WO2024065711A1 - 一种测距方法、装置和系统 - Google Patents

一种测距方法、装置和系统 Download PDF

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Publication number
WO2024065711A1
WO2024065711A1 PCT/CN2022/123357 CN2022123357W WO2024065711A1 WO 2024065711 A1 WO2024065711 A1 WO 2024065711A1 CN 2022123357 W CN2022123357 W CN 2022123357W WO 2024065711 A1 WO2024065711 A1 WO 2024065711A1
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WIPO (PCT)
Prior art keywords
node
channel
ranging
information
frame
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PCT/CN2022/123357
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English (en)
French (fr)
Inventor
李德建
程型清
高磊
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华为技术有限公司
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Priority to PCT/CN2022/123357 priority Critical patent/WO2024065711A1/zh
Priority to CN202280045390.7A priority patent/CN118119860A/zh
Publication of WO2024065711A1 publication Critical patent/WO2024065711A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the present application relates to the field of communication technology, and in particular to a ranging method, device and system.
  • PEPS Passive Entry Passive Start
  • the present application provides a ranging method, device and system for achieving reliable ranging.
  • a ranging method including: a first node receives a first ranging frame on at least one channel; the first node measures the first ranging frame to obtain first measurement information; the first node sends second measurement information according to the first measurement information and a first feedback method.
  • the first node after the first node measures the first ranging frame to obtain the first measurement information, the first node sends the second measurement information according to the first measurement information and the first feedback method.
  • the specific form in which the first node feeds back the measurement information needs to be determined based on the measurement result of the first node and the first feedback method.
  • the first feedback mode may belong to a predefined or configured feedback mode set, which defines a plurality of different feedback modes.
  • the first ranging frame includes at least one symbol
  • the first measurement information indicates channel state information of at least one valid subcarrier corresponding to the at least one symbol (or referred to as ranging symbol).
  • the symbol is an OFDM symbol.
  • the first feedback mode indicates feeding back the channel state information of all valid subcarriers.
  • the second measurement information indicates the same channel state information as the first measurement information.
  • the first feedback method mentioned above can feed back detailed channel state information and improve the accuracy of the ranging frame.
  • the first feedback mode indicates feedback of the channel state information of the DC subcarrier
  • the second measurement information includes the channel state information of the DC subcarrier corresponding to at least one symbol, wherein the channel state information of the DC subcarrier is determined by interpolation based on the channel state information of the valid subcarriers adjacent to the DC subcarrier.
  • the interpolation includes but is not limited to at least one of linear interpolation, nearest neighbor interpolation, cubic spline interpolation, and/or quadratic interpolation.
  • the second feedback method mentioned above can reduce the amount of feedback data while ensuring the reliability of ranging.
  • the first feedback mode indicates feedback of channel state information of at least one subcarrier group, at least one valid subcarrier corresponding to at least one symbol belongs to at least one subcarrier group, and the second measurement information includes channel state information of each subcarrier group in the at least one subcarrier group.
  • each M consecutive subcarriers corresponding to at least one symbol is a subcarrier group, where M is a positive integer.
  • M is a positive integer.
  • each continuous P or L subcarriers corresponding to at least one symbol is a subcarrier group
  • P and L are positive integers
  • P ⁇ L are positive integers
  • P ⁇ L two different grouping intervals can exist at the same time. In this way, it can be avoided that when grouping is performed only with a single grouping interval (such as P), some subcarriers cannot be grouped, and it is ensured that all subcarriers have corresponding subcarrier groups.
  • At least one channel includes a first channel and a second channel; among the subcarriers corresponding to the first channel, each consecutive Q subcarriers form a subcarrier group, and among the subcarriers corresponding to the second channel, each consecutive N subcarriers form a subcarrier group, where Q and N are positive integers, and Q ⁇ N.
  • Q and N are positive integers, and Q ⁇ N.
  • the third feedback method mentioned above can reduce the amount of feedback data while ensuring the reliability of ranging.
  • the channel state information of each subcarrier group is an average value, a median value, a maximum value, or a minimum value of the channel state information of all valid subcarriers in each subcarrier group.
  • each subcarrier group only needs to feed back one channel state information, which can reduce the feedback amount.
  • the channel state information of each subcarrier group is the channel state information of a subcarrier in each subcarrier group, such as the channel state information of the first subcarrier, the last subcarrier, or a subcarrier in the middle.
  • the number of subcarriers included in the subcarrier group is related to the ranging range. For example, the larger the ranging range, the fewer subcarriers included in the subcarrier group; conversely, the smaller the ranging range, the more subcarriers included in the subcarrier group.
  • the number of subcarriers included in the subcarrier group is related to the amount of data that the first node can feedback. For example, the larger the amount of data that the first node can feedback, the smaller the number of subcarriers included in the subcarrier group; conversely, the smaller the amount of data that the first node can feedback, the larger the number of subcarriers included in the subcarrier group.
  • the first node may start measuring from a specified position in the first ranging frame.
  • a symbol of the first ranging frame has a CP; the first node measures the first ranging frame, including: the first node starts measuring from the first symbol in the first ranging frame.
  • a symbol of the first ranging frame does not have a CP; the first node measures the first ranging frame, including: the first node starts measuring from the second symbol of the first ranging frame.
  • the first ranging frame has no CP to combat multipath interference, so the first symbol can be sacrificed to combat multipath interference and play the role of CP to improve the accuracy of measurement.
  • the first node starts measuring from a designated symbol of the first ranging frame according to indication information or pre-settings.
  • the first ranging frame includes multiple symbols
  • the first node measures the first ranging frame, including: the first node determines the channel state information corresponding to the Rth symbol in the first ranging frame based on the channel state information corresponding to the multiple symbols, where R is a positive integer; wherein the first measurement information indicates the channel state information corresponding to the Rth symbol; or, the first node determines the average value of the channel state information corresponding to the multiple symbols based on the channel state information corresponding to the multiple symbols; the first measurement information indicates the average value of the channel state information corresponding to the multiple symbols.
  • the first node can provide feedback on the channel state information of a specified position (such as the Rth symbol) in the first ranging frame, which can improve the reliability of ranging feedback.
  • the symbols in the first ranging frame use resources of overhead symbols of a first type of wireless frame, the first type of wireless frame includes data symbols and overhead symbols; at least one channel is an initial carrier channel.
  • the symbols in the first ranging frame use resources of data symbols and overhead symbols of a first type of wireless frame, the first type of wireless frame includes data symbols and overhead symbols; at least one channel is an initial carrier channel.
  • the first type of radio frame is a superframe or a radio frame in an SLB.
  • the symbols in the first ranging frame use data symbols of the second type of wireless frame
  • all symbols in the second type of wireless frame are data symbols
  • at least one channel is an initial carrier channel or a channel after frequency hopping.
  • a dedicated wireless frame type is designed for ranging, which can improve the reliability of ranging.
  • the first node sends or receives one or more of the following information:
  • the first indication information is used to indicate the type of the first ranging frame
  • the second indication information is used to indicate whether the first ranging frame has a CP or does not have a CP
  • the third indication information is used to indicate that the first ranging frame has a normal CP or an extended CP
  • Fourth indication information used to instruct the first node to feed back channel state information of at least one channel and/or channel number information of the at least one channel;
  • Sixth indication information used to instruct the first node to feed back channel state information corresponding to the Rth symbol in the first ranging frame, where R is a positive integer
  • Seventh indication information used to instruct the first node to feed back an average value of channel state information corresponding to multiple symbols in the first ranging frame
  • the eighth indication information is used to indicate a first feedback mode in which the first node feeds back channel state information, where the first feedback mode is: feeding back the channel state information of at least one subcarrier group, or feeding back the channel state information of a DC subcarrier, or feeding back the channel state information of all valid subcarriers.
  • the first node when the first feedback mode is to feed back the channel state information of at least one subcarrier group, the first node further sends or receives one or more of the following information:
  • Ninth indication information used to indicate a grouping parameter of at least one subcarrier group
  • the tenth indication information is used to indicate a calculation method of the channel state information of at least one subcarrier group.
  • the first node sends or receives one or more of the above information in the ranging negotiation phase. For example, if the first node is a G node, the first node sends one or more of the above information; or if the first node is a T node, the first node receives one or more of the above information sent by the G node.
  • the value of R may be preset or predefined, for example, pre-agreed by the first node and the second node, or agreed upon by a protocol.
  • the first node may also calibrate the first measurement information according to the calibration information to obtain the calibrated first measurement information; wherein the calibration information is determined according to at least one channel. Accordingly, the first node sends the second measurement information according to the first measurement information and the first feedback method, including: the first node sends the second measurement information according to the calibrated first measurement information and the first feedback method.
  • the calibration information is determined according to at least one channel, which can be understood as different channels may have different calibration information, or in other words, corresponding calibration information is designed separately for the channel state information of each channel for calibration.
  • the first node may also send a second ranging frame on at least one channel, and the second ranging frame is used by the second node to perform measurement to obtain third measurement information.
  • At least one channel belongs to a first channel group
  • the method further includes: the first node receives a third ranging frame on the second channel group; the first node measures the third ranging frame to obtain fourth measurement information; wherein the second channel group includes one or more channels, and at least one channel of the second channel group is different from that of the first channel group; and the first node sends fifth measurement information according to the fourth measurement information and the first feedback method.
  • the embodiments of the present application can be applied to a frequency hopping ranging scenario, and the first node and the second node can perform ranging interaction on different channels (or channel groups) successively, which can improve the accuracy of ranging.
  • the first node sends the second measurement information and the fifth measurement information on at least one initial carrier channel.
  • the measurement information is fed back centrally on the initial carrier channel, which can improve the efficiency of ranging interaction and ensure the reliability of the feedback process.
  • the channel state information includes a relative value of a reference power level RPL.
  • the first node may also send the RPL.
  • the dynamic range of the measurement information can be increased, so that limited information bits can indicate more measurement results, the accuracy of the measurement information feedback can be improved, and the quantization error can be reduced.
  • the first node in addition to sending the second measurement information, RPL, etc., may also send the SNR of at least one channel.
  • the SNR can assist the second node in performing ranging calculations, for example, determining which channels' CSIs to merge based on the SNRs of each channel, thereby further improving the reliability of the ranging solution.
  • a ranging method including: a second node sending a first ranging frame for ranging on at least one channel; the second node receiving second measurement information from the first node, wherein the second measurement information corresponds to the first ranging frame and the first feedback method, and the second measurement information is used to determine a ranging result, and the ranging result includes a distance between the first node and the second node.
  • the first ranging frame includes at least one symbol; the first measurement information indicates channel state information of at least one valid subcarrier corresponding to the at least one symbol.
  • the first feedback method indicates feedback of channel state information of all valid subcarriers
  • the second measurement information indicates the same channel state information as the first measurement information
  • the first feedback method indicates feedback of channel state information of a DC subcarrier
  • the second measurement information includes channel state information of a DC subcarrier corresponding to at least one symbol, wherein the channel state information of the DC subcarrier is determined by interpolation based on channel state information of valid subcarriers adjacent to the DC subcarrier.
  • interpolation includes at least one of linear interpolation, nearest neighbor interpolation, cubic spline interpolation, and/or quadratic interpolation.
  • the first feedback method indicates feedback of channel state information of at least one subcarrier group, at least one valid subcarrier corresponding to at least one symbol belongs to at least one subcarrier group, and the second measurement information includes channel state information of each subcarrier group in the at least one subcarrier group.
  • every M consecutive subcarriers corresponding to at least one symbol are a subcarrier group, where M is a positive integer; or,
  • Every continuous P or L subcarriers corresponding to at least one symbol is a subcarrier group, where P and L are positive integers and P ⁇ L.
  • At least one channel includes a first channel and a second channel; among the subcarriers corresponding to the first channel, every consecutive Q subcarriers form a subcarrier group, and among the subcarriers corresponding to the second channel, every consecutive N subcarriers form a subcarrier group, Q and N are positive integers, and Q ⁇ N.
  • the channel state information of each subcarrier group is the average value, median value, maximum value, or minimum value of the channel state information of all valid subcarriers in each subcarrier group, or the channel state information of one subcarrier in each subcarrier group.
  • the number of subcarriers included in the subcarrier group is related to the ranging range.
  • the symbol of the first ranging frame has a CP; or, the symbol of the first ranging frame does not have a CP.
  • the symbols in the first ranging frame use resources of overhead symbols of a first type of wireless frame
  • the first type of wireless frame includes data symbols and overhead symbols
  • at least one channel is an initial carrier channel
  • the symbols in the first ranging frame use resources of data symbols and overhead symbols of the first type of wireless frame
  • the first type of wireless frame includes data symbols and overhead symbols
  • at least one channel is an initial carrier channel
  • the symbols in the first ranging frame use data symbols of a second type of wireless frame, all symbols in the second type of wireless frame are data symbols
  • at least one channel is an initial carrier channel or a channel after frequency hopping.
  • the second node sends or receives one or more of the following information:
  • the first indication information is used to indicate the type of the first ranging frame
  • the second indication information is used to indicate whether the first ranging frame has a CP or does not have a CP
  • the third indication information is used to indicate that the first ranging frame has a normal CP or an extended CP
  • Fourth indication information used to instruct the first node to feed back channel state information of at least one channel and/or channel number information of the at least one channel;
  • Sixth indication information used to instruct the first node to feed back channel state information corresponding to the Rth symbol in the first ranging frame, where R is a positive integer
  • Seventh indication information used to instruct the first node to feed back an average value of channel state information corresponding to multiple symbols in the first ranging frame
  • the eighth indication information is used to indicate a first feedback mode in which the first node feeds back channel state information, where the first feedback mode is: feeding back the channel state information of at least one subcarrier group, or feeding back the channel state information of a DC subcarrier, or feeding back the channel state information of all valid subcarriers.
  • the second node when the first feedback mode is to feed back channel state information of at least one subcarrier group, the second node further sends or receives one or more of the following information:
  • Ninth indication information used to indicate a grouping parameter of at least one subcarrier group
  • the tenth indication information is used to indicate a calculation method of the channel state information of at least one subcarrier group.
  • the second node further receives a second ranging frame on at least one channel, measures the second ranging frame to obtain third measurement information, and the second node determines a ranging result based on the second measurement information and the third measurement information, wherein the ranging result includes a distance between the first node and the second node.
  • At least one channel belongs to a first channel group
  • the second node may also send a third ranging frame for ranging on the second channel group; wherein the second channel group includes one or more channels, and the second channel group is different from the first channel group in at least one channel; the second node receives fifth measurement information from the first node, wherein the fifth measurement information corresponds to the fourth measurement information and the first feedback method.
  • the second node may also receive the second measurement information and the fifth measurement information on at least one initial carrier channel.
  • the value of R is preset or predefined.
  • the channel state information includes a relative value relative to a reference power level RPL.
  • the second node also receives the RPL.
  • the second node also receives an SNR of at least one channel.
  • a ranging device comprising a module or unit or technical means for implementing the method described in the first aspect or any possible design of the first aspect.
  • the device may include:
  • a receiving module configured to receive a first ranging frame on at least one channel
  • a processing module configured to measure the first ranging frame to obtain first measurement information
  • the sending module is used to send the second measurement information according to the first measurement information and the first feedback mode.
  • a ranging device comprising a module or unit or technical means for implementing the method described in the second aspect or any possible design of the second aspect.
  • the device may include:
  • a sending module configured to send a first ranging frame for ranging on at least one channel
  • the receiving module is used to receive second measurement information from the first node, wherein the second measurement information corresponds to the first measurement information and the first feedback mode, and the second measurement information is used to determine the ranging result, and the ranging result includes the distance between the first node and the node where the device is located.
  • a ranging device comprising: at least one processor and an interface circuit; the interface circuit is used to receive a signal from another device outside the device and send or receive it to the processor or send a signal from the processor to another device outside the device, and the processor is used to implement the method described in the first aspect or any possible design of the first aspect through a logic circuit or execution code instructions, or is used to implement the method described in the second aspect or any possible design of the second aspect.
  • a computer-readable storage medium in which a computer program or instruction is stored.
  • the computer program or instruction is executed by a communication device, the method described in the first aspect or any possible design of the first aspect is implemented, or the method described in the second aspect or any possible design of the second aspect is implemented.
  • a computer program product in which instructions are stored, and when the computer program product is run on a computer, the computer executes the method described in the first aspect or any possible design of the first aspect, or executes the method described in the second aspect or any possible design of the second aspect.
  • a ranging system including:
  • a first node configured to execute the method as described in the first aspect or any possible design of the first aspect
  • the second node is used to execute the method described in the second aspect or any possible design of the first aspect.
  • a computer program product wherein instructions are stored in the computer program product, and when the computer program product is run on a computer, the computer executes the method described in the first aspect or any possible design of the first aspect, or the computer executes the method described in the second aspect or any possible design of the second aspect.
  • FIG1 is a schematic diagram of a possible application scenario provided by an embodiment of the present application.
  • FIG2 is a flow chart of a distance measurement method provided in an embodiment of the present application.
  • FIG3 is a schematic diagram of a superframe
  • FIG4 is a schematic diagram of a ranging frame of a G node and a ranging frame of a T node provided in an embodiment of the present application;
  • FIG5 is a schematic diagram of a ranging frame of a G node provided in an embodiment of the present application.
  • FIG6 is a schematic diagram of a ranging frame provided in an embodiment of the present application.
  • FIG7 is a schematic diagram of a ranging frame provided in an embodiment of the present application.
  • FIG8 is a schematic diagram showing that the measurement start symbol is the first symbol of a ranging frame
  • FIG9 is a schematic diagram of channel state information corresponding to the first symbol of a ranging frame fed back by a first node
  • FIG10 is a schematic diagram of channel state information corresponding to the second symbol of the feedback of the first node ranging frame
  • FIG11 is a schematic diagram of frequency hopping ranging
  • FIG12 is a schematic diagram of a distance measuring device provided in an embodiment of the present application.
  • FIG. 13 is a schematic diagram of another distance measuring device provided in an embodiment of the present application.
  • the technical solution provided in the embodiments of this application can be applied to various wireless communication scenarios, such as vehicle positioning, ranging, angle measurement or perception scenarios, indoor positioning, ranging, angle measurement or perception scenarios, or other wide-area wireless communication or local-area wireless communication scenarios, and this application does not limit it.
  • Specific wireless communication technologies include but are not limited to Sparklink, Wireless Fidelity (Wi-Fi), Bluetooth, Bluetooth Low Energy (BLE) or Ultra Wide Band (UWB), etc.
  • FIG. 1 is a schematic diagram of a possible application scenario provided by an embodiment of the present application.
  • positioning anchor points or called positioning stations or position anchor points or anchor points or beacons or measurement nodes
  • At least one positioning anchor point is deployed inside the vehicle (such as the rearview mirror inside the vehicle or the inside of the roof, etc.), such as node a.
  • the car key is the target that needs to be located (that is, the device to be located or the device to be measured or the tag), such as node A, and its specific implementation can be a traditional car key with a positioning function, or a mobile phone or wearable device with a positioning function.
  • the positioning anchor point and/or the car key can send and/or receive ranging signals, and measure the received ranging signals to obtain corresponding measurement quantities.
  • the location information of the car key (for example, the distance relative to the car) can be obtained.
  • a communication domain refers to a system consisting of a group of communication nodes with communication relationships and communication connection relationships (i.e., communication links) between communication nodes.
  • a communication domain includes a master communication node (which may be referred to as a master node or G node) and at least one slave communication node (which may be referred to as a slave node or T node).
  • the master node is also called a management node, which is responsible for managing the time and frequency resources of the communication domain and has the function of scheduling resources for communication or positioning between communication nodes in the communication domain.
  • the communication link from the G node to the T node is called the G link or downlink, and the communication link from the T node to the G node is called the T link or uplink.
  • positioning anchor points, car keys, etc. can form a communication domain.
  • the car key can be a master node (G node), and each positioning anchor point is a slave node (T node); or, one positioning anchor point is a master node, and other positioning anchor points and car keys are slave nodes, which is not limited in this application.
  • G node master node
  • T node slave node
  • other positioning anchor points and car keys are slave nodes, which is not limited in this application.
  • the following explanation is mostly based on G nodes and T nodes as examples, but this application does not limit the node type.
  • frequency hopping ranging technology In wireless communication systems based on Orthogonal Frequency Division Multiplexing (OFDM) signals, frequency hopping ranging technology is used (that is, the ranging parties can perform ranging interactions on multiple different channels).
  • the measurement results of multiple channels can be combined to make the measurement bandwidth exceed the bandwidth of a single OFDM signal, thereby obtaining a higher ranging resolution and, in turn, being less affected by multipath interference in multipath-rich environments such as indoors, underground parking lots, and factories, ultimately achieving higher ranging accuracy.
  • OFDM Orthogonal Frequency Division Multiplexing
  • the SparkLink Basic (SLB) version standard uses OFDM signals as communication signals.
  • one of a pair of ranging nodes is required to feedback measurement information (such as frequency domain channel state information (Channel-State Information, CSI)) for the measurement results of the ranging frame (or measurement frame) it receives.
  • the ranging frame includes at least one ranging symbol (such as OFDM symbol) used for ranging.
  • the car key can receive the ranging frame, and after measuring the received ranging frame to obtain the corresponding measurement information, the measurement information needs to be fed back to the positioning anchor point.
  • FIG. 2 a flow chart of a distance measurement method provided in an embodiment of the present application is shown, and the method includes:
  • a second node sends a first ranging frame on at least one channel; and a first node receives the first ranging frame on at least one channel.
  • the first node is a G node
  • the second node is a T node
  • the first ranging frame is a ranging frame of the T node
  • the first node is a T node
  • the second node is a G node
  • the first ranging frame is a ranging frame of the G node.
  • the first ranging frame includes at least one symbol, which can be used for ranging, angle measurement or perception.
  • the ranging symbols of the G link (i.e., G node link) and the T link (i.e., T node link) are the CSI reference signal (CSI-RS) and the sounding reference signal (SRS), respectively.
  • CSI-RS CSI reference signal
  • SRS sounding reference signal
  • each symbol in the first ranging frame contains all subcarrier information of the at least one channel.
  • the symbols in the first ranging frame can also be called ranging symbols or measurement symbols, etc., which can be used to achieve purposes such as ranging, angle measurement or perception.
  • the symbol is an OFDM symbol.
  • SLB an 80MHz OFDM symbol with four 20MHz carriers, each of which can be used for channel measurement of a 20MHz carrier channel, and each carrier has 38 effective subcarriers and one direct current (DC) subcarrier, so the above 80MHz OFDM signal can simultaneously measure four 20MHz carrier channels, where the four carrier channels constitute a channel group.
  • DC direct current
  • the structure of the first ranging frame is introduced below:
  • the symbols in the first ranging frame use the resources of the overhead symbols of the first type of wireless frame.
  • the second node uses the resources of the overhead symbols in the first type of wireless frame to send the symbols of the first ranging frame
  • the first node uses the resources of the overhead symbols in the first type of wireless frame to receive the symbols of the first ranging frame.
  • the first type of wireless frame includes data symbols and overhead symbols.
  • the resources refer to the time-frequency resources occupied by symbol transmission.
  • the first type of radio frame may be a radio frame in the SLB standard.
  • the SLB standard defines a transmission frame structure of a superframe: a superframe period is 1 ms, each superframe contains 48 radio frames, and each radio frame contains a number of downlink OFDM symbols (or G link data symbols), uplink OFDM symbols (or T link data symbols), overhead symbols, and an uplink and downlink switching interval (GAP).
  • Data transmission includes data information transmission (including user data or high-level signaling transmission) and another part of physical layer signal transmission (such as the second type of data information demodulation reference signal).
  • the symbol used for G link system overhead transmission is called G link system overhead symbol
  • the symbol used for T link system overhead transmission is called T link system overhead symbol.
  • the G link system overhead symbol and the T link system overhead symbol are collectively referred to as system overhead symbols.
  • the synchronization signal belongs to the overhead symbol.
  • Overhead symbols can be used by nodes to perform one or more operations such as synchronization, channel sounding, and downlink control information (DCI) transmission.
  • Overhead symbols are embedded in each radio frame.
  • the number of available overhead symbols in each radio frame can be 1-2, and accordingly, there are a maximum of 96 overhead symbols in a superframe (SF).
  • the overhead symbols are divided into two types: the overhead symbols used for G link system overhead transmission are called G link system overhead symbols (SG for short), and the overhead symbols used for T link system overhead transmission are called T link system overhead symbols (ST for short).
  • G link system overhead symbols G link system overhead symbols
  • T link system overhead symbols T link system overhead symbols
  • each radio frame includes an SG symbol or an ST symbol, and the 48 radio frames in a superframe include a total of 48 overhead symbols.
  • G and T nodes use reference signals such as the first training signal (FTS) and the second training signal (STS) at the front of the first superframe for timing and frequency synchronization.
  • FTS first training signal
  • STS second training signal
  • Synchronization signals can be inserted into each superframe to maintain timing and frequency synchronization, so the overhead symbols in subsequent superframes can be used for the transmission of ranging symbols.
  • a ranging frame may include L overhead symbols, wherein the ranging frame of the G node includes L SG symbols, and the ranging frame of the T node includes L ST symbols.
  • a ranging interaction process includes at least one ranging frame of a G node and at least one ranging frame of a T node.
  • FIG5 is a schematic diagram of a ranging frame of a G node when each wireless frame contains two SG or ST symbols.
  • FIG. 4 and FIG. 5 are only examples, and in actual applications, the ranging frame may also have other forms.
  • At least one channel is the initial carrier channel (or initial carrier channel group) of the first node and the second node.
  • the initial carrier channel (or initial carrier channel group) represents the working carrier channel (or working carrier channel group) of the G node or the T node after the association is completed, that is, the carrier channel (or working carrier channel group) where the ranging negotiation is performed.
  • the specific operation process includes: the G node sends an association request to the T node, and the T node replies with an association response to the G node; or, the T node sends an association request to the G node, and the G node replies with an association response to the T node.
  • the association request when there is no security context between the G node and the T node, the association request can be a "associationRequestNonSec (non-secure association request)" message, and the association response can be a "AssociationSetupNonSec (non-secure association setup)” message; when there is a security context between the G node and the T node, the association request can be a "associationRequestWithSec (secure association request)” message, and the association response can be a "AssociationSetupWithSec (secure association setup)” message.
  • the initial carrier channel is a channel (or channel group) with the highest frequency among all available channels (or available channel groups) of the first node and the second node.
  • the symbols of the ranging frame use the resources of the overhead symbols of the defined radio frame, which can improve resource utilization and does not affect the communication between the G node and the T node, and has strong backward compatibility.
  • the symbols in the first ranging frame use the resources of the data symbols of the second type of wireless frame.
  • the second node uses the resources of the data symbols in the second type of wireless frame to send the symbols of the first ranging frame
  • the first node uses the resources of the data symbols in the second type of wireless frame to receive the symbols of the first ranging frame.
  • the symbols in the second type of wireless frame are all data symbols, and at least one channel is an initial carrier channel or a channel after frequency hopping.
  • the second type of wireless frame is different from the first type of wireless frame, and the symbols in the second type of wireless frame are all T data symbol configurations or all G data symbol configurations. There may be no SG symbol, ST symbol and GAP in the second type of wireless frame, and the uplink and downlink switching GAP is implemented between the wireless frame intervals of the G node and the T node.
  • all symbols in the second type of wireless frame can be used for ranging, so the structure of the ranging frame can be consistent with the second type of wireless frame, that is, all symbols in the ranging frame use the resources of all symbols in the second type of wireless frame, or in other words, the ranging frame is the second type of wireless frame, that is, all symbols in the second type of wireless frame constitute the ranging frame. Therefore, in this design, the second type of wireless frame can be replaced with the ranging frame.
  • the OFDM symbols of the second type of wireless frames can use FTS and STS in addition to the Channel-State Information-Reference Signal (CSI-RS) and Sounding Reference Signal (SRS).
  • CSI-RS Channel-State Information-Reference Signal
  • SRS Sounding Reference Signal
  • the second type of wireless frame supports having a cyclic prefix (CP) or not having a CP.
  • CP cyclic prefix
  • the symbol type when the symbol type is specifically a CSI-RS or SRS symbol, it may have or not have a CP.
  • the symbol type when the symbol type is specifically an FTS or STS symbol in an SLB, it does not have a CP.
  • multiple OFDM symbols without CP such as FTS or STS symbols
  • the previous symbol can be used as a cyclic prefix for the next symbol.
  • the CP can be divided into a regular CP and an extended CP.
  • the extended CP is used in scenarios with a larger ranging range.
  • the GAP between the second-class radio frame of the G node and the second-class radio frame of the T node can occupy the last OFDM symbol of the first-class radio frame, as shown in Figure 6; or, each second-class radio frame can accommodate 10 CP-free OFDM symbols, and the GAP appears between two second-class radio frames (that is, the GAP does not occupy the time within the second-class radio frame).
  • CP-OFDM symbols that is, OFDM symbols with CP
  • each radio frame can adopt the same method as the existing radio frame structure in SLB, that is, one radio frame has 8 conventional CP-OFDM symbols or 7 extended CP-OFDM symbols.
  • the second type of wireless frame provided in the above design is not a defined wireless frame for G and T node communication, and is therefore applicable to all channels.
  • the above at least one channel can be the initial carrier channel (or initial carrier channel group) for the first node and the second node, or it can be a channel after frequency hopping.
  • the design defines a new wireless frame structure for the transmission of ranging symbols without affecting the transmission of the original wireless frame.
  • the symbols in the first ranging frame use the resources of the data symbols and overhead symbols of the first type of radio frame
  • the first type of radio frame includes data symbols and overhead symbols.
  • the second node uses the resources of the data symbols and overhead symbols in the first type of radio frame to send the symbols of the first ranging frame
  • the first node uses the resources of the data symbols and overhead symbols in the first type of radio frame to receive the symbols of the first ranging frame.
  • the overhead symbols in the subsequent superframes can be used for the transmission of ranging symbols.
  • the data symbol resources in the subsequent superframes if there are surplus data symbol resources for communication between the G and T nodes, the remaining data symbol resources can also be used for the transmission of ranging symbols.
  • Figure 7 is a schematic diagram of a possible ranging frame. As for which data symbol resources can be used for the transmission of ranging symbols, the G node and the T node can agree in the ranging negotiation stage, and/or indicate through the preamble information sent before the ranging frame.
  • At least one channel is an initial carrier channel (or an initial carrier channel group) of the first node and the second node.
  • the ranging symbols of the ranging frame are sent using the resources of the overhead symbols and data symbols of the defined radio frame, which can improve resource utilization without affecting the communication between the G node and the T node, so that the ranging and positioning functions can be carried out in parallel with the communication functions, and the backward compatibility is strong.
  • the first node and the second node need to determine the type of the first ranging frame before transmitting the first ranging frame.
  • the first node and the second node may determine the type of the first ranging frame in the ranging negotiation phase. For example, the G node among the first node and the second node configures the type of the first ranging frame and sends first indication information to indicate the type of the first ranging frame.
  • the first node if the first node is a G node, the first node sends the first indication information, and the second node receives the first indication information; if the first node is a T node, the second node sends the first indication information, and the first node receives the first indication information.
  • the first indication information can be included in the first message during the ranging negotiation phase, so that after receiving the first message, the node receiving the first message can determine the type of ranging frame that needs to interact with the node sending the first message, thereby preparing to send or receive the ranging frame in advance.
  • the ranging frame shown in Figure 4 is defined as type 1
  • the ranging frame shown in Figure 5 is defined as type 2
  • the ranging frame shown in Figure 6 is defined as type 3
  • the ranging frame shown in Figure 7 is defined as type 4.
  • the first node can send or receive first indication information, and the first indication information is used to indicate any one of type 1, type 2, type 3, and type 4.
  • the G node may also indicate the type of ranging frame through the radio frame structure information in the leading information sent before the ranging frame. For example, the leading information sent by the G node indicates the specific number of the radio frame structure, thereby determining the structure of the ranging frame.
  • Table 1 is an example of the radio frame structure under various ratios of G link symbols and T link symbols configured with extended CP.
  • radio frame structures 0-11 indicate that there are both G link ranging symbols and T link ranging symbols in one radio frame
  • radio frame structures 12-13 indicate that there are only G link ranging symbols or T link ranging symbols in one radio frame, which can be used for the transmission of ranging frame type 3.
  • the radio frame structure based on the conventional cyclic prefix configuration is similar to Table 1, except that the resources with 8 OFDM symbols in one radio frame are used to carry G link ranging symbols and T link ranging symbols.
  • the first node and the second node before transmitting the first ranging frame, the first node and the second node also need to determine whether the first ranging frame has a CP.
  • the first node and the second node may determine whether the first ranging frame has a CP during the ranging negotiation phase. For example, the G node among the first node and the second node configures whether the first ranging frame has a CP or not, and sends second indication information to indicate whether the first ranging frame has a CP or not.
  • the first indication information and the second indication information can be the same indication information, that is, one indication information can simultaneously indicate the frame type and whether it has a CP.
  • the first indication information indicates that the frame type is the ranging frame (type 1) shown in Figure 4. This type of ranging frame does not have a CP, so there is no need to use an additional indication information to indicate whether it has a CP.
  • the first indication information and the second indication information may also be different indication information.
  • the first indication information indicates that the frame type is the ranging frame (type 2) shown in FIG. 5 .
  • This type of ranging frame may have a CP or may not have a CP. Therefore, an additional second indication information may be configured to indicate whether the first ranging frame has a CP.
  • both the first indication information and the second indication information are carried in the first message. In this way, resource overhead can be saved.
  • the first node and the second node need to determine whether the CP of the first ranging frame is a normal CP or an extended CP before transmitting the first ranging frame.
  • the first node and the second node may determine in the ranging negotiation stage that the first ranging frame has a regular CP or an extended CP. For example, the G node among the first node and the second node configures the first ranging frame to have or not have a regular CP or an extended CP, and sends third indication information to indicate that the first ranging frame has a regular CP or an extended CP.
  • the third indication information may also be carried in the first message. In this way, resource overhead can be further saved.
  • the first node measures a first ranging frame to obtain first measurement information.
  • an OFDM signal with an effective bandwidth of approximately 20 MHz can be called a carrier (the channel that sends the carrier OFDM signal is called a carrier channel), and the center frequency of the 20 MHz OFDM signal (i.e., the DC subcarrier) is called the carrier frequency. That is, a carrier is composed of 39 consecutive subcarriers, and the 39 subcarriers are numbered #0, #1, ..., #38 in order from low to high in terms of corresponding frequencies, where #19 subcarrier is a direct current (DC) subcarrier, and except for the DC subcarrier, the other 38 subcarriers are called effective subcarriers.
  • G nodes and T nodes may operate on multiple carrier channels, and multiple carrier channels constitute a carrier channel group (corresponding to a channel group).
  • the carrier channel is referred to as a channel in the embodiments of the present application.
  • the first measurement information obtained by measurement can indicate the channel state information of the frequency corresponding to at least one valid subcarrier of at least one symbol corresponding to the first ranging frame.
  • channel state information of the frequency corresponding to the subcarrier may also be referred to as “channel state information of the subcarrier”.
  • channel state information in this article may also be referred to as "CSI”, “CSI information”, “CSI feedback information”, “feedback information”, etc.
  • the receiver of the first node performs fast Fourier transform (FFT) on the received data in the time domain, and then demodulates and/or estimates the channel for the known modulation sequences of CSI-RS, SRS, etc., to obtain the channel frequency response value (or channel estimation value) of each effective subcarrier, which can be represented by complex values (such as I value and Q value, referred to as IQ value).
  • FFT fast Fourier transform
  • IQ value channel frequency response value
  • IQ value can be called frequency domain channel state information (i.e., frequency domain CSI).
  • frequency domain channel state information i.e., frequency domain CSI. Because this article mainly discusses frequency domain channel state information, in the following text, frequency domain channel state information can be referred to as channel state information (CSI).
  • the first node and the second node also determine the channel state information of the at least one channel to be fed back after the measurement (i.e., determine that the measurement is for the frequency domain CSI measurement).
  • the G node (the first node or the second node) also sends a fourth indication information to indicate that the first node feeds back the channel state information of at least one channel, and/or the channel number information of at least one channel.
  • the fourth indication information may also indicate the carrier channel number and/or subcarrier number corresponding to the fed back channel state information.
  • the carrier channel number represents the channel number of the carrier (for example, a 20MHz carrier), so that after multiple channels complete the frequency hopping measurement, the channel state information corresponding to the multiple channels can be fed back together, and the channel state information can correspond to the channel to which it belongs through the channel number, so as to facilitate the merging of the channel state information of multiple channels in the frequency hopping ranging signal processing.
  • the first node needs to determine which symbols to measure or which symbol to start measuring from before measuring the first ranging frame.
  • the symbol of the first ranging frame has a CP
  • the first node can start measuring from the first symbol in the first ranging frame.
  • FIG8 is a schematic diagram of a measurement start symbol being the first symbol.
  • the channel state information of wireless frame 1 and wireless frame 2 are both channel state information corresponding to the first symbol.
  • the symbol of the first ranging frame does not have a CP
  • the first node can start measuring from the second symbol of the first ranging frame. It can be understood that the first ranging frame does not have a CP to combat multipath interference, so the first symbol can be sacrificed to combat multipath interference and play the role of a CP to improve the accuracy of the measurement.
  • the first node starts measuring from a designated symbol of the first ranging frame according to indication information or pre-setting or pre-agreement.
  • the first node and the second node may configure the measurement start position (or measurement start symbol) in the ranging negotiation phase.
  • the G node of the first node and the second node sends fifth indication information for indicating the measurement start position of the first ranging frame (i.e., from which symbol to start measurement, for example, the Rth symbol, where R is a positive integer and a fixed value).
  • the protocol stipulates or the first node and the second node agree on the measurement start position of the first ranging frame (i.e., which symbol to start measuring from, for example, the Rth symbol, where R is a positive integer and is a fixed value once agreed upon).
  • the first node measures multiple symbols of the first ranging frame, it is necessary to determine which symbols correspond to the channel state information that the first node feeds back.
  • the first node determines the channel state information corresponding to the Rth symbol in the first ranging frame based on the channel state information corresponding to the multiple symbols, where R is a positive integer; and the first measurement information indicates the channel state information corresponding to the Rth symbol.
  • the first node determines the channel state information corresponding to the Rth symbol in the first ranging frame according to the channel state information corresponding to the multiple symbols, which can be understood as: when the first node measures the multiple symbols of the first ranging frame and feeds back the channel state information corresponding to the Rth symbol in the first ranging frame, the channel state information corresponding to the other symbols in the first ranging frame except the Rth symbol can be converted into the channel state information corresponding to the Rth symbol, or in other words, the channel state information corresponding to the other symbols in the first ranging frame except the Rth symbol can be used to assist in estimating the channel state information corresponding to the Rth symbol.
  • the CSI, symbol duration, carrier frequency offset (Carrier Frequency Offset, CFO) and other information calculated according to at least one symbol after the Rth symbol are converted into the estimated CSI corresponding to the Rth symbol and the CSI measured by the Rth symbol is corrected, so that the signal-to-noise ratio and the accuracy of the CSI corresponding to the Rth symbol can be improved.
  • carrier frequency offset Carrier Frequency Offset, CFO
  • one of the nodes (such as the first node) of the two ranging parties feeds back the CSI corresponding to the Rth symbol, so that when the other node (such as the second node) in the frequency hopping ranging merges the CSIs of the two nodes, the CSI corresponding to the symbols with the same resource sequence number can be merged (for example, the CSI corresponding to the Rth symbol in the first ranging frame and the CSI corresponding to the Rth symbol in the second ranging frame are merged, and the second ranging frame is a ranging frame sent by the first node and used for the second node to perform measurement).
  • the resource sequence number is used to indicate the position of the symbol in the ranging frame.
  • the resource sequence number of the N symbols can indicate the order in which the N symbols appear in the time domain, indicating the symbol in the ranging frame.
  • the resource sequence number of the first symbol can be 0, the resource sequence number of the second symbol can be 1, ..., and the resource sequence number of the Nth symbol can be N-1.
  • the first node feeds back the channel state information corresponding to the first symbol, that is, the first measurement information indicates the channel state information corresponding to the first symbol, as shown in FIG9 .
  • the measurement results of other symbols in the frame should be converted to the measurement results of the first symbol.
  • CFO residual carrier frequency offset
  • the phase of the same subcarrier of the first symbol and the second symbol is not the same, so the position of the measurement symbol should be specified, and the phase of other symbols should be aligned and estimated according to the appearance time of the first symbol, so that the channel state information corresponding to other symbols in the wireless frame except the first symbol is converted to the first ranging symbol and the channel state information of the first symbol is corrected, and finally the channel state information corresponding to the first symbol is fed back.
  • CFO residual carrier frequency offset
  • the first node feeds back the channel state information corresponding to the second symbol, that is, the first measurement information indicates the channel state information corresponding to the second symbol, as shown in FIG. 10 .
  • R can also take other values, which are not limited in this application.
  • the first node determines the statistical values of the channel state information corresponding to the multiple symbols, such as the maximum value, the minimum value, or the average value, based on the channel state information corresponding to the multiple symbols; the first measurement information indicates the statistical values of the channel state information corresponding to the multiple symbols.
  • the first node and the second node need to determine which symbols the first node feeds back corresponding to channel state information before transmitting the first ranging frame.
  • the G node (the first node or the second node) sends the seventh indication information to instruct the first node to feed back the average value of the channel state information corresponding to the multiple symbols in the first ranging frame.
  • Sending the average value of the channel state information corresponding to the multiple symbols can obtain the channel state information with high SNR in a simple processing manner, and avoid merging the CSI corresponding to the symbols with different resource numbers.
  • the G node (the first node or the second node) sends the sixth indication information to instruct the first node to feed back the channel state information corresponding to the Rth symbol in the first ranging frame, and so on.
  • Sending the channel state information corresponding to the Rth symbol can be fed back as the channel state information corresponding to the specified symbol, which can avoid the incoherent combining gain caused by merging the corresponding CSI of different resource numbers.
  • the first node can maintain the same feedback mode on each frequency hopping channel (group) so that the CSI on different channels can be coherently combined to obtain the high bandwidth gain of frequency hopping ranging.
  • S203 The first node sends second measurement information according to the first measurement information and the first feedback method; the second node receives the second measurement information from the first node.
  • the first node may also calibrate it to eliminate non-ideal characteristics introduced by the RF transceiver channel and antenna contained in the first measurement information, and then the first node sends the second measurement information according to the calibrated first measurement information and the first feedback method.
  • the first node calibrates the first measurement information according to the calibration information to obtain the calibrated first measurement information; wherein the calibration information is determined according to at least one channel.
  • the calibration information is determined based on at least one channel. It can be understood that the channel state information corresponding to the channel needs to be calibrated based on the calibration information corresponding to the channel. Different channels may correspond to different calibration information.
  • the IQ value of a single subcarrier may be defined as the IQ value of the subcarrier at the antenna connector of the first node when the Rth symbol in the first ranging frame arrives.
  • the loopback measurement results of different frequency bands or channels and/or the baseband processing delay need to be calibrated at the baseband for the subcarrier IQ value estimated for the original received signal to obtain the subcarrier IQ value at the antenna connector.
  • the accuracy of the channel state information can be improved, thereby improving the accuracy of ranging.
  • the first node measures and obtains the first measurement information, but the form of the measurement information finally fed back by the first node (whether the first measurement information is fed back directly or the first measurement information is fed back after further processing) needs to be determined according to the first feedback method.
  • the first feedback mode may belong to a predefined or configured feedback mode set, and the feedback mode set defines a plurality of different feedback modes.
  • the first feedback mode indicates feedback of the channel state information of all valid subcarriers.
  • the second measurement information indicates the same channel state information as the first measurement information.
  • the second measurement information also indicates the channel state information of at least one valid subcarrier of at least one symbol corresponding to the first ranging frame.
  • the first measurement information may indicate the channel state information of 38 valid subcarriers of the channel
  • the second measurement information also indicates the channel state information of 38 valid subcarriers of the channel.
  • the first measurement information may indicate the channel state information of 38 valid subcarriers of each of the multiple channels
  • the second measurement information also indicates the channel state information of 38 valid subcarriers of each of the multiple channels.
  • the second measurement information may be carried in a CSI report message.
  • Table 2 is an example of a CSI report message corresponding to a 20 MHz carrier under the first feedback mode.
  • the CSI feedback of each 20MHz is shown in Table 2.
  • the three non-effective subcarriers used as intervals between adjacent 20MHz carriers since there is no modulation signal and the CSI cannot be measured, they may not be fed back as part of the CSI, thereby reducing the amount of CSI feedback data.
  • the carrier channel number (ChannelNumber) and/or subcarrier number corresponding to the fed-back CSI should be indicated according to the fourth indication information, where ChannelNumber can be a channel number corresponding to a carrier, that is, indicating the channel corresponding to the reported CSI (CSI values corresponding to 0# to 38# subcarriers).
  • the first feedback mode indicates the feedback of the channel state information of the DC subcarrier.
  • the second measurement information indicates different channel state information from the first measurement information, and the second measurement information is determined based on the first measurement information.
  • the second measurement information includes the channel state information of the DC subcarrier corresponding to at least one symbol, wherein the channel state information of the DC subcarrier is determined by interpolation based on the channel state information of the valid subcarriers adjacent to the DC subcarrier.
  • the interpolation includes at least one of linear interpolation, nearest neighbor interpolation, cubic spline interpolation, and/or quadratic interpolation, which is not limited in this application.
  • each channel includes 38 valid subcarriers and 1 DC subcarrier, so when the number of at least one channel is multiple, the second measurement information includes the channel state information of the DC subcarriers of the multiple channels.
  • the channel state information of each DC subcarrier is determined by interpolation based on the channel state information of other valid subcarriers on the channel to which the DC subcarrier belongs.
  • the DC subcarrier spacing is 5MHz, and the unambiguous distance (i.e., the maximum ranging range) is 60m; for example, on a 2.4GHz & 5GHz channel, the minimum DC subcarrier spacing is 5MHz, and the unambiguous distance is also 60m. It can be seen that when the DC subcarrier spacing is 5MHz, the method of feeding back the channel state information of the DC subcarrier can support a ranging range of 60m, which is in line with most short-distance ranging scenarios.
  • the first feedback mode indicates group feedback, that is, the first feedback mode indicates feedback of channel state information of at least one subcarrier group, wherein at least one valid subcarrier corresponding to at least one symbol belongs to at least one subcarrier group, and the second measurement information includes channel state information of each subcarrier group in the at least one subcarrier group.
  • the second measurement information indicates different channel state information from the first measurement information, and the second measurement information is determined based on the first measurement information.
  • the number of subcarriers included in a subcarrier group may also be referred to as a subcarrier grouping interval, a subcarrier group interval, etc.
  • the grouping interval may indicate a grouping method, such as how many subcarriers form a subcarrier group.
  • a subcarrier group may include only valid subcarriers, or both valid subcarriers and DC subcarriers. This application does not impose any restrictions. After the valid subcarriers are grouped, only the CSI of one subcarrier may be fed back in each subcarrier group, which can reduce the amount of CSI data fed back (i.e., the amount of data of the second measurement information).
  • Mode 1 Every M consecutive subcarriers corresponding to at least one symbol are a subcarrier group, where M is a positive integer.
  • any one of the at least one channel among its 39 subcarriers, three consecutive subcarriers may be grouped together, and a total of 13 subcarrier groups may be formed.
  • this is only an example and not a limitation.
  • This grouping method is simple and easy to implement.
  • Mode 2 Every continuous P or L subcarriers corresponding to at least one symbol is a subcarrier group, where P and L are positive integers and P ⁇ L.
  • subcarrier group consisting of P subcarriers and the subcarrier group consisting of L subcarriers exist at the same time, that is, two different grouping intervals may exist at the same time.
  • a subcarrier group can be formed by every 4 or 3 consecutive subcarriers, and then it can be divided into 12 groups, of which the number of subcarriers in 3 groups is 4, and the number of subcarriers in the other 9 groups is 3.
  • this is only an example and not a limitation.
  • This grouping method can ensure that all subcarriers can be divided into subcarrier groups, thereby improving the reliability of the solution.
  • the difference between P and L is 1 or 2.
  • L P-2
  • the DC subcarrier is included in the subcarrier group with L subcarriers.
  • a subcarrier is designated in each subcarrier group as the representative of the subcarrier group for feedback.
  • L is used to describe the exception caused by the inability to evenly group the DC subcarrier, so the subcarrier grouping parameter can be represented by P only, and L can be omitted.
  • the grouping interval of the subcarriers corresponding to all channels can be the same (i.e., uniform grouping) or different (i.e., uneven grouping), and the present application does not impose any restrictions.
  • At least one channel includes a first channel and a second channel; among the subcarriers corresponding to the first channel, every consecutive Q subcarriers form a subcarrier group, and among the subcarriers corresponding to the second channel, every consecutive N subcarriers form a subcarrier group, Q and N are positive integers, and Q ⁇ N.
  • the uniform grouping mode or the non-uniform grouping mode should be indicated in the CSI configuration information.
  • the uniform grouping mode is indicated, the subcarrier grouping parameter of all measured channels is P; when the non-uniform grouping mode is used, different P values are used to indicate the grouping parameters of each channel. For example, when a total of 4 channels are measured (such as frequency hopping measurement), 4 different P values can be configured:
  • Channel 1, P 1 (indicates that the subcarrier grouping interval on channel 1 is 1, i.e. full feedback)
  • P 1 (indicates that the subcarrier grouping interval on channel 2 is 1, i.e. full feedback)
  • the channel state information of each subcarrier group can be a statistical value (such as an average value, a median value, a maximum value, a minimum value, etc.) of the channel state information of all valid subcarriers in the subcarrier group, so that the feedback amount can be reduced.
  • the channel state information of each subcarrier group can also be the channel state information of a subcarrier in the subcarrier group, such as the channel state information of the first subcarrier or the last subcarrier or the subcarrier in the middle.
  • the implementation method is simple, easy to implement and has strong reliability.
  • the above-mentioned methods 1 and 2 are to group all subcarriers. In practical applications, only some subcarriers can be selected for grouping. For example:
  • Mode 3 Divide the subcarrier groups using G subcarriers as comb teeth. Specifically, a valid subcarrier is selected from each of the G consecutive subcarriers and the subcarrier is used as a subcarrier group alone, that is, each subcarrier group contains only one subcarrier.
  • 39 subcarriers corresponding to a channel can be divided into 8 subcarrier groups with 5 as comb teeth, and the subcarriers included in each subcarrier group are #0, #5, #10, #15, #20, #25, #30, and #35 respectively.
  • the channel state information of each subcarrier group is the channel state information of the subcarriers included in the subcarrier group.
  • the channel state information of each subcarrier group is the channel state information of a valid subcarrier in the subcarrier group
  • the feedback effect ultimately achieved is similar to the feedback effect of method 3, that is, the channel state information of each subcarrier group is essentially the channel state information of a valid subcarrier.
  • the first node and the second node before the first node and the second node transmit the first ranging frame, it is also necessary to determine a first feedback mode in which the first node feeds back channel state information.
  • the first node and the second node may determine a first feedback mode for the first node to feed back channel state information during the ranging negotiation phase.
  • the first feedback mode is determined by the G node among the first node and the second node, and the eighth indication information is sent to indicate the first feedback mode for the first node to feed back channel state information, and the first feedback mode is: feeding back the channel state information of at least one subcarrier group, or feeding back the channel state information of the DC subcarrier, or feeding back the channel state information of all valid subcarriers.
  • the first node and the second node also need to determine the grouping parameters of the at least one subcarrier group, the calculation method of the channel state information of the at least one subcarrier group, and so on.
  • the grouping parameter is used to indicate the way of dividing the subcarrier groups.
  • the grouping parameter can indicate that the grouping method is the above-mentioned method 1 or method 2 or method 3, etc.
  • the grouping parameter also indicates the specific grouping interval under the corresponding grouping method (that is, the number of subcarriers contained in the subcarrier group), such as M, or P and L in the above text.
  • the grouping parameter can also indicate whether different channels are evenly grouped or unevenly grouped. When unevenly grouped, the grouping parameter can also be the grouping interval of different channels, such as the values of Q and N in the above text.
  • the above are just some examples of grouping parameters. In practical applications, as long as they are parameters used to indicate the grouping method, they can all belong to grouping parameters.
  • the calculation method is used to indicate a method for determining the channel state information of the subcarrier group.
  • the channel state information of each subcarrier group is an average value of the channel state information of all valid subcarriers in the subcarrier group, or the channel state information of each subcarrier group is the channel state information of a subcarrier in the subcarrier group, and so on.
  • the first node and the second node may determine the grouping parameters of the at least one subcarrier group, the calculation method of the channel state information of the at least one subcarrier group, etc. during the ranging negotiation phase.
  • the G node among the first node and the second node determines the grouping parameters of the at least one subcarrier group and the calculation method of the channel state information of the at least one subcarrier group, and sends the ninth indication information and the tenth indication information, which are respectively used to indicate the grouping parameters of the at least one subcarrier group and the calculation method of the channel state information of the at least one subcarrier group.
  • the ninth indication information and/or the tenth indication information and the eighth indication information may be carried in the same message, such as a second message, so that resource overhead may be saved.
  • the second message may be the same as or different from the first message, and this application does not limit this.
  • the number of subcarriers included in the subcarrier group may be related to the ranging range. For example, if the ranging range is larger, the number of subcarriers included in the subcarrier group is smaller, and vice versa, if the ranging range is smaller, the number of subcarriers included in the subcarrier group is larger.
  • D max represents the maximum ranging range
  • B SC represents the number of subcarriers included in the subcarrier group
  • the value of c is the speed of light 3 ⁇ 10 8 m/s.
  • B SC 480kHz
  • the corresponding maximum ranging range is 312.5m
  • B SC 480 ⁇ 4kHz
  • the corresponding maximum ranging range is 78.125m.
  • the corresponding subcarrier group interval can be expanded to reduce the amount of feedback data and reduce feedback overhead and power consumption.
  • the number of subcarriers included in the subcarrier group may also be related to the feedback capability of the first node, such as the amount of data that can be fed back. For example, the less the amount of data that the first node can feed back, the more subcarrier data included in the subcarrier group, and conversely, the more the amount of data that the first node can feed back, the less subcarrier data included in the subcarrier group.
  • a reference power level RPL (Reference Power Level) can be used as a reference value, and the channel state information to be fed back, such as an IQ value, can be expressed as a relative value relative to the RPL.
  • IQ[linear] represents the relative value (non-dB value) relative to RPL[dBm]
  • RPL[dBm] represents the relative reference value used by the measured value IQ[dBm]
  • IQ[dBm] represents the actual measured value of the sampling point.
  • Setting the reference value RPL is conducive to increasing the dynamic range of CSI feedback information, so that limited information bits can indicate more CSI, improve the accuracy of measurement information feedback, and reduce quantization errors.
  • the sending device of CSI information can calculate the IQ[dBm] to be fed back based on the measured IQ[linear] and RPL[dBm].
  • the denominator 1024 in the above formula can be replaced by other values.
  • only one reference value RPL [dBm] may be fed back to reduce the amount of data for feedback CSI information; or one reference value may be fed back for every C carrier channels, where C is a positive integer; or one reference value may be fed back for every S subcarriers, where S is a positive integer.
  • the reference value RPL [dBm] needs to be fed back together with the CSI information (such as the CSI information shown in Table 2 or Table 3). Setting the reference value RPL is beneficial to increasing the dynamic range of CSI feedback information, allowing limited information bits to indicate more CSI, improving the accuracy of measurement information feedback, and reducing quantization errors.
  • RPL1 is fed back on channel 1 and RPL2 is fed back on channel 2.
  • RPL1 is fed back on channel 1
  • RPL2 is fed back on channel 2.
  • the above steps S201 to S203 provide a solution for how the first node feeds back measurement information when the first node and the second node perform ranging interaction, that is, after the first node obtains the first measurement information by measuring the first ranging frame, the first node sends the second measurement information to the second node according to the first measurement information and the first feedback method, which can improve the reliability of ranging.
  • the above solution provides multiple feedback methods, and the first node can flexibly select any feedback method for feedback, which can realize flexible feedback of measurement information compared to a single fixed feedback method.
  • the first node when the first node is a T node, its CSI information feedback is divided into two feedback types: feedback type 1 is CSI information measured for the G node, and feedback type 2 is CSI information measured for the T node.
  • feedback type 1 is CSI information measured for the G node
  • feedback type 2 is CSI information measured for the T node.
  • the T node participating in frequency hopping ranging needs to feed back CSI information to the G node. If the measured node or the located node is a G node, the G node combines the CSI information based on the CSI information of at least one T node measured by itself and the CSI information received from at least one T node to obtain the ranging result.
  • the ranging result includes the distance between the first node and the second node.
  • T1 node In SLB, if the G node and the T2 node are positioning anchor points and the T1 node is the target node to be measured (measured node), the T1 node first sends the measured CSI information of the T2 node (expressed as T2-T1) to the G node, and then the G node sends the received CSI information T2-T1 to the T2 node, so that the T2 node can combine the CSI information (T1-T2) measured on the T1 node and the CSI information (T2-T1) received from the G node to obtain the distance between the T1 and T2 nodes.
  • T2-T1 measured CSI information of the T2 node
  • the second node may obtain a ranging result according to the second measurement information, wherein the ranging result includes the distance between the first node and the second node.
  • the ranging interaction between the first node and the second node is a bilateral ranging interaction
  • the first node measures the ranging frame (i.e., the first ranging frame) sent by the second node
  • the second node also measures the ranging frame (i.e., the second ranging frame) sent by the first node
  • the second node receives the second ranging frame on the at least one channel, measures the second ranging frame to obtain the third measurement information, and then the second node determines the ranging result based on the second measurement information and the third measurement information.
  • the ranging result includes the distance between the first node and the second node.
  • the first node and the second node may perform frequency hopping ranging.
  • the at least one channel belongs to the first channel group.
  • the method may further include:
  • the second node sends a third ranging frame on the second channel group, and the first node receives the third ranging frame on the second channel group; the first node measures the third ranging frame to obtain fourth measurement information; and the first node sends fifth measurement information according to the fourth measurement information and the first feedback mode.
  • the second channel group includes one or more channels, and the second channel group is different from the first channel group in at least one channel.
  • the first node and the second node may perform a ranging interaction on channel groups 1, 2, and 3 respectively, and the above S201 to S203 may be a ranging interaction on any one of channel groups 1, 2, and 3.
  • the first node after measuring the first ranging frame, can feed back the SNR of the at least one channel in addition to feeding back CSI information (i.e., sending the second measurement information) and RPL.
  • the SNR may be the SNR corresponding to one or more carrier channels, or the average SNR corresponding to a carrier channel group, which is not limited in this application.
  • the unit of SNR is dB.
  • the second node can use the SNR to indicate the signal quality of the fed-back CSI information, and then perform ranging calculation for the CSI information based on the signal quality of the CSI information, for example, combining the CSI information of the channel with a high SNR can improve the accuracy of ranging.
  • the signal quality of the CSI information can also be indicated by rating or scoring the signal quality.
  • the first node may feed back measurement information (such as the second measurement information and the fifth measurement information mentioned above) on at least one initial carrier channel.
  • the initial carrier channel of the first node and the second node is channel group 3, and after completing three ranging interactions, return to channel group 3 to centrally feed back channel state information.
  • an embodiment of the present application provides a ranging device, which includes a module, unit, or means for executing the method executed by the first node or the second node in the above method embodiment.
  • the module, unit, or means can be implemented by software, or by hardware, or the corresponding software can be implemented by hardware.
  • the apparatus may include a receiving module 1201 , a processing module 1202 , and a sending module 1203 .
  • the receiving module 1201 is used to receive a first ranging frame on at least one channel; the processing module 1202 is used to measure the first ranging frame to obtain first measurement information; and the sending module 1203 is used to send second measurement information according to the first measurement information and the first feedback method.
  • the sending module 1203 is used to send a first ranging frame on at least one channel; the first ranging frame is used for the first node to perform measurement to obtain first measurement information; the receiving module 1201 is used to receive second measurement information from the first node, wherein the second measurement information is determined according to the first measurement information and the first feedback method.
  • the above device can have a variety of product forms. Several possible product forms are introduced below.
  • an embodiment of the present application also provides a ranging device, which includes at least one processor 1301 and an interface circuit 1302; the interface circuit 1302 is used to receive signals from other devices outside the device and send or receive signals to the processor 1301 or send signals from the processor 1301 to other communication devices outside the device, and the processor 1301 is used to implement the method performed by the above-mentioned first device or second device through a logic circuit or executing code instructions.
  • the processor mentioned in the embodiments of the present application can be implemented by hardware or by software.
  • the processor can be a logic circuit, an integrated circuit, etc.
  • the processor can be a general-purpose processor implemented by reading software code stored in a memory.
  • the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • CPU central processing unit
  • DSP digital signal processors
  • ASIC application-specific integrated circuits
  • FPGA field programmable gate arrays
  • a general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.
  • the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories.
  • the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory.
  • the volatile memory may be a random access memory (RAM), which is used as an external cache.
  • RAM static RAM
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDR SDRAM double data rate synchronous dynamic random access memory
  • Enhanced SDRAM, ESDRAM enhanced synchronous dynamic random access memory
  • Synchlink DRAM, SLDRAM synchronous link dynamic random access memory
  • Direct Rambus RAM Direct Rambus RAM
  • the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated into the processor.
  • memory described herein is intended to include, without being limited to, these and any other suitable types of memory.
  • an embodiment of the present application also provides a computer-readable storage medium, including a program or instruction, when the program or instruction is run on a computer, the method performed by the first node or the second node as described above is executed.
  • an embodiment of the present application also provides a computer program product comprising instructions.
  • the computer program product stores instructions, and when the computer program product is run on a computer, the method executed by the first node or the second node is executed.
  • an embodiment of the present application also provides a ranging system, including the above-mentioned first node or second node.
  • the embodiment of the present application also provides a terminal device, which is the first node or the second node described above, or is located on the first node or the second node described above.
  • the terminal device can be a vehicle, a drone, a helicopter, an airplane, a ship, an intelligent transportation device, or a smart home device.
  • the embodiment of the present application does not limit the specific form of the terminal device.
  • “at least one” means one or more, and “more than one” means two or more.
  • “And/or” describes the association relationship of associated objects, indicating that three relationships may exist.
  • a and/or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.
  • the character “/” generally indicates that the previous and next associated objects are in an “or” relationship; in the formula of the present application, the character “/” indicates that the previous and next associated objects are in a “division” relationship.
  • “Including at least one of A, B and C” can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B and C.
  • the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

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Abstract

一种测距方法、装置和系统，用于实现可靠测距。第一节点对第一测距帧进行测量得到第一测量信息(S202)；第一节点根据第一测量信息和第一反馈方式发送第二测量信息(S203)；换而言之，第一节点以何种形式反馈测量信息，需要根据第一节点的测量结果和第一反馈方式确定。测距方法实现了在测距场景下反馈测量信息，提高了测距的可靠性和灵活性。

Description

一种测距方法、装置和系统 技术领域
本申请涉及通信技术领域，尤其涉及一种测距方法、装置和系统。
背景技术
随着全球通信技术的不断发展，无线通信技术的发展速度与应用已经超过了有线通信技术，呈现出如火如荼的发展态势。智能运输设备、智能家居设备、机器人等智能设备正在逐步进入人们的日常生活中。设备基于无线通信技术，可以对目标进行定位、测距、测角或感知等。例如，无钥匙进入和启动(Passive Entry Passive Start，PEPS)，是车载无线定位应用的一个实例，用户无需使用钥匙，而是通过车载定位系统对用户携带的车钥匙或手机进行测距，即可自动锁定或解锁车门。
如何实现可靠测距是亟需解决的技术问题。
发明内容
本申请提供一种测距方法、装置和系统，用于实现可靠测距。
第一方面，提供一种测距方法，包括：第一节点在至少一个信道上接收第一测距帧；第一节点对第一测距帧进行测量，得到第一测量信息；第一节点根据第一测量信息和第一反馈方式发送第二测量信息。
本申请实施例中，第一节点在对第一测距帧进行测量得到第一测量信息之后，第一节点根据第一测量信息和第一反馈方式发送第二测量信息。换而言之，第一节点具体以何种形式反馈测量信息，需要根据第一节点的测量结果和第一反馈方式确定。该方案实现了在测距场景下反馈测量信息，提高了测距的可靠性。
其中，第一反馈方式可以属于预先定义或者配置的反馈方式集合，该反馈方式集合定义了多种不同的反馈方式。通过该方案，相对单一固定的反馈方式，能够实现测量信息灵活反馈的同时提高测距可靠性。
一种可能的设计中，第一测距帧中包含至少一个符号；第一测量信息指示对应至少一个符号(或称为测距符号)的至少一个有效子载波的信道状态信息。示例性的，该符号为OFDM符号。
如此，以符号粒度进行信号测量，可以提高测距的可靠性。
在本申请实施例中，第一反馈方式有多种可能，以下例举其中几种可能：
1、第一反馈方式指示反馈全部有效子载波的信道状态信息。
在这种情况下，第二测量信息与第一测量信息指示相同的信道状态信息。
上述第1种反馈方式，可以反馈详细的信道状态信息，可以提高测距帧的准确性。
2、第一反馈方式指示反馈DC子载波的信道状态信息，第二测量信息包括对应至少一个符号的DC子载波的信道状态信息，其中DC子载波的信道状态信息根据与DC子载波相邻的有效子载波的信道状态信息进行插值确定。
其中，插值包括但不限于线性插值、最近邻插值、三次样条插值、和/或二次插值等中的至少一种。
上述第2种反馈方式，可以在保证测距可靠性的前提下，减少反馈的数据量。
3、第一反馈方式指示反馈至少一个子载波组的信道状态信息，对应至少一个符号的至少一个有效子载波属于至少一个子载波组，第二测量信息包括至少一个子载波组中每个子载波组的信道状态信息。
以下例举几种可能的分组方式：
一种可能的设计中，对应至少一个符号的每连续M个子载波为一个子载波组，M为正整数。如此，可以实现所有子载波组的分组间隔(即子载波组包含的子载波数量)一致。
一种可能的设计中，对应至少一个符号的每连续P或L个子载波为一个子载波组，P、L为正整数，P≠L。可以理解的，P和L同时存在，换而言之，可以同时存在两种不同的分组间隔。如此，可以避免仅以单个分组间隔(如P)进行分组时，部分子载波无法分组的情况，保证所有子载波均有对应所属的子载波组。
一种可能的设计中，至少一个信道包括第一信道和第二信道；与第一信道对应的子载波中，每连续Q个子载波为一个子载波组，与第二信道对应的子载波中，每连续N个子载波为一个子载波组，Q、N为正整数，Q≠N。如此，可以实现不同的信道以不同的分组间隔进行分组，实现非均匀分组的效果，满足不同信道对CSI反馈精度的不同需求。
当然，实际应用中也可以均匀分组，即不同信道对应的分组间隔相同。
上述第3种反馈方式，可以在保证测距可靠性的前提下，减少反馈的数据量。
一种可能的设计中，每个子载波组的信道状态信息为每个子载波组中所有有效子载波的信道状态信息的平均值或中位值或最大值或最小值。
如此，每个子载波组只需要反馈一个信道状态信息，可以减少反馈量。
一种可能的设计中，每个子载波组的信道状态信息为每个子载波组中的一个子载波的信道状态信息。例如第一个子载波或最后一个子载波或位于中间的子载波的信道状态信息。
如此，不仅可以减少反馈量，而且实现方式简单，易于实施，可靠性强。
一种可能的设计中，子载波组包含的子载波数量与测距范围相关。例如，测距范围越大，子载波组包含的子载波数量越少；反之，测距范围越小，子载波组包含的子载波数量越多。
另一种可能的设计中，子载波组包含的子载波数量与第一节点能够反馈的数据量相关。例如，第一节点能够反馈的数据量越大，子载波组包含的子载波数量越少；反之，第一节点能够反馈的数据量小，子载波组包含的子载波数量越多。
在本申请实施例中，第一节点可以从第一测距帧中指定位置开始测量。以下介绍几种可能的测量设计：
一种可能的设计中，第一测距帧的符号具有CP；第一节点对第一测距帧进行测量，包括：第一节点从第一测距帧中的第一个符号开始测量。
一种可能的设计中，第一测距帧的符号不具有CP；第一节点对第一测距帧进行测量，包括：第一节点从第一测距帧的第二个符号开始测量。
可以理解的，这种情况下，第一测距帧没有CP对抗多径干扰，所以可以牺牲第一个符号用于对抗多径干扰，起到CP的作用，以提高测量的准确性。
一种可能的设计中，第一节点根据指示信息或者预先设置，从第一测距帧的指定符号开始测量。
当然，以上三种设计方式仅为示例，而非限定。
一种可能的设计中，第一测距帧包括多个符号，第一节点对第一测距帧进行测量，包括：第一节点根据多个符号对应的信道状态信息，确定第一测距帧中第R个符号对应的信道状态信息，R为正整数；其中，第一测量信息指示第R个符号对应的信道状态信息；或者，第一节点根据多个符号对应的信道状态信息，确定多个符号对应的信道状态信息的平均值；第一测量信息指示多个符号对应的信道状态信息的平均值。
如此，第一节点可以针对第一测距帧中指定位置(如第R个符号)的信道状态信息进行反馈，可以提高测距反馈的可靠性。
一种可能的设计中，第一测距帧中的符号使用第一类无线帧的开销符号的资源，第一类无线帧包括数据符号和开销符号；至少一个信道为初始载波信道。或者，第一测距帧中的符号使用第一类无线帧的数据符号和开销符号的资源，第一类无线帧包括数据符号和开销符号；至少一个信道为初始载波信道。
例如，第一类无线帧是SLB中的超帧或无线帧。
如此，可以复用已有的无线帧的资源进行测距，可以提高资源利用率。
一种可能的设计中，第一测距帧中的符号使用第二类无线帧的数据符号，第二类无线帧中的符号全部为数据符号，至少一个信道为初始载波信道或跳频后的信道。
如此，针对测距设计专用的无线帧类型，可以提高测距的可靠性。
一种可能的设计中，第一节点发送或接收以下一种或多种信息：
第一指示信息，用于指示第一测距帧的类型；
第二指示信息，用于指示第一测距帧具有CP或不具有CP；
第三指示信息，用于指示第一测距帧具有常规CP或扩展CP；
第四指示信息，用于指示第一节点反馈至少一个信道的信道状态信息和/或所述至少一个信道的信道编号信息；
第五指示信息，用于指示第一测距帧的测量起始位置；
第六指示信息，用于指示第一节点反馈第一测距帧中第R个符号对应的信道状态信息，R为正整数；
第七指示信息，用于指示第一节点反馈第一测距帧中的多个符号对应的信道状态信息的平均值；
第八指示信息，用于指示第一节点反馈信道状态信息的第一反馈方式，第一反馈方式为：反馈至少一个子载波组的信道状态信息，或者，反馈DC子载波的信道状态信息，或者，反馈全部有效子载波的信道状态信息。
可以理解的，第一反馈方式为反馈至少一个子载波组的信道状态信息时，第一节点还发送或接收以下一种或多种信息：
第九指示信息，用于指示至少一个子载波组的分组参数；
第十指示信息，用于指示至少一个子载波组的信道状态信息的计算方式。
在具体实现时，第一节点在测距协商阶段发送或接收以上一种或多种信息。例如：第一节点是G节点，第一节点发送以上一种或多种信息；或者，第一节点是T节点，第一接收G节点发送的以上一种或多种信息。
当然，以上几种指示信息仅为示例而非限定。
一种可能的设计中，R的值可以为预先设置或者预先定义的。例如，第一节点和第二节点预先约定，或者，协议约定。
一种可能的设计中，第一节点还可以根据校准信息对第一测量信息进行校准，得到校准后的第一测量信息；其中，校准信息根据至少一个信道确定。相应的，第一节点根据第一测量信息和第一反馈方式发送第二测量信息，包括：第一节点根据校准后的第一测量信息和第一反馈方式发送第二测量信息。
其中，校准信息根据至少一个信道确定，可以理解为，不同的信道，可以有不同的校准信息，或者说，针对每个信道的信道状态信息，单独为其设计对应的校准信息进行校准。
如此，可以提高测距的准确性。
一种可能的设计中，第一节点还可以在至少一个信道上发送第二测距帧，第二测距帧用于第二节点进行测量得到第三测量信息。
如此，可以实现双边测距交互，可以提高测距的可靠性。
一种可能的设计中，至少一个信道属于第一信道组，方法还包括：第一节点在第二信道组上接收第三测距帧；第一节点对第三测距帧进行测量，得到第四测量信息；其中第二信道组中包括一个或多个信道，第二信道组与第一信道组至少有一个信道不同；第一节点根据第四测量信息和第一反馈方式发送第五测量信息。
换而言之，本申请实施例可以应用于跳频测距场景，第一节点和第二节点可以先后在不同的信道(或信道组)上进行测距交互，可以提高测距的准确性。
一种可能的设计中，第一节点在至少一个初始载波信道上发送第二测量信息和第五测量信息。
如此，在初始载波信道上集中反馈测量信息，可以提高测距交互的效率以及保证反馈过程的可靠性。
一种可能的设计中，信道状态信息包括相对参考功率水平RPL的相对值。第一节点除了发送第二测量信息之后，还可以发送RPL。
如此，可以增大测量信息的动态范围，使得有限的信息比特可以指示更多测量结果，可以提高测量信息反馈的准确性，减少量化误差。
一种可能的设计中，第一节点除了发送第二测量信息、RPL等之外，还可以发送至少一个信道的SNR。
如此，SNR可以辅助第二节点做测距计算，例如，根据各信道的SNR确定将哪些信道的CSI进行合并。进一步提高了测距方案的可靠性。
第二方面，提供一种测距方法，包括：第二节点在至少一个信道上发送用于测距的第一测距帧；第二节点接收来自第一节点的第二测量信息，其中，第二测量信息对应第一测距帧以及第一反馈方式，且第二测量信息用于确定测距结果，测距结果包括第一节点和第二节点的距离。
一种可能的设计中，第一测距帧中包含至少一个符号；第一测量信息指示对应至少一个符号的至少一个有效子载波的信道状态信息。
一种可能的设计中，第一反馈方式指示反馈全部有效子载波的信道状态信息，第二测量信息与第一测量信息指示相同的信道状态信息。
一种可能的设计中，第一反馈方式指示反馈DC子载波的信道状态信息，第二测量信息包括对应至少一个符号的DC子载波的信道状态信息，其中DC子载波的信道状态信息根据与DC子载波相邻的有效子载波的信道状态信息进行插值确定。
一种可能的设计中，插值包括线性插值、最近邻插值、三次样条插值、和/或二次插值 中的至少一种。
一种可能的设计中，第一反馈方式指示反馈至少一个子载波组的信道状态信息，对应至少一个符号的至少一个有效子载波属于至少一个子载波组，第二测量信息包括至少一个子载波组中每个子载波组的信道状态信息。
一种可能的设计中，对应至少一个符号的每连续M个子载波为一个子载波组，M为正整数；或者，
对应至少一个符号的每连续P或L个子载波为一个子载波组，P、L为正整数，P≠L。
一种可能的设计中，至少一个信道包括第一信道和第二信道；与第一信道对应的子载波中，每连续Q个子载波为一个子载波组，与第二信道对应的子载波中，每连续N个子载波为一个子载波组，Q、N为正整数，Q≠N。
一种可能的设计中，每个子载波组的信道状态信息为每个子载波组中所有有效子载波的信道状态信息的平均值或中位值或最大值或最小值，或每个子载波组中的一个子载波的信道状态信息。
一种可能的设计中，子载波组包含的子载波数量与测距范围相关。
一种可能的设计中，第一测距帧的符号具有CP；或者，第一测距帧的符号不具有CP。
一种可能的设计中，第一测距帧中的符号使用第一类无线帧的开销符号的资源，第一类无线帧包括数据符号和开销符号；至少一个信道为初始载波信道；或者，第一测距帧中的符号使用第一类无线帧的数据符号和开销符号的资源，第一类无线帧包括数据符号和开销符号；至少一个信道为初始载波信道；或者，第一测距帧中的符号使用第二类无线帧的数据符号，第二类无线帧中的符号全部为数据符号，至少一个信道为初始载波信道或跳频后的信道。
一种可能的设计中，第二节点发送或接收以下一种或多种信息：
第一指示信息，用于指示第一测距帧的类型；
第二指示信息，用于指示第一测距帧具有CP或不具有CP；
第三指示信息，用于指示第一测距帧具有常规CP或扩展CP；
第四指示信息，用于指示第一节点反馈至少一个信道的信道状态信息和/或所述至少一个信道的信道编号信息；
第五指示信息，用于指示第一测距帧的测量起始位置；
第六指示信息，用于指示第一节点反馈第一测距帧中第R个符号对应的信道状态信息，R为正整数；
第七指示信息，用于指示第一节点反馈第一测距帧中的多个符号对应的信道状态信息的平均值；
第八指示信息，用于指示第一节点反馈信道状态信息的第一反馈方式，第一反馈方式为：反馈至少一个子载波组的信道状态信息，或者，反馈DC子载波的信道状态信息，或者，反馈全部有效子载波的信道状态信息。
一种可能的设计中，第一反馈方式为反馈至少一个子载波组的信道状态信息时，第二节点还发送或接收以下一种或多种信息：
第九指示信息，用于指示至少一个子载波组的分组参数；
第十指示信息，用于指示至少一个子载波组的信道状态信息的计算方式。
一种可能的设计中，第二节点还在至少一个信道上接收第二测距帧，对第二测距帧进 行测量得到第三测量信息；第二节点根据第二测量信息和第三测量信息确定测距结果。其中，测距结果包括第一节点和第二节点的距离。
一种可能的设计中，至少一个信道属于第一信道组，第二节点还可以在第二信道组上发送用于测距的第三测距帧；其中，第二信道组中包括一个或多个信道，第二信道组与第一信道组至少有一个信道不同；第二节点接收来自第一节点的第五测量信息，其中，第五测量信息对应第四测量信息和第一反馈方式。
一种可能的设计中，第二节点还可以在至少一个初始载波信道上接收第二测量信息和第五测量信息。
一种可能的设计中，R的值为预先设置或者预先定义的。
一种可能的设计中，信道状态信息包括相对参考功率水平RPL的相对值。第二节点还接收RPL。
一种可能的设计中，第二节点还接收至少一个信道的SNR。
第三方面，提供一种测距装置，包括用于实现第一方面或第一方面任一种可能的设计中所述方法的模块或单元或技术手段。
示例性的，装置可以包括：
接收模块，用于在至少一个信道上接收第一测距帧；
处理模块，用于对第一测距帧进行测量，得到第一测量信息；
发送模块，用于根据第一测量信息和第一反馈方式发送第二测量信息。
第四方面，提供一种测距装置，包括用于实现第二方面或第二方面任一种可能的设计中所述方法的模块或单元或技术手段。
示例性的，装置可以包括：
发送模块，用于在至少一个信道上发送用于测距的第一测距帧；
接收模块，用于接收来自第一节点的第二测量信息，其中第二测量信息对应第一测量信息和第一反馈方式，且第二测量信息用于确定测距结果，测距结果包括第一节点和该装置所在节点的距离。
第五方面，提供一种测距装置，包括：至少一个处理器和接口电路；接口电路用于接收来自装置之外的其它装置的信号并发送或接收至处理器或将来自处理器的信号发送给装置之外的其它装置，处理器通过逻辑电路或执行代码指令用于实现如第一方面或第一方面任一种可能的设计中所述的方法，或者，用于实现如第二方面或第二方面任一种可能的设计中所述的方法。
第六方面，提供一种计算机可读存储介质，存储介质中存储有计算机程序或指令，当计算机程序或指令被通信装置执行时，实现如第一方面或第一方面任一种可能的设计中所述的方法，或者，实现如第二方面或第二方面任一种可能的设计中所述的方法。
第七方面，提供一种计算机程序产品，计算机程序产品中存储有指令，当其在计算机上运行时，使得计算机执行如第一方面或第一方面任一种可能的设计中所述的方法，或者，执行如第二方面或第二方面任一种可能的设计中所述的方法。
第八方面，提供一种测距系统，包括：
第一节点，用于执行如第一方面或第一方面任一种可能的设计中所述的方法；
第二节点，用于执行如第二方面或第方面任一种可能的设计中所述的方法。
第九方面，提供一种计算机程序产品，计算机程序产品中存储有指令，当其在计算机 上运行时，使得计算机执行如第一方面或第一方面任一种可能的设计中所述的方法，或者，使得计算机执行如第二方面或第二方面任一种可能的设计中所述的方法。
上述第二方面至第九方面的技术效果，具体请参照上述第一方面中相应设计可以达到的技术效果，这里不再重复赘述。
附图说明
图1为本申请实施例提供的一种可能的应用场景的示意图；
图2为本申请实施例提供的一种测距方法的流程图；
图3为一个超帧的示意图；
图4为本申请实施例提供的一种G节点的测距帧和T节点的测距帧的示意图；
图5为本申请实施例提供的一种G节点的测距帧的示意图；
图6为本申请实施例提供的一种测距帧的示意图；
图7为本申请实施例提供的一种测距帧的示意图；
图8为测量起始符号为测距帧的第一个符号的示意图；
图9为第一节点反馈测距帧的第一个符号对应的信道状态信息的示意图；
图10为第一节点测距帧的反馈第二个符号对应的信道状态信息的示意图；
图11为跳频测距的示意图；
图12为本申请实施例提供的一种测距装置的示意图；
图13为本申请实施例提供的另一种测距装置的示意图。
具体实施方式
本申请实施例提供的技术方案可以应用于各类无线通信场景，例如车载定位、测距、测角或感知场景，室内定位、测距、测角或感知场景，或者其它广域无线通信或局域无线通信场景，本申请不做限制。具体的无线通信技术包括但不限于星闪(Sparklink)、无线保真(Wi-Fi)、蓝牙、低功耗蓝牙(BLE)或超宽带(Ultra Wide Band，UWB)等。
可以理解的是，在本申请实施例中，实现定位、测距、测角、感知等具有类似的步骤，因而可以用其中任意一个术语同时指代“定位”、“测距”、“测角”、“感知”等。
参见图1，为本申请实施例提供的一种可能的应用场景的示意图。车载定位场景中，车外的4个车角部署定位锚点(或称为定位站或位置锚点或锚点或信标或测量节点)，如节点b、c、d、e。车内(如车内后视镜或车顶内部等)部署至少一个定位锚点，如节点a。车钥匙是需要被定位的目标(即被定位设备或被测量设备或标签)，如节点A，其具体实现可以是具有定位功能的传统的车钥匙，也可以是具有定位功能的手机或可穿戴设备等。定位锚点和/或车钥匙可以发送和/或接收测距信号，以及对接收到的测距信号进行测量获得对应的测量量。通过计算定位锚点和/或车钥匙获得的测量量，可以获得车钥匙的位置信息(例如相对于车的距离)。
在无线通信场景中，在一定通信区域或范围内可以包括多个通信域。通信域是指一组具有通信关系的通信节点，以及通信节点之间的通信连接关系(即通信链路)组成的系统，一个通信域包括一个主通信节点(可以简称为主节点或G节点)和至少一个从通信节点(可以简称为从节点或T节点)，其中，主节点又称为管理节点，负责管理通信域的时频资源， 并具有为通信域中的通信节点间的通信或定位调度资源的功能。从G节点到T节点的通信链路称为G链路或下行链路，T节点到G节点的通信链路称为T链路或上行链路。
以图1所示的场景为例，定位锚点、车钥匙等可以组成一个通信域。其中，车钥匙可以是主节点(G节点)，各定位锚点为从节点(T节点)；或者，一个定位锚点为主节点，其它定位锚点和车钥匙为从节点，本申请不做限制。为阐述方便，下文多以G节点和T节点为例进行解释，但是本申请并不限定节点类型。
可以理解的，图1所示场景仅为示例，实际应用中本申请实施例还可以应用于其他无线通信场景。
在基于正交频分复用(Orthogonal Frequency Division Multiplexing，OFDM)信号的无线通信系统中，使用跳频测距技术(即测距双方可以在多个不同的信道上进行测距交互)，可以合并多个信道的测量结果以使测量带宽超过单个OFDM信号的带宽，从而获得更高的测距分辨率，进而在室内、地下停车场、工厂等多径丰富的环境中受到较小的多径干扰，最终获得更高的测距准确度。
星闪联盟基础(SparkLink Basic，SLB)版本标准使用OFDM信号作为通信信号，基于SLB的OFDM的跳频测距系统中，需要一对测距节点中的一个节点针对其接收的测距帧(或称为测量帧)的测量结果，反馈测量信息(如频域信道状态信息(Channel-State Information，CSI)进行反馈。其中，测距帧包括至少一个用于测距的测距符号(例如OFDM符号)。例如，在图1所示场景中，车钥匙可以接收测距帧，以及对接收到的测距帧进行测量获得对应的测量信息后，需要将测量信息反馈至定位锚点。
Wi-Fi系统中有一些反馈CSI的方案，但是该些方案是面向闭环多进多出(multiple-in multipleout，MIMO)系统中的发送预编码，例如接收端向发射端反馈发射预编码矩阵V，没有单天线的信令，而且反馈的CSI信息无法用于跳频测距中的双向测距(例如CSI无法与跳频信道对应)，因此不适用于上述测距场景下的测量信息反馈。
鉴于此，提供本申请技术方案。
参见图2，为本申请实施例提供的一种测距方法的流程图，方法包括：
S201、第二节点在至少一个信道上发送第一测距帧；第一节点在至少一个信道上接收第一测距帧。
其中，第一节点是G节点，第二节点是T节点，相应的，第一测距帧为T节点的测距帧；或者，第一节点是T节点，第二节点是G节点，相应的，第一测距帧为G节点的测距帧。
一种可能的设计中，第一测距帧中包含至少一个符号，该符号可用于测距、测角或感知。例如，SLB中，G链路(即G节点链路)和T链路(即T节点链路)的测距符号分别为CSI参考信号(CSI-RS)和探测参考信号(SRS)。可以理解的，第一测距帧中的每个符号都包含有该至少一个信道的所有子载波信息。其中，第一测距帧中的符号也可以称为测距符号或测量符号等，可以用于实现测距、测角或感知等目的。
可选的，该符号为OFDM符号。例如，SLB中，一个具有4个20MHz载波的80MHz OFDM符号，每个载波可用于一个20MHz的载波信道的信道测量，且每个载波有38个有效子载波和一个直流(DC)子载波，因此，上述80MHz的OFDM信号可同时测量4个20MHz的载波信道，其中，4个载波信道构成了一个信道组。
以下，对第一测距帧的结构进行介绍：
一种可能的设计中，第一测距帧中的符号使用第一类无线帧的开销符号的资源，换而言之，第二节点使用第一类无线帧中的开销符号的资源来发送第一测距帧的符号，第一节点使用第一类无线帧中的开销符号的资源来接收第一测距帧的符号。其中，第一类无线帧包括数据符号和开销符号。其中，资源是指符号传输所占用的时频资源。
示例性的，第一类无线帧可以是SLB标准中无线帧。SLB标准中定义了超帧的传输帧结构：超帧的周期为1ms，每个超帧内含有48个无线帧，每个无线帧含有若干下行OFDM符号(或G链路数据符号)、上行OFDM符号(或T链路数据符号)、开销符号、上下行切换间隔(GAP)。
其中，用于G链路数据传输的称为G链路数据符号，用于T链路数据传输的称为T链路数据符号，当不区分传输方向时G链路数据符号和T链路数据符号统称为数据符号。数据传输包括数据信息传输(包含用户数据或高层信令传输)和另一部分物理层信号传输(例如第二类数据信息解调参考信号)。
其中，用于G链路系统开销传输的称为G链路系统开销符号，用于T链路系统开销传输的称为T链路系统开销符号，当不区分传输方向时G链路系统开销符号和T链路系统开销符号统称为系统开销符号，例如同步信号属于开销符号。
开销符号可以用于节点执行同步、信道探测、下行控制信息(DCI)传输等中的一项或多项操作。开销符号嵌入在每个无线帧内部。每个无线帧内的可用开销符号数量可以为1-2个，相应的，一个超帧(SF)之内，最多有96个开销符号。
当区分传输方向时，开销符号分为两种：用于G链路系统开销传输的开销符号称为G链路系统开销符号(简称SG)，用于T链路系统开销传输的开销符号称为T链路系统开销符号(简称ST)。当不区分传输方向时G链路系统的开销符号和T链路系统的开销符号统称为系统开销符号。
参见图3，为一个超帧的示意图，包括48个无线帧，编号为0～47，SG表示G链路系统开销符号，ST表示T链路系统开销符号的资源，G表示G链路数据符号的资源，T表示T链路数据符号的资源。在图3中，每个无线帧包含一个SG符号或ST符号，一个超帧内的48个无线帧一共包含48个开销符号。
周期性超帧传输中，G、T节点在第一个超帧的前部使用第一训练信号(First Training Signal，FTS)，第二训练信号(Second Training Signal，STS)等参考信号进行定时和频率同步，每个超帧内可以通过插入同步信号用于维护定时和频率同步，因此后续的超帧内的开销符号可以用于测距符号的传输。
例如，参见图4，为每个无线帧内含有一个SG或ST符号时，G节点的测距帧和T节点的测距帧的示意图。当每个无线帧内含有一个SG或ST符号时，一个测距帧中可以包括L个开销符号，其中G节点的测距帧中包括L个SG符号，T节点的测距帧中包括L个ST符号。可以理解的，一次测距交互过程中包含至少一个G节点的测距帧和至少一个T节点的测距帧。
例如，参见图5，为每个无线帧内含有两个SG或ST符号时的一个G节点的测距帧的示意图。
当然，图4和图5仅为示例，实际应用中，测距帧还可以有其它形式。
可以理解的，在上述设计中，至少一个信道为第一节点和第二节点的初始载波信道(或初始载波信道组)。其中，初始载波信道(或初始载波信道组)表示G节点或T节点在完 成关联后的工作载波信道(或工作载波信道组)，也即进行测距协商所在的载波信道(或工作载波信道组)。
可以理解的，G节点和T节点在进行测距交互之前，需要先进行关联，具体操作过程包括：G节点向T节点发送关联请求，T节点向G节点回复关联响应；或者，T节点向G节点发送关联请求，G节点向T节点回复关联响应。其中，当G节点和T节点不存在安全上下文时，关联请求具体可以是“associationRequestNonSec(非安全的关联请求)”消息，关联响应可以是“AssociationSetupNonSec(非安全的关联设置)”消息；当G节点和T节点存在安全上下文时，关联请求可以是“associationRequestWithSec(安全的关联请求)”消息，关联响应可以是“AssociationSetupWithSec(安全的关联设置)”消息。
可选的，初始载波信道为第一节点和第二节点的所有可用信道(或可用信道组)中、频率最高的信道(或信道组)。
在初始载波信道上，测距帧的符号使用已定义的无线帧的开销符号的资源，可以提高资源利用率，同时不影响G节点和T节点的通信，后向兼容性强。
另一种可能的设计中，第一测距帧中的符号使用第二类无线帧的数据符号的资源，换而言之，第二节点使用第二类无线帧中的数据符号的资源来发送第一测距帧的符号，第一节点使用第二类无线帧中的数据符号的资源来接收第一测距帧的符号。其中，第二类无线帧中的符号全部为数据符号，至少一个信道为初始载波信道或跳频后的信道。
可以理解的，第二类无线帧不同于上述第一类无线帧，第二类无线帧中的符号为全T数据符号配置或全G数据符号配置。第二类无线帧内可以无SG符号、ST符号和GAP，上下行切换GAP在G节点和T节点的无线帧间隔之间实现。
具体实现时，第二类无线帧中的所有符号均可用于测距，因此测距帧的结构可以与第二类无线帧一致，即测距帧中的所有符号使用第二类无线帧中的所有符号的资源，或者说，测距帧为第二类无线帧，即第二类无线帧中的所有符号组成测距帧。因此，在本设计中，第二类无线帧可以和测距帧相互替换。
第二类无线帧的OFDM符号，除了可以使用信道状态信息参考信号(Channel-State Information-Reference Signal，CSI-RS)、探测参考信号(Sounding Reference Signal，SRS)之外，还可以使用FTS、STS。当一对测距节点中的发送节点(如第二节点)发送任意一种上述测距符号时，由于发送的是接收节点已知的参考信号，因此接收节点可以对参考信号进行解调或信道估计，从而得到CSI。在接收节点(如第一节点)，一个用于探测信道的OFDM符号(或称为参考信号)的子载波对应的相应频率的信道频率响应值(复数值，简称IQ值)，称为所探测信道的频域CSI。
第二类无线帧支持具有循环前缀(Cyclic Prefix，CP)或不具有CP。例如，符号类型具体为CSI-RS或SRS符号时，可以具有或不具有CP，例如，符号类型具体为SLB中的FTS或STS符号时，不具有CP。当多个不具有CP的OFDM符号(例如FTS或STS符号)连续发送时，由于相邻符号之间具有天然的循环移位特性，因此，前一个符号可以作为后一个符号的循环前缀。由于一个OFDM符号的时长远超过一个CP的时长，因此容纳多径时延扩展的能力变强，并且放松了对收发节点之间的时间同步要求，可以减少测距帧之前用于时间同步的开销。
进一步的，第二类无线帧具有CP时，CP又可分为常规CP和扩展CP。其中扩展CP用于测距范围较大的场景。当G节点和T节点跳频测量多个载波信道时，所有载波信道上 的CP配置保持一致。
G节点的第二类无线帧与T节点的第二类无线帧之间的GAP，可以占用先发的第二类无线帧的最后一个OFDM符号，如图6所示；或者，每个第二类无线帧能容纳10个无CP OFDM符号，GAP出现在两个第二类无线帧之间(即GAP不占用第二类无线帧内的时间)。对于CP-OFDM符号(即具有CP的OFDM符号)用作测距符号时，每个无线帧可以采用与SLB中的现有无线帧结构相同的方式，即一个无线帧内具有8个常规CP-OFDM符号或7个扩展CP-OFDM符号。
可以理解的，在上述设计提供的第二类无线帧，不是已定义的用于G、T节点通信的无线帧，因此适用于所有信道，换而言之，上述至少一个信道可以是为第一节点和第二节点的初始载波信道(或初始载波信道组)，也可以是跳频后的信道。
该设计通过定义新的无线帧结构用于测距符号的传输，不影响原有无线帧的传输。
另一种可能的设计中，第一测距帧中的符号使用第一类无线帧的数据符号和开销符号的资源，第一类无线帧包括数据符号和开销符号。换而言之，第二节点使用第一类无线帧中的数据符号和开销符号的资源来发送第一测距帧的符号，第一节点使用第一类无线帧中的数据符号和开销符号的资源来接收第一测距帧的符号。关于第一类无线帧的结构可以参考上文图3中的相关介绍，此处不再赘述。
根据上文介绍可知，周期性传输的超帧中，除了第一个超帧外，后续超帧内的开销符号可以用于测距符号的传输。而对于后续的超帧内的数据符号的资源，如果G、T节点通信有剩余，则剩余的数据符号的资源也可以用于测距符号的传输。例如，图7为一种可能的测距帧的示意图。对于哪些数据符号的资源可以用于测距符号的传输，G节点和T节点可以在测距协商阶段约定好，和/或，通过测距帧之前发送的前导信息指示。
可以理解的，在上述设计中，至少一个信道为第一节点和第二节点的初始载波信道(或初始载波信道组)。
在初始载波信道上，测距帧的测距符号使用已定义的无线帧的开销符号和数据符号的资源进行发送，可以提高资源利用率，同时不影响G节点和T节点的通信，使测距定位功能与通信功能并行进行，且后向兼容性强。
以上介绍了第一测距帧几种可能的类型，在实际应用时，第一节点和第二节点在传输第一测距帧之前，需要确定第一测距帧的类型。
一种可能的设计中，第一节点和第二节点可以在测距协商阶段确定第一测距帧的类型。比如，由第一节点和第二节点中的G节点配置第一测距帧的类型，并发送第一指示信息，用于指示第一测距帧的类型。
具体来说，若第一节点为G节点，则第一节点发送第一指示信息，第二节点接收第一指示信息；若第一节点为T节点，则第二节点发送第一指示信息，第一节点接收第一指示信息。
可选的，第一指示信息可以在测距协商阶段包含在第一消息中发送，使得接收第一消息的节点收到第一指示信息后，可以判断出与发送第一消息的节点需要交互的测距帧的类型，从而提前做好发送或接收测距帧准备。
例如，定义图4所示的测距帧为类型1，图5所示的测距帧为类型2，图6所示的测距帧为类型3，图7所示的测距帧为类型4，则第一节点可以发送或接收第一指示信息，第一指示信息用于指示类型1、类型2、类型3、类型4中的任意一个。
除了在测距协商阶段进行测距帧类型的指示，G节点还可通过测距帧之前发送的前导信息中的无线帧结构信息指示测距帧的类型。例如，G节点发送的前导信息中，指示出无线帧结构的具体编号，从而确定测距帧的结构。
例如，下表1是对扩展CP配置的各种G链路符号与T链路符号配比下的无线帧结构的举例。其中，无线帧结构0-11表示一个无线帧内即有G链路测距符号与T链路测距符号，而无线帧结构12-13表示一个无线帧内仅有G链路测距符号或T链路测距符号，可用于测距帧类型3的传输。基于常规循环前缀配置的无线帧结构与表1类似，除了一个无线帧内具有8个OFDM符号的资源用于承载G链路测距符号和T链路测距符号。
表1基于扩展循环前缀配置的无线帧结构
Figure PCTCN2022123357-appb-000001
进一步的，第一节点和第二节点在传输第一测距帧之前，还需要确定第一测距帧是否具有CP。
一种可能的设计中，第一节点和第二节点可以在测距协商阶段确定第一测距帧是否具有CP。比如，由第一节点和第二节点中的G节点配置第一测距帧具有或不具有CP，并发送第二指示信息，用于指示第一测距帧具有CP或不具有CP。
可以理解的，实际应用中，第一指示信息和第二指示信息可以是同一个指示信息，即一个指示信息可以同时指示帧类型和是否具有CP，例如第一指示信息指示帧类型是图4所示的测距帧(类型1)，该类型的测距帧不具有CP，因此可以不用额外再用一个指示信息去指示是否具有CP。
当然，第一指示信息和第二指示信息也可以是不同的指示信息。例如，第一指示信息指示帧类型是图5所示的测距帧(类型2)，该类型的测距帧可以具有CP，也可以不具有CP，因此可以额外再配置一个第二指示信息去指示第一测距帧是否具有CP。
可选的，第一指示信息和第二指示信息均承载于第一消息中。如此，可以节省资源开销。
进一步的，当第一测距帧具有CP时，第一节点和第二节点在传输第一测距帧之前，还需要确定第一测距帧的CP是常规CP还是扩展CP。
一种可能的设计中，第一节点和第二节点可以在测距协商阶段确定第一测距帧具有常 规CP或扩展CP。比如，由第一节点和第二节点中的G节点配置第一测距帧具有或不具有常规CP或扩展CP，并发送第三指示信息，用于指示第一测距帧具有常规CP或扩展CP。
可选的，第三指示信息也可以承载于第一消息中。如此，可以进一步节省资源开销。
S202、第一节点对第一测距帧进行测量，得到第一测量信息。
作为一种示例，采用OFDM符号作为测距符号时，有效带宽约为20MHz的OFDM信号可以称为一个载波(发送载波OFDM信号的信道称为载波信道)，20MHz的OFDM信号的中心频点(即直流子载波)称为载波频率。即一个载波由连续39个子载波组成，39个子载波按照对应频率从低到高的顺序依次编号为#0,#1,…,#38，其中#19子载波为直流(DC)子载波，除DC子载波外，其它38个子载波称为有效子载波。G节点和T节点可能工作在多个载波信道上，多个载波信道构成一个载波信道组(对应一个信道组)。为了便于描述，本申请实施例将载波信道简称为信道。
应理解，第一节点对第一测距帧进行测量时，实际上是对各个有效子载波进行测量，因此测量得到的第一测量信息可以指示对应第一测距帧的至少一个符号的至少一个有效子载波所对应频率的信道状态信息。
为了便于描述，在本文中，“子载波所对应频率的信道状态信息”也可以简称为“子载波的信道状态信息”。
此外，本文中的“信道状态信息”也可以称为“CSI”、“CSI信息”、“CSI反馈信息”、“反馈信息”等。
具体实现时，第一节点的接收机对时域接收数据进行快速傅里叶变换(fast Fourier transform，FFT)运算后，再针对CSI-RS、SRS等的已知调制序列进行解调和/或信道估计，可得到各个有效子载波的信道频率响应值(或称为信道估计值)，可以用复数值(如I值和Q值，简称IQ值)表示，这些IQ值可以称为频域信道状态信息(即频域CSI)。因为本文主要讨论频域信道状态信息，因此在下文中，频域信道状态信息可以简称为信道状态信息(CSI)。
一种可能的设计中，在测距协商阶段，第一节点和第二节点还确定测量后反馈该至少一个信道的信道状态信息(即确定测量是针对频域CSI的测量)。例如，G节点(第一节点或第二节点)还发送第四指示信息，用于指示第一节点反馈至少一个信道的信道状态信息，和/或，至少一个信道的信道编号信息。可选的，对于跳频测距场景，第四指示信息还可以指示所反馈的信道状态信息对应的载波信道编号和/或子载波编号。其中，载波信道号表示载波(例如20MHz载波)的信道号，从而使得多个信道完成跳频测量后，可以将多个信道对应的信道状态信息一起反馈，通过信道编号使得信道状态信息能与所属的信道对应，便于跳频测距信号处理中将多个信道的信道状态信息合并。
根据上文可知，第一测距帧中可能有一个测距帧符号，也可能有多个测距符号，因此，当第一测距帧中有多个测距帧符号时，第一节点在对第一测距帧进行测量之前，需要确定测量哪些符号，或者从哪个符号开始测量。
一种可能的设计中，第一测距帧的符号具有CP，第一节点可以从第一测距帧中的第一个符号开始测量。例如，参见图8，测量起始符号为第一个符号的示意图。其中，无线帧1和无线帧2的信道状态信息都是对应第一个符号的信道状态信息。
另一种可能的设计中，第一测距帧的符号不具有CP，第一节点可以从第一测距帧的第二个符号开始测量。可以理解的，第一测距帧没有CP对抗多径干扰，所以可以牺牲第一 个符号用于对抗多径干扰，起到CP的作用，以提高测量的准确性。
另一种可能的设计中，第一节点根据指示信息或者预先设置或预先约定等，从第一测距帧的指定符号开始测量。
示例性的，第一节点和第二节点可以在测距协商阶段配置测量起始位置(或测量起始符号)。例如，第一节点和第二节点中的G节点发送第五指示信息，用于指示所述第一测距帧的测量起始位置(即从哪个符号开始测量，例如第R个符号，R为正整数且为固定值)。
示例性的，协议规定或第一节点和第二节点约定，第一测距帧的测量起始位置(即从哪个符号开始测量，例如第R个符号，R为正整数，且一旦约定好即为固定值)。
进一步的，当第一节点对第一测距帧的多个符号进行测量时，需要确定第一节点反馈哪些符号对应的信道状态信息。
一种可能的设计中，第一测距帧包括多个符号时，第一节点根据多个符号对应的信道状态信息，确定第一测距帧中第R个符号对应的信道状态信息，R为正整数；第一测量信息指示第R个符号对应的信道状态信息。
其中，第一节点根据多个符号对应的信道状态信息，确定第一测距帧中第R个符号对应的信道状态信息，可以理解为：当第一节点对第一测距帧的多个符号进行测量，且反馈第一测距帧中第R个符号对应的信道状态信息时，第一测距帧中除了第R个符号之外的其它符号对应的信道状态信息，可以转换为第R个符号对应的信道状态信息，或者说，第一测距帧中除了第R个符号之外的其它符号对应的信道状态信息可以用于辅助估计第R个符号对应的信道状态信息。例如，确定第R个符号对应的信道状态信息时，根据第R个符号之后的至少一个符号计算得到的CSI、符号时长、载波频率偏移(Carrier Frequency Offset，CFO)等信息，转换成估计的第R个符号对应的CSI并对第R个符号测量得到的CSI进行校正，如此可以提升信噪比和提升第R个符号对应的CSI的准确度。
通过指示或者预先约定，使测距双方的其中一个节点(如第一节点)反馈第R个符号对应的CSI，可使跳频测距中另一节点(如第二节点)合并两个节点的CSI时，合并同一资源序号的符号对应的CSI(例如合并第一测距帧内的第R个符号对应的CSI和第二测距帧内的第R个符号对应的CSI，第二测距帧是第一节点发送的且用于第二节点执行测量的测距帧)。
其中，资源序号，用于指示符号在测距帧中的位置，例如，测距帧包括N个符号，则这N个符号的资源序号可以指示这N个符号在时域上出现的先后顺序，表示是测距帧中的第几个符号。例如：第一个符号的资源序号可以为0，第二个符号的资源序号可以为1，…，第N个符号的资源序号可以为N-1，当然此处仅为举例而非限制。
如此，可以避免在跳频测距时，将不同资源序号的符号对应的CSI进行合并。
作为一种示例，第一测距帧的符号具有CP时，第一节点反馈第一个符号对应的信道状态信息，即第一测量信息指示第一个符号对应的信道状态信息，如图9所示。
对于帧内其它的符号的测量结果，应转换为第一个符号的测量结果。例如，测量OFDM子载波的频域CSI时，由于残留载波频率偏移(CFO)的存在，第一个符号和第二个符号的同一个子载波的相位并不相同，因此应指定测量符号的位置，其它符号上的相位则按照第一个符号的出现时刻进行对齐估计，从而将无线帧内除第一个符号以外的其它符号对应的信道状态信息，折算到第一个测距符号上并对第一个符号进行信道状态信息修正，最终反馈第一个符号对应的信道状态信息。
作为一种示例，第一测距帧的符号不具有CP时，第一节点反馈第2个符号对应的信道状态信息，即第一测量信息指示第2个符号对应的信道状态信息，如图10所示。
当然，以上两种仅为示例，实际应用中R还可以取其它值，本申请不做限制。
另一种可能的设计中，第一测距帧包括多个符号时，第一节点根据多个符号对应的信道状态信息，确定多个符号对应的信道状态信息的统计值，如最大值或最小值或平均值等；第一测量信息指示多个符号对应的信道状态信息的统计值。
为了保证第一节点和第二节点测量交互顺利进行，第一节点和第二节点在传输第一测距帧之前，还需要确定第一节点反馈哪些符号对应的信道状态信息。
例如，在测距协商阶段或者发送前导信息时，G节点(第一节点或第二节点)发送第七指示信息，用于指示第一节点反馈第一测距帧中的多个符号对应的信道状态信息的平均值。发送多个符号对应的信道状态信息的平均值可以以简单的处理方式获取高SNR的信道状态信息，而且避免将不同资源序号的符号对应的CSI进行合并。例如，在测距协商阶段或者发送前导信息时，G节点(第一节点或第二节点)发送第六指示信息，用于指示第一节点反馈第一测距帧中第R个符号对应的信道状态信息，等等。发送第R个符号对应的信道状态信息，可以以指定符号对应的信道状态信息进行反馈，可以避免将不同资源序号的对应的CSI进行合并导致的无相干合并增益。
跳频测距时，G节点发送第六指示信息或者第七指示信息后，第一节点在跳频的各个信道(组)上可以保持相同的反馈方式，以使不同信道上的CSI能够相干合并，获得跳频测距的高带宽的增益。
S203、第一节点根据第一测量信息和第一反馈方式发送第二测量信息；第二节点接收来自第一节点的第二测量信息。
作为一种可选的实施方式，第一节点在得到第一测量信息之后，还可以对其进行校准，以消除第一测量信息包含的射频收发通道和天线引入的非理想特性，进而第一节点根据校准后的第一测量信息和第一反馈方式发送第二测量信息。
示例性的，第一节点根据校准信息对第一测量信息进行校准，得到校准后的第一测量信息；其中，校准信息根据至少一个信道确定。
校准信息根据至少一个信道确定，可以理解为，针对信道对应的信道状态信息，需要根据该信道对应的校准信息进行校准，不同信道可以对应不同的校准信息。
例如，单个子载波的IQ值的定义可以是第一测距帧中的第R个符号到达第一节点的天线连接端口(antenna connector)处的子载波IQ值。实现时，需要将不同频段或信道的环回测量结果，和/或，基带处理时延，在基带针对原始接收信号估计得到的子载波IQ值进行校准，以得到天线连接端口(antenna connector)处的子载波IQ值。
如此，可以提高信道状态信息的准确性，进而提高测距的准确性。
在本申请实施例中，第一节点测量得到的是第一测量信息，但是第一节点最终反馈的测量信息是何种形式(是直接反馈第一测量信息还是对第一测量信息做进一步处理之后反馈)，需要根据第一反馈方式确定。
其中，第一反馈方式可以属于预先定义或者配置的反馈方式集合，该反馈方式集合定义了多种不同的反馈方式。
以下列举其中几种可能的反馈方式：
1、第一反馈方式指示反馈全部有效子载波的信道状态信息。这种情况下，第二测量 信息与第一测量信息指示相同的信道状态信息，换而言之，第二测量信息也指示对应第一测距帧的至少一个符号的至少一个有效子载波的信道状态信息。
例如，至少一个信道的数量为一个时，第一测量信息可以指示该信道的38个有效子载波的信道状态信息，第二测量信息也指示该信道的38个有效子载波的信道状态信息。
例如，至少一个信道的数量为多个时，第一测量信息可以指示该多个信道中每个信道的38个有效子载波的信道状态信息，第二测量信息也指示该多个信道中每个信道的38个有效子载波的信道状态信息。
在具体实现时，第二测量信息可以承载在CSI报告消息中。示例性的，表2是第一反馈方式下，20MHz载波对应的CSI报告消息的示例。
可以理解的，当测距帧使用多个20MHz载波承载时，每个20MHz的CSI反馈如表2所示。对于相邻20MHz载波之间用作间隔的3个非有效子载波，因为没有调制信号而无法测量CSI，因此可以不作为CSI一部分进行反馈，从而减少了CSI的反馈数据量。
表2 CSI报告消息(20MHz载波)
Figure PCTCN2022123357-appb-000002
在跳频测距中，表2所示的CSI报告消息中，应按照第四指示信息，指示所反馈的CSI对应的载波信道编号(ChannelNumber)和/或子载波编号，这里ChannelNumber可以是一个载波对应的信道号，即指示所报告的CSI(0#～38#子载波对应的CSI值)对应的信道。
2、第一反馈方式指示反馈DC子载波的信道状态信息。这种情况下，第二测量信息与第一测量信息指示不同的信道状态信息，且第二测量信息根据第一测量信息确定。第二测量信息包括对应至少一个符号的DC子载波的信道状态信息，其中DC子载波的信道状态信息根据与DC子载波相邻的有效子载波的信道状态信息进行插值确定。其中，插值包括线性插值、最近邻插值、三次样条插值(cubic spline)、和/或二次插值(Quadratic interpolation)中的至少一种，本申请不做限制。
根据上文介绍可知，每个信道包括38个有效子载波和1个DC子载波，因此当至少一个信道的数量为多个时，第二测量信息包括该多个信道的DC子载波的信道状态信息。其中，每个DC子载波的信道状态信息根据该DC子载波所属信道上的其它有效子载波的信道状态信息进行插值确定。
例如，在2.4GHz的信道上，DC子载波间隔为5MHz，无模糊距离(即最大测距范围)为60m；例如，2.4GHz&5GHz的信道上，DC子载波间隔最小为5MHz，无模糊距离也为60m。可见，当DC子载波间隔为5MHz时，采用反馈DC子载波的信道状态信息的方式，可以支持60m的测距范围，符合大多数的短距离测距场景。
3、第一反馈方式指示分组反馈，即第一反馈方式指示反馈至少一个子载波组的信道状态信息，其中对应至少一个符号的至少一个有效子载波属于至少一个子载波组，第二测量信息包括至少一个子载波组中每个子载波组的信道状态信息。这种情况下，第二测量信息与第一测量信息指示不同的信道状态信息，且第二测量信息根据第一测量信息确定。
可以理解的，在文本中，子载波组包含的子载波数量，也可以称为子载波的分组间隔、子载波组间隔等。分组间隔可以表示分组方式，如多少个子载波为一个子载波组。
在分组时，可以仅考虑对有效子载波进行分组，也可以同时考虑对有效子载波和DC子载波一起进行分组，换而言之，子载波组中可以仅包括有效子载波，也可以同时包括有效子载波和DC子载波，本申请不做限制。对有效子载波分组后，每个子载波组中，可以仅反馈一个子载波的CSI，可以减少反馈的CSI的数据量(即第二测量信息的数据量)。
以下例举几种可能的分组方式：
方式1、对应至少一个符号的每连续M个子载波为一个子载波组，M为正整数。
例如，对于至少一个信道中的任意一个信道，其39个子载波中，可以每连续3个子载波为一组，共分出13个子载波组。当然，此处仅为示例而非限定。
这种分组方式，简单，容易实施。
方式2、对应至少一个符号的每连续P或L个子载波为一个子载波组，P、L为正整数，P≠L。
需要说明的是，这里的P个子载波组成的子载波组和L个子载波组成的子载波组是同时存在的，即可以同时存在两种不同的分组间隔。
例如，对于至少一个信道中的任意一个信道(对应20MHz的带宽)，其39个子载波中，可以按照每连续4个或者3个子载波构成一个子载波组，则可以分为12个组，其中3个组的子载波数量为4，另外9个组的子载波数量为3。当然，此处仅为示例而非限定。
这种分组方式，可以保证所有子载波都可以被划分到子载波组内，提高方案的可靠性。
可选的，P、L的差值为1或2。
例如：某个信道中的子载波，一部分子载波以每连续P个子载波为一个子载波组进行分组，另一部分每连续L个子载波为一个子载波组，其中L＝P-2，子载波数量为L的子载波组中包含DC子载波。这样做的好处是使DC子载波两侧的有效子载波成对出现，例如#0、#16、#18子载波分别与#38、#22、#20作为成对子载波，选择成对出现的子载波便于针对空白的DC子载波、相邻20MHz载波之间的空白子载波进行插值。如表3所示，当P＝4时，通过在包含#19DC子载波的地方设置L＝2，从而选出#18，#20子载波，使得所有选出的子载波相对于DC子载波是对称的子载波。对称的子载波选择有助于处理算法消除DC的影响，提高合并多信道的CSI。
一个具体的示例中，当P＝4，L＝3时，表示一个载波中每连续4个(P)或者3个(L)子载波构成1个第一颗粒度子载波组。
如表3所示，是第一反馈方式下，子载波分组为2(P＝L＝2)、子载波分组为4(P＝4，L＝3)和子载波分组为8(P＝8，L＝6)时，CSI报告消息的示例。这种情况下，每个子载 波组内都指定了一个子载波作为该子载波组的代表进行反馈。其中，L用于描述DC子载波附近无法均匀分组而导致的例外情况，因此子载波分组参数可以只用P表示，L可不显示。
表3子载波分组时的CSI报告消息(每20MHz载波)
Figure PCTCN2022123357-appb-000003
在本申请实施例中，当至少一个信道的数量为多个时，所有信道对应的子载波的分组间隔(或者说子载波组间隔，等于子载波组包含的子载波数量P，)可以相同(即均匀分组)，也可以不同(即不均匀分组)，本申请不做限制。
例如，至少一个信道包括第一信道和第二信道；与第一信道对应的子载波中，每连续Q个子载波为一个子载波组，与第二信道对应的子载波中，每连续N个子载波为一个子载波组，Q、N为正整数，Q≠N。
在G节点配置CSI反馈的参数时，应在CSI配置信息中指示均匀分组模式或非均匀分组模式。当指示均匀分组模式时，所有测量的信道的子载波分组参数都为P；当采用非均分组模式时，采用不同的P值指示各个信道的分组参数。例如，当一共测量4个信道(如跳频测量)，可配置4个不同的P值：
信道1，P＝1(指示信道1上子载波分组间隔为1，即全反馈)
信道2，P＝1(指示信道2上子载波分组间隔为1，即全反馈)
信道3，P＝2(指示信道3上子载波分组间隔为2，即分组参数P＝2)
信道4，P＝4(指示信道3上子载波分组间隔为2，即分组参数P＝4)
在上述方式1或方式2中，每个子载波组的信道状态信息，可以是该子载波组中所有有效子载波的信道状态信息的统计值(如平均值或中位值或最大值或最小值等)，这样，可以减少反馈量。
在上述方式1或方式2中，每个子载波组的信道状态信息，还可以是该子载波组中的一个子载波的信道状态信息，例如第一个子载波或最后一个子载波或位于中间的子载波的信道状态信息，这样，不仅可以减少反馈量，而且实现方式简单，易于实施，可靠性强。
上述方式1和方式2是将所有子载波都进行分组，在实际应用中，可以只选择部分子载波进行分组。例如：
方式3、以G个子载波为梳齿划分子载波组。具体来说，就是每连续G个子载波中选择的一个有效子载波，将该子载波单独作为一个子载波组，即每个子载波组只包含一个子载波。
例如，一个信道对应的39个子载波可以以5为梳齿构成8个子载波组，各个子载波组中包含的子载波依次为#0、#5、#10、#15、#20、#25、#30、#35。
在方式3中，每个子载波组的信道状态信息为该子载波组中包含的子载波的信道状态 信息。
可以理解的，上述方式1和方式2下，如果每个子载波组的信道状态信息是该子载波组中的一个有效子载波的信道状态信息，则其最终达到的反馈效果方式3的反馈效果是相似的，即每个子载波组的信道状态信息本质上是一个有效子载波的信道状态信息。
在本申请实施例中，在第一节点和第二节点在传输第一测距帧之前，还需要确定第一节点反馈信道状态信息的第一反馈方式。
一种可能的设计中，第一节点和第二节点可以在测距协商阶段确定第一节点反馈信道状态信息的第一反馈方式。比如，由第一节点和第二节点中的G节点确定第一反馈方式，并发送第八指示信息，用于指示第一节点反馈信道状态信息的第一反馈方式，第一反馈方式为：反馈至少一个子载波组的信道状态信息，或者，反馈DC子载波的信道状态信息，或者，反馈全部有效子载波的信道状态信息。
进一步的，当第一反馈方式为反馈至少一个子载波组的信道状态信息时，第一节点和第二节点还需要确定该至少一个子载波组的分组参数、该至少一个子载波组的信道状态信息的计算方式，等等。
其中，分组参数，用于指示划分子载波组的方式。例如，分组参数可以指示分组方式为上述方式1或方式2或方式3等。可选的，分组参数还指示对应分组方式下的具体分组间隔(即子载波组包含的子载波数量)，例如上文中M、或者P和L。可选的，分组参数还可以指示不同信道是均匀分组还是不均匀分组，当不均匀分组时，分组参数还可以不同信道的分组间隔，例如上文所举例的Q、N的取值。当然，以上仅仅是对分组参数的一些举例，在实际应用中，只要是用于指示分组方式的参数，均可以属于分组参数。
其中，计算方式，用于指示确定子载波组的信道状态信息的方式。例如，每个子载波组的信道状态信息是该子载波组中所有有效子载波的信道状态信息的平均值，或者，每个子载波组的信道状态信息是该子载波组中的一个子载波的信道状态信息，等等。
一种可能的设计中，第一节点和第二节点可以在测距协商阶段确定该至少一个子载波组的分组参数、该至少一个子载波组的信道状态信息的计算方式等。
比如，由第一节点和第二节点中的G节点确定该至少一个子载波组的分组参数、该至少一个子载波组的信道状态信息的计算方式，并发送第九指示信息和第十指示信息，分别用于指示该至少一个子载波组的分组参数和该至少一个子载波组的信道状态信息的计算方式。
可选的，第九指示信息和/或第十指示信息和上述第八指示信息可以承载在同一消息中，例如第二消息，如此，可以节省资源开销。其中，第二消息可以和第一消息相同或不同，本申请不做限制。
在具体实现过程中，子载波组包含的子载波数量可以与测距范围相关。例如，想要测距范围越大，则子载波组包含的子载波数量越小，反之，想要测距范围越小，则子载波组包含的子载波数量越大。
例如，用D max表示最大测距范围，B SC表示子载波组包含的子载波数量，则满足如下关系：
D max＝c/2B SC；
其中，c的取值为光速3×10 8m/s。例如，B SC＝480kHz时，对应最大测距范围为312.5m；B SC＝480×4kHz时，对应的最大测距范围为78.125m。
在实际应用时，对于不需要大测距范围的定位应用，可以扩大对应的子载波组间隔，从而减少反馈的数据量，减少反馈的开销和功耗。
在具体实现过程中，子载波组包含的子载波数量还可以与第一节点的反馈能力相关，例如能够反馈的数据量。例如，第一节点能够反馈的数据量越少，则子载波组包含的子载波数据多，反之，第一节点能够反馈的数据量越多，则子载波组包含的子载波数据少。
作为一种可选的实施方式，可以用一个参考功率水平RPL(Reference Power Level)作为参考值，将待反馈的信道状态信息，如IQ值，表示为相对RPL的相对值。
比如：
Figure PCTCN2022123357-appb-000004
其中，IQ[linear]表示相对RPL[dBm]的相对值(非dB值)，RPL[dBm]表示实测值IQ[dBm]所使用的相对参考值，IQ[dBm]表示采样点的实际测量值。设置参考值RPL，有利于增大CSI反馈信息的动态范围，使有限信息比特可以指示更多的CSI，提高测量信息反馈的准确性，减少量化误差。根据上式，CSI信息的发送设备可根据测量得到的IQ[linear]和RPL[dBm]，计算得到待反馈的IQ[dBm]。上式中的分母1024可以换为其它的值。
在具体实现时，对于一个或多个载波信道，可以只反馈一个参考值RPL[dBm]，以减少反馈CSI信息的数据量；或者每C个载波信道反馈一个参考值，其中C为正整数；或者每S个子载波反馈一个参考值，其中S为正整数。可选的，对于一个载波信道，参考值RPL[dBm]需要随CSI信息(例如表2或表3所示的CSI信息)一起反馈。设置参考值RPL，有利于增大CSI反馈信息的动态范围，使有限信息比特可以指示更多的CSI，提高测量信息反馈的准确性，减少量化误差。
当跳频的频宽范围较大时，可以不同的信道上反馈不同的RPL值，例如信道1上反馈RPL1，信道2上反馈RPL2。根据不同信道上接收符号的平均功率来设置不同的RPL值，可以克服跳频频宽范围较大时的频率选择性，给出更准确的CSI量化值。
待反馈数据量的示例：对于1次80MHz OFDM信号测量，待反馈数据量为38*4*12*2＝3648bit；对于3次80MHz OFDM信号测量，待反馈数据量为38*4*12*2*3＝10944bit。可以看出，即使对于80MHz OFDM的跳频，待反馈数据量也不超过11kbit。可见，上述方式可以有效减少数据反馈量，使得第一节点在较短时间内完成CSI反馈信息的传输。
上述步骤S201～S203，给出了第一节点和第二节点进行测距交互时，第一节点如何反馈测量信息的方案，即第一节点通过测量第一测距帧得到第一测量信息之后，根据第一测量信息和第一反馈方式向第二节点发送第二测量信息，可以提高测距的可靠性。并且，上述方案提供了多种反馈方式，第一节点可以灵活选择任意一种反馈方式进行反馈，相对单一固定的反馈方式，能够实现测量信息灵活反馈。
可以理解的，本申请实施例中，当第一节点为T节点时，其CSI信息反馈分成两种反馈类型：反馈类型1为针对G节点测量的CSI信息、反馈类型2为针对T节点测量的CSI信息。上种两种类型的CSI反馈流程说明书如下：
反馈类型1：在SLB中，由于初始载波信道上仅支持G链路符号和T链路符号用于承载CSI的反馈信息，因此参与跳频测距的T节点需要将CSI信息反馈给G节点。如果被测节点或被定位节点是G节点，则G节点根据自己测量的至少一个T节点的CSI信息、从 至少一个T节点收到的CSI信息，进行CSI信息的合并处理，以获得测距结果。其中，测距结果包括第一节点和第二节点的距离。
反馈类型2：在SLB中，如果G节点和T2节点是定位锚点，T1节点是被测量的目标节点(被测节点)，则T1节点先将测量的T2节点的CSI信息(表示为T2-T1)发送至G节点，再由G节点将收到的CSI信息T2-T1发送给T2节点，使得T2节点能根据测量T1节点的CSI信息(T1-T2)、从G节点收到的CSI信息(T2-T1)进行合并处理，从而得到T1与T2节点的距离。
如此，有利于减少不同信道上的测距交互之间的时间间隔，从而减少了信道跳频测量的总时长，有利于应对移动目标测距时的信道动态变化，可以提高测距准确度。
一种可能的设计中，在步骤S203之后，第二节点可以根据第二测量信息获取测距结果。其中，测距结果包括第一节点和第二节点的距离。
以第一节点和第二节点的测距交互是双边测距交互为例，即第一节点对第二节点发送的测距帧(即第一测距帧)进行测量，同时第二节点也对第一节点发送的测距帧(如第二测距帧)测量。相应的，第二节点在该至少一个信道上接收第二测距帧，对第二测距帧进行测量得到第三测量信息，进而第二节点根据第二测量信息和第三测量信息确定测距结果。其中，测距结果包括第一节点和第二节点的距离。
一种可能的设计中，第一节点和第二节点可以进行跳频测距。
示例性的，上述至少一个信道属于第一信道组，在步骤S201之前或步骤S203之后，方法还可以包括：
第二节点在第二信道组上发送第三测距帧，第一节点在第二信道组上接收第三测距帧；第一节点对所述第三测距帧进行测量，得到第四测量信息；第一节点根据第四测量信息和第一反馈方式发送第五测量信息。其中，第二信道组中包括一个或多个信道，且第二信道组与第一信道组至少有一个信道不同。
例如，参见图11，为跳频测距的一个示例，第一节点和第二节点可以在信道组1、2、3上分别进行一次测距交互，上述S201～S203可以是信道组1、2、3中任意一个信道组上的测距交互。
通过跳频测距，可以实现合并出大带宽信号测量的技术效果，可以提高测距分辨率和测距准确度。
一种可能的设计中，第一节点在对第一测距帧测量之后，除了反馈CSI信息(即发送第二测量信息)、RPL之外，还可以一起反馈该至少一个信道的SNR。其中，SNR可以是一个或多个载波信道对应的SNR，或者是一个载波信道组对应的平均SNR，本申请不做限制。其中，SNR的单位是dB。
如此，第二节点可以使用SNR指示所反馈的CSI信息的信号质量，进而基于CSI信息的信号质量来针对CSI信息做测距计算，例如合并高SNR的信道的CSI信息，可以提高测距的准确性。此外，当SNR不足以指示信号质量时，还可以采用对信号质量评级或打分数的方式来指示CSI信息的信号质量。
一种可能的设计中，第一节点可以在至少一个初始载波信道上反馈测量信息(如上文中的第二测量信息和第五测量信息)。例如图11所示，第一节点和第二节点的初始载波信道为信道组3，则在完成3次测距交互之后，回到信道组3上集中进行信道状态信息的反馈。
可以理解的，本文中个实施方式可以单独实施，也可以相互结合实施。
基于同一技术构思，本申请实施例提供一种测距装置，该装置包括用于执行上述方法实施例中第一节点或第二节点所执行的方法的模块或单元或手段。该模块或单元或手段可以通过软件实现，或者通过硬件实现，也可以通过硬件执行相应的软件实现。
示例性的，参见图12，该装置可以包括接收模块1201、处理模块1202、发送模块1203。
当该装置位于上述第一节点时，接收模块1201，用于在至少一个信道上接收第一测距帧；处理模块1202，用于对第一测距帧进行测量，得到第一测量信息；发送模块1203，用于根据第一测量信息和第一反馈方式发送第二测量信息。
当该装置位于上述第一节点时，发送模块1203，用于在至少一个信道上发送第一测距帧；第一测距帧用于第一节点进行测量得到第一测量信息；接收模块1201，用于接收来自第一节点的第二测量信息，其中第二测量信息根据第一测量信息和第一反馈方式确定。
应理解，上述方法实施例涉及的各步骤的所有相关内容均可以援引到对应功能模块的功能描述，在此不再赘述。
在具体实施时，上述装置可以有多种产品形态，以下介绍几种可能的产品形态。
参见图13，本申请实施例还提供一种测距装置，该装置包括至少一个处理器1301和接口电路1302；接口电路1302用于接收来自该装置之外的其它装置的信号并发送或接收至处理器1301或将来自处理器1301的信号发送给该装置之外的其它通信装置，处理器1301通过逻辑电路或执行代码指令用于实现上述第一设备或第二设备所执行的方法。
应理解，本申请实施例中提及的处理器可以通过硬件实现也可以通过软件实现。当通过硬件实现时，该处理器可以是逻辑电路、集成电路等。当通过软件实现时，该处理器可以是一个通用处理器，通过读取存储器中存储的软件代码来实现。
示例性的，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。
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或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Eate 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。
应注意，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。
基于相同技术构思，本申请实施例还提供一种计算机可读存储介质，包括程序或指令，当所述程序或指令在计算机上运行时，使得如上述第一节点或第二节点所执行的方法被执行。
基于相同技术构思，本申请实施例还提供一种包含指令的计算机程序产品，该计算机程序产品中存储有指令，当其在计算机上运行时，使得上述第一节点或第二节点所执行的方法被执行。
基于相同技术构思，本申请实施例还提供一种测距系统，包括上述第一节点或第二节点。
基于相同技术构思，本申请实施例还提供一种终端设备，为上文所述的第一节点或第二节点，或者，位于上文所述的第一节点或第二节点上。其中，终端设备可以是车辆、无人机、直升机、飞机、轮船、智能运输设备、或智能家居设备等。本申请实施例对终端设备的具体形态不做限定。
本申请中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A,B可以是单数或者复数。在本申请的文字描述中，字符“/”，一般表示前后关联对象是一种“或”的关系；在本申请的公式中，字符“/”，表示前后关联对象是一种“相除”的关系。“包括A，B和C中的至少一个”可以表示：包括A；包括B；包括C；包括A和B；包括A和C；包括B和C；包括A、B和C。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。

Claims (33)

  1. 一种测距方法，其特征在于，包括：
    第一节点在至少一个信道上接收第一测距帧；所述第一节点对所述第一测距帧进行测量，得到第一测量信息；
    所述第一节点根据所述第一测量信息和第一反馈方式发送第二测量信息。
  2. 如权利要求1所述的方法，其特征在于，
    所述第一测距帧中包含至少一个符号；
    所述第一测量信息指示对应所述至少一个符号的至少一个有效子载波的信道状态信息。
  3. 如权利要求2所述的方法，其特征在于，所述第一反馈方式指示反馈全部有效子载波的信道状态信息，所述第二测量信息与所述第一测量信息指示相同的所述信道状态信息。
  4. 如权利要求2所述的方法，其特征在于，所述第一反馈方式指示反馈直流DC子载波的信道状态信息，所述第二测量信息包括对应所述至少一个符号的DC子载波的信道状态信息，其中所述DC子载波的信道状态信息根据与所述DC子载波相邻的有效子载波的信道状态信息进行插值确定。
  5. 如权利要求4所述的方法，其特征在于，所述插值包括线性插值、最近邻插值、三次样条插值、和/或二次插值中的至少一种。
  6. 如权利要求2所述的方法，其特征在于，所述第一反馈方式指示反馈至少一个子载波组的信道状态信息，对应所述至少一个符号的至少一个有效子载波属于所述至少一个子载波组，所述第二测量信息包括所述至少一个子载波组中每个子载波组的信道状态信息。
  7. 如权利要求6所述的方法，其特征在于，对应所述至少一个符号的每连续M个子载波为一个子载波组，所述M为正整数；或者，
    对应所述至少一个符号的每连续P或L个子载波为一个子载波组，所述P、所述L为正整数，P≠L。
  8. 如权利要求6所述的方法，其特征在于，所述至少一个信道包括第一信道和第二信道；
    与所述第一信道对应的子载波中，每连续Q个子载波为一个子载波组，与所述第二信道对应的子载波中，每连续N个子载波为一个子载波组，所述Q、所述N为正整数，Q≠N。
  9. 如权利要求6-8任一项所述的方法，其特征在于，所述每个子载波组的信道状态信息为所述每个子载波组中所有有效子载波的信道状态信息的平均值或中位值或最大值或最小值，或所述每个子载波组中的一个子载波的信道状态信息。
  10. 如权利要求6-9任一项所述的方法，其特征在于，子载波组包含的子载波数量与测距范围相关。
  11. 如权利要求1-10任一项所述的方法，其特征在于，
    所述第一测距帧的符号具有循环前缀CP；所述第一节点对所述第一测距帧进行测量，包括：所述第一节点从所述第一测距帧中的第一个符号开始测量；或者，
    所述第一测距帧的符号不具有CP；所述第一节点对所述第一测距帧进行测量，包括：所述第一节点从所述第一测距帧的第二个符号开始测量；或者，
    所述第一节点根据指示信息或者预先设置，从所述第一测距帧的指定符号开始测量。
  12. 如权利要求1-11任一项所述的方法，其特征在于，所述第一测距帧包括多个符号，所述第一节点对所述第一测距帧进行测量，包括：
    所述第一节点根据所述多个符号对应的信道状态信息，确定所述第一测距帧中第R个符号对应的信道状态信息，所述R为正整数；其中，所述第一测量信息指示所述第R个符号对应的信道状态信息；或者，
    所述第一节点根据所述多个符号对应的信道状态信息，确定所述多个符号对应的信道状态信息的平均值；所述第一测量信息指示所述多个符号对应的信道状态信息的平均值。
  13. 如权利要求1-12任一项所述的方法，其特征在于，
    所述第一测距帧中的符号使用第一类无线帧的开销符号的资源，所述第一类无线帧包括数据符号和开销符号；所述至少一个信道为初始载波信道；或者，
    所述第一测距帧中的符号使用第一类无线帧的数据符号和开销符号的资源，所述第一类无线帧包括数据符号和开销符号；所述至少一个信道为初始载波信道；或者，
    所述第一测距帧中的符号使用第二类无线帧的数据符号，所述第二类无线帧中的符号全部为数据符号，所述至少一个信道为初始载波信道或跳频后的信道。
  14. 如权利要求1-13任一项所述的方法，其特征在于，还包括：所述第一节点发送或接收以下一种或多种信息：
    第一指示信息，用于指示所述第一测距帧的类型；
    第二指示信息，用于指示所述第一测距帧具有CP或不具有CP；
    第三指示信息，用于指示所述第一测距帧具有常规CP或扩展CP；
    第四指示信息，用于指示所述第一节点反馈所述至少一个信道的信道状态信息和/或所述至少一个信道的信道编号信息；
    第五指示信息，用于指示所述第一测距帧的测量起始位置；
    第六指示信息，用于指示所述第一节点反馈所述第一测距帧中第R个符号对应的信道状态信息，所述R为正整数；
    第七指示信息，用于指示所述第一节点反馈所述第一测距帧中的多个符号对应的信道状态信息的平均值；
    第八指示信息，用于指示所述第一节点反馈信道状态信息的第一反馈方式，所述第一反馈方式为：反馈至少一个子载波组的信道状态信息，或者，反馈DC子载波的信道状态信息，或者，反馈全部有效子载波的信道状态信息。
  15. 如权利要求14所述的方法，其特征在于，所述第一反馈方式为反馈所述至少一个子载波组的信道状态信息时，所述第一节点还发送或接收以下一种或多种信息：
    第九指示信息，用于指示所述至少一个子载波组的分组参数；
    第十指示信息，用于指示所述至少一个子载波组的信道状态信息的计算方式。
  16. 如权利要求1-15任一项所述的方法，其特征在于，所述方法还包括：
    根据校准信息对所述第一测量信息进行校准，得到校准后的第一测量信息；其中，所述校准信息根据所述至少一个信道确定；
    所述第一节点根据所述第一测量信息和第一反馈方式发送第二测量信息，包括：
    所述第一节点根据所述校准后的第一测量信息和第一反馈方式发送第二测量信息。
  17. 如权利要求1-16任一项所述的方法，其特征在于，所述方法还包括：
    所述第一节点在所述至少一个信道上发送第二测距帧，所述第二测距帧用于所述第二节点进行测量得到第三测量信息。
  18. 如权利要求1-17任一项所述的方法，其特征在于，所述至少一个信道属于第一信道组，所述方法还包括：
    所述第一节点在第二信道组上接收第三测距帧；所述第一节点对所述第三测距帧进行测量，得到第四测量信息；其中所述第二信道组中包括一个或多个信道，所述第二信道组与所述第一信道组至少有一个信道不同；
    所述第一节点根据所述第四测量信息和所述第一反馈方式发送第五测量信息。
  19. 如权利要求18所述的方法，其特征在于，所述方法包括：
    所述第一节点在至少一个初始载波信道上发送所述第二测量信息和所述第五测量信息。
  20. 如权利要求12所述的方法，其特征在于，所述R的值为预先设置或者预先定义的。
  21. 如权利要求1-20任一项所述的方法，其特征在于，所述信道状态信息包括相对参考功率水平RPL的相对值；
    所述方法还包括：
    所述第一节点发送所述RPL。
  22. 如权利要求1-21任一项所述的方法，其特征在于，还包括：
    所述第一节点发送所述至少一个信道的信噪比SNR。
  23. 一种测距方法，其特征在于，
    第二节点在至少一个信道上发送用于测距的第一测距帧；
    所述第二节点接收来自所述第一节点的第二测量信息，其中，所述第二测量信息对应所述第一测距帧以及第一反馈方式，且所述第二测量信息用于确定测距结果，所述测距结果包括所述第一节点和所述第二节点的距离。
  24. 如权利要求23所述的方法，其特征在于，所述方法还包括：
    所述第二节点在所述至少一个信道上接收第二测距帧，对所述第二测距帧进行测量得到第三测量信息；
    所述第二节点根据所述第二测量信息和所述第三测量信息确定所述测距结果。
  25. 如权利要求23或24所述的方法，其特征在于，所述至少一个信道属于第一信道组，所述方法还包括：
    所述第二节点在第二信道组上发送用于测距的第三测距帧；其中，所述第二信道组中包括一个或多个信道，所述第二信道组与所述第一信道组至少有一个信道不同；
    所述第二节点接收来自所述第一节点的第五测量信息，其中，所述第五测量信息对应所述第三测距帧和所述第一反馈方式。
  26. 如权利要求25所述的方法，其特征在于，所述方法包括：
    所述第二节点在至少一个初始载波信道上接收所述第二测量信息和所述第五测量信息。
  27. 如权利要求23-26任一项所述的方法，其特征在于，所述方法还包括：
    所述第二节点接收至少一个信道的SNR。
  28. 一种测距装置，其特征在于，包括：
    接收模块，用于在至少一个信道上接收第一测距帧；
    处理模块，用于对所述第一测距帧进行测量，得到第一测量信息；
    发送模块，用于根据所述第一测量信息和第一反馈方式发送第二测量信息。
  29. 一种测距装置，其特征在于，包括：
    发送模块，用于在至少一个信道上发送用于测距的第一测距帧；
    接收模块，用于接收来自所述第一节点的第二测量信息，其中，所述第二测量信息对应所述第一测量信息和第一反馈方式，且所述第二测量信息用于确定测距结果，所述测距结果包括所述第一节点和所述测距装置所在节点的距离。
  30. 一种测距装置，其特征在于，包括：至少一个处理器和接口电路；
    所述接口电路用于接收来自所述装置之外的其它装置的信号并发送或接收至所述处理器或将来自所述处理器的信号发送给所述装置之外的其它装置，所述处理器通过逻辑电路或执行代码指令用于实现如权利要求1-22中任一项所述的方法，或者，用于实现如权利要求23-27中任一项所述的方法。
  31. 一种计算机可读存储介质，其特征在于，所述存储介质中存储有计算机程序或指令，当所述计算机程序或指令被通信装置执行时，实现如权利要求1-22中任一项所述的方法，或者，实现如权利要求23-27中任一项所述的方法。
  32. 一种计算机程序产品，其特征在于，所述计算机程序产品中存储有指令，当其在计算机上运行时，使得计算机执行如权利要求1-22中任一项所述的方法，或者，执行如权利要求23-27中任一项所述的方法。
  33. 一种测距系统，其特征在于，包括：
    第一节点，用于执行如权利要求1-22中任一项所述的方法；
    第二节点，用于执行如权利要求23-27中任一项所述的方法。
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