delay between the initiator device and the second responder device.
  • the name of the information is not limited in the embodiments of the present application, as long as it can realize the function of the information.
  • the above-mentioned first round-trip delay can be called the first delay, the first duration, the first round-trip duration, etc.
  • the second round-trip delay can be called the second delay, the second duration, the second round-trip duration, etc.
  • the initiating device estimates the first round-trip delay by: the initiating device estimates the first round-trip delay based on the sending time of sending the first sensing request signal #1 and the time of receiving the first sensing confirmation signal #1.
  • the initiating end device estimates the second round-trip delay by: the initiating end device sends the first sensing request The second round-trip delay is estimated from the sending time of signal #2 and the time of receiving the first sensing confirmation signal #2.
  • the signal transmission between the initiating device and the responding device is via the sensed object.
  • the way in which the initiating device estimates the round-trip delay in this embodiment is only an example and does not limit the scope of protection of this application.
  • the delay between devices can also be confirmed through other methods.
  • the initiating device can The sent signal carries timestamp information to indicate the sending time, and the responding device can determine the delay between the responding device and the initiating device based on the time stamp information and the receiving time.
  • the delay between devices is determined through other signal transmission processes (such as adding a new process for determining round-trip delay, or reusing existing processes for other signaling transmissions).
  • the method flow shown in Figure 4 also includes:
  • S416 The initiating device sends the fixed delay, the first round-trip delay, and the second round-trip delay to the first responder device.
  • S417 The initiating device sends the fixed delay, the first round-trip delay, and the second round-trip delay to the second responder device.
  • the initiating end device broadcasts a first acknowledgment frame, and the first acknowledgment frame is used to start the sensing process.
  • the first acknowledgment frame includes the above-mentioned fixed delay, the first round-trip delay and the second round-trip delay.
  • the above-mentioned broadcasting of the fixed delay, the first round-trip delay and the second round-trip delay through the first acknowledgment frame is only an example and does not constitute any limitation on the protection scope of the present application.
  • the initiating device can use other signaling (such as , new signaling) transmission fixed delay, first round-trip delay and second round-trip delay, which will not be described again here.
  • the initiator device may send information for synchronization to the first responder device and the second responder device through signaling respectively.
  • the responder device can determine the time to send the sensing signal based on the synchronization information.
  • the method flow shown in Figure 4 also includes:
  • the first responder device determines the time to send the first sensing signal and the third sensing signal.
  • the second responder device determines the time to send the second sensing signal and the fourth sensing signal.
  • the following is an example of the way in which the first responder device and the second responder device determine the moment to send the sensing signal.
  • t1 is the time when the first responder device receives the first acknowledgment frame
  • t3 is the time when the second responder device receives the first acknowledgment frame
  • ⁇ 1 is the fixed delay
  • ⁇ 2 is the first time slot and the first time slot.
  • the interval between the two time slots, T1 is the first round-trip delay
  • T2 is the second round-trip delay.
  • ⁇ 2 is the interval between the starting time of the first time slot and the starting time of the second time slot, or ⁇ 2 is the ending time of the first time slot and the ending time of the second time slot. The interval between starting moments.
  • the initiating end device can send a message for determining to the first responding end device and the second responding end device respectively.
  • the information at the moment of sending the sensing signal is in this example one.
  • the initiator device can take into account the different information required by different responder devices and send different information to different responder devices instead of broadcasting.
  • the initiating device since the first responder device only considers a fixed delay when determining the time to send a sensing signal, the initiating device only needs to send a fixed delay to the first responder device; the second responder device considers this when determining the time to send a sensing signal.
  • the initiating device sends the fixed delay, the first round trip delay and the second round trip delay to the first responder device.
  • t start represents the time when the initiating device sends the first confirmation frame, It can be understood as the above-mentioned t1, that is, the time when the first responder device receives the first acknowledgment frame.
  • the moment when the initiating device receives the second sensing signal in the first time slot is:
  • the moment when the initiating device receives the third sensing signal in the second time slot is:
  • the moment when the initiating device receives the fourth sensing signal in the second time slot is:
  • the initiator device can simultaneously receive the first sensing signal from the first responder device and the second sensing signal from the second responder device in the first time slot. Similarly, the initiating device may simultaneously receive the third sensing signal from the first responding device and the fourth sensing signal from the second responding device in the second time slot.
  • t1 is the time when the first responder device receives the first acknowledgment frame
  • ⁇ 1 is the fixed delay
  • ⁇ 2 is the interval between the first time slot and the second time slot
  • T1 is the first round-trip delay
  • T2 is the second round-trip delay.
  • the initiating end device can send information used to determine the time to send the sensing signal to the first responding end device and the second responding end device respectively, in this example two.
  • the initiator device can take into account the different information required by different responder devices and send different information to different responder devices instead of broadcasting.
  • the initiating device since the second responder device only considers the fixed delay when determining the time to send the sensing signal, the initiating device only needs to send the fixed delay to the second responder device; the first responder device considers the time when determining the time to send the sensing signal. The initiating device sends the fixed delay, the first round trip delay and the second round trip delay to the first responder device.
  • the moment when the initiating device receives the first sensing signal in the first time slot is:
  • t start represents the time when the initiating device sends the first confirmation frame, It can be understood as the above-mentioned t1, that is, the time when the first responder device receives the first acknowledgment frame.
  • the moment when the initiating device receives the second sensing signal in the first time slot is:
  • the moment when the initiating device receives the third sensing signal in the second time slot is:
  • the moment when the initiating device receives the fourth sensing signal in the second time slot is:
  • the initiator device can simultaneously receive the first sensing signal from the first responder device and the second sensing signal from the second responder device in the first time slot. Similarly, the initiating device may simultaneously receive the third sensing signal from the first responding device and the fourth sensing signal from the second responding device in the second time slot.
  • Figure 5 is a schematic flow chart of another synchronization provided by an embodiment of the present application. Synchronization information is broadcast by the sensing requesting device.
  • the above-mentioned first responder device may be a sensing requesting device, a device with sensing requirements. Corresponds to the scene shown in (c) in Figure 2.
  • the method flow shown in Figure 5 includes the following steps:
  • the first responder device sends the second sensing request signal #1 to the initiating device, or the initiating device receives the second sensing request signal #1 from the first responding device.
  • the first responder device sends the second sensing request signal #2 to the second responder device, or the second responder device receives the second sensing request signal #2 from the first responder device.
  • the above-mentioned second sensing request signal #1 and second sensing request signal #2 are both used to indicate the initiation of sensing. They have the same function and can be signals broadcast by the first responder device, so the second sensing request signal #1 and the second sensing request signal #2 may be collectively referred to as the second sensing request signal.
  • the second sensing request signal includes a fixed delay.
  • the initiating device sends the second sensing confirmation signal #1 to the first responding device, or the first responding device receives the second sensing confirmation signal #1 from the initiating device.
  • the initiating device sends the second sensing confirmation signal #2 to the second responding device, or the second responding device receives the second sensing confirming signal #2 from the initiating device.
  • the above-mentioned first sensing confirmation signal #1 and second sensing confirmation signal #2 are used to indicate successful reception of the second sensing request signal #1. It may be a signal broadcast by the initiating end device, so the second sensing confirmation signal #1 and the second sensing confirmation signal #2 may be collectively referred to as the second sensing confirmation signal.
  • the first responder device estimates the first round-trip delay.
  • the first responder device estimates the first round-trip delay by: the first responder device estimates the first round-trip time based on the sending time of sending the second sensing request signal #1 and the time of receiving the second sensing confirmation signal #1. time delay.
  • S516 The second responder device sends a feedback signal to the initiator device.
  • the feedback signal is used to indicate that the above-mentioned second sensing confirmation signal #2 is successfully received, and the feedback signal may be ACK.
  • S517 The initiating end device estimates the second round-trip delay.
  • the initiating device estimates the second round-trip delay by: the initiating device estimates the first round-trip delay based on the sum of the time of sending the second sensing confirmation signal #2 and the time of receiving the feedback signal.
  • the method of estimating the round-trip delay between the initiator device and the first responder device in Method 2 is only an example and does not limit the scope of protection of this application.
  • the delay between devices can also be confirmed through other methods, such as , the first responding device can carry timestamp information in the sent signal to indicate the sending time, and the initiating device can determine the delay between the first responding device and the initiating device based on the time stamp information and the receiving time.
  • the delay between devices is determined through other signal transmission processes (such as adding a new process for determining round-trip delay, or reusing existing processes for other signaling transmissions).
  • the method flow shown in Figure 5 also includes:
  • S518 The first responder device sends the first round-trip delay to the second responder device, or the second responder device receives the first round-trip delay from the first responder device.
  • S519 The initiator device sends the second round-trip delay to the second responder device, or the second responder device receives the second round-trip delay from the initiator device.
  • S520 The initiator device sends the second round-trip delay to the second responder device, or the second responder device receives the second round-trip delay from the initiator device.
  • the initiating end device broadcasts a second acknowledgment frame, and the second acknowledgment frame is used to start the sensing process.
  • the second acknowledgment frame includes the above-mentioned second round-trip delay.
  • the above-mentioned broadcasting of the second round-trip delay through the second acknowledgment frame is only an example and does not constitute any limitation on the protection scope of the present application.
  • the initiating device can transmit the second round-trip delay through other signaling (such as new signaling). The time delay will not be discussed in detail here.
  • the initiator device may send information for synchronization to the first responder device and the second responder device through signaling respectively.
  • the responder device can determine the time to send the sensing signal based on the synchronization information.
  • the method flow shown in Figure 5 also includes:
  • the first responder device determines the time to send the first sensing signal and the third sensing signal.
  • the second responder device determines the time to send the second sensing signal and the fourth sensing signal.
  • the following is an example of the way in which the first responder device and the second responder device determine the moment to send the sensing signal.
  • t2 is the time when the first responder device receives the second acknowledgment frame
  • t4 is the time when the second responder device receives the second acknowledgment frame
  • ⁇ 1 is the fixed delay
  • ⁇ 2 is the first time slot and the second acknowledgment frame.
  • the interval between the two time slots, T1 is the first round-trip delay
  • T2 is the second round-trip delay.
  • ⁇ 2 is the interval between the starting time of the first time slot and the starting time of the second time slot, or ⁇ 2 is the ending time of the first time slot and the ending time of the second time slot. The interval between starting moments.
  • the initiating end device can send information used to determine the time to send the sensing signal to the first responding end device and the second responding end device respectively, in this example one.
  • the initiator device can take into account the different information required by different responder devices and send different information to different responder devices instead of broadcasting.
  • the initiator device may not send the second round-trip delay to the first responder device.
  • the moment when the initiating device receives the first sensing signal in the first time slot is:
  • t start1 represents the time when the initiating device sends the second confirmation frame, It can be understood as the above-mentioned t2, that is, the time when the first responder device receives the second acknowledgment frame.
  • the moment when the initiating device receives the second sensing signal in the first time slot is:
  • the moment when the initiating device receives the third sensing signal in the second time slot is:
  • the moment when the initiating device receives the fourth sensing signal in the second time slot is:
  • the initiator device can simultaneously receive the first sensing signal from the first responder device and the second sensing signal from the second responder device in the first time slot. Similarly, the initiating device may simultaneously receive the third sensing signal from the first responding device and the fourth sensing signal from the second responding device in the second time slot.
  • t1 is the time when the first responder device receives the first acknowledgment frame
  • ⁇ 1 is the fixed delay
  • ⁇ 2 is the interval between the first time slot and the second time slot
  • T1 is the first round-trip delay
  • T2 is the second round-trip delay.
  • the initiating end device can send information used to determine the time to send the sensing signal to the first responding end device and the second responding end device respectively, in this example two.
  • the initiator device can take into account the different information required by different responder devices and send different information to different responder devices instead of broadcasting.
  • the initiator device may not send the second round-trip delay to the second responder device, and the first responder device may not send the second responder device the second round-trip delay.
  • the end device sends the first round-trip delay.
  • Example 4 under the premise that the responding device sends the sensing signal according to the above sending time:
  • the moment when the initiating device receives the first sensing signal in the first time slot is:
  • t start1 represents the time when the initiating device sends the second confirmation frame, It can be understood as the above-mentioned t2, that is, the time when the first responder device receives the first acknowledgment frame.
  • the moment when the initiating device receives the second sensing signal in the first time slot is:
  • the moment when the initiating device receives the third sensing signal in the second time slot is:
  • the moment when the initiating device receives the fourth sensing signal in the second time slot is:
  • the initiator device can simultaneously receive the first sensing signal from the first responder device and the second sensing signal from the second responder device in the first time slot. Similarly, the initiating device may simultaneously receive the third sensing signal from the first responding device and the fourth sensing signal from the second responding device in the second time slot.
  • the first responder device is a sensing requesting device as an example.
  • the second responder device may also be a sensing requesting device.
  • the roles of the first responder device and the second responder device are interchanged, and the synchronization process is similar to the above-mentioned Figure 5, which will not be described again here.
  • Examples 1 to 4 are only examples to illustrate possible situations where the responding device determines the possible time to send a sensing signal, and do not constitute any limitation on the protection scope of the present application.
  • each initiating device performs CIR estimation may refer to the manner in which the initiating device performs CIR estimation in the embodiment shown in FIG. 3 , which will not be described again here.
  • devices in the existing network architecture are mainly used as examples (such as initiating devices, responding devices, etc.). It should be understood that the specific form of the devices is The application examples are not limiting. For example, devices that can achieve the same functions in the future are applicable to the embodiments of this application.
  • the methods and operations implemented by devices can also be implemented by components of the device (such as chips or circuits).
  • the method applied to ultra-bandwidth UWB system perception measurement has been described in detail with reference to (a) and (b) in Figure 3 .
  • the above methods applied to ultra-bandwidth UWB system perception measurement are mainly introduced from the perspective of interaction between the initiator device and the responder device. It can be understood that, in order to implement the above functions, the initiating device and the responding device include hardware structures and/or software modules corresponding to each function.
  • the device provided by the embodiment of the present application for sensing measurement of the ultra-bandwidth UWB system will be described in detail with reference to FIG. 6 and FIG. 7 .
  • the description of the device embodiments corresponds to the description of the method embodiments. Therefore, for content that is not described in detail, please refer to the above method embodiments. For the sake of brevity, some content will not be described again.
  • Embodiments of the present application can divide the sending end device or the receiving end device into functional modules according to the above method examples.
  • each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. middle.
  • the above integrated modules can be implemented in the form of hardware or software function modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. In actual implementation, there may be other division methods. The following is an example of dividing each functional module according to each function.
  • FIG. 6 is a schematic block diagram of a device for sensing measurement of an ultra-bandwidth UWB system provided by an embodiment of the present application.
  • the device 600 may include a transceiver unit 610 and a processing unit 620 .
  • the transceiver unit 610 can communicate with the outside, and the processing unit 620 is used for data processing.
  • the transceiver unit 610 may also be called a communication interface or a communication unit.
  • the device 600 may also include a storage unit, which may be used to store instructions and/or data, and the processing unit 620 may read the instructions and/or data in the storage unit, so that the device implements the foregoing method embodiments. .
  • the device 600 can be used to perform the actions performed by the transceiver device (such as the initiator device and the responder device) in the above method embodiment.
  • the device 600 can be a transceiver device or a component that can be configured in the transceiver device.
  • the unit 610 is configured to perform operations related to the transceiver device in the above method embodiment
  • the processing unit 620 is configured to perform operations related to the processing of the transceiver device in the above method embodiment.
  • the device 600 is used to perform the actions performed by the initiating device in the above method embodiment.
  • the initiating end device receives the sensing signal in one or more sensing rounds, and each sensing round includes at least two time slots.
  • the transceiver unit 610 is used to receive the sensing signal in the first time slot in the first sensing round. receiving a first sensing signal from the first responder device and a second sensing signal from the second responder device;
  • the transceiver unit 610 is also configured to receive the third sensing signal from the first responding end device and the fourth sensing signal from the second responding end device in the second time slot in the first sensing round;
  • the processing unit 620 is configured to estimate the channel impulse response CIR of the first channel and the CIR of the second channel according to the first sensing signal, the second sensing signal, the third sensing signal and the fourth sensing signal,
  • the first channel is a channel between the initiator device and the first responder device
  • the second channel is a channel between the initiator device and the second responder device.
  • the device 600 may implement steps or processes corresponding to those executed by the initiating device in the method embodiments of the embodiments of this application, and the device 600 may include a unit for executing the method executed by the initiating device in the method embodiment. Moreover, each unit in the device 600 and the above-mentioned other operations and/or functions are respectively intended to implement the corresponding processes of the method embodiment in the initiating end device in the method embodiment.
  • the transceiving unit 610 can be used to perform the transceiving steps in the method, such as steps S313 and S314; the processing unit 620 can be used to perform the processing steps in the method. , As in step S315.
  • the transceiving unit 610 can be used to perform the transceiving steps in the method, such as steps S301, S302, S303, S330 and S340; the processing unit 620 can be used to perform the method The processing steps in , such as step S350.
  • the transceiving unit 610 can be used to perform the transceiving steps in the method, such as steps S411, S412, S413, S414, S416 and S417; the processing unit 620 can be used to perform processing in the method. Steps, such as step S415.
  • the transceiving unit 610 can be used to perform the transceiving steps in the method, such as steps S511, S513, S514, S516, S519 and S520; the processing unit 620 can be used to perform processing in the method. Steps, such as step S517.
  • the device 600 is used to perform the actions performed by the first responder device in the above method embodiment.
  • Processing unit 620 configured to generate a first sensing signal for the first time slot in the first sensing round and a third sensing signal for the second time slot in the first sensing round.
  • Transceiver unit 610 configured to send the first sensing signal and the third sensing signal to the initiating device
  • the first sensing signal and the third sensing signal are used to estimate the channel impulse response CIR of the first channel and the CIR of the second channel.
  • the first channel is between the initiating end device and the first responding end device.
  • the second channel is a channel between the initiator device and the second responder device.
  • the device 600 can implement steps or processes corresponding to the execution of the first responder device in the method embodiments according to the embodiments of the present application, and the device 600 can include a method for executing the first responder device in the method embodiment. unit. Moreover, each unit in the device 600 and the above-mentioned other operations and/or functions are respectively intended to implement the corresponding processes of the method embodiment in the first responder device in the method embodiment.
  • the transceiving unit 610 can be used to perform the transceiving steps in the method, such as step S313; the processing unit 620 can be used to perform the processing steps in the method, such as Step S311.
  • the transceiver unit 610 can be used to perform the transceiver steps in the method, such as steps S301, S303, S304 and S330; the processing unit 620 can be used to perform the steps in the method. Processing steps, such as step S310.
  • the transceiving unit 610 can be used to perform the transceiving steps in the method, such as steps S411, S416 and S413; the processing unit 620 can be used to perform the processing steps in the method, such as step S418.
  • the transceiver unit 610 can be used to perform the transceiver steps in the method, such as steps S511, S513 and S518; the processing unit 620 can be used to perform the processing steps in the method, such as steps S515 and S515. S521.
  • the device 600 is configured to perform the actions performed by the second responder device in the above method embodiment.
  • the processing unit 620 is configured to generate a second sensing signal for the first time slot in the first sensing round and a fourth sensing signal for the second time slot in the first sensing round;
  • the transceiver unit 610 is configured to send the second sensing signal and the fourth sensing signal to the originating device, wherein the second sensing signal and the fourth sensing signal are used to estimate the channel impulse response CIR of the first channel and the third sensing signal.
  • a CIR of two channels the first channel is a channel between the initiator device and the second responder device, and the second channel is a channel between the initiator device and the second responder device.
  • the device 600 can implement steps or processes corresponding to the execution of the second responder device in the method embodiment according to the embodiment of the present application, and the device 600 can include a method for executing the second responder device in the method embodiment. unit. Moreover, each unit in the device 600 and the above-mentioned other operations and/or functions are respectively intended to implement the corresponding processes of the method embodiment in the second responder device in the method embodiment.
  • the transceiving unit 610 can be used to perform the transceiving steps in the method, such as step S314; the processing unit 620 can be used to perform the processing steps in the method, such as Step S312.
  • the transceiver unit 610 can be used to perform the transceiver steps in the method, such as steps S302, S304 and S340; the processing unit 620 can be used to perform the processing steps in the method. , as in step S320.
  • the transceiving unit 610 can be used to perform the transceiving steps in the method, such as steps S412, S414 and S417; the processing unit 620 can be used to perform the processing steps in the method, such as step S419.
  • the transceiving unit 610 can be used to perform the transceiving steps in the method, such as steps S512, S514, S516, S518 and S519; the processing unit 620 can be used to perform the processing steps in the method, Such as step S522.
  • the processing unit 620 in the above embodiments may be implemented by at least one processor or processor-related circuit.
  • the transceiver unit 610 may be implemented by a transceiver or a transceiver-related circuit.
  • the storage unit may be implemented by at least one memory.
  • the apparatus 700 includes a processor 710 and may also include one or more memories 720 .
  • the processor 710 is coupled to the memory 720.
  • the memory 720 is used to store computer programs or instructions and/or data.
  • the processor 710 is used to execute the computer programs or instructions and/or data stored in the memory 720, so that the method in the above method embodiment be executed.
  • the device 700 includes one or more processors 710 .
  • the memory 720 may be integrated with the processor 710 or provided separately.
  • the device 700 may also include a transceiver 730, which is used for receiving and/or transmitting signals.
  • the processor 710 is used to control the transceiver 730 to receive and/or transmit signals.
  • the device 700 is used to implement the operations performed by the transceiver device (such as the initiator device and the responder device) in the above method embodiment.
  • the transceiver device such as the initiator device and the responder device
  • the communication device shown in FIG. 8 includes a logic circuit 801 and an interface 802 .
  • FIG. 8 shows that the above communication device is a chip.
  • the chip includes a logic circuit 801 and an interface 802 .
  • the chips shown in the embodiments of the present application may include narrowband chips or ultra-bandwidth chips. The examples are not limiting.
  • the step of sending the sensing signal as shown above can be performed by the ultra-bandwidth chip. Whether the remaining steps are performed by the ultra-bandwidth chip is not limited by the embodiments of this application.
  • Embodiments of the present application also provide a computer-readable storage medium on which are stored computer instructions for implementing the method executed by the transceiver device (such as the initiator device and the responder device) in the above method embodiment.
  • the computer when the computer program is executed by a computer, the computer can implement the method executed by the transceiver device (such as the initiator device and the responder device) in the above method embodiment.
  • the transceiver device such as the initiator device and the responder device
  • Embodiments of the present application also provide a computer program product containing instructions.
  • the instructions When the instructions are executed by a computer, the computer implements the method executed by the transceiver device (such as the initiator device and the responder device) in the above method embodiment.
  • An embodiment of the present application also provides a communication system, which includes the sending device and the receiving device in the above embodiment.
  • processors mentioned in the embodiments of this application may be a central processing unit (CPU), or other general-purpose processor, digital signal processor (DSP), or application-specific integrated circuit (ASIC).
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • non-volatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically removable memory. Erase electrically programmable read-only memory (EPROM, EEPROM) or flash memory. Volatile memory can be random access memory (RAM). For example, RAM can be used as an external cache.
  • RAM may include the following forms: static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM) , double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchlink DRAM, SLDRAM) and Direct memory bus random access memory (direct rambus RAM, DR RAM).
  • static random access memory static random access memory
  • dynamic RAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • SDRAM synchronous DRAM
  • double data rate SDRAM double data rate SDRAM
  • DDR SDRAM double data rate SDRAM
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM synchronous link dynamic random access memory
  • Direct memory bus random access memory direct rambus RAM, DR RAM
  • the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component
  • the memory storage module
  • memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.
  • the disclosed devices and methods can be used through other way to achieve.
  • 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 may be combined or can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the 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 they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to implement the solution provided by this application.
  • each functional unit in each embodiment of the present application can be integrated into one unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device.
  • the computer may be a personal computer, a server, or a network device.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another, e.g., the computer instructions may be transferred from a website, computer, server, or data center Transmission to another website, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more available media integrated.
  • the available media may be magnetic media (such as floppy disks, hard disks, magnetic tapes), optical media (such as DVDs), or semiconductor media (such as solid state disks (SSD)), etc.
  • the aforementioned available media may include But it is not limited to: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk and other media that can store program code.

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Abstract

本申请应用于基于超带宽UWB的无线个人局域网系统，包括802.15系列协议，例如802.15.4a协议、802.15.4z协议或802.15.4ab协议等。还可以支持IEEE 802.11ax下一代Wi-Fi协议，如802.11be，Wi-Fi 7或EHT，再如802.11be下一代，Wi-Fi 8等802.11系列协议的无线局域网系统，感知sensing系统等。本申请提供了一种用于感知的方法：发起端设备在第一感知轮的两个时隙内接收来自两个响应端设备的多个感知信号，根据多个感知信号估计发起端设备和多个响应端设备之间的信道的CIR。通过联合处理多个感知信号，获得感知结果，以期提高感知精度。

Description

应用于超带宽UWB系统感知测量的方法和装置
本申请要求于2022年04月29日提交中国专利局、申请号为202210474548.4、申请名称为“应用于超带宽UWB系统感知测量的方法和装置”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，更具体地，涉及一种应用于超带宽UWB系统感知测量的方法和装置。
背景技术
超宽带(ultra wideband，UWB)技术是一种无线载波通信技术，利用纳秒级的非正弦波窄脉冲传输数据。由于其脉冲很窄，且辐射谱密度极低，UWB系统具有多径分辨能力强、功耗低、保密性强等优点。
随着移动通信和互联网技术的快速发展，人们对于感知服务的需求与日俱增。由于UWB系统由于具有极宽的带宽，对于无线多径环境具有很强的分辨能力，因此可以根据UWB信号观测和理解物理世界，并以此为基础提供更多的业务。然而UWB系统由于成本、体积、功耗等方面的限制，难于通过配置多天线或采用复杂的信号处理算法来提升接收信噪比，这使得感知精度的提升非常困难。因此，如何提高基于UWB技术进行感知的精度，成为亟待解决的问题。
发明内容
本申请提供一种应用于超带宽UWB系统感知测量的方法，以期提高UWB感知的精度。
第一方面，提供了一种应用于超带宽UWB系统感知测量的方法，该方法可以由发起端设备执行，或者，也可以由发起端设备的组成部件(例如芯片或者电路)执行，对此不作限定，为了便于描述，下面以由发起端设备执行为例进行说明。
该方法包括：发起端设备在一个或者多个感知轮内接收感知信号，该每个感知轮中包括至少两个时隙，具体地，该发起端设备在第一感知轮中的第一时隙内接收来自第一响应端设备的第一感知信号和第二响应端设备的第二感知信号；该发起端设备在第一感知轮中的第二时隙内接收来自该第一响应端设备的第三感知信号和该第二响应端设备的第四感知信号；该发起端设备根据该第一感知信号、该第二感知信号、该第三感知信号和该第四感知信号估计第一信道的信道脉冲响应CIR和第二信道的CIR，其中，该第一信道为该发起端设备和该第一响应端设备之间的信道，该第二信道为该发起端设备和该第二响应端设备之间的信道。其中，第一感知轮为感知过程中的任意一个感知轮。
基于上述技术方案，对于一个感知轮来说发起端设备可以在感知轮中不同的时隙内分别接收到来自多个响应端设备(如，第一响应端设备和第二响应端设备)的多个感知信号， 并联合处理在该感知轮中接收到的感知信号以获得发起端设备和不同响应端设备之间的信道信息，完成感知过程。由于在感知过程中多个响应端设备协作参与，相比于一个响应端设备参与的感知过程，估计信道信息时信号的功率扩大倍数为噪声功率扩大倍数的两倍，从而提高了等效的信噪比，提高感知的精度。
示例性地，发起端设备在第一时隙内接收来自第一响应端设备的第一感知信号和第二响应端设备的第二感知信号，包括：该发起端设备在第一时隙内的第一时刻接收来自该第一响应端设备的第一感知信号；该发起端设备在第一时隙内的第二时刻接收来自该第二响应端设备的第二感知信号。
该发起端设备在第二时隙内接收来自该第一响应端设备的第三感知信号和该第二响应端设备的第四感知信号，包括：该发起端设备在第二时隙内的第三时刻接收来自该第一响应端设备的第三感知信号；该发起端设备在第二时隙内的第四时刻接收来自该第二响应端设备的第四感知信号。
其中，该第一时刻和该第二时刻相同，或者该第一时刻和该第二时刻之间的时间差小于第一阈值；该第三时刻和该第四时刻相同，或者该第三时刻和该第四时刻之间的时间差小于该第一阈值，该第一阈值与该第一信道和该第二信道的信道脉冲响应(Channel Impulse Response，CIR)值相关。
基于上述技术方案，发起端设备在一个感知轮的某个时隙内接收到不同响应端设备的感知信号的时刻可以相同，或者由于器件特性的限制、传输环境的不理想等因素，发起端设备在一个感知轮的某个时隙内接收到不同响应端设备的感知信号的时刻之间的间隔满足一定阈值限定即可。以使得多个响应端设备以协作的方式参与感知过程，提升发起端设备CIR估计的准确度，提升感知精度。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：该发起端设备向该第一响应端设备和该第二响应端设备发送基于第一密钥加密的第一指示信息，该第一指示信息用于指示每一个感知轮对应的码本，该第一感知信号、该第二感知信号、该第三感知信号和该第四感知信号基于该第一感知轮对应的码本和公开序列确定，其中，该第一密钥为该第一响应端设备、该第二响应端设备和该发起端设备已知的密钥。
基于上述技术方案，发起端设备可以将用于指示生成感知信号的码本的第一指示信息加密之后发送给响应端设备，以便于响应端设备生成感知信号，由于指示码本的信息为加密的，能够避免其他设备(如，恶意用户)基于接收到的感知信号准确推断得到信道的CIR。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：该发起端设备接收来自感知请求设备第二指示信息，该第二指示信息用于指示每一个感知轮对应的码本，该第一感知信号、该第二感知信号、该第三感知信号和该第四感知信号基于该第一感知轮对应的码本和公开序列确定，其中，该第二指示信息包括基于第二密钥加密后的该每一个感知轮对应的码本的索引，该第二密钥为该第一响应端设备、该第二响应端设备、该感知请求设备和该发起端设备已知的密钥。
基于上述技术方案，在感知系统中存在感知请求设备的情况下，用于指示生成感知信号的码本的信息可以由感知请求设备加密之后广播给感知系统中的设备，由于码本的索引为加密的能够避免其他设备(如，恶意用户)基于接收到的感知信号准确推断得到信道的CIR。
结合第一方面，在第一方面的某些实现方式中，该感知请求设备为该第一响应端设备。
基于上述技术方案，感知系统中的感知请求设备可以具有响应端设备发送感知信号的功能，以使得包括感知请求设备、一个响应端设备和发起端设备的感知系统中的发起端设备可以在感知轮中不同的时隙内分别接收到来自多个响应端设备(如，感知请求设备和第二响应端设备)的多个感知信号，并联合处理在该感知轮中接收到的感知信号以获得发起端设备和不同响应端设备之间的信道信息，完成感知过程。
结合第一方面，在第一方面的某些实现方式中，该第一感知信号＝a·s[n]，该第二感知信号＝b·s[n]，该第三感知信号＝c·s[n]，该第四感知信号＝d·s[n]，其中，s[n]为该公开序列，该a，b，c，d构成该第一感知轮对应的码本。
基于上述的技术方案，感知信号可以由码本中的码字和公开序列通过简单的乘法运算得到，以期降低方案的复杂性。
结合第一方面，在第一方面的某些实现方式中，该码本为以下任意一种：{+C,+C,+C,-C},{+C,+C,-C,+C},{+C,-C,+C,+C},{+C,-C,-C,-C},{-C,+C,+C,+C},{-C,+C,-C,-C},{-C,-C,+C,-C},{-C,-C,-C,+C}，其中，C为实数。
基于上述的技术方案，每个感知轮对应的码本可以为预定义的码本集合中的一种，码本集合中的码本数有多种选择，而且一次感知过程中有多个感知轮，每个感知轮中码本的选择可以为多样，其他未知码本的设备(如，恶意用户)在整个感知过程中正确推出每一个感知轮使用的码本的概率以感知轮个数的指数倍降低，进一步避免其他未知码本的设备估计正确的CIR，提高方案的安全性。
第二方面，提供了一种应用于超带宽UWB系统感知测量的方法，该方法可以由第一响应端设备执行，或者，也可以由第一响应端设备的组成部件(例如芯片或者电路)执行，对此不作限定，为了便于描述，下面以由第一响应端设备执行为例进行说明。
在一个或者多个感知轮内的每个感知轮中包括至少两个时隙，该方法包括：第一响应端设备生成针对第一感知轮中第一时隙的第一感知信号和针对第一感知轮中第二时隙的第三感知信号；该第一响应端设备向该发起端设备发送该第一感知信号和该第三感知信号，其中，该第一感知信号和该第三感知信号用于估计第一信道的信道脉冲响应CIR和第二信道的CIR，该第一信道为该发起端设备和该第一响应端设备之间的信道，该第二信道为该发起端设备和该第二响应端设备之间的信道。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：该第一响应端设备接收来自该发起端设备的基于第一密钥加密的第一指示信息，该第一指示信息用于指示每一个感知轮对应的码本，该第一感知信号和该第三感知信号基于该第一感知轮对应的码本和公开序列确定，其中，该第一密钥为该第一响应端设备、该第二响应端设备和该发起端设备已知的密钥。
结合第二方面，在第二方面的某些实现方式中，该第一响应端设备为感知请求设备，该方法还包括：该第一响应端设备向该发起端设备发送第二指示信息，该第二指示信息用于指示每一个感知轮对应的码本，该第一感知信号和该第三感知信号基于该第一感知轮对应的码本和公开序列确定，其中，该第二指示信息包括基于第二密钥加密后的该每一个感知轮对应的码本的索引，该第二密钥为该第一响应端设备、该第二响应端设备和该发起端设备已知的密钥。
或者，第一响应端设备不是感知请求设备，且感知系统中存在感知请求设备，该方法还包括：该第一响应端设备接收来自感知请求设备的第二指示信息，该第二指示信息用于指示每一个感知轮对应的码本，该第一感知信号和该第三感知信号基于该第一感知轮对应的码本和公开序列确定，其中，该第二指示信息包括基于第二密钥加密后的该每一个感知轮对应的码本的索引，该第二密钥为该第一响应端设备、该第二响应端设备、该感知请求设备和该发起端设备已知的密钥。
结合第二方面，在第二方面的某些实现方式中，该第一感知信号＝a·s[n]，该第三感知信号＝c·s[n]，其中，s[n]为该公开序列，该a，c为该第一感知轮对应的码本中的码字。
结合第二方面，在第二方面的某些实现方式中，该码本为以下任意一种：{+C,+C,+C,-C},{+C,+C,-C,+C},{+C,-C,+C,+C},{+C,-C,-C,-C},{-C,+C,+C,+C},{-C,+C,-C,-C},{-C,-C,+C,-C},{-C,-C,-C,+C}，其中，C为实数。
以上第二方面及其可能的设计所示方法的有益效果可参照第一方面及其可能的设计中的有益效果。
第三方面，提供了一种应用于超带宽UWB系统感知测量的方法，该方法可以由第二响应端设备执行，或者，也可以由第二响应端设备的组成部件(例如芯片或者电路)执行，对此不作限定，为了便于描述，下面以由第二响应端设备执行为例进行说明。
在一个或者多个感知轮内的每个感知轮中包括至少两个时隙，该方法包括：第二响应端设备生成针对第一感知轮中第一时隙的第二感知信号和针对第一感知轮中第二时隙的第四感知信号；该第二响应端设备向该发起端设备发送该第二感知信号和该第四感知信号，其中，该第二感知信号和该第四感知信号用于估计第一信道的信道脉冲响应CIR和第二信道的CIR，该第一信道为该发起端设备和该第二响应端设备之间的信道，该第二信道为该发起端设备和该第二响应端设备之间的信道。
结合第三方面，在第三方面的某些实现方式中，该方法还包括：该第二响应端设备接收来自该发起端设备的基于第一密钥加密的第一指示信息，该第一指示信息用于指示每一个感知轮对应的码本，该第二感知信号和该第四感知信号基于该第一感知轮对应的码本和公开序列确定，其中，该第一密钥为该第一响应端设备、该第二响应端设备和该发起端设备已知的密钥。
结合第三方面，在第三方面的某些实现方式中，该方法还包括：该第二响应端设备接收来自感知请求设备的基于第二密钥加密的第二指示信息，该第二指示信息用于指示每一个感知轮对应的码本，该第二感知信号和该第四感知信号基于该第一感知轮对应的码本和公开序列确定，其中，该第二密钥为该第一响应端设备、该第二响应端设备、该感知请求设备和该发起端设备已知的密钥。
结合第三方面，在第三方面的某些实现方式中，该感知请求设备为该第一响应端设备。
结合第三方面，在第三方面的某些实现方式中，该第二感知信号＝b·s[n]，该第四感知信号＝d·s[n]，其中，s[n]为该公开序列，该b，d为该第一感知轮对应的码本中的码字。
结合第三方面，在第三方面的某些实现方式中，该码本为以下任意一种：{+C,+C,+C,-C},{+C,+C,-C,+C},{+C,-C,+C,+C},{+C,-C,-C,-C},{-C,+C,+C,+C},{-C,+C,-C,-C},{-C,-C,+C,-C},{-C,-C,-C,+C}，其中，C为实数。
以上第三方面及其可能的设计所示方法的有益效果可参照第一方面及其可能的设计 中的有益效果。
第四方面，提供了一种应用于超带宽UWB系统感知测量的装置，该装置用于执行上述第一方面提供的方法。具体地，该应用于超带宽UWB系统感知测量的装置可以包括用于执行第一方面的上述任意一种实现方式提供的方法的单元和/或模块，如处理单元和获取单元。
在一种实现方式中，收发单元可以是收发器，或，输入/输出接口；处理单元可以是至少一个处理器。可选地，收发器可以为收发电路。可选地，输入/输出接口可以为输入/输出电路。
在另一种实现方式中，收发单元可以是该芯片、芯片系统或电路上的输入/输出接口、接口电路、输出电路、输入电路、管脚或相关电路等；处理单元可以是至少一个处理器、处理电路或逻辑电路等。
第五方面，提供了一种应用于超带宽UWB系统感知测量的装置，该装置用于执行上述第二方面提供的方法。具体地，该应用于超带宽UWB系统感知测量的装置可以包括用于执行第二方面的上述任意一种实现方式提供的方法的单元和/或模块，如处理单元和获取单元。
在一种实现方式中，收发单元可以是收发器，或，输入/输出接口；处理单元可以是至少一个处理器。可选地，收发器可以为收发电路。可选地，输入/输出接口可以为输入/输出电路。
在另一种实现方式中，收发单元可以是该芯片、芯片系统或电路上的输入/输出接口、接口电路、输出电路、输入电路、管脚或相关电路等；处理单元可以是至少一个处理器、处理电路或逻辑电路等。
第六方面，提供了一种应用于超带宽UWB系统感知测量的装置，该装置用于执行上述第三方面提供的方法。具体地，该应用于超带宽UWB系统感知测量的装置可以包括用于执行第三方面的上述任意一种实现方式提供的方法的单元和/或模块，如处理单元和获取单元。
在一种实现方式中，收发单元可以是收发器，或，输入/输出接口；处理单元可以是至少一个处理器。可选地，收发器可以为收发电路。可选地，输入/输出接口可以为输入/输出电路。
在另一种实现方式中，收发单元可以是该芯片、芯片系统或电路上的输入/输出接口、接口电路、输出电路、输入电路、管脚或相关电路等；处理单元可以是至少一个处理器、处理电路或逻辑电路等。
在一个或者多个感知轮内的每个感知轮中包括至少两个时隙，具体地，该应用于超带宽UWB系统感知测量的装置包括：处理单元，用于生成针对第一感知轮中第一时隙内的第二感知信号和针对第一感知轮中第二时隙的第四感知信号；发送单元，用于向该发起端设备发送该第二感知信号和该第四感知信号，其中，该第二感知信号和该第四感知信号用于估计第一信道的信道脉冲响应CIR和第二信道的CIR，该第一信道为该发起端设备和该第二响应端设备之间的信道，该第二信道为该发起端设备和该第二响应端设备之间的信道。
结合第六方面，在第六方面的某些实现方式中，该装置还包括：接收单元，用于接收来自该发起端设备的基于第一密钥加密的第一指示信息，该第一指示信息用于指示每一个 感知轮对应的码本，该第二感知信号和该第四感知信号基于该第一感知轮对应的码本和公开序列确定，其中，该第一密钥为该应用于超带宽UWB系统感知测量的装置、该第一响应端设备和该发起端设备已知的密钥。
结合第六方面，在第六方面的某些实现方式中，该装置还包括：接收单元，用于接收来自感知请求设备的基于第二密钥加密的第二指示信息，该第二指示信息用于指示每一个感知轮对应的码本，该第二感知信号和该第四感知信号基于该第一感知轮对应的码本和公开序列确定，其中，该第二密钥为该应用于超带宽UWB系统感知测量的装置、该第二响应端设备、该感知请求设备和该发起端设备已知的密钥。
结合第六方面，在第六方面的某些实现方式中，该感知请求设备为该第一响应端设备。
结合第六方面，在第六方面的某些实现方式中，该第二感知信号＝b·s[n]，该第四感知信号＝d·s[n]，其中，s[n]为该公开序列，该b，d为该第一感知轮对应的码本中的码字。
结合第六方面，在第六方面的某些实现方式中，该码本为以下任意一种：{+C,+C,+C,-C},{+C,+C,-C,+C},{+C,-C,+C,+C},{+C,-C,-C,-C},{-C,+C,+C,+C},{-C,+C,-C,-C},{-C,-C,+C,-C},{-C,-C,-C,+C}，其中，C为实数。
以上第六方面及其可能的设计所示方法的有益效果可参照第一方面及其可能的设计中的有益效果。
第七方面，本申请提供一种处理器，用于执行上述各方面提供的方法。
对于处理器所涉及的发送和获取/接收等操作，如果没有特殊说明，或者，如果未与其在相关描述中的实际作用或者内在逻辑相抵触，则可以理解为处理器输出和接收、输入等操作，也可以理解为由射频电路和天线所进行的发送和接收操作，本申请对此不做限定。
第八方面，提供一种计算机可读存储介质，该计算机可读存储介质存储用于设备执行的程序代码，该程序代码包括用于执行上述第一方面至第三方面的任意一种实现方式提供的方法。
第九方面，提供一种包含指令的计算机程序产品，当该计算机程序产品在计算机上运行时，使得计算机执行上述第一方面至第三方面的任意一种实现方式提供的方法。
第十方面，提供一种芯片，芯片包括处理器与通信接口，处理器通过通信接口读取存储器上存储的指令，执行上述第一方面至第三方面的任意一种实现方式提供的方法。
可选地，作为一种实现方式，芯片还包括存储器，存储器中存储有计算机程序或指令，处理器用于执行存储器上存储的计算机程序或指令，当计算机程序或指令被执行时，处理器用于执行上述第一方面至第三方面的任意一种实现方式提供的方法。
第十一方面，提供一种通信系统，包括第四方面所述的应用于超带宽UWB系统感知测量的装置、第五方面所述的应用于超带宽UWB系统感知测量的装置和第六方面所述的应用于超带宽UWB系统感知测量的装置。
附图说明
图1是本申请提供的两种应用场景的示意图。
图2中的(a)至(c)为感知模式的示意图。
图3中的(a)是本申请实施例提供的一种应用于超带宽UWB系统感知测量的方法的示意性流程图。
图3中的(b)是本申请实施例提供的另一种应用于超带宽UWB系统感知测量的方法的示意性流程图。
图3中的(c)至(e)是本申请实施例提供的应用于超带宽UWB系统感知测量的方法应用的场景示意图。
图4是本申请实施例提供的一种同步的示意性流程图。
图5是本申请实施例提供的另一种同步的示意性流程图。
图6是本申请实施例提供的一种应用于超带宽UWB系统感知测量的装置的示意性框图。
图7是本申请实施例提供的装置700的示意性图。
图8是本申请实施例提供的装置800的示意性图。
具体实施方式
下面将结合附图，对本申请中的技术方案进行描述。
本申请实施例可以应用于可以适用于基于超带宽(Ultra-Wide Band，UWB)技术的无线个人局域网(wireless personal area network，WPAN)，目前WPAN采用的标准为电气和电子工程协会(institute of electrical and electronics engineer，IEEE)802.15系列，本申请提供的方法可以适用于电气及电子工程师学会(institute of electrical and electronics engineers，IEEE)802.15系列协议，例如802.15.4a协议、802.15.4z协议或802.15.4ab协议，或者未来某代UWB WPAN标准中等，这里不再一一列举。WPAN可以用于电话、计算机、附属设备等小范围内的数字辅助设备之间的通信，其工作范围一般是在l0m以内。支持无线个人局域网的技术包括蓝牙(Bluetooth)、紫蜂(ZigBee)、超宽带、IrDA红外连接技术(红外)、家庭射频技术(Home Radio Frequency，Home RF)等。本领域技术人员容易理解，本申请涉及的各个方面可以扩展到采用各种标准或协议的其它网络或系统。例如，无线局域网(Wireless Local Area Networks，WLAN),高性能无线LAN(High Performance Radio LAN，HIPERLAN)(一种与IEEE 802.11标准类似的无线标准，主要在欧洲使用)以及广域网(WAN)或其它现在已知或以后发展起来的网络，物联网(internet of things，IoT)系统、车联网(Vehicle to X，V2X)、窄带物联网(narrow band internet of things，NB-IoT)系统，应用于车联网中的设备，物联网(IoT，internet of things)中的物联网节点、传感器等，智慧家居中的智能摄像头，智能遥控器，智能水表电表，以及智慧城市中的传感器等。还可以适用于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、长期演进(long term evolution，LTE)系统，也可以是第五代(5th-generation，5G)通信系统、第六代(6th-generation，6G)通信系统等。
从网络构成上来看，WPAN位于整个网络架构的底层，用于小范围内的设备之间的无线连接，即点到点的短距离连接，可以视为短距离无线通信网络。根据不同的应用场景，WPAN又分为高速率(high rate，HR)-WPAN和低速率(low rate)-WPAN，其中，HR-WPAN可用于支持各种高速率的多媒体应用，包括高质量声像配送、多兆字节音乐和图像文档传送等。LR-WPAN可用于日常生活的一般业务。
在WPAN中，根据设备所具有的通信能力，可以分为全功能设备(full-function device，FFD)和精简功能设备(reduced-function device，RFD)。FFD设备之间以及FFD设备与RFD设备之间都可以通信。RFD设备之间不能直接通信，只能与FFD设备通信，或者通过一个FFD设备向外转发数据。这个与RFD相关联的FFD设备称为该RFD的协调器(coordinator)。协调器也可以控制关联多个FFD。协调器也被称为控制节点。每个自组网中可以有多个协调器。RFD设备主要用于简单的控制应用，如灯的开关、被动式红外线传感器等，传输的数据量较少，对传输资源和通信资源占用不多，RFD设备的成本较低。其中，协调器也可以称为个人局域网(personal area network，PAN)协调器。PAN协调器可以理解为协调器的一种，PAN协调器也被称为PAN的中心控制节点等。FFD可作为PAN协调器或协调器，而RFD则不能作为PAN协调器或协调器。PAN协调器为整个网络的主控节点，并且每个自组网中只能有一个PAN协调器，具有成员身份管理、链路信息管理、分组转发功能。可选地，本申请实施例中的设备可以为支持802.15.4a和802.15.4z、以及802.15.4ab或后续版本等多种WPAN制式的设备。
本申请实施例中，上述设备可以是UWB系统中涉及的装置。例如，可以包括但不限于通信服务器、路由器、交换机、网桥、计算机、手机等。又例如，可以包括中心控制点，如个人局域网(personal area network，PAN)或PAN协调者等。又例如，可以包括用户设备(user equipment，UE)，各种具有无线通信功能的手持设备、车载设备、可穿戴设备、物联网(internet of things，IoT)设备、计算设备或连接到无线调制解调器的其它处理设备等，这里不再一一列举。又例如，该设备可以包括芯片，该芯片可以设置于通信服务器、路由器、交换机或用户终端中等，这里不再一一列举。
在本申请实施例中，上述设备包括硬件层、运行在硬件层之上的操作系统层，以及运行在操作系统层上的应用层。该硬件层包括中央处理器(central processing unit，CPU)、内存管理单元(memory management unit，MMU)和内存(也称为主存)等硬件。该操作系统可以是任意一种或多种通过进程(process)实现业务处理的计算机操作系统，例如，Linux操作系统、Unix操作系统、Android操作系统、iOS操作系统或windows操作系统等。该应用层包含浏览器、通讯录、文字处理软件、即时通信软件等应用。并且，本申请实施例并未对本申请实施例提供的方法的执行主体的具体结构特别限定，只要能够通过运行记录有本申请实施例的提供的方法的代码的程序，以根据本申请实施例提供的方法进行通信即可，例如，本申请实施例提供的方法的执行主体可以是FFD或RFD，或者，是FFD或RFD中能够调用程序并执行程序的功能模块。
另外，本申请的各个方面或特征可以实现成方法、装置或使用标准编程和/或工程技术的制品。本申请中使用的术语“制品”涵盖可从任何计算机可读器件、载体或介质访问的计算机程序。例如，计算机可读介质可以包括，但不限于：磁存储器件(例如，硬盘、软盘或磁带等)，光盘(例如，压缩盘(compact disc，CD)、数字通用盘(digital versatile disc，DVD)等)，智能卡和闪存器件(例如，可擦写可编程只读存储器(erasable programmable read-only memory，EPROM)、卡、棒或钥匙驱动器等)。另外，本文描述的各种存储介质可代表用于存储信息的一个或多个设备和/或其它机器可读介质。术语“机器可读介质”可包括但不限于，无线信道和能够存储、包含和/或承载指令和/或数据的各种其它介质。
上述适用本申请的通信系统仅是举例说明，适用本申请的通信系统不限于此，在此统 一说明，以下不再赘述。
图1是本申请提供的两种应用场景的示意图。在图1的(A)所示的系统101中，多个FFD设备和多个RFD设备形成星型拓扑(star topology)的通信系统，其中一个FFD为PAN控制器，在星型拓扑的通信系统中，PAN控制器同一个或多个其他设备进行数据传输，即多个设备可以建立一对多或多对一的数据传输架构。在图1的(B)所示的系统102中，多个FFD设备和1个RFD设备形成点对点拓扑(peer to peer topology)或网状拓扑的通信系统，其中一个FFD为PAN控制器，在点对点拓扑的通信系统中，多个不同设备之间可以建立多对多的数据传输架构。图1的(A)和图1的(B)中，全功能设备(full function device)和低功能设备(reduced function device)都可以理解为本申请所示的设备。其中，全功能设备与低功能设备之间是相对而言的，如低功能设备不能是PAN协调者(coordinator)。又如低功能设备与全功能设备相比，该低功能设备可以没有协调能力或通信速率相对全功能设备较低等。可理解，图1的(B)所示的PAN协调者仅为示例，图1的(B)所示的其他三个全功能设备也可以作为PAN协调者，这里不再一一示出。
应理解，图1的(A)和图1的(B)仅为便于理解而示例的简化示意图，并不构成对本申请的应用场景的限定。例如，该系统101和/或系统102中还可以包括其他FFD和/或RFD等。又例如，该系统101和/或系统102中的PAN协调器还可以为协调器。
为了便于理解本申请实施例的技术方案，首先对本申请实施例可能涉及到的一些术语或概念进行简单描述。
1、UWB技术：是一种无线载波通信技术，利用纳秒级的非正弦波窄脉冲传输数据，通过对具有很陡上升和下降时间的冲激脉冲进行调制，因此其所占的频谱范围很宽，使信号具有吉赫(GHz)量级的带宽。由于其脉冲很窄，且辐射谱密度极低，UWB系统具有多径分辨能力强，功耗低，保密性强等优点。另外，在短距离的通信应用中，UWB发射机的发射功率通常可做到低于1mW(毫瓦)，从理论上来说，UWB信号所产生的干扰仅相当于一宽带的白噪声。这样有助于超宽带与现有窄带通信之间的良好共存。因此，UWB系统可以实现与窄带(narrowband，NB)通信系统同时工作而互不干扰，可以提高频谱利用率和系统容量。
随着2002年联邦通信委员会(Federal Communications Commission，FCC)批准UWB技术进入民用领域，超宽带无线通信成为短距离、高速无线网络热门的物理层技术之一。许多世界著名的大公司、研究机构、标准化组织都积极投入到超宽带无线通信技术的研究、开发和标准化工作之中，电气与电子工程师协会(Institute of Electrical and Electronic Engineers，IEEE)已经将UWB技术纳入其IEEE 802系列无线标准，已经发布了基于UWB技术的WPAN标准IEEE 802.15.4a，以及其演进版本IEEE 802.15.4z，目前下一代UWB技术的WPAN标准802.15.4ab的制定也已经提上日程。
本申请提供的方法可以由无线通信系统中的设备实现，一个设备中，实现UWB系统功能的模块可以被称为UWB模块(如可以用于发送UWB脉冲)，实现窄带通信系统功能的模块可以被称为窄带通信模块，UWB模块和窄带通信模块可以为不同的装置或芯片等，本申请实施例对此不作限定。当然UWB模块和窄带通信模块也可以集成在一个装置或芯片上，本申请实施例不限制UWB模块和窄带通信模块在设备中的实现方式。本申请中的设备可以理解为通信装置等，在此不做限定。
2、感知：随着移动通信和互联网技术的快速发展，人们对于感知服务的需求与日俱增。UWB系统由于具有极宽的带宽，对于无线多径环境具有很强的分辨能力，因此可以根据UWB信号观测和理解物理世界，并以此为基础提供更多的业务。UWB感知的基本原理是：一对UWB设备分别作为发送和接收节点，发送节点发送感知信号，接收节点根据接收到的感知信号完成信道脉冲响应(Channel Impulse Response，CIR)估计。通过多次测量，可以根据CIR的变化来推断环境信息，并支撑多种应用，例如：存在检测、入侵检测、跌倒检测、呼吸/心率监测、环境绘图，等等。
目前，UWB感知技术已经受到国际标准化组织的高度关注。例如，下一代UWB标准IEEE 802.15.4ab工作组围绕UWB感知展开了热烈的讨论，在感知模式、CIR压缩反馈、感知波形、干扰管理、安全隐私等方向有大量提案输出。
3、感知模式：本申请实施例所示的设备可以包括感知发起者(initiator)(本申请中还可以称为发起端设备)、感知响应者(responder)(本申请中还可以称为响应端设备)或感知请求者(或称为感知请求设备或请求设备(requesting device))。感知发起者和感知响应者是相对而言的，如感知发起者为发起感知流程的一方，则感知响应者可以为根据发起感知流程的一方所作出响应的一方。例如，感知发起者可以是UWB信号的发射端，感知响应者是UWB信号的接收端。又例如，感知发起者可以是UWB信号的接收端，感知响应者是UWB信号的发射端。感知请求者可以理解为向感知发起者发起感知请求的一方。可理解，感知发起者发送的UWB信号先到达目标，然后到达感知响应者(如UWB信号经过目标反射或散射后到达感知响应者)。本申请所示的UWB信号也可以称为感知信号或UWB脉冲等。
应理解，本申请实施例中涉及的发起端设备接收来自响应端设备的信息的具体流程包括：
响应端设备发送的信息先到达目标，然后到达发起端设备(如信息经过目标反射或散射后到达发起端设备)。
其中，本申请实施例中涉及的发起端设备接收来自响应端设备的信息，包括但不限于：发起端设备接收来自响应端设备的感知信号、感知确认信号等响应端设备向发起端设备发送的信息。其中，感知信号和感知确认信号相关的描述可以参见下文具体实施例(如，图3中的(a)至图5)，这里不再赘述。
同理，本申请实施例中涉及的发起端设备向响应端设备发送信息的具体流程包括：
发起端设备发送的信息先到达目标，然后到达响应端设备(如信息经过目标反射或散射后到达响应端设备)。
其中，本申请实施例中涉及的发起端设备向响应端设备发送信息，包括但不限于：发起端设备向响应端设备发送感知请求信号等发起端设备向响应端设备发送的信息。其中，感知请求信号相关的描述可以参见下文具体实施例(如，图3中的(a)至图5)，这里不再赘述。
应理解，本申请实施例中发起端设备和响应端设备之间交互的信息会经由目标。为了便于描述，该实施例中不体现感知信号经由目标的流程。例如，发起端设备发送的感知信号经由目标到达响应端设备可以简单描述为：发起端设备向响应端设备发送感知信号息，或者说响应端设备接收来自发起端设备的感知信号。还例如，响应端设备发送的感知信号 经由目标到达发起端设备可以简单描述为：响应端设备向发起端设备发送感知信号，或者说发起端设备接收来自响应端设备的感知信号。
感知模式主要有双站模式、多站模式和代理人模式三种。本申请实施例示出了图2中的(a)至(c)，以对这三种感知模式进行举例介绍。
如图2中的(a)所示，双站模式下，响应者(responder)为发射机(Transmitter，TX)(或者说发送感知信号的设备)，发起者(initiator)为接收机(Receiver，RX)(或者说接收感知信号的设备)，响应者发送感知信号，发起者根据接收到的经过被感知对象反射或散射(或称为干扰或者影响)的感知信号完成CIR估计，实现感知功能。
如图2中的(b)所示，多站模式下，存在一个发起者和多个响应者(如图2中的(b)所示的响应者#1和响应者#2)，响应者为TX，发起者为RX，响应者采用分时方式分别向发起者发送感知信号；RX根据接收到的感知信号执行CIR估计，实现感知功能。
如图2中的(c)所示，代理人模式下，存在一个感知请求设备、一个响应者、一个发起者，感知请求设备有感知需求，但本身不执行感知过程，他会将感知请求信号发送给发起者，发起者收到请求信号后发起感知过程，具体为：响应者发送感知信号给发起者，发起者接收到感知信号后完成CIR估计。待感知过程结束后，发起者将CIR反馈给感知请求设备，可以称为代理感知(sensing by proxy)。
示例性地，感知模式还包括雷达模式。在雷达模式下，只有一个感知设备，由感知设备发送感知信号，感知信号经过物体反射后又被该感知设备接收到，该感知设备利用自身发送和接收的感知信号来估计CIR，从而推断反射物体的性质。对于雷达模式来说，由于只涉及一个设备，不涉及不同设备间的互通问题，因此在标准化中并不关注这一模式。
由上述可知，目前存在多种感知模式以便于实现UWB感知，但是从上述介绍的几种感知模式可知，目前的UWB感知技术存在以下几点缺点：
1)单一设备参与感知信号的发送，感知精度受限。
例如，对于双站模式和代理人模式下，感知信号都是由响应者发送，由发起者接收，发起者根据接收到的感知信号执行CIR估计，系统工作时的信噪比将影响对CIR估计的准确度(即：影响感知精度)，而UWB系统由于成本、体积、功耗等方面的限制，难于通过配置多天线或采用复杂的信号处理算法来提升接收信噪比，这使得感知精度的提升非常困难。
还例如，在多站模式下，虽然有多个响应者参与感知过程，但每个响应者与发起者之间的感知过程和双站模式类似，相当于多个响应者分别和发起者之间进行双站模式的感知流程，因此本质上和双站模式没有区别。
2)很难获得对于被感知对象(object being sensed)物理特性的全面认知。
例如，在环境绘图等应用场景中，需要通过对CIR的测量来了解被感知对象的物理特性，从而对物理环境进行建模，但在双站和代理人模式中，感知信号都来源于单一设备，因此根据接收到的感知信号只能推断出关于环境物体的部分特征。
3)存在隐私泄露风险。
由于感知信号为公开的测量信号(如，导频)，任何设备都可以接收，因此，环境中的非授权设备或者恶意设备可以利用接收到的感知信号测量信道并推断环境特征、分析用户行为(如，根据测量出的CIR的变化过程可以推断出房间内是否有人，等等)，这会导 致用户隐私泄露。
由于现有的UWB感知方法存在诸多问题，为了降低上述问题出现的概率或者避免上述问题的出现，本申请提供一种应用于超带宽UWB系统感知测量的方法，以期提高UWB感知的性能。下文中将结合附图详细介绍本申请提供的应用于超带宽UWB系统感知测量的方法。
下文示出的实施例并未对本申请实施例提供的方法的执行主体的具体结构特别限定，只要能够通过运行记录有本申请实施例的提供的方法的代码的程序，以根据本申请实施例提供的方法进行感知即可，例如，本申请实施例提供的方法的执行主体可以是收发设备，或者是收发设备中能够调用程序并执行程序的功能模块。
为了便于理解本申请实施例，做出以下几点说明。
第一，在本申请中，“用于指示”可以包括直接指示和间接指示。当描述某一信息用于指示A时，可以包括该信息直接指示A或间接指示A，而并不代表该信息中一定携带有A。
将信息所指示的信息称为待指示信息，则具体实现过程中，对待指示信息进行指示的方式有很多种，例如但不限于，可以直接指示待指示信息，如待指示信息本身或者该待指示信息的索引等。也可以通过指示其他信息来间接指示待指示信息，其中该其他信息与待指示信息之间存在关联关系。还可以仅仅指示待指示信息的一部分，而待指示信息的其他部分则是已知的或者提前约定的。例如，还可以借助预先约定(例如协议规定)的各个信息的排列顺序来实现对特定信息的指示，从而在一定程度上降低指示开销。同时，还可以识别各个信息的通用部分并统一指示，以降低单独指示同样的信息而带来的指示开销。
第二，在本申请中示出的第一、第二以及各种数字编号(例如，“#1”、“#2”等)仅为描述方便，用于区分的对象，并不用来限制本申请实施例的范围。例如，区分不同信道等。而不是用于描述特定的顺序或先后次序。应该理解这样描述的对象在适当情况下可以互换，以便能够描述本申请的实施例以外的方案。
第三，在本申请中，“预配置”可包括预先定义，例如，协议定义。其中，“预先定义”可以通过在设备(例如，包括各个网元)中预先保存相应的代码、表格或其他可用于指示相关信息的方式来实现，本申请对于其具体的实现方式不做限定。
第四，本申请实施例中涉及的“保存”，可以是指的保存在一个或者多个存储器中。所述一个或者多个存储器，可以是单独的设置，也可以是集成在编码器或者译码器，处理器、或通信装置中。所述一个或者多个存储器，也可以是一部分单独设置，一部分集成在译码器、处理器、或通信装置中。存储器的类型可以是任意形式的存储介质，本申请并不对此限定。
第五，本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
第六，本申请实施例中涉及的“协议”可以是指通信领域的标准协议，例如可以包括WiFi协议以及应用于未来的通信系统中的相关协议，本申请对此不做限定。
以下，不失一般性，以发起端设备和响应端设备之间的交互为例详细说明本申请实施例提供的应用于超带宽UWB系统感知测量的方法。
作为示例而非限定，发起端设备可以是WPAN中具有通信能力的设备，如，FFD或RFD；同理，响应端设备也可以是WPAN中具有通信能力的设备，如，FFD或RFD。
图3中的(a)是本申请实施例提供的一种应用于超带宽UWB系统感知测量的方法的示意性流程图，其中，发起端设备在一个或者多个感知轮内接收感知信号，所述每个感知轮中包括至少两个时隙，所述方法包括以下步骤：
S311，第一响应端设备生成感知信号。
例如，第一响应端生成针对第一感知轮中第一时隙的第一感知信号和针对该第一感知轮中第二时隙的第三感知信号。
其中，第一感知轮为感知过程中一个或者多个感知轮中的任意一个。
S312，第二响应端设备生成感知信号。
例如，第二响应端生成针对该第一感知轮中第一时隙的第二感知信号和针对该第一感知轮中第二时隙的第四感知信号。
S313，第一响应端设备发送感知信号，或者说，发起端设备接收来自第一响应端设备的感知信号。
具体地，第一响应端设备在第一感知轮中的第一时隙向发起端设备发送第一感知信号，在第一感知轮中的第二时隙向发起端设备发送第三感知信号。
S314，第二响应端设备发送感知信号，或者说，发起端设备接收来自第二响应端设备的感知信号。
具体地，第二响应端设备在第一感知轮中的第一时隙向发起端设备发送第二感知信号，在第一感知轮中的第二时隙向发起端设备发送第四感知信号。
应理解，本申请实施例中例如S313或者S314中涉及感知信号的具体流程包括：响应端设备发送的感知信号先到达被感知对象，经过被感知对象反射或散射后到达发起端设备。
S315，发起端设备根据接收到的多个感知信号估计信道CIR。
应理解，在上述S311和S312步骤中，其中针对不同的感知轮，以及不同感知轮中的至少两个时隙，生成的感知信号不完全相同。这些不完全相同的感知信号通过不同的路径或者信道，以便于为发起端设备提供更为精确的感知结果，另外，这些不完全相同的感知信号所符合的规律是非公知的，从而一定程度上增强了感知过程的安全性。
具体地，从图3中的(a)所示的方法流程可以看出，在某个感知轮中发起端设备能够联合处理来自不同响应端设备的感知信号，并且指出来自不同响应端设备的感知信号不完全相同，下面结合图3中的(b)详细介绍如何响应端设备生成不完全相同的感知信号，发起端设备如何根据感知信号估计信道的CIR的流程。
具体地，本申请实施例中上述的不完全相同的感知信号可以基于码本和公开序列确定。
可选地，感知过程中不同感知轮对应的码本可以相同或者不同，例如，感知轮对应的码本为一个码本集合中的一个码本。也就是说，感知过程中的每个感知轮对应的码本可以为已知码本集合中的一种，该码本集合可以是协议预定义的，也可以是发起端设备和响应端设备之间提前协商好的，还可以是管理设备预配置的。本申请实施例中对于码本集合的确定不做限定。
作为一种可能的实现方式，若该码本集合为参与感知过程的设备(如，发起端设备、第一响应端设备和第二响应端设备)已知的集合，则在该实现方式下，可以通过指示各感 知过程中各个感知轮对应的码本的标识(如，索引)以达到指示感知过程中所采用的码本的目的。
作为另一种可能的实现方式，可以通过指示各感知过程中各个感知轮对应的码本的内容(如，指示码本中包括的码字)以达到指示该感知过程中所采用的码本的目的。
本申请实施例中以指示码本的索引为例进行说明，可以理解，采用指示码本的标识以达到指示感知过程中采用的码本的目的，可以有效的节约信令开销。
应理解，该实施例中以指示一个感知过程中所采用的码本为例进行说明，一个感知过程包括多个感知轮。如果有多个感知过程，那么每个感知过程可以重新发送该感知过程内各感知轮的码本指示信息，也可以复用前一感知过程的码本指示信息，本申请中对此不做限定。图3中的(b)是本申请实施例提供的另一种应用于超带宽UWB系统感知测量的方法的示意性流程图。
示例性地，该实施例中设备(发起端设备、第一响应端设备和第二响应端设备)确定感知轮对应的码本包括以下两种方式：
方式一：发起端设备向响应端设备发送用于指示每一个感知轮对应的码本的信息。对应图3中(c)所示的场景、对应图3中(d)或对应图3中(e)所示的场景。
其中，h[n]表示第一响应端设备和发起端设备之间的第一信道的CIR，g[n]表示第二响应端设备和发起端设备之间的第二信道的CIR。图3中(d)所示的场景下，第一响应端设备为感知请求设备。
在该方式一下，图3中的(b)所示的方法流程包括以下步骤S301和S302：
S301，发起端设备向第一响应端设备发送第一指示信息#1，或者说第一响应端设备接收来自发起端设备的第一指示信息#1。
具体地，第一指示信息#1为基于第一密钥加密的信息。第一指示信息#1用于指示每一个感知轮对应的码本。
可选地，第一指示信息#1包括但不限于：
每一个感知轮对应的码本的索引、每一个感知轮对应的码本、每一个感知轮对应的码本的标识信息等。
S302，发起端设备向第二响应端设备发送第一指示信息#2，或者说第二响应端设备接收来自发起端设备的第一指示信息#2。
具体地，第一指示信息#2为基于第一密钥加密的信息。第一指示信息#2用于指示每一个感知轮对应的码本。
可选地，第一指示信息#2包括但不限于：
每一个感知轮对应的码本的索引、每一个感知轮对应的码本、每一个感知轮对应的码本的标识信息等。
具体地，第一密钥为第一响应端设备、第二响应端设备和发起端设备已知的密钥。例如，第一密钥为第一响应端设备、第二响应端设备和发起端设备提前协商的一个密钥，或者；还例如，第一密钥为管理设备为第一响应端设备、第二响应端设备和发起端设备配置的一个密钥。应理解，本申请实施例中对于第一响应端设备、第二响应端设备和发起端设备如何获知第一密钥不做限定，该第一密钥为第一响应端设备、第二响应端设备和发起端设备已知的即可。
作为一种可能的实现方式，上述的第一指示信息#1和第一指示信息#2均用于指示每一个感知轮对应的码本，功能相同，可以是发起端设备广播的同一个第一指示信息。
作为另一种可能的实现方式，上述的第一指示信息#1和第一指示信息#2可以是发起端设备分别向两个响应端设备发送的用于指示每一个感知轮对应的码本的两个指示信息。
例如，发起端设备向不同的响应端设备分别发送用于指示每一个感知轮对应的码本的指示信息。
还例如，发起端设备广播一个指示信息，该指示信息中包括不同的响应端设备接收的信息(如，通过响应端设备的标识指示不同的响应端设备解析的部分)。
为了便于描述，下文中以第一指示信息#1和第一指示信息#2为发起端设备广播的同一个第一指示信息为例进行说明。
可选地，该第一指示信息可以通过窄带系统发送(例如，第一指示信息为数据流)，以便于节省UWB系统的资源。
可选地，该第一指示信息携带在第一确认帧中，发起端设备广播第一确认帧，该第一确认帧用于启动感知过程。
作为一种可能的实现方式，对应图3中(c)所示的场景，发起端设备在用于启动感知过程的第一确认帧中广播上述的第一指示信息，以使得参与感知过程的第一响应端设备和第二响应端设备获知每个感知轮对应的码本。
作为另一种可能的实现方式，对应图3中(d)所示的场景，参与感知过程的第一响应端设备和第二响应端设备中的一个响应端设备为感知请求设备，发起端设备还是可以在用于启动感知过程的第一确认帧中广播上述的第一指示信息，以使得参与感知过程的第一响应端设备和第二响应端设备获知每个感知轮对应的码本。
作为又一种可能的实现方式，对应图3中(e)所示的场景，参与感知过程除了第一响应端设备和第二响应端设备之外，还包括感知请求设备，发起端设备还是可以在用于启动感知过程的第一确认帧中广播上述的第一指示信息，以使得参与感知过程的第一响应端设备和第二响应端设备获知每个感知轮对应的码本。
需要说明的是，本申请实施例中对于感知轮的个数不做限定，第一指示信息可以指示所有感知轮中每个感知轮对应的码本。
应理解，上述的第一指示信息为感知轮对应的码本的索引只是举例，对本申请的保护范围不构成任何的限定，第一指示信息可以是其他的能够指示感知轮对应的码本的信息，例如，感知轮对应的码本的内容，或者其他能够标识感知轮对应的码本的信息，这里不再一一举例说明。
方式二：感知请求设备向响应端设备发送用于指示每一个感知轮对应的码本的信息。例如，上述的第一响应端设备为感知请求设备，具有感知需求的设备，对应图3中(d)所示的场景。还例如，感知系统中包括发起端设备、两个响应端设备和一个感知请求设备对应图3中(e)所示的场景。
在该方式二下，图3中的(b)所示的方法流程包括以下步骤S303和S304：
S303，第一响应端设备向发起端设备发送第二指示信息#1，或者说发起端设备接收来自第一响应端设备的第二指示信息#1。
具体地，第二指示信息#1为基于第二密钥加密的信息。第二指示信息#1用于指示每一个感知轮对应的码本。
可选地，第二指示信息#1包括但不限于：
每一个感知轮对应的码本的索引、每一个感知轮对应的码本、每一个感知轮对应的码本的标识信息等。
S304，第一响应端设备向第二响应端设备发送第二指示信息#2，或者说第二响应端设备接收来自第一响应端设备的第二指示信息#2。
具体地，第二指示信息#2为基于第二密钥加密的信息。第二指示信息#2用于指示每一个感知轮对应的码本。
可选地，第二指示信息#2包括但不限于：
每一个感知轮对应的码本的索引、每一个感知轮对应的码本、每一个感知轮对应的码本的标识信息等。
具体地，第二密钥为第一响应端设备、第二响应端设备和发起端设备已知的密钥。例如，第二密钥为第一响应端设备、第二响应端设备和发起端设备提前协商的一个密钥，或者；还例如，第二密钥为管理设备为第一响应端设备、第二响应端设备和发起端设备配置的一个密钥。应理解，本申请实施例中对于第一响应端设备、第二响应端设备和发起端设备如何获知第二密钥不做限定，该第二密钥为第一响应端设备、第二响应端设备和发起端设备已知的即可。
作为一种可能的实现方式，上述的第二指示信息#1和第二指示信息#2均用于指示每一个感知轮对应的码本，功能相同，可以是第一响应端设备广播的同一个第二指示信息。
作为另一种可能的实现方式，上述的第二指示信息#1和第二指示信息#2可以是感知请求设备分别向响应端设备和发起端设备发送的用于指示每一个感知轮对应的码本的两个指示信息。
例如，感知请求设备向响应端设备和发起端设备分别发送用于指示每一个感知轮对应的码本的指示信息。
还例如，感知请求设备广播一个指示信息，该指示信息中包括响应端设备和发起端设备接收的信息(如，通过响应端设备和发起端设备的标识指示响应端设备和发起端设备各自解析的部分)。
为了便于描述，下文中以第二指示信息#1和第二指示信息#2为感知请求设备广播的同一个第二指示信息为例进行说明。
可选地，该第二指示信息可以通过窄带系统发送(例如，第一指示信息为数据流)，以便于节省UWB系统的资源。
可选地，该第二指示信息携带在第二感知请求信号中，发起端设备广播第二感知请求信号，该第二感知请求信号用于请求执行感知过程。
需要说明的是，本申请实施例中对于感知轮的个数不做限定，第二指示信息可以指示所有感知轮中每个感知轮对应的码本。
应理解，上述的第二指示信息为感知轮对应的码本的索引只是举例，对本申请的保护范围不构成任何的限定，第二指示信息可以是其他的能够指示感知轮对应的码本的信息，例如，感知轮对应的码本的内容，或者其他能够标识感知轮对应的码本的信息，这里不再 一一举例说明。
还应理解，方式二中是以第一响应端设备为感知请求设备为例说明的，第二响应端设备也可以为感知请求设备，在第二响应端设备为感知请求设备的情况下，第一响应端设备和第二响应端设备之间的角色互换，流程与上述方式二类似，这里不再赘述。
示例性地，码本为以下任意一种：{+C,+C,+C,-C},{+C,+C,-C,+C},{+C,-C,+C,+C},{+C,-C,-C,-C},{-C,+C,+C,+C},{-C,+C,-C,-C},{-C,-C,+C,-C},{-C,-C,-C,+C}，其中，C为实数。
本申请实施例中C的取值可以为“1”，表示影响公开序列中每个符号的极性；或者，C的取值还可以为大于1或小于1的值，表示影响公开序列中每个符号的极性和幅值。应理解，本申请实施例中对于C的取值不做限定。
例如，码本的可选集合为：{a,b,c,d}＝{+1,+1,+1,-1},{+1,+1,-1,+1},{+1,-1,+1,+1},{+1,-1,-1,-1},{-1,+1,+1,+1},{-1,+1,-1,-1},{-1,-1,+1,-1},{-1,-1,-1,+1}，共8种可能，每一种可能对应的码本索引可以记作1～8。作为一种示例，在指示信息字段指示码本时，可以采用三个比特位进行指示，000～111分别对应8种不同的可能。
作为一种可能的实现方式，申请实施例中的第一指示信息或第二指示信息中携带的码本的个数可以为发起端设备或感知请求设备根据业务需求确定的。
例如，发起端设备或感知请求设备根据业务需求确定感知过程进行的感知轮数为N，则发起端设备或感知请求设备确定码本的个数为N，一个码本对应一个感知轮。
作为另一种可能的实现方式，该实施例中码本的个数可以为预配置的，或者可以为发起端设备和响应端设备之间协商的。在该实现方式下，发起端设备和响应端设备之间可以协商感知轮和码本的关系。
例如，码本的个数为M，感知过程进行的感知轮数为N。在N小于M的情况下，感知轮对应的码本可以为N个码本中的前M个码本(或者M个码本中的任意N个码本)；在N大于M的情况下，前M个感知轮对应的码本分别对应M个码本，后N-M个感知轮对应的码本可以为M个码本中的前N-M个码本(或者M个码本中的任意N-M个码本)，也就是说码本可以循环使用。
应理解，上述只是示例性指出码本的索引可能的形式，对本申请的保护范围不构成任何的限定，例如，码本的索引还可以是0～7。还例如，可以用大于3比特的比特位进行指示。
可选地，对应于上述的方式一整个感知过程中每一感知轮使用的码本索引由发起端设备随机选取，并且发起端设备通过第一指示信息将整个感知过程中各感知轮使用的码本索引发送给第一响应端设备和第二响应端设备；或者，对应于上述的方式二第一响应端设备为感知请求设备整个感知过程中每一感知轮使用的码本索引由第一响应端设备随机选取，并且第一响应端设备通过第二指示信息将整个感知过程中各感知轮使用的码本索引发送给发起端设备和第二响应端设备。
进一步地，通过上述的方式一和方式二，响应端设备可以获知用于生成感知信号的码本，图3中的(b)所示的方法流程还包括：
S310，第一响应端设备基于码本生成感知信号。
具体地，第一响应端设备在第一感知轮的第一时隙内基于码本生成第一感知信号，以 及在第一感知轮的第二时隙内基于码本生成第三感知信号。
S320，第二响应端设备基于码本生成感知信号。
具体地，第二响应端设备在第一感知轮的第一时隙内基于码本生成第二感知信号，以及在第一感知轮的第二时隙内基于码本生成第四感知信号。
可选地，响应端设备生成的感知信号与码本和公开序列相关。如，第一感知信号＝a·s[n]，第二感知信号＝b·s[n]，第三感知信号＝c·s[n]，第四感知信号＝d·s[n]，其中，s[n]为所述公开序列，所述a，b，c，d构成所述第一感知轮对应的码本。
应理解，本申请实施例中对于公开序列的具体形式不做限定，可以是导频序列，包括但不限于：Ipatov序列等，可以参考IEEE 802.15.4z标准中提供的公开序列的具体描述，本申请实施例中对于公开序列不做详细介绍。
需要说明的是，该实施例中以每个感知轮划分为两个时隙，在每个时隙内两个响应端设备发送感知信号为例，该实施例还可以应用在两个以上的响应端设备的场景下。
例如，假设有三个响应端设备，每个感知轮被划分成三个时隙。在时隙#1内响应端设备#1发送的感知信号#1＝a11·s[n]，响应端设备#2发送的感知信号#2＝a12·s[n]，响应端设备#3发送的感知信号#3＝a13·s[n]；在时隙#2内响应端设备#1发送的感知信号#4＝a21·s[n]，响应端设备#2发送的感知信号#5＝a22·s[n]，响应端设备#3发送的感知信号#6＝a23·s[n]；在时隙#3内响应端设备#1发送的感知信号#7＝a31·s[n]，响应端设备#2发送的感知信号#8＝a32·s[n]，响应端设备#3发送的感知信号#9＝a33·s[n]。
其中，{a11，a12，a13，a21，a22，a23，a31，a32，a33}构成本轮内使用的码本，且码本中的码字构成的如下矩阵为满秩矩阵。
示例性地，上述的第一指示信息包括基于第一密钥加密后的所述每一个感知轮对应的码本的索引，所述第一密钥为所述第一响应端设备、所述第二响应端设备和所述发起端设备已知的密钥。同理，第二指示信息包括基于第二密钥加密后的所述每一个感知轮对应的码本的索引，所述第二密钥为所述第一响应端设备、所述第二响应端设备和所述发起端设备已知的密钥。
可选地，第一密钥和第二密钥为同一个密钥。具体地，响应端设备生成感知信号之后，通过响应端设备和发起端设备之间的信道发送给发起端设备，图3中的(b)还包括以下步骤：
S330，发起端设备接收来自第一响应端设备的感知信号，或者说，第一响应端设备发送感知信号。
S340，发起端设备接收来自第二响应端设备的感知信号，或者说，第二响应端设备发送感知信号。
示例性地，该实施例中以发起端设备接收来自两个响应端设备的感知信号为例进行说明，对本申请的保护范围不构成任何的限定，本申请实施例中发起端设备可以接收来自多个(两个或者两个以上)响应端设备的感知信号。
具体地，发起端设备在第一感知轮中的第一时隙内接收来自第一响应端设备的第一感知信号，以及接收来自第二响应端设备的第二感知信号。
作为一种可能的实现方式，发起端设备在第一时隙内同时接收第一感知信号和第二感知信号。
作为另一种可能的实现方式，发起端设备在第一时隙内的第一时刻接收第一感知信号，在第一时隙内的第二时刻接收第二感知信号，其中，第一时刻和第二时刻之间的间隔小于第一阈值。
例如，第一时刻早于第二时刻S微秒，或者，第一时刻晚于第二时刻S微秒。
具体地，发起端设备在第一感知轮中的第二时隙内接收来自第一响应端设备的第三感知信号，以及接收来自第二响应端设备的第四感知信号。
作为一种可能的实现方式，发起端设备在第二时隙内同时接收第三感知信号和第四感知信号。
作为另一种可能的实现方式，发起端设备在第二时隙内的第三时刻接收第三感知信号，在第二时隙内的第四时刻接收第四感知信号，其中，第三时刻和第四时刻之间的间隔小于第一阈值
例如，第三时刻早于第四时刻S微秒，或者，第三时刻晚于第四时刻S微秒。
示例性地，上述的第一阈值与发起端设备和第一响应端设备之间的第一信道CIR值，以及与发起端设备和第二响应端设备之间的第二信道的CIR值相关。具体地，第一阈值的大小满足以下条件：第一阈值应小于第一信道CIR长度和第二信道CIR长度的最小值，其中，CIR是信道的单位脉冲响应，由多个抽头组成，CIR长度指的是CIR持续的时间长度。如，CIR由100个抽头组成，相邻两个抽头之间的时间间隔是2ns，那么CIR的长度就是200ns。应理解，相邻两个抽头之间的时间间隔由采样率决定，上述的2ns只是举例对本申请的保护范围不构成任何的限定。
由上述可知，发起端设备在每一个感知轮的不同时隙内接收到来自不同响应端设备的感知信号的接收时刻相同，或者接收时刻之间的间隔小于第一阈值。
作为一种可能的实现方式，为了使得发起端接收感知信号的接收时刻满足上述的条件(时刻相同或者时刻之间的间隔小于第一阈值)，发起端设备和上述的多个响应端设备之间在传输感知信号之前可以通过同步流程指示响应端设备确定合适的发送感知信号的时刻，下面将结合图4和图5说明设备间同步的流程，这里不进行说明。
作为另一种可能的实现方式，为了使得发起端接收感知信号的接收时刻满足上述的条件(时刻相同或者时刻之间的间隔小于第一阈值)可以通过配置的方式指示响应端设备确定合适的发送感知信号的时刻(如，配置响应端设备的发送感知信号的时刻)。
应理解，该实施例中对于如何使得发起端设备能够在一个时隙内接收到来自多个响应端设备的感知信号的时刻相同，或者时刻之间的间隔小于第一阈值不做限定。
进一步地，该实施例中，发起端设备在接收到上述的来自多个响应端设备的感知信号之后，可以联合处理该多个感知信号，估计发起端设备和多个响应端设备之间的信道信息，图3中的(b)所示的方法流程还包括：
S350，发起端设备根据多个感知信号估计信道的CIR。
具体地，发起端设备根据第一感知信号、第二感知信号、第三感知信号和第四感知信号估计第一信道的CIR和第二信道的CIR。
其中，所述第一信道为所述发起端设备和所述第一响应端设备之间的信道，所述第二 信道为所述发起端设备和所述第二响应端设备之间的信道。
应理解，第一信道的CIR和第二信道的CIR分别体现的是不同的响应端设备到发起端设备的链路所对应的信道，其中，响应端设备到发起端设备的链路存在与目标(被感知的对象)之间的链路。例如，第一信道为发起端设备到目标之间的信道，以及目标到第一响应端设备之间的信道，为了便于描述可以不体现中间的目标，直接称为发起端设备和第一响应端设备之间的信道；还例如，第二信道为发起端设备到目标之间的信道，以及目标到第二响应端设备之间的信道，为了便于描述可以不体现中间的目标，直接称为发起端设备和第二响应端设备之间的信道。
为了便于理解，以第一感知信号＝a·s[n]，所述第二感知信号＝b·s[n]，所述第三感知信号＝c·s[n]，所述第四感知信号＝d·s[n]，{a,b,c,d}＝{+1,+1,+1,-1}为例进行说明。
具体地，发起端设备在第一时隙内接收到的第一感知信号和第二感知信号可以表示为：
y1[n]＝s[n]*h[n]+s[n]*g[n]+w1[n]
其中，h[n]表示第一信道的CIR，g[n]表示第二信道的CIR，w1[n]表示第一时隙内发起端设备的接收噪声，*表示卷积运算。
发起端设备在第二时隙内接收到的第三感知信号和第四感知信号可以表示为：
y2[n]＝s[n]*h[n]-s[n]*g[n]+w2[n]
其中，w2[n]表示第二时隙内发起端设备的接收噪声。
为了实现CIR估计，发起端设备首先将两个时隙的接收信号相加，得到：
z1[n]＝y1[n]+y2[n]＝2s[n]*h[n]+w1[n]+w2[n]，根据z1[n]，发起端设备可以估计出h[n]。
类似地，发起端设备将两个时隙的接收信号相减，得到：
z2[n]＝y1[n]-y2[n]＝2s[n]*g[n]+w1[n]-w2[n]，根据z2[n]，发起端设备可以估计出g[n]。
由上述的估算过程可知，在一个感知轮中，h[n]和g[n]是被认为不变的，发起端设备在估计h[n]和g[n]时，一方面基于上述的估计h[n]和g[n]的公式可知，s[n]的幅度系数为2，从而功率相比于直接基于s[n]估计来说扩大4倍；另一方面，基于上述的估计h[n]和g[n]的公式可知，噪声方面同时考虑了w1[n]和w2[n]，相比于仅考虑一个信道的噪声，噪声功率扩大2倍。从而等效的信噪比相比于前文所述的几种UWB感知模式来说提升了2倍，因此，发起端设备对于CIR的估计更准确，提高了感知精度。
另外，发起端设备估算的h[n]和g[n]体现的是同一个感知对象(object being sensed)的特征，能够对感知对象获得更为全面的认知。
进一步地，在上述的码本的索引为加密的情况下，该实施例还可以有效保护用户隐私。
例如，环境中存在一个恶意用户，恶意用户试图通过接收感知信号来估计CIR，并由此推断环境特征(如，推断屋中是否有人)，则恶意用户在某一感知轮(如，上述的第一感知轮)的第一时隙内，接收到的信号为：
ye,1[n]＝as[n]*he[n]+bs[n]*ge[n]+we,1[n]
其中，he[n]表示第一响应端设备和恶意用户之间的信道#1的CIR，ge[n]表示第二响应端设备和恶意用户之间的信道#2的CIR，we,1[n]表示第一时隙内恶意用户的接收噪声，*表示卷积运算。
在第一感知轮的第二时隙内，接收到的信号为：
ye,2[n]＝cs[n]*he[n]+ds[n]*ge[n]+we,2[n]
其中，we,1[n]表示第二时隙内恶意用户的接收噪声。
为了实现CIR估计，恶意用户可以估计出ahe[n]+bge[n]，和che[n]+dge[n]。也就是说，恶意用户根据其接收到的信号，估计出的将只能是he[n]和ge[n]的线性组合，但是由于恶意用户并不知道本轮使用的码本{a,b,c,d}。因此，恶意用户无法推断出he[n]和ge[n]。由上述可知，每个感知轮使用的码本共8种可能，恶意用户只能对码本进行随机猜测，因此恶意用户每个感知轮随机猜测到正确的码本概率是1/8，对于感知过程包含N个感知轮的情况，恶意用户对整个过程的CIR猜测正确的概率是
图3中的(a)和(b)所示的实施例详细介绍了发起端设备执行感知的流程，下面结合图4和图5介绍发起端设备和响应端设备之间的同步流程。
图4是本申请实施例提供的一种同步的示意性流程图。由发起端设备广播用于同步的时间信息。对应图2中(b)所示的场景。
图4所示的方法流程包括以下步骤：
S411，发起端设备向第一响应端设备发送第一感知请求信号#1，或者说第一响应端设备接收来自发起端设备的第一感知请求信号#1。
S412，发起端设备向第二响应端设备发送第一感知请求信号#2，或者说第二响应端设备接收来自发起端设备的第一感知请求信号#2。
示例性地，上述的第一感知请求信号#1和第一感知请求信号#2均用于指示发起感知，功能相同，可以是发起端设备广播的信号，所以第一感知请求信号#1和第一感知请求信号#2可以统称为第一感知请求信号。
S413，发起端设备接收来自第一响应端设备的第一感知确认信号#1，或者说第一响应端设备向发起端设备发送第一感知确认信号#1。
S414，发起端设备接收来自第二响应端设备的第一感知确认信号#1，或者说第二响应端设备向发起端设备发送第一感知确认信号#2。
示例性地，上述的第一感知确认信号#1用于指示成功接收到第一感知请求信号#1，第一感知确认信号#2用于指示成功接收到第一感知请求信号#2。第一感知确认信号#1和第一感知确认信号#2可以统称为第一感知确认信号。
S415，发起端设备估算第一往返时延和第二往返时延。
其中，第一往返时延为发起端设备和第一响应端设备之间的往返时延；第二往返时延为发起端设备和第二响应端设备之间的往返时延。
应理解，本申请实施例中对于信息的名称不做限定，能够实现信息的功能即可，例如，上述的第一往返时延可以称为第一时延、第一时长、第一往返时长等；同理，第二往返时延可以称为第二时延、第二时长、第二往返时长等。
示例性地，发起端设备估算第一往返时延可以是：发起端设备根据发送第一感知请求信号#1的发送时刻和接收第一感知确认信号#1的时刻估算第一往返时延。
例如，发起端设备在时刻#1发送第一感知请求信号#1，并在时刻#2接收第一感知确认信号#1，则发起端设备估算第一往返时延为时刻#2和时刻#1之间的时长。如，T1＝时刻#2-时刻#1，T1表示第一往返时延。
示例性地，发起端设备估算第二往返时延可以是：发起端设备根据发送第一感知请求 信号#2的发送时刻和接收第一感知确认信号#2的时刻估算第二往返时延。
例如，发起端设备在时刻#3发送第一感知请求信号#2，并在时刻#4接收第一感知确认信号#3，则发起端设备估算第二往返时延为时刻#4和时刻#3之间的时长。如，T2＝时刻#4-时刻#3，T2表示第二往返时延。
应理解，该实施例中发起端设备和响应端设备之间的信号传输经由被感知对象。
需要说明的是，该实施例中发起端设备估算往返时延的方式只是举例，对本申请的保护范围不构成任何的限定，还可以通过其他方式确认设备间的时延，例如，发起端设备可以在发送的信号中携带时间戳信息指示发送时刻，响应端设备可以根据时间戳信息和接收时刻之间确定出响应端设备和发起端设备之间的时延。还例如，通过其他的信号传输流程确定(如，新增确定往返时延的流程，或者复用现有其他信令传输的流程)设备之间的时延。
进一步地，发起端设备向响应端设备发送用于同步的信息，以便于响应端设备确定发送感知信号的时刻，图4所示的方法流程还包括：
S416，发起端设备向第一响应端设备发送固定时延、第一往返时延和第二往返时延。
S417，发起端设备向第二响应端设备发送固定时延、第一往返时延和第二往返时延。
示例性地，发起端设备广播第一确认帧，该第一确认帧用于启动感知过程。具体地，该第一确认帧中包括上述的固定时延、第一往返时延和第二往返时延。
应理解，上述的通过第一确认帧广播固定时延、第一往返时延和第二往返时延只是举例，对本申请的保护范围不构成任何的限定，发起端设备可以通过其他信令(如，新增信令)传输固定时延、第一往返时延和第二往返时延，这里不再赘述。
例如，发起端设备可以分别通过信令向第一响应端设备和第二响应端设备发送用于同步的信息。
进一步地，响应端设备接收到上述的用于同步的信息之后，能够基于同步信息确定发送感知信号的时刻。图4所示的方法流程还包括：
S418，第一响应端设备确定发送第一感知信号和第三感知信号的时刻。
S419，第二响应端设备确定发送第二感知信号和第四感知信号的时刻。
为了便于理解，下面举例说明第一响应端设备和第二响应端设备确定发送感知信号时刻的方式。
示例一：
第一响应端设备根据接收上述的第一确认帧的时刻确定在第一时隙内发送第一感知信号的时刻为：t1+Δ1，在第二时隙内发送第三感知信号的时刻＝t1+Δ1+Δ2。
第二响应端设备根据接收上述的第一确认帧的时刻确定在第一时隙内发送第二感知信号的时刻为：t3+Δ1+T1-T2，在第二时隙内发送第四感知信号的时刻＝t3+Δ1+T1-T2+Δ2。
其中，t1为第一响应端设备接收第一确认帧的时刻，t3为第二响应端设备接收第一确认帧的时刻，Δ1为所述固定时延，Δ2为第一时隙和所述第二时隙之间的间隔，T1为第一往返时延，T2为第二往返时延。
示例性地，Δ2为第一时隙的起始时刻和所述第二时隙的起始时刻之间的间隔，或者，Δ2为第一时隙的终止时刻和所述第二时隙的终止始时刻之间的间隔。
由上述可知发起端设备可以分别向第一响应端设备和第二响应端设备发送用于确定 发送感知信号时刻的信息，在该示例一中。发起端设备可以考虑到不同响应端设备所需的信息不同，向不同的响应端设备发送不同的信息，而不是广播。
例如，由于第一响应端设备确定发送感知信号的时刻时仅考虑固定时延，发起端设备向第一响应端设备发送固定时延即可；第二响应端设备确定发送感知信号的时刻时考虑固定时延、第一往返时延和第二往返时延，发起端设备向第一响应端设备发送固定时延、第一往返时延和第二往返时延。
该示例一中，在响应端设备按照上述的发送时刻发送感知信号的前提下：
发起端设备在第一时隙内接收第一感知信号的时刻为：tstart+T1+Δ1，
其中，tstart表示发起端设备发送第一确认帧的时刻，可以理解为上述的t1，即第一响应端设备接收第一确认帧的时刻。
发起端设备在第一时隙内接收第二感知信号的时刻为：
其中，可以理解为上述的t3，即第二响应端设备接收第一确认帧的时刻。
发起端设备在第二时隙内接收第三感知信号的时刻为：
发起端设备在第二时隙内接收第四感知信号的时刻为：
由上述可知，在示例一中，发起端设备在第一时隙内可以同时接收来自第一响应端设备的第一感知信号和第二响应端设备的第二感知信号。同理，发起端设备在第二时隙内可以同时接收来自第一响应端设备的第三感知信号和第二响应端设备的第四感知信号。
示例二：
第一响应端设备根据接收上述的第一确认帧的时刻确定在第一时隙内发送第一感知信号的时刻为：t1+Δ1+T2-T1，在第二时隙内发送第三感知信号的时刻＝t1+Δ1+Δ2+T2-T1。
第二响应端设备根据接收上述的第一确认帧的时刻确定在第一时隙内发送第二感知信号的时刻为：t3+Δ1，在第二时隙内发送第四感知信号的时刻＝t3+Δ1+Δ2。
其中，t1为第一响应端设备接收第一确认帧的时刻，Δ1为所述固定时延，Δ2为第一时隙和所述第二时隙之间的间隔，T1为第一往返时延，T2为第二往返时延。
由上述可知发起端设备可以分别向第一响应端设备和第二响应端设备发送用于确定发送感知信号时刻的信息，在该示例二中。发起端设备可以考虑到不同响应端设备所需的信息不同，向不同的响应端设备发送不同的信息，而不是广播。
例如，由于第二响应端设备确定发送感知信号的时刻时仅考虑固定时延，发起端设备向第二响应端设备发送固定时延即可；第一响应端设备确定发送感知信号的时刻时考虑固定时延、第一往返时延和第二往返时延，发起端设备向第一响应端设备发送固定时延、第一往返时延和第二往返时延。
该示例二中，在响应端设备按照上述的发送时刻发送感知信号的前提下：
发起端设备在第一时隙内接收第一感知信号的时刻为：
其中，tstart表示发起端设备发送第一确认帧的时刻，可以理解为上述的t1，即第一响应端设备接收第一确认帧的时刻。
发起端设备在第一时隙内接收第二感知信号的时刻为：
其中，可以理解为上述的t3，即第二响应端设备接收第一确认帧的时刻。
发起端设备在第二时隙内接收第三感知信号的时刻为：
发起端设备在第二时隙内接收第四感知信号的时刻为：
由上述可知，在示例二中，发起端设备在第一时隙内可以同时接收来自第一响应端设备的第一感知信号和第二响应端设备的第二感知信号。同理，发起端设备在第二时隙内可以同时接收来自第一响应端设备的第三感知信号和第二响应端设备的第四感知信号。
图5是本申请实施例提供的另一种同步的示意性流程图。由感知请求设备广播同步信息。例如，上述的第一响应端设备可以为感知请求设备，具有感知需求的设备。对应图2中(c)所示的场景。
图5所示的方法流程包括以下步骤：
S511，第一响应端设备向发起端设备发送第二感知请求信号#1，或者说发起端设备接收来自第一响应端设备的第二感知请求信号#1。
S512，第一响应端设备向第二响应端设备发送第二感知请求信号#2，或者说第二响应端设备接收来自第一响应端设备的第二感知请求信号#2。
示例性地，上述的第二感知请求信号#1和第二感知请求信号#2均用于指示发起感知，功能相同，可以是第一响应端设备广播的信号，所以第二感知请求信号#1和第二感知请求信号#2可以统称为第二感知请求信号。
具体地，方式二中第二感知请求信号中包括固定时延。
S513，发起端设备向第一响应端设备发送第二感知确认信号#1，或者说第一响应端设备接收来自发起端设备的第二感知确认信号#1。
S514，发起端设备向第二响应端设备发送第二感知确认信号#2，或者说第二响应端设备接收来自发起端设备的第二感知确认信号#2。
示例性地，上述的第一感知确认信号#1和第二感知确认信号#2用于指示成功接收到第二感知请求信号#1。可以是发起端设备广播的信号，所以第二感知确认信号#1和第二感知确认信号#2可以统称为第二感知确认信号。
S515，第一响应端设备估计第一往返时延。
示例性地，第一响应端设备估计第一往返时延可以是：第一响应端设备根据发送第二感知请求信号#1的发送时刻和接收第二感知确认信号#1的时刻估算第一往返时延。
例如，第一响应端设备在时刻#5发送第二感知请求信号#1，并在时刻#6接收第二感知确认信号#1，则第一响应端设备估算第一往返时延为时刻#6和时刻#5之间的时长。如，T1＝时刻#5-时刻#6，T1表示第一往返时延。
S516，第二响应端设备向发起端设备发送反馈信号。
该反馈信号用于指示成功接收到上述的第二感知确认信号#2，该反馈信号可以为ACK。
S517，发起端设备估计第二往返时延。
示例性地，发起端设备估计第二往返时延可以是：发起端设备根据发送第二感知确认信号#2的时刻和和接收反馈信号的时刻估算第一往返时延。
例如，发起端设备在时刻#7发送第二感知确认信号#2，并在时刻#8接收反馈信号，则第一响应端设备估算第二往返时延为时刻#8和时刻#7之间的时长。如，T2＝时刻#8-时刻#7，T2表示第二往返时延。
需要说明的是，方式二中发起端设备和第一响应端设备估算往返时延的方式只是举例，对本申请的保护范围不构成任何的限定，还可以通过其他方式确认设备间的时延，例如，第一响应端设备可以在发送的信号中携带时间戳信息指示发送时刻，发起端设备可以根据时间戳信息和接收时刻之间确定出第一响应端设备和发起端设备之间的时延。还例如，通过其他的信号传输流程确定(如，新增确定往返时延的流程，或者复用现有其他信令传输的流程)设备之间的时延。
进一步地，第一响应端设备和发起端设备可以将估算的往返时延广播给系统中的其他设备，以便于响应端设备确定发送感知信号的时刻，图5所示的方法流程还包括：
S518，第一响应端设备向第二响应端设备发送第一往返时延，或者说第二响应端设备接收来自第一响应端设备的第一往返时延。
S519，发起端设备向第二响应端设备发送第二往返时延，或者说第二响应端设备接收来自发起端设备的第二往返时延。
S520，发起端设备向第二响应端设备发送第二往返时延，或者说第二响应端设备接收来自发起端设备的第二往返时延。
示例性地，发起端设备广播第二确认帧，该第二确认帧用于启动感知过程。具体地，该第二确认帧中包括上述的第二往返时延。
应理解，上述的通过第二确认帧广播第二往返时延只是举例，对本申请的保护范围不构成任何的限定，发起端设备可以通过其他信令(如，新增信令)传输第二往返时延，这里不再赘述。
例如，发起端设备可以分别通过信令向第一响应端设备和第二响应端设备发送用于同步的信息。
进一步地，响应端设备接收到上述的用于同步的信息之后，能够基于同步信息确定发送感知信号的时刻。图5所示的方法流程还包括：
S521，第一响应端设备确定发送第一感知信号和第三感知信号的时刻。
S522，第二响应端设备确定发送第二感知信号和第四感知信号的时刻。
为了便于理解，下面举例说明第一响应端设备和第二响应端设备确定发送感知信号时刻的方式。
示例三：
第一响应端设备根据接收上述的第二确认帧的时刻确定在第一时隙内发送第一感知信号的时刻为：t2+Δ1，在第二时隙内发送第三感知信号的时刻＝t2+Δ1+Δ2。
第二响应端设备根据接收上述的第二确认帧的时刻确定在第一时隙内发送第二感知信号的时刻为：t4+Δ1+T1-T2，在第二时隙内发送第四感知信号的时刻＝t4+Δ1+T1-T2+Δ2。
其中，t2为第一响应端设备接收第二确认帧的时刻，t4为第二响应端设备接收第二确认帧的时刻，Δ1为所述固定时延，Δ2为第一时隙和所述第二时隙之间的间隔，T1为第一往返时延，T2为第二往返时延。
示例性地，Δ2为第一时隙的起始时刻和所述第二时隙的起始时刻之间的间隔，或者，Δ2为第一时隙的终止时刻和所述第二时隙的终止始时刻之间的间隔。
由上述可知发起端设备可以分别向第一响应端设备和第二响应端设备发送用于确定发送感知信号时刻的信息，在该示例一中。发起端设备可以考虑到不同响应端设备所需的信息不同，向不同的响应端设备发送不同的信息，而不是广播。
例如，由于第一响应端设备确定发送感知信号的时刻时仅考虑固定时延，发起端设备可以不向第一响应端设备发送第二往返时延。
该示例三中，在响应端设备按照上述的发送时刻发送感知信号的前提下：
发起端设备在第一时隙内接收第一感知信号的时刻为：
其中，tstart1表示发起端设备发送第二确认帧的时刻，可以理解为上述的t2，即第一响应端设备接收第二确认帧的时刻。
发起端设备在第一时隙内接收第二感知信号的时刻为：
其中，可以理解为上述的t4，即第二响应端设备接收第二确认帧的时刻。
发起端设备在第二时隙内接收第三感知信号的时刻为：
发起端设备在第二时隙内接收第四感知信号的时刻为：
由上述可知，在示例三中，发起端设备在第一时隙内可以同时接收来自第一响应端设备的第一感知信号和第二响应端设备的第二感知信号。同理，发起端设备在第二时隙内可以同时接收来自第一响应端设备的第三感知信号和第二响应端设备的第四感知信号。
示例四：
第一响应端设备根据接收上述的第一确认帧的时刻确定在第一时隙内发送第一感知信号的时刻为：t1+Δ1+T2-T1，在第二时隙内发送第三感知信号的时刻＝t1+Δ1+Δ2+T2-T1。
第二响应端设备根据接收上述的第一确认帧的时刻确定在第一时隙内发送第二感知信号的时刻为：t3+Δ1，在第二时隙内发送第四感知信号的时刻＝t3+Δ1+Δ2。
其中，t1为第一响应端设备接收第一确认帧的时刻，Δ1为所述固定时延，Δ2为第一时隙和所述第二时隙之间的间隔，T1为第一往返时延，T2为第二往返时延。
由上述可知发起端设备可以分别向第一响应端设备和第二响应端设备发送用于确定发送感知信号时刻的信息，在该示例二中。发起端设备可以考虑到不同响应端设备所需的信息不同，向不同的响应端设备发送不同的信息，而不是广播。
例如，由于第二响应端设备确定发送感知信号的时刻时仅考虑固定时延，发起端设备可以不向第二响应端设备发送第二往返时延，第一响应端设备可以不向第二响应端设备发送第一往返时延。
该示例四中，在响应端设备按照上述的发送时刻发送感知信号的前提下：
发起端设备在第一时隙内接收第一感知信号的时刻为：
其中，tstart1表示发起端设备发送第二确认帧的时刻，可以理解为上述的t2，即第一响应端设备接收第一确认帧的时刻。
发起端设备在第一时隙内接收第二感知信号的时刻为：
其中，可以理解为上述的t4，即第二响应端设备接收第二确认帧的时刻。
发起端设备在第二时隙内接收第三感知信号的时刻为：
发起端设备在第二时隙内接收第四感知信号的时刻为：
由上述可知，在示例四中，发起端设备在第一时隙内可以同时接收来自第一响应端设备的第一感知信号和第二响应端设备的第二感知信号。同理，发起端设备在第二时隙内可以同时接收来自第一响应端设备的第三感知信号和第二响应端设备的第四感知信号。
应理解，图5所示的实施例中是以第一响应端设备为感知请求设备为例说明的，第二响应端设备也可以为感知请求设备，在第二响应端设备为感知请求设备的情况下，第一响应端设备和第二响应端设备之间的角色互换，同步流程与上述图5类似，这里不再赘述。
上述的示例一至示例四只是举例说明响应端设备确定的发送感知信号的时刻可能的情况，对本申请的保护范围不构成任何的限定。
应理解，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。
还应理解，上述所述的过程并不一定在方法实施的过程中一定全部存在，本申请实施例给出的流程仅为示例，上述步骤中的部分步骤若能够实现相同的效果的等同方案也在本申请的保护范围之内。
还应理解，在本申请的各个实施例中，如果没有特殊说明以及逻辑冲突，不同的实施例之间的术语和/或描述具有一致性、且可以相互引用，不同的实施例中的技术特征根据其内在的逻辑关系可以组合形成新的实施例。
例如，用于执行CIR估计发起端设备可以为多个，每个发起端设备执行CIR估计的方式可以参考图3所示的实施例中发起端设备执行CIR估计的方式，这里不再赘述。
还应理解，在上述一些实施例中，主要以现有的网络架构中的设备为例进行了示例性说明(如发起端设备、响应端设备等等)，应理解，对于设备的具体形式本申请实施例不作限定。例如，在未来可以实现同样功能的设备都适用于本申请实施例。
可以理解的是，上述各个方法实施例中，由设备(如上述如发起端设备、响应端设备等)实现的方法和操作，也可以由设备的部件(例如芯片或者电路)实现。
以上，结合图3中的(a)和(b)详细说明了本申请实施例提供的应用于超带宽UWB系统感知测量的方法。上述应用于超带宽UWB系统感知测量的方法主要从发起端设备和响应端设备之间交互的角度进行了介绍。可以理解的是，发起端设备和响应端设备，为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。
本领域技术人员应该可以意识到，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，本申请能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，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。
以下，结合图6和图7详细说明本申请实施例提供的应用于超带宽UWB系统感知测量的装置。应理解，装置实施例的描述与方法实施例的描述相互对应，因此，未详细描述的内容可以参见上文方法实施例，为了简洁，部分内容不再赘述。
本申请实施例可以根据上述方法示例对发送端设备或者接收端设备进行功能模块的划分，例如，可以对应各个功能划分各个功能模块，也可以将两个或两个以上的功能集成在一个处理模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。需要说明的是，本申请实施例中对模块的划分是示意性的，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。下面以采用对应各个功能划分各个功能模块为例进行说明。
图6是本申请实施例提供的一种应用于超带宽UWB系统感知测量的装置的示意性框图。如图6所示，该装置600可以包括收发单元610和处理单元620。收发单元610可以与外部进行通信，处理单元620用于进行数据处理。收发单元610还可以称为通信接口或通信单元。
可选地，该装置600还可以包括存储单元，该存储单元可以用于存储指令和/或数据，处理单元620可以读取存储单元中的指令和/或数据，以使得装置实现前述方法实施例。
该装置600可以用于执行上文方法实施例中收发设备(如发起端设备和响应端设备)所执行的动作，这时，该装置600可以为收发设备或者可配置于收发设备的部件，收发单元610用于执行上文方法实施例中收发设备的收发相关的操作，处理单元620用于执行上文方法实施例中收发设备的处理相关的操作。
作为一种设计，该装置600用于执行上文方法实施例中发起端设备所执行的动作。发起端设备在一个或者多个感知轮内接收感知信号，所述每个感知轮中包括至少两个时隙，具体地，收发单元610，用于在第一感知轮中的第一时隙内接收来自第一响应端设备的第一感知信号和第二响应端设备的第二感知信号；
收发单元610，还用于在第一感知轮中的第二时隙内接收来自该第一响应端设备的第三感知信号和该第二响应端设备的第四感知信号；
处理单元620，用于根据该第一感知信号、该第二感知信号、该第三感知信号和该第四感知信号估计第一信道的信道脉冲响应CIR和第二信道的CIR，
其中，该第一信道为该发起端设备和该第一响应端设备之间的信道，该第二信道为该发起端设备和该第二响应端设备之间的信道。
该装置600可实现对应于根据本申请实施例的方法实施例中的发起端设备执行的步骤或者流程，该装置600可以包括用于执行方法实施例中的发起端设备执行的方法的单元。并且，该装置600中的各单元和上述其他操作和/或功能分别为了实现方法实施例中的发起端设备中的方法实施例的相应流程。
其中，当该装置600用于执行图3中的(a)所示方法时，收发单元610可用于执行方法中的收发步骤，如步骤S313和S314；处理单元620可用于执行方法中的处理步骤， 如步骤S315。
当该装置600用于执行图3中的(b)所示方法时，收发单元610可用于执行方法中的收发步骤，如步骤S301、S302、S303、S330和S340；处理单元620可用于执行方法中的处理步骤，如步骤S350。
当该装置600用于执行图4中的方法时，收发单元610可用于执行方法中的收发步骤，如步骤S411、S412、S413、S414、S416和S417；处理单元620可用于执行方法中的处理步骤，如步骤S415。
当该装置600用于执行图5中的方法时，收发单元610可用于执行方法中的收发步骤，如步骤S511、S513、S514、S516、S519和S520；处理单元620可用于执行方法中的处理步骤，如步骤S517。
应理解，各单元执行上述相应步骤的具体过程在上述方法实施例中已经详细说明，为了简洁，在此不再赘述。另外，各单元执行上述相应步骤的带来的有益效果上述方法实施例中已经详细说明，在此也不再赘述。
作为另一种设计，该装置600用于执行上文方法实施例中第一响应端设备所执行的动作。
处理单元620，用于生成针对第一感知轮中第一时隙内的第一感知信号和针对第一感知轮中第二时隙的第三感知信号
收发单元610，用于向该发起端设备发送该第一感知信号和该第三感知信号，
其中，该第一感知信号和该第三感知信号用于估计第一信道的信道脉冲响应CIR和第二信道的CIR，该第一信道为该发起端设备和该第一响应端设备之间的信道，该第二信道为该发起端设备和该第二响应端设备之间的信道。
该装置600可实现对应于根据本申请实施例的方法实施例中的第一响应端设备执行的步骤或者流程，该装置600可以包括用于执行方法实施例中的第一响应端设备执行的方法的单元。并且，该装置600中的各单元和上述其他操作和、或功能分别为了实现方法实施例中的第一响应端设备中的方法实施例的相应流程。
其中，当该装置600用于执行图3中的(a)所示方法时，收发单元610可用于执行方法中的收发步骤，如步骤S313；处理单元620可用于执行方法中的处理步骤，如步骤S311。
当该装置600用于执行图3中的(b)所示方法时，收发单元610可用于执行方法中的收发步骤，如步骤S301、S303、S304和S330；处理单元620可用于执行方法中的处理步骤，如步骤S310。
当该装置600用于执行图4中的方法时，收发单元610可用于执行方法中的收发步骤，如步骤S411、S416和S413；处理单元620可用于执行方法中的处理步骤，如步骤S418。
当该装置600用于执行图5中的方法时，收发单元610可用于执行方法中的收发步骤，如步骤S511、S513和S518；处理单元620可用于执行方法中的处理步骤，如步骤S515和S521。
应理解，各单元执行上述相应步骤的具体过程在上述方法实施例中已经详细说明，为了简洁，在此不再赘述。
作为又一种设计，该装置600用于执行上文方法实施例中第二响应端设备所执行的动作。
处理单元620，用于生成针对第一感知轮中第一时隙的第二感知信号和第一感知轮中第二时隙的第四感知信号；
收发单元610，用于向该发起端设备发送该第二感知信号和该第四感知信号，其中，该第二感知信号和该第四感知信号用于估计第一信道的信道脉冲响应CIR和第二信道的CIR，该第一信道为该发起端设备和该第二响应端设备之间的信道，该第二信道为该发起端设备和该第二响应端设备之间的信道。
该装置600可实现对应于根据本申请实施例的方法实施例中的第二响应端设备执行的步骤或者流程，该装置600可以包括用于执行方法实施例中的第二响应端设备执行的方法的单元。并且，该装置600中的各单元和上述其他操作和、或功能分别为了实现方法实施例中的第二响应端设备中的方法实施例的相应流程。
其中，当该装置600用于执行图3中的(a)所示方法时，收发单元610可用于执行方法中的收发步骤，如步骤S314；处理单元620可用于执行方法中的处理步骤，如步骤S312。
当该装置600用于执行图3中的(b)所示方法时，收发单元610可用于执行方法中的收发步骤，如步骤S302、S304和S340；处理单元620可用于执行方法中的处理步骤，如步骤S320。
当该装置600用于执行图4中的方法时，收发单元610可用于执行方法中的收发步骤，如步骤S412、S414和S417；处理单元620可用于执行方法中的处理步骤，如步骤S419。
当该装置600用于执行图5中的方法时，收发单元610可用于执行方法中的收发步骤，如步骤S512、S514、S516、S518和S519；处理单元620可用于执行方法中的处理步骤，如步骤S522。
上文实施例中的处理单元620可以由至少一个处理器或处理器相关电路实现。收发单元610可以由收发器或收发器相关电路实现。存储单元可以通过至少一个存储器实现。
如图7所示，本申请实施例还提供一种装置700。该装置700包括处理器710，还可以包括一个或多个存储器720。处理器710与存储器720耦合，存储器720用于存储计算机程序或指令和、或数据，处理器710用于执行存储器720存储的计算机程序或指令和、或数据，使得上文方法实施例中的方法被执行。可选地，该装置700包括的处理器710为一个或多个。
可选地，该存储器720可以与该处理器710集成在一起，或者分离设置。
可选地，如图7所示，该装置700还可以包括收发器730，收发器730用于信号的接收和、或发送。例如，处理器710用于控制收发器730进行信号的接收和、或发送。
作为一种方案，该装置700用于实现上文方法实施例中由收发设备(如发起端设备和响应端设备)执行的操作。
如图8所示，图8所示的通信装置包括逻辑电路801和接口802。
示例性的，图8是以上述通信装置为芯片为例示出的，该芯片包括逻辑电路801和接口802。可理解，本申请实施例所示的芯片可以包括窄带芯片或超带宽芯片等，本申请实 施例不作限定。如上文所示的发送感知信号的步骤可以由超带宽芯片执行，其余步骤是否由超带宽芯片执行，本申请实施例不作限定。
本申请实施例还提供一种计算机可读存储介质，其上存储有用于实现上述方法实施例中由收发设备(如发起端设备和响应端设备)执行的方法的计算机指令。
例如，该计算机程序被计算机执行时，使得该计算机可以实现上述方法实施例中由收发设备(如发起端设备和响应端设备)执行的方法。
本申请实施例还提供一种包含指令的计算机程序产品，该指令被计算机执行时使得该计算机实现上述方法实施例中由收发设备(如发起端设备和响应端设备)执行的方法。
本申请实施例还提供一种通信系统，该通信系统包括上文实施例中的发送端设备和接收端设备。
上述提供的任一种装置中相关内容的解释及有益效果均可参考上文提供的对应的方法实施例，此处不再赘述。
应理解，本申请实施例中提及的处理器可以是中央处理单元(central processing unit，CPU)，还可以是其他通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现成可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
还应理解，本申请实施例中提及的存储器可以是易失性存储器和、或非易失性存储器。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)。例如，RAM可以用作外部高速缓存。作为示例而非限定，RAM可以包括如下多种形式：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)。
需要说明的是，当处理器为通用处理器、DSP、ASIC、FPGA或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件时，存储器(存储模块)可以集成在处理器中。
还需要说明的是，本文描述的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
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保护范围。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，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。此外，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实现本申请提供的方案。
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。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。例如，所述计算机可以是个人计算机，服务器，或者网络设备等。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如固态硬盘(solid state disk，SSD)等。例如，前述的可用介质可以包括但不限于：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 (27)

  1. 一种应用于超带宽UWB系统感知测量的方法，其特征在于，发起端设备在一个或者多个感知轮内接收感知信号，所述每个感知轮中包括至少两个时隙，所述方法包括：
    所述发起端设备在第一感知轮中的第一时隙内接收来自第一响应端设备的第一感知信号和第二响应端设备的第二感知信号；
    所述发起端设备在所述第一感知轮中的第二时隙内接收来自所述第一响应端设备的第三感知信号和所述第二响应端设备的第四感知信号；
    所述发起端设备根据所述第一感知信号、所述第二感知信号、所述第三感知信号和所述第四感知信号估计第一信道的信道脉冲响应CIR和第二信道的CIR，
    其中，所述第一信道为所述发起端设备和所述第一响应端设备之间的信道，所述第二信道为所述发起端设备和所述第二响应端设备之间的信道。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述发起端设备向所述第一响应端设备和所述第二响应端设备发送基于第一密钥加密的第一指示信息，所述第一指示信息用于指示每一个感知轮对应的码本，所述第一感知信号、所述第二感知信号、所述第三感知信号和所述第四感知信号基于所述第一感知轮对应的码本和公开序列确定；
    其中，所述第一密钥为所述第一响应端设备、所述第二响应端设备和所述发起端设备已知的密钥。
  3. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述发起端设备接收来自感知请求设备的基于第二密钥加密的第二指示信息，所述第二指示信息用于指示每一个感知轮对应的码本，所述第一感知信号、所述第二感知信号、所述第三感知信号和所述第四感知信号基于所述第一感知轮对应的码本和公开序列确定，
    其中，所述第二密钥为所述第一响应端设备、所述第二响应端设备、所述感知请求设备和所述发起端设备已知的密钥。
  4. 根据权利要求3所述的方法，其特征在于，所述感知请求设备为所述第一响应端设备。
  5. 根据权利要求2至4中任一项所述的方法，其特征在于，所述第一感知信号＝a·s[n]，所述第二感知信号＝b·s[n]，所述第三感知信号＝c·s[n]，所述第四感知信号＝d·s[n]，
    其中，s[n]为所述公开序列，所述a，b，c，d构成所述第一感知轮对应的码本。
  6. 根据权利要求2至5中任一项所述的方法，其特征在于，所述码本为以下任意一种：
    {+C,+C,+C,-C},{+C,+C,-C,+C},{+C,-C,+C,+C},{+C,-C,-C,-C},{-C,+C,+C,+C},{-C,+C,-C,-C},{-C,-C,+C,-C},{-C,-C,-C,+C}，其中，C为实数。
  7. 一种应用于超带宽UWB系统感知测量的方法，其特征在于，在一个或者多个感知轮内的每个感知轮中包括至少两个时隙，所述方法包括：
    第一响应端设备生成针对第一感知轮中第一时隙的第一感知信号和针对所述第一感知轮中第二时隙的第三感知信号；
    所述第一响应端设备发送所述第一感知信号和所述第三感知信号，
    其中，所述第一感知信号和所述第三感知信号用于估计第一信道的信道脉冲响应CIR和第二信道的CIR，所述第一信道为发起端设备和所述第一响应端设备之间的信道，所述第二信道为所述发起端设备和所述第二响应端设备之间的信道。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    所述第一响应端设备接收来自所述发起端设备的基于第一密钥加密的第一指示信息，所述第一指示信息用于指示每一个感知轮对应的码本；
    所述第一响应端设备基于所述第一指示信息获取所述第一感知轮对应的码本；
    其中，所述第一密钥为所述第一响应端设备、所述第二响应端设备和所述发起端设备已知的密钥。
  9. 根据权利要求7所述的方法，其特征在于，所述第一响应端设备为感知请求设备，所述方法还包括：
    所述第一响应端设备向所述发起端设备发送基于第二密钥加密的第二指示信息，所述第二指示信息用于指示每一个感知轮对应的码本，其中，所述第二密钥为所述第一响应端设备、所述第二响应端设备和所述发起端设备已知的密钥。
  10. 根据权利要求8或9所述的方法，其特征在于，所述第一感知信号＝a·s[n]，所述第三感知信号＝c·s[n]，其中，s[n]为所述公开序列，所述a，c为所述第一感知轮对应的码本中的码字。
  11. 根据权利要求7至10中任一项所述的方法，其特征在于，所述码本为以下任意一种：
    {+C,+C,+C,-C},{+C,+C,-C,+C},{+C,-C,+C,+C},{+C,-C,-C,-C},{-C,+C,+C,+C},{-C,+C,-C,-C},{-C,-C,+C,-C},{-C,-C,-C,+C}，其中，C为实数。
  12. 一种应用于超带宽UWB系统感知测量的装置，其特征在于，所述装置在一个或者多个感知轮内接收感知信号，所述每个感知轮中包括至少两个时隙，所述装置包括：
    接收单元，用于在第一感知轮中的第一时隙内接收来自第一响应端设备的第一感知信号和第二响应端设备的第二感知信号；
    所述接收单元，还用于在所述第一感知轮中的第二时隙内接收来自所述第一响应端设备的第三感知信号和所述第二响应端设备的第四感知信号；
    处理单元，用于根据所述第一感知信号、所述第二感知信号、所述第三感知信号和所述第四感知信号估计第一信道的信道脉冲响应CIR和第二信道的CIR，
    其中，所述第一信道为所述装置和所述第一响应端设备之间的信道，所述第二信道为所述装置和所述第二响应端设备之间的信道。
  13. 根据权利要求12所述的装置，其特征在于，所述装置还包括：
    发送单元，用于向所述第一响应端设备和所述第二响应端设备发送基于第一密钥加密的第一指示信息，所述第一指示信息用于指示每一个感知轮对应的码本，所述第一感知信号、所述第二感知信号、所述第三感知信号和所述第四感知信号基于所述第一感知轮对应的码本和公开序列确定，
    其中，所述第一密钥为所述第一响应端设备、所述第二响应端设备和所述装置已知的密钥。
  14. 根据权利要求12所述的装置，其特征在于，所述接收单元，还用于接收来自感知请求设备的基于第二密钥加密的第二指示信息，所述第二指示信息用于指示每一个感知轮对应的码本，所述第一感知信号、所述第二感知信号、所述第三感知信号和所述第四感知信号基于所述第一感知轮对应的码本和公开序列确定，
    其中，所述第二密钥为所述第一响应端设备、所述第二响应端设备、所述感知请求设备和所述装置已知的密钥。
  15. 根据权利要求14所述的装置，其特征在于，所述感知请求设备为所述第一响应端设备。
  16. 根据权利要求13至15中任一项所述的装置，其特征在于，所述第一感知信号＝a·s[n]，所述第二感知信号＝b·s[n]，所述第三感知信号＝c·s[n]，所述第四感知信号＝d·s[n]，其中，s[n]为所述公开序列，所述a，b，c，d构成所述第一感知轮对应的码本。
  17. 根据权利要求12至16中任一项所述的装置，其特征在于，所述码本为以下任意一种：
    {+C,+C,+C,-C},{+C,+C,-C,+C},{+C,-C,+C,+C},{+C,-C,-C,-C},{-C,+C,+C,+C},{-C,+C,-C,-C},{-C,-C,+C,-C},{-C,-C,-C,+C}，其中，C为实数。
  18. 一种应用于超带宽UWB系统感知测量的装置，其特征在于，在一个或者多个感知轮内的每个感知轮中包括至少两个时隙，所述装置包括：
    处理单元，用于生成针对第一感知轮中第一时隙向的第一感知信号和针对所述第一感知轮中第二时隙的第三感知信号；
    发送单元，用于向所述发起端设备发送所述第一感知信号和所述第三感知信号，
    其中，所述第一感知信号和所述第三感知信号用于估计第一信道的信道脉冲响应CIR和第二信道的CIR，所述第一信道为所述发起端设备和所述装置之间的信道，所述第二信道为所述发起端设备和所述第二响应端设备之间的信道。
  19. 根据权利要求18所述的装置，其特征在于，所述装置还包括：
    接收单元，用于接收来自所述发起端设备的基于第一密钥加密的第一指示信息，所述第一指示信息用于指示每一个感知轮对应的码本，所述第一感知信号和所述第三感知信号基于所述第一感知轮对应的码本和公开序列确定，
    其中，所述第一密钥为所述装置所述第二响应端设备和所述发起端设备已知的密钥。
  20. 根据权利要求18所述的装置，其特征在于，所述装置为感知请求设备，所述发送单元，还用于向所述发起端设备发送基于第二密钥加密的第二指示信息，所述第二指示信息用于指示每一个感知轮对应的码本，所述第一感知信号和所述第三感知信号基于所述第一感知轮对应的码本和公开序列确定，
    其中，所述第二密钥为所述装置、所述第二响应端设备和所述发起端设备已知的密钥。
  21. 根据权利要求19或20所述的装置，其特征在于，所述第一感知信号＝a·s[n]，所述第三感知信号＝c·s[n]，其中，s[n]为所述公开序列，所述a，c为所述第一感知轮对应的码本中的码字。
  22. 根据权利要求18至21中任一项所述的装置，其特征在于，所述码本为以下任意一种：
    {+C,+C,+C,-C},{+C,+C,-C,+C},{+C,-C,+C,+C},{+C,-C,-C,-C},{-C,+C,+C,+C},{- C,+C,-C,-C},{-C,-C,+C,-C},{-C,-C,-C,+C}，其中，C为实数。
  23. 一种应用于超带宽UWB系统感知测量的系统，其特征在于，包括发起端设备、第一响应端设备和第二响应端设备，在一个或者多个感知轮内的每个感知轮中包括至少两个时隙，
    所述第一响应端设备用于生成针对第一感知轮中第一时隙的第一感知信号和针对所述第一感知轮中第二时隙的第三感知信号；
    所述第一响应端设备在所述第一时隙内向所述发起端设备发送所述第一感知信号，以及在所述第二时隙内向所述发起端设备发送所述第三感知信号；
    所述第二响应端设备用于生成针对所述第一感知轮中所述第一时隙的第二感知信号和针对所述第一感知轮中所述第二时隙的第四感知信号；
    所述第二响应端设备在所述第一时隙内向所述发起端设备发送所述第二感知信号，以及在所述第二时隙内向所述发起端设备发送所述第四感知信号；
    所述发起端设备根据所述第一感知信号、所述第二感知信号、所述第三感知信号和所述第四感知信号估计第一信道的信道脉冲响应CIR和第二信道的CIR，
    其中，所述第一信道为所述发起端设备和所述第一响应端设备之间的信道，所述第二信道为所述发起端设备和所述第二响应端设备之间的信道。
  24. 一种应用于超带宽UWB系统感知测量的装置，其特征在于，包括处理器，所述处理器与存储器耦合，所述存储器用于存储计算机程序或指令，所述处理器用于执行存储器中的所述计算机程序或指令，使得所述装置执行如权利要求1至11中任一项所述的方法。
  25. 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上存储有计算机程序或指令，当所述计算机程序或指令在计算机上运行时，使得所述计算机执行如权利要求1至11中任一项所述的方法。
  26. 一种芯片系统，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系统的通信设备执行权利要求1至11中任一项所述的方法。
  27. 一种计算机程序产品，其特征在于，当所述计算机程序产品在计算机上运行时，使得计算机执行如权利要求1至11中任一项所述的方法。
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CN106664119A (zh) * 2014-05-23 2017-05-10 德卡维务有限责任公司 在超宽带通信系统中测量入射角
CN106664265A (zh) * 2014-07-17 2017-05-10 欧利景无线有限公司 无线定位系统
CN111951434A (zh) * 2019-04-30 2020-11-17 罗伯特·博世有限公司 超宽带智能感测系统和方法
US20210076367A1 (en) * 2019-09-09 2021-03-11 Huawei Technologies Co., Ltd. Systems and methods for configuring sensing signals in a wireless communication network
CN113852907A (zh) * 2020-06-26 2021-12-28 罗伯特·博世有限公司 使用超宽带的占用感测

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CN106664119A (zh) * 2014-05-23 2017-05-10 德卡维务有限责任公司 在超宽带通信系统中测量入射角
CN106664265A (zh) * 2014-07-17 2017-05-10 欧利景无线有限公司 无线定位系统
CN111951434A (zh) * 2019-04-30 2020-11-17 罗伯特·博世有限公司 超宽带智能感测系统和方法
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