WO2024156274A1

WO2024156274A1 - Communication method and apparatus

Info

Publication number: WO2024156274A1
Application number: PCT/CN2024/074147
Authority: WO
Inventors: 杨嘉言; 吴宽; 孟鑫杰; 张霆廷
Original assignee: 华为技术有限公司
Priority date: 2023-01-28
Filing date: 2024-01-26
Publication date: 2024-08-02
Also published as: CN118413809A

Abstract

Provided in the present application are a communication method and apparatus, which are used for solving the problem of low accuracy of positioning/awareness, etc. in a UWB system. The method comprises: a first anchor device receiving a first UWB signal from a second anchor device, wherein the first UWB signal is used for location and/or clock calibration; and the first anchor device calibrating the location and/or clock of the first anchor device on the basis of the first UWB signal. A self-calibration process for a clock and location of a BPA (i.e., a first anchor device) is introduced, such that the precision of the clock and location of the BPA can be improved, thereby improving the accuracy of UWB positioning/awareness.

Description

A communication method and device

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of the People's Republic of China on January 28, 2023, with application number 202310125294.X and application name "A Communication Method and Device", all contents of which are incorporated by reference in this application.

Technical Field

The present application relates to the field of communication technology, and in particular to a communication method and device.

Background technique

Ultra-wideband (UWB) technology is a wireless communication (or ranging, sensing, etc.) technology that uses nanosecond non-sinusoidal narrow pulse signals. Due to its narrow pulse and extremely low radiation spectrum density, the UWB system has the advantages of strong multipath resolution, low power consumption, and strong confidentiality.

UWB technology can be used for positioning/sensing, etc. Taking positioning as an example, three or more anchor devices can be deployed, and the anchor devices can send UWB signals to provide positioning signals for tag devices. The tag device listens to the UWB signals sent by the anchor device and calculates the arrival time difference between each signal, thereby calculating its own position and realizing the positioning function.

In UWB systems, anchors can be divided into two categories, namely mains-powered anchors (MPA) and battery-powered anchors (BPA). Among them, MPA is connected to a power source. BPA is powered by a battery and wirelessly connected to other MPA/BPA. Since BPA is powered by a battery and wirelessly connected to other MPA/BPA, if the signal transmission quality between BPA and MPA is not ideal, the position and clock of BPA may be inaccurate, resulting in inaccurate positioning of the tag device and/or perception of the object.

Summary of the invention

The present application provides a communication method and device for solving the problem of low accuracy of positioning/perception in a UWB system.

In a first aspect, a communication method is provided, wherein the executing subject of the method may be an anchor device or a chip, a chip system or a circuit located in the anchor device. Taking the anchor device as an example, the method may be implemented through the following steps: a first anchor device receives a first UWB signal from a second anchor device, and the first UWB signal is used to calibrate a position and/or a clock; the first anchor device calibrates the position and/or the clock of the first anchor device based on the first UWB signal.

In the embodiment of the present application, by introducing the BPA (ie, the first anchor device) clock and position self-calibration process, the accuracy of the BPA clock and position can be improved, thereby improving the accuracy of UWB positioning/perception.

In one possible design, the first anchor device calibrates the position and/or clock of the first anchor device based on the timestamp carried by the first UWB signal. The above design helps to improve the accuracy of UWB positioning/perception.

In one possible design, before the first anchor device receives the first ultra-wideband UWB signal from the second anchor device, the method further includes: the first anchor device receives a beacon frame from the second anchor device. The above method helps to improve the accuracy of UWB positioning/perception.

In one possible design, after the first anchor device receives the first ultra-wideband UWB signal from the second anchor device, the method further includes: the first anchor device sends a channel time slot request frame to the second anchor device, the channel time slot request frame is used to request channel time slot allocation; the first anchor device receives a confirmation frame from the second anchor device, the confirmation frame is used to indicate the channel time slot allocation bandwidth. The above method helps to improve the accuracy of UWB positioning/perception.

In one possible design, after the first anchor device receives the first ultra-wideband UWB signal from the second anchor device, the method further includes: the first anchor device sends a second UWB signal, and the second UWB signal is used for at least one of the following processing: ranging, positioning, or perception. The above method can reduce the latency of UWB positioning/perception.

In a possible design, the method further includes: the first anchor device sends a first indication message to the tag device, the first indication message is used to instruct the tag device to perform position calibration. The above design helps to improve the accuracy of positioning/perception of the tag device.

In a possible design, the first anchor device sends a second instruction message to the tag device, and the second instruction message is used to instruct the tag device to end position calibration. The above design helps to improve the accuracy of tag device positioning/perception.

In one possible design, the first anchor device receives a third indication message from the second anchor device, and the third indication message is used to instruct the first anchor device to perform calibration. The above design helps to improve the accuracy of UWB positioning/perception.

In one possible design, the first anchor device receives a fourth indication message from the second anchor device, where the fourth indication message is used to indicate The first anchor device completes the calibration. The above design helps to improve the accuracy of UWB positioning/perception.

In one possible design, the method further includes: the first anchor device sends a fifth indication message to the tag device, and the fifth indication message is used to instruct the tag device to calibrate the position of the target object. The above design helps to improve the accuracy of the tag device in locating/perceiving the target object.

In one possible design, the first anchor device sends a sixth instruction message to the tag device, and the sixth instruction message is used to instruct the tag device to end the position calibration of the target object. The above design helps to improve the accuracy of the tag device in locating/perceiving the target object.

In a second aspect, a communication method is provided. The executor of the method may be a tag device or a chip, a chip system or a circuit located in the tag device. Taking the tag device as an example, the method may be implemented through the following steps: the tag device receives a UWB signal from at least one anchor device; the tag device calibrates the position of the tag device according to the UWB signal sent by at least one anchor device.

In the embodiment of the present application, by introducing a tag device calibration process, the accuracy of tag device positioning/perception can be improved, thereby improving the accuracy of UWB positioning/perception.

In one possible design, before the tag device calibrates the position of the tag device according to the UWB signal of at least one anchor device, the method further includes: the tag device receives a first indication message from a first device, the first indication message is used to instruct the tag device to perform position calibration, and the first device is an anchor device among the at least one anchor device or other device other than the at least one anchor device. The above design helps to improve the accuracy of the tag device's positioning/perception.

In a possible design, the tag device receives a second instruction message from the first device, and the second instruction message is used to instruct the tag device to stop position calibration. The above design helps to improve the accuracy of positioning/sensing of the tag device.

In one possible design, the tag device calibrates the position of the target object according to the UWB signal sent by at least one anchor device. The above design helps to improve the accuracy of the tag device in locating/perceiving the target object.

In one possible design, the method further includes: the tag device receives a fifth instruction message from the first device, the fifth instruction message is used to instruct the tag device to calibrate the position of the target object. The above design helps to improve the accuracy of the tag device in locating/perceiving the target object.

In a possible design, the tag device receives a sixth instruction message from the first device, and the sixth instruction message is used to instruct the tag device to end the position calibration of the target object. The above design helps to improve the accuracy of the tag device in locating/perceiving the target object.

According to a third aspect, a communication method is provided, wherein the executing subject of the method may be a first device or a chip, a chip system or a circuit located in the first device, wherein the first device is an anchor device powered by a power supply, or the first device is an anchor device powered by other anchor devices, or the first device may be other devices; taking the first device as an example, the method may be implemented by the following steps: the first device sends a first indication message to a tag device, wherein the first indication message is used to instruct the tag device to perform position calibration, and the first device sends a second indication message to the tag device, wherein the second indication message is used to instruct the tag device to stop position calibration.

The above design helps to improve the positioning/perception accuracy of tag devices.

In one possible design, the method further includes: the first device sends a fifth instruction message to the tag device, and the fifth instruction message is used to instruct the tag device to calibrate the position of the target object. The above design helps to improve the accuracy of the tag device in locating/perceiving the target object.

In a possible design, the first device sends a sixth instruction message to the tag device, and the sixth instruction message is used to instruct the tag device to end the position calibration of the target object. The above design helps to improve the accuracy of the tag device in locating/perceiving the target object.

In a fourth aspect, the present application further provides a communication device, which is an anchor device or a chip in an anchor device. The communication device has the function of implementing any method provided in the first aspect above. The communication device can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the above functions.

In one possible design, the communication device includes: a processor, the processor is configured to support the communication device to perform the corresponding functions of the first anchor device in the method shown above. The communication device may also include a memory, which can be coupled to the processor and stores the necessary program instructions and data for the communication device. Optionally, the communication device also includes an interface circuit, which is used to support communication between the communication device and a second anchor device, a tag device, and other devices, such as the transmission and reception of data or signals. Exemplarily, the communication interface can be a transceiver, a circuit, a bus, a module, or other types of communication interfaces.

In one possible design, the communication device includes corresponding functional modules, which are respectively used to implement the steps in the above method. The functions can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

In one possible design, the structure of the communication device includes a processing unit (or processing unit) and a communication unit (or communication unit), which can perform the corresponding functions in the above method example. For details, please refer to the description of the method provided in the first aspect, which will not be repeated here.

In a fifth aspect, the present application further provides a communication device, which is a tag device or a chip in a tag device. The communication device has the function of implementing any of the methods provided in the second aspect. The communication device can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the above functions.

In one possible design, the communication device includes: a processor, which is configured to support the communication device to perform the corresponding functions of the tag device in the method shown above. The communication device may also include a memory, which can be coupled to the processor and stores the necessary program instructions and data for the communication device. Optionally, the communication device also includes an interface circuit, which is used to support communication between the communication device and an anchor device, a first device, and other devices, such as the transmission and reception of data or signals. Exemplarily, the communication interface can be a transceiver, a circuit, a bus, a module, or other types of communication interfaces.

In one possible design, the structure of the communication device includes a processing unit (or processing unit) and a communication unit (or communication unit), which can perform the corresponding functions in the above method example. For details, please refer to the description of the method provided in the second aspect, which will not be repeated here.

In a sixth aspect, the present application further provides a communication device, wherein the device is a first device or a chip in the first device, and the first device may be an anchor device powered by a power supply, an anchor device powered by other anchor devices, or other devices. The communication device has the function of implementing any of the methods provided in the third aspect above. The communication device may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the above functions.

In one possible design, the communication device includes: a processor, which is configured to support the communication device to perform the corresponding functions of the first device in the method shown above. The communication device may also include a memory, which can be coupled to the processor and stores the necessary program instructions and data for the communication device. Optionally, the communication device also includes an interface circuit, which is used to support communication between the communication device and a device such as a tag device, such as the transmission and reception of data or signals. Exemplarily, the communication interface can be a transceiver, circuit, bus, module or other type of communication interface.

In one possible design, the structure of the communication device includes a processing unit (or processing unit) and a communication unit (or communication unit), which can perform the corresponding functions in the above method example. For details, please refer to the description of the method provided in the third aspect, which will not be repeated here.

In the seventh aspect, a communication device is provided, comprising a processor and an interface circuit, the interface circuit being used to receive signals from other communication devices outside the communication device and transmit them to the processor or to send signals from the processor to other communication devices outside the communication device, the processor being used to implement the method in the aforementioned first aspect and any possible design through logic circuits or execution code instructions.

In an eighth aspect, a communication device is provided, comprising a processor and an interface circuit, wherein the interface circuit is used to receive signals from other communication devices outside the communication device and transmit them to the processor or to send signals from the processor to other communication devices outside the communication device, and the processor is used to implement the method in the aforementioned second aspect and any possible design through logic circuits or execution code instructions.

In the ninth aspect, a communication device is provided, comprising a processor and an interface circuit, the interface circuit being used to receive signals from other communication devices outside the communication device and transmit them to the processor or to send signals from the processor to other communication devices outside the communication device, the processor being used to implement the method in the aforementioned third aspect and any possible design through logic circuits or execution code instructions.

In the tenth aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, the method of the aforementioned first aspect, second aspect, or third aspect and any possible design is implemented.

In the eleventh aspect, a computer program product storing instructions is provided, which, when executed by a processor, implements the method in the aforementioned first aspect, second aspect, or third aspect and any possible design.

In a twelfth aspect, a chip system is provided, the chip system includes a processor and may also include a memory, for implementing the method in the first aspect, the second aspect, or the third aspect and any possible design. The chip system may be composed of a chip, or may include a chip and other discrete devices.

In a thirteenth aspect, a communication system is provided, the system comprising the apparatus described in the first aspect (such as a first anchor device) and a second anchor device, and may further comprise a tag device and a target object.

The technical effects that can be achieved by the technical solutions of any of the fourth to thirteenth aspects mentioned above can be described with reference to the technical effects that can be achieved by the technical solutions of the first aspect mentioned above, and the repeated parts will not be repeated.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the architecture of a ranging and positioning system according to an embodiment of the present application;

FIG2 is a schematic diagram of the architecture of a UWB positioning system according to an embodiment of the present application;

FIG3 is a schematic diagram of a timeout frame timing sequence according to an embodiment of the present application;

FIG4 is a schematic diagram of the architecture of a UWB sensing system according to an embodiment of the present application;

FIG5 is a flow chart of a communication method according to an embodiment of the present application;

FIG6 is a schematic diagram of a timeout frame timing sequence according to an embodiment of the present application;

FIG7 is a schematic diagram of a timeout frame timing sequence according to an embodiment of the present application;

FIG8A is a schematic diagram of a timeout frame timing sequence according to an embodiment of the present application;

FIG8B is a schematic diagram of a timeout frame timing sequence according to an embodiment of the present application;

FIG8C is a schematic diagram of a timeout frame timing sequence according to an embodiment of the present application;

FIG9 is a schematic diagram of a timeout frame timing sequence according to an embodiment of the present application;

FIG10 is a schematic diagram of a timeout frame timing sequence according to an embodiment of the present application;

FIG11 is a schematic diagram of the structure of a communication device according to an embodiment of the present application;

FIG. 12 is a schematic diagram of the structure of a communication device according to an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

Below, some terms in the embodiments of the present application are explained to facilitate understanding by those skilled in the art.

The embodiments of the present application may be applicable to wireless personal area networks (WPANs) based on ultra-wideband (UWB) technology. The current standard adopted by WPANs is the IEEE 802.15 series. WPANs can be used for communication between digital auxiliary devices within a small range, such as telephones, computers, and auxiliary devices, and their working range is generally within 10 meters. Technologies supporting wireless personal area networks include Bluetooth, ZigBee, ultra-wideband, infrared data association (IrDA) infrared connection technology (infrared), home radio frequency (HomeRF), etc. It is easy for those skilled in the art to understand that various aspects of the present application can be extended to other networks using various standards or protocols. For example, Wireless Local Area Networks (WLAN), High Performance Radio LAN (HIPERLAN) (a wireless standard similar to the IEEE 802.11 standard, mainly used in Europe) and Wide Area Networks (WAN) or other networks now known or developed later. From the perspective of network composition, WPAN is located at the bottom layer of the entire network architecture and is used for wireless connections between devices in a small range, that is, point-to-point short-distance connections, which can be regarded as short-distance wireless communication networks. According to different application scenarios, WPAN is divided into high-rate (HR)-WPAN and low-rate (low rate)-WPAN. Among them, HR-WPAN can be used to support various high-rate multimedia applications, including high-quality audio and video distribution, multi-megabyte music and image document transmission, etc. LR-WPAN can be used for general business in daily life.

In WPAN, devices can be divided into full-function devices (FFD) and reduced-function devices (RFD) according to their communication capabilities. As shown in Figure 1, FFD devices can communicate with each other and with RFD devices. RFD devices cannot communicate directly with each other, but can only communicate with FFD devices, or forward data outward through an FFD device. The FFD device associated with the RFD is called the coordinator of the RFD. The coordinator can also control and associate multiple FFDs. The coordinator is also called a control node. There can be multiple coordinators in each ad hoc network. RFD devices are mainly used for simple control applications, such as light switches, passive infrared sensors, etc. The amount of data transmitted is small, and the transmission resources and communication resources are not occupied much. The cost of RFD devices is low. Among them, the coordinator can also be called a personal area network (PAN) coordinator. PAN coordinator can be understood as a type of coordinator, and PAN coordinator is also called the central control node of PAN, etc. FFD can be used as a PAN coordinator or coordinator, while RFD cannot be used as a PAN coordinator or coordinator. The PAN coordinator is the master node of the entire network, and there can only be one PAN coordinator in each ad hoc network, which has membership management, link information management, and packet forwarding functions. Optionally, the device in the embodiment of the present application can be a device that supports multiple WPAN standards such as 802.15.4a and 802.15.4z, and 802.15.4ab or subsequent versions.

In the embodiments of the present application, the above-mentioned device may be a communication server, a router, a switch, a bridge, a computer or a mobile phone, a smart home device, a vehicle-mounted communication device, etc.

In the embodiment of the present application, the above-mentioned device includes a hardware layer, an operating system layer running on the hardware layer, and an operating system layer running on the operating system. The application layer on the layer. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU) and a memory (also called main memory). The operating system can be any one or more computer operating systems that implement business processing through processes, such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system or a windows operating system. The application layer includes applications such as browsers, address books, word processing software, and instant messaging software. In addition, the embodiments of the present application do not specifically limit the specific structure of the execution subject of the method provided in the embodiments of the present application. As long as it is possible to communicate according to the method provided in the embodiments of the present application by running a program that records the code of the method provided in the embodiments of the present application, for example, the execution subject of the method provided in the embodiments of the present application can be an FFD or an RFD, or a functional module in the FFD or RFD that can call and execute a program.

In addition, various aspects or features of the present application can be implemented as methods, devices or products using standard programming and/or engineering techniques. The term "product" used in this application covers computer programs that can be accessed from any computer-readable device, carrier or medium. For example, computer-readable media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks or tapes, etc.), optical disks (e.g., compact discs (CDs), digital versatile discs (DVDs), etc.), smart cards and flash memory devices (e.g., erasable programmable read-only memory (EPROM), cards, sticks or key drives, etc.). In addition, the various storage media described herein may represent one or more devices and/or other machine-readable media for storing information. The term "machine-readable medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing and/or carrying instructions and/or data.

The embodiments of the present application may also be applicable to wireless local area network systems such as the Internet of Things (IoT) network or the Vehicle to X (V2X) network. Of course, the embodiments of the present application may also be applicable to other possible communication systems, such as the Long Term Evolution (LTE) system, the LTE frequency division duplex (FDD) system, the LTE time division duplex (TDD) system, the universal mobile telecommunication system (UMTS), the worldwide interoperability for microwave access (WiMAX) communication system, the fifth generation (5G) communication system, and the future sixth generation (6G) communication system or new communication systems that will emerge in the future communication development. The above-mentioned communication systems applicable to the present application are only exemplified, and the communication systems applicable to the present application are not limited thereto, and are uniformly described here, and will not be repeated below.

The above-mentioned communication system applicable to the present application is only an example for illustration, and the communication system applicable to the present application is not limited to this. A unified description is given here and no further elaboration is given below.

1. Impulse Radio Ultra Wideband (IR-UWB) System: Due to the large bandwidth of the ultra-wideband system, its equipment needs to have ultra-high-speed data transmission and reception capabilities. The spectrum efficiency of the IR-UWB system based on pulse transmission is low. When transmitting the same information, the power consumption overhead required by the IR-UWB solution is much higher than that of other narrowband short-range protocols (for example, Bluetooth or ZigBee).

2. Ranging or perception: For ranging or perception scenarios, the accuracy of the measurement or perception results is related to the signal bandwidth. The larger the signal bandwidth, the higher the accuracy of the perception or ranging results. Therefore, it is possible to consider sending and receiving the reference signal used for ranging or perception through the UWB system, and transmitting other reference signals and/or data through a narrowband protocol, thereby ensuring the accuracy of ranging and perception and saving power consumption. Among them, the perception involved in this application can be understood as the underlying perception technology of the Internet of Things technology architecture, which is the primary link for the Internet of Things to obtain information and realize object control; ranging can be understood as the measurement of the distance between devices, including but not limited to the distance measurement between two objects in the Internet of Things.

UWB can be used for indoor positioning. The principles and methods required for positioning include but are not limited to: uplink-time difference of arrival (UL-TDOA) and downlink-time difference of arrival (UL-TDOA). As shown in Figure 2, taking UWB DL-TDOA positioning as an example, this method arranges three or more anchor devices (anchors) in the indoor space. The anchor devices can send UWB signals to provide positioning signals for tag devices (tags). The tag listens to the UWB signals sent by the anchor and calculates the arrival time difference between each UWB signal, thereby calculating its own position and realizing the positioning function.

In the DL-TDOA network of the IEEE 802.15.4ab standard, anchors can be divided into two categories, namely mains-powered anchors (MPA) and battery-powered anchors (BPA). Among them, MPA is an anchor connected to a power source with an accurate position and clock. BPA is an anchor powered by a battery and wirelessly connected to other MPAs/BPAs. Indoor real-time localization systems (RTLS) are generally composed of multiple MPAs and BPAs.

For DL-TDOA positioning applications, a superframe timing structure applicable to DL-TDOA systems is shown in Figure 3, including three phases: beacon phase (beacon-only period, BOP), non-contention access phase (contention-free period, CFP) and contention access phase (contention access period, CAP). Among them, the CFP phase supports ranging and/or positioning applications using DL-TDOA methods; BOP and CAP are optional phases and can be used for system preliminary detection, initial parameter setting, system control and data communication. The CFP phase may include multiple ranging rounds, and a ranging round may represent a single ranging process. For example, refer to the IEEE 802.15.4z standard for ranging. Definition of ranging wheel. The minimum processing time unit of each ranging wheel is the ranging slot. In a ranging wheel, it is divided into three phases: ranging control phase, ranging phase, and measurement report phase. For example, in IEEE 802.15.4z, the ranging control phase includes 1 ranging slot, and in the IEEE 802.15.4ab standard, the ranging control phase may include more than 1 ranging slot. The ranging control phase in the present application may include 1 or more ranging slots.

UWB can also be used to locate/perceive objects, generally using a method based on the sum of arrival time (TSOA). The tag calculates the sum of the arrival time of the UWB signal emitted by the anchor to the object and the arrival time of the UWB signal reflected from the object to the tag, and then solves the object's location information by combining different elliptic equations.

Since the BPA is battery-powered and wirelessly connected to other MPAs/BPAs, if the signal transmission quality between the BPA and the MPA is not ideal, the position and clock of the BPA may be inaccurate, resulting in inaccurate positioning/perception of the tag device or object.

Based on this, the present application provides a communication method and device for solving the problem of low accuracy of positioning/sensing in UWB systems. The method and the device are based on the same concept. Since the principles of solving the problem by the method and the device are similar, the implementation of the device and the method can refer to each other, and the repeated parts will not be repeated.

An embodiment of the present application provides a UWB system, which includes an anchor device and a tag device, and may also include an object to be located/sensed. Referring to FIG. 4 , a UWB system including an MPA, a BPA, two tag devices and an object is used as an example for illustration. The location of the MPA is known. The MPA, BPA and tag device all have signal transceiving functions, and the object may not have signal transceiving functions.

It should be noted that the number and type of each device in the communication system shown in Figure 4 are for illustration only, and the embodiments of the present application are not limited to this. In actual applications, the UWB system may also include more BPAs, more MPAs, more tag devices, and more objects.

The embodiments shown below do not particularly limit the specific structure of the execution subject of the method provided in the embodiments of the present application. As long as it is possible to communicate according to the method provided in the embodiments of the present application by running a program that records the code of the method provided in the embodiments of the present application, for example, the execution subject of the method provided in the embodiments of the present application can be a transceiver device, or a functional module in the transceiver device that can call and execute the program.

In order to facilitate understanding of the embodiments of the present application, the following explanations are made.

First, in this application, "used to indicate" may include direct indication and indirect indication. When describing that a certain information is used to indicate A, it may include that the information directly indicates A or indirectly indicates A, but it does not mean that the information must carry A.

The information indicated by the information is called the information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated, such as but not limited to, the information to be indicated can be directly indicated, such as the information to be indicated itself or the index of the information to be indicated. The information to be indicated can also be indirectly indicated by indicating other information, wherein there is an association between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while the other parts of the information to be indicated are known or agreed in advance. For example, the indication of specific information can also be achieved with the help of the arrangement order of each piece of information agreed in advance (for example, stipulated by the protocol), thereby reducing the indication overhead to a certain extent. At the same time, the common parts of each piece of information can also be identified and indicated uniformly to reduce the indication overhead caused by indicating the same information separately.

Second, the first, second, and various numerical numbers (e.g., "#1", "#2", etc.) shown in the present application are only for convenience of description and are used to distinguish objects, and are not used to limit the scope of the embodiments of the present application. For example, to distinguish different segments, etc., rather than to describe a specific order or sequence. It should be understood that the objects described in this way can be interchanged where appropriate so as to be able to describe solutions other than the embodiments of the present application.

Third, in this application, "pre-configuration" may include pre-definition, such as protocol definition. Among them, "pre-definition" can be implemented by pre-saving corresponding codes, tables or other methods that can be used to indicate relevant information in a device (for example, including each network element), and this application does not limit its specific implementation method.

Fourth, in this application, the words "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

Fifth, in the embodiments of the present application, "at least one" refers to one or more, and "more than one" refers to two or more. "And/or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character "/" generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.

Sixth, the "protocol" involved in the embodiments of the present application may refer to a standard protocol in the field of communications, for example, the WiFi protocol and And related protocols used in future communication systems, which are not limited in this application.

Seventh, the terms "including" and "having" and any variations thereof mentioned in the following description of the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

It should be noted that the embodiments of the present application do not limit the specific application scenarios of the UWB signals. For example, it can be a positioning scenario, a ranging scenario, a perception scenario, an integrated perception and positioning scenario, an integrated perception and ranging scenario, an integrated perception, positioning and communication scenario, and so on. Examples are not given here one by one. In other words, the description of UWB signals such as "transmitting UWB signals" in this application can be one or more uses in ranging/positioning/perception/communication. This application is explained using positioning and/or integrated positioning and perception application scenarios as examples.

The network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. A person of ordinary skill in the art can appreciate that with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

For example, in the embodiments of the present application, the "UWB signal" can also be described as a "measurement signal frame", "ranging signal", "ranging signal frame", "measurement transmission frame", "ranging transmission frame", "UWB transmission frame", "UWB ranging signal", "UWB positioning signal", etc.

See Figure 5, which is a flow chart of a communication method provided by the present application. The method includes:

S501: The second anchor device sends a first UWB signal. Correspondingly, the first anchor device receives the first UWB signal from the second anchor device.

The first UWB signal is used to calibrate the position and/or the clock.

Exemplarily, the second anchor device may be connected to a power source, that is, the second anchor device may be an MPA. The first anchor device may be powered by a battery and wirelessly connected to other anchor devices, that is, the first anchor device may be a BPA.

S502: The first anchor point device calibrates a position and/or a clock of the first anchor point device based on a first UWB signal.

In a possible implementation manner, the first anchor point device may determine the position and/or clock of the first anchor point device based on a timestamp carried by the first UWB signal.

Optionally, before the first anchor device performs calibration, the second anchor device may announce the start of calibration. For example, the second anchor device may send a third indication message to the first anchor device, and the third indication message is used to instruct the first anchor device to perform calibration. After receiving the third indication message, the first anchor device performs position and/or clock calibration.

In addition, after the first anchor device performs calibration, the second anchor device may declare the calibration completed. For example, the second anchor device may send a fourth indication message to the first anchor device, and the fourth indication message is used to indicate that the first anchor device has completed the calibration. In a possible implementation, the second anchor device may determine whether the first anchor device has been calibrated successfully based on the UWB signal sent by the first anchor device, and may send the fourth indication message if the calibration is successful.

Optionally, the calibration process of the first anchor device may be performed in the BOP stage. For example, after the first anchor device receives the beacon frame from the second anchor device, the method described in FIG. 5 is performed, as shown in FIG. 6 .

Alternatively, the calibration process of the first anchor device may be performed in the CAP stage. For example, after the first anchor device sends a channel slot request frame to the second anchor device and receives a confirmation frame from the second anchor device, the method described in FIG. 5 is performed. As shown in FIG. 7, the channel slot request frame is used to request channel slot allocation; the confirmation frame is used to indicate the channel slot allocation bandwidth.

Alternatively, the calibration process of the first anchor device may be performed in the CFP stage. For example, after the first anchor device sends the second UWB signal, the method described in FIG. 5 is performed. As shown in FIG. 8A or FIG. 8B or FIG. 8C. The second UWB signal is used for at least one of the following: ranging, positioning, or sensing.

It should be noted that, in addition to the timeout frame structure based on the above-mentioned BOP/CAP/CFP, the above-mentioned calibration process can also be performed in a round and/or block-based timing structure, or, it can also be performed in other timing structures. The present application does not limit the timing structure of the above-mentioned calibration process. In addition, for the round-based timing structure, the present application does not limit the execution phase of the above-mentioned calibration process, for example, it can be a control phase/measurement phase/reporting, or it can be other phases.

Optionally, after the first anchor device is calibrated, the tag device may also perform position calibration. Specifically, the tag device receives a UWB signal from at least one anchor device; the tag device calibrates the position of the tag device according to the UWB signal sent by at least one anchor device. The at least one anchor device may include the first anchor device and may also include the second anchor device.

In a possible implementation, before the tag device performs calibration, the first device may announce the start of calibration. For example, the first device may send a first indication message to the tag device, and the first indication message is used to instruct the tag device to perform calibration. After receiving the first indication message, the tag device performs position calibration. The first device may be one of the at least one anchor device mentioned above, such as the first anchor device, the second anchor device, etc. Alternatively, the first device may also be a device other than the at least one anchor device mentioned above, such as a third-party control device, etc.

In addition, after the tag device is calibrated, the first device may declare the calibration completed. For example, the first device may send a second indication message to the tag device, and the second indication message is used to indicate that the tag device has completed the calibration. In one possible implementation, the first device may determine whether the tag device is calibrated successfully based on the UWB signal sent by the tag device, and may send the second indication message if the calibration is successful.

Exemplarily, taking the calibration process of the first anchor device in the CFP phase as an example, the timing structure of the calibration process of the tag device may be as shown in FIG. 9 .

In some embodiments, after the first anchor device is calibrated, the tag device may also calibrate the position of the target object. Specifically, the tag device receives a UWB signal from at least one anchor device; the tag device calibrates the position of the target object according to the UWB signal sent by at least one anchor device. The at least one anchor device may include the first anchor device and may also include the second anchor device.

In a possible implementation, the target object may be passive, and the location information of the target object is reported by the tag device to the MPA and BPA for determination/calibration. It should be noted that the reported message may be narrowband information, UWB signal, Bluetooth signal, etc. This application does not impose any restrictions on the signal frequency band that can carry and transmit the above-mentioned reported message.

In a possible implementation, before the tag device calibrates the position of the target object, the first device may declare the start of calibration. For example, the first device may send a fifth indication message to the tag device, and the fifth indication message is used to instruct the tag device to calibrate the position of the target object. After receiving the fifth indication message, the tag device calibrates the position of the target object. The first device may be one of the at least one anchor device mentioned above, such as the first anchor device, the second anchor device, etc. Alternatively, the first device may also be a device other than the at least one anchor device mentioned above, such as a third-party control device, etc.

In addition, after the tag device calibrates the position of the target object, the first device may declare the calibration to be completed. For example, the first device may send a sixth instruction message to the tag device, and the sixth instruction message is used to instruct the tag device to complete the position calibration of the target object.

Exemplarily, taking the calibration process of the first anchor device in the CFP phase as an example, the timing structure of the calibration process of the tag device may be as shown in FIG. 10 .

It should be noted that the above indication messages, such as the first indication message, the second indication message, the third indication message, the fourth indication message, the fifth indication message, the sixth indication message, etc., may be narrowband information, may be UWB signals, may be Bluetooth signals, etc. This application does not impose any limitation on the signal frequency bands that can carry and transmit the above indication messages.

The above method provided in the present application can be applied not only to UWB positioning assisted by a narrowband protocol, but also to UWB perception or other measurement processes assisted by a narrowband protocol. Therefore, the ranging control phase mentioned above can be understood as a type of measurement control phase, the positioning phase can be understood as a type of measurement phase, and the positioning result reporting phase can be understood as a type of measurement result reporting phase. For example, when the method provided in the present application is applied to the UWB perception process assisted by a narrowband protocol, the measurement control stage can be understood as the perception control stage, the measurement stage can be understood as the perception stage, and the measurement result reporting stage can be understood as the perception result reporting stage; for another example, when the method provided in the present application is applied to the UWB ranging process assisted by a narrowband protocol, the measurement control stage can be understood as the ranging control stage, the measurement stage can be understood as the ranging stage, and the measurement result reporting stage can be understood as the ranging result reporting stage; for another example, when the method provided in the present application is applied to the UWB perception process assisted by a narrowband protocol, the measurement control stage can be understood as the perception control stage, the measurement stage can be understood as the perception stage, and the measurement result reporting stage can be understood as the perception result reporting stage; for another example, when the method provided in the present application is applied to the UWB perception and positioning integrated process assisted by a narrowband protocol, the measurement control stage can be understood as the perception and positioning integrated control stage, the measurement stage can be understood as the perception and positioning integrated stage, the measurement result reporting stage can be understood as the perception and positioning integrated result reporting stage, and so on. In summary, this application does not impose any limitation on the purpose of the measurement phase.

In addition, it should be noted that the names of the different stages in the above-mentioned single measurement round are only examples and do not constitute any limitation on the scope of protection of this application. For example, the above-mentioned measurement control stage can be understood as a stage for configuring the parameters required in the measurement round; for another example, the above-mentioned measurement stage can be understood as a stage for performing measurement; for another example, 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 names of the above-mentioned calibration processes are only examples and do not constitute any limitation on the protection scope of the present application. Any stages of the role of the calibration process described in the embodiments of the present application, regardless of the names used, are within the protection scope of the present application.

Based on the same inventive concept as the method embodiment, the present application embodiment provides a communication device, the structure of which can be as shown in FIG. 11, including a transceiver module 3001 and a processing module 3002. Optionally, the transceiver module 3001 may include a transmission module (transport module, Tx module) and a receiving module (receive module, Rx module), wherein the transmission module is used to send signals and the receiving module is used to receive signals. The communication device may also include a radio frequency unit (RF unit), the RF unit may be used to transmit signals to a receiving end device, the transmission module may transmit the signal to be transmitted to the RF unit for transmission, the receiving module may receive the signal from the RF unit, and further process it in the processing module 3002.

In one implementation, the communication device can be specifically used to implement the method executed by the first anchor device in the embodiment of FIG. 5 , and the device can be the first anchor device itself, or a chip or a chipset or a part of a chip in the first anchor device for executing the function of the related method. Among them, the transceiver module 3001 is used to receive a first UWB signal from the second anchor device, and the first UWB signal is used to calibrate the position and/or clock; the processing module 3002 is used to calibrate the position and/or clock of the first anchor device based on the first UWB signal.

The processing module 3002 may be specifically configured to calibrate the position and/or clock of the first anchor device based on the timestamp carried by the first UWB signal.

Optionally, the transceiver module 3001 is further used to: receive a beacon frame from the second anchor device before receiving the first ultra-wideband UWB signal from the second anchor device.

Optionally, the transceiver module 3001 is also used to: after receiving the first ultra-wideband UWB signal from the second anchor device, send a channel time slot request frame to the second anchor device, the channel time slot request frame is used to request channel time slot allocation; receive a confirmation frame from the second anchor device, the confirmation frame is used to indicate the channel time slot allocation bandwidth.

Optionally, the transceiver module 3001 is further used to: after receiving the first ultra-wideband UWB signal from the second anchor device, send a second UWB signal, where the second UWB signal is used for at least one of the following processing: ranging, positioning, or perception.

Optionally, the transceiver module 3001 is further used to: send a first indication message to the tag device, where the first indication message is used to instruct the tag device to perform position calibration.

Optionally, the transceiver module 3001 is further used to: send a second indication message to the tag device, where the second indication message is used to instruct the tag device to end position calibration.

Optionally, the transceiver module 3001 is further used to: receive a third indication message from the second anchor device, where the third indication message is used to instruct the first anchor device to perform calibration.

Optionally, the transceiver module 3001 is further used to: receive a fourth indication message from the second anchor point device, where the fourth indication message is used to instruct the first anchor point device to end calibration.

In one implementation, the communication device can be specifically used to implement the method executed by the tag device in the embodiment of FIG. 5 , and the device can be the tag device itself, or a chip or a chipset in the tag device, or a part of the chip used to execute the function of the related method. Among them, the transceiver module 3001 is used to receive the UWB signal from at least one anchor device; the processing module 3002 is used to calibrate the position of the tag device according to the UWB signal sent by at least one anchor device.

Optionally, the transceiver module 3001 is also used to: before the processing module 3002 calibrates the position of the tag device according to the UWB signal of at least one anchor device, receive a first indication message from a first device, the first indication message is used to instruct the tag device to perform position calibration, and the first device is an anchor device among at least one anchor device or other device other than at least one anchor device.

Optionally, the transceiver module 3001 is further used to: receive a second instruction message from the first device, where the second instruction message is used to instruct the tag device to stop position calibration.

Optionally, the processing module 3002 is further configured to: calibrate the position of the target object according to a UWB signal sent by at least one anchor device.

In one embodiment, the communication device can be specifically used to implement the method executed by the first device in the embodiment of Figure 5. The device can be the first device itself, or a chip or a chipset in the first device or a part of the chip used to execute the function of the related method. The first device is an anchor device powered by a power supply, or the first device is an anchor device powered by other anchor devices. Among them, the transceiver module 3001 is used to communicate with the tag device; the processing module 3002 is used to: send a first indication message to the tag device through the transceiver module 3001, the first indication message is used to instruct the tag device to perform position calibration; and send a second indication message to the tag device through the transceiver module 3001, the second indication message is used to instruct the tag device to stop position calibration.

The division of modules in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, the functional modules in the various embodiments of the present application may be integrated into one processor, or may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of software functional modules. It is understandable that the functions or implementations of the various modules in the embodiments of the present application may be further referred to. Description of method embodiments.

In one possible manner, the communication device may be as shown in FIG12, and the device may be a communication device or a chip in a communication device, wherein the communication device may be the first anchor device in the above embodiment or may be the tag device or the first device in the above embodiment, etc. The device includes a processor 3101 and a communication interface 3102, and may also include a memory 3103. Among them, the processing module 3002 may be the processor 3101. The transceiver module 3001 may be the communication interface 3102. FIG12 only shows the main components of the communication device. In addition to the processor 3101 and the communication interface 3102, the communication device may further include a memory 3103, and an input and output device (not shown in the figure).

The processor 3101 is used to execute the program code stored in the memory 3103, specifically to execute the actions of the processing module 3002, which will not be described in detail in this application. The communication interface 3102 is specifically used to execute the actions of the transceiver module 3001, which will not be described in detail in this application.

The processor 3101 may be a CPU, or a digital processing unit, etc. The processor 3101 may be used to process the communication protocol and communication data, control the entire communication device, execute the software program, and process the data of the software program, such as but not limited to baseband related processing. The communication interface 3102 may be used to transmit and receive signals, such as but not limited to radio frequency transmission and reception. The above-mentioned devices may be arranged on independent chips, or at least partially or completely on the same chip. For example, the processor 3101 may be further divided into an analog baseband processor and a digital baseband processor. Among them, the analog baseband processor may be integrated with the transceiver on the same chip, and the digital baseband processor may be arranged on an independent chip. With the continuous development of integrated circuit technology, more and more devices can be integrated on the same chip. For example, the digital baseband processor may be integrated with a variety of application processors (such as but not limited to graphics processors, multimedia processors, etc.) on the same chip. Such a chip may be called a system on chip. Whether each device is independently arranged on different chips or integrated on one or more chips often depends on the specific needs of product design. The embodiments of the present invention do not limit the specific implementation of the above-mentioned device.

The communication interface 3102 may be a transceiver, an interface circuit such as a transceiver circuit, or a transceiver chip. Optionally, the communication interface 3102 may include a radio frequency circuit and an antenna. The radio frequency circuit is mainly used for converting baseband signals and 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 to receive data input by a user and output data to the user.

The memory 3103 is used to store the program executed by the processor 3101. The memory 3103 can be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), or a volatile memory (volatile memory), such as a random-access memory (RAM). The memory 3103 is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by the computer, but is not limited thereto.

When the communication device is turned on, the processor 3101 can read the software program in the memory 3103, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be sent wirelessly, the processor 3101 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. When data is sent to the communication device, 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 3101. The processor 3101 converts the baseband signal into data and processes the data.

In another implementation, the RF circuit and antenna may be arranged independently of the processor performing baseband processing. For example, in a distributed scenario, the RF circuit and antenna may be arranged remotely from the communication device.

The specific connection medium between the communication interface 3102, the processor 3101 and the memory 3103 is not limited in the embodiment of the present application. In FIG12, the memory 3103, the processor 3101 and the communication interface 3102 are connected through a bus 3104. The bus is represented by a bold line in FIG12. 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 FIG12, but it does not mean that there is only one bus or one type of bus.

Optionally, the communication device may be an independent device or may be a part of a larger device. For example, the communication device may be:

(1) An independent integrated circuit (IC), chip, or chip system or subsystem;

(2) having a set of one or more ICs, and optionally, the IC set may also include a storage component for storing data and instructions;

(3) Application specific integrated circuit (ASIC), such as modem;

(4) Modules that can be embedded in other devices;

(5) Receivers, smart terminals, wireless devices, handheld devices, mobile units, vehicle-mounted devices, cloud devices, artificial intelligence devices, etc.;

(6)Others

An embodiment of the present invention further provides a computer-readable storage medium for storing computer software instructions required to be executed by the above-mentioned processor, which includes a program required to be executed by the above-mentioned processor.

The embodiment of the present application also provides a communication system, including a communication device for implementing the function of the first anchor device in the embodiment of FIG. 5 and The communication device for implementing the function of the second anchor device in the embodiment of Fig. 5 may also include a communication device for implementing the function of the tag device in the embodiment of Fig. 5 .

Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

The present application is described with reference to the flowchart and/or block diagram of the method, device (system), and computer program product according to the present application. It should be understood that each process and/or box in the flowchart and/or block diagram, as well as the combination of the process and/or box in the flowchart and/or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one process or multiple processes in the flowchart and/or one box or multiple boxes in the block diagram.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

A communication method, characterized in that the method comprises:

The first anchor point device receives a first ultra-wideband UWB signal from the second anchor point device, where the first UWB signal is used to calibrate the position and/or the clock;

The first anchor point device calibrates a position and/or a clock of the first anchor point device based on the first UWB signal.
The method according to claim 1, wherein the first anchor device calibrates the position and/or clock of the first anchor device based on the first UWB signal, comprising:

The first anchor point device calibrates the position and/or clock of the first anchor point device based on the timestamp carried by the first UWB signal.
The method according to claim 1 or 2, characterized in that before the first anchor device receives the first ultra-wideband (UWB) signal from the second anchor device, the method further comprises:

The first anchor point device receives a beacon frame from the second anchor point device.
The method according to claim 1 or 2, characterized in that after the first anchor device receives the first ultra-wideband (UWB) signal from the second anchor device, the method further comprises:

The first anchor point device sends a channel time slot request frame to the second anchor point device, where the channel time slot request frame is used to request channel time slot allocation;

The first anchor point device receives a confirmation frame from the second anchor point device, where the confirmation frame is used to indicate a channel time slot allocation bandwidth.
The method according to claim 1 or 2, characterized in that after the first anchor device receives the first ultra-wideband (UWB) signal from the second anchor device, the method further comprises:

The first anchor device sends a second UWB signal, where the second UWB signal is used for at least one of the following processing: ranging, positioning, or sensing.
The method according to any one of claims 1 to 5, characterized in that the method further comprises:

The first anchor point device sends a first instruction message to the tag device, where the first instruction message is used to instruct the tag device to perform position calibration.
The method according to claim 6, characterized in that the method further comprises:

The first anchor device sends a second indication message to the tag device, where the second indication message is used to instruct the tag device to end position calibration.
The method according to any one of claims 1 to 7, characterized in that the method further comprises:

The first anchor point device receives a third indication message from the second anchor point device, where the third indication message is used to instruct the first anchor point device to perform calibration.
The method according to claim 8, characterized in that the method further comprises:

The first anchor point device receives a fourth indication message from the second anchor point device, where the fourth indication message is used to instruct the first anchor point device to end calibration.
A communication method, characterized in that the method comprises:

The tag device receives an ultra-wideband UWB signal from at least one anchor device;

The tag device calibrates the position of the tag device according to the UWB signal sent by the at least one anchor point device.
The method according to claim 10, characterized in that before the tag device calibrates the position of the tag device according to the UWB signal of the at least one anchor device, the method further comprises:

The tag device receives a first indication message from a first device, where the first indication message is used to instruct the tag device to perform position calibration. The first device is an anchor device among the at least one anchor device or another device other than the at least one anchor device.
The method according to claim 11, characterized in that the method further comprises:

The tag device receives a second instruction message from the first device, where the second instruction message is used to instruct the tag device to stop position calibration.
The method according to any one of claims 10 to 12, characterized in that the method further comprises:

The tag device calibrates the position of the target object according to the UWB signal sent by the at least one anchor point device.
A communication method, characterized in that the method comprises:

The first device sends a first instruction message to the tag device, where the first instruction message is used to instruct the tag device to perform position calibration. The first device is an anchor device powered by a power supply, or the first device is an anchor device powered by other devices;

The first device sends a second instruction message to the tag device, where the second instruction message is used to instruct the tag device to stop position calibration.
A communication device, characterized in that it is applied to a first anchor device, and the device comprises:

A transceiver module, configured to receive a first ultra-wideband UWB signal from a second anchor device, wherein the first UWB signal is used to calibrate a position and/or a clock;

A processing module is used to calibrate the position and/or clock of the first anchor device based on the first UWB signal.
The device according to claim 15, characterized in that the processing module is specifically used to:

The position and/or clock of the first anchor device is calibrated based on the timestamp carried by the first UWB signal.
The device according to claim 15 or 16, characterized in that the transceiver module is further used for:

Before receiving the first ultra-wideband (UWB) signal from the second anchor device, a beacon frame from the second anchor device is received.
The device according to claim 15 or 16, characterized in that the transceiver module is further used for:

After receiving the first ultra-wideband UWB signal from the second anchor device, sending a channel time slot request frame to the second anchor device, wherein the channel time slot request frame is used to request channel time slot allocation;

A confirmation frame is received from the second anchor device, where the confirmation frame is used to indicate a channel time slot allocation bandwidth.
The device according to claim 15 or 16, characterized in that the transceiver module is further used for:

After receiving the first ultra-wideband UWB signal from the second anchor device, a second UWB signal is sent, where the second UWB signal is used for at least one of the following processes: ranging, positioning, or sensing.
The device according to any one of claims 15 to 19, wherein the transceiver module is further used to:

A first instruction message is sent to the tag device, where the first instruction message is used to instruct the tag device to perform position calibration.
The device according to claim 20, characterized in that the transceiver module is further used to:

A second instruction message is sent to the tag device, where the second instruction message is used to instruct the tag device to end position calibration.
The device according to any one of claims 15 to 21, wherein the transceiver module is further used to:

A third indication message is received from the second anchor point device, where the third indication message is used to instruct the first anchor point device to perform calibration.
The device according to claim 22, characterized in that the transceiver module is further used to:

A fourth indication message is received from the second anchor point device, where the fourth indication message is used to instruct the first anchor point device to end calibration.
A communication device, characterized in that it is applied to a tag device, and the device comprises:

A transceiver module, configured to receive an ultra-wideband UWB signal from at least one anchor device;

A processing module is used to calibrate the position of the tag device according to the UWB signal sent by the at least one anchor device.
The device according to claim 24, characterized in that the transceiver module is further used to:

Before the processing module calibrates the position of the tag device according to the UWB signal of the at least one anchor device, a first indication message is received from a first device, where the first indication message is used to instruct the tag device to perform position calibration. The first device is an anchor device among the at least one anchor device or other device other than the at least one anchor device.
The device according to claim 25, characterized in that the transceiver module is further used to:

A second instruction message is received from the first device, where the second instruction message is used to instruct the tag device to stop position calibration.
The device according to any one of claims 24 to 26, characterized in that the processing module is further used to:

The position of the target object is calibrated according to the UWB signal sent by the at least one anchor point device.
A communication device, characterized in that it is applied to a first device, the first device is an anchor device powered by a power supply, or the first device is an anchor device powered by other devices, and the device includes:

A transceiver module, used for communicating with a tag device;

A processing module, used to: send a first instruction message to the tag device through the transceiver module, where the first instruction message is used to instruct the tag device to perform position calibration;

And, a second instruction message is sent to the tag device through the transceiver module, where the second instruction message is used to instruct the tag device to stop position calibration.
A communication device, comprising a memory and a processor;

The memory is used to store instructions;

The processor is used to execute the instructions to implement the method according to any one of claims 1 to 9, or to implement the method according to any one of claims 10 to 13, or to implement the method according to claim 14.
A computer-readable storage medium, characterized in that the computer-readable storage medium is used to store computer instructions, and when the computer instructions are executed on a computer, the computer executes the method according to any one of claims 1 to 14.