WO2025252019A1 - 通信方法和通信装置 - Google Patents

通信方法和通信装置

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Publication number
WO2025252019A1
WO2025252019A1 PCT/CN2025/098303 CN2025098303W WO2025252019A1 WO 2025252019 A1 WO2025252019 A1 WO 2025252019A1 CN 2025098303 W CN2025098303 W CN 2025098303W WO 2025252019 A1 WO2025252019 A1 WO 2025252019A1
Authority
WO
WIPO (PCT)
Prior art keywords
measurement frame
measurement
signal
channel
time
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2025/098303
Other languages
English (en)
French (fr)
Inventor
李德建
王键
杨修竹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huawei Technologies Co Ltd
Original Assignee
Huawei Technologies Co Ltd
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Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Publication of WO2025252019A1 publication Critical patent/WO2025252019A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • H04B1/713—Spread spectrum techniques using frequency hopping
    • H04B1/7156—Arrangements for sequence synchronisation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/336—Signal-to-interference ratio [SIR] or carrier-to-interference ratio [CIR]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L27/00—Modulated-carrier systems
    • H04L27/26—Systems using multi-frequency codes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/02—Arrangements for optimising operational condition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/08—Testing, supervising or monitoring using real traffic

Definitions

  • This application relates to the field of communications, and more specifically, to communication methods and communication apparatus.
  • Ultra-wideband (UWB) technology is a wireless carrier communication technology that transmits and receives extremely narrow pulses with durations in the nanosecond or microsecond range to achieve data transmission.
  • UWB technology occupies a wide spectrum, with the bandwidth of the transmitted or received wireless signals exceeding 500MHz, and also has a very low radiation spectral density. This gives it advantages such as strong multipath resolution, low power consumption, and strong security.
  • the wireless signals in UWB technology can be used as measurement signals for ranging, angle measurement, sensing, and positioning, such as for precise ranging based on the time-of-flight (TOF) measurement of the pulses.
  • TOF time-of-flight
  • UWB technology uses extremely narrow pulses to achieve data transmission or precise ranging, it places very high demands on the time-frequency synchronization of the transmitting and receiving devices. For example, the timing synchronization requirement for UWB signals must be less than 1 ns. Consequently, the UWB module used for UWB signal interaction in the device needs to be very complex. Currently, simplifying the design of the UWB module is an urgent problem to be solved.
  • This application provides a communication method and a communication device, which can simplify the structural design of the UWB module used for UWB signal interaction in the device.
  • embodiments of this application provide a communication method, which may be executed by a first device, or by a module in the first device such as a chip system or circuit, or by a logic node, logic module or software capable of implementing all or part of the functions of the first device. This application does not limit the scope of the method.
  • the method includes: a first device generating a first measurement frame, the first measurement frame including a first narrowband signal and a second narrowband signal, the first narrowband signal being used to measure a timing deviation between the first device and the second device, and the second narrowband signal being used to measure a frequency deviation between the first device and the second device; the first device transmitting the first measurement frame to the second device via narrowband; and the first device transmitting a second measurement frame to the second device via ultra-wideband, wherein the timing deviation and the frequency deviation are used to determine the time and frequency at which the second device receives the second measurement frame, and the second measurement frame is used to measure the distance or time of flight between the first device and the second device via the ultra-wideband signal.
  • Narrowband can also be referred to as narrowband signal, narrowband physical layer, or narrowband module
  • ultra-wideband can also be referred to as ultra-wideband signal, ultra-wideband physical layer, or ultra-wideband module.
  • the aforementioned first narrowband signal can also be used to measure the frequency deviation between the first device and the second device.
  • frequency deviation is measured using a dedicated second narrowband signal, instead of the current method of using a synchronization signal, resulting in higher accuracy of the final frequency deviation measurement.
  • the initial time-frequency synchronization accuracy of the NB module in the device increases, the time-frequency synchronization accuracy requirements for fine synchronization of the UWB module can be reduced. Consequently, when designing the receiver synchronization module in the UWB module, the margin required for fine synchronization is reduced, and the structural design of the synchronization module is simpler.
  • the first narrowband signal includes a synchronization signal
  • the second narrowband signal is a measurement signal, which includes at least one of an unmodulated carrier signal, a binary phase shift keying (BPSK) signal, an amplitude shift keying (ASK) signal, and a multi-tone signal.
  • BPSK binary phase shift keying
  • ASK amplitude shift keying
  • the binary phase shift keying (BPSK) signal can be a BPSK signal without phase rotation or a BPSK signal with ⁇ /2 rotation.
  • the length of the measurement signal is configurable, for example, configuration options include 16/32/64/128/256/512/1024/2048 bits, etc.
  • the synchronization signal is located in time before the measurement signal.
  • the synchronization signal needs to be aligned on the narrow band time symbol first, while the measurement signal needs to be more precise, so it needs to be synchronized for less than one time symbol. Therefore, the synchronization signal can be located before the measurement signal in time.
  • the first device sends a first measurement frame to the second device via narrowband, including: the first device sending the first measurement frame to the second device via narrowband on a preset first channel; the method further includes: the first device receiving a third measurement frame from the second device via narrowband on the first channel, the frame structure of the third measurement frame being the same as the frame structure of the first measurement frame.
  • the first device and the second device perform initial synchronization through bidirectional interaction using measurement frames with the same frame structure.
  • this unifies the frame structure in the bidirectional interactive measurement process; on the other hand, the frame structure described in this application improves the accuracy of bidirectional interactive measurement.
  • the method further includes: the first device sending the first measurement frame to the second device on N channels of frequency hopping measurement according to a preset channel measurement order, wherein the preset channel measurement order includes the N channels and the channel numbers corresponding to the N channels respectively, where N is an integer greater than 0.
  • the preset channel measurement order and N channels can be specified in advance, determined according to a frequency hopping map, or given by signaling as a set of frequency point IDs.
  • the duration of initial synchronization measurement can be reduced by using a specified number of measurement channels.
  • the method further includes: after transmitting the first measurement frame on the Nth channel of the N channels, after a first time interval, the first device transmits the second measurement frame to the second device.
  • the method further includes: the first device determining the reception time of receiving the third measurement frame on the Nth channel among the N channels based on the reception time of receiving at least one third measurement frame from the second device on at least N channels; after the reception time of the third measurement frame on the Nth channel, after a second time interval, the first device receiving the fourth measurement frame from the second device, the fourth measurement frame being used to measure the distance or time of flight between the first device and the second device via an ultra-wideband signal.
  • the expected synchronization information on the Nth channel can be inferred from the synchronization information on one or more channels that have successfully completed the bidirectional interaction, and then the reception time and reception frequency of the ultra-wideband signal measurement frame can be determined based on the expected transmission information on the Nth channel.
  • the method further includes: the first device determining a frequency deviation between the first device and the second device based on one or more of the received third measurement frames; and the first device determining the second time interval based on the determined frequency deviation.
  • the first time interval can be a preset time interval T interval configured by the first device and/or the second device, such as the time interval from clearing/latching the MAC counter of an ultra-wideband system to the start of TX.
  • the second time interval can be obtained by weighting the first time interval and the frequency deviation between the first device and the second device, for example, T interval * (1-CFO).
  • the start time of the first time interval is the same as the end time of the synchronization signal field of the first measurement frame.
  • the start time of the second time interval is the same as the end time of the synchronization signal field of the third measurement frame.
  • the receiving device of the narrowband signal measurement frame starts receiving the ultra-wideband measurement frame immediately after completing the timing synchronization according to the synchronization signal field. This helps to avoid the inaccuracy of timing from the end time of the synchronization signal field to the end time of the frame caused by the clock deviation between the transmitting and receiving devices.
  • the method further includes: the first device sending the first measurement frame to the second device on multiple channels according to a first frequency hopping method, the first frequency hopping method being used to determine the frequency hopping order or frequency hopping scheme of the multiple channels.
  • the first device sending a first measurement frame to the second device includes: the first device sending the first measurement frame to the second device on a first channel, the plurality of channels including the first channel; the method further includes: when the first device does not receive a third measurement frame from the second device on the first channel, the first device sending the first measurement frame to the second device when hopping to a second channel, the frame structure of the third measurement frame being the same as the frame structure of the first measurement frame, the second channel being determined according to the first frequency hopping method or the channel measurement order.
  • the first device sending a first measurement frame to the second device includes: the first device sending the first measurement frame to the second device on a first channel, the plurality of channels including the first channel; the method further includes: the first device receiving a third measurement frame from the second device on the first channel, the frame structure of the third measurement frame being the same as the frame structure of the first measurement frame.
  • the method further includes: when the reception quality of the third measurement frame received by the first device on the first channel does not meet the preset conditions, the first device sends the first measurement frame to the second device when hopping to the second channel, wherein the second channel is determined according to the first frequency hopping method or according to the preset channel measurement order.
  • the method further includes: when the reception quality of the third measurement frame received by the first device on the first channel meets the preset conditions, the first device does not transmit the first measurement frame when hopping to the second channel, and the second channel is determined according to the first frequency hopping method or according to the preset channel measurement order.
  • the decision to continue transmitting the first measurement frame on the next channel is made based on the reception quality of the received narrowband signal measurement frame and whether the narrowband signal measurement frame has been received. This not only ensures that the accuracy of the initial synchronization meets the initial synchronization requirements of the ultra-wideband signal measurement frame, but also avoids the shortcomings of relying solely on the first device to determine the measurement result. That is, even when the interference levels of the first and second devices differ, the reception quality of the narrowband signal measurement frames for both devices is guaranteed.
  • the reception quality is determined based on at least one of the following parameters: the Received Signal Strength Indication (RSSI), Signal-to-Noise Ratio (SNR), Signal-to-Interference-plus-Noise Ratio (SINR), and verification result of the synchronization signal or logical link identifier or access address of the third measurement frame; the SNR of the first narrowband signal; and the RSSI and Carrier Frequency Offset (CFO) value of the second narrowband signal.
  • RSSI Received Signal Strength Indication
  • SNR Signal-to-Noise Ratio
  • SINR Signal-to-Interference-plus-Noise Ratio
  • CFO Carrier Frequency Offset
  • the above technical solution avoids the problem of not being able to determine the reception quality due to the lack of CRC check in the first measurement frame.
  • the method further includes: the first device determining a frequency deviation between the first device and the second device based on the third measurement frame; the first device determining a first time interval based on the determined frequency deviation; and after receiving the third measurement frame, and after the first time interval, the first device receiving the second measurement frame from the second device.
  • the method further includes: after sending the first measurement frame to the second device, after a second time interval, the first device sends the second measurement frame to the second device.
  • the second time interval can be a preset time interval T interval configured by the first device and/or the second device, such as the time interval from clearing/latching the MAC counter of an ultra-wideband system to the start of TX.
  • the first time interval can be obtained by weighting the second time interval and the frequency deviation between the first device and the second device, for example, T interval * (1-CFO).
  • embodiments of this application provide a communication method, which can be executed by a second device, or by a module in the second device such as a chip system or circuit, or by a logic node, logic module or software that can implement all or part of the functions of the second device. This application does not limit this.
  • the method includes: a second device receiving a first measurement frame from a first device via narrowband, the first measurement frame including a first narrowband signal and a second narrowband signal, the first narrowband signal being used to measure a timing deviation between the first device and the second device, and the second narrowband signal being used to measure a frequency deviation between the first device and the second device; the second device receiving a second measurement frame from the first device via ultra-wideband, wherein the timing deviation and the frequency deviation are used to determine the time and frequency at which the second device receives the second measurement frame, and the second measurement frame being used to measure the distance or time of flight between the first device and the second device via the ultra-wideband signal.
  • Narrowband can also be called narrowband signal, narrowband physical layer, or narrowband module
  • ultra-wideband can also be called ultra-wideband signal, ultra-wideband physical layer, or ultra-wideband module.
  • frequency deviation is measured using a dedicated second narrowband signal, instead of the current method of using a synchronization signal, resulting in higher accuracy of the final frequency deviation measurement.
  • the initial time-frequency synchronization accuracy of the NB module in the device increases, the time-frequency synchronization accuracy requirements for fine synchronization of the UWB module can be reduced. Consequently, when designing the receiver synchronization module in the UWB module, the margin required for fine synchronization is reduced, and the structural design of the synchronization module is simpler.
  • the first narrowband signal includes a synchronization signal
  • the second narrowband signal is a measurement signal, which includes at least one of an unmodulated carrier signal, a binary phase shift keying (BPSK) signal, an amplitude shift keying (ASK) signal, and a multi-tone signal.
  • BPSK binary phase shift keying
  • ASK amplitude shift keying
  • the binary phase shift keying (BPSK) signal can be a BPSK signal without phase rotation or a BPSK signal with ⁇ /2 rotation.
  • the length of the measurement signal is configurable, for example, configuration options include 16/32/64/128/256/512/1024/2048 bits, etc.
  • the synchronization signal is located in time before the measurement signal.
  • the second device receiving a first measurement frame from the first device includes: the second device receiving the first measurement frame from the first device via narrowband on a preset first channel; the method further includes: the second device sending a third measurement frame to the first device via narrowband on the first channel, the frame structure of the third measurement frame being the same as the frame structure of the first measurement frame.
  • the method further includes: the second device detecting the first measurement frame from the first device on N channels of frequency hopping measurement according to a preset channel measurement order, the preset channel measurement order including the N channels and the channel numbers corresponding to the N channels respectively, where N is an integer greater than 0.
  • the method further includes: the second device determining the reception time of receiving the first measurement frame on the Nth channel among the N channels based on the reception time of receiving at least one first measurement frame from the first device on the N channels; the second device receiving the second measurement frame from the first device via ultra-wideband, including: after the reception time of the first measurement frame on the Nth channel, after a third time interval, the second device receiving the second measurement frame from the first device.
  • the method further includes: the second device determining a frequency deviation between the first device and the second device based on one or more received first measurement frames; and the second device determining the third time interval based on the determined frequency deviation.
  • the method further includes: the second device determining the transmission time of transmitting the third measurement frame on the Nth channel among the N channels based on the transmission time of at least one third measurement frame transmitted to the first device on the N channels; after the transmission time of the third measurement frame on the Nth channel, after a fourth time interval, the second device transmits a fourth measurement frame to the first device, the fourth measurement frame being used to measure the distance or time of flight between the first device and the second device via an ultra-wideband signal.
  • the fourth time interval can be a preset time interval T interval configured by the first device and/or the second device, such as the time interval from clearing/latching the MAC counter of an ultra-wideband system to the start of TX.
  • the third time interval can be obtained by weighting the fourth time interval and the frequency deviation between the first device and the second device, for example, T interval * (1-CFO).
  • the start time of the third time interval is the same as the end time of the synchronization signal field of the first measurement frame.
  • the start time of the fourth time interval is the same as the end time of the synchronization signal field of the third measurement frame.
  • the method further includes: the second device detecting the first measurement frame from the first device on multiple channels according to a first frequency hopping method, the first frequency hopping method being used to determine the frequency hopping order or frequency hopping scheme of the multiple channels.
  • the second device detects the first measurement frame from the first device on multiple channels, including: the second device detecting the first measurement frame from the first device on a first channel, the multiple channels including the first channel; the method further includes: when the second device does not receive the first measurement frame from the first device on the first channel, the second device does not send a third measurement frame on the first channel, the frame structure of the third measurement frame being the same as the frame structure of the first measurement frame.
  • the second device detects the first measurement frame from the first device on multiple channels, including: the second device detecting the first measurement frame from the first device on a first channel, the multiple channels including the first channel; the method further includes: the second device receiving the first measurement frame from the first device on the first channel.
  • the method further includes: when the reception quality of the first measurement frame received by the second device on the first channel does not meet the preset conditions, the second device does not send a third measurement frame on the first channel, and the frame structure of the third measurement frame is the same as the frame structure of the first measurement frame.
  • the method further includes: when the reception quality of the first measurement frame received by the second device on the first channel meets preset conditions, the second device sends a third measurement frame to the first device on the first channel, the frame structure of the third measurement frame being the same as that of the first measurement frame.
  • the reception quality is determined based on at least one of the following parameters: the received signal strength index (RSSI), signal-to-noise ratio (SNR), signal-to-interference-plus-noise ratio (SINR), and verification result of the synchronization signal or logical link identifier or access address of the third measurement frame; the SNR of the first narrowband signal; and the RSSI and carrier frequency deviation (CFO) value of the second narrowband signal.
  • RSSI received signal strength index
  • SNR signal-to-noise ratio
  • SINR signal-to-interference-plus-noise ratio
  • CFO carrier frequency deviation
  • the method further includes: the second device determining a frequency deviation between the first device and the second device based on the first measurement frame; the second device determining a third time interval based on the determined frequency deviation; and after receiving the first measurement frame, and after the third time interval, the second device receiving the second measurement frame from the first device.
  • the method further includes: after sending the third measurement frame to the first device, after a fourth time interval, the second device sends the fourth measurement frame to the first device, the fourth measurement frame being used to measure the distance or time of flight between the first device and the second device via an ultra-wideband signal.
  • the fourth time interval can be a preset time interval T interval configured by the first device and/or the second device, such as the time interval from clearing/latching the MAC counter of an ultra-wideband system to the start of TX.
  • the third time interval can be obtained by weighting the fourth time interval and the frequency deviation between the first device and the second device, for example, T interval * (1-CFO).
  • a communication device includes a processing unit configured to: generate a first measurement frame, the first measurement frame including a first narrowband signal and a second narrowband signal, the first narrowband signal being used to measure a timing deviation between a first device and a second device, and the second narrowband signal being used to measure a frequency deviation between the first device and the second device; and a transceiver unit configured to: transmit the first measurement frame to the second device via narrowband; and transmit a second measurement frame to the second device via ultra-wideband, wherein the timing deviation and the frequency deviation are used to determine the time and frequency at which the second device receives the second measurement frame, and the second measurement frame is used to measure the distance or time of flight between the first device and the second device via the ultra-wideband signal.
  • the first narrowband signal includes a synchronization signal
  • the second narrowband signal is a measurement signal, which includes at least one of an unmodulated carrier signal, a binary phase shift keying (BPSK) signal, an amplitude shift keying (ASK) signal, and a multi-tone signal.
  • BPSK binary phase shift keying
  • ASK amplitude shift keying
  • the synchronization signal is located in time before the measurement signal.
  • the transceiver unit is specifically used to: transmit the first measurement frame to the second device via narrowband on a preset first channel; the transceiver unit is also used to: receive a third measurement frame from the second device via narrowband on the first channel, the frame structure of the third measurement frame being the same as the frame structure of the first measurement frame.
  • the transceiver unit is further configured to: send the first measurement frame to the second device on N channels of frequency hopping measurement according to a preset channel measurement order, wherein the preset channel measurement order includes the N channels and the channel numbers corresponding to the N channels respectively, where N is an integer greater than 0.
  • the transceiver unit is further configured to: after transmitting the first measurement frame on the Nth channel of the N channels, transmit the second measurement frame to the second device after a first time interval.
  • the processing unit is further configured to: determine the reception time of receiving the third measurement frame on the Nth channel among the N channels based on the reception time of receiving at least one third measurement frame from the second device on the N channels; the transceiver unit is further configured to: after the reception time of the third measurement frame on the Nth channel, after a second time interval, receive the fourth measurement frame from the second device, the fourth measurement frame being used to measure the distance or time of flight between the first device and the second device via an ultra-wideband signal.
  • the processing unit is further configured to: determine the frequency deviation between the first device and the second device based on one or more of the received third measurement frames; and determine the second time interval based on the determined frequency deviation.
  • the start time of the first time interval is the same as the end time of the synchronization signal field of the first measurement frame.
  • the start time of the second time interval is the same as the end time of the synchronization signal field of the third measurement frame.
  • the transceiver unit is further configured to: send the first measurement frame to the second device on multiple channels according to a first frequency hopping method, wherein the first frequency hopping method is used to determine the frequency hopping order or frequency hopping scheme of the multiple channels.
  • the transceiver unit is specifically configured to: send the first measurement frame to the second device on the first channel, wherein the plurality of channels include the first channel; the transceiver unit is further configured to: when no third measurement frame is received from the second device on the first channel, send the first measurement frame to the second device when hopping to the second channel, wherein the frame structure of the third measurement frame is the same as the frame structure of the first measurement frame, and the second channel is determined according to the first frequency hopping method or the channel measurement order.
  • the transceiver unit is specifically used to: send the first measurement frame to the second device on a first channel, the plurality of channels including the first channel; the transceiver unit is also used to: receive a third measurement frame from the second device on the first channel, the frame structure of the third measurement frame being the same as the frame structure of the first measurement frame.
  • the transceiver unit is further configured to: when the reception quality of the third measurement frame received on the first channel does not meet the preset conditions, send the first measurement frame to the second device when hopping to the second channel, wherein the second channel is determined according to the first frequency hopping method or according to the preset channel measurement order.
  • the transceiver unit is further configured to: when the reception quality of the third measurement frame received on the first channel meets the preset conditions, not transmit the first measurement frame when hopping to the second channel, wherein the second channel is determined according to the first frequency hopping method or according to the preset channel measurement order.
  • the reception quality is determined based on at least one of the following parameters: the received signal strength index (RSSI), signal-to-noise ratio (SNR), signal-to-interference-plus-noise ratio (SINR), and verification result of the synchronization signal or logical link identifier or access address of the third measurement frame; the SNR of the first narrowband signal; and the RSSI and carrier frequency deviation (CFO) value of the second narrowband signal.
  • RSSI received signal strength index
  • SNR signal-to-noise ratio
  • SINR signal-to-interference-plus-noise ratio
  • CFO carrier frequency deviation
  • the processing unit is further configured to: determine the frequency deviation between itself and the second device based on the third measurement frame; determine a first time interval based on the determined frequency deviation; the transceiver unit is further configured to: receive the second measurement frame from the second device after receiving the third measurement frame and after the first time interval.
  • the transceiver unit is further configured to: after sending the first measurement frame to the second device, send the second measurement frame to the second device after a second time interval.
  • the communication device is a apparatus (first apparatus).
  • the transceiver unit can be a transceiver or an input/output interface;
  • the processing unit can be at least one processor.
  • the transceiver can be a transceiver circuit.
  • the input/output interface can be an input/output circuit.
  • the communication device is a chip, chip system, or circuit used in a device (first device).
  • the transceiver unit may be an input/output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip, chip system, or circuit;
  • the processing unit may be at least one processor, processing circuit, or logic circuit.
  • a communication apparatus comprising a transceiver unit configured to: receive a first measurement frame from a first device via narrowband, the first measurement frame including a first narrowband signal and a second narrowband signal, the first narrowband signal being used to measure a timing deviation between the first device and the second device, and the second narrowband signal being used to measure a frequency deviation between the first device and the second device; and receive a second measurement frame from the first device via ultra-wideband, wherein the timing deviation and the frequency deviation are used to determine the time and frequency at which the second device receives the second measurement frame, and the second measurement frame being used to measure the distance or time of flight between the first device and the second device via the ultra-wideband signal.
  • the first narrowband signal includes a synchronization signal
  • the second narrowband signal is a measurement signal, which includes at least one of an unmodulated carrier signal, a binary phase shift keying (BPSK) signal, an amplitude shift keying (ASK) signal, and a multi-tone signal.
  • BPSK binary phase shift keying
  • ASK amplitude shift keying
  • the synchronization signal is located in time before the measurement signal.
  • the transceiver unit is specifically used to: receive the first measurement frame from the first device via narrowband on a preset first channel; the transceiver unit is also used to: send a third measurement frame to the first device via narrowband on the first channel, the frame structure of the third measurement frame being the same as that of the first measurement frame.
  • the transceiver unit is further configured to: detect the first measurement frame from the first device on N channels of frequency hopping measurement according to a preset channel measurement order, wherein the preset channel measurement order includes the N channels and the channel numbers corresponding to the N channels respectively, where N is an integer greater than 0.
  • the apparatus further includes a processing unit configured to: determine, based on the reception time of receiving at least one first measurement frame from the first device on the N channels, the reception time of receiving the first measurement frame from the first device on the N channels; the transceiver unit is specifically configured to: receive the second measurement frame from the first device after a third time interval following the reception time of the first measurement frame on the Nth channel.
  • the processing unit is further configured to: determine the frequency deviation between the first device and the second device based on one or more received first measurement frames; and determine the third time interval based on the determined frequency deviation.
  • the processing unit is further configured to: determine the transmission time of the third measurement frame on the Nth channel among the N channels based on the transmission time of at least one third measurement frame transmitted to the first device on the N channels; the transceiver unit is further configured to: after the transmission time of the third measurement frame on the Nth channel, after a fourth time interval, transmit a fourth measurement frame to the first device, the fourth measurement frame being used to measure the distance or time of flight between the first device and the second device via an ultra-wideband signal.
  • the start time of the third time interval is the same as the end time of the synchronization signal field of the first measurement frame.
  • the start time of the fourth time interval is the same as the end time of the synchronization signal field of the third measurement frame.
  • the transceiver unit is further configured to: detect the first measurement frame from the first device on multiple channels according to a first frequency hopping method, wherein the first frequency hopping method is used to determine the frequency hopping order or frequency hopping scheme of the multiple channels.
  • the transceiver unit is specifically configured to: detect the first measurement frame from the first device on a first channel, the plurality of channels including the first channel; the transceiver unit is further configured to: when no first measurement frame is received from the first device on the first channel, not transmit a third measurement frame on the first channel, the frame structure of the third measurement frame being the same as the frame structure of the first measurement frame.
  • the transceiver unit is specifically configured to: detect the first measurement frame from the first device on a first channel, the plurality of channels including the first channel; the transceiver unit is further configured to: receive the first measurement frame from the first device on the first channel.
  • the transceiver unit is further configured to: when the reception quality of the first measurement frame received on the first channel does not meet the preset conditions, not transmit a third measurement frame on the first channel, wherein the frame structure of the third measurement frame is the same as that of the first measurement frame.
  • the transceiver unit is further configured to: when the reception quality of the first measurement frame received on the first channel meets preset conditions, send a third measurement frame to the first device on the first channel, wherein the frame structure of the third measurement frame is the same as that of the first measurement frame.
  • the reception quality is determined based on at least one of the following parameters: the received signal strength index (RSSI), signal-to-noise ratio (SNR), signal-to-interference-plus-noise ratio (SINR), and verification result of the synchronization signal or logical link identifier or access address of the third measurement frame; the SNR of the first narrowband signal; and the RSSI and carrier frequency deviation (CFO) value of the second narrowband signal.
  • RSSI received signal strength index
  • SNR signal-to-noise ratio
  • SINR signal-to-interference-plus-noise ratio
  • CFO carrier frequency deviation
  • the processing unit is further configured to: determine the frequency deviation between the first device and the second device based on the first measurement frame; determine a third time interval based on the determined frequency deviation; the transceiver unit is further configured to: receive the second measurement frame from the first device after receiving the first measurement frame and after the third time interval.
  • the transceiver unit is further configured to: after sending the third measurement frame to the first device, after a fourth time interval, send the fourth measurement frame to the first device, the fourth measurement frame being used to measure the distance or time of flight between the first device and the second device via an ultra-wideband signal.
  • the communication device is a apparatus (second apparatus).
  • the transceiver unit can be a transceiver or an input/output interface;
  • the processing unit can be at least one processor.
  • the transceiver can be a transceiver circuit.
  • the input/output interface can be an input/output circuit.
  • the communication device is a chip, chip system, or circuit used in a device (second device).
  • the transceiver unit may be an input/output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip, chip system, or circuit;
  • the processing unit may be at least one processor, processing circuit, or logic circuit.
  • a communication device comprising: a memory for storing a program; and at least one processor for executing the computer program or instructions stored in the memory to perform the method provided by the first aspect or any of the above-described implementations of the first aspect, or to perform the method provided by the second aspect or any of the above-described implementations of the second aspect.
  • the communication device is a device (such as a first device, or a second device).
  • the device is a chip, chip system, or circuit for use in a device (such as a first device or a second device).
  • this application provides a processor for performing the methods provided in the above aspects.
  • the transmission and acquisition/reception operations involved in the processor can be understood as processor output and reception, input and other operations, or as transmission and reception operations performed by radio frequency circuits and antennas. This application does not limit them in this regard.
  • a seventh aspect provides a computer-readable storage medium storing program code for execution by a device, the program code including instructions for performing the method provided in the first aspect or any of the above-described implementations of the first aspect, or including instructions for performing the method provided in the second aspect or any of the above-described implementations of the second aspect.
  • a computer program product containing instructions which, when run on a computer, causes the computer to perform the method provided by the first aspect or any of the above-described implementations of the first aspect, or causes the computer to perform the method provided by the second aspect or any of the above-described implementations of the second aspect.
  • a chip system including a processor and a communication interface, the processor reads instructions stored in a memory through the communication interface, executes the method provided by the first aspect or any of the above-described implementations of the first aspect, or executes the method provided by the second aspect or any of the above-described implementations of the second aspect.
  • the chip system further includes a memory storing computer programs or instructions.
  • the processor is used to execute the computer programs or instructions stored in the memory.
  • the processor is used to execute the method provided by the first aspect or any of the above implementations of the first aspect, or to execute the method provided by the second aspect or any of the above implementations of the second aspect.
  • a communication system comprising at least one communication device as described in at least one third aspect above and at least one notification device as described in at least one fourth aspect.
  • Figure 1 is a schematic diagram of a communication system provided in an embodiment of this application.
  • FIG. 2 is a schematic diagram of another communication system provided in an embodiment of this application.
  • Figure 3 is a schematic diagram of signal interaction between devices provided in an embodiment of this application.
  • Figure 4 is a schematic diagram of the interaction between narrowband signals and ultra-wideband signals provided in an embodiment of this application.
  • Figure 5 is a time-domain schematic diagram of a first measurement frame and a second measurement frame provided in an embodiment of this application.
  • Figure 6 is a schematic diagram of the frame structure of a narrowband signal measurement frame provided in an embodiment of this application.
  • Figure 7 is a schematic diagram of narrowband signal measurement frame-assisted ultra-wideband signal measurement frame interaction provided in an embodiment of this application.
  • Figure 8 is a schematic diagram of a multi-frequency bidirectional interactive narrowband signal measurement frame provided in an embodiment of this application.
  • Figure 9 is a schematic diagram of another multi-frequency bidirectional interactive narrowband signal measurement frame provided in an embodiment of this application.
  • Figure 10 is a schematic flowchart of a bidirectional interactive stop provided in an embodiment of this application.
  • Figure 11 is a schematic diagram of another multi-frequency bidirectional interactive narrowband signal measurement frame provided in an embodiment of this application.
  • Figure 12 is a schematic flowchart of another bidirectional interactive stop provided in an embodiment of this application.
  • Figure 13 is a schematic structural block diagram of a communication device provided in an embodiment of this application.
  • Figure 14 is a schematic structural block diagram of another communication device provided in an embodiment of this application.
  • Figure 15 is a schematic structural block diagram of another communication device provided in an embodiment of this application.
  • Figure 16 is a schematic diagram of a chip system provided in an embodiment of this application.
  • the descriptions used in the embodiments of this application include the case where any one of a1, a2, ... and an exists alone, as well as the case where any combination of a1, a2, ... and an exists alone. Each case can exist independently.
  • the description "at least one of a, b and c" includes the cases of a alone, b alone, c alone, a combination of a and b, a combination of a and c, a combination of b and c, or a combination of a, b, and c.
  • At least one (item) means one or more, “more than one” means two or more, “at least two (items)” means two or three or more, and "and/or” is used to describe the relationship between related objects, indicating that there can be three relationships.
  • a and/or B can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural.
  • the character “/” generally indicates that the related objects before and after are in an “or” relationship.
  • At least one (item) of the following” or similar expressions refer to any combination of these items, including any combination of single or plural items.
  • At least one (item) of a, b, or c can mean: a, b, c, "a and b", “a and c", “b and c", or "a and b and c", where a, b, and c can be single or multiple.
  • the method provided in this application can be applied to various communication systems, such as Internet of Things (IoT) systems, narrowband Internet of Things (NB-IoT) systems, long-term evolution (LTE) systems, and short-range wireless communication network systems.
  • Short-range wireless communication network systems include SparkLink communication network systems (including SparkLink Basic (SLB), SparkLink Low Energy (SLE), and SparkLink Positioning (SLP) versions), Bluetooth Low Energy (BLE), 5th-generation (5G) communication systems, and new communication systems emerging in future communication development (such as 6G).
  • SparkLink's SLB can be referred to as "Technical Requirements and Test Methods for Wireless Short-Range Communication Vehicle-Mounted Air Interface”
  • SparkLink's SLE can be referred to as “Technical Requirements and Test Methods for Low-Power Air Interface of SparkLink Wireless Communication System Access Layer.”
  • IoT networks may include, for example, vehicle-to-everything (V2X) networks.
  • V2X vehicle-to-everything
  • V2X vehicle-to-everything
  • V2X may include vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-pedestrian (V2P) communication, or vehicle-to-network (V2N) communication, etc.
  • V2V vehicle-to-vehicle
  • V2I vehicle-to-infrastructure
  • V2P vehicle-to-pedestrian
  • V2N vehicle-to-network
  • a node can include independent devices such as handheld terminals, vehicles, in-vehicle equipment, network-side equipment, user equipment, access terminals, user units, user stations, mobile stations, mobile stations, remote stations, remote terminals, wireless communication equipment, user agents, or user devices. It can also be a component (such as a chip or integrated circuit) contained within an independent device.
  • a node can be any possible intelligent terminal device (such as a mobile phone), intelligent transportation equipment (such as vehicles, drones, etc.), intelligent manufacturing equipment, smart home devices (such as large screens, speakers, etc.), etc.
  • the nodes in this application embodiment can be applied to various application scenarios, such as the following: mobile internet (MI), industrial control, self-driving, transportation safety, internet of things (IoT), smart city, or smart home.
  • MI mobile internet
  • IoT internet of things
  • smart city smart home.
  • devices with similar communication capabilities may not be called nodes but may be called devices; this application does not impose any restrictions on this.
  • nodes can communicate with each other through D2D, M2M or V2X technologies.
  • Figure 1 is a schematic diagram of a possible communication system architecture provided in an embodiment of this application.
  • the communication system may include at least one first node (e.g., a network device) and at least one second node (e.g., a terminal device).
  • first node e.g., a network device
  • second node e.g., a terminal device
  • the first node may also be referred to as the first device
  • the second node may also be referred to as the second device; no distinction is made between them here.
  • the descriptions of the first node and the second node are as follows:
  • the first node can be a master device, specifically a next-generation node B (gNB), a next-generation evolved node B (ng-eNB), a node in a short-range wireless communication network system (e.g., a master node, management node, or G node in a Starlink communication network system), or an access network device in a future communication network (such as 6G).
  • the master device can be any device with wireless transceiver capabilities.
  • This master device can be an access node, wireless relay node, or wireless backhaul node in a wireless Fidelity (WiFi) system.
  • This master device can be a wireless controller in a cloud radio access network (CRAN) scenario.
  • This master device can be a wearable device or a vehicle-mounted device.
  • This master device can also be a small cell, a transmission reception point (TRP) (or a transmission point), etc.
  • TRP transmission reception point
  • the second node can be a terminal device, which can also be called user equipment (UE), terminal, etc.
  • UE user equipment
  • a terminal device is a device with wireless transceiver capabilities that can be deployed on land, including indoors or outdoors, handheld, wearable, or vehicle-mounted; it can also be deployed on water, such as on ships; and it can be deployed in the air, such as on airplanes, balloons, or satellites.
  • Terminal devices can be mobile phones, tablets, computers with wireless transceiver capabilities, virtual reality (VR) terminal devices, augmented reality (AR) terminal devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical care, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, and so on.
  • the terminal device can also be a node in a short-range wireless communication network system (e.g., a slave node, terminal node, or T node in a StarFlash communication network system), a terminal device in a future communication network (such as 6G), or a terminal device in a future evolved PLMN, etc.
  • the terminal device shown in this application may include not only vehicles (such as complete vehicles) in the Internet of Vehicles, but also in-vehicle equipment or in-vehicle terminals in the Internet of Vehicles. This application does not limit the specific form of the terminal device when it is applied to the Internet of Vehicles.
  • Figure 1 exemplarily illustrates a first node (the network device shown in Figure 1) and six second nodes (the terminal devices shown in Figure 1), as well as the communication links between the nodes.
  • the communication system may also include multiple first nodes, and the coverage area of each first node may include other numbers of second nodes, such as more or fewer terminal devices, etc., which is not limited in this application.
  • the communication links between the aforementioned communication devices can include various types of connection media, including wired links (e.g., fiber optics), wireless links, or a combination of wired and wireless links.
  • connection media e.g., wired links (e.g., fiber optics), wireless links, or a combination of wired and wireless links.
  • short-range wireless connection technologies can include SparkLink, 802.11b/g, Bluetooth, Bluetooth Low Energy (BLE), Zigbee, radio frequency identification (RFID), ultra-wideband (UWB) technology, impulse radio (IR) ultra-wideband (IR-UWB), or short-range wireless communication systems (e.g., vehicle-mounted short-range wireless communication systems).
  • the aforementioned communication devices can be configured with multiple antennas. These multiple antennas may include at least one transmitting antenna for transmitting signals and at least one receiving antenna for receiving signals, etc.
  • This application embodiment does not limit the specific structure of each communication device.
  • the communication system may also include other network entities such as a network controller and a mobility management entity; this application embodiment is not limited to these.
  • wireless communication technology With the continuous development of wireless communication technology, more and more devices supporting wireless communication are gradually entering people's lives, such as intelligent transportation equipment, smart home devices, and robots. Based on wireless communication technology, it is possible to achieve wireless ranging and positioning of various intelligent devices within the communication domain, for example, in scenarios such as ranging and positioning of indoor intelligent devices and keyless entry and start of intelligent vehicles.
  • a communication domain refers to a system consisting of a group of communication nodes with communication relationships, and the communication connections (i.e., communication links) between these nodes.
  • a communication domain includes a master node and at least one slave node.
  • the master and slave nodes can communicate with each other, or between master nodes, or between slave nodes.
  • the master node can manage the slave nodes, manage the time-frequency resources of the communication domain, and has the function of scheduling resources for communication, positioning, measurement, or sensing among the communication nodes in the domain.
  • Slave nodes obey the scheduling of the master node and use the resources allocated by the master node to communicate with the master node and/or other nodes.
  • the master node can be a management node or G node in the Sparklink Basic (SLB) or Sparklink Low Energy (SLE) standard, or a master device in the Bluetooth Low Energy (BLE) standard, or an access point (AP) in the Wi-Fi standard.
  • SLB Sparklink Basic
  • SLE Sparklink Low Energy
  • BLE Bluetooth Low Energy
  • AP access point
  • the slave node can be an end node or T node in the Sparklink Basic (SLB) or Sparklink Low Energy (SLE) standard, a slave device in the Bluetooth Low Energy (BLE) standard, or a station (STA) in the Wi-Fi standard.
  • SLB Sparklink Basic
  • SLE Sparklink Low Energy
  • BLE Bluetooth Low Energy
  • STA station
  • Figure 2 is a schematic diagram of the architecture of a possible communication system provided in an embodiment of this application.
  • FIG. 2 shows a wireless communication system for a smart cockpit using Starflash technology (SLB and/or SLE).
  • the smart cockpit contains multiple communication domains, each containing a master node (also called a management node or G node) and at least one slave node (also called a terminal node or T node).
  • the master node schedules the slave nodes to achieve communication and data transmission between nodes. For example, on a carrier used by a G node (such as a channel with an SLB bandwidth of approximately 20MHz) or a channel (such as a channel with an SLE bandwidth of 1MHz/2MHz/4MHz), the G node can schedule time-frequency resources for the wireless measurement signal transmission of the T node/G node, achieving ranging and positioning of the T node/G node.
  • the channel can also be referred to as a frequency point.
  • the master node is a positioning anchor point in the vehicle positioning system
  • the slave nodes are car keys or mobile phones.
  • the automatic locking or unlocking of the car doors can be controlled. Therefore, in PEPS application scenarios, users do not need to manually lock or unlock the car doors with a key; instead, the vehicle positioning system can locate the user's car key or mobile phone to achieve automatic locking or unlocking.
  • the communication domain includes multiple measuring nodes (also known as anchors, location anchors, positioning anchors/nodes, beacons, etc.) deployed on the vehicle and a measured node (also known as a located node, tag/location tag, etc.) deployed outside the vehicle.
  • the measuring nodes include, but are not limited to, those deployed in various parts of the vehicle as shown in the figure, such as the four corners and the entire vehicle exterior, the center console/rearview mirror/roof inside the vehicle, and in-vehicle wireless communication devices such as displays, microphones, speakers, and cameras. These can also be reused as measuring nodes for locating external devices such as car keys or mobile phones.
  • the measured node includes node A, which can be a car key with positioning capabilities, or a mobile phone or wearable device with positioning capabilities, used to unlock or lock the vehicle.
  • node G can be the car key/mobile phone, and all measuring nodes on the vehicle are T nodes; alternatively, node G can be any one of the measuring nodes on the vehicle, in which case all other measuring nodes on the vehicle, as well as the car key/mobile phone, are T nodes.
  • the G node can schedule time-frequency resources for communication with the T node, enabling ranging and positioning of the T node (the measured node, car key/phone).
  • the measuring node and the measured node can perform various measurements such as ranging, angle measurement, speed measurement, or sensing.
  • the application scenario shown in Figure 2 is only one exemplary scenario to which the solution of this application can be applied.
  • the solution of this application can also be applied to any other suitable application scenario, such as, but not limited to, home, office, showroom, and production scenarios.
  • Ranging is achieved by at least two nodes, or at least two devices, exchanging ranging wireless signals to measure the distance between them.
  • a master node and a slave node exchange ranging wireless signals to measure the distance between them.
  • a master node and slave node #1 exchange ranging wireless signals to measure the distance between them;
  • a master node and slave node #2 exchange ranging wireless signals to measure the distance between them;
  • slave node #1 and slave node #2 exchange ranging wireless signals to measure the distance between them.
  • Ultra-wideband (UWB) technology is a wireless carrier communication technology that transmits and receives extremely narrow pulses or orthogonal frequency-division multiplexing (OFDM) signals with bandwidths exceeding 500 MHz, enabling data transmission or measurement.
  • UWB technology occupies a wide spectrum, with transmitted or received wireless signals having bandwidths exceeding 500 MHz, thus possessing high ranging resolution and accuracy.
  • UWB measurement signals achieve centimeter-level ranging accuracy. This high ranging accuracy also allows for precise measurement of the target's diameter, resulting in highly accurate angle measurements. Therefore, currently, UWB wireless signals can be used as measurement signals for ranging, angle measurement, sensing, and positioning, such as for precise ranging based on the time-of-flight (TOF) of the measurement pulses.
  • TOF time-of-flight
  • the ranging process can specifically be unidirectional signal measurement (or one-way ranging (OWR)), for example, the master node receives and measures the first ranging signal sent by the slave node, or the slave node receives and measures the second ranging signal sent by the master node.
  • the ranging process can specifically be bidirectional signal measurement (or two-way ranging (TWR)), that is, the slave node receives and measures the first ranging signal sent by the master node, and the master node receives and measures the second ranging signal sent by the slave node.
  • Bidirectional signal measurement can eliminate the timing deviation and random initial phase problems between the master and slave nodes introduced by frequency hopping, enabling the ranging signals of each frequency band and/or channel to be coherently combined in the frequency domain, thereby improving the ranging resolution with a large bandwidth measurement after combination, and thus improving the ranging accuracy.
  • the following will use bidirectional signal measurement as an example to introduce the embodiment; the process of unidirectional signal measurement can be referred to the description of the process of bidirectional signal measurement.
  • Frequency hopping refers to the switching of the center frequency of a transmitted signal by a node or device by changing the center frequency of the radio frequency channel (e.g., changing the carrier frequency of the local oscillator signal) or by digitally changing the center frequency of the generated transmitted signal.
  • frequency hopping can refer to frequency hopping based on Orthogonal Frequency Division Multiplexing (OFDM) signals, or frequency hopping based on single-carrier or multi-tone signals in SLE/BLE.
  • OFDM frequency hopping is defined as the switching of the DC subcarrier of an OFDM symbol from the center frequency of one carrier channel to the center frequency of another carrier channel.
  • single-carrier frequency hopping it refers to the DC subcarrier switching from one carrier channel to another; for multiple-carrier frequency hopping, it refers to the switching of multiple carrier channel groups to another carrier channel group.
  • the master node and slave node originally operated on carrier channel groups 1-4, and after frequency hopping, they switched to carrier channel groups 5-8.
  • Carrier channel groups 1-4 are called the initial carrier channel groups or initial channel groups, and carrier channel groups 5-8 are called the frequency-hopping carrier channel groups or frequency-hopping channel groups.
  • the carrier channel is simply referred to as the channel.
  • channel and “carrier channel” are interchangeable.
  • channel can also be called “measurement channel” or "frequency point”.
  • the frequency hopping in the embodiments of this application can be radio frequency hopping, digital frequency hopping, or frequency hopping based on phase-locked loop circuit, without limitation.
  • frequency hopping can refer to the switching of a channel used by a device for ranging (i.e., transmitting and/or receiving ranging signals) from one channel to another, with the channels before and after the switch corresponding to different carrier frequencies.
  • a first device and a second device switch from at least one first channel to at least one second channel, wherein the carrier frequencies corresponding to at least one first channel and at least one second channel are different.
  • the first device and the second device directly switch from at least one first channel to at least one second channel; if the frequency hopping count is more than 1, the first device and the second device start from at least one first channel and switch to at least one second channel after multiple channel switchings. For example, the first device and the second device first switch from at least one first channel to at least one third channel, and then switch from at least one third channel to at least one second channel.
  • the first device and the second device can perform frequency hopping according to the same frequency hopping parameters, so that the first device and the second device can perform frequency hopping synchronously. For example, when the first device switches from at least one first channel to at least one second channel, the second device also switches from at least one first channel to at least one second channel.
  • the frequency hopping methods of different nodes or devices can be the same (e.g., both are radio frequency hopping or digital frequency hopping) or different (e.g., the first device uses radio frequency hopping and the second device uses digital frequency hopping). This application does not impose any restrictions.
  • the first device and the second device perform at least one frequency hopping, which can synchronously perform multiple signal measurements on different channels in a preset order, thereby achieving the technical effect of merging large-bandwidth signal measurements from multiple channels (the bandwidth of the signal measurement is the total bandwidth of at least one first channel and at least one second channel).
  • the distance between the first device and the second device is determined by combining the measurements obtained from all signal measurement processes, which can improve the ranging resolution and ranging accuracy.
  • the first device and the second device can perform frequency hopping according to a set frequency hopping method, such as a frequency hopping map (also called a frequency hopping pattern, frequency hopping scheme, or frequency hopping pattern) indicating the frequency hopping order or scheme.
  • a frequency hopping map also called a frequency hopping pattern, frequency hopping scheme, or frequency hopping pattern
  • the frequency hopping pattern can contain multiple channel number information arranged in sequence. Based on the arrangement order of these multiple channel number information, the frequency hopping order of the first device and the second device can be indicated.
  • Table 1 shows a schematic diagram of a frequency hopping pattern and channel number information provided in an embodiment of this application.
  • the channel number and corresponding center frequency of a 20MHz carrier are shown.
  • the frequency hopping pattern can be [41, 125, 209, ..., 791, ...]
  • the frequency hopping order of the first and second devices is [channel 41, channel 125, channel 209, ..., channel 791, ...].
  • SLE Spark Leakage
  • SLE uses a 1MHz/2MHz/4MHz narrowband signal, and frequency hopping measurements are performed on channels within the carrier signal frequency range of 2402 to 2480MHz.
  • the frequency hopping order can also be random, for example, [channel 41, channel 1, channel 9, channel 55, ...].
  • the first device and the second device can perform frequency hopping according to a pre-specified number of measurement channels or a pre-specified channel number.
  • a pre-specified number of measurement channels or a pre-specified channel number For example, embodiments of this application can select the first N channels from the frequency hopping map shown in Table 1 as the channels for performing frequency hopping. This can effectively reduce the duration of frequency hopping measurements.
  • the frequency hopping map can indicate the channel number information of the channels in each channel group at a preset position, such as the channel number information of the lowest or highest frequency channel in each channel group.
  • the frequency hopping order of the first and second devices is: [channel group 1 (including three channels, channel numbers a, b, c), channel group 2 (including three channels, channel numbers d, e, f), channel group 3 (including three channels, channel numbers g, h, i)]
  • the frequency hopping pattern can be represented as [channel number a, channel number d, channel number g].
  • a single channel group corresponds to a carrier with an 80MHz bandwidth. If the channel number of the initial working channel indicated by the frequency hopping pattern is 41, then the minimum channel number corresponding to the working channel of the next hop is 291.
  • the operation of the first device and the second device performing bidirectional signal measurement on one channel is considered as one signal measurement process, and the operation of performing signal measurement on different channels is considered as different signal measurement processes.
  • the computing device can synthesize the measurements obtained from the bidirectional signal measurement to calculate the distance between the first device and the second device, for example, the distance of the car key relative to the car in the scenario shown in Figure 2.
  • the computing device can be the first device, the second device, or other devices; this application does not impose any limitations.
  • the computing device can be the initiator between the first device and the second device.
  • the responder receives and measures the ranging signal, the responder needs to feed back the measured value obtained from the signal measurement to the initiator.
  • the number of devices interacting with the same device for distance measurement is not limited to one (for example, there may be a third device interacting with the first device for distance measurement).
  • multiple positioning stations can interact with the car key simultaneously to measure the distance of each positioning station relative to the car key, and then determine the position of the car key relative to the car based on the distance of the car key relative to each positioning station.
  • the interaction process between each device and the first device can refer to the interaction process between the first and second devices described above, and will not be repeated here.
  • UWB signals in Ultra Wideband (UWB) technology can be used for ranging between devices.
  • UWB technology achieves precise ranging by sending and receiving extremely narrow pulses with durations of nanoseconds or microseconds, time-frequency synchronization between the transmitting and receiving devices is crucial. Therefore, it places high demands on the time-frequency synchronization of the transmitting and receiving devices.
  • UWB signal time-frequency synchronization can be assisted by initial time-frequency synchronization information provided by narrowband (NB) signals, also known as initial synchronization (or coarse synchronization).
  • NB narrowband
  • the first and second devices obtain UWB signal time-frequency synchronization information based on the NB signal's time-frequency synchronization information.
  • the first and second devices obtain more accurate UWB signal time-frequency synchronization information based on the NB signal's synchronization information.
  • an NB signal can be understood as a signal with a bandwidth less than or equal to a first threshold
  • a UWB signal can be understood as a signal with a bandwidth greater than or equal to a second threshold, where the second threshold is greater than the first threshold.
  • This application does not impose any limitations on the specific form of the NB signal and the UWB signal.
  • the NB signal can be an SLE, BLE, Zigbee/Bluetooth signal, a frequency in the 2.4GHz industrial scientific medical (ISM) band, using a bandwidth of 1MHz, 2MHz, or 4MHz, or employing O-QPSK modulation, etc.
  • the NB signal and UWB signal of a single device can be generated by the same wireless module or by different wireless modules.
  • Figure 3 shows a system block diagram of signal interaction between the first device and the second device provided in an embodiment of this application.
  • the first device and the second device may include logically or physically UWB modules and NB modules.
  • the UWB module may include a UWB physical layer (PHY) and an optional UWB medium access control (MAC) layer
  • the NB module may include an NB PHY layer and an NB MAC layer.
  • the NB modules in the first and second devices can interact via an air interface to exchange NB signals or measurement frames containing NB signals. This enables initial synchronization of UWB signals or assists the UWB modules in transmitting some/all control information, security authentication information, and measurement information, thereby reducing the power consumption of the UWB modules.
  • the UWB modules in the first and second devices can also interact via an air interface to establish connections, perform security authentication, control management, data transmission, and measurement interaction.
  • the NB module can be at least one of the following: StarSpark SLE/SLB wireless communication, Bluetooth Low Energy (BLE), Zigbee, WiFi, etc.
  • the UWB module can be various UWB technologies, such as SLP, Impulse Response UWB (IR-UWB), or Direct Sequence Spread Ultra-Wideband (DS-UWB).
  • the embodiments of this application can be applied to StarSpark SLE, Bluetooth Low Energy (BLE), Wi-Fi, other OFDM-based systems, UWB systems, etc.
  • Figure 3 is only used as an example to illustrate a communication system including a first device and a second device, but the communication system shown in Figure 3 is not limited to including more other devices. For example, it may also include more devices that receive NB signals and UWB signals.
  • the NB module and the UWB module can be logical modules or physical modules.
  • the NB module and the UWB module can also be integrated in the same or different chip systems, for example, the NB module is integrated in the Bluetooth chip, the UWB module is integrated in the UWB chip, and the Bluetooth chip and the UWB chip can also be packaged in a single chip.
  • Figure 4 shows a schematic diagram of the interaction between the NB signal and the UWB signal between the first device and the second device provided in the embodiments of this application.
  • the measurement frames containing NB signals exchanged between the first and second devices will be referred to as the “first measurement frame” and the “third measurement frame,” and the measurement frames containing UWB signals will be referred to as the "second measurement frame” and the “fourth measurement frame.”
  • the first device sends the first measurement frame to the second device via narrowband and the second measurement frame via ultra-wideband; the second device sends the third measurement frame to the first device via narrowband and the fourth measurement frame via ultra-wideband.
  • the first or second device may also use the same modules to send or receive the measurement frames shown in FIG4.
  • the frame structure of the third measurement frame is the same as that of the first measurement frame, and the length of the third measurement frame is the same as that of the first measurement frame.
  • the frame structure and length of the fourth measurement frame may also be the same as those of the second measurement frame.
  • the NB module of the star-flash device is an SLE module
  • the UWB module is an SLP module
  • the first measurement frame can be called an SLE frame
  • the second measurement frame can be called an SLP frame
  • the SLE frame can also be called measurement frame type 4
  • the SLP frame can also be called an ultra-wideband pulse measurement frame.
  • the NB modules of the first and second devices first perform initial synchronization. Specifically, the NB module of the first device first sends a first measurement frame to the NB module of the second device. After receiving the first measurement frame, the NB module of the second device measures the time synchronization information (timing deviation) and frequency synchronization information (frequency deviation), and sends the time-frequency synchronization deviation to the UWB module. Based on the received time-frequency synchronization deviation, the UWB module of the second device configures or determines the reception time and frequency of the second measurement frame, or in other words, determines when it expects to receive the second measurement frame sent from the first device and how much time-frequency deviation the UWB signal in the second measurement frame has.
  • timing deviation time synchronization information
  • frequency deviation frequency synchronization information
  • the UWB module of the second device configures or determines the reception time and frequency of the second measurement frame, or in other words, determines when it expects to receive the second measurement frame sent from the first device and how much time-frequency deviation the
  • the NB module of the first device sends the first measurement frame
  • its UWB module can send the second measurement frame to the UWB module of the second device.
  • the second device adjusts the clock timing based on the CFO2 measured by receiving the first measurement frame, for example, changing Tinterval to Tinterval ⁇ (1 - CFO2), to perform timing synchronization at the receiving end.
  • the NB module of the second device sends a third measurement frame to the NB module of the first device.
  • the NB module of the first device measures the time synchronization information (timing deviation) and frequency synchronization information (frequency deviation), and sends the time-frequency synchronization deviation to the UWB module.
  • the UWB module of the first device configures or determines the reception time and frequency of the fourth measurement frame, or in other words, determines when it expects to receive the fourth measurement frame sent from the second device and how much time-frequency deviation the UWB signal in the second measurement frame has.
  • the initial synchronization between the first and second devices is completed.
  • the NB module of the second device can configure or preset a certain transmission time interval (Tinterval), and its UWB module can send the fourth measurement frame to the UWB module of the first device.
  • Tinterval transmission time interval
  • the first device adjusts the clock timing based on the CFO1 measured by receiving the third measurement frame, for example, changing Tinterval to Tinterval ⁇ (1 - CFO2), to perform timing synchronization at the receiving end.
  • Figure 5 shows a schematic diagram of the first and second measurement frames provided in an embodiment of this application.
  • the third and fourth measurement frames can be referenced to Figure 5.
  • the first measurement frame can be an SLE frame
  • the second measurement frame can be an SLP frame.
  • the first measurement frame may include the NB signal and provide initial time-frequency synchronization information to assist the second measurement frame in ranging.
  • the first measurement frame may also carry configuration information for the second measurement frame.
  • the second measurement frame can consist of a SYNC field and a Channel Impulse Response Training Sequence (CTS) field.
  • the SYNC field is used to perform further precise time-frequency synchronization (also known as fine synchronization) of the UWB signal, that is, to complete the time-frequency synchronization of the UWB signal based on the time-frequency synchronization of the NB signal.
  • the CTS is used to calculate the Channel Impulse Response (CIR) and complete the ranging. There can be a certain time interval (Tinterval) between the transmission of the first and second measurement frames.
  • the SYNC field is also called the synchronization field
  • the Channel Impulse Response Training Sequence (CTS) field is also called the measurement field.
  • the time interval (Tinterval) can be a pre-configured value associated with the switching capability of the first device, the interaction capability between modules, etc., for example, it can be 10 ⁇ s.
  • the time intervals set for different devices can be the same or different.
  • the value of the time interval between the third measurement frame and the fourth measurement frame can be different from the value of the time interval (Tinterval) shown in Figure 5.
  • Tinterval can be the time interval from clearing/latching the MAC counter in an ultra-wideband system to the start of TX, and its unit is chip.
  • chip represents the duration of one pulse in the ultra-wideband system. Its parameters can be as follows:
  • Tmax can be required to be no more than N1 ms (e.g., 10ms).
  • Tinterval can be no less than 1000 RSTU (833us in total), i.e., 416000 chips. Tmin will be adjusted based on actual measurements. This parameter needs to be set to configurable, and the specific time is determined by the pre-configuration of the first or second device, for example, by configuring messages/cells through ultra-wideband pulse measurement.
  • the timing synchronization requirement for UWB signals must be less than 1 ns.
  • timing/frequency synchronization with the following accuracies is required: timing accuracy requirement ⁇ X ns and residual frequency offset accuracy requirement ⁇ Y ppm.
  • the measurement frame performs both time and frequency synchronization through a synchronization signal (such as existing measurement frame types 1 and 3), or the measurement frame only contains measurement signals that can be used for frequency synchronization but not signals used for time synchronization (such as existing measurement frame type 2), meaning that the requirements for timing deviation and residual frequency offset in initial synchronization cannot be met simultaneously.
  • the residual frequency offset measured through the synchronization signal field is greater than Yppm because the synchronization signal field can be generated based on the Logical Link Identifier (SLE) or the Access Address.
  • the synchronization signal field (synchronization signal 1) in the SLE based on the 24-bit logical link identifier, is generated into a 32-bit signal after BCH encoding and m-sequence scrambling, and then modulated by GFSK to generate a synchronization signal consisting of 32 symbols.
  • the generation process of the synchronization signal uses m-sequence scrambling to ensure that the synchronization signal has a certain whitening characteristic, but it cannot guarantee that the synchronization signal will necessarily have good correlation characteristics, that is, it cannot guarantee that the synchronization signal will have excellent frequency offset estimation accuracy and excellent synchronization characteristics.
  • Actual measurements show that the residual frequency offset error of the synchronization signal is large, which cannot meet the residual frequency offset error requirements of the ultra-wideband receiver input and cannot meet the simplified design requirements of the ultra-wideband receiver. For example, when the residual frequency offset error is too large, the correlator design used for ultra-wideband frequency offset estimation will be too complex, and the frequency offset estimation will be too time-consuming.
  • a frame structure for a narrowband signal measurement frame (such as the first and third measurement frames described above) used for initial synchronization.
  • This narrowband signal measurement frame includes a first narrowband signal and a second narrowband signal.
  • the first narrowband signal is used to measure the timing deviation between a first device and a second device, and may include, for example, the aforementioned synchronization signal.
  • the second narrowband signal is used to measure the frequency deviation between the first device and the second device, and may include, for example, at least one of the following measurement signals: an unmodulated carrier signal (also known as a single-tone/single-frequency sine wave signal), a phase-rotated binary phase-shift keying (BPSK) signal ( ⁇ /2-BPSK), or a phase-unrotated BPSK signal, an amplitude-shift keying (ASK) signal, and a multi-tone signal.
  • the first narrowband signal can also measure the frequency deviation between the first device and the second device, but the accuracy of the frequency deviation estimate obtained by the first narrowband signal is lower than that of the second narrowband signal.
  • the reception time and reception frequency of the ultra-wideband signal measurement frame between the first device and the second device can be determined, thereby measuring the distance or time of flight between the first device and the second device.
  • the narrowband signal measurement frame shown in the embodiments of this application can also be defined as measurement frame type 4.
  • frequency deviation is measured using a dedicated second narrowband signal, instead of using a synchronization signal to measure frequency deviation as is currently the case, resulting in higher accuracy of the final frequency deviation.
  • the time-frequency synchronization accuracy of the initial synchronization of the NB module in the device increases, the time-frequency synchronization accuracy requirement of the UWB module during fine synchronization can be reduced. Consequently, when designing the receiver synchronization module in the UWB module, the margin required for fine synchronization is reduced, and the structural design of the synchronization module is simpler.
  • Figure 6 shows a schematic structural diagram of a narrowband signal measurement frame provided in an embodiment of this application.
  • the narrowband signal measurement frame may include a time synchronization frame and a frequency offset estimation frame.
  • the time synchronization frame may be used for time synchronization or may include a first narrowband signal for time synchronization
  • the frequency offset estimation frame may be used for frequency offset estimation or may include a second narrowband signal for frequency synchronization.
  • a switching interval may be included between the time synchronization frame and the frequency offset estimation frame. It is worth noting that the terms "time synchronization frame” and "frequency offset estimation frame” are merely illustrative, and this application does not limit the naming of the various parts of the frame structure.
  • the time synchronization frame, or the first narrowband signal may include a preamble field, a synchronization signal field, and an equalization protection field.
  • the preamble signal may be a sequence of alternating [0, 1] digits using GFSK modulation
  • the synchronization signal uses PSK modulation
  • the preamble signal may be a sequence of alternating [0, 1] digits using BPSK modulation without phase rotation.
  • the preamble signal length may be 10 ⁇ s
  • the synchronization signal length may be 32 bits
  • the equalization protection length may be 4 bits.
  • the absolute time occupied by the preamble signal can remain constant for different signal bandwidths.
  • the synchronization signal field can be generated based on the Logical Link Identifier (SLE) or the Access Address.
  • SLE Logical Link Identifier
  • the synchronization signal field (synchronization signal 1) in the SLE is based on the 24-bit Logical Link Identifier, which is then encoded using BCH and scrambled with an m-sequence to generate 32 bits. After GFSK modulation, a synchronization signal consisting of 32 symbols is generated.
  • the equalization protection sequence can be "0101" when the last bit of the synchronization signal is "1", and "1010” when the last bit of the synchronization signal is "0".
  • the frequency offset estimation frame, or the second narrowband signal can be a measurement signal.
  • the measurement signal can be a narrowband single-carrier signal, such as the unmodulated carrier signal transmitted through the 1MHz/2MHz/4MHz channel of StarSpark SLE (also known as a single-tone signal/single-frequency sine wave), or the OFDM signal of StarSpark SLB/WiFi, or at least one of the following measurement signals: a single-frequency sine wave signal, a binary phase-shift keying (BPSK) signal with no phase rotation, or with ⁇ /2, ⁇ /4, or ⁇ /8 rotation, an amplitude-shift keying (ASK) signal, and a multi-tone signal.
  • the length of the measurement signal is configurable, with options such as 16/32/64/128/256/512/1024/2048 bits.
  • a ⁇ sub> i ⁇ /sub> is the amplitude and ⁇ sub> i ⁇ /sub> is the frequency (baseband). This is the initial phase.
  • the multi-tone signal is equivalent to a single-tone signal.
  • the generation and modulation of the multi-tone signal are independent.
  • the baseband multi-tone signal can be converted into a radio frequency multi-tone signal by analog circuitry and then emitted.
  • the maximum frequency difference between the baseband multi-tone signal and 0Hz is MAX(abs( ⁇ i )), which is determined by the bandwidth of SLE.
  • the measurement signal when the measurement signal is a BPSK, Pi/2-BPSK, Pi/4-QPSK or Pi/8-8PSK without phase rotation, it can be further encoded by a pseudo-random sequence to further improve security and enhance the accuracy of frequency offset measurement, especially the accuracy of frequency offset measurement under interference.
  • a switching interval is inserted between the equalization protection field and the measurement signal. This ensures that the waveforms of the synchronization signals transmitted by the transmitter and receiver are more accurate and stable.
  • the switching interval is also used for multipath protection of the measurement signal, preventing multipath delay interference from the equalization protection field from affecting the accurate demodulation and measurement of the measurement signal.
  • the synchronization signal is in time before the measurement signal, or in other words, the first narrowband signal used for time synchronization is in time before the second narrowband signal used for frequency synchronization.
  • the synchronization signal needs to be aligned on the time symbol of the narrowband first, while the measurement signal needs to be sampled more precisely, so it needs to be synchronized for less than one time symbol. Therefore, time synchronization needs to be done first and then frequency synchronization needs to be done.
  • narrowband signal measurement frame shown in Figure 6 is only an example.
  • the narrowband signal measurement frame used in this application can also be used for SLE measurement frames and BLE measurement frames for initial synchronization to reduce residual frequency offset and meet the initial synchronization requirements of UWB/SLP.
  • This application significantly improves the accuracy of frequency offset measurement during initial synchronization by introducing the measurement signal shown in Figure 6, thereby reducing the design complexity of fine frequency offset estimation using ultra-wideband signal measurement frames.
  • the measurement signal field uses known signals such as BPSK with unmodulated carrier or pseudo-random sequence scrambling as the measurement signal, which greatly improves the accuracy of frequency offset estimation, reduces residual frequency offset error, and thus simplifies the complexity of frequency synchronization in ultra-wideband receivers.
  • Figure 7 illustrates a schematic diagram of the interaction of UWB signal measurement frames during the initial synchronization process.
  • the NB module of the first device first sends a first measurement frame to the NB module of the second device.
  • the NB module of the first device sends a synchronization signal to the UWB module of the first device to instruct/trigger the UWB module of the first device to start the countdown for sending the second measurement frame at a first time interval T.
  • it instructs/triggers the UWB module to send the second measurement frame to the UWB module of the second device after the first time interval T has elapsed.
  • the NB module of the second device receives the first measurement frame, measures the first measurement frame, obtains the timing deviation and frequency deviation CFO1 between the first and second devices, and instructs/triggers the UWB module to start the countdown for receiving the second measurement frame according to the second time interval T interval * (1-CFO1), or in other words, instructs/triggers the UWB module to receive the second measurement frame after the second time interval T interval * (1-CFO1).
  • the second device sends a third measurement frame to the first device.
  • the NB module of the second device sends a synchronization signal to the UWB module of the second device, instructing/triggering the UWB module to start the countdown for sending the fourth measurement frame at time interval T interval . In other words, it instructs/triggers the UWB module to send the fourth measurement frame to the UWB module of the first device after the time interval T has elapsed.
  • the NB module of the first device After receiving the third measurement frame, the NB module of the first device records the timing synchronization of the reception and obtains CFO2 relative to the second device, and instructs/triggers the UWB module to start the countdown for receiving the fourth measurement frame at time interval T * (1-CFO2). In other words, it instructs/triggers the UWB module to receive the fourth measurement frame after time interval T * (1-CFO2).
  • CFO1 in Figure 7 is the frequency offset estimate relative to the first device measured by the second device, denoted as f resp - f init , where f resp and f init are the carrier frequency values of the second and first devices, respectively.
  • CFO2 in Figure 7 is the frequency offset estimate relative to the second device measured by the first device, denoted as f init - f resp .
  • Both CFO1 and CFO2 are signed frequency offset estimates, and (1-CFO1) or (1-CFO2) represents the scaling ratio of the inter-frame interval T interval for the narrowband measurement frame and the ultra-wideband measurement frame for the second and first devices, respectively.
  • the timing deviation when the first or second device receives a narrowband signal measurement frame, the timing deviation is defined as the difference between the start or end time of the narrowband signal measurement frame scheduled by the transmitting end and the start or end time of the narrowband signal measurement frame actually received by the receiving end.
  • the difference between the start and end times of the narrowband signal measurement frame is the frame duration of the narrowband signal measurement frame.
  • Figure 7(b) illustrates the timing deviation and the determination of the second measurement frame scheduling time.
  • the first device starts sending the first measurement frame at time Ta and ends sending the first measurement frame at time (Ta+m), where m is the frame duration of the first measurement frame.
  • the second device starts receiving the first measurement frame at time Tb and ends receiving the first measurement frame at time (Tb+m).
  • the dashed line in the figure represents the time period during which the second device actually receives the first measurement frame.
  • the second device can measure the first measurement frame to obtain the timing deviation between the first and second devices, which is (Tb-Ta).
  • the second device can also correlate the first measurement frame with the local sequence to obtain the value of Ta, and then determine the specific value of Tb based on the value of Ta and the timing deviation, which is the time when the second device actually starts receiving the first measurement frame.
  • the first device After sending the first measurement frame at time Ta, it starts sending the second measurement frame to the second device at time Tc after the aforementioned time interval T.
  • the second device after determining the actual reception time Tb of the first measurement frame, the second device weights the carrier frequency offset (CFO) obtained from measuring the first measurement frame with the aforementioned time interval T, for example, T interval * (1-CFO1) as mentioned above, to determine the second time interval, that is, the second time interval is obtained by weighting the first time interval and CFO1. Then, after the actual reception time Tb of the first measurement frame, the second device determines the reception time of the second measurement frame as time Tc after the second time interval, that is, it starts receiving the second measurement frame from time Tc, thus achieving time synchronization.
  • CFO carrier frequency offset
  • time Tc is the transmission time of the second measurement frame scheduled by the first device, and it is also an illustrative illustration of the reception time of the second measurement frame scheduled by the second device.
  • the time after the waiting interval T interval * (1-CFO1) scheduled by the second device is the actual reception time of the second measurement frame that the second device starts searching for.
  • the first device and the second device may pre-agree on the timing reference point (or narrowband timing reference point) of the transmitted/received narrowband signal measurement frames.
  • the timing reference point represents the start time of the time intervals T interval , T interval *(1-CFO1) shown in Figure 7, which can be the beginning, end, or a point in time within the narrowband signal measurement frame.
  • "*" represents a multiplication sign.
  • the end time of the synchronization signal field within the narrowband signal measurement frame can be used as the timing reference point.
  • this offers the advantage of precise timing. This is because the receiving device of the narrowband signal measurement frame immediately begins receiving the ultra-wideband measurement frame after completing timing synchronization based on the synchronization signal field. This helps avoid inaccuracies in timing from the end time of the synchronization signal field to the end time of the frame due to clock deviations between the transmitting and receiving devices.
  • the position of the synchronization signal field in the narrowband signal measurement frame can be seen in Figure 6.
  • FIG. 7(c) illustrates a schematic diagram of transmitting/receiving a first measurement frame based on a timing reference point.
  • Td and Td' (corresponding to the times indicated by the arrows in the figure) can represent the end times of the synchronization signal field when the first device transmits the first measurement frame and the end times of the synchronization signal field when the second device receives the first measurement frame, respectively. That is, the end time of the synchronization signal field of the first measurement frame is used as the timing reference point for timing synchronization.
  • the first device transmits the second measurement frame after time Td
  • the second device receives the second measurement frame after time Td', after time T * (1-CFO1). Since the third measurement frame has the same frame structure as the first measurement frame, the end time of the synchronization signal field of the third measurement frame can also be used as the timing reference point for timing synchronization, which will not be elaborated upon in this paper.
  • the second device determines the receiving frequency of the second measurement frame based on the frequency deviation obtained from the first measurement frame.
  • the second device can determine the receiving time and receiving frequency of the second measurement frame based on the timing deviation and frequency deviation obtained from the first measurement frame.
  • the scheduling process for the third and fourth measurement frames can be referred to the above description, and will not be repeated here.
  • the inter-frame interval between the first and third measurement frames indirectly determines the inter-frame interval between the second and fourth measurement frames. Therefore, the inter-frame interval between the first and third measurement frames should be configured during the narrowband measurement parameter configuration stage.
  • the inter-frame interval of the measurement frames of the first and second devices, as shown in Figure 6 is configured through the narrowband frequency hopping measurement signal configuration message. This aspect will be described in Table 2 when introducing Embodiment 1 below.
  • the measurement frame type event on a single frequency point can be configured using an initialization phase event. If an initialization phase exists in the configuration event group, the first event in each event group is called the initialization phase event, in which the first device and the second device transmit according to the rules determined by the interaction type of the initialization phase.
  • the frame structure of the narrowband signal measurement frame provided in this application and its process for assisting ultra-wideband signal interaction have been described above with reference to the accompanying drawings.
  • a more accurate frequency synchronization deviation CFO
  • the reception time of the second or fourth measurement frame can be determined based on the time interval calculated by weighting the reception time of the first or third measurement frame and the CFO.
  • the reception frequency of the second or fourth measurement frame can be determined according to the CFO.
  • the more accurate CFO obtained in this application embodiment allows for more accurate reception times and frequencies of ultra-wideband signal measurement frames (such as the second and fourth measurement frames). This simplifies the fine synchronization process of ultra-wideband signal measurement frames, thereby simplifying the design of the UWB module.
  • both the narrowband signal measurement frame interaction and the ultra-wideband signal measurement frame ranging process are bidirectional interactive processes.
  • the bidirectional interaction process of the narrowband signal measurement frame can also be performed multiple times. For example, using the frequency hopping map mentioned above or a preset channel measurement sequence, the NB module of the first device and the NB module of the second device can perform bidirectional interaction of the first measurement frame and the third measurement frame on channels at multiple frequency points. The reason is that if only one frequency point is used for the initial measurement of time-frequency synchronization deviation, the time-frequency synchronization accuracy will be low due to interference or frequency selective fading. If multiple frequency points are measured by frequency hopping, the accuracy of time-frequency synchronization measurement can be guaranteed even in the event of partial channel interference or frequency selective fading.
  • Figure 8 illustrates a schematic diagram of multi-frequency interaction of narrowband signal measurement frames provided by the prior art.
  • the first device and the second device perform bidirectional interaction of the first measurement frame and the third measurement frame through channels #1 to #3. Specifically, on each frequency point, the first device, as the initiating node, sends the first measurement frame to the second device, i.e., the responding node, through narrowband. After receiving the first measurement frame sent by the first device, the second device sends or replies with the third measurement frame to the first device through narrowband, thereby completing the bidirectional interaction of narrowband signal measurement frames between the first device and the second device on the same frequency point.
  • the second device should listen for all first measurement frames on channels #1 to #3, and only after successfully receiving the first measurement frame on at least one frequency point will it send the third measurement frame to the first device. If the first device receives the third measurement frame from the second device on at least one frequency point, the remaining first measurement frame interaction steps can be ignored, i.e., the bidirectional interaction process on the remaining frequency points is stopped.
  • Example 1 the first and second devices perform bidirectional synchronous measurements on a specified number of measurement channels, or in other words, traverse a pre-specified set of channel frequencies. This reduces the bidirectional synchronous measurement time compared to performing bidirectional synchronous measurements on all channels as shown in Figure 8.
  • the number of measurement channels N can be specified in advance.
  • the first and second devices can perform bidirectional synchronous measurements on a specified number of channels.
  • this application can directly provide a set of channel numbers (or frequency point numbers) in the signaling.
  • Table 2 shows the specified N channels, and Table 2 may also include the configured measurement frame interval.
  • the number of measurement frequency points N can indicate how many measurement channel number subfields are specifically included in the measurement channel number field.
  • Each measurement channel number subfield represents the number of a channel used for bidirectional synchronous measurement in the initial synchronization phase of an ultra-wideband system.
  • N can be set to 4, and the measurement channel numbers 1 to N indicate the channel numbers 10, 30, 50, and 70, respectively.
  • Figure 9 shows a schematic diagram of bidirectional interaction on N channels provided in an embodiment of this application.
  • the second device receives a first measurement frame from the first device and sends a third measurement frame to the first device.
  • the first device receives the third measurement frame and performs the measurement.
  • the bidirectional interaction between the first and second devices is successful; that is, both the first and second devices successfully receive the narrowband signal measurement frame and perform the measurement to obtain the time-frequency deviation.
  • the first and second devices also successfully interact on channel #N-1.
  • the second device receives the first measurement frame from the first device and sends a third measurement frame to the first device.
  • the first device may not receive the third measurement frame due to interference or channel fading, thus causing the bidirectional interaction between the first and second devices to fail on channel #2.
  • the second device may not receive the first measurement frame from the first device due to interference or channel fading, and therefore may not send the third measurement frame to the first device.
  • the first device and the second device may successfully interact bidirectionally on some of the channels, meaning they both receive narrowband signal measurement frames and measure the time-frequency synchronization deviation. However, on other channels, the bidirectional interaction between the first device and the second device may fail.
  • the stopping condition for bidirectional interaction can be that the limit on the number of channel frequency points is reached before ending, that is, the bidirectional interaction stops only after the number of frequency hopping channels reaches the aforementioned N, and does not end after only one successful interaction.
  • the time-frequency synchronization information finally determined by the first and second devices can be determined according to the time-frequency synchronization information obtained from the last successful measurement, or according to the average result of the time-frequency synchronization information obtained from multiple successful bidirectional interactions.
  • the reception time and reception frequency of the UWB module for receiving the second measurement frame are determined according to the last successful interaction or the average result of multiple successful interactions.
  • the first and second devices determine the reception time and reception frequency of the second measurement frame based on this final synchronization information and the preset T interval .
  • Figure 10 shows a schematic diagram of a bidirectional interactive termination provided in an embodiment of this application.
  • the first device and the second device successfully interact bidirectionally on the last channel (i.e., the Nth channel) of the aforementioned N channels.
  • the first device and the second device can determine the reception time and reception frequency of the ultra-wideband signal measurement frames (e.g., the second measurement frame and the fourth measurement frame) through the process shown in Figure 4.
  • the determination method can be referred to the description of Figure 4.
  • the second device determines the reception time and reception frequency of the second measurement frame based on the determined reception time of the first measurement frame on channel #N and the frequency deviation CFO obtained from measuring the first measurement frame; the first device determines the reception time and reception frequency of the fourth measurement frame based on the determined reception time of the third measurement frame on channel #N and the frequency deviation CFO obtained from measuring the third measurement frame.
  • embodiments of this application can determine the expected reception time of the first measurement frame and the expected transmission time of the third measurement frame on the Nth channel by using the reception time of the first measurement frame and the transmission time of the third measurement frame obtained on a channel with successful bidirectional interaction. For example, on channels #1 and #M, the second device determines that it receives the first measurement frame after xns after starting measurement or after hopping to the current channel, or the second device determines that it receives the first measurement frame after yns after the transmission time of the first measurement frame. Therefore, the second device can determine the expected reception time of the first measurement frame on the Nth channel based on the above synchronization information.
  • the second device transmits the third measurement frame after zns after the reception time of the first measurement frame. Therefore, the second device can determine the expected transmission time of the third measurement frame on the Nth channel based on the above information. Similarly, the first device can also determine the expected reception time of the third measurement frame on the Nth channel.
  • the first and second devices can also obtain the final time-frequency synchronization deviation for determining the reception time of the ultra-wideband signal measurement frame based on the time-frequency synchronization deviation measured on channel #1 and channel #M, such as taking the average of multiple time-frequency synchronization deviations or one of the minimum values as the final time-frequency synchronization deviation.
  • the above process infers the synchronization information on the Nth channel using synchronization information from multiple successfully bidirectionally interacting channels.
  • the synchronization information on the Nth channel can also be inferred using only the synchronization information from the last successfully interacting channel.
  • the expected reception time of the first measurement frame, the expected transmission time of the third measurement frame, and the final time-frequency synchronization deviation on the Nth channel can be determined solely based on the reception time of the first measurement frame on channel #M, the transmission time of the third measurement frame, and the measured time-frequency synchronization deviation.
  • the first device can hop to channel #N+1 and send a final synchronization information indication to the second device.
  • the final synchronization information indication may include information such as the time-frequency synchronization deviation determined by the first device. Then, after receiving the final synchronization information indication, the second device replies with an acknowledgment frame to the first device.
  • the reception time and reception frequency of the ultra-wideband signal measurement frames can be determined according to the synchronization information on the Nth channel (the transmission and reception times of the first measurement frame, the transmission and reception times of the third measurement frame, and the time-frequency synchronization deviation), as shown in Figure 7.
  • the expected synchronization information on the Nth channel (the expected reception time of the first measurement frame, the expected transmission and reception times of the third measurement frame, and the final time-frequency synchronization deviation) can be inferred from the synchronization information on one or more channels where the bidirectional interaction is successful (the transmission and reception times of the first and third measurement frames, and the time-frequency synchronization deviation), thereby determining the reception time and reception frequency of the ultra-wideband signal measurement frames (the second and fourth measurement frames).
  • the expected reception time of the first measurement frame and the expected transmission and reception times of the third measurement frame can be calculated by reasoning based on the end times of the synchronization signals of the first and third measurement frames in the N channels.
  • the process of determining the reception time of the ultra-wideband signal measurement frame can be referred to the description in Figure 7, which will not be repeated here.
  • the first or second device determines whether further transmission of the first measurement frame or bidirectional interaction is necessary based on the received quality of the narrowband signal measurement frame.
  • Figure 11 illustrates a schematic flowchart of bidirectional interaction provided in an embodiment of this application.
  • the first device sends a first measurement frame to the second device on channel #1.
  • the second device determines on channel #1 that the reception quality of the received first measurement frame meets the requirements.
  • the second device sets the reception time and reception frequency of the second measurement frame on channel #1 and sends a third measurement frame to the first device.
  • the first device continues to send the first measurement frame to the second device after hopping to channel #2.
  • the second device After the second device receives a first measurement frame that meets the reception quality requirements on the current channel, it determines the reception time and frequency of the second measurement frame based on the time-frequency deviation obtained from measuring the first measurement frame, and then sends a third measurement frame to the first device. If the first device does not receive the third measurement frame from the second device on the current channel, or if the received third measurement frame does not meet the reception quality requirements, it will hop to the next channel and continue sending the first measurement frame to the second device.
  • the first device sends a first measurement frame to the second device on channel #2.
  • the second device After the second device determines on channel #2 that the reception quality of the received first measurement frame does not meet the requirements, the second device will not reply with a third measurement frame to the first device on channel #2.
  • the second device may also not reply with a third measurement frame because it has not received the first measurement frame on channel #3.
  • the first device determines that it has not received the first measurement frame from the second device on the current channel. Then, after hopping to channel #3 or channel #4, the first device continues to send the first measurement frame to the second device.
  • the second device if the second device does not receive the first measurement frame from the first device on the current channel, or if the received first measurement frame does not meet the reception quality requirements, it will not send a third measurement frame to the first device on the current channel. Furthermore, after the first device does not receive the third measurement frame from the second device on the current channel, it will continue to send the first measurement frame to the second device when hopping to the next channel.
  • the first device sends a first measurement frame to the second device on channel #4.
  • the second device determines on channel #4 that the reception quality of the received first measurement frame meets the requirements. Then, based on the time-frequency deviation obtained from measuring the first measurement frame, the second device resets the reception time and reception frequency of the second measurement frame on channel #4 and sends a third measurement frame to the first device.
  • the first device determines the reception time and reception frequency of the fourth measurement frame based on the time-frequency deviation obtained from measuring the third measurement frame, and determines that the bidirectional interaction between the first device and the second device has ended.
  • the frame interval between the narrowband signal measurement frames transmitted by the first and second devices needs to be increased by T1, where T1 is the time required for the second device to determine the reception quality of the first measurement frame.
  • the first device after receiving the third measurement frame from the second device, the first device also needs to determine whether to continue transmitting the first measurement frame when hopping to the next channel. Therefore, the frequency hopping time of the first and second devices also needs to be increased by T2, where T2 is the time required for the first device to determine the reception quality of the third measurement frame.
  • T1 and T2 can be indicated in the initial synchronization capability of the first and second devices, so that the first and second devices can determine the inter-frame interval and frequency hopping time of the narrowband signal measurement frames in the initial synchronization through ranging negotiation.
  • the measurement synchronization requirement must satisfy the following: the interval between the start times of coarse synchronization and fine synchronization, T ⁇ sub>initerval ⁇ /sub>, must be greater than T ⁇ sub>sc ⁇ /sub> ⁇ K.
  • T ⁇ sub>sc ⁇ /sub> represents the duration of bidirectional interaction of narrowband signal measurement frames on a single-frequency channel
  • K is the number of frequency points involved in bidirectional interaction.
  • Tsc Narrowband signal measurement frame duration x 2 + interactive handover interval + frequency hopping channel handover duration.
  • the reception quality of the narrowband signal measurement frame shown in Figure 6 can include at least one of the following quality assessment methods:
  • embodiments of this application can evaluate the reception quality of a narrowband signal measurement frame based on the reception quality of its synchronization signal. For instance, a first or second device can detect and verify the logical link identifier (or access address) of the narrowband signal measurement frame to evaluate the reception quality of the synchronization signal. If one or more bit errors are found in the synchronization signal field of the narrowband signal measurement frame after verification, the reception quality of the synchronization signal can be considered average or poor, i.e., the reception quality of the narrowband signal measurement frame is average or poor. If there are no bit errors in the synchronization signal field of the narrowband signal measurement frame, the reception quality of the synchronization signal is considered to meet the requirements, i.e., the reception quality of the narrowband signal measurement frame meets the requirements.
  • embodiments of this application can evaluate the reception quality of a narrowband signal measurement frame based on its RSSI/SNR/SINR. For instance, when the RSSI/SNR/SINR of the narrowband signal measurement frame is lower than a preset threshold or the synchronization signal SNR is low (low correlation peak), the reception quality of the narrowband signal measurement frame is considered to be average or poor.
  • embodiments of this application can evaluate the reception quality of a narrowband signal measurement frame based on the received strength of the measurement signal field (frequency offset estimation frame as shown in FIG. 6). For instance, if the received strength of the measurement signal field (frequency offset estimation frame as shown in FIG. 6) is lower than a preset threshold, the reception quality of the narrowband signal measurement frame is considered to be average or poor.
  • embodiments of this application can also determine the reception quality of narrowband signal measurement frames based on carrier frequency offset (CFO) information measured for synchronization signals and/or measurement signals. For instance, by comparing the CFO value measured by the second device with the CFO value locally measured by the first device, if the difference is higher than a preset threshold, it can also be used to determine that the reception quality of the narrowband signal measurement frame is poor.
  • CFO carrier frequency offset
  • This application proposes that, based on the reception quality and whether the narrowband signal measurement frame is received, the second device determines whether to transmit a third measurement frame on the current channel, or the first device determines whether to continue transmitting the first measurement frame on the next channel. This not only ensures that the initial synchronization accuracy meets the initial synchronization requirements for ultra-wideband signal measurement frames, but also avoids the shortcomings of relying solely on the first device to determine the measurement result. In other words, even when the interference levels of the first and second devices differ, the reception quality of the narrowband signal measurement frames for both devices is guaranteed.
  • FIG 11 shows a schematic flowchart of the bidirectional interaction termination provided in an embodiment of this application.
  • the first device stops transmitting the first measurement frame on the subsequent M channels. That is, by not transmitting the first measurement frame, the first device instructs the second device to stop performing frequency hopping measurements. Furthermore, if the second device does not receive the first measurement frame on M consecutive channels, it stops listening for the first measurement frame of bidirectional synchronization; otherwise, the second device always maintains the state of frequency hopping and listening for the first measurement frame.
  • the number M of empty interaction channels between the first device and the second device represents: the number of channels in which the first device continuously does not send the first measurement frame during the initial synchronization, and the number of channels in which the second device continuously does not receive the first measurement frame from the first device, M ⁇ 1.
  • Setting M>1 helps the second device handle missed detections. For example, if the first device sends a first measurement frame to the second device on channel #4, but the second device fails to receive the measurement frame on channel #4 due to frequency selective fading or interference, the second device cannot determine why it did not receive the first measurement frame on channel #4. That is, it cannot determine whether the first device actually sent the first measurement frame and the second device did not receive it, or whether the first device intentionally did not send the first measurement frame. Setting M>1 helps avoid situations where the first device sends the first measurement frame but the second device fails to receive it due to frequency selectivity/interference.
  • the first device will not transmit the first measurement frame on at least one consecutive channel after frequency hopping.
  • the bidirectional interaction is considered to have ended.
  • explicit signaling notification is avoided.
  • this application stops subsequent bidirectional interaction after both devices receive the first measurement frame that meets the reception quality requirements on the same channel, significantly shortening the switching interval between the first and second measurement frames.
  • Figure 12(b) illustrates a scenario where the first device sends an explicit signaling notification on the channel to indicate that the bidirectional interaction for initial synchronization between the first and second devices has been successful.
  • the first device may send a frame on channel #5 to configure negotiation of initial synchronization, which includes information indicating that initial synchronization has been completed.
  • the second device replies with an acknowledgment frame.
  • the method for determining the time-frequency synchronization deviation at multiple frequency points can be that the first and second devices measure the time-frequency synchronization deviation based on the last complete channel synchronization interaction (e.g., channel #4 shown in Figures 11 and 12) and determine the reception time and frequency of the received ultra-wideband signal measurement frame.
  • the specific determination process can be referred to the description in Figure 7, which will not be elaborated upon here.
  • the communication device such as the first device or the second device, may include hardware structures and/or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.
  • FIG. 13 is a schematic block diagram of a communication device 1300 according to an embodiment of this application.
  • the communication device 1300 can be a first device or a second device, or a chip or module in a device such as a first device or a second device, used to implement the method involved in the above embodiments.
  • the communication device 1300 includes a transceiver unit 1310 and a processing unit 1320.
  • the transceiver unit 1310 will be described exemplarily below.
  • the transceiver unit 1310 may include a transmitting unit and a receiving unit.
  • the transmitting unit is used to perform the transmitting action of the communication device
  • the receiving unit is used to perform the receiving action of the communication device.
  • the transmitting unit and the receiving unit are combined into one transceiver unit in this embodiment. This will be explained uniformly here and will not be repeated later.
  • the processing unit 1320 is used to generate a first measurement frame
  • the transceiver unit 1310 is used to send the first measurement frame to the second device via narrowband
  • the transceiver unit 1310 is configured to receive a first measurement frame from the first device via narrowband and to receive a second measurement frame from the first device via ultra-wideband.
  • the communication device 1300 is a first device or a second device, it will be responsible for executing the methods or steps related to the first device or the second device in the foregoing method embodiments.
  • the communication device 1300 further includes a storage unit (not shown in the figure) for storing programs or code for performing the aforementioned methods.
  • FIG 14 is a schematic block diagram of a communication device 1400 according to an embodiment of this application.
  • the communication device 1400 includes a processor 1410 and a communication interface 1420, which can be interconnected via a bus 1430.
  • the communication device 1400 may be a first device or a second device, etc., that executes the interaction flow shown in Figures 9 to 12.
  • the communication device 1400 may also include a memory 1440.
  • the memory 1440 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM), which is used to store related instructions and data.
  • RAM random access memory
  • ROM read-only memory
  • EPROM erasable programmable read-only memory
  • CD-ROM compact disc read-only memory
  • Processor 1410 can be one or more central processing units (CPUs). When processor 1410 is a CPU, the CPU can be a single-core CPU or a multi-core CPU.
  • CPUs central processing units
  • the processor 1410 is used to generate a first measurement frame
  • the communication interface 1620 is used to send the first measurement frame to the second device via narrowband
  • the communication interface 1420 is used to receive a first measurement frame from the first device via narrowband and to receive a second measurement frame from the first device via ultra-wideband.
  • the communication device 1400 When the communication device 1400 is a first device or a second device, it will be responsible for executing the methods or steps related to the first device or the second device in the foregoing method embodiments.
  • Figure 15 is a schematic block diagram of a communication device 1500 according to an embodiment of this application.
  • the communication device 1500 is used to implement the functions of a first device or a second device.
  • the communication device 1500 may be a chip in the first device or the second device.
  • the communication device 1500 includes an input/output interface 1520 and a processor 1510.
  • the input/output interface 1520 may be an input/output circuit.
  • the processor 1510 may be a signal processor, a chip, or other integrated circuit capable of implementing the methods of this application.
  • the input/output interface 1520 is used for inputting or outputting signals or data.
  • the processor 1510 is used to generate a first measurement frame
  • the input/output interface 1520 is used to send the first measurement frame to the second device via narrowband, and to send a second measurement frame to the second device via ultra-wideband.
  • the input/output interface 1520 is configured to receive a first measurement frame from the first device via narrowband and to receive a second measurement frame from the first device via ultra-wideband.
  • the processor 1510 executes instructions stored in memory to perform the functions of the first or second device.
  • the communication device 1500 may also include a memory.
  • processor and memory are integrated together.
  • the memory is located outside the communication device 1500.
  • processor 1510 can be a logic circuit, which inputs/outputs messages or signaling through input/output interface 1520.
  • the logic circuit can be a signal processor, a chip, or other integrated circuit that can implement the methods of the embodiments of this application.
  • the above description of the communication device 1500 is merely an exemplary description.
  • the communication device 1500 can be used to perform the methods described in the foregoing embodiments. For details, please refer to the description of the foregoing method embodiments, which will not be repeated here.
  • the memory is located outside the communication device 1500.
  • device 1500 can be chip system 1600.
  • FIG 16 is a schematic diagram of a chip system 1600 provided in an embodiment of this application.
  • the chip system 1600 (or may also be called a processing system) includes logic circuitry 1610 (i.e., processor 1510) and input/output interface 1620.
  • the logic circuit 1610 can be a processing circuit in the chip system 1600.
  • the logic circuit 1610 can be coupled to a memory unit, calling instructions from the memory unit, enabling the chip system 1600 to implement the methods and functions of the embodiments of this application.
  • the input/output interface 1620 can be an input/output circuit in the chip system 1600, outputting processed information from the chip system 1600, or inputting data or signaling information to be processed into the chip system 1600 for processing.
  • the chip system 1600 is used to implement the operations performed by the first device or the second device in the various method embodiments described above.
  • input/output interface 1620 is used to implement the sending and/or receiving related operations performed by the first device or the second device in the above method embodiments.
  • the above description of the communication device is merely an exemplary description.
  • the communication device can be used to perform the methods described in the foregoing embodiments.
  • This application also provides a chip, including a processor, for calling and executing instructions stored in a memory, causing a communication device on which the chip is installed to perform the methods in the examples above.
  • This application also provides a chip, including: an input interface, an output interface, and a processor.
  • the input interface, the output interface, and the processor are connected via an internal connection path.
  • the processor is used to execute code in a memory. When the code is executed, the processor is used to perform the methods described in the examples above.
  • the chip further includes a memory for storing computer programs or code.
  • This application also provides a processor for coupling with a memory for performing the methods and functions involving the first or second device in any of the above embodiments.
  • This application provides a computer program product containing instructions that, when run on a computer, implement the methods of the aforementioned embodiments.
  • This application also provides a computer program that, when run on a computer, enables the implementation of the methods described in the foregoing embodiments.
  • This application also provides a computer-readable storage medium storing a computer program that, when executed by a computer, implements the methods described in the foregoing embodiments.
  • the disclosed systems, apparatuses, and methods can be implemented in other ways.
  • the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods.
  • multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.
  • the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.
  • the units described as separate components may or may not be physically separate.
  • the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the technical objectives of the embodiments of this application, depending on actual needs.
  • the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.
  • a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the various method embodiments of this application.
  • the aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

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Abstract

本申请提供了一种通信方法和通信装置，第一设备生成第一测量帧，第一测量帧包括第一窄带信号和第二窄带信号，第一窄带信号测量第一设备和第二设备之间的定时偏差，第二窄带信号测量第一设备和第二设备之间的频率偏差；第一设备通过窄带向第二设备发送第一测量帧；第一设备通过超宽带向第二设备发送第二测量帧，定时偏差和频率偏差用于确定第二设备接收第二测量帧的时刻和频率，第二测量帧通过超宽带信号测量第一设备和第二设备之间的距离或飞行时间。通过提高窄带信号测量帧的时频同步准确度，简化超宽带信号测量帧的时频同步过程和同步模块的设计。

Description

通信方法和通信装置
本申请要求于2024年06月05日提交中国专利局、申请号为202410728113.7、发明名称为“通信方法和通信装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及通信领域，并且更具体地，涉及通信方法和通信装置。
背景技术
超宽带(ultra wideband，UWB)技术是一种无线载波通信技术，其通过发送与接收具有纳秒或者微秒级以下的极窄脉冲来实现数据传输。UWB技术所占的频谱范围很宽，发送或者接收的无线信号的带宽超过了500MHz，辐射谱密度也很低，这使其具有多径分辨能力强、功耗低以及保密性强等优点。现阶段，超宽带技术中的无线信号可以作为测量信号进行测距、测角、感知和定位等，例如基于测量脉冲的飞行时间(time of flight，TOF)来进行精确测距。
由于UWB技术通过极窄脉冲实现数据传输或者精准测距，因此其对发送设备与接收设备的时频同步提出了很高的要求，例如UWB信号的定时同步要求要小于1ns。因而，导致设备中用于UWB信号交互的UWB模块需要做的非常复杂。现阶段，如何简化UWB模块的设计成为亟待解决的问题。
发明内容
本申请提供一种通信方法和通信装置，可以简化设备中用于UWB信号交互的UWB模块的结构设计。
第一方面，本申请实施例提供一种通信方法，该方法可以由第一设备执行，或者，也可以由第一设备中的模块如芯片系统或电路执行，或者，还可以由能实现全部或部分第一设备功能的逻辑节点、逻辑模块或软件执行，本申请对此不作限定。
该方法包括：第一设备生成第一测量帧，该第一测量帧包括第一窄带信号和第二窄带信号，该第一窄带信号用于测量该第一设备和第二设备之间的定时偏差，该第二窄带信号用于测量该第一设备和该第二设备之间的频率偏差；该第一设备通过窄带向该第二设备发送该第一测量帧；该第一设备通过超宽带向该第二设备发送第二测量帧，其中，该定时偏差和该频率偏差用于确定该第二设备接收第二测量帧的时刻和频率，该第二测量帧用于通过超宽带信号测量该第一设备和该第二设备之间的距离或飞行时间。
其中，窄带也可称作窄带信号或窄带物理层或窄带模块，超宽带也可称作超宽带信号或超宽带物理层或超宽带模块。此外，上述第一窄带信号也可以用于测量该第一设备和该第二设备之间的频率偏差。
在上述技术方案中，通过专用的第二窄带信号来测量频率偏差，而非现阶段的使用同步信号测量频率偏差，进而最终得到的频率偏差的精度更高。当设备中的NB模块初始同步的时频同步精度增加时，可以降低UWB模块进行精同步时的时频同步精度要求，进而当设计UWB模块中的接收机同步模块时，所需要设计的精同步的余量减少，同步模块的结构设计更简单。
结合第一方面，在第一方面的某些实现方式中，该第一窄带信号包括同步信号，该第二窄带信号为测量信号，该测量信号包括无调制载波信号、二进制相移键控BPSK信号，幅移键控ASK信号和多音信号中的至少一种。
可选地，二进制相移键控BPSK信号可以是无相位旋转的BPSK信号，也可以是π/2旋转的BPSK信号。
可选地，测量信号的长度是可配置的，例如配置选项有16/32/64/128/256/512/1024/2048bit等。
结合第一方面，在第一方面的某些实现方式中，该同步信号在时间上位于该测量信号之前。
在上述技术方案中，同步信号需要先做窄带的时间符号上的对齐，而测量信号需要更精密，因而需要做好小于一个时间符号的同步，因此，同步信号在时间上可以位于测量信号之前。
结合第一方面，在第一方面的某些实现方式中，该第一设备通过窄带向该第二设备发送第一测量帧，包括：该第一设备在预设的第一信道上，通过窄带向该第二设备发送该第一测量帧；该方法还包括：该第一设备在该第一信道上，通过窄带接收来自该第二设备的第三测量帧，该第三测量帧的帧结构与该第一测量帧的帧结构相同。
上述技术方案中，第一设备和第二设备之间通过相同帧结构的测量帧进行初始同步的双向交互。一方面，统一了双向交互测量过程中的帧结构；另一方面，通过本申请所述的帧结构，提高了双向交互测量的准确度。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：该第一设备根据预设的信道测量顺序，在跳频测量的N个信道上向该第二设备发送该第一测量帧，该预设的信道测量顺序包含该N个信道以及该N个信道分别对应的信道号，其中N为大于0的整数。
可选地，预设的信道测量顺序和N个信道可以是事先指定的，可以是根据跳频地图等确定的，也可以是通过信令给出的频点ID集合。
上述技术方案中，通过指定数量的测量信道，可以减少初始同步测量的时长。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：在该N个信道中的第N个信道上发送该第一测量帧之后，经过第一时间间隔，该第一设备向该第二设备发送该第二测量帧。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：该第一设备根据在至少N个信道上接收到来自该第二设备的至少一个第三测量帧的接收时刻，确定在该N个信道中第N个信道上接收该第三测量帧的接收时刻；在该第N个信道上的该第三测量帧的接收时刻之后，经过第二时间间隔，该第一设备从该第二设备接收该第四测量帧，该第四测量帧用于通过超宽带信号测量该第一设备和该第二设备之间的距离或飞行时间。
上述技术方案中，当第N个信道的双向交互失败时，可以根据双向交互成功的一个或者多个信道上的同步信息推断出第N个信道上的预计同步信息，进而基于第N个信道上的预计通过信息确定超宽带信号测量帧的接收时刻和接收频率。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：该第一设备根据接收到的一个或者多个该第三测量帧，确定该第一设备和该第二设备之间的频率偏差；该第一设备根据所确定的该频率偏差，确定该第二时间间隔。
其中，上述第一时间间隔可以是第一设备和/或第二设备预设配置的时间间隔Tinterval，例如可以是超宽带系统MAC计数器清零/锁存到TX启动的时间间隔。上述第二时间间隔可以根据上述第一时间间隔和上述该第一设备和该第二设备之间的频率偏差加权得到，例如Tinterval*(1-CFO)。
上述技术方案中，通过测量窄带信号测量帧，能够得到更准确的频率同步偏差CFO，进而得到的超宽带信号测量帧(如第二测量帧)的接收时刻和接收频率更准确。进而，可以简化超宽带信号测量帧的精同步的过程，进而简化UWB模块的设计。
结合第一方面，在第一方面的某些实现方式中，在该第一测量帧包括同步信号字段的情况下，该第一时间间隔的起始时刻与该第一测量帧的同步信号字段的结束时刻相同。
结合第一方面，在第一方面的某些实现方式中，在该第三测量帧包括同步信号字段的情况下，该第二时间间隔的起始时刻与该第三测量帧的同步信号字段的结束时刻相同。
上述技术方案中，窄带信号测量帧的接收设备根据同步信号字段在完成定时同步后立即开始超宽带测量帧的接收定时，有利于避免收发设备之间时钟的偏差导致的从同步信号字段的结束时刻到帧结尾时刻这一段时间的计时的不准确。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：该第一设备根据第一跳频方式，在多个信道上向该第二设备发送该第一测量帧，该第一跳频方式用于确定该多个信道的跳频顺序或跳频方案。
上述技术方案中，单个固定频点进行双向同步，当该频点被干扰/频率选择性衰落时，则会导致无法满足时频同步误差要求，因而通过多个频点的交互，避免了上述问题。
结合第一方面，在第一方面的某些实现方式中，该第一设备向该第二设备发送第一测量帧，包括：该第一设备在第一信道上，向该第二设备发送该第一测量帧，该多个信道包括该第一信道；该方法还包括：当该第一设备在该第一信道上未接收到来自该第二设备的第三测量帧时，该第一设备在跳频至第二信道时向该第二设备发送该第一测量帧，该第三测量帧的帧结构与该第一测量帧的帧结构相同，该第二信道根据该第一跳频方式或者该信道测量顺序确定。
结合第一方面，在第一方面的某些实现方式中，该第一设备向该第二设备发送第一测量帧，包括：该第一设备在第一信道上，向该第二设备发送该第一测量帧，该多个信道包括该第一信道；该方法还包括：该第一设备在该第一信道上，接收来自该第二设备的第三测量帧，该第三测量帧的帧结构与该第一测量帧的帧结构相同。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：当该第一设备在该第一信道上接收的该第三测量帧的接收质量不符合预设条件时，该第一设备在跳频至第二信道时向该第二设备发送该第一测量帧，该第二信道根据该第一跳频方式或者根据预设的信道测量顺序确定。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：当该第一设备在该第一信道上接收的该第三测量帧的接收质量符合预设条件时，该第一设备在跳频至第二信道时不发送该第一测量帧，该第二信道根据该第一跳频方式或者根据预设的信道测量顺序确定。
上述技术方案中，根据接收窄带信号测量帧的接收质量以及是否接收到窄带信号测量帧，进而判断是否在下一信道上继续发送第一测量帧。这样，不仅能保证初始同步的准确度达到超宽带信号测量帧的初始同步要求，还避免了只由第一设备决定测量结果的不足，即在第一设备和第二设备受干扰强度不同时，双方的窄带信号测量帧的接收质量都有保证。
结合第一方面，在第一方面的某些实现方式中，该接收质量根据以下的至少一个参数确定：该第三测量帧的接收信号强度指示RSSI、信噪比SNR、信号与干扰加噪声比SINR以及同步信号或者逻辑链路标识或者接入地址的校验结果；该第一窄带信号的SNR；该第二窄带信号的RSSI、载波频率偏差CFO值。
上述技术方案中，避免了第一测量帧没有CRC校验导致的无法确定接收质量的问题。
结合第一方面，在第一方面的某些实现方式中，在该第一设备接收来自该第二设备的第三测量帧之后，该方法还包括：该第一设备根据该第三测量帧，确定该第一设备和该第二设备之间的频率偏差；该第一设备根据所确定的该频率偏差，确定第一时间间隔；在接收到该第三测量帧之后，经过该第一时间间隔，该第一设备接收来自该第二设备的该第二测量帧。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：在向该第二设备发送该第一测量帧之后，经过第二时间间隔，该第一设备向该第二设备发送该第二测量帧。
其中，上述第二时间间隔可以是第一设备和/或第二设备预设配置的时间间隔Tinterval，例如可以是超宽带系统MAC计数器清零/锁存到TX启动的时间间隔。上述第一时间间隔可以根据上述第二时间间隔和上述该第一设备和该第二设备之间的频率偏差加权得到，例如Tinterval*(1-CFO)。
上述技术方案中，通过测量窄带信号测量帧，能够得到更准确的频率同步偏差CFO，进而得到的超宽带信号测量帧(如第二测量帧)的接收时刻和接收频率更准确。进而，可以简化超宽带信号测量帧的精同步的过程，进而简化UWB模块的设计。
第二方面，本申请实施例提供一种通信方法，该方法可以由第二设备执行，或者，也可以由第二设备中的模块如芯片系统或电路执行，或者，还可以由能实现全部或部分第二设备功能的逻辑节点、逻辑模块或软件执行，本申请对此不作限定。
该方法包括：第二设备通过窄带接收来自第一设备的第一测量帧，该第一测量帧包括第一窄带信号和第二窄带信号，该第一窄带信号用于测量该第一设备和该第二设备之间的定时偏差，该第二窄带信号用于测量该第一设备和该第二设备之间的频率偏差；该第二设备通过超宽带接收来自第一设备的第二测量帧，其中，该定时偏差和该频率偏差用于确定该第二设备接收第二测量帧的时刻和频率，该第二测量帧用于通过超宽带信号测量该第一设备和该第二设备之间的距离或飞行时间。
其中，窄带也可称作窄带信号或窄带物理层或窄带模块，超宽带也可称作超宽带信号或超宽带物理层或超宽带模块。
在上述技术方案中，通过专用的第二窄带信号来测量频率偏差，而非现阶段的使用同步信号测量频率偏差，进而最终得到的频率偏差的精度更高。当设备中的NB模块初始同步的时频同步精度增加时，可以降低UWB模块进行精同步时的时频同步精度要求，进而当设计UWB模块中的接收机同步模块时，所需要设计的精同步的余量减少，同步模块的结构设计更简单。
结合第二方面，在第二方面的某些实现方式中，该第一窄带信号包括同步信号，该第二窄带信号为测量信号，该测量信号包括无调制载波信号、二进制相移键控BPSK信号，幅移键控ASK信号和多音信号中的至少一种。
可选地，二进制相移键控BPSK信号可以是无相位旋转的BPSK信号，也可以是π/2旋转的BPSK信号。
可选地，测量信号的长度是可配置的，例如配置选项有16/32/64/128/256/512/1024/2048bit等。
结合第二方面，在第二方面的某些实现方式中，该同步信号在时间上位于该测量信号之前。
结合第二方面，在第二方面的某些实现方式中，第二设备接收来自第一设备的第一测量帧，包括：该第二设备在预设的第一信道上，通过窄带接收来自该第一设备的该第一测量帧；该方法还包括：该第二设备在该第一信道上，通过窄带向该第一设备发送第三测量帧，该第三测量帧的帧结构与该第一测量帧的帧结构相同。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：该第二设备根据预设的信道测量顺序，在跳频测量的N个信道上检测来自该第一设备的该第一测量帧，该预设的信道测量顺序包含该N个信道以及该N个信道分别对应的信道号，其中N为大于0的整数。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：该第二设备根据在该N个信道上接收到来自该第一设备的至少一个第一测量帧的接收时刻，确定在该N个信道中第N个信道上接收该第一测量帧的接收时刻；该第二设备通过超宽带接收来自第一设备的第二测量帧，包括：在该第N个信道上的该第一测量帧的接收时刻之后，经过第三时间间隔，该第二设备接收来自该第一设备的该第二测量帧。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：该第二设备根据接收到的一个或者多个该第一测量帧，确定该第一设备和该第二设备之间频率偏差；该第二设备根据所确定的该频率偏差，确定该第三时间间隔。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：该第二设备根据在该N个信道上向该第一设备发送的至少一个第三测量帧的发送时刻，确定在该N个信道中第N个信道上发送该第三测量帧的发送时刻；在该第N个信道上的该第三测量帧的发送时刻之后，经过第四时间间隔，该第二设备向该第一设备发送第四测量帧，该第四测量帧用于通过超宽带信号测量该第一设备和该第二设备之间的距离或飞行时间。
其中，上述第四时间间隔可以是第一设备和/或第二设备预设配置的时间间隔Tinterval，例如可以是超宽带系统MAC计数器清零/锁存到TX启动的时间间隔。上述第三时间间隔可以根据上述第四时间间隔和上述该第一设备和该第二设备之间的频率偏差加权得到，例如Tinterval*(1-CFO)。
结合第二方面，在第二方面的某些实现方式中，在该第一测量帧包括同步信号字段的情况下，该第三时间间隔的起始时刻与该第一测量帧的同步信号字段的结束时刻相同。
结合第二方面，在第二方面的某些实现方式中，在该第三测量帧包括同步信号字段的情况下，该第四时间间隔的起始时刻与该第三测量帧的同步信号字段的结束时刻相同。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：该第二设备根据第一跳频方式，在多个信道上检测来自该第一设备的该第一测量帧，该第一跳频方式用于确定该多个信道的跳频顺序或跳频方案。
结合第二方面，在第二方面的某些实现方式中，该第二设备在多个信道上检测来自该第一设备的该第一测量帧，包括：该第二设备在第一信道上，检测来自该第一设备的该第一测量帧，该多个信道包括该第一信道；该方法还包括：当该第二设备在该第一信道上未接收到来自该第一设备的第一测量帧时，该第二设备在所述第一信道上不发送第三测量帧，该第三测量帧的帧结构与该第一测量帧的帧结构相同。
结合第二方面，在第二方面的某些实现方式中，该第二设备在多个信道上检测来自该第一设备的该第一测量帧，包括：该第二设备在第一信道上，检测来自该第一设备的该第一测量帧，该多个信道包括该第一信道；该方法还包括：该第二设备在该第一信道上，接收来自该第一设备的该第一测量帧。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：当该第二设备在该第一信道上接收的该第一测量帧的接收质量不符合预设条件时，该第二设备在所述第一信道上不发送第三测量帧，该第三测量帧的帧结构与该第一测量帧的帧结构相同。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：当该第二设备在该第一信道上接收的该第一测量帧的接收质量符合预设条件时，该第二设备在所述第一信道上向该第一设备发送第三测量帧，该第三测量帧的帧结构与该第一测量帧的帧结构相同。
结合第二方面，在第二方面的某些实现方式中，该接收质量根据以下的至少一个参数确定：该第三测量帧的接收信号强度指示RSSI、信噪比SNR、信号与干扰加噪声比SINR以及同步信号或者逻辑链路标识或者接入地址的校验结果；该第一窄带信号的SNR；该第二窄带信号的RSSI、载波频率偏差CFO值。
结合第二方面，在第二方面的某些实现方式中，在该第二设备接收来自该第一设备的第一测量帧之后，该方法还包括：该第二设备根据该第一测量帧，确定该第一设备和该第二设备之间的频率偏差；该第二设备根据所确定的该频率偏差，确定第三时间间隔；在接收到该第一测量帧之后，经过该第三时间间隔，该第二设备接收来自该第一设备的该第二测量帧。
结合第二方面，在第二方面的某些实现方式中，该方法还包括：在向该第一设备发送该第三测量帧之后，经过第四时间间隔，该第二设备向该第一设备发送该第四测量帧，该第四测量帧用于通过超宽带信号测量该第一设备和该第二设备之间的距离或飞行时间。
其中，上述第四时间间隔可以是第一设备和/或第二设备预设配置的时间间隔Tinterval，例如可以是超宽带系统MAC计数器清零/锁存到TX启动的时间间隔。上述第三时间间隔可以根据上述第四时间间隔和上述该第一设备和该第二设备之间的频率偏差加权得到，例如Tinterval*(1-CFO)。
第二方面提供的通信方法相关内容的解释及有益效果均可参考第一方面所示的通信方法，此处不再赘述。
第三方面，提供一种通信装置。该装置包括处理单元，用于：生成第一测量帧，该第一测量帧包括第一窄带信号和第二窄带信号，该第一窄带信号用于测量第一设备和第二设备之间的定时偏差，该第二窄带信号用于测量该第一设备和该第二设备之间的频率偏差；收发单元，用于：通过窄带向该第二设备发送该第一测量帧；通过超宽带向该第二设备发送第二测量帧，其中，该定时偏差和该频率偏差用于确定该第二设备接收第二测量帧的时刻和频率，该第二测量帧用于通过超宽带信号测量该第一设备和该第二设备之间的距离或飞行时间。
结合第三方面，在第三方面的某些实现方式中，该第一窄带信号包括同步信号，该第二窄带信号为测量信号，该测量信号包括无调制载波信号、二进制相移键控BPSK信号，幅移键控ASK信号和多音信号中的至少一种。
结合第三方面，在第三方面的某些实现方式中，该同步信号在时间上位于该测量信号之前。
结合第三方面，在第三方面的某些实现方式中，该收发单元具体用于：在预设的第一信道上，通过窄带向该第二设备发送该第一测量帧；该收发单元还用于：在该第一信道上，通过窄带接收来自该第二设备的第三测量帧，该第三测量帧的帧结构与该第一测量帧的帧结构相同。
结合第三方面，在第三方面的某些实现方式中，该收发单元还用于：根据预设的信道测量顺序，在跳频测量的N个信道上向该第二设备发送该第一测量帧，该预设的信道测量顺序包含该N个信道以及该N个信道分别对应的信道号，其中N为大于0的整数。
结合第三方面，在第三方面的某些实现方式中，该收发单元还用于：在该N个信道中的第N个信道上发送该第一测量帧之后，经过第一时间间隔，向该第二设备发送该第二测量帧。
结合第三方面，在第三方面的某些实现方式中，该处理单元还用于：根据在该N个信道上接收到来自该第二设备的至少一个第三测量帧的接收时刻，确定在该N个信道中第N个信道上接收该第三测量帧的接收时刻；该收发单元还用于：在该第N个信道上的该第三测量帧的接收时刻之后，经过第二时间间隔，从该第二设备接收该第四测量帧，该第四测量帧用于通过超宽带信号测量该第一设备和该第二设备之间的距离或飞行时间。
结合第三方面，在第三方面的某些实现方式中，该处理单元还用于：根据接收到的一个或者多个该第三测量帧，确定该第一设备和该第二设备之间频率偏差；根据所确定的该频率偏差，确定该第二时间间隔。
结合第三方面，在第三方面的某些实现方式中，在该第一测量帧包括同步信号字段的情况下，该第一时间间隔的起始时刻与该第一测量帧的同步信号字段的结束时刻相同。
结合第三方面，在第三方面的某些实现方式中，在该第三测量帧包括同步信号字段的情况下，该第二时间间隔的起始时刻与该第三测量帧的同步信号字段的结束时刻相同。
结合第三方面，在第三方面的某些实现方式中，该收发单元还用于：根据第一跳频方式，在多个信道上向该第二设备发送该第一测量帧，该第一跳频方式用于确定该多个信道的跳频顺序或跳频方案。
结合第三方面，在第三方面的某些实现方式中，该收发单元具体用于：在第一信道上，向该第二设备发送该第一测量帧，该多个信道包括该第一信道；该收发单元还用于：当在该第一信道上未接收到来自该第二设备的第三测量帧时，在跳频至第二信道时向该第二设备发送该第一测量帧，该第三测量帧的帧结构与该第一测量帧的帧结构相同，该第二信道根据该第一跳频方式或者该信道测量顺序确定。
结合第三方面，在第三方面的某些实现方式中，该收发单元具体用于：在第一信道上，向该第二设备发送该第一测量帧，该多个信道包括该第一信道；该收发单元还用于：在该第一信道上，接收来自该第二设备的第三测量帧，该第三测量帧的帧结构与该第一测量帧的帧结构相同。
结合第三方面，在第三方面的某些实现方式中，该收发单元还用于：在该第一信道上接收的该第三测量帧的接收质量不符合预设条件时，在跳频至第二信道时向该第二设备发送该第一测量帧，该第二信道根据该第一跳频方式或者根据预设的信道测量顺序确定。
结合第三方面，在第三方面的某些实现方式中，该收发单元还用于：当在该第一信道上接收的该第三测量帧的接收质量符合预设条件时，在跳频至第二信道时不发送该第一测量帧，该第二信道根据该第一跳频方式或者根据预设的信道测量顺序确定。
结合第三方面，在第三方面的某些实现方式中，该接收质量根据以下的至少一个参数确定：该第三测量帧的接收信号强度指示RSSI、信噪比SNR、信号与干扰加噪声比SINR以及同步信号或者逻辑链路标识或者接入地址的校验结果；该第一窄带信号的SNR；该第二窄带信号的RSSI、载波频率偏差CFO值。
结合第三方面，在第三方面的某些实现方式中，该处理单元还用于：根据该第三测量帧，确定和该第二设备之间的频率偏差；根据所确定的该频率偏差，确定第一时间间隔；该收发单元还用于：在接收到该第三测量帧之后，经过该第一时间间隔，接收来自该第二设备的该第二测量帧。
结合第三方面，在第三方面的某些实现方式中，该收发单元还用于：在向该第二设备发送该第一测量帧之后，经过第二时间间隔，向该第二设备发送该第二测量帧。
在一种实现方式中，该通信装置为设备(第一设备)。当该通信装置为设备时，收发单元可以是收发器，或，输入/输出接口；处理单元可以是至少一个处理器。可选地，收发器可以为收发电路。可选地，输入/输出接口可以为输入/输出电路。
在另一种实现方式中，该通信装置为用于设备(第一设备)中的芯片、芯片系统或电路。当该通信装置为用于设备中的芯片、芯片系统或电路时，收发单元可以是该芯片、芯片系统或电路上的输入/输出接口、接口电路、输出电路、输入电路、管脚或相关电路等；处理单元可以是至少一个处理器、处理电路或逻辑电路等。
第三方面提供的通信装置相关内容的解释及有益效果均可参考第一方面所示的通信方法，此处不再赘述。
第四方面，提供一种通信装置，该装置包括收发单元，用于：通过窄带接收来自第一设备的第一测量帧，该第一测量帧包括第一窄带信号和第二窄带信号，该第一窄带信号用于测量该第一设备和该第二设备之间的定时偏差，该第二窄带信号用于测量该第一设备和该第二设备之间的频率偏差；通过超宽带接收来自第一设备的第二测量帧，其中，该定时偏差和该频率偏差用于确定该第二设备接收第二测量帧的时刻和频率，该第二测量帧用于通过超宽带信号测量该第一设备和该第二设备之间的距离或飞行时间。
结合第四方面，在第四方面的某些实现方式中，该第一窄带信号包括同步信号，该第二窄带信号为测量信号，该测量信号包括无调制载波信号、二进制相移键控BPSK信号，幅移键控ASK信号和多音信号中的至少一种。
结合第四方面，在第四方面的某些实现方式中，该同步信号在时间上位于该测量信号之前。
结合第四方面，在第四方面的某些实现方式中，该收发单元具体用于：在预设的第一信道上，通过窄带接收来自该第一设备的该第一测量帧；该收发单元还用于：在该第一信道上，通过窄带向该第一设备发送第三测量帧，该第三测量帧的帧结构与该第一测量帧的帧结构相同。
结合第四方面，在第四方面的某些实现方式中，该收发单元还用于：根据预设的信道测量顺序，在跳频测量的N个信道上检测来自该第一设备的该第一测量帧，该预设的信道测量顺序包含该N个信道以及该N个信道分别对应的信道号，其中N为大于0的整数。
结合第四方面，在第四方面的某些实现方式中，该装置还包括处理单元，用于：根据在该N个信道上接收到来自该第一设备的至少一个第一测量帧的接收时刻，确定在该N个信道中第N个信道上接收该第一测量帧的接收时刻；该收发单元具体用于：在该第N个信道上的该第一测量帧的接收时刻之后，经过第三时间间隔，接收来自该第一设备的该第二测量帧。
结合第四方面，在第四方面的某些实现方式中，该处理单元还用于：根据接收到的一个或者多个该第一测量帧，确定该第一设备和该第二设备之间频率偏差；根据所确定的该频率偏差，确定该第三时间间隔。
结合第四方面，在第四方面的某些实现方式中，该处理单元还用于：根据在该N个信道上向该第一设备发送的至少一个第三测量帧的发送时刻，确定在该N个信道中第N个信道上发送该第三测量帧的发送时刻；该收发单元还用于：在该第N个信道上的该第三测量帧的发送时刻之后，经过第四时间间隔，向该第一设备发送第四测量帧，该第四测量帧用于通过超宽带信号测量该第一设备和该第二设备之间的距离或飞行时间。
结合第四方面，在第四方面的某些实现方式中，在该第一测量帧包括同步信号字段的情况下，该第三时间间隔的起始时刻与该第一测量帧的同步信号字段的结束时刻相同。
结合第四方面，在第四方面的某些实现方式中，在该第三测量帧包括同步信号字段的情况下，该第四时间间隔的起始时刻与该第三测量帧的同步信号字段的结束时刻相同。
结合第四方面，在第四方面的某些实现方式中，该收发单元还用于：根据第一跳频方式，在多个信道上检测来自该第一设备的该第一测量帧，该第一跳频方式用于确定该多个信道的跳频顺序或跳频方案。
结合第四方面，在第四方面的某些实现方式中，该收发单元具体用于：在第一信道上，检测来自该第一设备的该第一测量帧，该多个信道包括该第一信道；该收发单元还用于：当在该第一信道上未接收到来自该第一设备的第一测量帧时，在所述第一信道上不发送第三测量帧，该第三测量帧的帧结构与该第一测量帧的帧结构相同。
结合第四方面，在第四方面的某些实现方式中，该收发单元具体用于：在第一信道上，检测来自该第一设备的该第一测量帧，该多个信道包括该第一信道；该收发单元还用于：在该第一信道上，接收来自该第一设备的该第一测量帧。
结合第四方面，在第四方面的某些实现方式中，该收发单元还用于：当在该第一信道上接收的该第一测量帧的接收质量不符合预设条件时，在所述第一信道上不发送第三测量帧，该第三测量帧的帧结构与该第一测量帧的帧结构相同。
结合第四方面，在第四方面的某些实现方式中，该收发单元还用于：当在该第一信道上接收的该第一测量帧的接收质量符合预设条件时，在所述第一信道上向该第一设备发送第三测量帧，该第三测量帧的帧结构与该第一测量帧的帧结构相同。
结合第四方面，在第四方面的某些实现方式中，该接收质量根据以下的至少一个参数确定：该第三测量帧的接收信号强度指示RSSI、信噪比SNR、信号与干扰加噪声比SINR以及同步信号或者逻辑链路标识或者接入地址的校验结果；该第一窄带信号的SNR；该第二窄带信号的RSSI、载波频率偏差CFO值。
结合第四方面，在第四方面的某些实现方式中，该处理单元还用于：根据该第一测量帧，确定该第一设备和该第二设备之间的频率偏差；根据所确定的该频率偏差，确定第三时间间隔；该收发单元还用于：在接收到该第一测量帧之后，经过该第三时间间隔，接收来自该第一设备的该第二测量帧。
结合第四方面，在第四方面的某些实现方式中，该收发单元还用于：在向该第一设备发送该第三测量帧之后，经过第四时间间隔，向该第一设备发送该第四测量帧，该第四测量帧用于通过超宽带信号测量该第一设备和该第二设备之间的距离或飞行时间。
在一种实现方式中，该通信装置为设备(第二设备)。当该通信装置为设备时，收发单元可以是收发器，或，输入/输出接口；处理单元可以是至少一个处理器。可选地，收发器可以为收发电路。可选地，输入/输出接口可以为输入/输出电路。
在另一种实现方式中，该通信装置为用于设备(第二设备)中的芯片、芯片系统或电路。当该通信装置为用于设备中的芯片、芯片系统或电路时，收发单元可以是该芯片、芯片系统或电路上的输入/输出接口、接口电路、输出电路、输入电路、管脚或相关电路等；处理单元可以是至少一个处理器、处理电路或逻辑电路等。
第四方面提供的通信装置相关内容的解释及有益效果均可参考第二方面所示的通信方法，此处不再赘述。
第五方面，提供一种通信装置，该装置包括：存储器，用于存储程序；至少一个处理器，用于执行存储器存储的计算机程序或指令，以执行上述第一方面或第一方面的上述任意一种实现方式提供的方法，或以执行上述第二方面或第二方面的上述任意一种实现方式提供的方法。
在一种实现方式中，该通信装置为设备(如第一设备，又如第二设备)。
在另一种实现方式中，该装置为用于设备(如第一设备，又如第二设备)中的芯片、芯片系统或电路。
第六方面，本申请提供一种处理器，用于执行上述各方面提供的方法。
对于处理器所涉及的发送和获取/接收等操作，如果没有特殊说明，或者，如果未与其在相关描述中的实际作用或者内在逻辑相抵触，则可以理解为处理器输出和接收、输入等操作，也可以理解为由射频电路和天线所进行的发送和接收操作，本申请对此不做限定。
第七方面，提供一种计算机可读存储介质，该计算机可读介质存储用于设备执行的程序代码，该程序代码包括用于执行上述第一方面或第一方面的上述任意一种实现方式提供的方法的指令，或包括用于执行上述第二方面或第二方面的上述任意一种实现方式提供的方法的指令。
第八方面，提供一种包含指令的计算机程序产品，当该计算机程序产品在计算机上运行时，使得计算机执行上述第一方面或第一方面的上述任意一种实现方式提供的方法，或使得计算机执行上述第二方面或第二方面的上述任意一种实现方式提供的方法。
第九方面，提供一种芯片系统，芯片系统包括处理器与通信接口，处理器通过通信接口读取存储器上存储的指令，执行上述第一方面或第一方面的上述任意一种实现方式提供的方法，或执行上述第二方面或第二方面的上述任意一种实现方式提供的方法。
可选地，作为一种实现方式，芯片系统还包括存储器，存储器中存储有计算机程序或指令，处理器用于执行存储器上存储的计算机程序或指令，当计算机程序或指令被执行时，处理器用于执行上述第一方面或第一方面的上述任意一种实现方式提供的方法，或执行上述第二方面或第二方面的上述任意一种实现方式提供的方法。
第十方面，提供一种通信系统，包括如上文的至少一个第三方面所述的通信装置以及至少一个第四方面所述的通知装置。
关于第五方面至第十方面的有益效果的描述可以参见第一方面至第二方面的描述。
附图说明
图1是本申请实施例提供的一种通信系统的示意图。
图2是本申请实施例提供的又一种通信系统的示意图。
图3是本申请实施例提供的一种设备间信号交互的示意图。
图4是本申请实施例提供的一种窄带信号和超宽带信号交互的示意图。
图5是本申请实施例提供的一种第一测量帧和第二测量帧的时域示意图。
图6是本申请实施例提供的一种窄带信号测量帧的帧结构示意图。
图7是本申请实施例提供的一种窄带信号测量帧辅助超宽带信号测量帧交互的示意图。
图8是本申请实施例提供的一种多频点双向交互窄带信号测量帧的示意图。
图9是本申请实施例提供的又一种多频点双向交互窄带信号测量帧的示意图。
图10是本申请实施例提供的一种双向交互停止的示意性流程图。
图11是本申请实施例提供的又一种多频点双向交互窄带信号测量帧的示意图。
图12是本申请实施例提供的又一种双向交互停止的示意性流程图。
图13是本申请实施例提供的一种通信装置的示意性结构框图。
图14是本申请实施例提供的另一通信装置的示意性结构框图。
图15是本申请实施例提供的另一通信装置的示意性结构框图。
图16是本申请实施例提供的一种芯片系统的示意图。
具体实施方式
下面将结合附图，对本申请中的技术方案进行描述。
本申请的说明书、权利要求书及附图中的术语“第一”和“第二”等是用于区别不同对象，而不是用于描述特定顺序。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，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，各个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。
需要说明的是，本申请实施例中采用诸如“a1、a2、……和an中的至少一项(或至少一个)”等的描述方式，包括了a1、a2、……和an中任意一个单独存在的情况，也包括了a1、a2、……和an中任意多个的任意组合情况，每种情况可以单独存在。例如，“a、b和c中的至少一项”的描述方式，包括了单独a、单独b、单独c、a和b组合、a和c组合、b和c组合，或abc三者组合的情况。
应当理解，在本申请中，“至少一个(项)”是指一个或者多个，“多个”是指两个或两个以上，“至少两个(项)”是指两个或三个及三个以上，“和/或”，用于描述关联对象的关联关系，表示可以存在三种关系，例如，“A和/或B”可以表示：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。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达，是指这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b或c中的至少一项(个)，可以表示：a，b，c，“a和b”，“a和c”，“b和c”，或“a和b和c”，其中a，b，c可以是单个，也可以是多个。
首先结合图1和图2，对本申请实施例适用的通信系统和网络架构进行介绍。
本申请提供的方法可以应用于各类通信系统，例如，可以是物联网(internet of things，IoT)系统、窄带物联网(narrow band internet of things，NB-IoT)系统、长期演进(long term evolution，LTE)系统、短距无线通信网络系统，短距无线通信网络系统例如星闪(SparkLink)通信网络系统(包含星闪的基础版本(sparklink basic，SLB)、低功耗版本(sparklink low energy，SLE)和定位版本(sparklink positioning，SLP)、低功耗蓝牙(bluetooth low energy，BLE)，也可以是第五代(5th-generation，5G)通信系统，以及未来通信发展中出现的新的通信系统(如6G)等。其中，星闪的SLB又可以称为“无线短距通信车载空口技术要求和测试方法”，星闪的SLE又可以称为“星闪无线通信系统接入层低功耗空口技术要求和测试方法”。
本申请提供的技术方案还可以应用于机器类通信(machine type communication，MTC)、机器间通信长期演进技术(long term evolution-machine，LTE-M)、设备到设备(device-to-device，D2D)网络、机器到机器(machine to machine，M2M)网络、物联网(internet of things，IoT)网络或者其他网络。其中，IoT网络例如可以包括车联网。其中，车联网系统中的通信方式统称为车与任何事物(vehicle-to-everything，V2X，X可以代表任何事物)，例如，该V2X可以包括：车辆到车辆(vehicle to vehicle，V2V)通信，车辆与基础设施(vehicle to infrastructure，V2I)通信、车辆与行人之间的通信(vehicle to pedestrian，V2P)或车辆与网络(vehicle to network，V2N)通信等。
在上述各类通信系统中，具备通信能力的设备可以称为节点，也可以称为通信节点。例如，节点可以包括手持终端、车辆、车载设备、或网络侧设备、用户设备、接入终端、用户单元、用户站、移动站、移动台、远方站、远程终端、无线通信设备、用户代理或用户装置等独立设备，也可以是包含在独立设备中的部件(例如芯片或集成电路)。节点可以为任一可能的智能终端设备(如手机)、智能运输设备(如车辆、无人机等)、智能制造设备、智能家居设备(例如大屏、音箱等)等。
本申请实施例中的节点可以应用于多种应用场景中，例如以下应用场景：移动互联网(mobile internet，MI)、工业控制(industrial control)、无人驾驶(self driving)、运输安全(transportation safety)、物联网(internet of things，IoT)、智慧城市(smart city)、或智慧家庭(smart home)等。在某些应用场景、或某些网络类型中，具备类似通信能力的设备的名称也可能不称为节点，也可以被称为设备，本申请对此不作限制。
示例性的，下文示出的图1和图2中，节点与节点之间便可以通过D2D技术、M2M技术或V2X技术通信等。
图1为本申请实施例提供的一种可能的通信系统的架构示意图。如图1所示，该通信系统可以包括至少一个第一节点(例如网络设备)以及至少一个第二节点(例如终端设备)。在本文中，第一节点也可以被称为第一设备，第二节点也可以被称为第二设备，在本文中对此不做区分。对于第一节点和第二节点的介绍分别如下所示：
示例性的，第一节点可以是主设备，具体可以是下一代节点B(next generation node B，gNB)、下一代演进型基站(next generation evolved nodeB，ng-eNB)、短距无线通信网络系统中的节点(例如，星闪通信网络系统中的主节点或管理节点或G节点)、或者未来通信网络(如6G)中的接入网设备等。主设备可以是任意一种具有无线收发功能的设备。该主设备可以为无线局域网(wireless fidelity，WiFi)系统中的接入节点、无线中继节点、无线回传节点等。该主设备可以是云无线接入网络(cloud radio access network，CRAN)场景下的无线控制器。该主设备可以是可穿戴设备或车载设备等。该主设备还可以是小站，传输接收节点(transmission reception point，TRP)(或也可以称为传输点)等。
示例性的，第二节点可以是终端设备，该终端设备也可称为用户设备(user equipment，UE)、终端等。终端设备是一种具有无线收发功能的设备，可以部署在陆地上，包括室内或室外、手持、穿戴或车载；也可以部署在水面上，如轮船上等；还可以部署在空中，例如部署在飞机、气球或卫星上等。终端设备可以是手机(mobile phone)、平板电脑(Pad)、带无线收发功能的电脑、虚拟现实(virtual reality，VR)终端设备、增强现实(augmented reality，AR)终端设备、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)中的无线终端等等。可理解，该终端设备还可以是短距无线通信网络系统中的节点(例如，星闪通信网络系统中的从节点或终端节点或T节点)、未来通信网络(如6G)中的终端设备、或者未来演进的PLMN中的终端设备等。
可理解，本申请示出的终端设备不仅可以包括车联网中的车(如整车)、而且还可以包括车联网中的车载设备或车载终端等，本申请对于该终端设备应用于车联网时的具体形态不作限定。
应理解，图1示例性地示出了一个第一节点(如图1所示的网络设备)和六个第二节点(如图1所示的终端设备)，以及各节点之间的通信链路。可选地，该通信系统还可以包括多个第一节点，并且每个第一节点的覆盖范围内可以包括其它数量的第二节点，例如更多或更少的终端设备等，本申请对此不做限定。
可选的，上述各个通信设备之间的通信链路，可以包括各种类型的连接介质，包括有线链路(例如光纤)、无线链路、或者有线链路和无线链路的组合等。例如可以为近距离无线连接技术包括星闪(SparkLink)、802.11b/g、蓝牙(blue tooth)、蓝牙低功耗(bluetooth low energy，BLE)、紫蜂(Zigbee)、无线射频识别技术(radio frequency identification，RFID)、超宽带(ultra-wideband，UWB)技术、冲激无线电(impulse radio,IR)超宽带(IR-UWB)或无线短距通信系统(例如车载无线短距通信系统)等。
上述各个通信设备，如图1中的第一节点、第二节点1至第二节点6，可以配置多个天线。该多个天线可以包括至少一个用于发送信号的发射天线和至少一个用于接收信号的接收天线等，本申请实施例对于各个通信设备的具体结构不作限定。可选地，该通信系统还可以包括网络控制器、移动管理实体等其他网络实体，本申请实施例不限于此。
可理解，图1所示的通信架构示意图仅为示例，对于其他形式的通信架构示意图可以参考相关标准或协议等，这里不再一一详述。
随着无线通信技术的不断发展，越来越多的支持无线通信的设备正在逐步进入人们的生活中，例如，智能运输设备、智能家居设备、机器人等智能设备。基于无线通信技术，可以实现对通信域内的各个智能设备的无线测距与定位，例如，应用于室内智能设备的测距与定位、智能车无钥匙进入与启动等场景。
在智能设备所在的无线通信场景中，在一定通信区域或范围内可以包括一个或多个通信域。该通信域是指一组具有通信关系的通信节点，以及通信节点之间的通信连接关系(即通信链路)组成的系统。一个通信域包括一个主节点和至少一个从节点，主从节点间、或主节点与主节点间、或从节点与从节点间可以互相通信。其中，主节点可以管理从节点，可以管理通信域的时频资源，并具有为通信域中的通信节点间的通信、定位、测量或感知等调度资源的功能；从节点听从主节点的调度，使用主节点分配的资源与主节点、和/或与其他节点进行通信。
具体地，主节点可以是星闪基础标准(sparklink basic，SLB)或星闪低功耗标准(sparklink low energy，SLE)中的管理节点或G节点，也可以是蓝牙低功耗标准(bluetooth low energy，BLE)中的主设备(master)，还可以是Wi-Fi标准中的接入点(access point，AP)，本申请对此不作限制。
具体地，从节点可以是星闪基础标准(sparklink basic，SLB)或星闪低功耗标准(sparklink low energy，SLE)中的终端节点或T节点，也可以是蓝牙低功耗标准(bluetooth low energy，BLE)中的从设备(slave)，还可以是Wi-Fi标准中的站点(station，STA)，本申请对此不作限制。
图2为本申请实施例提供的一种可能的通信系统的架构示意图。
图2所示的通信系统为星闪技术下(SLB和/或SLE)的智能座舱无线通信系统。智能座舱内存在多个通信域，每个通信域包含一个主节点(也称为管理节点或G节点)和至少一个从节点(也称为终端节点或T节点)。其中，主节点调度从节点，实现节点间的通信和数据传输。例如，在一个G节点使用的一个载波(如SLB带宽约20MHz的信道)或一个信道(如SLE带宽为1MHz/2MHz/4MHz的信道)上，G节点可以调度时频资源用于T节点/G节点的无线测量信号传输，实现对T节点/G节点的测距定位。其中，信道也可称为频点。
如图2所示，在无钥匙进入与启动(passive entry passive start，PEPS)场景的通信域中，主节点为车载定位系统中的一个定位锚点，从节点为车钥匙或手机，通过主节点(车载定位系统)对从节点(车钥匙或手机)的定位，可以控制自动锁定或解锁车门。进而，在PEPS应用场景中，用户无需使用钥匙手动锁定或解锁车门，而是可以通过车载定位系统对用户携带的车钥匙或手机等设备的定位，实现自动锁定或解锁车门。类似的，在室内定位导航应用场景中，也存在多个用于定位的锚点的室内定位导航系统，对多个用户的手机或可穿戴设备等进行定位。
在图2所示的车载定位场景中，通信域包括了车辆上部署的多个测量节点(measuringnode，也可以称为锚点、位置锚点、定位锚点/节点、信标beacon等)和车外部署的一个被测量节点(measured node，也可以称为被定位节点、标签/位置标签等)。其中，测量节点包括但不限于图中所示的部署在车辆的各个部位的测量节点，如车外的四个车角和车周身，车内的中控台/后视镜/车顶，车内的显示屏、麦克风、扬声器、摄像头等车载无线通信设备也可复用作测量节点，用于对车钥匙或手机等车外设备的定位。被测量节点包括节点A，其可以是具有定位功能的车钥匙，也可以是具有定位功能的手机或可穿戴设备，用于解锁或锁定车辆。在图2中，G节点可以由车钥匙/手机担任，车上的所有测量节点为T节点；或者，G节点由车上的任意一个测量节点担任，此时车上的所有其它测量节点、以及车钥匙/手机都是T节点。G节点可以调度时频资源用于T节点的通信，实现对T节点(被测量节点、车钥匙/手机)的测距定位。测量节点与被测量节点可以执行测距、测角、测速或感知等各类测量。
本领域技术人员应当理解，图2所示的应用场景仅是本申请的方案可以适用的其中一个示例性场景。除了图2所示的应用场景之外，本申请的方案还可以适用于其它任何合适的应用场景，例如但不局限于家居、办公、展厅、生产等场景。
应理解，本申请可用于车载无线定位场景(例如PEPS)、室内测距定位/导航场景，也可以用于其它广域无线通信或局域无线通信场景，本申请对此不作限制。此外，下文示出的各个实施例不仅可以应用于如图1和图2所示的通信系统，还可以用于其他形式的通信系统，对此，下文不再赘述。
下面结合附图介绍本申请涉及的术语。
1、测距
测距是通过至少两个节点之间或者说至少两个设备之间互相发送测距无线信号，实现相互之间距离的测量。例如，主节点与从节点之间互相发送测距无线信号，实现主节点与从节点之间的距离的测量。再例如，主节点与从节点#1之间互相发送测距无线信号，实现主节点与从节点#1之间的距离的测量；主节点与从节点#2之间互相发送测距无线信号，实现主节点与从节点#2之间的距离的测量；从节点#1与从节点#2之间互相发送测距无线信号，实现从节点#1与从节点#2之间的距离的测量。
超宽带(ultra wideband，UWB)技术是一种无线载波通信技术，其通过发送与接收具有纳秒或者微秒级以下的极窄脉冲或者正交频分复用(orthogonal frequency-division multiplexing，OFDM)信号来实现数据传输或测量。UWB技术所占的频谱范围很宽，发送或者接收的无线信号的带宽超过了500MHz，因而具备较高的测距分辨率和测距准确度。例如在视距场景下，超宽带测量信号具备厘米级的测距准确度。高测距准确度还能精准测量到目标对应的径，因而得到高准确度的测角。因而，现阶段，超宽带技术中的无线信号可以作为测量信号进行测距、测角、感知和定位等，例如基于测量脉冲的飞行时间(time of flight，TOF)来进行精确测距。
可选地，测距过程具体可以是单向信号测量(或称为单边信号测量(one way ranging，OWR))，例如主节点接收并测量从节点发送的第一测距信号，或者从节点接收并测量主节点发送的第二测距信号。可选地，测距过程具体可以是双向信号测量(或称为双边信号测量(two way ranging，TWR))，即从节点接收并测量主节点发送的第一测距信号，并且主节点接收并测量从节点发送的第二测距信号。双向信号测量可以消除跳频所引入的主节点和从节点的定时偏差、随机初相等问题，使得各个频段和/或信道的测距信号能够在频域相干合并，以合并后的大带宽测量提高测距的分辨率，进而可以提升测距的准确度。为了便于描述，下文将以双向信号测量为例介绍实施例，单向信号测量的过程可以参考双向信号测量的过程的描述。
可以理解的是，在本申请实施例中，实现测距、定位、测角、感知等具有类似的步骤，因而可以将“测距”替代为“定位”、“测角”、“感知”等。
2、跳频
跳频是指节点或者设备通过改变射频通道中心频率(例如改变本振信号的载频)或者通过数字方式改变生成的发送信号的中心频率，实现切换发送信号的中心频率。例如，跳频可以是指基于正交频分复用(OFDM)信号的跳频，也可以是指SLE/BLE基于单载波信号或多音信号的跳频。OFDM跳频的定义为，OFDM符号的直流子载波从一个载波信道的中心频点切换到另一个载波信道的中心频点。对于单个载波的跳频切换，指的是直流子载波从一个载波信道切换至另一个载波信道；对于多个载波的跳频切换，指的是多个载波对应的载波信道组，切换至另一个载波信道组。例如，主节点和从节点原来工作在载波信道组1～4上，跳频后切换至载波信道组5～8。载波信道组1～4称为初始载波信道组或初始信道组，载波信道组5～8称为跳频载波信道组或跳频信道组。
在本申请中，为了描述方便，将载波信道简称为信道，“信道”与“载波信道”术语可互换，在本文中，“信道”也可以称为“测量信道”或“频点”。本申请实施例中的跳频，可以是射频跳频，也可以是数字跳频，或者基于锁相环电路的跳频，不做限制。
在本申请的测距场景中，跳频可以是指设备用于测距(即发送和/或接收测距信号)的信道从一种信道切换到另一种信道上，切换前后的信道对应不同的载波频率。例如，第一设备和第二设备从至少一个第一信道切换到至少一个第二信道上，其中至少一个第一信道和至少一个第二信道对应的载波频率不同。
示例性地，若跳频次数为1次，则第一设备和第二设备直接从至少一个第一信道切换到至少一个第二信道；若跳频次数多于1次，则第一设备和第二设备从至少一个第一信道开始，经过多次信道切换，才切换到至少一个第二信道，例如，第一设备和第二设备先从至少一个第一信道切换到至少一个第三信道，再从至少一个第三信道切换到至少一个第二信道。
第一设备和第二设备可以依据相同的跳频参数执行跳频，使得第一设备和第二设备可以同步跳频，例如第一设备从至少一个第一信道切换到至少一个第二信道时，第二设备也从至少一个第一信道切换到至少一个第二信道。在本申请中，不同节点或者设备的跳频方式可以相同(例如均为射频跳频或数字跳频)，也可以不同(例如第一设备的跳频方式为射频跳频，第二设备的跳频方式为数字跳频)，本申请不做限制。
在上述方案中，第一设备和第二设备之间执行至少一次跳频，可以同步地按预设顺序在不同信道上执行多次信号测量，进而实现合并出多信道的大带宽信号测量的技术效果(信号测量的带宽为至少一个第一信道和至少一个第二信道的总带宽)，综合所有信号测量过程获得的测量量确定第一设备和第二设备的距离，可以提高测距分辨率和测距准确度。
可选地，第一设备和第二设备之间可以按照设定的跳频方式如跳频地图(也称作跳频图样、跳频图案或者跳频模式)指示的跳频顺序或者跳频方案执行跳频。通过设置跳频地图，可以保证第一设备和第二设备按照相同的跳频顺序执行跳频，以保证测距过程中双方同步跳频。例如，跳频图案中可以包含顺序排列的多个信道编号信息，基于该多个信道编号信息的排列顺序，可以指示第一设备和第二设备的跳频顺序。表1示出了本申请实施例提供的一种跳频图案和信道编号信息的示意。
表1

示例性地，参考表1，为20MHz载波的信道号与对应的载波中心频率。跳频图案可以为[41，125，209，…，791，…]，则第一设备和第二设备的跳频顺序为[信道41、信道125、信道209、…、信道791、…]。再示例性地，以星闪SLE的测量为例，SLE采用1MHz/2MHz/4MHz窄带信号，在载波信号频率范围2402～2480MHz之间的信道上进行跳频测量。可选地，跳频顺序也可以是随机顺序，例如[信道41、信道1、信道9、信道55……]。
可选地，第一设备和第二设备之间可以按照预先指定的测量信道个数或者事先指定的信道号执行跳频。例如，本申请的实施例可以从表1所示的跳频地图中选择前N个信道作为执行跳频的信道。这样，可以有效减少跳频测量的时长。
可选的，当跳频是多载波切换(即信道组切换)时，跳频地图中可以指示各个信道组中处于预设位置的信道的信道编号信息，比如每个信道组中频率最低或频率最高的信道的信道编号信息。例如，第一设备和第二设备的跳频顺序为：[信道组1(包括三个信道，信道号分别为a、b、c)，信道组2(包括三个信道，信道号分别为d、e、f)，信道组3(包括三个信道，信道号分别为g、h、i)]，则跳频图案可以表示为[信道号a，信道号d，信道号g]。如此，可以减少传输跳频图案所需的信息量，节省系统资源。仍以表1为例，单个信道组对应80MHz带宽的载波，若跳频图案指示的初始工作信道的信道号为41，则下一跳的工作信道对应的最小信道号为291。
在本申请的测距场景中，第一设备和第二设备在一种信道上执行双向信号测量的操作视为一次信号测量过程，在不同信道上执行信号测量的操作视为不同的信号测量过程。计算设备可以综合双向信号测量获得的测量量，计算第一设备和第二设备之间的距离，例如，在图2所示的场景中，车钥匙相对于车的距离。其中，计算设备可以是第一设备，也可以是第二设备，还可以是其它设备，本申请不做限制。一种可能的设计中，计算设备可以是第一设备和第二设备中的发起者，相应的，若响应者有接收并测量测距信号，则响应者需要将信号测量获得的测量量反馈给发起者。
另外，在实际应用中，与同一设备进行测距交互(也称作测量交互)设备的数量不限于是1个(例如还存在第三设备与第一设备进行测距交互)。例如，在图2所示的场景中，同时可以有多个定位站与车钥匙进行交互，以测量每个定位站相对于车钥匙的距离，进而可以根据车钥匙相对于各个定位站的距离确定车钥匙的相对于车的位置。当有多个设备同时与第一设备进行测距交互时，每个设备与第一设备的交互流程可以参考上述第一设备和第二设备的交互流程，此处不再赘述。
3、初始同步
根据上文对于测距描述的过程可得，超宽带UWB技术中的UWB信号可以用于设备间的测距。但是，由于UWB技术通过发送与接收具有纳秒或微秒级以下的极窄脉冲来精准测距，UWB信号在发送设备与接收设备的时频同步至关重要，因此其对发送设备与接收设备的时频同步提出了很高的要求。
现阶段，可以通过由窄带(narrowband，NB)信号提供初始的时频同步信息辅助UWB信号的时频同步，也即初始同步(也可以被称为粗同步)。具体地，第一设备和第二设备之间根据NB信号的时频同步信息获得UWB信号的时频同步信息。也即，第一设备和第二设备之间在NB信号提供的时频同步信息的基础上获得更为精准的UWB信号的时频同步信息。
应理解，NB信号可以理解为带宽小于或等于第一阈值的信号，UWB信号可以理解为带宽大于或等于第二阈值的信号，第二阈值大于第一阈值。本申请对于NB信号和UWB信号的具体形式不作任何限定。例如，对NB信号的频点、带宽、帧格式以及调制方式等均不作限定。示例性地，NB信号可以为SLE、BLE、zigbee/蓝牙信号、在2.4GHz的工业科学医疗(industrial scientific medical，ISM)频段中的频点、使用1MHz或2MHz或4MHz的带宽，或者采用O-QPSK的调制方式等。
下面结合图3至图5介绍本申请实施例提供的窄带信号初始同步的过程。
单个设备的NB信号、UWB信号可以是相同无线模块产生，也可以是不同的无线模块产生。以通信系统中包括至少一个第一设备(也可以被称为第一节点)和至少一个第二设备(也可以被称为第二节点)且NB信号和UWB信号由不同模块生成为例，图3示出了本申请实施例提供的第一设备和第二设备间信号交互的系统框图。
如图3所示，第一设备和第二设备可以包括逻辑上或者实体的UWB模块和NB模块。其中，UWB模块中可以包括UWB物理层(physicallayer，PHY)以及可选的UWB媒体访问控制(medium access control，MAC)层，NB模块可以包括NB PHY层和NB MAC层。第一设备和第二设备中的NB模块之间可以通过空口实现NB信号或者包含NB信号的测量帧的交互，以实现UWB信号的初始同步或者协助UWB模块完成部分/全部控制信息、安全认证信息和测量信息的传输，从而降低UWB模块的功耗。第一设备和第二设备中的UWB模块之间可以通过空口实现UWB信号或者包含UWB信号的测量帧的交互，以进行连接建立、安全认证、控制管理、数据传输、测量交互等。
在本申请的实施例中，NB模块可以是星闪无线通信SLE/SLB、蓝牙低功耗(BLE)、紫蜂(Zigbee)、WiFi等模块中的至少一个，而UWB模块则可以是各类UWB技术，例如SLP、冲激响应UWB(impulse radio ultra wideband，IR-UWB)或直接序列扩频超宽带(direct sequence spread ultra-wideband，DS-UWB)。换句话说，本申请的实施例可以应用于星闪SLB、低功耗蓝牙BLE、Wi-Fi、基于OFDM的其它系统、UWB系统等。
应理解，图3仅以通信系统包括一个第一设备和一个第二设备作为示例进行说明，但图3所示的通信系统不限于包括更多的其它设备，例如，还可以包括更多的接收NB信号和UWB信号的设备。
应理解，NB模块和UWB模块可以是逻辑模块，也可以是实体模块。在本申请的另一些实施例中，NB模块和UWB模块也可以分别集成在相同或者不同的芯片系统中，例如NB模块被集成在蓝牙芯片中，UWB模块被集成于UWB芯片中，而蓝牙芯片和UWB芯片也可以封装于一个芯片中。
图4示出了本申请实施例提供的第一设备和第二设备之间的NB信号和UWB信号交互的示意图。
为了便于描述，下文将第一设备和第二设备间交互的包含NB信号的测量帧称为“第一测量帧”和“第三测量帧”，将交互的包含UWB信号的测量帧称为“第二测量帧”和“第四测量帧”。其中，第一设备通过窄带向第二设备发送第一测量帧以及通过超宽带向第二设备发送第二测量帧，第二设备通过窄带向第一设备发送第三测量帧以及通过超宽带向第一设备发送第四测量帧。在本申请的另一些实施例中，第一设备或者第二设备也可以通过相同的模块进行图4所示各测量帧的发送或者接收。
应理解，在本申请的实施例中，第三测量帧的帧结构与第一测量帧的帧结构相同，并且第三测量帧的长度与第一测量帧的长度相同。可选地，第四测量帧的帧结构和长度也可以与第二测量帧的帧结构和长度相同。当采用相同的逻辑链路标识生成相同的同步信号字段时，第一测量帧与第三测量帧相同。
此外，本申请对于帧的命名不做限定。例如，第一设备和第二设备为星闪设备时，星闪设备的NB模块为SLE模块，UWB模块为SLP模块，此时第一测量帧可以被称为SLE帧，第二测量帧可以被称为SLP帧。其中，SLE帧也可称为测量帧类型4，SLP帧也可称为超宽带脉冲测量帧。
如图4所示，第一设备的NB模块和第二设备的NB模块之间先进行初始同步。具体地，第一设备的NB模块先向第二设备的NB模块发送第一测量帧，第二设备的NB模块在接收到第一测量帧之后，测量得到时间同步信息(定时偏差)和频率同步信息(频率偏差)，并将该时频同步偏差发送至UWB模块。第二设备的UWB模块根据接收的时频同步偏差，配置或者确定接收第二测量帧的接收时刻和接收频率，或者说，确定何时预期接收来自第一设备发送的第二测量帧以及该第二测量帧中的UWB信号具有多少时频偏差。此外，在第一设备的NB模块发送第一测量帧之后，可以经过一定配置或预设的时间间隔(Tinterval)，其UWB模块可以向第二设备的UWB模块发送第二测量帧。第二设备将配置或预设的时间间隔(Tinterval)，经过接收第一测量帧所测量到的CFO2进行时钟计时调整，例如将Tinterval变为Tinterval×(1-CFO2)，以进行接收端的定时同步。
同理，第二设备的NB模块再向第一设备的NB模块发送第三测量帧，第一设备的NB模块在接收到第三测量帧之后，测量得到时间同步信息(定时偏差)和频率同步信息(频率偏差)，并将该时频同步偏差发送至UWB模块。第一设备的UWB模块根据接收的时频同步偏差，配置或者确定接收第四测量帧的接收时刻和接收频率，或者说，确定何时预期接收来自第二设备发送的第四测量帧以及该第二测量帧中的UWB信号具有多少时频偏差。进而，完成第一设备和第二设备之间的初始同步。此外，在第二设备的NB模块发送第三测量帧之后，可以经过配置或预设一定的发送时间间隔(Tinterval)，其UWB模块可以向第一设备的UWB模块发送第四测量帧。第一设备将配置或预设的时间间隔(Tinterval)，经过接收第三测量帧所测量到的CFO1进行时钟计时调整，例如将Tinterval变为Tinterval×(1-CFO2)，以进行接收端的定时同步。
下文将结合实施例具体介绍如何根据时频同步偏差确定接收超宽带信号测量帧的接收时刻和接收频率，本文在此不做赘述。
图5示出了本申请实施例提供的第一测量帧和第二测量帧的示意图。第三测量帧和第四测量帧可以参照图5。在图5所示的场景中，第一测量帧可以是SLE帧，第二测量帧可以是SLP帧。
第一测量帧中可以包括NB信号并提供初始的时频同步信息，以辅助第二测量帧进行测距。此外，第一测量帧还可以承载第二测量帧的配置信息。如图5所示，第二测量帧可以由SYNC字段和信道冲激响应训练序列(channel impulse response training sequence，CTS)字段组成。SYNC字段用来完成UWB信号的进一步精确的时频同步(也可以称为精同步)，也即根据NB信号的时频同步来完成UWB信号的时频同步。CTS则用来进行信道冲激响应(channel impulse response，CIR)的计算并完成测距。第一测量帧和第二测量帧发送之间可以存在一定的时间间隔(Tinterval)。其中，SYNC字段也称为同步字段，信道冲激响应训练序列(channel impulse response training sequence，CTS)字段也称为测量字段。
其中，该时间间隔(Tinterval)可以是预先配置的、与第一设备的切换能力、模组之间交互能力等相关联的值，例如可以是10μs。可选地，不同设备设置的时间间隔可以相同，也可以不同，例如第三测量帧和第四测量帧之间的时间间隔的值可以和图5所示的时间间隔(Tinterval)的值不同。
示例性地，Tinterval可以是超宽带系统MAC计数器清零/锁存到TX启动的时间间隔，其单位为chip。其中，chip表示超宽带的一个脉冲时长。其参数可以如下所示：
Tinterval最大值Tmax：可以要求Tinterval最大值不超过N1 ms(例如10ms)；
Tinterval最小值Tmin：考虑到时间同步模块和时隙调度模块的软件运行速度，Tinterval可以不小于1000RSTU(共833us)，即416000chips。其中，Tmin会根据实测进行调整，该参数需要设置为可配置，具体时间由第一设备或第二设备预先配置决定，例如，通过超宽带脉冲测量配置消息/信元进行配置。
根据上文所说，由于UWB信号在发送设备与接收设备的同步至关重要，因此其对发送设备与接收设备的时频同步提出了很高的要求，例如UWB信号的定时同步要求要小于1ns。现阶段，需要设计复杂的UWB模块的接收机同步模块，以达到上述较高的同步要求。
并且，在上述窄带信号测量帧用于超宽带信号测量帧的初始同步的方案中，需要提供以下精度的定时/频率同步：如定时精度要求±X ns和残留频偏精度要求±Y ppm。但是，在现有的测量帧类型中，测量帧通过同步信号既进行时间同步又进行频率同步(如已有的测量帧类型1和测量帧类型3)，或者，测量帧中仅含有可用于频率同步的测量信号而不包括用于时间同步的信号(如已有的测量帧类型2)，也即不能同时满足初始同步的定时偏差和残留频偏的要求。
通过同步信号字段测到的频率偏差的残留频偏大于Yppm，原因在于：同步信号字段可以基于逻辑链路标识(SLE)或者接入地址(Access Address)生成。例如，SLE中的同步信号字段(同步信号1)，基于24位逻辑链路标识，经过BCH编码和m序列加扰后，产生32比特，再经过GFSK调制后生成由32个符号构成的同步信号。同步信号的生成过程采用了m序列加扰来保证同步信号具有一定的白化特性，但并不能保证同步信号一定具有较好的相关特性，即不能保证同步信号具备优良的频偏估计准确度和优良的同步特性。经过实测，同步信号的残留频偏误差较大，无法满足超宽带接收机输入的残留频偏误差要求，无法满足超宽带接收机简化的设计要求，例如在残留频偏误差过大时，超宽带频偏估计所使用的相关器设计将过于复杂，且频偏估计耗时过大。
因而，现阶段的初始同步得到的时频偏差的精度有限，使得UWB模块需要进行精度要求更高的时频同步过程，即定时同步的时间窗和频率同步的频率窗都要加大搜索范围，进而UWB模块的接收机同步模块的设计更加复杂。从而，造成设备的设计成本增加、同步的搜索时长较长和同步效率较低等问题。
为了解决上述问题，本申请实施例示出了一种用于初始同步的窄带信号测量帧(如上文中的第一测量帧和第三测量帧)的帧结构。其中，该窄带信号测量帧中包括第一窄带信号和第二窄带信号。该第一窄带信号用于测量第一设备和第二设备之间的定时偏差，例如可以包括上述同步信号。该第二窄带信号用于测量第一设备和第二设备之间的频率偏差，例如可以包括未调制的载波信号(也称为单音信号/单频正弦波信号)、有相位旋转的二进制相移键控BPSK(π/2-BPSK)或无相位旋转BPSK信号，幅移键控ASK信号和多音信号中的至少一种测量信号。可选地，该第一窄带信号也可以测量第一设备和第二设备之间的频率偏差，但是其测量得到的频率偏差估计的精度低于第二窄带信号。如图4所示，通过测量上述窄带信号测量帧得到的定时偏差和频率偏差，可以用于确定第一设备和第二设备之间的超宽带信号测量帧的接收时间和接收频率，进而测量第一设备和第二设备之间的距离或飞行时间。
为了便于描述，对于本申请实施例示出的窄带信号测量帧，也可以定义为测量帧类型4。在上述窄带信号测量帧的帧结构中，通过专用的第二窄带信号来测量频率偏差，而非现阶段的使用同步信号测量频率偏差，进而最终得到的频率偏差的精度更高。当设备中的NB模块初始同步的时频同步精度增加时，可以降低UWB模块进行精同步时的时频同步精度要求，进而当设计UWB模块中的接收机同步模块时，所需要设计的精同步的余量减少，同步模块的结构设计更简单。
图6示出了本申请实施例提供的一种窄带信号测量帧的示意性结构图。其中，如图6所示，窄带信号测量帧可以包括时间同步帧和频偏估计帧，其中时间同步帧可以用于时间同步或者说包括用于时间同步的第一窄带信号，频偏估计帧可以用于频偏估计或者说包括用于频率同步的第二窄带信号。可选地，时间同步帧和频偏估计帧之间可以包括切换间隔。值得注意的是，时间同步帧和频偏估计帧仅为命名上的示意，本申请对于帧结构中各部分的命名不做限定。
示例性地，如图6所示，时间同步帧或者说第一窄带信号可以包含前导信号字段、同步信号字段和均衡保护字段。其中，当同步信号采用GFSK调制时，前导信号可以采用GFSK调制的[0，1]交替变换的序列；当同步信号采用PSK调制时，前导信号可以采用无相位旋转的BPSK调制的[0，1]交替变换的序列。在本申请的实施例中，前导信号长度可以为10μs，同步信号长度可以为32bit，均衡保护的长度可以为4bit。
可选地，在本申请的实施例中，不同的信号带宽，前导信号所占的绝对时间可以保持不变。
可选地，如上文所示，同步信号字段可以基于逻辑链路标识(SLE)或者接入地址(Access Address)生成。例如，SLE中的同步信号字段(同步信号1)，基于24位逻辑链路标识，经过BCH编码和m序列加扰后，产生32比特，再经过GFSK调制后生成由32个符号构成的同步信号。
可选地，同步信号的最后一比特为“1”时均衡保护序列可以为“0101”，同步信号的最后一比特为“0”时均衡保护序列可以为“1010”。
如图6所示，频偏估计帧或者说第二窄带信号可以为测量信号。如上文所说，测量信号可以是窄带的单载波信号，例如星闪SLE的1MHz/2MHz/4MHz信道传输的未调制的载波信号(也称为单音信号/单频正弦波)，也可以是星闪SLB/WiFi的OFDM信号，也可以是单频正弦波信号、无相位旋转或者π/2旋转或者π/4旋转或者π/8旋转的二进制相移键控BPSK信号、幅移键控ASK信号和多音信号中的至少一种测量信号。此外，测量信号的长度是可配置的，例如配置选项有16/32/64/128/256/512/1024/2048bit等。
示例性地，多音信号可以为SLE中的多音信号，由N个单音信号组成(N>＝1)，其基带表达方式为：
其中，Ai为幅度，ωi为频率(基带)，为初始相位。
其中，当N＝1时，多音信号等效于单音信号。在本申请的实施例中，多音信号的生成和调制无关。基带多音信号可以通过模拟电路变频为射频多音信号发出。基带多音信号和0Hz之间的最大频率差别(或者射频多音信号和载波频率之间的最大频率差别)为MAX(abs(ωi))，由SLE的带宽决定。
此外，当测量信号为无相位旋转的BPSK、Pi/2-BPSK、Pi/4-QPSK或Pi/8-8PSK时，还能被伪随机序列进一步编码，以进一步提高安全性和提升测量频偏的准确性，尤其是提升在干扰下测量频偏的准确性。
为了更好地发挥窄带的测量信号用于CFO估计的准确度，在均衡保护字段与测量信号之间插入了切换间隔，以使发射机和接收机发射的同步信号波形更精准稳定，且切换间隔用于测量信号的多径保护，避免均衡保护字段的多径时延干扰测量信号的精准解调和测量。
应理解，在图6所示的帧结构中，同步信号在时间上位于测量信号之前，或者说，用于时间同步的第一窄带信号在时间上位于用于频率同步的第二窄带信号之前，原因在于：同步信号需要先做窄带的时间符号上的对齐，而测量信号需要更精密的采样，因而需要做好小于一个时间符号的同步，因此，需要先做时间同步再做频率同步。
值得注意的是，图6所示的窄带信号测量帧仅为示例。本申请所使用的窄带信号测量帧也可以用于初始同步的SLE测量帧和BLE测量帧，以降低残留频偏达到UWB/SLP的初始同步要求。
本申请通过引入图6所示的测量频率偏差的测量信号，可以大幅提高初始同步中频偏测量的准确性，减轻利用超宽带信号测量帧进行精细频偏估计的设计复杂度。在引入图6所示的测量信号后，相比原来用于初始频偏估计的同步信号，测量信号字段由于采用了无调制载波或者伪随机序列加扰的BPSK等已知信号作为测量信号，可以大幅提高频偏估计准确度，降低残留频偏误差，进而简化超宽带接收机在频率同步上的复杂度。
此外，在图6所示的帧结构中，没有有效载荷(payload)部分，因而设备间的窄带信号测量帧的交互过程中不需要进行payload交互，进而可以缩短窄带信号测量帧的粗同步和超宽带信号测量帧的精同步之间的间隔，例如图5所示的Tinterval。
图7示出了初始同步过程辅助超宽带信号测量帧交互的示意图。如图7中的(a)所示，第一设备的NB模块首先向第二设备的NB模块发送第一测量帧，同时，第一设备的NB模块向第一设备的UWB模块发送同步信号，以指示/触发第一设备的UWB模块开始按第一时间间隔Tinterval进行第二测量帧的发送倒计时，或者说，指示/触发UWB模块在经过第一时间间隔Tinterval向第二设备的UWB模块发送第二测量帧。
之后，第二设备的NB模块在接收到第一测量帧后，对第一测量帧进行测量，得到第一设备和第二设备间的定时偏差和频率偏差CFO1，并指示/触发UWB模块按第二时间间隔Tinterval*(1-CFO1)进行第二测量帧的接收倒计时，或者说，指示/触发UWB模块经过第二时间间隔Tinterval*(1-CFO1)后接收第二测量帧。
同理，第二设备再发送第三测量帧至第一设备，第二设备的NB模块向第二设备的UWB模块发送同步信号，指示/触发UWB模块开始按时间间隔Tinterval进行第四测量帧发送倒计时，或者说，指示/触发UWB模块在经过时长Tinterval向第一设备的UWB模块发送第四测量帧；第一设备的NB模块接收到第三测量帧后，记录接收的定时同步以及获取相对于第二设备的CFO2，并指示/触发超宽带模块按Tinterval*(1-CFO2)进行第四测量帧接收倒计时，或者说，指示/触发UWB模块经过Tinterval*(1-CFO2)后接收第四测量帧。
应理解，对于频率偏差，图7中的CFO1为第二设备测量得到的相对于第一设备的频偏估计量，表示为fresp-finit，fresp和finit分别为第二设备和第一设备的载波频率值。同理，图7中的CFO2为第一设备测量得到的相对于第二设备的频偏估计量，表示为finit-fresp。CFO1和CFO2都是有符号的频偏估计量，(1-CFO1)或(1-CFO2)分别表示第二设备和第一设备对于窄带测量帧、超宽带测量帧的帧间间隔Tinterval的放缩比例。
应理解，对于定时偏差，第一设备或者第二设备接收窄带信号测量帧时，定时偏差定义为发送端调度窄带信号测量帧的开始时刻或结束时刻与接收端实际接收的窄带信号测量帧的开始时刻或结束时刻的偏差。窄带信号测量帧的开始时刻和结束时刻之间相差的是窄带信号测量帧的帧时长。
图7中的(b)示出了定时偏差以及确定第二测量帧调度时刻的示意图。如图7中的(b)所示，第一设备在Ta时刻开始发送第一测量帧，在(Ta+m)时刻结束发送第一测量帧，m为第一测量帧的帧时长。考虑到第一测量帧的飞行时间以及定时时钟的差异，第二设备在Tb时刻开始接收到第一测量帧，在(Tb+m)时刻结束接收第一测量帧，图中所示虚线部分即为第二设备实际接收第一测量帧的时段。进而，第二设备可以通过测量第一测量帧，得到第一设备和第二设备之间的定时偏差即为(Tb-Ta)。而第二设备还可以通过将第一测量帧与本地序列进行相关，得到Ta的取值，进而根据Ta的取值和定时偏差，确定Tb的具体取值，也即第二设备实际开始接收第一测量帧的时刻。
对于第一设备，在Ta时刻发送第一测量帧之后，经过上述时间间隔Tinterval，在Tc时刻开始向第二设备发送第二测量帧。而对于第二设备，在确定第一测量帧的实际接收时刻Tb之后，第二设备将测量第一测量帧得到的载波频率偏差(carrier frequency offset，CFO)与上述时间间隔Tinterval进行加权，例如上文所说的Tinterval*(1-CFO1)，确定第二时间间隔，也即第二时间间隔基于第一时间间隔和CFO1进行加权得到。进而，第二设备在第一测量帧的实际接收时刻Tb之后经过第二时间间隔，确定第二测量帧的接收时刻为Tc时刻，也即从Tc时刻开始接收第二测量帧，实现时间同步。需要说明，Tc时刻是第一设备调度的第二测量帧的发送时刻，也是示意性地说明第二设备调度的第二测量帧的接收时刻。实际上，第二设备调度的等待间隔Tinterval*(1-CFO1)之后的时刻，才是第二设备实际开始搜索的第二测量帧的接收时刻。
可选地，在本申请的一些实施例中，在发送/接收窄带信号测量帧(第一测量帧和第三测量帧)时，第一设备、第二设备可以预先约定发送/接收的窄带信号测量帧的定时参考点(或称为窄带定时参考点)。定时参考点表示了图7中所示的Tinterval、Tinterval*(1-CFO1)等时间间隔的起始时刻，可以是窄带信号测量帧的开端、结尾或窄带信号测量帧内的一个时刻点。其中，“*”表示乘号。
例如，本申请实施例可以采用窄带信号测量帧内的同步信号字段的结束时刻作为定时参考点，相比窄带信号测量帧结尾作为定时参考点，具有定时精准的优势。原因在于，窄带信号测量帧的接收设备根据同步信号字段在完成定时同步后立即开始超宽带测量帧的接收定时，有利于避免收发设备之间时钟的偏差导致的从同步信号字段的结束时刻到帧结尾时刻这一段时间的计时的不准确。同步信号字段在窄带信号测量帧中的位置可以参考图6所示。
图7中的(c)示出了一种基于定时参考点发送/接收第一测量帧的示意图。如图7中的(c)所示，Td和Td’(对应图中的箭头指示时刻)可以分别表示第一设备发送第一测量帧的同步信号字段的结尾时刻和第二设备接收第一测量帧的同步信号字段的结尾时刻，即以第一测量帧的同步信号字段的结束时刻作为定时同步的定时参考点。进而，第一设备在Td时刻之后经过Tinterval再发送第二测量帧，第二设备在Td’时刻之后经过Tinterval*(1-CFO1)再接收第二测量帧。由于第三测量帧与第一测量帧帧结构相同，第三测量帧也可以以同步信号字段的结束时刻作为定时同步的定时参考点，本文对此不做赘述。
此外，通过测量第一测量帧得到的频率偏差，可以保证第二测量帧的接收频率与第一设备发送第二测量帧的发送频率保持一致，也即，第二设备根据测量第一测量帧得到的频率偏差确定第二测量帧的接收频率。最终，第二设备可以根据测量第一测量帧得到的定时偏差和频率偏差，确定第二测量帧的接收时刻和接收频率。
同理，第三测量帧和第四测量帧的调度过程可以参照上文描述，本文在此不做赘述。
从图7可以看出，第一测量帧和第三测量帧之间的帧间间隔也间接决定了第二测量帧和第四测量帧的帧间间隔，因此第一测量帧和第三测量帧的帧间间隔应当在窄带测量参数配置阶段进行配置。例如，在SLE中，通过窄带跳频测量信号配置消息，对第一设备和第二设备的如图6所示的测量帧的帧间间隔进行配置。下文在介绍实施例1时，会在表2中描述该方面内容。
在本申请的实施例中，单个频点上的测量帧类型事件，可采用初始化阶段事件来配置。若配置事件组中存在初始化阶段，每个事件组中的第一个事件称为初始化阶段事件，在该事件中，第一设备和第二设备按照初始化阶段交互类型确定的规则传输。
上文结合附图介绍了本申请实施例提供的窄带信号测量帧的帧结构以及其辅助超宽带信号交互的过程。其中，通过测量本申请实施例提供的窄带信号测量帧，能够得到更准确的频率同步偏差CFO，进而基于图7可得，第二测量帧或第四测量帧的接收时刻可以基于第一测量帧或第三测量帧的接收时刻和CFO加权计算得到的时间间隔确定，第二测量帧或第四测量帧的接收频率可以根据CFO确定。进而，本申请实施例中得到的更准确的CFO，可以使得超宽带信号测量帧(如第二测量帧和第四测量帧)的接收时刻和接收频率更准确。进而，可以简化超宽带信号测量帧的精同步的过程，进而简化UWB模块的设计。
下文将结合附图介绍本申请实施例提供的窄带信号测量帧的交互流程。
在图4所示的示例中，窄带信号测量帧交互和超宽带信号测量帧测距的过程都是双向交互的过程。在本申请的实施例中，窄带信号测量帧的双向交互过程也可以为多次。例如，通过上文所说的跳频地图或者预设的信道测量顺序，第一设备的NB模块和第二设备的NB模块可以在多个频点的信道上进行第一测量帧和第三测量帧的双向交互。原因在于，如果只采用一个频点的信道进行初始的时频同步偏差的测量，则会因为干扰或频率选择性衰落导致时频同步精度低的问题。如果通过跳频测量多个频点的信道，可以在部分信道干扰或频率选择性衰落的情况下，保障时频同步测量的准确度。
图8示出了现有技术提供的一种窄带信号测量帧多频点交互的示意图。如图8所示，第一设备和第二设备通过信道#1至信道#3进行第一测量帧和第三测量帧的双向交互。具体地，在每个频点上，第一设备作为发起节点，通过窄带向第二设备即响应节点发送第一测量帧，第二设备在接收到第一设备发送的第一测量帧之后，通过窄带向第一设备发送或者说回复第三测量帧，进而完成第一设备和第二设备在同一频点上的窄带信号测量帧的双向交互。其中，第二设备应在信道#1至信道#3上侦听全部的第一测量帧，当且仅当在至少一个频点上接收第一测量帧成功之后，再向第一设备发送第三测量帧。若第一设备在至少一个频点上接收到了来自第二设备的第三测量帧，则可以忽略剩余的第一测量帧交互步骤，即停止剩余频点的双向交互流程。
下文将结合附图9至附图12介绍本申请实施例提供的窄带信号测量帧的双向交互示意图。其中，图9和图10描述实施例1，图11和图12描述实施例2。
实施例1：
在实施例1中，第一设备和第二设备在指定数量的测量信道上进行双向同步测量，或者说，遍历预先指定的信道频点集合。这样，与图8所示的所有信道上进行双向同步测量相比，可以减少双向同步的测量时间。
可选地，在本申请的实施例中，可以通过事先指定测量信道个数N或者说跳频的信道个数N，第一设备和第二设备在指定数量的信道上进行双向同步测量，或者，本申请也可以直接通过信令中给出信道号(或称为频点编号)集合。例如，表2示出了指定的N个信道，其中表2还可以包括配置的测量帧帧间间隔。如下文表2所示，测量频点个数N可以指示测量信道号字段具体包含多少个测量信道号子字段。每个测量信道号子字段表示一个超宽带初始同步阶段双向同步测量所用的一个信道的编号。再例如，当SLE设备工作在1MHz信道带宽时，工作频段2402-2480MHz一共有79个1MHz信道，则N可以设置为4，测量信道号1～N依次指示的信道号为10、30、50、70。
表2
图9示出了本申请实施例提供的在N个信道上双向交互的示意图。
示例性地，如图9所示，在信道#1上，第二设备接收到了来自第一设备的第一测量帧并向第一设备发送第三测量帧，第一设备接收到第三测量帧并进行测量。从而，在信道#1上，第一设备和第二设备的双向交互成功，即第一设备和第二设备均成功接收到窄带信号测量帧并进行测量得到时频偏差。同理，如图9所示，第一设备和第二设备在信道#N-1同样交互成功。
再示例性地，如图9所示，在信道#2上，第二设备接收到来自第一设备的第一测量帧并向第一设备发送第三测量帧，但是第一设备可能由于干扰或者信道衰落等原因并未接收到第三测量帧，进而在信道#2上，第一设备和第二设备之间的双向交互失败。同理，在信道#3和信道#N上，第二设备可能由于干扰或者信道衰落等原因并未接收到来自第一设备的第一测量帧，从而并未向第一设备发送第三测量帧。
总的来说，在实施例1中指定的N个测量信道上，第一设备和第二设备可能在其中部分信道上双向交互成功，也即均接收到窄带信号测量帧并测量得到时频同步偏差。而在其他部分信道上，第一设备和第二设备可能双向交互失败。
在图9所示的双向交互过程中，双向交互的停止条件可以是达到信道频点数量的限制才结束，即跳频的信道个数达到上述N个之后再停止双向交互，并不会在成功一次之后就结束。此时，第一设备和第二设备最终确定的时频同步信息可以按照最后一个成功测量得到的时频同步信息确定，或者按照多次双向交互成功时得到的时频同步信息的平均结果确定。换句话说，按照最后一次交互成功或者多次交互成功的平均结果确定UWB模块的接收第二测量帧的接收时刻和接收频率。第一设备和第二设备根据该最终同步信息以及预设的Tinterval，确定第二测量帧的接收时刻和接收频率。
图10示出了本申请实施例提供的一种双向交互终止的示意图。
示例性地，如图10中的(a)所示，假设第一设备和第二设备在上述N个信道的最后一个信道(也即第N个信道)上双向交互成功。进而，在图10中的(a)所示的情形下，第一设备和第二设备可以通过图4所示的流程确定超宽带信号测量帧(例如第二测量帧和第四测量帧)的接收时刻和接收频率，确定的方式可以参照对图4的描述。具体而言，第二设备根据确定的第一测量帧在信道#N上的接收时刻以及测量第一测量帧得到的频率偏差CFO，确定第二测量帧的接收时刻和接收频率；第一设备根据确定的第三测量帧在信道#N上的接收时刻以及测量第三测量帧得到的频率偏差CFO，确定第四测量帧的接收时刻和接收频率。
示例性地，假设第一设备和第二设备在第N个信道上双向交互失败，此时第一设备和第二设备在之前的部分信道上交互成功。如图10中的(b)所示，假设第一设备和第二设备在信道#1和信道#M上双向交互成功。此时，在实施例1中，还需要根据第一设备和第二设备在第N个信道上的收发窄带信号测量帧的时刻来确定超宽带信号测量帧的收发时刻。因此，在图10中的(b)所示的情形下，需要计算第N个信道上假设双向交互成功时第一测量帧的接收时刻和第三测量帧的收发时刻。
可选地，本申请的实施例可以通过在双向交互成功的信道上得到的第一测量帧的接收时刻和第三测量帧的收发时刻，确定第N个信道上的第一测量帧的预计接收时刻和第三测量帧的预计收发时刻。例如，在信道#1和信道#M上，第二设备确定在开始测量之后或者跳频至当前信道之后经过xns接收到第一测量帧，或者，第二设备确定在第一测量帧的发送时刻经过yns之后接收到第一测量帧。因而，第二设备可以根据上述同步信息确定第N个信道上的第一测量帧的预计接收时刻。再例如，在信道#1和信道#M上，第一测量帧的接收时刻经过zns之后第二设备发送第三测量帧。因而，第二设备可以根据上述信息确定第N个信道上的第三测量帧的预计发送时刻。同理，第一设备也可以确定第N个信道上的第三测量帧的预计接收时刻。
同理，第一设备和第二设备也可以根据在信道#1和信道#M上测量得到的时频同步偏差，得到用于确定超宽带信号测量帧的接收时刻的最终时频同步偏差，如将得到的多个时频同步偏差的平均值或者其中一个最小值等作为最终时频同步偏差。
可选地，上述过程通过多个双向交互成功的信道上的同步信息推断第N个信道上的同步信息，在本申请的另一些实施例中，也可以只使用最后一次交互成功的同步信息推断第N个信道上的同步信息。例如，只根据信道#M上的第一测量帧的接收时刻、第三测量帧的收发时刻以及测量得到的时频同步偏差，确定第N个信道上的第一测量帧的预计接收时刻、第三测量帧的预计收发时刻以及最终时频同步偏差。
可选地，在双向交互停止后，第一设备可以跳频至信道#N+1，并向第二设备发送最终同步信息指示，该最终同步信息指示可以包括第一设备确定的时频同步偏差等信息，而后，第二设备在接收到最终同步信息指示后，向第一设备回复确认帧。
最终，在实施例1中，当第N个信道双向交互成功时，可以根据第N个信道上的同步信息(第一测量帧的收发时刻、第三测量帧的收发时刻以及时频同步偏差)，通过图7所示的方式确定超宽带信号测量帧(第二测量帧和第四测量帧)的接收时刻和接收频率；当第N个信道的双向交互失败时，可以根据双向交互成功的一个或者多个信道上的同步信息(第一测量帧的收发时刻、第三测量帧的收发时刻以及时频同步偏差)推断出第N个信道上的预计同步信息(第一测量帧的预计接收时刻、第三测量帧的预计收发时刻以及最终时频同步偏差)，进而确定超宽带信号测量帧(第二测量帧和第四测量帧)的接收时刻和接收频率。当第一测量帧和第三测量帧都包含同步信号时，第一测量帧的预计接收时刻、第三测量帧的预计收发时刻，可以基于N个信道中的第一测量帧的同步信号的结束时刻、第三测量帧的同步信号的结束时刻进行推理计算得到。确定超宽带信号测量帧的接收时刻的过程可以参照图7的描述，本文在此不做赘述。
实施例2：
在图8至图10所示的双向交互流程中，对于第一设备或者第二设备，若接收的第一测量帧或者第三测量帧的接收质量较差时，如测量帧的信号与干扰加噪声比(signal to interference plus noise ratio，SINR)较低时，第一设备和第二设备在初始同步过程确定的定时、频率偏差的准确度并不能满足后续第二测量帧的时频同步要求。
为了解决上述问题，在实施例2中，第一设备或者第二设备基于窄带信号测量帧的接收质量确定是否需要进一步发送第一测量帧或者说进行双向交互。图11示出了本申请实施例提供的双向交互的示意性流程图。
示例性地，如图11所示，第一设备在信道#1上向第二设备发送第一测量帧。第二设备在信道#1上确定接收到的第一测量帧的接收质量符合要求，进而第二设备在信道#1上根据测量第一测量帧得到的时频偏差，设置第二测量帧的接收时间和接收频率，并向第一设备发送第三测量帧。之后，第一设备在信道#1上未收到来自第二设备的第三测量帧或者接收到的第三测量帧的接收质量并不符合要求时，第一设备在跳频至信道#2之后继续向第二设备发送第一测量帧。
换句话说，第二设备在当前信道上接收到符合接收质量要求的第一测量帧之后，会根据测量第一测量帧得到的时频偏差确定第二测量帧的接收时间和接收频率，并向第一设备发送第三测量帧。而第一设备在当前信道上并未接收到来自第二设备的第三测量帧或者接收的第三测量帧并不符合接收质量要求时，会在跳频至下一信道之后继续向第二设备发送第一测量帧。
示例性地，如图11所示，第一设备在信道#2向第二设备发送第一测量帧。第二设备在信道#2上确定接收到第一测量帧的接收质量不符合要求之后，第二设备在信道#2上不会向第一设备回复第三测量帧。再示例性地，第二设备也可以是在信道#3上并未接收到第一测量帧，进而不会向第一设备回复第三测量帧。第一设备在跳频至下一信道如信道#3或者信道#4之前，确定在当前信道并未接收到来自第二设备的第一测量帧。进而，第一设备在跳频至信道#3或者信道#4之后又继续向第二设备发送第一测量帧。
换句话说，第二设备在当前信道上并未接收到来自第一设备的第一测量帧或者接收的第一测量帧不符合接收质量的要求时，并不会在当前信道上向第一设备发送第三测量帧。进而，第一设备在当前信道上并未接收到来自第二设备的第三测量帧之后，在跳频至下一信道时会继续向第二设备发送第一测量帧。
示例性地，如图11所示，第一设备在信道#4上向第二设备发送第一测量帧。第二设备在信道#4上确定接收到的第一测量帧的接收质量符合要求，进而第二设备在信道#4上根据测量第一测量帧得到的时频偏差，重新设置第二测量帧的接收时间和接收频率，并向第一设备发送第三测量帧。第一设备在信道#4上接收到符合接收质量要求的第三测量帧之后，根据测量第三测量帧得到的时频偏差，确定第四测量帧的接收时刻和接收频率，并确定第一设备和第二设备之间的双向交互结束。
由于第二设备在接收到第一测量帧之后就需要确定是否在当前信道上继续发送第一测量帧，因此，第一设备和第二设备分别发送的窄带信号测量帧之间的帧间隔需要增大T1，其中T1为第二设备所需的判断第一测量帧接收质量的时长。同理，第一设备在接收到来自第二设备的第三测量帧之后，也需要确定在跳频至下一信道时确定是否继续发送第一测量帧，因此，第一设备和第二设备的跳频时长也需要增大T2，其中T2为第一设备所需的判断第三测量帧接收质量的时长。T1、T2可以在第一设备和第二设备的初始同步能力当中指示，以使第一设备和第二设备通过测距协商，确定初始同步中的窄带信号测量帧的帧间间隔和跳频时长。
对于测量同步的要求需要满足：粗同步与精同步起始时刻的间隔Tiniterval>TscⅹK。其中，Tsc表示窄带信号测量帧在单频点的信道上进行双向交互的时长，K为进行双向交互的频点个数。
其中，Tsc＝窄带信号测量帧时长ⅹ2+交互切换间隔+跳频信道切换时长。
在图6所示的窄带信号测量帧结构中，没有有效载荷(payload)，也没有CRC校验，因而无法判断窄带信号测量帧是否成功接收。可选地，图6所示的窄带信号测量帧的接收质量，可以包含以下至少一个质量评估方法：
示例性地，本申请实施例可以根据窄带信号测量帧的同步信号的接收质量评估窄带信号测量帧的接收质量。例如，第一设备或者第二设备能够检测到窄带信号测量帧的逻辑链路标识(或接入地址)，并对其进行检查校验，以评估同步信号的接收质量。如果窄带信号测量帧的同步信号字段校验后，存在1个或多个比特错误，则可以认为同步信号的接收质量一般或较差，也即窄带信号测量帧的接收质量一般或较差；如果窄带信号测量帧的同步信号字段不存在比特错误，则认为同步信号的接收质量满足要求，也即窄带信号测量帧的接收质量满足要求。
示例性地，本申请实施例可以根据窄带信号测量帧的RSSI/SNR/SINR评估窄带信号测量帧的接收质量。例如，当窄带信号测量帧的RSSI/SNR/SINR低于预设门限或者同步信号SNR较低(相关峰较低)时，则认为窄带信号测量帧的接收质量一般或较差。
示例性地，本申请实施例可以根据窄带信号测量帧中测量信号字段(如图6所示的频偏估计帧)的接收强度评估窄带信号测量帧的接收质量。例如，当测量信号字段(如图6所示的频偏估计帧)的接收强度低于预设门限，则认为窄带信号测量帧的接收质量一般或较差。
示例性地，本申请实施例还可以根据对同步信号和/或测量信号进行测量的载波频率频移(carrier frequency offset，CFO)信息确定窄带信号测量帧的接收质量。例如，根据第二设备测量的CFO值与第一设备本地测量的CFO值做比较，若差值高于预设门限，也可以用于确定窄带信号测量帧的接收质量较差。
本申请提出根据接收窄带信号测量帧的接收质量和是否被接收到，第二设备判断是否在当前信道发送第三测量帧，或者第一设备来判断是否在下一信道上继续发送第一测量帧。这样，不仅能保证初始同步的准确度达到超宽带信号测量帧的初始同步要求，还避免了只由第一设备决定测量结果的不足，即在第一设备和第二设备受干扰强度不同时，双方的窄带信号测量帧的接收质量都有保证。
在图11所示的双向交互的流程中，当第一设备和第二设备均接收到符合接收质量要求的窄带信号测量帧之后，即可确定双向交互的流程结束。图12示出了本申请实施例提供的双向交互停止的示意性流程图。
如图12中的(a)所示，当第一设备在当前信道接收的第一测量帧的接收质量满足要求，或者成功校验了同步信号中的地址信息比特，则第一设备停止在后续的M个信道上继续发送第一测量帧。即第一设备通过不发送第一测量帧，指示第二设备不再执行跳频测量。进而，第二设备在连续M个信道没有收到第一测量帧时，停止侦听双向同步的第一测量帧；否则，第二设备始终保持跳频、侦听第一测量帧的状态。
在上述步骤中，第一设备和第二设备空的交互的信道个数M表示：在初始同步中，第一设备连续不发送第一测量帧的信道个数，以及第二设备连续接收不到来自第一设备的第一测量帧的信道个数，M≥1。
图12中的(a)示出了M＝2时的初始同步停止流程。当M＝2时，存在两个空的双向同步的测量信道，即第一设备在当前信道#4收到来自第二设备的第一测量帧后且认为该第一测量帧的质量满足要求，则根据预设的M＝2，在跳频至后两个信道#5和信道#6后，都不发送第一测量帧。第二设备因为在信道#5和信道#6上都未收到第一测量帧，则在信道#5和信道#6也不回复第三测量帧。
当设置M>1时，可以帮助第二设备处理漏检。例如，第一设备在信道#4上向第二设备发送了第一测量帧，但因为频率选择性衰落或者干扰，第二设备在信道#4未成功收到测量帧，则第二设备无法确认信道#4未收到第一测量帧的原因，即无法确认第一设备实际上发了第一测量帧而第二设备未收到，还是第一设备有意未发送第一测量帧。M>1的设置将有助于避免第一设备发了第一测量帧而因为频率选择性/干扰导致该第一测量帧未被第二设备成功收到的情况出现。
总的来说，双向交互成功之后，第一设备会在跳频后的连续的至少一个信道上不发送第一测量帧，第二设备在该至少一个信道上未接收到第一测量帧时，确定双向交互结束。利用连续M个信道上不发送测量帧、不成功接收测量帧，分别作为第一设备和第二设备交互结束的指示，避免通过显式信令通知，相较于在所有信道上进行双向交互，本申请在两个设备均在同一信道上接收到符合接收质量要求的第一测量帧后，即停止后续的双向交互，大幅缩短了第一测量帧和第二测量帧之间的切换间隔时长。
可选地，图12中的(b)示出了第一设备在信道上发送显式信令通知的情形，该显式信令通知用于指示第一设备和第二设备之间的初始同步的双向交互成功。例如，如图12中的(b)所示，第一设备可以在信道#5上发送配置协商初始同步的帧，该帧中包括指示初始同步已完成的信息，第二设备在收到后回复确认帧。
最终，多频点的时频同步偏差的确定方法可以是第一设备和第二设备根据最后一次完整的信道同步交互(例如图11和图12所示的信道#4)测量得到时频同步偏差并确定接收超宽带信号测量帧的接收时间和接收频率。具体的确定过程可以参照图7的描述，本文在此不做赘述。
最后对本申请实施例的装置实施例进行介绍。
为了实现本申请提供的方法中的各功能，通信设备如第一设备或者第二设备均可以包括硬件结构和/或软件模块，以硬件结构、软件模块、或硬件结构加软件模块的形式来实现上述各功能。上述各功能中的某个功能以硬件结构、软件模块、还是硬件结构加软件模块的方式来执行，取决于技术方案的特定应用和设计约束条件。
图13是本申请实施例的通信装置1300的示意框图。通信装置1300可以为第一设备或者第二设备，也可以为第一设备或者第二设备等装置中的芯片或模块，用于实现上述实施例涉及的方法。通信装置1300包括收发单元1310和处理单元1320。下面对该收发单元1310进行示例性地介绍。
收发单元1310可以包括发送单元和接收单元。发送单元用于执行通信装置的发送动作，接收单元用于执行通信装置的接收动作。为便于描述，本申请实施例将发送单元与接收单元合为一个收发单元。在此做统一说明，后文不再赘述。
当通信装置1300是第一设备时，示例性地，处理单元1320用于生成第一测量帧，收发单元1310用于通过窄带向该第二设备发送该第一测量帧，并用于通过超宽带向该第二设备发送第二测量帧。
当通信装置1300是第二设备时，示例性地，收发单元1310用于通过窄带接收来自第一设备的第一测量帧，并用于通过超宽带接收来自第一设备的第二测量帧。
上述所述内容仅作为示例性描述。通信装置1300是第一设备或者第二设备时，其将负责执行前述方法实施例中与第一设备或者第二设备相关的方法或者步骤。
可选地，通信装置1300还包括存储单元(未在图中标出)，该存储单元用于存储用于执行前述方法的程序或者代码。
图14是本申请实施例的通信装置1400的示意框图。通信装置1400包括处理器1410和通信接口1420，处理器1410和通信接口1420可以通过总线1430相互连接。通信装置1400可以是执行如图9至12所示交互流程的第一设备或者第二设备等。
可选地，通信装置1400还可以包括存储器1440。存储器1440包括但不限于是随机存储记忆体(random access memory，RAM)、只读存储器(read-only memory，ROM)、可擦除可编程只读存储器(erasable programmable read only memory，EPROM)、或便携式只读存储器(compact disc read-only memory，CD-ROM)，该存储器1440用于存储相关指令及数据。
处理器1410可以是一个或多个中央处理器(central processing unit，CPU)。在处理器1410是一个CPU的情况下，该CPU可以是单核CPU，也可以是多核CPU。
当通信装置1400是第一设备时，示例性地，处理器1410用于生成第一测量帧，通信接口1620用于通过窄带向该第二设备发送该第一测量帧，并用于通过超宽带向该第二设备发送第二测量帧。
当通信装置1400是第二设备，示例性地，通信接口1420用于通过窄带接收来自第一设备的第一测量帧，并用于通过超宽带接收来自第一设备的第二测量帧。
上述所述内容仅作为示例性描述。通信装置1400是第一设备或者第二设备时，其将负责执行前述方法实施例中与第一设备或者第二设备相关的方法或者步骤。
上述描述仅是示例性描述。具体内容可以参见上述方法实施例所示的内容。图14的各个操作的实现还可以对应参照图9至图12所示的交互流程的相应描述。
图13和图14所示的装置实施例是用于实现图9至图12所述的内容。图13和图14所示装置的具体执行步骤与方法可以参见前述方法实施例所述的内容。
图15是本申请实施例的通信装置1500的示意框图。通信装置1500用于实现第一设备或者第二设备的功能。通信装置1500可以是第一设备或者第二设备中的芯片。
通信装置1500包括：输入输出接口1520和处理器1510。输入输出接口1520可以是输入输出电路。处理器1510可以是信号处理器、芯片，或其他可以实现本申请方法的集成电路。其中，输入输出接口1520用于信号或数据的输入或输出。
举例来说，当通信装置1500是第一设备时，示例性地，处理器1510用于生成第一测量帧，输入输出接口1520用于通过窄带向该第二设备发送该第一测量帧，并用于通过超宽带向该第二设备发送第二测量帧。
举例来说，通信装置1500是第二设备时，示例性地，输入输出接口1520用于通过窄带接收来自第一设备的第一测量帧，并用于通过超宽带接收来自第一设备的第二测量帧。
一种可能的实现中，处理器1510通过执行存储器中存储的指令，以实现第一设备或者第二设备实现的功能。
可选的，通信装置1500还包括存储器。
可选的，处理器和存储器集成在一起。
可选的，存储器在通信装置1500之外。
一种可能的实现中，处理器1510可以为逻辑电路，处理器1510通过输入输出接口1520输入/输出消息或信令。逻辑电路可以是信号处理器、芯片，或其他可以实现本申请实施例方法的集成电路。
上述对于通信装置1500的描述仅是作为示例性描述，该通信装置1500能够用于执行前述实施例所述的方法，具体内容可以参见前述方法实施例的描述，在此不再赘述。
可选的，存储器在通信装置1500之外。
一种可能的实现中，装置1500可以为芯片系统1600。
图16是本申请实施例提供一种芯片系统1600的示意图。该芯片系统1600(或者也可以称为处理系统)包括逻辑电路1610(即处理器1510)以及输入/输出接口(input/output interface)1620。
其中，逻辑电路1610可以为芯片系统1600中的处理电路。逻辑电路1610可以耦合连接存储单元，调用存储单元中的指令，使得芯片系统1600可以实现本申请各实施例的方法和功能。输入/输出接口1620，可以为芯片系统1600中的输入输出电路，将芯片系统1600处理好的信息输出，或将待处理的数据或信令信息输入芯片系统1600进行处理。
作为一种方案，该芯片系统1600用于实现上文各个方法实施例中由第一设备或者第二设备执行的操作。
例如，输入/输出接口1620用于实现上文方法实施例中由第一设备或者第二设备执行的发送和/或接收相关的操作。
上述对于通信装置的描述仅是作为示例性描述，该通信装置能够用于执行前述实施例所述的方法，具体内容可以参见前述方法实施例的描述，在此不再赘述。
本申请还提供一种芯片，包括处理器，用于从存储器中调用并运行所述存储器中存储的指令，使得安装有所述芯片的通信设备执行上述各示例中的方法。
本申请还提供一种芯片，包括：输入接口、输出接口、处理器，所述输入接口、输出接口以及所述处理器之间通过内部连接通路相连，所述处理器用于执行存储器中的代码，当所述代码被执行时，所述处理器用于执行上述各示例中的方法。可选地，该芯片还包括存储器，该存储器用于存储计算机程序或者代码。
本申请还提供一种处理器，用于与存储器耦合，用于执行上述各实施例中任一实施例中涉及第一设备或者第二设备的方法和功能。
本申请提供一种包含指令的计算机程序产品，当该计算机程序产品在计算机上运行时，前述实施例的方法得以实现。
本申请还提供一种计算机程序，当该计算机程序在计算机中被运行时，前述实施例的方法得以实现。
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存储有计算机程序，该计算机程序被计算机执行时实现前述实施例所述的方法。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅是示意性的，例如，单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本申请实施例的技术方案的目的。
另外，本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以二个或二个以上单元集成在一个单元中。
功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个方法实施例的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (26)

  1. 一种通信方法，其特征在于，包括：
    第一设备生成第一测量帧，所述第一测量帧包括第一窄带信号和第二窄带信号，所述第一窄带信号用于测量所述第一设备和第二设备之间的定时偏差，所述第二窄带信号用于测量所述第一设备和所述第二设备之间的频率偏差；
    所述第一设备通过窄带向所述第二设备发送所述第一测量帧；
    所述第一设备通过超宽带向所述第二设备发送第二测量帧，其中，所述定时偏差和所述频率偏差用于确定所述第二设备接收第二测量帧的时刻和频率，所述第二测量帧用于通过超宽带信号测量所述第一设备和所述第二设备之间的距离或飞行时间。
  2. 根据权利要求1所述的方法，其特征在于，所述第一窄带信号包括同步信号，所述第二窄带信号为测量信号，所述测量信号包括无调制载波信号、二进制相移键控BPSK信号，幅移键控ASK信号和多音信号中的至少一种。
  3. 根据权利要求1或2所述的方法，其特征在于，所述第一设备通过窄带向所述第二设备发送第一测量帧，包括：
    所述第一设备在预设的第一信道上，通过窄带向所述第二设备发送所述第一测量帧；
    所述方法还包括：
    所述第一设备在所述第一信道上，通过窄带接收来自所述第二设备的第三测量帧，所述第三测量帧的帧结构与所述第一测量帧的帧结构相同。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一设备根据预设的信道测量顺序，在跳频测量的N个信道上向所述第二设备发送所述第一测量帧，所述预设的信道测量顺序包含所述N个信道以及所述N个信道分别对应的信道号，其中N为大于0的整数。
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    在所述N个信道中的第N个信道上发送所述第一测量帧之后，经过第一时间间隔，所述第一设备向所述第二设备发送所述第二测量帧。
  6. 根据权利要求4或5所述的方法，其特征在于，所述方法还包括：
    所述第一设备根据在所述N个信道上接收到来自所述第二设备的至少一个第三测量帧的接收时刻，确定在所述N个信道中第N个信道上接收所述第三测量帧的接收时刻；
    在所述第N个信道上的所述第三测量帧的接收时刻之后，经过第二时间间隔，所述第一设备从所述第二设备接收第四测量帧，所述第四测量帧用于通过超宽带信号测量所述第一设备和所述第二设备之间的距离或飞行时间。
  7. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    所述第一设备根据接收到的一个或者多个所述第三测量帧，确定所述第一设备和所述第二设备之间频率偏差；
    所述第一设备根据所确定的所述频率偏差，确定所述第二时间间隔。
  8. 根据权利要求5所述的方法，其特征在于，在所述第一测量帧包括同步信号字段的情况下，所述第一时间间隔的起始时刻与所述第一测量帧的同步信号字段的结束时刻相同。
  9. 根据权利要求6或7所述的方法，其特征在于，在所述第三测量帧包括同步信号字段的情况下，所述第二时间间隔的起始时刻与所述第三测量帧的同步信号字段的结束时刻相同。
  10. 一种通信方法，其特征在于，包括：
    第二设备通过窄带接收来自第一设备的第一测量帧，所述第一测量帧包括第一窄带信号和第二窄带信号，所述第一窄带信号用于测量所述第一设备和所述第二设备之间的定时偏差，所述第二窄带信号用于测量所述第一设备和所述第二设备之间的频率偏差；
    所述第二设备通过超宽带接收来自第一设备的第二测量帧，其中，所述定时偏差和所述频率偏差用于确定所述第二设备接收第二测量帧的时刻和频率，所述第二测量帧用于通过超宽带信号测量所述第一设备和所述第二设备之间的距离或飞行时间。
  11. 根据权利要求10所述的方法，其特征在于，所述第一窄带信号包括同步信号，所述第二窄带信号为测量信号，所述测量信号包括无调制载波信号、二进制相移键控BPSK信号，幅移键控ASK信号和多音信号中的至少一种。
  12. 根据权利要求10或11所述的方法，其特征在于，第二设备接收来自第一设备的第一测量帧，包括：
    所述第二设备在预设的第一信道上，通过窄带接收来自所述第一设备的所述第一测量帧；
    所述方法还包括：
    所述第二设备在所述第一信道上，通过窄带向所述第一设备发送第三测量帧，所述第三测量帧的帧结构与所述第一测量帧的帧结构相同。
  13. 根据权利要求10至12中任一项所述的方法，其特征在于，所述方法还包括：
    所述第二设备根据预设的信道测量顺序，在跳频测量的N个信道上检测来自所述第一设备的所述第一测量帧，所述预设的信道测量顺序包含所述N个信道以及所述N个信道分别对应的信道号，其中N为大于0的整数。
  14. 根据权利要求13所述的方法，其特征在于，所述方法还包括：
    所述第二设备根据在所述N个信道上接收到来自所述第一设备的至少一个第一测量帧的接收时刻，确定在所述N个信道中第N个信道上接收所述第一测量帧的接收时刻；
    所述第二设备通过超宽带接收来自第一设备的第二测量帧，包括：
    在所述第N个信道上的所述第一测量帧的接收时刻之后，经过第三时间间隔，所述第二设备接收来自所述第一设备的所述第二测量帧。
  15. 根据权利要求14所述的方法，其特征在于，所述方法还包括：
    所述第二设备根据接收到的一个或者多个所述第一测量帧，确定所述第一设备和所述第二设备之间频率偏差；
    所述第二设备根据所确定的所述频率偏差，确定所述第三时间间隔。
  16. 根据权利要求13至15中任一项所述的方法，其特征在于，所述方法还包括：
    所述第二设备根据在所述N个信道上向所述第一设备发送的至少一个第三测量帧的发送时刻，确定在所述N个信道中第N个信道上发送所述第三测量帧的发送时刻；
    在所述第N个信道上的所述第三测量帧的发送时刻之后，经过第四时间间隔，所述第二设备向所述第一设备发送第四测量帧，所述第四测量帧用于通过超宽带信号测量所述第一设备和所述第二设备之间的距离或飞行时间。
  17. 根据权利要求14或15所述的方法，其特征在于，在所述第一测量帧包括同步信号字段的情况下，所述第三时间间隔的起始时刻与所述第一测量帧的同步信号字段的结束时刻相同。
  18. 根据权利要求16所述的方法，其特征在于，在所述第三测量帧包括同步信号字段的情况下，所述第四时间间隔的起始时刻与所述第三测量帧的同步信号字段的结束时刻相同。
  19. 一种通信装置，其特征在于，所述通信装置包括用于实现如权利要求1至9中任一项所述的方法的单元。
  20. 一种通信装置，其特征在于，所述通信装置包括用于实现如权利要求10至18中任一项所述的方法的单元。
  21. 一种通信装置，其特征在于，包括：处理器，所述处理器用于与存储器耦合，读取并执行所述存储器中的指令和/或程序代码，以执行如权利要求1至9中任一项所述的方法。
  22. 一种通信装置，其特征在于，包括：处理器，所述处理器用于与存储器耦合，读取并执行所述存储器中的指令和/或程序代码，以执行如权利要求10至18中任一项所述的方法。
  23. 一种通信系统，其特征在于，包括至少一个如权利要求21所述的通信装置以及至少一个如权利要求22所述的通信装置。
  24. 一种芯片系统，其特征在于，包括：逻辑电路，所述逻辑电路用于与输入/输出接口耦合，通过所述输入/输出接口传输数据，以执行如权利要求1至9中任一项所述的方法，或者执行如权利要求10至18中任一项所述的方法。
  25. 一种计算机可读介质，其特征在于，所述计算机可读介质存储有程序代码，当所述计算机程序代码在通信装置上运行时，使得通信装置执行如权利要求1至9中任一项所述的方法，或者执行如权利要求10至18中任一项所述的方法。
  26. 一种计算机程序产品，其特征在于，包括计算机程序代码，当所述计算机程序代码被运行时，实现如权利要求1至9中任一项所述的方法，或者实现如权利要求10至18中任一项所述的方法。
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CN101507192A (zh) * 2006-09-01 2009-08-12 松下电器产业株式会社 无线通信方法和无线通信装置
CN114449660A (zh) * 2020-11-02 2022-05-06 苹果公司 用于混合的超宽带和窄带信令的技术
CN116846427A (zh) * 2022-03-25 2023-10-03 华为技术有限公司 超宽带信号同步的方法和通信装置
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CN101507192A (zh) * 2006-09-01 2009-08-12 松下电器产业株式会社 无线通信方法和无线通信装置
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