WO2024082892A1 - 用于uwb的调度方法和相关产品 - Google Patents

用于uwb的调度方法和相关产品 Download PDF

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Publication number
WO2024082892A1
WO2024082892A1 PCT/CN2023/119097 CN2023119097W WO2024082892A1 WO 2024082892 A1 WO2024082892 A1 WO 2024082892A1 CN 2023119097 W CN2023119097 W CN 2023119097W WO 2024082892 A1 WO2024082892 A1 WO 2024082892A1
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Prior art keywords
time unit
uwb
bitmap
scheduling information
scheduling
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PCT/CN2023/119097
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English (en)
French (fr)
Inventor
吴宽
黄磊
钱彬
杨讯
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华为技术有限公司
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Publication of WO2024082892A1 publication Critical patent/WO2024082892A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/69—Spread spectrum techniques
    • H04B1/7163—Spread spectrum techniques using impulse radio
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/12—Wireless traffic scheduling
    • H04W72/1263—Mapping of traffic onto schedule, e.g. scheduled allocation or multiplexing of flows

Definitions

  • the present application relates to the field of communications, and in particular to a scheduling method and related products for UWB.
  • Ultra-wideband (UWB) technology is a wireless communication and sensing ranging technology that uses nanosecond non-sinusoidal narrow pulses to transmit signals, so it occupies a wide spectrum range. Due to its narrow pulses and extremely low radiation spectrum density, the UWB system has the advantages of strong multipath resolution, low power consumption, and strong confidentiality, and has attracted widespread attention in the industry.
  • the scheduling information element (IE) for UWB applications (such as ranging, sensing, positioning, communication, etc.) is used to schedule one or more UWB devices to implement UWB applications.
  • the existing scheduling information elements for UWB applications usually have the problem of large signaling overhead. Therefore, it is necessary to provide an enhanced scheduling IE design for UWB applications in order to reduce the signaling overhead of the scheduling information elements for UWB applications.
  • the embodiment of the present application discloses a scheduling method for UWB, which can reduce signaling overhead.
  • an embodiment of the present application provides a scheduling method for UWB, the method comprising: generating scheduling information, the scheduling information comprising a time unit bitmap and a bitmap offset, the time unit bitmap being used to indicate whether the time unit is used for a UWB device to transmit a UWB signal, the bitmap offset being used to determine a starting time unit for the UWB device to transmit a UWB signal, the time unit corresponding to the first bit of the time unit bitmap being the starting time unit; and sending the scheduling information.
  • the bitmap offset and the time unit bitmap can be used to determine whether each time unit is used for the UWB device to transmit the UWB signal.
  • the bitmap offset is used to determine the starting time unit for the UWB device to transmit the UWB signal, which can reduce the bits occupied by the time unit bitmap, thereby reducing the signaling overhead.
  • the value of the bitmap offset is the number of time units before the start time unit in a measurement cycle.
  • a measurement cycle refers to a time period in which one or more UWB devices complete one or more measurement tasks.
  • the measurement may be one or more tasks of ranging, sensing, positioning, or communication tasks.
  • the start time unit is a time unit in the measurement cycle.
  • the measurement cycle may include a control phase, a measurement phase, and a reporting phase.
  • the value of the bitmap offset is the number of time units before the start time unit in a measurement period, so that the start time unit for the UWB device to transmit the UWB signal is determined according to the value of the bitmap offset.
  • the value of the bitmap offset is the number of time units before the start time unit in a communication cycle.
  • the communication cycle is the entire cycle for completing one or more communication tasks.
  • the start time unit is a time unit in the communication cycle.
  • the value of the bitmap offset is the number of time units before the start time unit in a communication cycle, so that the start time unit for the UWB device to transmit the UWB signal is determined according to the value of the bitmap offset.
  • the time unit bitmap includes K bits, K is an integer greater than 0, and when one of the K bits takes a set value, the set value indicates that the time unit corresponding to the bit is used for the UWB device to transmit the UWB signal.
  • the set value is 0 or 1.
  • the measuring cycle is a distance measuring cycle, that is, a distance measuring wheel.
  • the measuring cycle may also be a positioning wheel or a sensing wheel.
  • the time unit bitmap is a time unit bitmap corresponding to a portion of time units within a measurement period
  • the scheduling information further includes a field for indicating a scheduling period for the UWB device to transmit the UWB signal.
  • the time unit bitmap and the bitmap offset are combined to determine the time unit used to transmit the UWB signal in the first scheduling period in which the UWB device transmits the UWB signal.
  • the scheduling information also includes a field for indicating the scheduling period in which the UWB device transmits the UWB signal.
  • the time unit bitmap, the bitmap offset, and the scheduling period are combined to determine the time unit used to transmit the UWB signal in each scheduling period in which the UWB device transmits the UWB signal.
  • the signaling overhead can be reduced by combining the time unit bitmap, the bitmap offset, and the scheduling period to determine the time unit used to transmit the UWB signal in each scheduling period in which the UWB device transmits the UWB signal.
  • the scheduling information further includes a field for indicating a number of repetitions of the UWB signal transmitted by the UWB device.
  • the scheduling information further includes a field for indicating the number of repetitions of the UWB signal transmission by the UWB device, which can flexibly indicate the number of repetitions of the UWB signal transmission by the UWB device.
  • the scheduling information implicitly indicates (or non-explicitly) the number of repetitions of the UWB signal transmitted by the UWB device.
  • any scheduling information defaults to 16 repetitions of the UWB signal transmitted by the UWB device, and the scheduling information does not need to carry information to indicate the number of repetitions of the UWB signal transmitted by the UWB device.
  • the UWB device does not need to know the number of repetitions of transmitting the UWB signal through the scheduling information.
  • the UWB device is pre-configured with the number of repetitions of transmitting the UWB signal.
  • the scheduling information implicitly indicates (or non-explicitly) the number of repetitions of the UWB signal transmitted by the UWB device, which can reduce the occupied bits.
  • the scheduling information further includes a field for instructing the UWB device to periodically transmit the UWB signal.
  • the scheduling information also includes a field for instructing the UWB device to periodically transmit the UWB signal, which can enable the UWB device to periodically transmit the UWB signal, thereby saving signaling overhead.
  • the scheduling information further includes a field for indicating the length of the time unit bitmap.
  • the scheduling information also includes a field for indicating the length of the time unit bitmap, which can accurately determine the length of the time unit bitmap and further determine the time unit corresponding to each bit in the time unit bitmap.
  • the scheduling information further includes an address of the UWB device, and the length of the address of the UWB device is 2 bytes or 8 bytes.
  • the scheduling information also includes the address of the UWB device so that the UWB device can know the time unit to be occupied by the UWB transmission.
  • the scheduling information further includes a field for indicating an address type of the UWB device, and the address type of the UWB device includes a short address and an extended address.
  • the scheduling information further includes a field for indicating the address type of the UWB device, so as to be applicable to UWB devices with different address types.
  • the scheduling information also includes a scheduling list and a field for indicating the number of list elements in the scheduling list, one list element in the scheduling list is used to schedule a UWB device, and the time unit bitmap and the bitmap offset correspond to the same list element in the scheduling list.
  • the number of list elements in the scheduling list can be accurately indicated.
  • the scheduling information includes a control field and a scheduling list field, the control field including: a field for indicating the address type of the UWB device, a field for indicating the number of list elements in the scheduling list field, and a field for indicating that the UWB device periodically transmits the UWB signal; a list element in the scheduling list field includes: the time unit bitmap, the bitmap offset, a field for indicating the scheduling period for the UWB device to transmit the UWB signal, a field for indicating the number of repetitions of the UWB device transmitting the UWB signal, the address of the UWB device, and a field for indicating the length of the time unit bitmap.
  • the bitmap offset is used to determine the starting time unit for the UWB device to transmit the UWB signal, which can reduce the bits occupied by the time unit bitmap, thereby reducing the signaling overhead.
  • the time unit used to transmit the UWB signal in each scheduling period of the UWB device transmitting the UWB signal is determined in combination with the time unit bitmap, the bitmap offset, and the scheduling period, which can further reduce the signaling overhead.
  • the time unit is any one of the following: a time slot (e.g., a ranging time slot), a ranging schedule time unit (RSTU), a sensing schedule time unit (SSTU).
  • a sensing schedule time unit is a time unit that can be used to determine the duration of a sensing block, a sensing round, or a sensing time slot.
  • a time unit may also be other time lengths.
  • the time unit can be flexibly configured according to the actual application scenario.
  • the method is applied to ranging, perception, or positioning scenarios.
  • signaling overhead can be reduced by executing the scheduling method of the first aspect.
  • the method is applied to application scenarios with a repetitive periodic transmission structure, such as ranging based on narrow-band assisted multi-millisecond (NBA-MMS), positioning based on uplink-time difference of arrival (UL-TDOA), positioning based on downlink-time difference of arrival (DL-TDOA), perception and other scenarios.
  • NBA-MMS narrow-band assisted multi-millisecond
  • UL-TDOA uplink-time difference of arrival
  • DL-TDOA downlink-time difference of arrival
  • the method is applied to an application scenario with a repeated periodic transmission structure, which can effectively reduce signaling overhead.
  • an embodiment of the present application provides another scheduling method for UWB, the method comprising: receiving first scheduling information, the first scheduling information comprising a time unit bitmap and a bitmap offset, the time unit bitmap being used to indicate whether the time unit is used for the UWB device to transmit a UWB signal, the bitmap offset being used to determine the starting time unit for the UWB device to transmit the UWB signal, the time unit corresponding to the first bit of the time unit bitmap being the starting time unit; transmitting a UWB signal according to the first scheduling information.
  • the time unit bitmap and the bitmap offset can be combined to indicate multiple time units allocated to the UWB device for transmitting the UWB signal. Since the bitmap offset is used to determine the starting time unit for the UWB device to transmit the UWB signal, the bits occupied by the time unit bitmap are reduced, thereby reducing the signaling overhead.
  • the value of the bitmap offset is the number of time units before the start time unit in a measurement cycle.
  • the measurement cycle is a whole cycle for completing ranging, sensing, positioning, or communication tasks.
  • the start time unit is a time unit in the measurement cycle.
  • the value of the bitmap offset is the number of time units before the start time unit in a measurement cycle.
  • the start time unit for the UWB device to transmit the UWB signal is determined based on the value of the bitmap offset, which can reduce the bits occupied by the time unit bitmap.
  • the value of the bitmap offset is the number of time units before the start time unit in a communication cycle.
  • the communication cycle is the entire cycle for completing one or more communication tasks.
  • the start time unit is a time unit in the communication cycle.
  • the value of the bitmap offset is the number of time units before the start time unit in a communication cycle.
  • the start time unit for the UWB device to transmit the UWB signal is determined based on the value of the bitmap offset, which can reduce the bits occupied by the time unit bitmap.
  • the time unit bitmap includes K bits, K is an integer greater than 0, and when one of the K bits takes a set value, the set value indicates that the time unit corresponding to the bit is used for the UWB device to transmit the UWB signal.
  • the set value is 0 or 1.
  • the measuring cycle is a distance measuring cycle, that is, a distance measuring wheel.
  • the measuring cycle may also be a positioning wheel or a sensing wheel.
  • the time unit bitmap is a time unit bitmap corresponding to a portion of time units within a measurement period
  • the first scheduling information further includes a field for indicating a scheduling period for the UWB device to transmit the UWB signal.
  • the time unit bitmap and the bitmap offset are combined to determine the time unit used to transmit the UWB signal in the first scheduling period in which the UWB device transmits the UWB signal.
  • the first scheduling information also includes a field for indicating the scheduling period in which the UWB device transmits the UWB signal.
  • the time unit bitmap, the bitmap offset, and the scheduling period are combined to determine the time unit used to transmit the UWB signal in each scheduling period in which the UWB device transmits the UWB signal.
  • the signaling overhead can be reduced by combining the time unit bitmap, the bitmap offset, and the scheduling period to determine the time unit used to transmit the UWB signal in each scheduling period in which the UWB device transmits the UWB signal.
  • the first scheduling information further includes a field for indicating a number of repetitions of the UWB signal transmitted by the UWB device.
  • the first scheduling information further includes a field for indicating the number of repetitions of the UWB signal transmitted by the UWB device, which can flexibly indicate the number of repetitions of the UWB signal transmitted by the UWB device.
  • the first scheduling information implicitly indicates (or non-explicitly) the repetition rate of the UWB device to transmit the UWB signal.
  • any first scheduling information assumes that the number of repetitions of the UWB signal transmitted by the UWB device is 16 times, and the first scheduling information does not need to indicate the number of repetitions of the UWB signal transmitted by the UWB device through the information carried.
  • the UWB device does not need to know the number of repetitions of transmitting the UWB signal through the first scheduling information.
  • the UWB device is pre-configured with the number of repetitions of transmitting the UWB signal.
  • the first scheduling information implicitly indicates (or non-explicitly) the number of repetitions of the UWB signal transmitted by the UWB device, which can reduce the occupied bits.
  • the first scheduling information further includes a field for instructing the UWB device to periodically transmit the UWB signal.
  • the first scheduling information further includes a field for instructing the UWB device to periodically transmit the UWB signal, which can enable the UWB device to periodically transmit the UWB signal, thereby saving signaling overhead.
  • the first scheduling information further includes a field for indicating the length of the time unit bitmap.
  • the first scheduling information also includes a field for indicating the length of the time unit bitmap, which can accurately determine the length of the time unit bitmap and further determine the time unit corresponding to each bit in the time unit bitmap.
  • the first scheduling information further includes an address of the UWB device, and the length of the address of the UWB device is 2 bytes or 8 bytes.
  • the first scheduling information further includes an address of the UWB device so that the UWB device can know the time unit to be occupied by the UWB transmission.
  • the first scheduling information further includes a field for indicating an address type of the UWB device, and the address type of the UWB device includes a short address and an extended address.
  • the first scheduling information further includes a field for indicating the address type of the UWB device, so as to be applicable to UWB devices with different address types.
  • the first scheduling information also includes a scheduling list and a field for indicating the number of list elements in the scheduling list, one list element in the scheduling list is used to schedule a UWB device, and the time unit bitmap and the bitmap offset correspond to the same list element in the scheduling list.
  • the number of list elements in the scheduling list can be accurately indicated.
  • the first scheduling information includes a control field and a scheduling list field, the control field including: a field for indicating the address type of the UWB device, a field for indicating the number of list elements in the scheduling list field, and a field for indicating that the UWB device periodically transmits the UWB signal; a list element in the scheduling list field includes: the time unit bitmap, the bitmap offset, a field for indicating the scheduling period for the UWB device to transmit the UWB signal, a field for indicating the number of repetitions of the UWB device transmitting the UWB signal, the address of the UWB device, and a field for indicating the length of the time unit bitmap.
  • the bitmap offset is used to determine the starting time unit for the UWB device to transmit the UWB signal, which can reduce the bits occupied by the time unit bitmap, thereby reducing the signaling overhead.
  • the time unit used to transmit the UWB signal in each scheduling period of the UWB device transmitting the UWB signal is determined in combination with the time unit bitmap, the bitmap offset, and the scheduling period, which can further reduce the signaling overhead.
  • the time unit is any one of the following: a time slot (eg, a ranging time slot), an RSTU, or an SSTU.
  • the time unit may also be other time lengths.
  • the time unit can be flexibly configured according to the actual application scenario.
  • the method is applied to ranging, perception, or positioning scenarios.
  • signaling overhead can be reduced by executing the scheduling method of the first aspect.
  • the method is applied to an application scenario with a repetitive periodic transmission structure, such as NBA-MMS-based ranging, UL-TDOA-based positioning, DL-TDOA-based positioning, perception and other scenarios.
  • a repetitive periodic transmission structure such as NBA-MMS-based ranging, UL-TDOA-based positioning, DL-TDOA-based positioning, perception and other scenarios.
  • the method is applied to an application scenario with a repeated periodic transmission structure, which can effectively reduce signaling overhead.
  • the method further includes: receiving second scheduling information, a format of the second scheduling information being different from a format of the first scheduling information; and transmitting a UWB signal according to the first scheduling information includes: transmitting a UWB signal according to the first scheduling information according to the order in which the first scheduling information and the second scheduling information are received.
  • the UWB signal is transmitted according to one of the scheduling information, which can save power consumption.
  • an embodiment of the present application provides a communication device, which has the function of implementing the behavior in the method embodiment of the first aspect above.
  • the communication device may be a communication device, or a component of a communication device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can implement all or part of the functions of the communication device.
  • the functions of the communication device can be implemented by hardware, or by hardware executing corresponding software, and the hardware or software includes one or more modules or units corresponding to the above functions.
  • the communication device includes a transceiver module and a processing module, wherein: the processing module is used to generate scheduling information, the scheduling information includes a time unit bitmap and a bitmap offset, the time unit bitmap is used to indicate whether the time unit is used for the UWB device to transmit the UWB signal, the bitmap offset is used to determine the starting time unit of the UWB device to transmit the UWB signal, and the time unit corresponding to the first bit of the time unit bitmap is the starting time unit; the transceiver module is used to send the scheduling information.
  • the processing module is used to generate scheduling information
  • the scheduling information includes a time unit bitmap and a bitmap offset
  • the time unit bitmap is used to indicate whether the time unit is used for the UWB device to transmit the UWB signal
  • the bitmap offset is used to determine the starting time unit of the UWB device to transmit the UWB signal
  • the time unit corresponding to the first bit of the time unit bitmap is the starting time unit
  • the transceiver module
  • Possible implementations of the communication device of the third aspect may refer to various possible implementations of the first aspect.
  • an embodiment of the present application provides a communication device, which has the function of implementing the behavior in the method embodiment of the second aspect above.
  • the communication device may be a communication device, or a component of a communication device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can implement all or part of the functions of the communication device.
  • the function of the communication device may be implemented by hardware, or by hardware executing corresponding software, and the hardware or software includes one or more modules or units corresponding to the above functions.
  • the communication device includes a transceiver module and a processing module, wherein: the transceiver module is used to receive first scheduling information, the first scheduling information includes a time unit bitmap and a bitmap offset, the time unit bitmap is used to indicate whether the time unit is used for the UWB device to transmit the UWB signal, the bitmap offset is used to determine the starting time unit of the UWB device to transmit the UWB signal, and the time unit corresponding to the first bit of the time unit bitmap is the starting time unit; the processing module is used to transmit the UWB signal according to the first scheduling information.
  • the transceiver module is used to receive first scheduling information
  • the first scheduling information includes a time unit bitmap and a bitmap offset
  • the time unit bitmap is used to indicate whether the time unit is used for the UWB device to transmit the UWB signal
  • the bitmap offset is used to determine the starting time unit of the UWB device to transmit the UWB signal
  • the transceiver module is also used to receive second scheduling information, and the format of the second scheduling information is different from the format of the first scheduling information; the processing module is specifically used to transmit the UWB signal according to the first scheduling information based on the order in which the first scheduling information and the second scheduling information are received.
  • Possible implementations of the communication device of the fourth aspect may refer to various possible implementations of the second aspect.
  • an embodiment of the present application provides another communication device, which includes a processor, the processor is coupled to a memory, the memory is used to store programs or instructions, when the program or instructions are executed by the processor, the communication device executes the method shown in the first aspect or the second aspect.
  • the process of sending information (or signal) in the above method can be understood as the process of outputting information based on the instructions of the processor.
  • the processor When outputting information, the processor outputs the information to the transceiver so that it can be transmitted by the transceiver. After the information is output by the processor, it may also need to be processed in other ways before it reaches the transceiver.
  • the processor receives input information
  • the transceiver receives the information and inputs it into the processor.
  • the information may need to be processed in other ways before it is input into the processor.
  • the processor may be a processor specifically used to execute these methods, or may be a processor that executes computer instructions in a memory to execute these methods, such as a general-purpose processor.
  • the processor may also be used to execute a program stored in the memory, and when the program is executed, the communication device executes the method as shown in the first aspect or any possible implementation of the first aspect.
  • the memory is located outside the communication device. In a possible implementation, the memory is located inside the communication device.
  • the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.
  • the communication device further includes a transceiver, and the transceiver is used to receive a signal or send a signal.
  • the present application provides another communication device, which includes a processing circuit and an interface circuit, wherein the interface circuit is used to acquire data or output data; the processing circuit is used to execute the method shown in the first aspect or the second aspect above.
  • the present application provides a computer-readable storage medium, in which a computer program is stored.
  • the computer program includes program instructions, and when the program instructions are executed, the computer executes the method shown in the first aspect or the second aspect above.
  • the present application provides a computer program product, which includes a computer program, and the computer program includes program instructions, which, when executed, enable the computer to execute the method shown in the first aspect or the second aspect above.
  • the present application provides a communication system, comprising the communication device described in the third aspect or any possible implementation of the third aspect, and the communication device described in the fourth aspect or any possible implementation of the fourth aspect.
  • the present application provides a chip, comprising a processor and a communication interface, wherein the processor reads instructions stored in a memory through the communication interface to execute the method as shown in the first aspect or the fourth aspect.
  • FIG1 is a schematic diagram of various stages of a distance measuring wheel in the prior art
  • FIG2 is a schematic diagram of DL-TDOA positioning based on UWB signals
  • FIG3 is a schematic diagram of an example of a star topology structure
  • FIG4 is a schematic diagram of an example of a point-to-point topology or a mesh topology
  • FIG5 is an example of a UWB system to which the technical solution provided by the present application is applicable.
  • FIG6 is a flow chart of a scheduling method for UWB provided in an embodiment of the present application.
  • FIG7 is a flowchart of another scheduling method for UWB provided in an embodiment of the present application.
  • FIG8 is a schematic diagram of a scheduling indication in a ranging scenario provided by an embodiment of the present application.
  • FIG. 9 is an example of a list element in the scheduling information provided in an embodiment of the present application.
  • FIG10 is an example of a bitmap indicating whether a time unit is used for a UWB device to transmit a UWB signal in the prior art
  • FIG11 is an example of a time unit bitmap indicating whether a time unit is used for UWB device 1 to transmit a UWB signal provided by an embodiment of the present application;
  • FIG12 is another example of list elements in scheduling information provided by an embodiment of the present application.
  • FIG13 is a timing diagram of a non-interlacing MMS ranging process (non-interlacing MMS ranging) provided in an embodiment of the present application;
  • FIG14 is a timing diagram of another non-interlaced MMS ranging process provided in an embodiment of the present application.
  • FIG15 is a typical set of scheduling modes that can complete the DL-TDOA positioning process
  • FIG16 is a schematic diagram of scheduling of 8-repetition DL-TDOA positioning provided in an embodiment of the present application.
  • FIG17 is a schematic diagram of the structure of a communication device 1700 provided in an embodiment of the present application.
  • FIG18 is a schematic diagram of the structure of another communication device 180 provided in an embodiment of the present application.
  • FIG19 is a schematic diagram of the structure of another communication device 190 provided in an embodiment of the present application.
  • a process, method, system, product or equipment, etc., comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, etc., or optionally also includes other steps or units inherent to these processes, methods, products or equipment, etc.
  • a corresponds to B means that there is a corresponding relationship between A and B, and B can be determined according to A.
  • determining (or generating) B according to (or based on) A does not mean that B is determined (or generated) only according to (or based on) A, and B can also be determined (or generated) according to (or based on) A and/or other information.
  • a single ranging process is defined as a ranging round.
  • a ranging round is defined as: a ranging round is a period of sufficient duration to complete one entire range-measurement cycle involving the set of ERDEVs participating in the ranging exchange.
  • the minimum processing time unit of each ranging round is a ranging slot.
  • a ranging round there are three phases: ranging control phase, ranging phase, and measurement report phase.
  • FIG1 is a schematic diagram of each phase of a ranging round in the prior art. As shown in FIG1.
  • the ranging control phase includes 1 ranging time slot
  • the ranging control phase can include more than 1 ranging time slot.
  • a single positioning process that is, a process of completing a positioning task
  • the positioning wheel may be called by other names, which is not limited in the present application.
  • the positioning wheel may be a time period (or time cycle) sufficient to complete a complete positioning task.
  • the meaning of a positioning wheel is similar to that of a ranging wheel, the difference being that one is a time period corresponding to ranging, and the other is a time period corresponding to positioning.
  • the minimum processing time unit of each positioning wheel is a positioning slot. In a positioning wheel, it can be divided into three phases: positioning control phase, positioning phase, and positioning report phase.
  • a single perception process that is, a process of completing a perception task
  • the perception round can be other names, which are not limited in this application.
  • a perception round can be a time period (or time cycle) sufficient to complete a complete perception task.
  • the meaning of a perception wheel is similar to that of a ranging wheel, the difference being that one is a time period corresponding to ranging, and the other is a time period corresponding to perception.
  • the minimum processing time unit of each perception round is a sensing slot. In a perception round, it can be divided into three phases: sensing control phase, sensing phase, and sensing report phase.
  • a measurement cycle is a time period during which one or more UWB devices complete one or more measurement tasks.
  • a measurement task may be a ranging task, a positioning task, a sensing task, etc.
  • a measurement cycle may be a ranging wheel, a positioning wheel, or a sensing wheel.
  • a communication cycle is a time period during which one or more UWB devices complete one or more communication tasks.
  • the names of the different stages in a single measuring wheel are only examples and do not constitute any limitation on the scope of protection of the present application.
  • the above-mentioned measurement control stage can be understood as a stage for configuring the required parameters in the measuring wheel.
  • the above-mentioned measurement stage can be understood as a stage for performing measurements.
  • the above-mentioned measurement result reporting stage can be understood as a stage for reporting measurement results, and can also be called the end of the measurement stage.
  • the size of each field represents the number of bits occupied by each field.
  • UWB can be used for indoor positioning.
  • the principle methods of UWB positioning include but are not limited to: UL-TDOA, DL-TDOA.
  • Figure 2 is a schematic diagram of DL-TDOA positioning based on UWB signals. DL-TDOA positioning based on UWB signals can be called UWB DL-TDOA positioning.
  • A, B, and C represent point devices, and arrows represent the flow direction of UWB positioning/ranging signals.
  • this method arranges three or more anchor devices in the indoor space, and the anchor devices interact with each other in a two-way UWB signal to provide positioning signals for the tag device; the tag device listens to the UWB positioning/ranging interaction signals between the anchor devices and calculates the arrival time difference between each signal, thereby calculating its own position and realizing the positioning function.
  • Prior art 1 provides a scheduling information element for UWB ranging purposes, namely, ranging device management information element (RDM IE).
  • RDM IE ranging device management information element
  • Table 1 shows the format of RDM IE in the prior art.
  • the RDM List Length field is used to indicate the number of elements in the RDM List, that is, the number of list elements (list element) in the format shown in Table 2.
  • Table 2 is the format of the list element in the RDM List in the prior art 1.
  • the list element can be called a scheduling list element (scheduling list element).
  • the RDM List field is a list, where the format of each element in the list is shown in Table 2.
  • the Ranging Slot Index field is used to indicate the index of the time slot assigned to the device participating in ranging corresponding to the current list element.
  • the address of the device is determined by the Address field in Table 2.
  • the Address field is used to indicate the address of the device participating in ranging corresponding to the current list element.
  • the message length M required for the scheduling IE proposed in prior art 1 can be expressed as:
  • Each list element of the RDM IE of the prior art 1 (Table 2) can only allow a device to indicate one time slot, and cannot indicate multiple time slots, resulting in limited flexibility of the RDM IE indication scheduling. Specifically, if a device needs to indicate multiple time slots, multiple list elements as shown in Table 2 are required, which will lead to redundant signaling indications, that is, the aforementioned signaling overhead problem.
  • Prior art 2 provides a bitmap-based scheduling information element (IE) format for UWB purposes.
  • Table 3 shows the format of the bitmap-based scheduling IE provided by prior art 2.
  • Control field occupies a size of one byte (octet)
  • Scheduling List field occupies a size of one or more bytes.
  • Table 4 is the format of the Control field of the bitmap-based scheduling IE provided by the prior art 2.
  • Address Type When Address Type is 0, it indicates that the device address is a short address, that is, the address length is 2 bytes (16 bits); when Address Type is 1, it indicates that the device address is a long address (or extended address), that is, the address length is 8 bytes (64 bits).
  • the device address here refers to the address of the device scheduled by the bitmap-based scheduling IE, that is, the address of the device involved in the scheduling list.
  • Scheduling List Length indicates the number of list elements in the Scheduling List field. List elements are carried in the Scheduling List field. Table 5 is the format of a list element in the Scheduling List in the prior art 2.
  • bitmap in Table 5 represents a one-dimensional bit string, such as 0000100100100000.
  • Bitmap Size is used to indicate the length of the bitmap, wherein the relationship between the Bitmap Size value and the length of the bitmap is shown in Table 6.
  • Table 6 shows the relationship between the Bitmap Size value and the length of the bitmap.
  • the bitmap shown in Table 7 represents a bit string with a length of 8, that is, it represents 8 time slots (each bit corresponds to a time slot), that is, the corresponding Bitmap Size value is 0.
  • a certain bit is 1, it means that the device participating in the ranging corresponding to the list element corresponding to the bitmap sends a UWB signal in the time slot corresponding to the bit.
  • a certain bit is 0, it means that the device does not send a UWB signal in the time slot corresponding to the bit being 0.
  • the bitmap shown in Table 7 represents time slots 1 to 8 (or time slots 0 to 7) from left to right.
  • the bits corresponding to time slots 2, 4, 5, 7, and 8 are all 1, indicating that the device sends UWB signals in time slots 2, 4, 5, 7, and 8.
  • the bits corresponding to time slots 1, 3, and 6 are all 0, indicating that the device does not send UWB signals in time slots 1, 3, and 6.
  • the description method of the bitmap such as Table 7 in this document defaults to a left-to-right representation method. That is, the bitmap represents the order of time slots from near to far from left to right. For example, for a bitmap with a length of 1 byte, the bitmap represents time slots 1 to 8 (or time slots 0 to 7) from left to right.
  • the description of the bitmap in the embodiment of the present application can also be described from right to left, that is, it represents the order of time slots from near to far.
  • the embodiment of the present application does not impose any limitation on the description order of the bitmap. The entire text is illustrated with examples from left to right.
  • the message length M required for the scheduling IE proposed in prior art 2 can be expressed as:
  • the message length of IE is byte
  • the message length of IE is byte.
  • Prior art 2 uses a bitmap to indicate whether a time slot is used to transmit a UWB signal. For time slots that are not used for transmission, the bit still needs to be set to 0, which makes the message representation inflexible and leads to unnecessary message representation redundancy.
  • NBA-MMS narrow-band assisted multi-millisecond
  • DL-TDOA/UL-TDOA positioning sensing and other applications, using only a bitmap to indicate whether a time slot is used to transmit UWB signals will lead to unnecessary repetition redundancy, and when the number of repetitions is large, it will lead to greater representation redundancy.
  • the scheduling information cells provided by the prior art 1 and the prior art 2 both have the disadvantage of large overhead.
  • the scheduling information element provided by technology 1 or prior art 2 causes a problem of large signaling overhead, and the embodiment of the present application provides a scheduling solution for UWB with less signaling overhead.
  • the following introduces the topological structure and system applicable to the scheduling solution for UWB provided by the embodiment of the present application.
  • the scheduling scheme for UWB provided in the embodiment of the present application can work in a star topology, a point-to-point topology, or a mesh topology.
  • the scheduling scheme for UWB provided in the embodiment of the present application can also work in other topologies, which is not limited in the present application.
  • FIG. 3 is a schematic diagram of an example of a star topology. As shown in FIG. 3, the star topology involves a central control node, such as a personal area network (PAN) or a coordinator shown in FIG. 3, and data communication between one or more other devices.
  • PAN personal area network
  • the scheduling scheme for UWB provided in the embodiment of the present application is applicable to data communication/perception/ranging/positioning between a central control node and one or more other devices in a star topology.
  • FIG. 3 is a schematic diagram of an example of a star topology. As shown in FIG. 3, the star topology involves a central control node, such as a personal area network (PAN) or a coordinator
  • FIG. 4 is a schematic diagram of an example of a point-to-point topology or a mesh topology.
  • the scheduling scheme for UWB provided in the embodiment of the present application is also applicable to communication/perception/ranging/positioning between different devices in a point-to-point topology or a mesh topology (FIG. 4).
  • the black node is a full-function device (FFD) and the white node is a reduced-function device (RFD).
  • FFD can act as a PAN coordinator or coordinator, while RFD cannot act as a PAN coordinator or coordinator.
  • FFD devices can communicate with each other and between FFD devices and RFD devices.
  • FFD can be an anchor device or a tag device with strong computing power (such as a UWB tag mounted on a smartphone); while RFD is a tag device with only partial computing power.
  • UWB systems such as UWB systems that support IEEE 802.15.4a standard, IEEE 802.15.4z standard, IEEE 802.15.4ab standard, or the next generation standard of IEEE 802.15.4ab standard.
  • BLUETOOTH Bluetooth
  • HIPERLAN high performance radio LAN
  • WAN wide area network
  • PAN personal area network
  • the UWB system includes an anchor (anchor, only one anchor is shown), one or more tags (tags, only tag 1 and tag 2 are shown).
  • the protocols supported by the anchor and the tag may include IEEE 802.15.4a, IEEE 802.15.4z, IEEE 802.15.4ab and other protocols.
  • the WLAN protocol may also include the next generation protocol of IEEE 802.15.4ab, etc.
  • the anchor point can be an access point, and the tag can be a station (Station, STA). Both the access point and the STA support the WLAN protocol, which may include IEEE 802.11be (or Wi-Fi 7, EHT protocol).
  • An access point is a device with wireless communication capabilities that supports communication using the WLAN protocol and has the ability to communicate with other devices in the WLAN network (such as stations or other access points). Of course, it can also have the ability to communicate with other devices.
  • AP access point
  • non-AP STA one access point station
  • this article refers to access point type stations as access points (APs) and non-access point type stations as stations (STAs).
  • the access point can be a complete device, or a chip or processing system installed in the complete device.
  • the device installed with these chips or processing systems can implement the methods and functions of the embodiments of the present application under the control of the chip or processing system (i.e., AP).
  • the AP in the embodiments of the present application is a device that provides services for stations (STAs), and can support, for example, IEEE 802.15.4a, IEEE 802.15.4z, IEEE802.15.4ab or its next generation.
  • STAs stations
  • AP can be a communication entity such as a communication server, a router, a switch, a bridge, a computer, a mobile phone, etc.
  • AP may include anchor, macro base station, micro base station (also called small station), pico base station, femto base station, relay station, access point, gNB, transmission reception point (TRP), evolved Node B (eNB), radio network controller (RNC), home base station (e.g., home evolved Node B, or home Node B, HNB), base band unit (BBU), WiFi access point (AP), integrated access and backhaul (IAB), etc.
  • TRP transmission reception point
  • eNB evolved Node B
  • RNC radio network controller
  • home base station e.g., home evolved Node B, or home Node B, HNB
  • BBU base band unit
  • WiFi access point AP
  • IAB integrated access and backhaul
  • AP can also be a chip and processing system in these various forms of devices, so as to realize the method and function of the embodiments of the present application.
  • a station is a device with wireless communication function, supports communication using WLAN protocol, and has the ability to communicate with other stations or access points in the WLAN network.
  • STA is any communication device that allows a user to communicate with an AP and then communicate with a WLAN.
  • the communication device can be a complete device, or a chip or processing system installed in the complete device. The device installed with these chips or processing systems can implement the methods and functions of the embodiments of the present application under the control of the chip or processing system (i.e., station).
  • STA may include tag devices (tag)/smart tag devices (smart tag), mobile phones (mobile phones), mobile stations (mobile stations, MS), tablet computers (pad), computers with wireless transceiver functions (such as laptops), virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control (industrial control), wireless terminals in self-driving (self driving), remote medical
  • the station may include wireless terminals in remote medical, wireless terminals in smart grid, wireless terminals in transportation safety, wireless terminals in smart city, wireless terminals in smart home, subscriber unit, cellular phone, wireless data card, personal digital assistant (PDA) computer, tablet computer, laptop computer, machine type communication (MTC) terminal, etc.
  • PDA personal digital assistant
  • MTC machine type communication
  • the station may include various handheld devices with wireless communication function, vehicle-mounted devices, wearable devices, computing devices or other processing devices connected to the wireless modem.
  • the station may be a handheld device (handset), vehicle-mounted devices, wearable devices or terminals in the Internet of Things, Internet of Vehicles, 5G and any form of terminal in the communication system evolved after 5G, etc., and the present application does not limit this.
  • the station may support IEEE 802.15 series protocols, such as IEEE 802.15.4a, IEEE 802.15.4z, and IEEE 802.15.4ab.
  • FIG6 is a flowchart of a scheduling method for UWB provided in an embodiment of the present application.
  • the method shown in FIG6 can be applied to ranging, perception, positioning, communication and other scenarios, such as ranging based on NBA-MMS, positioning based on DL-TDOA, positioning based on UL-TDOA, perception and other scenarios.
  • the method includes:
  • the sending end generates scheduling information.
  • the transmitter can be a UWB device that supports the UWB standard.
  • the transmitter can be an AP or a station.
  • the transmitter can be an FFD or an RFD.
  • the transmitter can be an initiator of ranging, perception, positioning, or communication, that is, a ranging initiator, a perception initiator, a positioning initiator, or a communication initiator; it can also be a responder of ranging, perception, positioning, or communication, that is, a ranging responder, a perception responder, a positioning responder, or a communication responder; it can also be a third-party device (which can be called a controller device), that is, not an initiator or responder of ranging, perception, positioning, or communication.
  • a third-party device which can be called a controller device
  • the transmitter is a third-party device
  • the scheduling information is a ranging control message (RCM).
  • RCM ranging control message
  • all initiators/rangers participating in the ranging process interpret the information related to themselves in the scheduling information (such as the time slot subscript corresponding to the transmission, etc.), and perform the corresponding ranging process in the measurement phase.
  • the scheduling information includes a time unit bitmap and a bitmap offset.
  • the bitmap offset may be referred to as a bitmap offset field or a bitmap offset field.
  • the above-mentioned time unit bitmap is used to indicate whether the time unit is used for the UWB device to transmit the UWB signal.
  • the time unit bitmap includes K bits, each bit corresponds to a time unit, K is an integer greater than 0, and when one of the above-mentioned K bits takes a set value, the set value indicates that the time unit corresponding to the bit is used for the above-mentioned UWB device to transmit the above-mentioned UWB signal.
  • the set value is 0 or 1.
  • the K time units corresponding to the K bits in the time unit bitmap are K time units in a measurement cycle or a positioning cycle, that is, part of the time units in the measurement cycle or the positioning cycle.
  • the measurement cycle may be a ranging cycle (i.e., a ranging round), a sensing round, or a positioning round.
  • the bitmap offset is used to determine the starting time unit for the above-mentioned UWB device to transmit the UWB signal.
  • the time unit corresponding to the first bit of the above-mentioned time unit bitmap is the above-mentioned starting time unit. It can be understood that the bitmap offset is used to determine the time unit corresponding to the first bit of the time unit bitmap.
  • the value of the above bitmap offset is the number of time units before the above start time unit in a measurement cycle, and the multiple time units corresponding to the time unit bitmap are multiple time units in the measurement cycle.
  • the value of the above bitmap offset is the number of time units before the above start time unit in a positioning cycle, and the multiple time units corresponding to the time unit bitmap are multiple time units in the positioning cycle.
  • the scheduling information also includes a field for indicating the scheduling period for the above-mentioned UWB device to transmit the above-mentioned UWB signal (hereinafter referred to as the period index field).
  • the scheduling period refers to the period for the UWB device to transmit the UWB signal within a measurement period or a communication period.
  • a measurement period or a communication period includes 8 scheduling periods of the UWB device, and the UWB transmits the UWB signal in the third time unit and the fifth time unit of each scheduling period, and does not transmit the UWB signal in other time units.
  • the period index field can represent a continuous value, such as 1 to 32 or 1 to 64.
  • the value represented by the P bits included in the period index field is used to indicate the scheduling period for the UWB device to transmit the UWB signal, and P is an integer greater than 0, for example, P is any one of 4, 5, 6, 7, 8, etc.
  • the value represented by the period index field is the number of time units corresponding to the scheduling period, such as 1 to 32 time units.
  • the period index field represents a non-continuous natural number.
  • the natural number represented by the H bits included in the period index field is used to indicate the scheduling period for the UWB device to transmit the UWB signal, and H is an integer greater than 0, for example, H is any one of 1, 2, 3, etc.
  • the period index field represents any one of a group of time units (including multiple time units), such as 8, 16, 32, 64, 128, and other time units.
  • the scheduling period for the UWB device to periodically transmit the UWB signal is 8 time units, that is, the scheduling period for UWB transmission is 8 time units.
  • the scheduling period for the UWB device to periodically transmit the UWB signal is 16 time units, that is, the scheduling period for UWB transmission is 16 time units.
  • the embodiment of the present application does not impose any limitation on the number of time units that the period index field can represent.
  • the value represented by the period index field can be a single time unit or multiple time units. It can be a time slot, such as a ranging time slot, or an RSTU, or a sensing scheduling time unit.
  • the sensing scheduling time unit is a time unit that can be used to determine the duration of a sensing block, a sensing round, or a sensing time slot; it can also be other time lengths, which are not limited in this application.
  • the time unit used to transmit the UWB signal in each scheduling period in which the UWB device transmits the UWB signal is determined in combination with the time unit bitmap, the bitmap offset, and the scheduling period, which can reduce the signaling overhead.
  • the above-mentioned scheduling information also includes a field (hereinafter referred to as a repetition index field) for indicating the number of repetitions of the above-mentioned UWB device transmitting the above-mentioned UWB signal.
  • the repetition index field may be called a repetition index field or other fields.
  • the numerical value represented by the R bits included in the repetition index field is used to indicate the number of repetitions of the UWB device transmitting the UWB signal, where R is an integer greater than 0, for example, R is any one of 2, 3, 4, 5, 6, etc.
  • the repetition index field represents a continuous numerical value, for example, 1 to 32 times, etc.
  • the embodiment of the present application does not impose any limitation on the number that the repetition index field can represent.
  • the repetition index field represents a non-continuous natural number.
  • the repetition index field can represent any number in a numerical combination (including multiple non-continuous natural numbers), such as 8, 16, 32, 64, 128, etc.
  • the number of periodic transmissions of UWB signals (or periodic UWB transmissions) is 16 times.
  • the number of periodic UWB transmissions is 32 times.
  • the embodiment of the present application does not impose any limitation on the non-continuous values that can be represented by the repetition index field.
  • the repetition index field is used to indicate the number of repetitions of the UWB device transmitting the UWB signal.
  • the scheduling information implicitly indicates (or non-explicitly) the number of repetitions of the UWB signal transmitted by the UWB device.
  • any scheduling information defaults to 16 repetitions of the UWB signal transmitted by the UWB device, and the scheduling information does not need to carry information to indicate the number of repetitions of the UWB signal transmitted by the UWB device.
  • the UWB device does not need to know the number of repetitions of transmitting the UWB signal through the scheduling information.
  • the UWB device is pre-configured with the number of repetitions of transmitting the UWB signal.
  • the scheduling information implicitly indicates (or non-explicitly) the number of repetitions of the UWB signal transmitted by the UWB device, which can reduce the occupied bits.
  • the scheduling information further includes a field for instructing the UWB device to periodically transmit the UWB signal (hereinafter referred to as the Period Mode field).
  • the scheduling information further includes a field for instructing the UWB device to periodically transmit the UWB signal, which can enable the UWB device to periodically transmit the UWB signal, thereby saving signaling overhead.
  • the scheduling information further includes a field for indicating the length of the time unit bitmap (hereinafter referred to as the bitmap size field).
  • the scheduling information further includes a field for indicating the length of the time unit bitmap, which can accurately determine the length of the time unit bitmap, and further determine the time unit corresponding to each bit in the time unit bitmap.
  • the scheduling information further includes the address of the UWB device, and the length of the address of the UWB device is 2 bytes or 8 bytes. In this implementation, the scheduling information further includes the address of the UWB device so that the UWB device knows the time unit to be occupied by its UWB transmission.
  • the scheduling information includes a control field and a scheduling list field.
  • the scheduling list field includes one or more list elements.
  • the time unit bitmap, bitmap offset, address of the UWB device, and bitmap size field are included in the same list element.
  • the time unit bitmap, bitmap offset, address of the UWB device, bitmap size field, period index field, and repetition index field are included in the same list element.
  • the sending end sends scheduling information.
  • step 602 the transmitter sends the scheduling information by broadcasting or multicasting.
  • step 602 Another possible implementation of step 602 is as follows: the transmitter sends the scheduling information to one or more UWB devices to be scheduled (i.e., the receiving end) by unicasting.
  • the receiving end receives the scheduling information from the transmitter.
  • the receiving end transmits the UWB signal according to the scheduling information.
  • the receiving end can be an anchor point or a tag.
  • the receiving end can be an FFD or an RFD.
  • the receiving end is a UWB device scheduled by the above scheduling information, and the receiving end receives the scheduling information from the transmitting end.
  • the receiving end can be an initiator of ranging, perception, positioning, or communication, or a responder of ranging, perception, positioning, or communication.
  • a list element in the scheduling information includes a time unit bitmap, a bitmap offset, and address 1; the bitmap offset is used to determine the starting time unit for UWB device 1 (i.e., the receiving end) to transmit the UWB signal, the time unit bitmap is used to indicate whether the time unit is used for UWB device 1 to transmit the UWB signal, and address 1 is the address of UWB device 1; the list element is used to schedule UWB device 1.
  • Step 603 is optional. In actual applications, there can be multiple receiving ends that receive the scheduling information and transmit the UWB signal according to the scheduling information, thereby completing ranging, perception, positioning, or communication.
  • the receiving end may transmit the UWB signal according to the scheduling information: according to the scheduling information, the UWB signal is transmitted to sense, measure distance, locate, or communicate.
  • the scheduling information indicates the time unit for the UWB device 1 to transmit the UWB signal, and the UWB device 1 may transmit the UWB signal according to the scheduling information.
  • the scheduling information indicates the time units used by multiple UWB devices to transmit UWB signals, that is, the scheduling information schedules multiple receiving ends to perform perception, ranging, positioning, or communication by transmitting UWB signals; and multiple UWB devices perform perception, ranging, positioning, or communication by transmitting UWB signals according to the scheduling information.
  • the bitmap offset and the time unit bitmap can be used to determine whether each time unit is used for the UWB device to transmit the UWB signal.
  • the bitmap offset is used to determine the starting time unit for the UWB device to transmit the UWB signal, which can reduce the bits occupied by the time unit bitmap, thereby reducing the signaling overhead.
  • FIG. 7 is a flow chart of another scheduling method for UWB provided in an embodiment of the present application.
  • the method flow in FIG. 7 is a possible implementation of the method described in FIG. 6 .
  • the UWB signal is transmitted according to one of the scheduling information; power consumption can be saved.
  • the method includes:
  • a first transmitting end sends first scheduling information.
  • the first transmitting end may be the transmitting end in FIG6
  • the first scheduling information may be the scheduling signal in FIG6 . Accordingly, the receiving end receives the first scheduling information from the first transmitting end.
  • the receiving end here may be the receiving end in FIG6 .
  • the second sending end sends second scheduling information.
  • the second transmitting end may be the transmitting end in FIG. 6 or may not be the transmitting end in FIG. 6. Accordingly, the receiving end receives the second scheduling information from the second transmitting end.
  • the format of the second scheduling information is different from the format of the first scheduling information.
  • the format of the second scheduling information is different from the format of the first scheduling information.
  • the difference between the format of the second scheduling information and the format of the first scheduling information may be that one or more fields in the second scheduling information are not included in the first scheduling information, or one or more fields in the first scheduling information are not included in the second scheduling information.
  • the second scheduling information includes the second field, and the first scheduling information does not include the second field.
  • the second transmitting end may be the initiator of ranging, perception, positioning, or communication; it may also be the responder of ranging, perception, positioning, or communication; it may also be a third-party device, that is, not the initiator and responder of ranging, perception, positioning, or communication.
  • the receiving end transmits a UWB signal according to the first scheduling information and the second scheduling information according to the order in which the first scheduling information and the second scheduling information are received.
  • step 703 is as follows: the first scheduling information and the second scheduling information are scheduling information received successively by the receiving end in the control phase of the same working period (for example, the ranging control phase of the same ranging round); the receiving end transmits the UWB signal according to the first scheduling information received first.
  • the receiving end may transmit the UWB signal only according to the first scheduling information received first, and may not decode the second scheduling information received later, which can save energy consumption.
  • step 703 Another possible implementation of step 703 is as follows: the first scheduling information and the second scheduling information are scheduling information received successively by the receiving end in the control phase of the same working period (for example, the ranging control phase of the same ranging round); the receiving end transmits the UWB signal according to the first scheduling information received later. The receiving end may transmit the UWB signal only according to the first scheduling information received later, and may not decode the second scheduling information received earlier, which can save energy consumption.
  • the receiving end transmits the UWB signal according to one of the scheduling information according to the order of the received scheduling information in different formats, which can save power consumption.
  • Figure 8 is a schematic diagram of a scheduling indication in a ranging scenario provided by an embodiment of the present application.
  • the controller device sends the scheduling information provided by the embodiment of the present application to the initiator, responder 1, and responder 2 in the ranging control phase, wherein the controller device can be the above-mentioned sending end, and responder 1 or responder 2 is the above-mentioned receiving end.
  • the controller device sends the scheduling information provided by the embodiment of the present application to all initiators and/or responders participating in the ranging in the ranging control phase.
  • the scheduling information can be RCM or other messages; all initiators and/or responders participating in the ranging, after receiving the scheduling information, all initiators and/or responders interpret the information related to themselves in the scheduling information, and perform the corresponding ranging process in the ranging phase; in the measurement reporting phase, the initiator and/or responder can report the measurement results obtained in the ranging phase.
  • Figure 8 shows the application of the scheduling scheme for UWB provided by the embodiment of the present application in the ranging scenario. It is understandable that the scheduling scheme for UWB provided in the embodiment of the present application can also be used for sensing, DL-TDOA positioning, UL-TDOA positioning, communication, etc., which will not be repeated here. This article specifically describes the case where the controller device is a third-party device. When the controller device is an initiator or responder, the scheme described in this article is also applicable and will not be repeated.
  • Figure 8 describes the use of the scheduling information provided by an embodiment of the present application in the ranging control phase.
  • Figure 8 is only an example of the use of the scheduling information provided by an embodiment of the present application in the control phase (control phase) of the measurement cycle.
  • the scheduling information provided by an embodiment of the present application can also be used in the measurement phase and the measurement reporting phase.
  • the next round can be a round adjacent to the current round, or it can also be a round that is at least one round apart from the current round. For example, if the current measurement application is ranging.
  • the next distance measuring wheel may be a distance measuring wheel adjacent to the current distance measuring wheel, or may be a distance measuring wheel separated from the current distance measuring wheel by at least one distance measuring wheel.
  • the scheduling information provided in the embodiment of the present application may include a control field and a scheduling list field.
  • the following introduces examples of list elements in the scheduling list field in the scheduling information and examples of the control field.
  • Example 1 Example of a list element in the schedule list field in the schedule information.
  • the list element includes a bitmap offset, a time unit bitmap and address 1, see Figure 9.
  • Figure 9 is an example of a list element in the scheduling information provided in an embodiment of the present application.
  • a list element in the scheduling information includes: a bitmap offset, a time unit bitmap and address 1.
  • the list element shown in Figure 9 is used to indicate the time unit to be occupied by UWB device 1 to transmit the UWB signal, that is, for scheduling UWB device 1.
  • UWB device 1 can be regarded as a UWB device scheduled by the list element.
  • the bitmap offset is used to determine the starting time unit for UWB device 1 to transmit the UWB signal.
  • the time unit bitmap is used to indicate whether the time unit is used for UWB device 1 to transmit the UWB signal.
  • the time unit corresponding to the first bit of the time unit bitmap is the above-mentioned starting time unit.
  • the bitmap offset is used to determine the time unit corresponding to the first bit of the time unit bitmap, and the time unit corresponding to each bit in the time unit bitmap can be determined in combination with the bitmap offset and the time unit bitmap.
  • Address 1 is the address of UWB device 1, and the length of address 1 is 2 bytes or 8 bytes.
  • the list element also includes a bitmap size field, i.e., a field for indicating the length of the time unit bitmap.
  • the list element also includes a reserved field, which includes one or more reserved bits.
  • the bitmap offset is used to determine the starting time unit for transmitting the UWB signal by the UWB device 1 in a measurement cycle (which can be replaced by a communication cycle).
  • the bitmap offset is used to indicate the number of time units before the starting time unit in the measurement cycle where the starting time unit for transmitting the UWB signal by the UWB device 1 is located.
  • the bitmap offset is used to indicate the number of time units before the starting time unit for transmitting the UWB signal by the UWB device 1 in the measurement cycle, and the measurement cycle includes the starting time unit.
  • the value of the bitmap offset is the number of time units before the above-mentioned starting time unit in a measurement cycle.
  • the bitmap offset is used to indicate the number of unused time units before the starting time unit in the measurement cycle where the starting time unit for transmitting the UWB signal by the UWB device 1 is located.
  • the value of the bitmap offset is the number of unused time units before the above-mentioned starting time unit in a measurement cycle.
  • the value of the bitmap offset is equal to the number of time units between the first time unit of the measurement cycle and the above-mentioned starting time unit plus 1. Assuming that the value of the bitmap bias is T, the time units in the measurement period are time unit 0 (the first time unit), time unit 1, time unit 2, ... in chronological order, then the starting time unit is time unit T, where T is an integer greater than 1.
  • the first time unit of the measurement period is known, so any UWB device can determine the starting time unit of its UWB signal transmission based on the bitmap bias, that is, the time unit corresponding to the first bit of the time unit bitmap.
  • the time unit corresponding to the first bit of the time unit bitmap is the starting time unit of UWB device 1 transmitting the UWB signal.
  • the bitmap offset can represent a continuous numerical value.
  • the bitmap offset can represent the number of time units, such as 0 to 15 time units.
  • the embodiment of the present application does not impose any restrictions on the number of time units that can be represented by the bitmap offset.
  • the bitmap offset can also represent a non-continuous natural number.
  • the bitmap offset can represent any one of a certain group of time unit numbers, such as 0, 1, 4, 8, 16, 32, etc. For example, if the value of the bitmap offset is 3, it means that the number of time units before the start time unit in the measurement period is 8; the value of the bitmap offset is 4, which means that the number of time units before the start time unit in the measurement period is 16.
  • the embodiment of the present application does not impose any restrictions on the non-continuous numerical values that can be represented by the bitmap offset.
  • the embodiment of the present application does not impose any restrictions on the unit of the numerical value of the bitmap offset, which can be one time unit, multiple time units, or RSTU.
  • the time unit bitmap corresponds to multiple time units, and the time unit bitmap is used to indicate whether the time unit is used for UWB device 1 to transmit UWB signals.
  • the time unit corresponding to the first bit of the time unit bitmap is the starting time unit for UWB device 1 to transmit UWB signals.
  • Multiple time units corresponding to the time unit bitmap are included in the same measurement cycle or communication cycle. Since the bitmap offset is used to determine the starting time unit for UWB device 1 to transmit UWB signals within a measurement cycle (which can be replaced by a communication cycle), and the time unit corresponding to the first bit of the time unit bitmap is the starting time unit, the time unit corresponding to each bit of the time unit bitmap can be determined according to the bitmap offset.
  • the time unit bitmap includes K bits, each bit corresponds to a time unit, and the time units in a measurement cycle are time unit 0, time unit 1, time unit 2, ..., time unit L (an integer greater than 1) in chronological order.
  • the bitmap offset is used to determine that the starting time unit for UWB device 1 to transmit the UWB signal is time unit 4, then the K bits in the time unit bitmap correspond to time unit 4, time unit 5, ..., time unit (3+K) in sequence.
  • the time unit bitmap includes K bits, K is an integer greater than 0, and when one of the above K bits takes a set value, the set value indicates that the time unit corresponding to the bit is used for UWB device 1 to transmit the UWB signal.
  • the set value is 0 or 1.
  • the time unit bitmap includes K bits, and the time unit corresponding to the bit with a value of 1 is used for UWB device 1 to transmit the UWB signal, and the time unit corresponding to the bit with a value of 0 is not used for UWB device 1 to transmit the UWB signal.
  • FIG. 10 is an example of a bitmap in the prior art indicating whether a time unit is used for a UWB device to transmit a UWB signal. As shown in Figure 10, each rectangle indicates whether a time unit is used for a UWB device to transmit a UWB signal. The number above each rectangle indicates the timing of the time unit represented by the rectangle.
  • the black rectangle indicates a time unit used for a UWB device to transmit a UWB signal
  • the white rectangle indicates a time unit not used for a UWB device to transmit a UWB signal.
  • Time unit 0 to time unit 15 are 16 time units corresponding to a bitmap including 16 bits.
  • the time unit corresponding to the first bit of the bitmap i.e., time unit 0 in Figure 13
  • the bitmap is used to indicate whether each time unit from time unit 0 to time unit 15 is used for a UWB device to transmit a UWB signal.
  • a bit in the bitmap is 1, it indicates that the time unit corresponding to the bit is used for a UWB device to transmit a UWB signal.
  • the bitmap in FIG10 indicates that time unit 4, time unit 7, and time unit 10 in the measurement cycle are used for the UWB device to transmit UWB signals, and other time units in the measurement cycle are not used for the UWB device to transmit UWB signals.
  • the bitmap occupies 2 bytes, ie, 16 bits.
  • the bitmap offset can reduce unnecessary representation overhead in the bitmap, thereby reducing the scheduling message representation overhead.
  • the first four time units in the measurement period are not used for the UWB device to transmit UWB signals, which will result in a waste of bitmap representation. Therefore, it is possible to consider using a bitmap offset to represent the number of time units before the start time unit of the UWB device transmitting the UWB signal, thereby reducing the representation length of the bitmap.
  • Figure 11 is an example of a time unit bitmap indicating whether the time unit is used for UWB device 1 to transmit a UWB signal provided in an embodiment of the present application. As shown in Figure 11, each rectangle indicates whether a time unit is used for UWB device 1 to transmit UWB signals, and the number above each rectangle indicates the timing of the time unit represented by the rectangle.
  • the black rectangle indicates the time unit used for UWB device 1 to transmit UWB signals
  • the white rectangle indicates the time unit not used for UWB device 1 to transmit UWB signals
  • time unit 0 to time unit 7 are 8 time units corresponding to a time unit bitmap including 8 bits, and the time unit corresponding to the first bit of the time unit bitmap (i.e., time unit 0 in Figure 11) is determined based on the bitmap offset, and the time unit bitmap is used to indicate whether each time unit from time unit 0 to time unit 7 is used for UWB device 1 to transmit UWB signals. For example, if a bit in the time unit bitmap is 1, it indicates that the time unit corresponding to the bit is used for UWB device 1 to transmit UWB signals.
  • the time unit corresponding to the first bit of the time unit bitmap is time unit 4 in the measurement period
  • the time units corresponding to the time unit bitmap are time unit 4, time unit 5, ..., time unit 11 in chronological order.
  • the time units in the measurement period are time unit 0, time unit 1, time unit 2, ... in chronological order.
  • the representation of the unnecessary first four time units is moved to the bitmap offset field in the scheduling list field. Therefore, the time unit bitmap can be completed with 8 bits.
  • the time unit bitmap only needs 1 byte at this time, instead of 2 bytes in Figure 11, thereby achieving the effect of saving message overhead.
  • the time unit bitmap and the bitmap offset jointly determine the transmission order of UWB device 1 transmitting UWB signals.
  • Table 8 and Table 9 show two examples of list elements in the scheduling information provided in the embodiments of the present application.
  • bitmap size field occupies 2 bits, namely bit 0 to bit 1; the bitmap offset occupies 4 bits, namely bit 2 to bit 5; the reserved field occupies 2 bits, namely bit 6 to bit 7; the time unit bitmap occupies 1 or more bytes, namely the length of the time unit bitmap is a variable value; address 1 occupies 2 bytes or 8 bytes.
  • Table 8 is only an example of a list element in the scheduling list field in the scheduling information, and the number of bits occupied by each field in the list element and the position of each field are not limited.
  • the Bitmap Size field occupies 2 bits, namely bit 0 to bit 1; the Bitmap Offset Presence field occupies 1 bit, namely bit 2, and the Reserved field occupies 5 bits, namely bit 3 to bit 7; the Time Unit Bitmap occupies 1 or more bytes, namely the length of the Time Unit Bitmap is a variable value; Address 1 occupies 2 bytes or 8 bytes; the Bitmap Offset occupies 4 bits, namely bit 0 to bit 3; the Reserved field occupies 4 bits, namely bit 4 to bit 7.
  • the Bitmap Offset Presence field is used to indicate whether the list element contains the Bitmap Offset field.
  • Bitmap Offset Presence 1
  • Bitmap Offset field appears, namely the list element contains the Bitmap Offset field
  • Bitmap Offset Presence 0
  • the Bitmap Offset field does not appear, namely the list element does not contain the Bitmap Offset field.
  • Table 9 is only an example of a list element in the scheduling list field in the scheduling information, and the number of bits occupied by each field in the list element and the position of each field are not limited.
  • the list element in Example 1 may occupy 4 bytes (corresponding to the short address) or 10 bytes (corresponding to the extended address). Referring to Table 9, the list element in Example 1 may occupy 5 bytes (corresponding to the short address) or 11 bytes (corresponding to the extended address).
  • Example 2 An example of a list element in the scheduling list field in the scheduling information.
  • the list element in Example 2 can be obtained by further combining the bitmap offset field with the field having the periodic transmission characteristic. For example, the period index field and the repetition index field are added to the list element in Example 1.
  • the list element includes a bitmap offset, a time unit bitmap, an address 1, a period index field, and a repetition index field.
  • the bitmap offset in Example 2 may be the same as the bitmap offset in Example 1, and the address 1 in Example 2 may be the same as the address 1 in Example 1.
  • the time unit bitmap is used to indicate the time unit used for UWB device 1 to transmit UWB signals in each scheduling period in which UWB device 1 transmits UWB signals. In other words, the time unit bitmap is used to indicate whether the time unit in each scheduling period in which UWB device 1 transmits UWB signals is used for UWB device 1 to transmit UWB signals.
  • the period index field is used to indicate the scheduling period in which UWB device 1 transmits UWB signals
  • the repetition index field is used to indicate the number of repetitions of UWB device 1 transmitting UWB signals.
  • the repetition index field is optional.
  • FIG. 12 is another example of a list element in the scheduling information provided in an embodiment of the present application.
  • a list element in the scheduling information includes a bitmap offset, a time unit bitmap, an address 1, a period index field, and a repetition index field.
  • the list element also includes a bitmap size field, that is, a field used to indicate the length of the time unit bitmap.
  • the embodiment of the present application does not limit the size and position of the bitmap size field.
  • the list element also includes a reserved field, and the reserved field includes one or more reserved bits. The embodiment of the present application does not limit the size and position of the reserved field.
  • the time unit bitmap is used to indicate the time unit used for UWB device 1 to transmit UWB signals in each scheduling period for UWB device 1 to transmit UWB signals, that is, the time unit to be occupied by UWB device 1 to transmit UWB signals.
  • the K bits in the time unit bitmap correspond one-to-one to the K time units in each scheduling period for UWB device 1 to transmit UWB signals
  • each scheduling period is K time units
  • K is an integer greater than 1.
  • the time unit bitmap includes 8 bits, and each scheduling period for UWB device 1 to transmit UWB signals includes 8 time units.
  • the time unit bitmap is used to indicate that the third time unit and the fifth time unit in each scheduling period for UWB device 1 to transmit UWB signals are used for UWB device 1 to transmit UWB signals, and other time units are not used for UWB device 1 to transmit UWB signals.
  • the K bits in the time unit bitmap correspond one-to-one to the consecutive K time units (e.g., the first K time units or the last K time units) in each scheduling period in which the UWB device 1 transmits a UWB signal, and each scheduling period is Q time units, where Q is an integer greater than K.
  • the time unit bitmap includes 8 bits, and each scheduling period in which the UWB device 1 transmits a UWB signal includes 16 time units.
  • the 8 bits included in the time unit bitmap correspond one-to-one to the earliest eight time units in the scheduling period, and the time unit bitmap is used to indicate that the third time unit and the fifth time unit in each scheduling period in which the UWB device 1 transmits a UWB signal are used for the UWB device 1 to transmit the UWB signal, and other time units are not used for the UWB device 1 to transmit the UWB signal.
  • the combination of the bitmap offset, the time unit, and the period index field can determine the time unit used to transmit the UWB signal in each scheduling period in which the UWB device 1 transmits the UWB signal, and further reduce unnecessary representation overhead in the bitmap, thereby reducing the representation overhead of the scheduling information.
  • the difference between the time unit bitmap in Example 2 and the time unit bitmap in Example 1 is that the time unit bitmap in Example 1 does not indicate whether the time unit is used for the UWB device 1 to transmit the UWB signal through a periodic pattern, and the time unit bitmap in Example 2 indicates whether the time unit is used for the UWB device 1 to transmit the UWB signal through a periodic pattern in combination with the period index field.
  • the time unit bitmap in Example 1 includes 64 bits, each bit corresponds to a time unit, and the time unit bitmap in Example 1 is used to indicate whether the 64 time units corresponding to the 64 bits are used for UWB device 1 to transmit UWB signals.
  • the time unit bitmap in Example 2 includes 8 bits, each bit corresponds to a time unit, and the period index field is used to indicate that the scheduling period is 8 time units.
  • the time unit bitmap in Example 2 is used to indicate whether the 8 time units in the 8 scheduling periods (a total of 64 time units) are used for UWB device 1 to transmit UWB signals. It can be seen from this example that the number of bits in the time unit bitmap in Example 2 is less than the number of bits in the time unit bitmap in Example 1. Therefore, the time unit bitmap in Example 2, combined with the period index field, indicates whether the time unit is used for UWB device 1 through a periodic pattern. Transmitting UWB signals can reduce the length of the time unit bitmap, thereby reducing signaling overhead.
  • the time unit bitmap is used to indicate the time unit used for UWB device 1 to transmit UWB signals in the first scheduling period in which UWB device 1 transmits UWB signals.
  • the bitmap offset is used to determine the starting time unit for UWB device 1 to transmit UWB signals in a measurement period. It can be understood that the time unit bitmap and the bitmap offset jointly determine the UWB transmission in the first scheduling period, while the Period index field and the Repetition Index field further determine the period and repetition of the periodic UWB transmission.
  • the third scheduling period ..., the Xth scheduling period of UWB device 1
  • the transmission order of UWB signals in each scheduling period is the same as the transmission order in the first period.
  • X is the number of repetitions indicated by the Repetition Index field, and X is an integer greater than 1.
  • the scheduling periods of UWB device 1 are, in order, the first scheduling period, the second scheduling period, the third scheduling period, ..., the Xth scheduling period.
  • the time unit bitmap and the bitmap offset jointly determine that the first time unit and the third time unit in the first scheduling period are used for UWB device 1 to transmit UWB signals.
  • the Period index field and the Repetition Index field further determine that the first time unit and the third time unit in the second scheduling period, the third scheduling period, ..., the Xth scheduling period are used for UWB device 1 to transmit UWB signals.
  • the time units in each scheduling period are, in order, the first time unit, the second time unit, the third time unit, ..., the Cth time unit, where C is the number of time units included in the scheduling period and is an integer greater than 1. That is to say, for the periodic UWB transmission process of any UWB device, by determining the time unit used to transmit the UWB signal in its first scheduling period (reflected by the time unit bitmap and bitmap offset), the scheduling period (reflected by the Period index field), and the number of repeated transmissions (reflected by the Repetition Index field), the periodic UWB transmission process can be fully determined, that is, the specific time unit allocated to any UWB device for periodic UWB transmission can be fully determined.
  • Table 10 Table 10, Table 11, Table 12, and Table 13 are four examples of list elements in the scheduling information provided in the embodiments of the present application.
  • the bitmap size field occupies 2 bits, namely bit 0 to bit 1; the bitmap offset occupies 4 bits, namely bit 2 to bit 5; the reserved field occupies 2 bits, namely bit 6 to bit 7; the time unit bitmap occupies 1 or more bytes, namely the length of the time unit bitmap is a variable value; address 1 occupies 2 bytes or 8 bytes; the Period Index field occupies 4 bits, and the Repetition Index field occupies 4 bits. It can be understood that Table 10 is only an example of a list element in the scheduling information, and the number of bits occupied by each field in the list element and the position of each field are not limited.
  • the Ranging Role field and the Receiver Address Presence field (receiver address presence field) of the prior art appear in the format of the list element provided in the embodiment of the present application. That is to say, the scheduling information provided in the embodiment of the present application may allow the Ranging Role field and the Receiver Address Presence field to appear, or may allow one of the Ranging Role field and the Receiver Address Presence field to appear, such as the form of Tables 12 and 13 below, which is not limited in the embodiment of the present application.
  • Table 11, Table 12, and Table 13 are examples of placing fields in the prior art (e.g., Ranging Role field, Receiver Address Presence field) in the scheduling information provided in the embodiment of the present application. It should be understood that other fields in the prior art may also be placed in the scheduling information provided in the embodiment of the present application.
  • the embodiment of the present application does not impose any restrictions on the sequential position and field size between the Bitmap Offset field, the Ranging Role field, the Receiver Address Presence field, etc.
  • Table 11, Table 12, and Table 13 are only examples.
  • Example 2 may occupy 5 bytes (corresponding to the short address) or 11 bytes (corresponding to the extended address).
  • Example 3 Example of a list element in the schedule list field in the schedule information.
  • the list elements include a bitmap offset, a time unit bitmap, an address 1, a period index field, a repetition index field, and a Period Mode field.
  • the Period Mode field may be referred to as a periodic mode field or other fields.
  • the meaning of each field in Example 3 can refer to the meaning of each field in Example 2.
  • the Period Mode field is used to indicate that the UWB device periodically transmits a UWB signal.
  • the Period Mode field is used to trigger each UWB device scheduled by the scheduling information to periodically transmit a UWB signal.
  • the Period Mode field is used to indicate the triggering of the periodic transmission mode.
  • the Period Mode field can be regarded as a periodic transmission mode trigger field.
  • the Period Mode field may occupy one or more bits.
  • the Period Mode field includes 1 bit. If the value of the bit is 1, the Period Mode field is used to indicate that the UWB device transmits the UWB signal periodically, and the scheduling information includes fields related to the transmission periodicity, such as the second field and the third field. If the value of the bit is 0, the Period Mode field is used to indicate that the UWB device transmits the UWB signal through other transmission modes, and the scheduling information does not include fields related to the transmission periodicity, such as the scheduling list field in the scheduling information is the same as the scheduling list field in Table 3.
  • the scheduling information includes the first field and the second field; if the Period Mode field indicates that the UWB device transmits the UWB signal according to other modes, the scheduling information does not include the first field and the second field, and the scheduling list in the scheduling information may be the same as the scheduling list in the scheduling information element in the prior art 1 (or prior art 2). It should be understood that the list elements in the above examples 1 to 4 can all indicate that the UWB device 1 transmits the UWB signal periodically.
  • the periodic transmission mode refers to a mode in which the UWB device periodically transmits UWB signals according to the scheduling information provided in the embodiment of the present application, and other transmission modes refer to any mode other than the periodic transmission mode.
  • Table 14 shows an example of a list element in the scheduling information provided by an embodiment of the present application.
  • each sub-segment in Table 14 is the same as the meaning of each field in Table 10.
  • bit 6 is the Period Mode field.
  • Table 14 is only an example of a list element in the scheduling list field in the scheduling information, and the number of bits occupied by each field in the list element and the position of each field are not limited.
  • Example 3 may occupy 5 bytes (corresponding to the short address) or 11 bytes (corresponding to the extended address).
  • the bitmap offset and the time unit bitmap can be used to determine whether each time unit is used for the UWB device.
  • the bitmap offset is used to determine the starting time unit for the UWB device to transmit the UWB signal, which can reduce the bits occupied by the time unit bitmap, thereby reducing the signaling overhead.
  • Example 4 An example of a control field in scheduling information.
  • the control fields in the scheduling information include the Period Mode field, the Address Type field, and the Scheduling List Length field.
  • the Period Mode field is used to indicate that the UWB device periodically transmits UWB signals.
  • the Period Mode field is used to trigger each UWB device scheduled by the scheduling information to periodically transmit UWB signals.
  • the Period Mode field is used to indicate the triggering of the periodic transmission mode.
  • the Period Mode field can be regarded as a periodic transmission mode trigger field.
  • the periodic transmission mode refers to the mode in which the UWB device periodically transmits UWB signals implemented by the scheduling information provided in the embodiment of the present application.
  • the Period Mode field may occupy one or more bits. Exemplarily, the Period Mode field includes 1 bit.
  • the Period Mode field is used to indicate that the UWB device transmits the UWB signal periodically, and the scheduling information includes fields related to the transmission periodicity, such as the Period Index field and the Repetition Index field; if the value of the bit is 0, the Period Mode field is used to indicate that the UWB device transmits the UWB signal through other transmission modes, and the scheduling information does not include fields related to the transmission periodicity, such as the scheduling list field in the scheduling information is the same as the scheduling list field in Table 8.
  • the Address Type field is used to indicate the address type of the above-mentioned UWB device.
  • the address type of the UWB device includes a short address (length is 2 bytes) and an extended address (length is 8 bytes).
  • the Address Type field includes 1 bit.
  • the Address Type field indicates that the address of the UWB device is a short address, that is, the address length is 2 bytes (16 bits); if the value of the bit is 1 (i.e., Address Type is 1), the Address Type field indicates that the address of the UWB device is a long address (or extended address), that is, the address length is 8 bytes (64 bits).
  • the Scheduling List Length field is used to indicate the number of list elements in the scheduling list.
  • Table 15 shows an example of the control field in the scheduling information provided by an embodiment of the present application.
  • the Address Type field occupies 1 bit, namely bit 0; the Scheduling List Length field occupies 6 bits, namely bit 1 to bit 6; the Period Mode field occupies 1 bit, namely bit 7.
  • Table 15 is only an example of the control field in the scheduling information provided in the embodiment of the present application. It can be understood that Table 15 is only an example of the control field in the scheduling information, and the number of bits occupied by each field in the control field and the position of each field are not limited. Referring to Table 10, the control field in the scheduling information provided in the embodiment of the present application occupies one byte.
  • the control field in the scheduling information includes a Period Mode field, an Address Type field, and a Scheduling List Length field.
  • the Period Mode field is used to instruct the UWB device to periodically transmit the UWB signal.
  • the control field in the scheduling information can instruct the UWB device to periodically transmit the UWB signal, thereby reducing the signaling overhead by instructing the UWB device to periodically transmit the UWB signal.
  • An example of a scheduling list field and an example of a control field in scheduling information are provided above. It should be understood that an example of scheduling information includes the scheduling list field in Example 1 and the control field in Example 4. Another example of scheduling information includes the scheduling list field in Example 2 and the control field in Example 4. Another example of scheduling information includes the scheduling list field in Example 3 and the control field shown in Table 2 or Table 4.
  • Table 16 shows the signaling overhead of the scheduling information element of the prior art 1, the signaling overhead of the scheduling information element of the prior art 2, the signaling overhead of scheduling information 1, and the signaling overhead of scheduling information 2.
  • the signaling overhead of scheduling information 1 is equal to the signaling overhead of the scheduling information including the scheduling list field in Example 1 and the control field in Example 4, see Table 8; it is also equal to the signaling overhead of the scheduling information including the scheduling list field in Example 2 and the control field in Example 4.
  • the overhead of scheduling information 2 is equal to the signaling overhead of the scheduling information including the scheduling list field in Example 1 and the control field in Example 4, see Table 9; it is also equal to the signaling overhead of the scheduling information including the scheduling list field in Example 3 and the control field shown in Table 2 or Table 4.
  • S represents the number of time units that the UWB device needs to call
  • N represents the number of UWB devices in the system that participate in the current UWB application.
  • S is an integer greater than
  • N is an integer greater than 0. It can be seen from Table 16 that the scheduling information provided by the embodiment of the present application does not depend on the number of time units S, that is, the size of the scheduling information provided by the embodiment of the present application will not increase with the increase of the number of time units S.
  • the message size of the scheduling information provided by the embodiment of the present application is smaller than the message size of the scheduling IE of the prior art 1 and the prior art 2, thereby effectively saving the air interface resource overhead required to transmit the scheduling information and reducing the air interface time required to transmit the scheduling information.
  • the following further compares the signaling overhead of the scheduling information provided in the embodiment of the present application, the signaling overhead of the scheduling IE of the prior art 1, and the signaling overhead of the scheduling IE of the prior art 2 with examples.
  • FIG13 is a timing diagram of a non-interlacing MMS ranging process (non-interlacing MMS ranging) provided in an embodiment of the present application.
  • each rectangle indicates whether a time unit is used for a UWB device to transmit a UWB signal
  • the number above each rectangle indicates the timing of the time unit represented by the rectangle.
  • the black rectangle indicates the time unit used for the UWB device to transmit a UWB signal
  • the white rectangle indicates the time unit not used for the UWB device to transmit a UWB signal.
  • FIG13 shows that the initiator needs to send a UWB signal in time unit 0, time unit 2, time unit 4, and time unit 8, and the responder needs to send a UWB signal in time unit 8, time unit 10, time unit 12, and time unit 14.
  • a 2-byte length (16-bit) Bitmap is required to complete the scheduling indication of the response frame.
  • time unit 8 is the starting time unit for the responder to transmit the UWB signal, that is, the first 8 time units of the responder are not used (time units 0 to 7), resulting in a waste of Bitmap representation. Therefore, it can be considered to use the Bitmap Offset field to represent the starting time unit for the responder to transmit the UWB signal, thereby reducing the representation length of the Bitmap.
  • the value of the Bitmap Offset field represents the number of unused time units before the starting time unit for the responder to transmit the UWB signal.
  • the time unit for transmitting the UWB signal shown in FIG. 13 can be represented by FIG. 14.
  • FIG14 is a timing diagram of another non-interlaced MMS ranging process provided by an embodiment of the present application. In FIG14, each rectangle indicates whether a time unit is used for a UWB device to transmit a UWB signal. The number above each rectangle indicates the timing of the time unit represented by the rectangle.
  • the black rectangle indicates the time unit used for the UWB device to transmit a UWB signal.
  • the white rectangle indicates the time unit not used for the UWB device to transmit a UWB signal.
  • FIG14 shows that the responder needs to send a UWB signal in time unit 0, time unit 2, time unit 4, and time unit 8.
  • the actual scheduling indication can be completed with 8 bits, that is, the scheduling Bitmap only requires 1 byte at this time, instead of the 2 bytes in FIG13, thereby achieving the effect of saving message overhead.
  • Figure 15 is a typical set of scheduling modes that can complete the DL-TDOA positioning process.
  • three anchor devices anchor 1, anchor 2, and anchor 3 in Figure 15, transmit UWB signals in the scheduling method shown in Figure 15 to carry out DL-TDOA positioning.
  • anchor 1 anchor 1
  • anchor 2 anchor 2
  • anchor 3 anchor 3
  • Figure 16 is a scheduling diagram of 8-repetition DL-TDOA positioning provided in an embodiment of the present application.
  • each rectangle represents a time unit
  • the time unit represented by the gray rectangle is scheduled and allocated for transmitting UWB signals
  • the time unit represented by the white rectangle is not scheduled and allocated for transmitting UWB signals. Since a complete DL-TDOA process is completed within 8 time units, there is no interval between the two adjacent DL-TDOA processes shown in Figure 16.
  • Period Index field can represent period values such as 0, 1, 4, 8, 16, and 32 time units
  • the Repetition Index field can represent 1 to 16 repetitions
  • the Period Index field is set to 0 (indicating that there is no interval between two adjacent DL-TDOA measurements, and the next measurement starts immediately after the previous measurement is completed)
  • the Repetition Index field is set to 7 (the subscript starts from 0, so it means 8 repetitions)
  • the Period index field can represent period values such as 0, 1, 4, 8, 16, and 32 time units
  • the Repetition Index field can represent 1 to 16 repetitions
  • the scheduling information of the present application in Table 17 may be scheduling information including the scheduling list field in Example 2 and the control field in Example 4. As can be seen from Table 17, the scheduling information proposed in the present application can significantly reduce the message size overhead compared to the prior art 1 and the prior art 2.
  • the scheduling information provided in the embodiment of the present application can be recognized and processed by a device (anchor point or tag) that needs to perform ranging or sensing functions.
  • the corresponding identification and processing method of the newly designed scheduling IE is similar to the identification and processing method of the nested IE (for example, RDM IE) specified in the existing protocol 802.15.4z, and reference can be made to the identification and processing method of the nested IE in the existing protocol 802.15.4z.
  • the upper layer protocol of the sending device configures the scheduling IE and passes it to the medium access control (MAC) layer of the sending device.
  • the MAC layer of the receiving device passes the received scheduling IE to the upper layer protocol of the receiving device, and the upper layer of the protocol identifies and processes the scheduling IE.
  • the newly designed scheduling IE may be transmitted through a narrowband frequency band.
  • the newly designed scheduling IE may also be transmitted through the UWB frequency band.
  • Table 18 below is an extension and continuation of Table 7-18 (Table 7-18) of the existing 802.15.4z protocol.
  • Table 7-18 the existing definition of Table 7-18 in the protocol is not reflected in Table 18 below.
  • the newly designed scheduling IE can be added to the nested IE list defined in Table 7-18 (Table 7-18) of the existing 802.15.4z protocol as a new IE in the 802.15.4ab protocol or subsequent versions of the protocol.
  • a reserved sub-ID value (Sub-ID value) in the nested IE list defined in Table 7-18 (Table 7-18) of the existing 802.15.4z protocol can be used to indicate the newly designed scheduling IE.
  • T in Table 18 can be any one or more values among 0x5d-0x7f.
  • Table 18 can be an extension and continuation of the nested IE list defined in Table-7-18 (Table-7-18) of the existing 802.15.4z protocol.
  • X in Table 18 indicates that the newly designed scheduling IE belongs to the Data type IE.
  • FIG17 is a schematic diagram of the structure of a communication device 1700 provided in an embodiment of the present application.
  • the communication device 1700 may correspond to the functions or steps implemented by the transmitting end in the above-mentioned various method embodiments, and may also correspond to the functions or steps implemented by the receiving end in the above-mentioned various method embodiments.
  • the communication device may include a processing module 1710 and a transceiver module 1720.
  • a storage unit may also be included, which may be used to store instructions (codes or programs) and/or data.
  • the processing module 1710 and the transceiver module 1720 may be coupled to the storage unit, for example, the processing module 1710 may read the instructions (codes or programs) and/or data in the storage unit to implement the corresponding method.
  • the above-mentioned units may be independently arranged or partially or fully integrated.
  • the transceiver module 1720 may include a sending module and a receiving module.
  • the sending module may be a transmitter
  • the receiving module may be a receiver.
  • the entity corresponding to the transceiver module 1720 may be a transceiver or a communication interface.
  • the communication device 1700 can implement the behaviors and functions of the transmitting end in the above-mentioned method embodiments.
  • the communication device 1700 can be a transmitting end, or a component (such as a chip or a circuit) applied to the transmitting end.
  • the transceiver module 1720 can be used to perform all receiving or sending operations performed by the transmitting end in the embodiments of Figures 6 and 7, such as step 602 in the embodiment shown in Figure 6, step 701 and step 702 in the embodiment shown in Figure 7, and/or other processes for supporting the technology described herein.
  • the processing module 1710 is used to perform all operations except the transceiver operations performed by the transmitting end in the embodiments of Figures 6 and 7, such as step 601 in the embodiment shown in Figure 6.
  • the communication device 1700 can implement the behaviors and functions of the receiving end in the above-mentioned method embodiments.
  • the communication device 1700 can be a receiving end, or a component (such as a chip or a circuit) used in the receiving end.
  • the transceiver module 1720 can be used to perform all receiving or sending operations performed by the receiving end in the embodiments of Figures 6 and 7, such as step 602 in the embodiment shown in Figure 6, step 701 and step 702 in the embodiment shown in Figure 7, and/or other processes for supporting the technology described herein.
  • the processing module 1710 is used to perform all operations performed by the receiving end except the transceiver operations, such as step 602 in the embodiment shown in Figure 6, step 701 and step 702 in the embodiment shown in Figure 7, and/or other processes for supporting the technology described herein. Step 603, step 703 in the embodiment shown in Figure 7.
  • Fig. 18 is a schematic diagram of the structure of another communication device 180 provided in an embodiment of the present application.
  • the communication device in Fig. 18 can be the above-mentioned transmitting end or the above-mentioned receiving end.
  • the communication device 180 includes at least one processor 1810 and a transceiver 1820 .
  • the processor 1810 and the transceiver 1820 may be used to execute functions or operations performed by the transmitting end.
  • the transceiver 1820 for example, executes all receiving or sending operations performed by the transmitting end in the embodiments of FIG. 6 and FIG. 7.
  • the processor 1810 for example, is used to execute all operations except the receiving and sending operations performed by the transmitting end in the embodiments of FIG. 6 and FIG. 7.
  • the processor 1810 and the transceiver 1820 may be used to execute functions or operations performed by the receiving end.
  • the transceiver 1820 for example, executes all receiving or sending operations performed by the receiving end in the embodiments of FIG. 6 and FIG. 7.
  • the processor 1810 is used to execute all operations performed by the receiving end except for the sending and receiving operations.
  • the transceiver 1820 is used to communicate with other devices/apparatuses via a transmission medium.
  • the processor 1810 uses the transceiver 1820 to send and receive data and/or signaling, and is used to implement the method in the above method embodiment.
  • the processor 1810 can implement the functions of the processing module 1710, and the transceiver 1820 can implement the functions of the transceiver module 1720.
  • the transceiver 1820 may include a radio frequency circuit and an antenna.
  • the radio frequency circuit is mainly used for converting baseband signals into radio frequency signals and processing radio frequency signals.
  • the antenna is mainly used for transmitting and receiving radio frequency signals in the form of electromagnetic waves.
  • Input and output devices such as a touch screen, a display screen, a keyboard, etc., are mainly used for receiving data input by a user and outputting data to the user.
  • the communication device 180 may also include at least one memory 1830 for storing program instructions and/or data.
  • the memory 1830 is coupled to the processor 1810.
  • the coupling in the embodiment of the present application is an indirect coupling or communication connection between devices, units or modules, which may be electrical, mechanical or other forms, and is used for information exchange between devices, units or modules.
  • the processor 1810 may operate in conjunction with the memory 1830.
  • the processor 1810 may execute program instructions stored in the memory 1830. At least one of the at least one memory may be included in the processor.
  • the processor 1810 can read the software program in the memory 1830, interpret and execute the instructions of the software program, and process the data of the software program.
  • the processor 1810 performs baseband processing on the data to be sent, and outputs the baseband signal to the RF circuit.
  • the RF circuit performs RF processing on the baseband signal and then sends the RF signal outward in the form of electromagnetic waves through the antenna.
  • the RF circuit receives the RF signal through the antenna, converts the RF signal into a baseband signal, and outputs the baseband signal to the processor 1810.
  • the processor 1810 converts the baseband signal into data and processes the data.
  • the above-mentioned RF circuit and antenna can be arranged independently of the processor performing baseband processing.
  • the RF circuit and antenna can be arranged independently of the communication device in a remote manner.
  • connection medium between the above-mentioned transceiver 1820, processor 1810 and memory 1830 is not limited in the embodiment of the present application.
  • the embodiment of the present application is that the memory 1830, the processor 1810 and the transceiver 1820 are connected through a bus 1840, and the bus is represented by a bold line in FIG. 18.
  • the connection mode between other components is only for schematic illustration and is not limited.
  • the bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one bold line is used in FIG. 18, but it does not mean that there is only one bus or one type of bus.
  • the processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application.
  • the general-purpose processor may be a microprocessor or any conventional processor, etc.
  • the steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.
  • FIG19 is a schematic diagram of the structure of another communication device 190 provided in an embodiment of the present application.
  • the communication device shown in FIG19 includes a logic circuit 1901 and an interface 1902.
  • the processing module 1710 in FIG17 can be implemented with a logic circuit 1901
  • the transceiver module 1720 in FIG17 can be implemented with an interface 1902.
  • the logic circuit 1901 can be a chip, a processing circuit, an integrated circuit or a system on chip (SoC) chip, etc.
  • the interface 1902 can be a communication interface, an input and output interface, etc.
  • the logic circuit and the interface can also be coupled to each other.
  • the embodiment of the present application does not limit the specific connection method of the logic circuit and the interface.
  • the logic circuit and interface may be used to execute the functions or operations performed by the above-mentioned transmitting end, etc.
  • the logic circuit and interface may be used to execute the functions or operations performed by the above-mentioned receiving end, etc.
  • the present application also provides a computer-readable storage medium, in which a computer program or instruction is stored.
  • a computer program or instruction is stored.
  • the computer program or instruction is executed on a computer, the computer executes the method of the above embodiment.
  • the present application also provides a computer program product, which includes instructions or a computer program.
  • a computer program product which includes instructions or a computer program.
  • the present application also provides a communication system, comprising the above-mentioned transmitting end and the above-mentioned receiving end.
  • the present application also provides a chip, which includes: a communication receiver and processor; the communication interface is used for sending and receiving signals of the above-mentioned chip; the processor is used to execute computer program instructions so that the communication device including the above-mentioned chip executes the method in the above-mentioned embodiment.
  • the above embodiments it can be implemented in whole or in part by software, hardware, firmware or any combination thereof.
  • software it can be implemented in whole or in part in the form of a computer program product.
  • the above computer program product includes one or more computer programs or instructions.
  • the above computer program or instruction is loaded and executed on a computer, the above process or function of the embodiment of the present application is executed in whole or in part.
  • the above computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device or other programmable device.
  • the above computer program or instruction may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium.
  • the above computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media.
  • the above available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a tape; it may also be an optical medium, such as a digital video disc; it may also be a semiconductor medium, such as a solid-state hard disk.
  • the computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

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Abstract

本申请公开了一种用于UWB的调度方法和相关产品，本申请可以应用于基于UWB的无线个人局域网系统、感知系统、定位系统、测距系统、或者通信系统，还可以应用于支持IEEE802.11ax的下一代Wi-Fi协议，如Wi-Fi7，再如802.11be下一代，Wi-Fi8等支持802.11系列协议的无线局域网系统。该方法包括：生成调度信息，该调度信息包括时间单元位图以及位图偏置，时间单元位图用于指示时间单元是否用于UWB设备传输UWB信号，位图偏置用于确定UWB设备传输UWB信号的起始时间单元，时间单元位图的首个比特对应的时间单元为起始时间单元；发送调度信息；通过缩减位图的长度，可降低信令开销。

Description

用于UWB的调度方法和相关产品
本申请要求于2022年10月18日提交中国专利局、申请号为202211275258.3、申请名称为“用于UWB的调度方法和相关产品”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及通信领域，尤其涉及用于UWB的调度方法和相关产品。
背景技术
超宽带(ultra wideband，UWB)技术是一种无线通信和感知测距技术，利用纳秒级的非正弦波窄脉冲传输信号，因此其所占的频谱范围很宽。由于其脉冲很窄，且辐射谱密度极低，使得UWB系统具有多径分辨能力强，功耗低，保密性强等优点，受到业界的广泛关注。
自2002年美国联邦通信委员会批准UWB技术进入民用领域以来，许多世界著名的大公司、研究机构、标准化组织都积极投入到超宽带无线通信技术的研究、开发和标准化工作之中。其中，电气和电子工程师(institute of electrical and electronics engineers，IEEE)协会已经将UWB技术纳入其IEEE 802系列无线标准，发布了基于UWB技术的无线个域网(wireless personal area networks，WPAN)标准IEEE 802.15.4a，以及其演进版本IEEE 802.15.4z。目前下一代UWB WPAN标准IEEE 802.15.4ab的制定也已经提上日程。IEEE 802.15.4ab标准计划对UWB做全面的升级。
面向UWB应用(例如测距、感知、定位、通信等)的调度信元(information element，IE)用于调度一个或多个UWB设备实现UWB应用。目前，已有的面向UWB应用的调度信元通常存在信令开销较大的问题。因此，需要提供面向UWB应用的增强型调度IE设计，以便降低面向UWB应用的调度信元的信令开销。
发明内容
本申请实施例公开了用于UWB的调度方法，能够降低信令开销。
第一方面，本申请实施例提供一种用于UWB的调度方法，该方法包括：生成调度信息，所述调度信息包括时间单元位图以及位图偏置，所述时间单元位图用于指示时间单元是否用于UWB设备传输UWB信号，所述位图偏置用于确定所述UWB设备传输UWB信号的起始时间单元，所述时间单元位图的首个比特对应的时间单元为所述起始时间单元；发送所述调度信息。
本申请实施例中，通过位图偏置和时间单元位图可确定各时间单元是否用于UWB设备传输UWB信号。位图偏置用于确定UWB设备传输UWB信号的起始时间单元，可减少时间单元位图占用的比特，从而减少信令开销。
在一种可能的实现方式中，所述位图偏置的取值为一个测量周期内所述起始时间单元之前的时间单元的数量。测量周期是指一个或多个UWB设备完成一项或多项测量任务的时间周期。例如，测量可以是测距、感知、定位、或者通信任务的一个或多个任务。所述起始时间单元为测量周期内的一个时间单元。测量周期可包括控制阶段、测量阶段、上报阶段。
在该实现方式中，位图偏置的取值为一个测量周期内起始时间单元之前的时间单元的数量，以便根据该位图偏置的取值确定UWB设备传输UWB信号的起始时间单元。
在一种可能的实现方式中，所述位图偏置的取值为一个通信周期内所述起始时间单元之前的时间单元的数量。通信周期是完成一项或多项通信任务的整个周期。所述起始时间单元为通信周期内的一个时间单元。
在该实现方式中，位图偏置的取值为一个通信周期内起始时间单元之前的时间单元的数量，以便根据该位图偏置的取值确定UWB设备传输UWB信号的起始时间单元。
在一种可能的实现方式中，所述时间单元位图包括K个比特，K为大于0的整数，当所述K个比特中的一个比特取设定值时，该设定值指示该比特对应的时间单元用于所述UWB设备传输所述UWB信号。该设定值为0或1。
在该实现方式中，可准确地指示每个时间单元是否用于UWB设备传输所述UWB信号。
在一种可能的实现方式中，所述测量周期为测距周期，即测距轮。所述测量周期也可以为定位轮或感知轮。
在一种可能的实现方式中，所述时间单元位图为一个测量周期内的部分时间单元对应的时间单元位图，所述调度信息还包括用于指示所述UWB设备传输所述UWB信号的调度周期的字段。
结合时间单元位图和位图偏置可确定所述UWB设备传输所述UWB信号的首个调度周期内用于传输所述UWB信号的时间单元。调度信息还包括用于指示UWB设备传输UWB信号的调度周期的字段，结合时间单元位图、位图偏置、调度周期可确定UWB设备传输UWB信号的各调度周期内用于传输UWB信号的时间单元。由于时间单元位图对应的时间单元的个数等于或少于一个调度周期内的时间单元的个数，因此结合时间单元位图、位图偏置、调度周期确定UWB设备传输UWB信号的各调度周期内用于传输UWB信号的时间单元，能够降低信令开销。
在一种可能的实现方式中，所述调度信息还包括用于指示所述UWB设备传输所述UWB信号的重复次数的字段。
在该实现方式中，调度信息还包括用于指示UWB设备传输UWB信号的重复次数的字段，可灵活地指示UWB设备传输UWB信号的重复次数。
在一种可能的实现方式中，调度信息隐式指示(或者说非显式)UWB设备传输UWB信号的重复次数。例如，任意调度信息均默认UWB设备传输UWB信号的重复次数为16次，调度信息不需要通过携带的信息来指示UWB设备传输UWB信号的重复次数。也就是说，UWB设备不需要通过调度信息就能获知传输UWB信号的重复次数。例如，UWB设备预先配置有传输UWB信号的重复次数。
在该实现方式中，调度信息隐式指示(或者说非显式)UWB设备传输UWB信号的重复次数，可减少占用的比特。
在一种可能的实现方式中，所述调度信息还包括用于指示所述UWB设备周期性传输所述UWB信号的字段。
在该实现方式中，调度信息还包括用于指示UWB设备周期性传输UWB信号的字段，可以使得UWB设备周期性传输UWB信号，从而节省信令开销。
在一种可能的实现方式中，所述调度信息还包括用于指示所述时间单元位图的长度的字段。
在该实现方式中，调度信息还包括用于指示时间单元位图的长度的字段，能够准确地确定时间单元位图的长度，进而确定时间单元位图中的每个比特对应的时间单元。
在一种可能的实现方式中，所述调度信息还包括所述UWB设备的地址，所述UWB设备的地址的长度为2字节或8字节。
在该实现方式中，调度信息还包括UWB设备的地址，以便该UWB设备获知其传输UWB待占用的时间单元。
在一种可能的实现方式中，所述调度信息还包括用于指示所述UWB设备的地址类型的字段，UWB设备的地址类型包括短地址和拓展地址。
在该实现方式中，调度信息还包括用于指示UWB设备的地址类型的字段，以便适用于不同地址类型的UWB设备。
在一种可能的实现方式中，所述调度信息还包括调度列表和用于指示所述调度列表中的列表元素的个数的字段，所述调度列表中的一个列表元素用于调度一个UWB设备，所述时间单元位图和所述位图偏置对应所述调度列表中的同一个列表元素。
在该实现方式中，可以准确地指示调度列表中的列表元素的个数。
在一种可能的实现方式中，所述调度信息包括控制字段和调度列表字段，所述控制字段包括：用于指示所述UWB设备的地址类型的字段、用于指示所述调度列表字段中的列表元素的个数的字段、用于指示所述UWB设备周期性传输所述UWB信号的字段；所述调度列表字段中一个列表元素包括：所述时间单元位图、所述位图偏置、用于指示所述UWB设备传输所述UWB信号的调度周期的字段、用于指示所述UWB设备传输所述UWB信号的重复次数的字段、所述UWB设备的地址、用于指示所述时间单元位图的长度的字段。
在该实现方式中，位图偏置用于确定UWB设备传输UWB信号的起始时间单元，可减少时间单元位图占用的比特，从而减少信令开销。另外，由于时间单元位图对应的时间单元的个数等于或少于一个调度周期内的时间单元的个数，因此结合时间单元位图、位图偏置、调度周期确定UWB设备传输UWB信号的各调度周期内用于传输UWB信号的时间单元，能够进一步降低信令开销。
在一种可能的实现方式中，所述时间单元为以下任一项：时隙(例如测距时隙)、测距调度时间单元(ranging schedule time unit,RSTU)、感知调度时间单元(sensing schedule time unit,SSTU)。感知调度时间单元是一种可用来确定感知块，感知轮，感知时隙的持续时间长度的时间单元。时间单元还可以是其他时间长度。
在该实现方式中，可根据实际应用场景，灵活地配置时间单元。
在一种可能的实现方式中，所述方法应用于测距、感知、或者定位场景。
在该实现方式中，在应用UWB的测距、感知、或者定位场景中，通过执行第一方面的调度方法可降低信令开销。
在一种可能的实现方式中，所述方法应用于具有重复周期传输结构的应用场景，例如基于窄带辅助-多毫秒(narrow-band assisted multi-millisecond，NBA-MMS)的测距、基于上行到达时间差方法(uplink-time difference of arrival,UL-TDOA)的定位、基于下行到达时间差方法(downlink-time difference of arrival,DL-TDOA)的定位、感知等场景。
在该实现方式中，方法应用于具有重复周期传输结构的应用场景，能够有效降低信令开销。
第二方面，本申请实施例提供另一种用于UWB的调度方法，该方法包括：接收第一调度信息，所述第一调度信息包括时间单元位图以及位图偏置，所述时间单元位图用于指示时间单元是否用于UWB设备传输UWB信号，所述位图偏置用于确定所述UWB设备传输UWB信号的起始时间单元，所述时间单元位图的首个比特对应的时间单元为所述起始时间单元；根据所述第一调度信息，传输UWB信号。
本申请实施例中，结合时间单元位图和位图偏置可指示分配给UWB设备用于传输UWB信号的多个时间单元。由于位图偏置用于确定UWB设备传输UWB信号的起始时间单元，因此减少时间单元位图占用的比特，从而减少信令开销。
在一种可能的实现方式中，所述位图偏置的取值为一个测量周期内所述起始时间单元之前的时间单元的数量。测量周期是完成测距、感知、定位、或者通信任务的一个整个周期。所述起始时间单元为测量周期内的一个时间单元。
在该实现方式中，位图偏置的取值为一个测量周期内起始时间单元之前的时间单元的数量，根据该位图偏置的取值确定UWB设备传输UWB信号的起始时间单元，可减少时间单元位图占用的比特。
在一种可能的实现方式中，所述位图偏置的取值为一个通信周期内所述起始时间单元之前的时间单元的数量。通信周期是完成一项或多项通信任务的整个周期。所述起始时间单元为通信周期内的一个时间单元。
在该实现方式中，位图偏置的取值为一个通信周期内起始时间单元之前的时间单元的数量，根据该位图偏置的取值确定UWB设备传输UWB信号的起始时间单元，可减少时间单元位图占用的比特。
在一种可能的实现方式中，所述时间单元位图包括K个比特，K为大于0的整数，当所述K个比特中的一个比特取设定值时，该设定值指示该比特对应的时间单元用于所述UWB设备传输所述UWB信号。该设定值为0或1。
在该实现方式中，可准确地指示每个时间单元是否用于UWB设备传输所述UWB信号。
在一种可能的实现方式中，所述测量周期为测距周期，即测距轮。所述测量周期也可以为定位轮或感知轮。
在一种可能的实现方式中，所述时间单元位图为一个测量周期内的部分时间单元对应的时间单元位图，所述第一调度信息还包括用于指示所述UWB设备传输所述UWB信号的调度周期的字段。
结合时间单元位图和位图偏置可确定所述UWB设备传输所述UWB信号的首个调度周期内用于传输所述UWB信号的时间单元。第一调度信息还包括用于指示UWB设备传输UWB信号的调度周期的字段，结合时间单元位图、位图偏置、调度周期可确定UWB设备传输UWB信号的各调度周期内用于传输UWB信号的时间单元。由于时间单元位图对应的时间单元的个数等于或少于一个调度周期内的时间单元的个数，因此结合时间单元位图、位图偏置、调度周期确定UWB设备传输UWB信号的各调度周期内用于传输UWB信号的时间单元，能够降低信令开销。
在一种可能的实现方式中，所述第一调度信息还包括用于指示所述UWB设备传输所述UWB信号的重复次数的字段。
在该实现方式中，第一调度信息还包括用于指示UWB设备传输UWB信号的重复次数的字段，可灵活地指示UWB设备传输UWB信号的重复次数。
在一种可能的实现方式中，第一调度信息隐式指示(或者说非显式)UWB设备传输UWB信号的重 复次数。例如，任意第一调度信息均默认UWB设备传输UWB信号的重复次数为16次，第一调度信息不需要通过携带的信息来指示UWB设备传输UWB信号的重复次数。也就是说，UWB设备不需要通过第一调度信息就能获知传输UWB信号的重复次数。例如，UWB设备预先配置有传输UWB信号的重复次数。
在该实现方式中，第一调度信息隐式指示(或者说非显式)UWB设备传输UWB信号的重复次数，可减少占用的比特。
在一种可能的实现方式中，所述第一调度信息还包括用于指示所述UWB设备周期性传输所述UWB信号的字段。
在该实现方式中，第一调度信息还包括用于指示UWB设备周期性传输UWB信号的字段，可以使得UWB设备周期性传输UWB信号，从而节省信令开销。
在一种可能的实现方式中，所述第一调度信息还包括用于指示所述时间单元位图的长度的字段。
在该实现方式中，第一调度信息还包括用于指示时间单元位图的长度的字段，能够准确地确定时间单元位图的长度，进而确定时间单元位图中的每个比特对应的时间单元。
在一种可能的实现方式中，所述第一调度信息还包括所述UWB设备的地址，所述UWB设备的地址的长度为2字节或8字节。
在该实现方式中，第一调度信息还包括UWB设备的地址，以便该UWB设备获知其传输UWB待占用的时间单元。
在一种可能的实现方式中，所述第一调度信息还包括用于指示所述UWB设备的地址类型的字段，UWB设备的地址类型包括短地址和拓展地址。
在该实现方式中，第一调度信息还包括用于指示UWB设备的地址类型的字段，以便适用于不同地址类型的UWB设备。
在一种可能的实现方式中，所述第一调度信息还包括调度列表和用于指示所述调度列表中的列表元素的个数的字段，所述调度列表中的一个列表元素用于调度一个UWB设备，所述时间单元位图和所述位图偏置对应所述调度列表中的同一个列表元素。
在该实现方式中，可以准确地指示调度列表中的列表元素的个数。
在一种可能的实现方式中，所述第一调度信息包括控制字段和调度列表字段，所述控制字段包括：用于指示所述UWB设备的地址类型的字段、用于指示所述调度列表字段中的列表元素的个数的字段、用于指示所述UWB设备周期性传输所述UWB信号的字段；所述调度列表字段中一个列表元素包括：所述时间单元位图、所述位图偏置、用于指示所述UWB设备传输所述UWB信号的调度周期的字段、用于指示所述UWB设备传输所述UWB信号的重复次数的字段、所述UWB设备的地址、用于指示所述时间单元位图的长度的字段。
在该实现方式中，位图偏置用于确定UWB设备传输UWB信号的起始时间单元，可减少时间单元位图占用的比特，从而减少信令开销。另外，由于时间单元位图对应的时间单元的个数等于或少于一个调度周期内的时间单元的个数，因此结合时间单元位图、位图偏置、调度周期确定UWB设备传输UWB信号的各调度周期内用于传输UWB信号的时间单元，能够进一步降低信令开销。
在一种可能的实现方式中，所述时间单元为以下任一项：时隙(例如测距时隙)、RSTU、SSTU。时间单元还可以是其他时间长度。
在该实现方式中，可根据实际应用场景，灵活地配置时间单元。
在一种可能的实现方式中，所述方法应用于测距、感知、或者定位场景。
在该实现方式中，在应用UWB的测距、感知、或者定位场景中，通过执行第一方面的调度方法可降低信令开销。
在一种可能的实现方式中，所述方法应用于具有重复周期传输结构的应用场景，例如基于NBA-MMS的测距、基于UL-TDOA的定位、基于DL-TDOA的定位、感知等场景。
在该实现方式中，方法应用于具有重复周期传输结构的应用场景，能够有效降低信令开销。
在一种可能的实现方式中，所述方法还包括：接收第二调度信息，所述第二调度信息的格式和所述第一调度信息的格式不同；所述根据所述第一调度信息，传输UWB信号包括：根据接收到所述第一调度信息和所述第二调度信息的先后顺序，根据所述第一调度信息，传输UWB信号。
在该实现方式中，根据接收到的不同格式的调度信息的先后顺序，根据其中一个调度信息传输UWB信号；可以节省功耗。
关于第一方面的各种可能的实现方式所带来的技术效果，可参考对于第一方面或第一方面的各种可能 的实现方式的技术效果的介绍。
第三方面，本申请实施例提供一种通信装置，该通信装置具有实现上述第一方面方法实施例中的行为的功能。该通信装置可以是通信设备，也可以是通信设备的部件(例如处理器、芯片、或芯片系统等)，还可以是能实现全部或部分该通信设备的功能的逻辑模块或软件。该通信装置的功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，该硬件或软件包括一个或多个与上述功能相对应的模块或单元。在一种可能的实现方式中，该通信装置包括收发模块和处理模块，其中：所述处理模块，用于生成调度信息，所述调度信息包括时间单元位图以及位图偏置，所述时间单元位图用于指示时间单元是否用于UWB设备传输UWB信号，所述位图偏置用于确定所述UWB设备传输UWB信号的起始时间单元，所述时间单元位图的首个比特对应的时间单元为所述起始时间单元；所述收发模块，用于发送所述调度信息。
第三方面的通信装置可能的实现方式可参见第一方面的各种可能的实现方式。
关于第三方面的各种可能的实现方式所带来的技术效果，可参考对于第一方面或第一方面的各种可能的实现方式的技术效果的介绍。
第四方面，本申请实施例提供一种通信装置，该通信装置具有实现上述第二方面方法实施例中的行为的功能。该通信装置可以是通信设备，也可以是通信设备的部件(例如处理器、芯片、或芯片系统等)，还可以是能实现全部或部分该通信设备的功能的逻辑模块或软件。该通信装置的功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，该硬件或软件包括一个或多个与上述功能相对应的模块或单元。在一种可能的实现方式中，该通信装置包括收发模块和处理模块，其中：所述收发模块，用于接收第一调度信息，所述第一调度信息包括时间单元位图以及位图偏置，所述时间单元位图用于指示时间单元是否用于UWB设备传输UWB信号，所述位图偏置用于确定所述UWB设备传输UWB信号的起始时间单元，所述时间单元位图的首个比特对应的时间单元为所述起始时间单元；所述处理模块，用于根据所述第一调度信息，传输所述UWB信号。
在一种可能的实现方式中，所述收发模块，还用于接收第二调度信息，所述第二调度信息的格式和所述第一调度信息的格式不同；所述处理模块，具体用于根据接收到所述第一调度信息和所述第二调度信息的先后顺序，根据所述第一调度信息，传输UWB信号。
第四方面的通信装置可能的实现方式可参见第二方面的各种可能的实现方式。
关于第四方面的各种可能的实现方式所带来的技术效果，可参考对于第二方面或第二方面的各种可能的实现方式的技术效果的介绍。
第五方面，本申请实施例提供另一种通信装置，该通信装置包括处理器，该处理器与存储器耦合，该存储器用于存储程序或指令，当该程序或指令被该处理器执行时，使得该通信装置执行上述第一方面或上述第二方面所示的方法。
本申请实施例中，在执行上述方法的过程中，上述方法中有关发送信息(或信号)的过程，可以理解为基于处理器的指令进行输出信息的过程。在输出信息时，处理器将信息输出给收发器，以便由收发器进行发射。该信息在由处理器输出之后，还可能需要进行其他的处理，然后到达收发器。类似的，处理器接收输入的信息时，收发器接收该信息，并将其输入处理器。更进一步的，在收发器收到该信息之后，该信息可能需要进行其他的处理，然后才输入处理器。
对于处理器所涉及的发送和/或接收等操作，如果没有特殊说明，或者，如果未与其在相关描述中的实际作用或者内在逻辑相抵触，则可以一般性的理解为基于处理器的指令输出。
在实现过程中，上述处理器可以是专门用于执行这些方法的处理器，也可以是执行存储器中的计算机指令来执行这些方法的处理器，例如通用处理器等。例如，处理器还可以用于执行存储器中存储的程序，当该程序被执行时，使得该通信装置执行如上述第一方面或第一方面的任意可能的实现方式所示的方法。
在一种可能的实现方式中，存储器位于上述通信装置之外。在一种可能的实现方式中，存储器位于上述通信装置之内。
在一种可能的实现方式中，处理器和存储器还可能集成于一个器件中，即处理器和存储器还可能被集成于一起。
在一种可能的实现方式中，通信装置还包括收发器，该收发器，用于接收信号或发送信号等。
第六方面，本申请提供另一种通信装置，该通信装置包括处理电路和接口电路，该接口电路用于获取数据或输出数据；处理电路用于执行如上述第一方面或上述第二方面所示的方法。
第七方面，本申请提供一种计算机可读存储介质，该计算机可读存储介质中存储有计算机程序，该计算机程序包括程序指令，该程序指令被执行时使得计算机执行如上述第一方面或上述第二方面所示的方法。
第八方面，本申请提供一种计算机程序产品，该计算机程序产品包括计算机程序，该计算机程序包括程序指令，该程序指令被执行时使得计算机执行如上述第一方面或上述第二方面所示的方法。
第九方面，本申请提供一种通信系统，包括上述第三方面或第三方面的任意可能的实现方式所述的通信装置、上述第四方面或第四方面的任意可能的实现方式所述的通信装置。
第十方面，本申请提供一种芯片，包括处理器与通信接口，所述处理器通过所述通信接口读取存储器上存储的指令，执行如上述第一方面或上述第四方面所示的方法。
附图说明
为了更清楚地说明本申请实施例或背景技术中的技术方案，下面将对本申请实施例或背景技术中所需要使用的附图进行说明。
图1为现有技术中的一种测距轮的各阶段示意图；
图2为一种基于UWB信号的DL-TDOA定位示意图；
图3为一种星型拓扑结构的示例的示意图；
图4为一种点对点拓扑结构或网状拓扑结构的示例的示意图；
图5为本申请提供的技术方案适用的一种UWB系统的示例；
图6为本申请实施例提供的一种用于UWB的调度方法的流程图；
图7为本申请实施例提供的另一种用于UWB的调度方法的流程图；
图8为本申请实施例提供的一种测距场景下的调度指示示意图；
图9为本申请实施例提供的调度信息中的列表元素的一种示例；
图10为现有技术的一种位图指示时间单元是否用于UWB设备传输UWB信号的示例；
图11为本申请实施例提供的一种时间单元位图指示时间单元是否用于UWB设备1传输UWB信号的示例；
图12为本申请实施例提供的调度信息中的列表元素的另一种示例；
图13为本申请实施例提供的一种非交错式MMS测距过程(non-interlacing MMS ranging)的时序图；
图14为本申请实施例提供的另一种非交错式MMS测距过程的时序图；
图15为一个典型的可完成DL-TDOA定位过程的一组调度模式；
图16为本申请实施例提供的一种8次重复的DL-TDOA定位的调度示意图；
图17为本申请实施例提供的一种通信装置1700的结构示意图；
图18为本申请实施例提供的另一种通信装置180的结构示意图；
图19为本申请实施例提供的另一种通信装置190的结构示意图。
具体实施方式
本申请的说明书、权利要求书及附图中的术语“第一”和“第二”等仅用于区别不同对象，而不是用于描述特定顺序。可以理解的是，在本申请的实施例中涉及的各种数字编号仅为描述方便进行的区分，并不用来限制本申请的实施例的范围。上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定。此外，术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备等，没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元等，或可选地还包括对于这些过程、方法、产品或设备等固有的其它步骤或单元。
在本文中提及的“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员可以显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
本申请以下实施例中所使用的术语只是为了描述特定实施例的目的，而并非旨在作为对本申请的限制。如在本申请的说明书和所附权利要求书中所使用的那样，单数表达形式“一个”、“一种”、“所述”、“上述”、“该”和“这一”旨在也包括复数表达形式，除非其上下文中明确地有相反指示。还应当理解，本申请中使用的术语“和/或”是指并包含一个或多个所列出项目的任何或所有可能组合。例如，“A和/或B”可以表示：只存在A，只存在B以及同时存在A和B三种情况，其中A，B可以是单数或者复数。本申请中使用的术 语“多个”是指两个或两个以上。在本申请的文字描述中，字符“/”，一般表示前后关联对象是一种“或”的关系。
可以理解，在本申请各实施例中，“A对应的B”表示A与B存在对应关系，根据A可以确定B。但还应理解，根据(或基于)A确定(或生成)B并不意味着仅仅根据(或基于)A确定(或生成)B，还可以根据(或基于)A和/或其它信息确定(或生成)B。
为了便于理解本申请的方案，下面首先介绍本申请实施例中所涉及的术语和技术方案。
测距轮(ranging round)、定位轮(positioning round)、感知轮(sensing round)、测量周期、通信周期。
在IEEE 802.15.4z标准中，将单个测距过程，定义为一个测距轮(ranging round)。在IEEE 802.15.4z标准中，测距轮的定义为：测距轮是一段足以完成一个完整的测距任务的时间周期，该时间周期涉及一组参与测距交换的ERDEVs(a ranging round is a period of sufficient duration to complete one entire range-measurement cycle involving the set of ERDEVs participating in the ranging exchange)。每个测距轮的最小处理时间单位为测距时隙(ranging slot)。在一个测距轮中，分为三个阶段：测距控制阶段(ranging control phase)、测距阶段(ranging phase)、测量上报阶段(measurement report phase)。图1为现有技术中的一种测距轮的各阶段示意图。如图1所示。其中，IEEE 802.15.4z标准中，测距控制阶段包含1个测距时隙，而在当前正在讨论指定的IEEE 802.15.4ab标准中，测距控制阶段可以包含多于1个测距时隙。
本申请实施例中，将单个定位过程，即完成一个定位任务的过程，定义为一个定位轮。定位轮可以是其他名称，本申请不作限定。定位轮可以是一段足以完成一个完整的定位任务的时间段(或者说时间周期)。定位轮的含义与测距轮的含义类似，区别在于一个是测距对应的时间周期，一个是定位对应的时间周期。每个定位轮的最小处理时间单位为定位时隙(positioning slot)。在一个定位轮中，可分为三个阶段：定位控制阶段(positioning control phase)、定位阶段(positioning phase)、定位上报阶段(positioning report phase)。
本申请实施例中，将单个感知过程，即完成一个感知任务的过程，定义为一个感知轮。感知轮可以是其他名称，本申请不作限定。感知轮可以是一段足以完成一个完整的感知任务的时间段(或者说时间周期)。感知轮的含义与测距轮的含义类似，区别在于一个是测距对应的时间周期，一个是感知对应的时间周期。每个感知轮的最小处理时间单位为感知时隙(sensing slot)。在一个感知轮中，可分为三个阶段：感知控制阶段(sensing control phase)、感知阶段(sensing phase)、感知上报阶段(sensing report phase)。
测量周期是指一个或多个UWB设备完成一项或多项测量任务的时间周期。这里测量任务可以是测距任务、定位任务、感知任务等。测量周期可以是测距轮、定位轮、或者感知轮。通信周期是指一个或多个UWB设备完成一项或多项通信任务的时间周期。
另外，还需要说明的是，单个测量轮(例如测距轮、感知轮、定位轮等)中不同阶段的名称只是举例，对本申请保护范围不构成任何的限定。例如，上述的测量控制阶段可以理解为用于配置测量轮中所需参数的阶段。还例如，上述的测量阶段可以理解为用于执行测量的阶段。又例如，上述的测量结果上报阶段可以理解为用于上报测量结果的阶段，还可以称为测量阶段的结束。另外，还需要说明的是，在本申请各实施例中，各字段的大小表示各字段占用的比特个数。
UWB定位
UWB可用于室内定位。UWB定位的原理方法包括但不限于：UL-TDOA、DL-TDOA。图2为一种基于UWB信号的DL-TDOA定位示意图。基于UWB信号的DL-TDOA定位可称为UWB DL-TDOA定位。图2中，A、B、C表示描点设备，箭头表示UWB定位/测距信号的流向。由图2可知，以UWB DL-TDOA定位为例，该方法在室内空间中布置三个或三个以上锚点设备，锚点设备之间进行双向UWB信号交互，为标签设备提供定位信号；标签设备通过监听锚点设备之间的UWB定位/测距交互信号，并计算各个信号之间的到达时间差，从而计算出自身位置，实现定位功能。
下面介绍与本申请实施例提供的调度方案相关的现有技术1和现有技术2。
现有技术1：
现有技术1提供了一种面向UWB测距用途的调度信元，即测距设备管理信元(ranging device management information element,RDM IE)。表1为现有技术中的RDM IE的格式。
表1

具体地，表1中的部分字段的含义如下：
SIU字段(slot index used)表示当前测距过程所采取的接入模式。如果SIU＝0时，则当前RDM IE用于对基于竞争接入的测距过程进行管理。如果SIU＝1时，则当前RDM IE用于对基于调度接入的测距过程进行管理。
Address Size字段用于指示参与测距过程的设备的地址类型。如果Address Size＝0时，则表示当前RDM List(列表)中所涉及的设备的地址均为短地址，也即地址长度为2字节(Byte)。如果Address Size＝1时，则表示当前RDM List中所涉及的设备的地址均为拓展地址(长地址)，也即地址长度为8字节(Byte)。
RDM List Length字段用于指示RDM List中的元素个数，也即形式如表2中所示格式的列表元素(list element)的个数。表2为现有技术1中的RDM List中的列表元素的格式。本申请实施例中，列表元素可称为调度列表元素(scheduling list element)。
RDM List字段为一个列表，其中，列表中各元素的格式为表2所示。
表2
具体地，表2中的部分字段的含义如下：
Ranging Role字段用于指示当前列表元素的Address字段所对应的设备的测距角色。如果Ranging Role＝0，则表示该设备为测距响应端(responder)。如果Ranging Role＝1，则表示该设备为测距发起端(initiator)。
Ranging Slot Index字段用于指示分配给当前列表元素所对应的参与测距的设备的时隙的下标。其中，该设备的地址由表2中的Address字段所确定。
Address字段用于指示当前列表元素所对应的参与测距的设备的地址。
假设当前采用现有技术1的测距系统中存在N(大于0的整数)个设备，以及每个设备最多需要调用S(大于0的整数)个时隙，则现有技术1所提出的调度IE所需的消息长度M可表示为：
假设N个设备均为短地址设备，则IE的消息长度为(M＝1+3*N*S)字节(byte)；
假设N个设备均为长地址设备，则IE的消息长度为(M＝1+9*N*S)字节(byte)。
由前述分析可以发现，现有技术1的调度IE，存在如下缺点：
信令开销较大：当设备数量N固定时，调度IE的长度会随着S的增大而增大。比如，以短地址为例，当S＝32时，调度IE的长度为(M＝1+96*N)字节；当S＝64时，调度IE的长度为(M＝1+192*N)字节。因此，当设备数量N固定时，如果系统当前所需调度的时隙数量S较大时(比如，S≥64时)，会导致较大的信令开销。
灵活性受限：现有技术1的RDM IE的每个列表元素(表2)，仅能允许一个设备指示一个时隙，无法指示多个时隙，导致了RDM IE指示调度的灵活性受限。具体地，如果某个设备需要指示多个时隙，则需要多个形如表2所示的列表元素，进而会导致信令指示冗余，也即导致前述的信令开销问题。
现有技术2：
现有技术2提供了一种面向UWB用途的基于位图(bitmap)的调度信元(information element，IE)格式。表3为现有技术2提供的基于bitmap的调度IE的格式。
表3
其中，Control字段占用一个字节(octet)的大小，Scheduling List字段占用1个或多个字节的大小。表4为现有技术2提供的基于bitmap的调度IE的Control字段的格式。
表4
Address Type为0时，表示设备地址为短地址，也即地址长度为2个字节(16bit)；Address Type为1时，表示设备地址为长地址(或拓展地址)，也即地址长度为8个字节(64bit)。这里的设备地址是指基于bitmap的调度IE调度的设备的地址，即调度列表所涉及的设备的地址。
Scheduling List Length表示调度列表字段中的列表元素的个数。列表元素承载在Scheduling List字段当中。表5为现有技术2中的调度列表中的一个列表元素的格式。
表5
其中，表5中的bitmap(位图)表示一个一维的比特字符串，例如0000100100100000。Bitmap Size用于指示位图的长度，其中，Bitmap Size数值和bitmap的长度的关系如下表6所示。表6示出了Bitmap Size数值和位图的长度的关系。
表6
举例说明，表7所示的bitmap表示一个长度为8的比特字符串，也即表示8个时隙(每个比特对应一个时隙)，也即相应Bitmap Size数值为0。其中，如果某个比特位为1，表示该bitmap对应的列表元素所对应的参与测距的设备在该比特位所对应的时隙中，发送UWB信号。相应地，如果某个比特位为0，表示该设备在该比特位为0所对应的时隙中，不发送UWB信号。
表7
表7所示的bitmap从左至右依次表示时隙1～时隙8(或时隙0～时隙7)。时隙2、时隙4、时隙5、时隙7、时隙8所对应的比特位均为1，表示该设备在时隙2、时隙4、时隙5、时隙7、时隙8发送UWB信号。时隙1、时隙3、时隙6所对应的比特位均为0，表示该设备在时隙1、时隙3、时隙6不发送UWB信号。
需要说明的是，本文对诸如表7的bitmap的描述方式，默认为从左至右的表示方式。也即bitmap从左至右，依次表示时隙的由近及远顺序。比如，对于长度为1个字节的bitmap，则bitmap从左至右依次表示时隙1～时隙8(或时隙0～时隙7)。另一方面，本申请实施例对bitmap的描述，也可以为从右至左描述，也即依次表示时隙的由近及远顺序。本申请实施例对bitmap的描述顺序不做任何限定。全文以从左至右的表示方式进行举例说明。
假设当前采用现有技术2的系统中存在N(大于0的整数)个设备，以及每个设备最多需要调用S(大于0的整数)个时隙，则现有技术2所提出的调度IE，所需要的消息长度M可表示为：
假设N个设备均为短地址设备，则IE的消息长度字节；
假设N个设备均为长地址设备，则IE的消息长度字节。
其中，符号表示向上取整。
由前述分析可以发现，现有技术2的调度IE，存在如下缺点：
信令开销较大：当设备数量N固定时，调度IE的消息长度会随着S的增大而增大。以短地址为例，当S＝32时，调度IE的长度为(M＝1+N*7)字节；当S＝64时，调度IE的长度为(M＝1+11*N)字节。因此，当设备数量N固定时，如果系统当前所需调度的时隙数量S较大时(比如，S≥64时)，会导致较大的信令开销。
消息表示的冗余：现有技术2采用位图指示时隙是否用于传输UWB信号，对于未参与发送的时隙，仍需要将该位比特置0，使得消息表示不够灵活，进而导致不必要的消息表示冗余。
对于具有重复周期传输结构的UWB应用，如窄带辅助-多毫秒(narrow-band assisted multi-millisecond，NBA-MMS)、DL-TDOA/UL-TDOA定位、感知等等应用，仅采用位图指示时隙是否用于传输UWB信号会导致不必要的重复冗余，且当重复次数较大的时候，会导致较大的表示冗余。
从上文描述可知，现有技术1和现有技术2提供的调度信元均存在开销较大的缺点。为避免采用现有 技术1或现有技术2提供的调度信元造成信令开销较大的问题，本申请实施例提供了信令开销较少的用于UWB的调度方案。下面介绍本申请实施例提供的用于UWB的调度方案适用的拓扑结构以及系统。
本申请实施例提供的用于UWB的调度方案可以工作在星型拓扑、点对点拓扑、或网状拓扑结构中。本申请实施例提供的用于UWB的调度方案还可工作在其他拓扑结构中，本申请不作限定。图3为一种星型拓扑结构的示例的示意图。如图3所示，星型拓扑中涉及中心控制节点，例如图3所示的个人区域网(personal area network,PAN)或协调者，与一个或多个其他设备之间的数据通信。本申请实施例提供的用于UWB的调度方案适用于星型拓扑中，中心控制节点与一个或多个其他设备之间的数据通信/感知/测距/定位。图4为一种点对点拓扑结构或网状拓扑结构的示例的示意图。本申请实施例提供的用于UWB的调度方案同样适用于点对点拓扑或网状拓扑结构中(图4)，不同设备之间的通信/感知/测距/定位。图3和图4中，黑色节点为全功能设备(full function device，FFD)，白色节点为简化功能设备(reduced function device，RFD)。FFD可作为PAN协调者或协调者，而RFD不能作为PAN协调者或协调者。FFD设备之间以及FFD设备与RFD设备之间都可以通信。RFD设备之间不能直接通信，只能与FFD设备通信，或者通过一个FFD设备向外转发数据。在UWB系统中，FFD可为锚点设备或具备较强计算能力的标签设备(如，搭载在智能手机上的UWB标签)；而RFD为标签设备，只具备部分计算能力。
本申请的技术方案主要适用于UWB系统，例如支持IEEE 802.15.4a标准、IEEE 802.15.4z标准、IEEE 802.15.4ab标准、或IEEE 802.15.4ab标准的下一代标准的UWB系统。本领域技术人员容易理解，本申请涉及的各个方面可以扩展到采用各种标准或协议的其它网络，例如，BLUETOOTH(蓝牙)，高性能无线LAN(high performance radio LAN，HIPERLAN)(一种与IEEE 802.11标准类似的无线标准，主要在欧洲使用)以及广域网(WAN)、个人区域网(personal area network,PAN)或其它现在已知或以后发展起来的网络。因此，无论使用的覆盖范围和无线接入协议如何，本申请实施例提供的各种方面可以适用于任何合适的无线网络。
参阅图5，图5为本申请实施例提供的技术方案适用的一种UWB系统的示例。该UWB系统包括锚点(anchor，仅示出了一个锚点)，一个或多个标签(tag，仅示出了标签1和标签2)。其中，锚点和标签支持的协议可以包括IEEE 802.15.4a，IEEE 802.15.4z，IEEE 802.15.4ab等协议。当然，随着通信技术的不断演进和发展，该WLAN协议还可以包括IEEE 802.15.4ab的下一代协议等。锚点可以是接入点，标签可以是站点(Station，STA)。接入点和STA均支持WLAN协议，该WLAN协议可以包括IEEE 802.11be(或称为Wi-Fi 7，EHT协议)。
接入点是一种具有无线通信功能的装置，支持采用WLAN协议进行通信，具有与WLAN网络中其他设备(比如站点或其他接入点)通信的功能。当然，还可以具有与其他设备通信的功能。在UWB系统中，包括一个或多个接入点(access point，AP)类的站点和一个或多个非接入点类的站点(none access point station，non-AP STA)。为便于描述，本文将接入点类型的站点称为接入点(AP)，非接入点类的站点称为站点(STA)。
接入点可以为一个整机设备，还可以是安装在整机设备中的芯片或处理系统等。安装这些芯片或处理系统的设备可以在芯片或处理系统(即AP)的控制下，实现本申请实施例的方法和功能。本申请实施例中的AP是为站点(Station，STA)提供服务的装置，可以支持例如IEEE 802.15.4a，IEEE 802.15.4z，IEEE802.15.4ab或其下一代等。例如，AP可以为通信服务器、路由器、交换机、网桥、计算机、手机等通信实体。AP可以包括锚点(anchor)、宏基站、微基站(也称为小站)、微微基站、毫微微基站、中继站、接入点、gNB、传输接收点(transmission reception point，TRP)、演进型节点B(evolved Node B，eNB)、无线网络控制器(radio network controller，RNC)、家庭基站(例如，home evolved NodeB，或home Node B，HNB)、基带单元(base band unit，BBU)、WiFi接入点(access point，AP)、接入回传一体化(integrated access and backhaul，IAB)等。当然AP还可以为这些各种形式的设备中的芯片和处理系统，从而实现本申请实施例的方法和功能。
站点是一种具有无线通信功能的装置，支持采用WLAN协议进行通信，具有与WLAN网络中的其他站点或接入点通信的能力。例如，STA是允许用户与AP通信进而与WLAN通信的任何通信装置，该通信装置可以为一个整机设备，还可以是安装在整机设备中的芯片或处理系统等。安装这些芯片或处理系统的设备可以在芯片或处理系统(即站点)的控制下，实现本申请实施例的方法和功能。STA可包括标签设备(tag)/智能标签设备(smart tag)、手机(mobile phone)、移动台(mobile station，MS)、平板电脑(pad)、带无线收发功能的电脑(例如笔记本电脑)、虚拟现实(virtual reality，VR)设备、增强现实(augmented reality，AR)设备、工业控制(industrial control)中的无线终端、无人驾驶(self driving)中的无线终端、远程医 疗(remote medical)中的无线终端、智能电网(smart grid)中的无线终端、运输安全(transportation safety)中的无线终端、智慧城市(smart city)中的无线终端、智慧家庭(smart home)中的无线终端、用户单元(subscriber unit)、蜂窝电话(cellular phone)、无线数据卡、个人数字助理(personal digital assistant，PDA)电脑、平板型电脑、膝上型电脑(laptop computer)、机器类型通信(machine type communication,MTC)终端等。站台可包括各种具有无线通信功能的手持设备、车载设备、可穿戴设备、计算设备或连接到无线调制解调器的其它处理设备。例如：站台可以是具有无线通信功能的手持设备(handset)、车载设备、可穿戴设备或物联网、车联网中的终端、5G以及5G之后演进的通信系统中的任意形态的终端等，本申请对此并不限定。站点可支持IEEE 802.15系列协议，例如IEEE 802.15.4a，IEEE 802.15.4z，IEEE 802.15.4ab。
下面结合附图介绍本申请实施例提供的用于UWB的调度方案。
图6为本申请实施例提供的一种用于UWB的调度方法的流程图。图6所示的方法可应用于测距、感知、定位、通信等场景，例如：基于NBA-MMS的测距、基于DL-TDOA的定位、基于UL-TDOA的定位、感知等场景。如图6所示，该方法包括：
601、发送端生成调度信息。
发送端可以是支持UWB标准的UWB设备。发送端可以是AP，也可以是站点。发送端可以是FFD，也可以是RFD。发送端可以是测距、感知、定位、或者通信的发起者(initator)，即测距发起者、感知发起者、定位发起者、或者通信发起者；也可以是测距、感知、定位、或者通信的响应者(responder)，即测距响应者、感知响应者、定位响应者、或者通信响应者；还可以是第三方设备(可称为控制者设备)，即不为测距、感知、定位、或者通信的发起者和响应者(responder)。例如，发送端为第三方设备，调度信息为测距控制消息(ranging control message，RCM)，参与测距过程的所有发起者/测距者，在接收到调度信息后，各发起者/测距者通过解读调度信息中跟自身相关的信息(如，发送所对应的时隙下标等)，并在测量阶段中执行相应的测距流程。
调度信息包括时间单元位图(bitmap)和位图偏置(bitmap offset)。位图偏置可称为bitmap offset字段或位图偏置字段。上述时间单元位图用于指示时间单元是否用于UWB设备传输UWB信号。例如：时间单元位图包括K个比特，每个比特对应一个时间单元，K为大于0的整数，当上述K个比特中的一个比特取设定值时，该设定值指示该比特对应的时间单元用于上述UWB设备传输上述UWB信号。设定值为0或1。时间单元位图中的K个比特对应的K个时间单元为一个测量周期或定位周期中的K个时间单元，即测量周期或定位周期中的部分时间单元。测量周期可以是测距周期(即测距轮)、感知轮、或者定位轮。位图偏置用于确定上述UWB设备传输UWB信号的起始时间单元。上述时间单元位图的首个比特对应的时间单元为上述起始时间单元。可理解，位图偏置用于确定时间单元位图的首个比特对应的时间单元。例如：上述位图偏置的取值为一个测量周期内上述起始时间单元之前的时间单元的数量，时间单元位图对应的多个时间单元为该测量周期内的多个时间单元。例如：上述位图偏置的取值为一个定位周期内上述起始时间单元之前的时间单元的数量，时间单元位图对应的多个时间单元为该定位周期内的多个时间单元。下文再结合调度信息的示例来描述时间单元位图和位图偏置的实现方式。
在一种可能的实现方式中，调度信息还包括用于指示上述UWB设备传输上述UWB信号的调度周期的字段(下文称为period index字段)。调度周期是指一个测量周期或通信周期内UWB设备传输UWB信号的周期。举例来说，在一个测量周期或通信周期内包括UWB设备的8个调度周期，UWB在每个调度周期内的第三个时间单元和第五个时间单元传输UWB信号，在其他时间单元不传输UWB信号。例如：period index字段可以表示连续的数值，例如1～32或者1～64。period index字段包括的P个比特表示的数值用于指示UWB设备传输UWB信号的调度周期，P为大于0的整数，例如P为4、5、6、7、8等中的任一个。例如，period index字段表示的数值为调度周期对应的时间单元的个数，比如1～32个时间单元。例如：period index字段表示非连续的自然数。period index字段包括的H个比特表示的自然数用于指示UWB设备传输UWB信号的调度周期，H为大于0的整数，例如H为1、2、3等中的任一个。例如：period index字段表示一组时间单元(包括多个时间单元)个数中的任一个，比如8,16,32,64,128等时间单元个数。例如，period index字段的取值为0(即period index＝0)时，此时UWB设备周期性传输UWB信号的调度周期为8个时间单元，也即此时UWB传输的调度周期为8个时间单元。又例如，period index字段的取值为1(即period index＝1)时，此时UWB设备周期性传输UWB信号的调度周期为16个时间单元，也即此时UWB传输的调度周期为16个时间单元。本申请实施例不对period index字段可表示的时间单元的个数做任何限定。period index字段表示的数值的单位可以是单个时间单元，也可以是多个时间单元。时间单元可 以是时隙，例如测距时隙，也可以是RSTU，也可以是感知调度时间单元，感知调度时间单元是一种可用来确定感知块，感知轮，感知时隙的持续时间长度的时间单元；还可以是其他时间长度，本申请不作限定。由于时间单元位图对应的时间单元的个数等于或少于一个调度周期内的时间单元的个数，因此结合时间单元位图、位图偏置、调度周期确定UWB设备传输UWB信号的各调度周期内用于传输UWB信号的时间单元，能够降低信令开销。
在一种可能的实现方式中，上述调度信息还包括用于指示上述UWB设备传输上述UWB信号的重复次数的字段(下文称repetition index字段)。repetition index字段可称为重复指数字段或其他字段。repetition index字段包括的R个比特表示的数值用于指示UWB设备传输UWB信号的重复次数，R为大于0的整数，例如R为2、3、4、5、6等中的任一个。例如：repetition index字段表示连续的数值，例如，1次～32次等。本申请实施例不对repetition index字段可表示的个数做任何限定。例如：repetition index字段表示非连续的自然数。例如，repetition index字段可以表示一个数值组合(包括多个非连续的自然数)中的任意个数，比如8,16,32,64,128等个数。举例来说，repetition index字段取值为1(即repetition index＝1)时，此时周期性传输UWB信号(或者说周期性UWB传输)的次数为16次。又举例来说，repetition index字段取值为2(即repetition index＝2)时，此时周期性UWB传输的次数为32次。本申请实施例不对repetition index字段可表示的非连续的数值做任何限定。在该实现方式中，repetition index字段用于指示UWB设备传输UWB信号的重复次数，通过结合时间单元位图和位图偏置可指示UWB设备传输UWB信号的每个调度周期中的时间单元，占用的比特较少，可减少信令开销。
在一种可能的实现方式中，调度信息隐式指示(或者说非显式)UWB设备传输UWB信号的重复次数。例如，任意调度信息均默认UWB设备传输UWB信号的重复次数为16次，调度信息不需要通过携带的信息来指示UWB设备传输UWB信号的重复次数。也就是说，UWB设备不需要通过调度信息就能获知传输UWB信号的重复次数。例如，UWB设备预先配置有传输UWB信号的重复次数。在该实现方式中，调度信息隐式指示(或者说非显式)UWB设备传输UWB信号的重复次数，可减少占用的比特。
在一种可能的实现方式中，上述调度信息还包括用于指示上述UWB设备周期性传输上述UWB信号的字段(下文称为Period Mode字段)。在该实现方式中，调度信息还包括用于指示UWB设备周期性传输UWB信号的字段，可以使得UWB设备周期性传输UWB信号，从而节省信令开销。
在一种可能的实现方式中，上述调度信息还包括用于指示上述时间单元位图的长度的字段(下文称为bitmap size字段)。在该实现方式中，调度信息还包括用于指示时间单元位图的长度的字段，能够准确地确定时间单元位图的长度，进而确定时间单元位图中的每个比特对应的时间单元。
在一种可能的实现方式中，上述调度信息还包括上述UWB设备的地址，上述UWB设备的地址的长度为2字节或8字节。在该实现方式中，调度信息还包括UWB设备的地址，以便该UWB设备获知其传输UWB待占用的时间单元。
在一种可能的实现方式中，调度信息包括控制(control)字段和调度列表(scheduling list)字段。该调度列表字段中包括一个或多个列表元素。例如，上述时间单元位图、位图偏置、UWB设备的地址、bitmap size字段包含于同一个列表元素。又例如，上述时间单元位图、位图偏置、UWB设备的地址、bitmap size字段、period index字段以及repetition index字段包含于同一个列表元素。
602、发送端发送调度信息。
步骤602一种可能的实现方式如下：发送端通过广播或组播的方式发送调度信息。步骤602另一种可能的实现方式如下：发送端通过单播的方式向待调度的一个或多个UWB设备(即接收端)分别发送调度信息。相应的，接收端接收来自发送端的调度信息。
603、接收端根据调度信息，传输UWB信号。
接收端可以是锚点，也可以是标签。接收端可以是FFD，也可以是RFD。接收端为上述调度信息调度的一个UWB设备，并且该接收端接收到来自发送端的调度信息。接收端可以是测距、感知、定位、或者通信的发起者(initator)，也可以是测距、感知、定位、或者通信的响应者。举例来说，调度信息中的一个列表元素包括时间单元位图、位图偏置以及地址1；位图偏置用于确定UWB设备1(即接收端)传输UWB信号的起始时间单元，时间单元位图用于指示时间单元是否用于UWB设备1传输UWB信号，地址1为UWB设备1的地址；该列表元素用于调度UWB设备1。步骤603是可选的。在实际应用中，接收到调度信息，并根据该调度信息传输UWB信号的接收端可以是多个，从而完成测距、感知、定位、或者通信。
接收端根据调度信息，传输UWB信号可以是：根据调度信息，通过传输UWB信号进行感知、测距、定位、或者通信。应理解，调度信息指示了UWB设备1传输UWB信号的时间单元，UWB设备1可在这 些时间单元上传输UWB信号进行感知、测距、定位、或者通信。在一些实施例中，调度信息指示多个UWB设备用于传输UWB信号的时间单元，即调度信息调度多个接收端通过传输UWB信号进行感知、测距、定位、或者通信；多个UWB设备根据调度新，通过传输UWB信号进行感知、测距、定位、或者通信。
本申请实施例中，通过位图偏置和时间单元位图可确定各时间单元是否用于UWB设备传输UWB信号。位图偏置用于确定UWB设备传输UWB信号的起始时间单元，可减少时间单元位图占用的比特，从而减少信令开销。
图7为本申请实施例提供的另一种用于UWB的调度方法的流程图。图7中的方法流程是图6描述的方法的一种可能的实现方式。在该实现方式中，根据接收到的不同格式的调度信息的先后顺序，根据其中一个调度信息传输UWB信号；可以节省功耗。如图7所示，该方法包括：
701、第一发送端发送第一调度信息。
第一发送端可以是图6中的发送端，第一调度信息可以是图6中的调度信号。相应的，接收端接收到来自第一发送端的第一调度信息。这里的接收端可以是图6中的接收端。
702、第二发送端发送第二调度信息。
第二发送端可以是图6中的发送端，也可以不是图6中的发送端。相应的，接收端接收到来自第二发送端的第二调度信息。上述第二调度信息的格式和上述第一调度信息的格式不同。上述第二调度信息的格式和上述第一调度信息的格式不同可以是第二调度信息中的一个或多个字段未包含于第一调度信息，也可以是第一调度信息中的一个或多个字段未包含于第二调度信息。例如，第二调度信息包括第二字段，第一调度信息未包括第二字段。可理解，只要第一调度信息中的各字段和第二调度信息中的各字段不完全相同，则第二调度信息的格式和第一调度信息的格式不同。第二发送端可以是测距、感知、定位、或者通信的发起者；也可以是测距、感知、定位、或者通信的响应者；还可以是第三方设备，即不为测距、感知、定位、或者通信的发起者和响应者。
703、接收端根据接收到第一调度信息和第二调度信息的先后顺序，根据第一调度信息，传输UWB信号。
步骤703一种可能的实现方式如下：第一调度信息和第二调度信息为接收端在同一个工作时段内的控制阶段(例如同一个测距轮的测距控制阶段)内先后收到调度信息；接收端根据先接收到的第一调度信息，传输UWB信号。接收端可仅根据先接收到的第一调度信息，传输UWB信号，可不对后接收到的第二调度信息进行解码，这样可节省能耗。
步骤703另一种可能的实现方式如下：第一调度信息和第二调度信息为接收端在同一个工作时段内的控制阶段(例如同一个测距轮的测距控制阶段)内先后收到调度信息；接收端根据后接收到的第一调度信息，传输UWB信号。接收端可仅根据后接收到的第一调度信息，传输UWB信号，可不对先接收到的第二调度信息进行解码，这样可节省能耗。
本申请实施例中，接收端根据接收到的不同格式的调度信息的先后顺序，根据其中一个调度信息传输UWB信号；可以节省功耗。
下面结合附图描述本申请实施例提供的用于UWB的调度方案在测距场景中的应用。图8为本申请实施例提供的一种测距场景下的调度指示示意图。图8中，控制者设备在测距控制阶段向发起者、响应者1、响应者2发送本申请实施例提供的调度信息，其中，控制者设备可以是上述发送端，响应者1或响应者2为上述接收端。如图8所示，控制者设备在测距控制阶段向参与测距的所有发起者和/或响应者发送本申请实施例提供的调度信息，该调度信息可以是RCM，也可以是其他消息；参与测距的所有发起者和/或响应者，在接收到该调度信息后，所有发起者和/或响应者解读该调度信息中跟自身相关的信息，并在测距阶段中执行相应的测距流程；在测量上报阶段，发起者和/或响应者可上报在测距阶段得到的测量结果。图8示出了本申请实施例提供的用于UWB的调度方案在测距场景中的应用。可理解，本申请实施例提供的用于UWB的调度方案同样可用于感知、DL-TDOA定位、UL-TDOA定位、通信等等，这里不再赘述。本文以控制者设备为第三方设备的情况进行具体说明。控制者设备为发起者或响应者的情况，本文描述的方案同样适用，不再赘述。
图8描述了本申请实施例提供的调度信息在测距控制阶段中使用。图8仅为本申请实施例提供的调度信息在测量周期的控制阶段(control phase)里使用的举例。本申请实施例提供的调度信息也可以在测量阶段、测量上报阶段使用。其中，一般情况下，对于在测量阶段、测量上报阶段时使用本申请实施例提供的调度信息，则相应的调度指示将在下一个轮次中使用。其中，下一个轮次可以是与当前轮次相邻的轮次，或者还可以是与当前轮次间隔至少一个轮次的轮次。比如，如果当前的测量应用为测距。对于在测距阶段、测 量上报阶段时使用本申请实施例提供的调度信息，则相应的调度指示将在下一个测距轮中使用。其中，下一个测距轮可以是与当前测距轮相邻的测距轮，或者还可以是与当前测距轮间隔至少一个测距轮的测距轮。
本申请实施例提供的调度信息可包括控制(control)字段和调度列表(scheduling list)字段。下面分别介绍调度信息中的调度列表(scheduling list)字段中的列表元素的示例，以及控制字段的示例。
示例1：调度信息中的调度列表字段中的一个列表元素的示例。
列表元素包括位图偏置、时间单元位图以及地址1，参阅图9。图9为本申请实施例提供的调度信息中的列表元素的一种示例。如图9所示，调度信息中的一个列表元素包括：位图偏置、时间单元位图以及地址1。图9所示的列表元素用于指示UWB设备1传输UWB信号待占用的时间单元，即用于调度UWB设备1。UWB设备1可视为该列表元素调度的UWB设备。位图偏置用于确定UWB设备1传输UWB信号的起始时间单元。时间单元位图用于指示时间单元是否用于UWB设备1传输UWB信号。时间单元位图的首个比特对应的时间单元为上述起始时间单元。可理解，位图偏置用于确定时间单元位图的首个比特对应的时间单元，结合位图偏置和时间单元位图可确定时间单元位图中的每个比特对应的时间单元。地址1为UWB设备1的地址，地址1的长度为2字节或8字节。例如：列表元素还包括位图大小(bitmap size)字段，即用于指示时间单元位图的长度的字段。例如：列表元素还包括预留字段，该预留(reserved)字段包括预留的一个或多个比特。
位图偏置用于确定一个测量周期(可替换为通信周期)中UWB设备1传输UWB信号的起始时间单元。例如：位图偏置用于指示UWB设备1传输UWB信号的起始时间单元所在的测量周期中该起始时间单元之前的时间单元的个数。或者说，位图偏置用于指示测量周期中UWB设备1传输UWB信号的起始时间单元之前的时间单元的个数，该测量周期包括该起始时间单元。例如，位图偏置的取值为一个测量周期内上述起始时间单元之前的时间单元的个数。例如：位图偏置用于指示UWB设备1传输UWB信号的起始时间单元所在的测量周期中该起始时间单元之前未使用的时间单元的个数。例如，位图偏置的取值为一个测量周期内上述起始时间单元之前的未使用的时间单元的个数。例如：位图偏置的取值等于测量周期的首个时间单元与上述起始时间单元之间的时间单元的个数加1。假定位图偏置的取值为T，测量周期内的时间单元按时间先后顺序依次为时间单元0(首个时间单元)、时间单元1、时间单元2、…，则起始时间单元为时间单元T，T为大于1的整数。对于任意UWB设备来说，测量周期的首个时间单元是已知的，因此任意UWB设备可根据位图偏置可确定其传输UWB信号的起始时间单元，即时间单元位图的首个比特对应的时间单元。时间单元位图的首个比特对应的时间单元为UWB设备1传输UWB信号的起始时间单元。
位图偏置可以表示连续的数值。例如，位图偏置可以表示时间单元的个数，比如0～15个时间单元。本申请实施例不对位图偏置可表示的时间单元的个数做任何限定。位图偏置也可以表示非连续的自然数。例如，位图偏置可以表示某一组时间单元个数中的任一个，比如0,1,4,8,16,32等时间单元个数。举例来说，如果位图偏置的取值为3，表示在测量周期内起始时间单元之前的时间单元的数量为8；位图偏置的取值为4，表示在测量周期内起始时间单元之前的时间单元的数量为16。本申请实施例不对位图偏置可表示的非连续的数值做任何限定。本申请实施例不对位图偏置的数值的单位做任何限定，可以是一个时间单元，也可以是多个时间单元，还可以是RSTU。
时间单元位图对应于多个时间单元，该时间单元位图用于指示时间单元是否用于UWB设备1传输UWB信号。时间单元位图的首个比特对应的时间单元为UWB设备1传输UWB信号的起始时间单元。时间单元位图对应的多个时间单元包含于同一个测量周期或通信周期内。由于位图偏置用于确定一个测量周期(可替换为通信周期)内UWB设备1传输UWB信号的起始时间单元，并且时间单元位图的首个比特对应的时间单元为该起始时间单元，因此根据位图偏置可确定时间单元位图的每个比特对应的时间单元。假定时间单元位图包括K个比特，每个比特对应一个时间单元，一个测量周期内的时间单元按照时间先后顺序依次为时间单元0、时间单元1、时间单元2、…、时间单元L(大于1的整数)，位图偏置用于确定UWB设备1传输UWB信号的起始时间单元为时间单元4，则时间单元位图中的K个比特依次对应时间单元4、时间单元5、…、时间单元(3+K)。例如：时间单元位图包括K个比特，K为大于0的整数，当上述K个比特中的一个比特取设定值时，该设定值指示该比特对应的时间单元用于UWB设备1传输UWB信号。该设定值为0或者1。例如，时间单元位图包括K个比特，取值为1的比特对应的时间单元用于UWB设备1传输UWB信号，取值为0的比特对应的时间单元不用于UWB设备1传输UWB信号。
结合位图偏置和时间单元位图可确定UWB设备1用于传输UWB信号的每个时间单元，并减少位图 中不必要的表示开销，从而降低调度信息的表示开销。图10为现有技术的一种位图指示时间单元是否用于UWB设备传输UWB信号的示例。如图10所示，每个矩形表示一个时间单元是否用于UWB设备传输UWB信号，每个矩形上方的数字表示该矩形表示的时间单元的时序，黑色的矩形表示用于UWB设备传输UWB信号的时间单元，白色的矩形表示不用于UWB设备传输UWB信号的时间单元；时间单元0至时间单元15为包括16个比特的位图对应的16个时间单元，该位图的首个比特对应的时间单元(即图13中的时间单元0)为测量周期的首个时间单元，该位图用于指示时间单元0至时间单元15中的每个时间单元是否用于UWB设备传输UWB信号，例如位图中的某个比特为1，表示该比特对应的时间单元用于UWB设备传输UWB信号。图10中的位图指示测量周期中的时间单元4、时间单元7、时间单元10用于UWB设备传输UWB信号，该测量周期中的其他时间单元不用于UWB设备传输UWB信号，该位图占用2个字节，即16个比特。
位图偏置可以减少位图中不必要的表示开销，从而降低调度消息表示开销的。由图10观察可知，测量周期中的前4个时间单元均不用于UWB设备传输UWB信号，这样会导致位图表示的浪费。因此，可以考虑通过位图偏置来表示UWB设备传输UWB信号的起始时间单元之前的时间单元的个数，从而缩减位图的表示长度。具体而言，位图偏置用于表示UWB设备传输UWB信号的起始时间单元之前的时间单元的个数，例如Bitmap Offset＝3，表示时间单元0～3均未被使用。相应地，图10所示的UWB设备传输UWB信号的时间单元，可以进一步通过图11表示。图11为本申请实施例提供的一种时间单元位图指示时间单元是否用于UWB设备1传输UWB信号的示例。如图11所示，每个矩形表示一个时间单元是否用于UWB设备1传输UWB信号，每个矩形上方的数字表示该矩形表示的时间单元的时序，黑色的矩形表示用于UWB设备1传输UWB信号的时间单元，白色的矩形表示不用于UWB设备1传输UWB信号的时间单元；时间单元0至时间单元7为包括8个比特的时间单元位图对应的8个时间单元，该时间单元位图的首个比特对应的时间单元(即图11中的时间单元0)基于位图偏置确定，该时间单元位图用于指示时间单元0至时间单元7中的每个时间单元是否用于UWB设备1传输UWB信号，例如时间单元位图中的某个比特为1，表示该比特对应的时间单元用于UWB设备1传输UWB信号。假定位图偏置用于指示UWB设备1传输UWB信号的起始时间单元之前的时间单元的个数为4，即测量周期中的时间单元0～3不用于UWB设备1传输UWB信号，则该时间单元位图的首个比特对应的时间单元为该测量周期中的时间单元4，该时间单元位图对应的时间单元按时间先后顺序依次为时间单元4、时间单元5、…、时间单元11。测量周期中的时间单元按时间先后顺序依次为时间单元0、时间单元1、时间单元2、…。由图11可知，由于将不必要的前四个时间单元的表示，挪动到了调度列表字段中的位图偏置字段当中。因此，时间单元位图可通过8个bit即可完成。也就是说，此时时间单元位图只需1个字节，而不需要图11中的2个字节，从而到达节省消息开销的效果。换言之，时间单元位图和位图偏置共同确定UWB设备1传输UWB信号的传输顺序。
表8和表9示出了本申请实施例提供的调度信息中的列表元素的两种示例。
表8
参阅表8，位图大小字段占用2个比特，即bit 0～bit 1；位图偏置占用4个比特，即bit 2～bit 5；预留字段占用2个比特，即bit 6～bit 7；时间单元位图占用的1个或多个字节，即时间单元位图的长度为变量值；地址1占用2个字节或8个字节。可理解，表8仅为调度信息中的调度列表字段中的一个列表元素的示例，该列表元素中的各字段占用的比特个数以及各字段的位置均不作限定。
表9

参阅表9，位图大小字段占用2个比特，即bit 0～bit 1；Bitmap Offset Presence字段占用1个比特，即bit2，预留字段占用5个比特，即bit 3～bit 7；时间单元位图占用的1个或多个字节，即时间单元位图的长度为变量值；地址1占用2个字节或8个字节；位图偏置占用4个比特，即bit 0～bit 3；预留字段占用4个比特，即bit 4～bit 7。Bitmap Offset Presence字段用于指示列表元素中是否包含Bitmap Offset字段。例如，Bitmap Offset Presence＝1时，Bitmap Offset字段才出现，即列表元素中包含Bitmap Offset字段；当Bitmap Offset Presence＝0时，则Bitmap Offset字段不出现，即列表元素中不包含Bitmap Offset字段。可理解，表9仅为调度信息中的调度列表字段中的一个列表元素的示例，该列表元素中的各字段占用的比特个数以及各字段的位置均不作限定。
参阅表8，示例1中的列表元素可占用4个字节(对应于短地址)或10个字节(对应于扩展地址)。参阅表9，示例1中的列表元素可占用5个字节(对应于短地址)或11个字节(对应于扩展地址)。
示例2：调度信息中的调度列表字段中的一个列表元素的示例。示例2中的列表元素可以是将位图偏置字段与具备周期性传输特点的字段进一步相结合得到。例如，在示例1中的列表元素的基础上增加period index字段和repetition index字段。
列表元素包括位图偏置、时间单元位图、地址1、period index字段以及repetition index字段。示例2中的位图偏置可与示例1中的位图偏置相同，示例2中的地址1可与示例1中的地址1相同。时间单元位图用于指示UWB设备1传输UWB信号的每个调度周期内用于UWB设备1传输UWB信号的时间单元。或者说，时间单元位图用于指示UWB设备1传输UWB信号的每个调度周期内的时间单元是否用于UWB设备1传输UWB信号。period index字段用于指示UWB设备1传输UWB信号的调度周期，repetition index字段用于指示UWB设备1传输UWB信号的重复次数。repetition index字段是可选的。图12为本申请实施例提供的调度信息中的列表元素的另一种示例。如图12所示，调度信息中的一个列表元素包括位图偏置、时间单元位图、地址1、period index字段以及repetition index字段。例如：列表元素还包括位图大小(bitmap size)字段，即用于指示时间单元位图的长度的字段。本申请实施例对位图大小(bitmap size)字段的大小和位置不做限定。例如：列表元素还包括预留字段，该预留(reserved)字段包括预留的一个或多个比特。本申请实施例对预留字段的大小和位置不做限定。
一种可能的实现方式中，时间单元位图用于指示UWB设备1传输UWB信号的每个调度周期中用于UWB设备1传输UWB信号的时间单元，即UWB设备1传输UWB信号待占用的时间单元。例如：时间单元位图中的K个比特与UWB设备1传输UWB信号的每个调度周期中的K个时间单元一一对应，每个调度周期为K个时间单元，K为大于1的整数。例如，时间单元位图包括8个比特，UWB设备1传输UWB信号的每个调度周期包括8个时间单元，时间单元位图用于指示UWB设备1传输UWB信号的每个调度周期中的第三个时间单元和第五个时间单元用于UWB设备1传输UWB信号，其他时间单元不用于UWB设备1传输UWB信号。例如：时间单元位图中的K个比特与UWB设备1传输UWB信号的每个调度周期中的连续K个时间单元(例如最前K个时间单元或最后K个时间单元)一一对应，每个调度周期为Q个时间单元，Q为大于K的整数。例如，时间单元位图包括8个比特，UWB设备1传输UWB信号的每个调度周期包括16个时间单元，时间单元位图包括的8个比特与调度周期内的最早的八个时间单元一一对应，时间单元位图用于指示UWB设备1传输UWB信号的每个调度周期中的第三个时间单元和第五个时间单元用于UWB设备1传输UWB信号，其他时间单元不用于UWB设备1传输UWB信号。
结合位图偏置、时间单元以及period index字段可确定UWB设备1传输UWB信号的每个调度周期中用于传输UWB信号的时间单元，并进一步减少位图中不必要的表示开销，从而降低调度信息的表示开销。示例2中的时间单元位图与示例1中的时间单元位图的区别在于，示例1中的时间单元位图未通过周期性的模式指示时间单元是否用于UWB设备1传输UWB信号，示例2中的时间单元位图结合period index字段通过周期性的模式指示时间单元是否用于UWB设备1传输UWB信号。举例来说，示例1中的时间单元位图包括64个比特，每个比特对应一个时间单元，示例1中的时间单元位图用于指示该64个比特对应的64个时间单元是否用于UWB设备1传输UWB信号，示例2中的时间单元位图包括8个比特，每个比特对应一个时间单元，period index字段用于指示调度周期为8个时间单元，示例2中的时间单元位图用于分别指示8个调度周期内的8个时间单元(共64个时间单元)是否用于UWB设备1传输UWB信号。在该举例可以看出，示例2中的时间单元位图中的比特个数少于示例1中的时间单元位图中的比特个数。因此，示例2中的时间单元位图结合period index字段通过周期性的模式指示时间单元是否用于UWB设备1 传输UWB信号，可缩减时间单元位图的长度，从而降低信令开销。
时间单元位图，用于指示UWB设备1传输UWB信号的首个调度周期中用于UWB设备1传输UWB信号的时间单元。位图偏置用于确定一个测量周期中UWB设备1传输UWB信号的起始时间单元。可理解，时间单元位图和位图偏置共同确定首个调度周期内的UWB传输，而Period index字段和Repetition Index字段则进一步决定周期性UWB传输的周期和重复此处。对于UWB设备1的第二个调度周期、第三个调度周期、…、第X个调度周期，每个调度周期内的UWB信号传输顺序，均与首个周期内的传输顺序相同。X为Repetition Index字段指示的重复次数，X为大于1的整数。举例来说，UWB设备1的调度周期按照先后顺序依次为首个调度周期、第二调度周期、第三个调度周期、…、第X个调度周期，时间单元位图和位图偏置共同确定首个调度周期内的第一个时间单元和第三个时间单元用于UWB设备1传输UWB信号，Period index字段和Repetition Index字段则进一步决定第二调度周期、第三个调度周期、…、第X个调度周期内的第一个时间单元和第三个时间单元用于UWB设备1传输UWB信号；每个调度周期内的时间单元按照时间先后顺序依次为第一个时间单元、第二个时间单元、第三个时间单元、…、第C个时间单元，C为调度周期包括的时间单元的个数，C为大于1的整数。也就是说，对于任一UWB设备的周期性UWB传输过程，通过确定其首个调度周期内用于传输UWB信号的时间单元(通过时间单元位图和位图偏置体现)、调度周期(通过Period index字段体现)、以及重复传输的次数(通过Repetition Index字段体现)，可以完全确定周期性UWB传输过程，也即可以完全确定任一UWB设备被分配的用于周期性UWB传输的具体时间单元。
表10、表11、表12、表13为本申请实施例提供的调度信息中的列表元素的4种示例。
表10
参阅表10，位图大小字段占用2个比特，即bit 0～bit 1；位图偏置占用4个比特，即bit 2～bit 5；预留字段占用2个比特，即bit 6～bit 7；时间单元位图占用1个或多个字节，即时间单元位图的长度为变量值；地址1占用2个字节或8个字节；Period Index字段占用4个比特，Repetition Index字段占用4个比特。可理解，表10仅为调度信息中的一个列表元素的示例，该列表元素中的各字段占用的比特个数以及各字段的位置均不作限定。
表11
参阅表11，现有技术的Ranging Role字段、Receiver Address Presence字段(接收地址存在字段)出现在了本申请实施例提供的列表元素的格式中。也就是说，本申请实施例提供的调度信息可以允许Ranging Role字段、Receiver Address Presence字段的出现，也可以允许Ranging Role字段和Receiver Address Presence字段中的某一个字段出现，例如下文的表12和表13的形式，本申请实施例不作限定。
表12

表13
表11、表12、表13为将现有技术中的字段(例如Ranging Role字段、Receiver Address Presence字段)置于本申请实施例提供的调度信息中的示例。应理解，还可将现有技术中的其他字段置于本申请实施例提供的调度信息中。本申请实施例对Bitmap Offset字段、Ranging Role字段、Receiver Address Presence字段等之间的顺序位置和字段大小不做任何的限定，表11、表12、表13只是示例。
参阅表10至表13，示例2中的列表元素可占用5个字节(对应于短地址)或11个字节(对应于扩展地址)。
示例3：调度信息中的调度列表字段中的一个列表元素的示例。
列表元素包括位图偏置、时间单元位图、地址1、period index字段、repetition index字段以及Period Mode字段。例如，Period Mode字段可称为周期模式字段或其他字段。示例3中的各字段的含义可参阅示例2中的各字段的含义。Period Mode字段用于指示UWB设备周期性传输UWB信号。或者说，Period Mode字段用于触发调度信息调度的各UWB设备周期性传输UWB信号。又或者说，Period Mode字段用于指示触发周期传输模式。Period Mode字段可视为周期传输模式触发字段。Period Mode字段可占用一个或多个比特。示例性的，Period Mode字段包括1个比特，若该比特的值为1，Period Mode字段用于指示UWB设备周期性传输UWB信号，调度信息包含与传输周期性相关的字段，例如第二字段、第三字段；若该比特的值为0，Period Mode字段用于指示UWB设备通过其他传输模式传输UWB信号，调度信息不包含与传输周期性相关的字段，例如调度信息中的调度列表字段与表3中的调度列表字段相同。或者说，若Period Mode字段指示UWB设备周期性传输UWB信号，则调度信息包括第一字段和第二字段；若Period Mode字段指示UWB设备按照其他模式传输UWB信号，则调度信息不包括第一字段和第二字段，调度信息中的调度列表可与现有技术1(或现有技术2)中的调度信元中的调度列表相同。应理解，上述示例1至示例4中的列表元素均可指示UWB设备1周期性传输UWB信号。本申请实施例中，周期传输模式是指本申请实施例提供的调度信息实现的UWB设备周期性传输UWB信号的模式，其他传输模式是指除该周期传输模式之外的任意模式。
表14示出了本申请实施例提供的调度信息中的一个列表元素的示例。
表14
表14中的各子段的含义可与表10中的各字段的含义。表14与表10的区别在于，bit 6为Period Mode字段。例如，Period Mode＝1时，Period Index字段、Repetition Index字段等与传输周期性相关的字段才出现且生效；当Period Mode＝0时，则Period Index字段、Repetition Index字段与传输周期性相关的字段不出现。可理解，表14仅为调度信息中的调度列表字段中的一个列表元素的示例，该列表元素中的各字段占用的比特个数以及各字段的位置均不作限定。
参阅表14，示例3中的列表元素可占用5个字节(对应于短地址)或11个字节(对应于扩展地址)。
在上述示例1、示例2、示例3中，通过位图偏置和时间单元位图可确定各时间单元是否用于UWB设 备传输UWB信号。位图偏置用于确定UWB设备传输UWB信号的起始时间单元，可减少时间单元位图占用的比特，从而减少信令开销。
示例4：调度信息中的控制字段的一种示例。
调度信息中的控制字段包括Period Mode字段、地址类型(Address Type)字段、调度列表长度(Scheduling List Length)字段。Period Mode字段用于指示UWB设备周期性传输UWB信号。或者说，Period Mode字段用于触发调度信息调度的各UWB设备周期性传输UWB信号。又或者说，Period Mode字段用于指示触发周期传输模式。Period Mode字段可视为周期传输模式触发字段。本申请实施例中，周期传输模式是指本申请实施例提供的调度信息实现的UWB设备周期性传输UWB信号的模式。Period Mode字段可占用一个或多个比特。示例性的，Period Mode字段包括1个比特，若该比特的值为1，Period Mode字段用于指示UWB设备周期性传输UWB信号，调度信息包含与传输周期性相关的字段，例如Period index字段和Repetition Index字段；若该比特的值为0，Period Mode字段用于指示UWB设备通过其他传输模式传输UWB信号，调度信息不包含与传输周期性相关的字段，例如调度信息中的调度列表字段与表8中的调度列表字段相同。举例来说，当Period Mode＝0时，调度信息中的调度列表字段的各列表元素的格式如表8或表9所示；当Period Mode＝1时，调度信息中的调度列表字段的各列表元素的格式如表10/表11/表12/表13所示。Address Type字段用于指示上述UWB设备的地址类型，UWB设备的地址类型包括短地址(长度为2个字节)和拓展地址(长度为8个字节)。例如，Address Type字段包括1个比特，若比特的取值为0(即Address Type为0)时，则Address Type字段表示UWB设备的地址为短地址，也即地址长度为2个字节(16bit)；若该比特的取值为1(即Address Type为1)时，则Address Type字段表示UWB设备的地址为长地址(或拓展地址)，也即地址长度为8个字节(64bit)。Scheduling List Length字段用于指示调度列表中的列表元素的个数。
表15示出了本申请实施例提供的调度信息中的控制字段的示例。
表15
参阅表15，Address Type字段占用1个比特，即bit 0；Scheduling List Length字段占用6个比特，即bit 1～bit6；Period Mode字段占用1个比特，即bit7。表15仅为本申请实施例提供的调度信息中的控制字段的一种示例。可理解，表15仅为调度信息中的控制字段的一种示例，该控制字段中的各字段占用的比特个数以及各字段的位置均不作限定。参阅表10，本申请实施例提供的调度信息中的控制字段占用一个字节。
在示例4中，调度信息中的控制字段包括Period Mode字段、Address Type字段、Scheduling List Length字段。Period Mode字段用于指示UWB设备周期性传输UWB信号。调度信息中的控制字段，能够指示UWB设备周期性传输UWB信号，进而通过指示UWB设备周期性传输UWB信号来减少信令开销。
前面提供了调度信息中的调度列表字段的示例和控制字段的示例。应理解，调度信息的一个示例是包括示例1中的调度列表字段和示例4中的控制字段。调度信息的另一个示例是包括示例2中的调度列表字段和示例4中的控制字段。调度信息的另一个示例是包括示例3中的调度列表字段和表2或表4所示的控制字段。下面对比本申请实施例提供的调度信息的信令开销、现有技术1的调度信元的信令开销、以及现有技术2的调度信元的信令开销。表16示出了现有技术1的调度信元的信令开销、现有技术2的调度信元的信令开销、调度信息1的信令开销以及调度信息2的信令开销。调度信息1的信令开销等于包括示例1中的调度列表字段和示例4中的控制字段的调度信息的信令开销，参阅表8；也等于包括示例2中的调度列表字段和示例4中的控制字段的调度信息的信令开销。调度信息2的开销等于包括示例1中的调度列表字段和示例4中的控制字段的调度信息的信令开销，参阅表9；也等于包括示例3中的调度列表字段和表2或表4所示的控制字段的调度信息的信令开销。
表16
表16中，S表示UWB设备需要调用的时间单元的个数，N表示系统中参与当前UWB应用的UWB设备的数量。S为大于0的整数，N为大于0的整数。由表16可知，本申请实施例提供的调度信息不依赖于时间单元个数S，也即本申请实施例提供的调度信息的大小不会随着时间单元个数S的增大而增大。也即当需要调度同等数量S的时间单元时，当S数量较大时，本申请实施例提供的调度信息的消息大小，要小于现有技术1和现有技术2的调度IE的消息大小，进而能够有效地节省传输调度信息所需的空口资源开销，减少传输调度信息所需的空口时间。
下面结合举例进一步对比本申请实施例提供的调度信息的信令开销、现有技术1的调度IE的信令开销、现有技术2的调度IE的信令开销。
图13为本申请实施例提供的一种非交错式MMS测距过程(non-interlacing MMS ranging)的时序图。图13中，每个矩形表示一个时间单元是否用于UWB设备传输UWB信号，每个矩形上方的数字表示该矩形表示的时间单元的时序，黑色的矩形表示用于UWB设备传输UWB信号的时间单元，白色的矩形表示不用于UWB设备传输UWB信号的时间单元。图13示出了发起者需要在时间单元0、时间单元2、时间单元4、时间单元8发送UWB信号，以及响应者需要时间单元8、时间单元10、时间单元12、时间单元14发送UWB信号。为了实现图13所示的针对响应者的调度，即调度响应者在时间单元8、时间单元10、时间单元12、时间单元14发送UWB信号，需要2字节长度(16bit)的Bitmap才能完成对响应帧的调度指示。但另一方面，由图13观察可知，时间单元8为响应者传输UWB信号的起始时间单元，即响应者的前8个时间单元未使用(时间单元0～7)，导致了Bitmap表示的浪费。因此，可以考虑通过Bitmap Offset字段来表示响应者传输UWB信号的起始时间单元，从而缩减Bitmap的表示长度。例如：Bitmap Offset字段的取值表示响应者传输UWB信号的起始时间单元之前的时间单元的个数。例如，Bitmap Offset＝7，表示响应者传输UWB信号的起始时间单元为时间单元8。例如：Bitmap Offset字段的取值表示响应者传输UWB信号的起始时间单元之前未使用的时间单元的个数。例如，将Bitmap Offset字段用来表示未使用的时间单元的个数，也即Bitmap Offset＝7，表示时间单元0～7均未被使用。相应地，图13所示的用于传输UWB信号的时间单元，可以通过图14表示。图14为本申请实施例提供的另一种非交错式MMS测距过程的时序图。图14中，每个矩形表示一个时间单元是否用于UWB设备传输UWB信号，每个矩形上方的数字表示该矩形表示的时间单元的时序，黑色的矩形表示用于UWB设备传输UWB信号的时间单元，白色的矩形表示不用于UWB设备传输UWB信号的时间单元。图14示出了响应者需要在时间单元0、时间单元2、时间单元4、时间单元8发送UWB信号。由图14可知，由于将不必要的前四个时间单元的表示，挪动到了调度列表字段中的列表元素的Bitmap Offset字段当中，因此，实际的调度指示，可通过8个bit即可完成，也即此时调度Bitmap只需1个字节，而不需要图13中的2个字节，从而到达节省消息开销的效果。
图15为一个典型的可完成DL-TDOA定位过程的一组调度模式。在这组调度模式中，三个锚点设备(anchor)，即图15中的锚点1、锚点2、锚点3，通过如图15所示的调度方式传输UWB信号来开展DL-TDOA定位。假设图15所示的DL-TDOA调度模式，需要重复8次，且相邻两次DL-TDOA定位过程之间没有间隔，则此时的调度情况为图16所示。图16为本申请实施例提供的一种8次重复的DL-TDOA定位的调度示意图。在图15和图16中，每个矩形表示一个时间单元，灰色的矩形表示的时间单元被调度分配用于传输UWB信号，白色的矩形表示的时间单元未被调度分配用于传输UWB信号。由于一次完整的DL-TDOA过程，为8个时间单元内完成，因此图16所示的相邻的两次DL-TDOA过程，中间没有间隔。
针对图16所示的调度情况，此时需启用Period Mode＝1，进而利用Period Index字段和Repetition Index字段，可以有效地压缩图16所示情况的调度信息的信令开销。假设Period index字段可以表示0,1,4,8,16，32个时间单元等周期数值，Repetition Index字段可表示1～16次重复，则将Period index字段设置为0(表示相邻两次DL-TDOA测量之间无间隔，前一个测量完成后，后一个测量立即开始)，将Repetition Index字段设置为7(下标从0开始，因此表示重复8次)，则可以实现对图16情况的调度指示。假设Period index字段可以表示0,1,4,8,16，32个时间单元等周期数值，Repetition Index字段可表示1～16次重复，则将Period index字段设置为8(表示调度周期为8个时间单元)，将Repetition Index字段设置为7(下标从0开始，因此表示重复8次)，则可以实现对图16情况的调度指示。
相应地，由图16可知，S＝64，N＝3。因此，图16所示情况下，各调度信息的信令消耗大小比较如下表17。
表17

表17中的本申请的调度信息可以是包括示例2中的调度列表字段和示例4中的控制字段的调度信息。由表17可知，本申请提出的调度信息相较于现有技术1和现有技术2，能够显著降低消息大小开销。
需要注意，本申请实施例提供的调度信息(下文称为新设计的调度IE)可以被需要执行测距或感知功能的设备(锚点或标签)识别和处理。作为一种可能的实现方式，新设计的调度IE的相应的识别和处理方法与现有协议802.15.4z中规定的嵌套IE(比如，RDM IE)的识别和处理方法相似，可参考现有协议802.15.4z对嵌套IE的识别和处理方法。例如，发送端设备协议上层配置调度IE，并传递给发送端设备的媒体接入控制(medium access control，MAC)层。还例如，接收端设备的MAC层将接收到的调度IE，传递给接收端设备的上层协议，并由协议上层对调度IE进行识别处理等。
作为一种可能的实现方式，新设计的调度IE可以通过窄带频段传递。
作为另一种可能的实现方式，新设计的调度IE也可以通过UWB频段传递。
为了便于理解，下面结合表18详细介绍新设计的调度IE。
下表18为现有802.15.4z协议的表7-18(Table 7-18)的拓展和延续。为了简洁，协议中对于表7-18已有的定义未在下表18中体现。具体地，从下表18中可以看出，新设计的调度IE可以添加到现有802.15.4z协议的表7-18(Table 7-18)定义的嵌套IE列表当中，作为802.15.4ab协议或后续版本协议当中的新增IE。具体地，可以使用现有802.15.4z协议的表7-18(Table 7-18)当中定义的嵌套IE列表当中的一个预留子ID数值(Sub-ID value)来指示新设计的调度IE。
表18
其中，表18中的T可以为0x5d-0x7f当中的任一个或多个数值。该表18可为现有802.15.4z协议表-7-18(Table-7-18)定义的嵌套IE列表的拓展和延续。该表18中的X表示该新设计的调度IE属于Data类型的IE。
下面结合附图介绍可实施本申请实施例提供的调度方法的通信装置的结构。
图17为本申请实施例提供的一种通信装置1700的结构示意图。该通信装置1700可以对应实现上述各个方法实施例中发送端实现的功能或者步骤，也可以对应实现上述各个方法实施例中接收端实现的功能或者步骤。该通信装置可以包括处理模块1710和收发模块1720。在一种可能的实现方式中，还可以包括存储单元，该存储单元可以用于存储指令(代码或者程序)和/或数据。处理模块1710和收发模块1720可以与该存储单元耦合，例如，处理模块1710可以读取存储单元中的指令(代码或者程序)和/或数据，以实现相应的方法。上述各个单元可以独立设置，也可以部分或者全部集成。例如，收发模块1720可包括发送模块和接收模块。发送模块可以是发射机，接收模块可以是接收机。收发模块1720对应的实体可以是收发器，也可以是通信接口。
在一些可能的实施方式中，通信装置1700能够对应实现上述方法实施例中发送端的行为和功能。例如通信装置1700可以为发送端，也可以为应用于发送端中的部件(例如芯片或者电路)。收发模块1720例如可以用于执行图6、图7的实施例中由发送端所执行的全部接收或发送操作，例如图6所示的实施例中的步骤602，图7所示的实施例中的步骤701、步骤702，和/或用于支持本文所描述的技术的其它过程。处理模块1710用于执行图6、图7的实施例中由发送端所执行的除了收发操作之外的全部操作，例如图6所示的实施例中的步骤601。
在一些可能的实施方式中，通信装置1700能够对应实现上述方法实施例中接收端的行为和功能。例如通信装置1700可以为接收端，也可以为应用于接收端中的部件(例如芯片或者电路)。收发模块1720例如可以用于执行图6、图7的实施例中由接收端所执行的全部接收或发送操作，例如图6所示的实施例中的步骤602，图7所示的实施例中的步骤701、步骤702，和/或用于支持本文所描述的技术的其它过程。处理模块1710用于执行由接收端所执行的除了收发操作之外的全部操作，例如图6所示的实施例中的步 骤603，图7所示的实施例中的步骤703。
图18为本申请实施例提供的另一种通信装置180的结构示意图。图18中的通信装置可以是上述发送端，也可以是上述接收端。
如图18所示，该通信装置180包括至少一个处理器1810和收发器1820。
在本申请的一些实施例中，处理器1810和收发器1820可以用于执行发送端执行的功能或操作等。收发器1820例如执行图6、图7的实施例中由发送端所执行的全部接收或发送操作。处理器1810例如用于执行图6、图7的实施例中由发送端所执行的除了收发操作之外的全部操作。
在本申请的一些实施例中，处理器1810和收发器1820可以用于执行接收端执行的功能或操作等。收发器1820例如执行图6、图7的实施例中由接收端所执行的全部接收或发送操作。处理器1810用于执行由接收端所执行的除了收发操作之外的全部操作。
收发器1820用于通过传输介质和其他设备/装置进行通信。处理器1810利用收发器1820收发数据和/或信令，并用于实现上述方法实施例中的方法。处理器1810可实现处理模块1710的功能，收发器1820可实现收发模块1720的功能。
例如：收发器1820可以包括射频电路和天线，射频电路主要用于基带信号与射频信号的转换以及对射频信号的处理。天线主要用于收发电磁波形式的射频信号。输入输出装置，例如触摸屏、显示屏，键盘等主要用于接收用户输入的数据以及对用户输出数据。
例如：通信装置180还可以包括至少一个存储器1830，用于存储程序指令和/或数据。存储器1830和处理器1810耦合。本申请实施例中的耦合是装置、单元或模块之间的间接耦合或通信连接，可以是电性，机械或其它的形式，用于装置、单元或模块之间的信息交互。处理器1810可能和存储器1830协同操作。处理器1810可能执行存储器1830中存储的程序指令。该至少一个存储器中的至少一个可以包括于处理器中。
处理器1810可以读取存储器1830中的软件程序，解释并执行软件程序的指令，处理软件程序的数据。当需要通过无线发送数据时，处理器1810对待发送的数据进行基带处理后，输出基带信号至射频电路，射频电路将基带信号进行射频处理后将射频信号通过天线以电磁波的形式向外发送。当有数据发送到通信装置时，射频电路通过天线接收到射频信号，将射频信号转换为基带信号，并将基带信号输出至处理器1810，处理器1810将基带信号转换为数据并对该数据进行处理。
在另一种实现中，上述的射频电路和天线可以独立于进行基带处理的处理器而设置，例如在分布式场景中，射频电路和天线可以与独立于通信装置，呈拉远式的布置。
本申请实施例中不限定上述收发器1820、处理器1810以及存储器1830之间的具体连接介质。本申请实施例在图18中以存储器1830、处理器1810以及收发器1820之间通过总线1840连接，总线在图18中以粗线表示，其它部件之间的连接方式，仅是进行示意性说明，并不引以为限。该总线可以分为地址总线、数据总线、控制总线等。为便于表示，图18中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
在本申请实施例中，处理器可以是通用处理器、数字信号处理器、专用集成电路、现场可编程门阵列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，可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。
图19为本申请实施例提供的另一种通信装置190的结构示意图。如图19所示，图19所示的通信装置包括逻辑电路1901和接口1902。图17中的处理模块1710可以用逻辑电路1901实现，图17中的收发模块1720可以用接口1902实现。其中，该逻辑电路1901可以为芯片、处理电路、集成电路或片上系统(system on chip，SoC)芯片等，接口1902可以为通信接口、输入输出接口等。本申请实施例中，逻辑电路和接口还可以相互耦合。对于逻辑电路和接口的具体连接方式，本申请实施例不作限定。
在本申请的一些实施例中，该逻辑电路和接口可用于执行上述发送端执行的功能或操作等。
在本申请的一些实施例中，该逻辑电路和接口可用于执行上述接收端执行的功能或操作等。
本申请还提供一种计算机可读存储介质，该计算机可读存储介质中存储有计算机程序或指令，当计算机程序或指令在计算机上运行时，使得计算机执行上述实施例的方法。
本申请还提供一种计算机程序产品，该计算机程序产品包括指令或计算机程序，当该指令或计算机程序在计算机上运行时，使得上述实施例中的方法被执行。
本申请还提供一种通信系统，包括上述发送端和上述接收端。
本申请还提供一种芯片，该芯片包括：通信接收和处理器；该通信接口，用于上述芯片的信号收发；该处理器，用于执行计算机程序指令，使得包括上述芯片的通信装置执行如上述实施例中的方法。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。上述计算机程序产品包括一个或多个计算机程序或指令。在计算机上加载和执行上述计算机程序或指令时，全部或部分地执行本申请实施例上述的流程或功能。上述计算机可以是通用计算机、专用计算机、计算机网络、网络设备、用户设备或者其它可编程装置。上述计算机程序或指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，上述计算机程序或指令可以从一个网站站点、计算机、服务器或数据中心通过有线或无线方式向另一个网站站点、计算机、服务器或数据中心进行传输。上述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是集成一个或多个可用介质的服务器、数据中心等数据存储设备。上述可用介质可以是磁性介质，例如，软盘、硬盘、磁带；也可以是光介质，例如，数字视频光盘；还可以是半导体介质，例如，固态硬盘。该计算机可读存储介质可以是易失性或非易失性存储介质，或可包括易失性和非易失性两种类型的存储介质。
在本申请的各个实施例中，如果没有特殊说明以及逻辑冲突，不同的实施例之间的术语和/或描述具有一致性、且可以相互引用，不同的实施例中的技术特征根据其内在的逻辑关系可以组合形成新的实施例。

Claims (28)

  1. 一种用于超宽带UWB的调度方法，其特征在于，包括：
    生成调度信息，所述调度信息包括时间单元位图以及位图偏置，所述时间单元位图用于指示时间单元是否用于UWB设备传输UWB信号，所述位图偏置用于确定所述UWB设备传输UWB信号的起始时间单元，所述时间单元位图的首个比特对应的时间单元为所述起始时间单元；
    发送所述调度信息。
  2. 根据权利要求1所述的方法，其特征在于，所述位图偏置的取值为一个测量周期内所述起始时间单元之前的时间单元的数量。
  3. 根据权利要求2所述的方法，其特征在于，所述时间单元位图包括K个比特，K为大于0的整数，当所述K个比特中的一个比特取设定值时，该设定值指示该比特对应的时间单元用于所述UWB设备传输所述UWB信号。
  4. 根据权利要求2或3所述的方法，其特征在于，所述测量周期为测距周期。
  5. 根据权利要求1至4任一项所述的方法，其特征在于，所述时间单元位图为一个测量周期内的部分时间单元对应的时间单元位图，所述调度信息还包括用于指示所述UWB设备传输所述UWB信号的调度周期的字段。
  6. 根据权利要求5所述的方法，其特征在于，所述调度信息还包括用于指示所述UWB设备传输所述UWB信号的重复次数的字段。
  7. 根据权利要求5或6所述的方法，其特征在于，所述调度信息还包括用于指示所述UWB设备周期性传输所述UWB信号的字段。
  8. 根据权利要求1至7任一项所述的方法，其特征在于，所述调度信息还包括用于指示所述时间单元位图的长度的字段。
  9. 根据权利要求1至8任一项所述的方法，其特征在于，所述调度信息还包括所述UWB设备的地址，所述UWB设备的地址的长度为2字节或8字节。
  10. 根据权利要求1至9任一项所述的方法，其特征在于，所述时间单元为以下任一项：时隙、测距调度时间单元RSTU。
  11. 根据权利要求1至10任一项所述的方法，其特征在于，所述方法应用于测距、感知、或者定位场景。
  12. 一种用于UWB的调度方法，其特征在于，包括：
    接收第一调度信息，所述第一调度信息包括时间单元位图以及位图偏置，所述时间单元位图用于指示时间单元是否用于UWB设备传输UWB信号，所述位图偏置用于确定所述UWB设备传输UWB信号的起始时间单元，所述时间单元位图的首个比特对应的时间单元为所述起始时间单元；
    根据所述第一调度信息，传输UWB信号。
  13. 根据权利要求12所述的方法，其特征在于，所述位图偏置的取值为一个测量周期内所述起始时间单元之前的时间单元的数量。
  14. 根据权利要求13所述的方法，其特征在于，所述时间单元位图包括K个比特，K为大于0的整数，当所述K个比特中的一个比特取设定值时，该设定值指示该比特对应的时间单元用于所述UWB设备传输 所述UWB信号。
  15. 根据权利要求13或14所述的方法，其特征在于，所述测量周期为测距周期。
  16. 根据权利要求12至15任一项所述的方法，其特征在于，所述时间单元位图为一个测量周期内的部分时间单元对应的时间单元位图，所述第一调度信息还包括用于指示所述UWB设备传输所述UWB信号的调度周期的字段。
  17. 根据权利要求16所述的方法，其特征在于，所述第一调度信息还包括用于指示所述UWB设备传输所述UWB信号的重复次数的字段。
  18. 根据权利要求16或17所述的方法，其特征在于，所述第一调度信息还包括用于指示所述UWB设备周期性传输所述UWB信号的字段。
  19. 根据权利要求12至18任一项所述的方法，其特征在于，所述第一调度信息还包括用于指示所述时间单元位图的长度的字段。
  20. 根据权利要求12至19任一项所述的方法，其特征在于，所述第一调度信息还包括所述UWB设备的地址，所述UWB设备的地址的长度为2字节或8字节。
  21. 根据权利要求12至20任一项所述的方法，其特征在于，所述时间单元为以下任一项：时隙、测距调度时间单元RSTU。
  22. 根据权利要求12至21任一项所述的方法，其特征在于，所述方法应用于测距、感知、或者定位场景。
  23. 根据权利要求12至22任一项所述的方法，其特征在于，所述方法还包括：
    接收第二调度信息，所述第二调度信息的格式和所述第一调度信息的格式不同；
    所述根据所述第一调度信息，传输UWB信号包括：
    根据接收到所述第一调度信息和所述第二调度信息的先后顺序，根据所述第一调度信息，传输UWB信号。
  24. 一种通信装置，其特征在于，包括用于实现权利要求1至11中任一项所述的方法的模块或单元。
  25. 一种通信装置，其特征在于，包括用于实现权利要求12至23中任一项所述的方法的模块或单元。
  26. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机程序，所述计算机程序包括程序指令，所述程序指令被执行时使得计算机执行如权利要求1至23中任一项所述的方法。
  27. 一种通信装置，其特征在于，包括处理器，所述处理器与存储器耦合，所述存储器存储计算机程序指令，所述处理器用于执行所述计算机程序指令，使得所述通信装置执行如权利要求1至23任一项所述的方法。
  28. 一种芯片，其特征在于，包括：
    通信接口，用于所述芯片的信号收发；以及
    处理器，用于执行计算机程序指令，使得包括所述芯片的通信装置执行如权利要求1至23任一项所述的方法。
PCT/CN2023/119097 2022-10-18 2023-09-15 用于uwb的调度方法和相关产品 WO2024082892A1 (zh)

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