CN109478046B

CN109478046B - Transmission method of equipment state data, related sensing equipment and control equipment

Info

Publication number: CN109478046B
Application number: CN201680085815.1A
Authority: CN
Inventors: 蔡松甫; 刘坚能; 刘安
Original assignee: TCL Communication Technology Chengdu Ltd
Current assignee: TCL Communication Technology Chengdu Ltd
Priority date: 2016-09-01
Filing date: 2016-09-01
Publication date: 2022-04-08
Anticipated expiration: 2036-09-01
Also published as: CN109478046A; WO2018040057A1

Abstract

The application discloses a method for transmitting equipment state data, sensing equipment and control equipment. The method comprises the following steps: the sensing equipment detects the current state data of the controlled equipment; when a preset transmission condition is met, carrying out analog coding on the current state data; and directly transmitting the encoded current state data to a control device controlling the controlled device through a wireless channel without transmitting a channel resource scheduling request to the control device. By the method, the data transmission overhead and the access latency can be obviously reduced.

Description

Transmission method of equipment state data, related sensing equipment and control equipment

Technical Field

The present application relates to the field of information transmission technologies, and in particular, to a method for transmitting device status data, a related sensing device, and a related control device.

Background

A Network Control System (NCS) is a fully distributed, networked, real-time feedback control system. A typical NCS basically comprises a dynamic device, a plurality of sensors, a controller and a communication network. The control loop of the NCS is closed over the communication network. The sensor can detect the current state of the dynamic equipment and transmit the state data to the controller, so that the controller generates a control instruction according to the state data and transmits the control instruction to the dynamic equipment, and the dynamic equipment is stabilized.

Currently, NCS has been popular due to its wide application to industrial automation, intelligent transportation, remote robots, and the like. Current NCSs may require multiple sensors to detect status data at different locations of the dynamic device. The sensor digitally encodes the sensed status data and uploads the encoded data to the controller. In order to avoid collision of data uploaded by different sensor devices, the sensors need to send scheduling requests to the controller before uploading, so that the controller can allocate different channel resources to different sensors. However, each time the sensor uploads detected status data, it needs to send a scheduling request to the controller, causing significant data transmission overhead and access delays.

Disclosure of Invention

The invention mainly solves the technical problem of providing a transmission method of equipment state data and related sensing and control equipment, which can reduce the data transmission overhead and the access waiting time.

According to a first aspect of the present invention, there is provided a method for transmitting device status data, including: the sensing equipment detects the current state data of the controlled equipment; when the preset transmission condition is met, carrying out analog coding on the current state data; and directly transmitting the encoded current state data to a control device controlling the controlled device through a wireless channel without transmitting a channel resource scheduling request to the control device.

Wherein, directly sending the encoded current state data to the control device through a wireless channel, comprises: sending the coded current state data to the control equipment by using a first preset time-frequency resource on an uplink channel; all the sensing equipment which is wirelessly connected to the control equipment uses a first preset time-frequency resource to send current state data detected by the sensing equipment.

Wherein the first preset time frequency resource is designated by the control device.

Wherein, directly sending the encoded current state data to the control device through a wireless channel, further comprising: the method comprises transmitting a reference signal to the control device using a second preset time-frequency resource on the uplink channel, wherein the reference signal is provided to the control device for channel state estimation of the uplink channel, and all sensing devices wirelessly connected to the control device transmit a plurality of reference signals using the second preset time-frequency resource.

Wherein all sensing devices wirelessly connected to the control device transmit the same reference signal.

The sensing equipment and the control equipment are in wireless communication through an LTE network, the first preset time-frequency resource is located on a PUSCH, and the second preset time-frequency resource comprises at least part of time-frequency resources used for sending a plurality of reference signals on the PUSCH.

Wherein the transmission condition is associated with current status data detected by the sensing device.

Wherein the transmission condition is expressed as | | C_ix(n)||²>||C_iI Ths, wherein C_iMeasurement matrix for the i-th sensing device, C_ix (n) is the current state data detected by the ith sensing equipment, and Ths is a preset threshold value.

The method comprises the steps of receiving a preset threshold value Ths issued by control equipment, wherein the preset threshold value Ths is determined by the current requirement of the control equipment on state data of controlled equipment.

The step of performing analog coding on the current state data comprises the following steps: a quantized amplitude of the current state data is obtained, wherein the quantized amplitude is directly loaded onto a carrier and transmitted to the control device.

The step of obtaining the quantization amplitude of the current state data comprises the following steps: and performing analog-to-digital conversion on the current state data to obtain a bit stream corresponding to the current state data, wherein the numerical value represented by the bit stream is the quantization amplitude of the current state data.

After performing analog-to-digital conversion on the current state data to obtain a bit stream corresponding to the current state data, the method further includes: and performing serial-parallel conversion on the bit stream corresponding to the current state data.

Wherein after the sensing device detects the current status data of the controlled device, the method further comprises: and carrying out amplitude limiting processing on the detected current state data.

Wherein, before performing the slicing process on the detected current state data, the method further comprises: and adjusting the dynamic range of amplitude limiting according to a preset scalar value.

Before adjusting the dynamic range of the amplitude limit according to the preset scalar value, the method further comprises: and receiving a preset scalar value sent from the control device, wherein the preset scalar value is determined by the control device based on the size of a state estimation error generated when the control device carries out state estimation on the controlled device according to the received current state data.

When the sensing device is newly added to a wireless network communicated with the control device or related communication parameters are changed, a synchronization request is sent to the control device to acquire network system information broadcasted by the control device.

According to a second aspect of the present invention, there is provided a method for transmitting device status data, comprising: the control equipment receives current state data wirelessly transmitted from a plurality of sensing equipment and does not perform channel resource scheduling on the sensing equipment, wherein when the sensing equipment detects that a preset transmission condition is met, each sensing equipment performs analog coding on the detected current state data and transmits the coded current state data through a wireless channel; analyzing the received current state data to acquire current state data of the controlled equipment; generating a control command in response to the analyzed current state data of the controlled device; and sending the control instruction to the controlled equipment so that the controlled equipment operates according to the control instruction.

The method comprises the steps that a plurality of sensing devices all use a first preset time-frequency resource on an uplink channel to send detected current state data; and receiving current status data wirelessly transmitted from a plurality of sensing devices, including: collision status data generated by collision of current status data wirelessly transmitted from a plurality of sensing devices is received.

Receiving collision reference signals generated by collision of reference signals wirelessly transmitted from a plurality of sensing devices, wherein the plurality of sensing devices all transmit the reference signals by using a second preset time-frequency resource; and analyzing the received current status data to obtain current status data of the controlled device, including: based on the received collision reference signal y, using equation (1) as follows_p(n), obtaining an equivalent collision channel:

and

based on received collision status data and equivalent collision channel

Acquiring current state data of controlled equipment;

where n denotes a sequence number of a currently received frame or subframe, Ω denotes a plurality of sensing devices currently connected to the network, and H_iIs the current channel state of the ith sensing device, P is a column vector consisting of the reference signals of all sensing devices currently connected to the network, and v (n) is the channel noise.

Wherein the collision status data is received based on the collision status data and the equivalent collision channel

Acquiring current state data of a controlled device, comprising: based on the received collision state data y, using equation (2) below_d(n) and equivalent collision channels

Calculating current state data of a controlled device

Where z (n) is channel noise.

Acquiring current state data of a controlled device, comprising: using a Kalman filtering algorithm based on received collision state data and an equivalent collision channel

Current state data of the controlled device is estimated.

Wherein a Kalman filtering algorithm is used, based on the received collision status data and an equivalent collision channel

Estimating current state data of a controlled device, comprising:

based on the received collision status data y of the previous frame using the following equation (3)_d(n-1) and equivalent collision channel

Estimating current state data of a controlled device

Wherein the content of the first and second substances,

is the state data of the controlled device estimated from the previous frame, a is a constant matrix, and K is the kalman gain.

According to a third aspect of the present invention, there is provided a sensing apparatus comprising: the detection module is used for detecting the current state data of the controlled equipment; the encoding module is used for carrying out analog encoding on the current state data when the preset transmission condition is met; and the transmission module is used for directly transmitting the coded current state data to the control equipment for controlling the controlled equipment through a wireless channel without transmitting a channel resource scheduling request to the control equipment.

According to a fourth aspect of the present invention, there is provided a sensing apparatus comprising a detection circuit, a processing circuit and a Radio Frequency (RF) circuit group connected in series; the detection circuit is used for detecting the current state data of the controlled equipment and sending the current state data to the processing circuit; the processing circuit is used for carrying out analog coding on the current state data when the preset transmission condition is met, and sending the coded current state data to the RF circuit group; and the RF circuit group is used for directly transmitting the coded current state data to the control equipment for controlling the controlled equipment through a wireless channel without transmitting a channel resource scheduling request to the control equipment.

The RF circuit group is used for sending the coded current state data to the control equipment by using a first preset time-frequency resource on an uplink channel, wherein all the sensing equipment which is wirelessly connected to the control equipment sends the detected current state data by using the first preset time-frequency resource.

The RF circuit group is further configured to transmit a reference signal to the control device using a second predetermined time-frequency resource on the uplink channel, provide the reference signal to the control device to perform channel state estimation on the uplink channel, and transmit a plurality of reference signals using the second predetermined time-frequency resource by all the sensing devices wirelessly connected to the control device.

Wherein all sensing devices wirelessly connected to the control device transmit the same plurality of reference signals.

The RF circuit group and the control equipment perform wireless communication through an LTE network, the first preset time-frequency resource is located on a PUSCH, and the second preset time-frequency resource comprises at least part of time-frequency resources used for sending a plurality of reference signals on the PUSCH.

Wherein the RF circuit bank is further configured to: and receiving a preset threshold value Ths issued by the control equipment, wherein the preset threshold value Ths is determined by the current requirement of the control equipment on the state data of the controlled equipment.

Wherein the processing circuit comprises an analog encoder for obtaining a quantized amplitude of the current state data, wherein the quantized amplitude is directly loaded onto a carrier and transmitted to the control device.

The analog encoder comprises an analog-to-digital converter, wherein the analog-to-digital converter is used for performing analog-to-digital conversion on the limited current state data to obtain a bit stream corresponding to the current state data, and a numerical value represented by the bit stream is the quantization amplitude of the current state data.

The analog encoder further comprises a serial-to-parallel converter, wherein the serial-to-parallel converter is used for performing serial-to-parallel conversion on the bit stream corresponding to the current state data.

Wherein, the processing circuit further comprises a limiter for carrying out limiting processing on the detected current state data.

And the processing circuit is further used for adjusting the dynamic range of the amplitude limit according to a preset scalar value.

The RF circuit group is further used for receiving a preset scalar value sent by the control equipment, wherein the preset scalar value is determined by the control equipment based on the size of a state estimation error, and the state estimation error is generated when the control equipment carries out state estimation on the controlled equipment according to the received current state data.

According to a fifth aspect of the present invention, there is provided a control apparatus comprising: the receiving module is used for receiving current state data wirelessly transmitted from a plurality of sensing devices and not scheduling channel resources for the sensing devices, wherein when the sensing devices detect that preset transmission conditions are met, each sensing device carries out analog coding on the detected current state data and transmits the coded current state data through a wireless channel; the computing module is used for analyzing the received current state data to acquire the current state data of the controlled equipment; the generating module is used for responding to the analyzed current state data of the controlled equipment and generating a control instruction; and the transmission module is used for transmitting the control instruction to the controlled equipment so that the controlled equipment can operate according to the control instruction.

According to a sixth aspect of the present invention, there is provided a control device, comprising a processing circuit, a set of RF circuits and an output terminal, the processing circuit being coupled to the set of RF circuits and the output terminal, respectively; the RF circuit group is used for receiving current state data wirelessly transmitted from a plurality of sensing devices without performing channel resource scheduling on the sensing devices and transmitting the received current state data to the processing circuit; the processing circuit is used for analyzing the received current state data to acquire the current state data of the controlled equipment, responding to the analyzed current state data of the controlled equipment, generating a control instruction and sending the control instruction to the output end; the output end is used for sending the control instruction to the controlled equipment so that the controlled equipment can operate according to the control instruction.

The plurality of sensing devices all use a first preset time-frequency resource on an uplink channel to send detected current state data, and the RF circuit group is used for receiving collision state data generated by collision of the current state data sent by the plurality of sensing devices in a wireless mode.

The RF circuit group is used for receiving collision reference signals generated by collision of reference signals wirelessly transmitted by a plurality of sensing devices, wherein the sensing devices transmit the reference signals by using a second preset time-frequency resource on an uplink channel; the processing circuit is configured to employ equation (1) below based on the received collision reference signal y_p(n) obtaining an equivalent collision channel

And

based on received collision status data and equivalent collision channel

Acquiring current state data of controlled equipment;

Wherein the processing circuit is configured to employ equation (2) below based on the received crash state data y_d(n) and equivalent collision channels

Calculating current state data of a controlled device

Where z (n) is channel noise.

Wherein the processing circuit is configured to use a Kalman filtering algorithm based on the received collision state data and an equivalent collision channel

Current state data of the controlled device is estimated.

Wherein the processing circuit is configured to use the following equation (3) based on the received collision status data y of the previous frame_d(n-1) and equivalent collision channel

Estimating current state data of a controlled device

Wherein the content of the first and second substances,

a is a constant matrix and K is a Kalman gain for the state data of the controlled device estimated from previous frames.

According to the scheme of the application, the sensing device can directly transmit the detected current state data to the control device through analog transmission without sending a resource scheduling request to the control device, namely the detected current state data is transmitted after analog coding. With the analog transmission, even if a collision occurs, the state estimation can be obtained using collision data, so that the reliability of data transmission can be improved, whereby the control device can achieve effective control of the controlled device without worrying about data collision. Furthermore, since the sensing device can transmit the status data only when the preset transmission condition is satisfied and does not need to transmit the scheduling request, uplink data overhead can be doubly reduced. In addition, the simplification of the data uploading process and the improvement of the data uploading speed can effectively shorten the uplink access time delay and improve the data transmission efficiency.

Drawings

Fig. 1 is a Network Control System (NCS) according to an embodiment of the present application.

Fig. 2 is a flowchart illustrating a method for transmitting device status data according to an embodiment of the present application.

Fig. 3a shows transmission status data using analog coding.

Fig. 3b shows transmission status data encoded digitally.

Fig. 4 is a flowchart illustrating a method for transmitting device status data according to another embodiment of the present application.

Fig. 5 is a schematic diagram of a sensing device implementing the method of fig. 4.

Fig. 6 is a schematic diagram of a control device for receiving status data transmitted using the method of fig. 4.

Fig. 7 is an application scenario of state data collision transmitted by using an analog encoding method.

Fig. 8 is another application scenario of state data collision transmitted by using an analog coding mode.

Fig. 9 is a channel structure adopted by the sensing device according to the application scenario of the present application.

Fig. 10 is a flowchart illustrating a method for transmitting device status data according to another embodiment of the present application.

Fig. 11 is a frame structure used by synchronized sensing devices in the case of Frequency Duplex Division (FDD) according to the present application.

Fig. 12 is a frame structure used by synchronized sensing devices in a Time Duplex Division (TDD) scenario according to the present application.

Fig. 13 is a communication procedure in a network control system according to another embodiment of the present application.

FIG. 14 is a system information map employed by a sensing device according to an embodiment of the present application.

FIG. 15 is a schematic structural diagram of an embodiment of a sensing device of the present application.

FIG. 16 is a schematic structural diagram of another embodiment of a sensing device of the present application.

FIG. 17 is a schematic structural diagram of another embodiment of a sensing device according to the present application.

Fig. 18 is a schematic structural diagram of an embodiment of the control device of the present application.

Fig. 19 is a schematic structural diagram of another embodiment of the control device of the present application.

The present invention includes references to "one embodiment," a particular embodiment, "" some embodiments, "" different embodiments, "or" embodiments. The appearances of the phrase "one embodiment," "a particular embodiment," "some embodiments," "different embodiments," or "an embodiment" are not necessarily referring to the same embodiment. The particular features, structures or characteristics may be combined in a manner consistent with the invention.

Various modules, units, circuits, or other components may be described or claimed as being "configured to" perform a task or tasks. In these contexts, "configured to" is used to connote structure by indicating that the module/unit/circuit/component includes structure (e.g., circuitry) that performs these one or more tasks during operation. Thus, a module/unit/circuit/component may be said to be configured to perform a task even when the particular module/unit/circuit/component is currently inoperable (e.g., not in an on state). A module/unit/circuit/component for use with the "configured to" language includes hardware-e.g., circuitry, memory storing program instructions executable to perform operations, and so on. For a module/unit/circuit/component, it is expressly not intended that the module/unit/circuit/component "configured to" perform one or more tasks cite 35u.s.c. § 112 (f). Additionally, "configured to" may include a general-purpose structure (e.g., a general-purpose circuit) that is packaged in software and/or firmware (e.g., an FPGA or a general-purpose processor executing software) to operate in a manner that enables the tasks in question to be performed. "configured to" may also include adapting a process flow (e.g., a semiconductor fabrication facility) to a fabrication facility (e.g., an integrated circuit) for performing or carrying out one or more tasks.

As used herein, the term "based on" describes one or more factors that affect the judgment. The term does not exclude additional factors that may influence the determination. That is, the determination may be based solely on these factors or at least in part on these factors. Consider the phrase "judge A based on B". When in this case, B is a factor that affects the judgment of a, such a phrase does not exclude that a is also judged based on C. In other cases, a may be judged based on B alone.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, interfaces, techniques, etc. in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

For a better understanding of the present application, a system for carrying out the method of the present application is described below.

Please refer to fig. 1, which is a schematic structural diagram of an embodiment of a network control system according to the present application. A Network Control System (NCS) includes a controlled device 11, a plurality of sensing devices 12, and a control device 13. Multiple sensing devices 12 may be distributed over different physical locations on controlled device 13 to detect status data at different locations of controlled device 13. (FIG. 1 shows only a schematic structure of the NCS and does not reflect the actual relative positions of the sensing device and the controlled device). The control device 13 may communicate signals with the controlled device 11. For example, a wired channel or a wireless channel may be established between the control device 13 and the controlled device 11. Likewise, the sensing device 12 may establish a communication channel with the control device 13 for data transmission. The network formed by the control device 13 and the sensing device 12 may be referred to as an access network in the following. The control device 13 may establish a wireless Multiple Input Multiple Output (MIMO) channel with the controlled device 11 and the sensing device 12, respectively. The established wireless MIMO channel can improve the efficiency and reliability of data transmission, and further improve the stability of the system.

The sensing device 12 may perform Machine-type communication (MTC) with the control device 13, and thus in the description and claims of the present application, the sensing device is also alternatively referred to as an MTC device, and the control device is alternatively referred to as an MTC server. For example, the sensing device 12 may communicate with the control device 13 through a wireless network such as Long Term Evolution (LTE), 3GPP, and the like, without human intervention.

The sensing device 12 may be configured to detect status data of the controlled device 11 periodically or upon receiving a triggering instruction, and transmit the detected status data to the control device via the established wireless channel. Wherein the status data may comprise status data of a plurality of different parts of the controlled device 11.

The control device 13 is configured to perform state estimation of the controlled device 11 according to the received state data and the channel condition, generate a corresponding control instruction according to a result of the state estimation, and send the control instruction to the controlled device 11. In one embodiment, the control device 13 may be a server.

The controlled device 11 is operable to execute a control instruction transmitted from the control device 13 so that the control device 13 can implement corresponding control of the controlled device 11. In one embodiment, the controlled device 11 may be a potentially unstable dynamic device, and the control device 13 may estimate the state of the controlled device 11 using the received state data, and further control the controlled device 11 according to the state estimation result, so as to stabilize the controlled device 11. When the equation is satisfied

The controlled device 11 may be in a typical steady state. The current state of the controlled device 11 may be represented by x (n +1) ═ ax (n) + bu (n) + w (n), where x (n) represents the previous state of the controlled device 11, u (n) is a control command, and w (n) is device noise.

When the sensing device 12 is newly added to a wireless network communicating with the control device 13, or when the relevant communication parameters change, the sensing device 12 may send a synchronization request to the control device 13 to acquire network system information broadcast by the control device 13. Thereby, time slot and frame synchronization between the sensing device 12 and the control device 13 can be achieved.

After time slot and frame synchronization, the sensor device 12 and the control device 13 can jointly carry out the method of the following embodiments for data transmission.

Referring to fig. 2, fig. 2 is a schematic flow chart illustrating an embodiment of a method for transmitting device status data according to the present application. The method is applied to the NCS shown in fig. 1 and is specifically performed by the sensing device 12 shown in fig. 1. For purposes of illustration, the method is shown as being performed sequentially, however, portions of the method may be performed in other sequences or in parallel (e.g., concurrently). The method specifically comprises the following steps.

S21: the sensing device detects current status data of the controlled device.

For example, a sensing device is provided on or near the controlled device, and current state data of the controlled device is detected using an appropriate internally or externally provided sensing circuit. The current status data may include a current temperature, a current speed, a current location, and the like. It should be noted that the "current" status data described herein is not strictly limited to the status data acquired at the current time, but is status data at any time that has an influence on the controlled device, and thus may also include "old" data.

S22: and when the sensing equipment determines that the preset transmission condition is met, performing analog coding on the current state data.

In order to reduce data transmission overhead, the sensing device may not upload all the detected status data to the control device, but may determine whether to transmit data according to preset transmission conditions.

The transmission conditions may be set by the control device and/or the sensing device. In some embodiments, the transmission condition may be set to be associated with current status data detected by the sensing device. For example, the transmission condition may be set such that a difference between the current state data detected by the sensing device and the ideal state data is greater than a preset threshold, wherein the ideal state data may be the detected historical state data. And only when the transmission condition is satisfied will the current state data be analog encoded and ready for upload.

As for analog coding, the sensing device directly obtains the quantization amplitude of the current state data and loads the quantization amplitude on a carrier for transmission. Since the quantized amplitude is used as a modulation signal, it can be in an infinite number of states (the quantized amplitude of the current state data with different values is also different), which is the origin of analog coding names. The quantized amplitude is a value that can be recognized and processed by the sensing device. For example, assuming that the current state data is 14.8012 and the sensing device can only process a fraction of a point, the current state data after analog encoding becomes 14.8.

Existing sensing devices typically employ digital encoding for data transmission. However, with digital encoding, a digital signal in the form of a bit stream obtained by analog-to-digital conversion also needs to be subjected to transmission block verification, block division, rate matching, and the like, and then modulated and transmitted to a control device. The control device receives the digital signal which also requires decoding and digital-to-analog conversion, and the resulting analog signal also requires additional processing. In contrast, with analog encoding, the amplitude of the input analog signal can be directly modulated and transmitted. Thus, analog encoding at least reduces the need for transmission block checking, block partitioning and rate matching, and decoding processes relative to digital encoding, thus significantly simplifying the structure and transmission path of the sensing and control devices.

Further, as shown in fig. 3b, in the process that the sensing device transmits the digital signal to the control device over the wireless channel, if another sensing device also transmits the digital signal to the control device, the digital signals transmitted from different sensing devices may collide, so that the control device receives the wrong digital signal, and the signal is invalid. However, when the analog encoding as shown in fig. 3a is employed, even if the signals transmitted from the plurality of sensing devices are superimposed together, the control device can correctly decode the superimposed signal, i.e., the collided signal is still valid. Therefore, by analog coding of the current state data, communicable reliability is improved, and even if a plurality of sensing apparatuses in the NCS simultaneously transmit data to the same control apparatus, the control apparatus does not need channel resource scheduling.

S23: the sensing device transmits the encoded current state data directly to the control device, which controls the controlled device over the wireless channel without sending a channel resource scheduling request to the control device.

Since analog-coded data generally becomes valid data even if a collision occurs unlike digital coding, the NCS may employ a new communication protocol, i.e., when the sensing device determines to upload data, the sensing device transmits current status data of the analog coding directly to the control device over a wireless channel, instead of first sending a channel resource scheduling request to the control device.

Reasonably, since the sensing devices do not send channel resource scheduling requests, multiple sensing devices in the NCS may transmit their respective detected current state data using the same channel resources, resulting in data collision. However, with analog encoding, even if the control apparatus receives collision data, the control apparatus can demodulate the collision data to acquire valid state data, thereby ensuring effective control of the controlled apparatus without worrying about collisions. Further, since the sensing device can transmit the status data only when the preset transmission condition is satisfied, and does not need to transmit the scheduling request, the data overhead of the uplink can be greatly reduced. In addition, the data uploading process can be simplified, the data uploading time is shortened, the data uploading process is simplified, the data uploading speed is improved, the uplink access time delay can be shortened, and the data transmission efficiency is improved.

Referring to fig. 4, fig. 4 is a schematic flow chart illustrating another embodiment of a method for transmitting device status data according to the present application. The method is applied to the NCS shown in fig. 1, and is performed by the sensing device 12 shown in fig. 1. For purposes of illustration, the method is shown as being performed sequentially, however, portions of the method may be performed in other sequences or in parallel (e.g., concurrently). The method specifically comprises the following steps.

S41: the sensing device detects current status data of the controlled device.

Optionally, before S41, the method further comprises: the sensing device transmits a synchronization request to the control device to acquire network system information broadcast by the control device when the sensing device is newly added to a wireless network communicating with the control device or when relevant communication parameters are changed. For the synchronization features, please refer to the related description in other embodiments.

S42: and the sensing equipment carries out amplitude limiting processing on the detected current state data.

For example, the sensing device subjects the detected current state data to a limiter for limiting processing to reduce the amplitude of a signal higher than a set amplitude to the set amplitude, thereby restricting the peak transmission power of the sensing device.

The sensing device may adjust the dynamic range of the clipping according to a preset scalar value in order to maintain a small (target) saturation probability. When saturated, the limiter may cause the sensing device to stop transmitting any data. In some embodiments, the dynamic range may also be referred to as a clipping value of the clipper. The specific configuration of the dynamic range may be satisfied as follows:

wherein the content of the first and second substances,

is a constant (Q and T are any positively determined symmetric matrix, e.g., (A-B Ψ A)^TQ(A-BΨA)-Q＝-T。

The scalar value may be preset by the sensing device or the control device. For example, the sensing device may receive the preset scalar value from the control device prior to S42. The preset scalar value may be determined by the control device based on a state estimation error generated in a state estimation of the controlled device, the state estimation being performed by the control device based on the received current state data. The larger the state estimation error, the larger the preset scalar value.

S43: and when the preset transmission condition is met, the sensing equipment acquires the quantization amplitude of the current state data and loads the quantization amplitude on a carrier to generate a wireless frame.

The transmission condition may be associated with current status data detected by the sensing device. For example, the transmission condition may be expressed as | | C_ix(n)||²>||C_i| Ths, where i denotes the serial number of the sensing device, C_iA measurement matrix for the ith sensing device, x (n) a column vector consisting of all state data of the controlled device, C_ix (n) is the current status data detected by the ith sensing device, and Ths is a preset threshold.

The preset threshold value Ths may be determined by the control apparatus. For example, before S43, the sensing apparatus may further receive a preset threshold value Ths issued by the control apparatus, and the preset threshold value Ths may be determined according to the current demand of the control apparatus for the state data of the controlled apparatus. The preset threshold value Ths is inversely proportional to the current demand of the control apparatus for the state data of the controlled apparatus, that is, the more the state data needs to be received, the smaller the preset threshold value Ths should be set. For example, if the control device performs state estimation based on the received state data and generates a relatively large state estimation error, more state data is required, and then the preset threshold may be decreased by a set step size and transmitted to the sensing device in the system.

The quantized amplitude may be loaded directly on a carrier and transmitted to a control device.

An example of a sensing device is shown in fig. 5, where an analog encoder 50 may comprise an analog-to-digital converter 51. The sensing equipment acquires the quantization amplitude of the current state data and comprises the following steps: the clipped current state data is passed through an analog-to-digital converter 51 for analog-to-digital conversion to obtain a bit stream corresponding to the current state data, wherein the value represented by the bit stream is the quantized amplitude of the current state data, that is, based on the bit stream, the sensing device can obtain the quantized amplitude of the current state data.

For example, assuming that a current state data is 14.001, after analog-to-digital conversion, a corresponding bit stream 1110 can be obtained. Since the bitstream represents an equivalent decimal of 14, the quantized amplitude of the current state data is 14. Alternatively, the sensing device may quantize the state data in other ways besides analog-to-digital conversion. After the sensing device obtains the quantized amplitude of the current state data from the value represented by the bit stream, it may process and load the quantized amplitude on a carrier to generate a radio frame. For example, the sensing device may sequentially pre-code the quantized amplitude through a transform precoder (Trans coder)53, Resource element mapper (Resource element mapper)54 for Resource block mapping, SC-FDMA (Single-carrier Frequency-Division Multiple Access) signal generator 55 to generate a complex-valued time domain SC-FDMA signal, and Frame generator (Frame generation)56 to generate a radio Frame. The resulting radio frames are then transmitted to the control device via mapped resource blocks on the radio channel.

Further, some sensing devices may implement two parallel transmissions (e.g., the transmission signal is a complex-valued signal), and thus, to be compatible with this transmission, the analog encoder 50 may further include a serial-to-parallel converter 52. Specifically, after analog-to-digital converting the current state data to obtain a corresponding bit stream, the sensing device may further use a serial-to-parallel converter 52 to perform serial-to-parallel conversion on the bit stream corresponding to the current state data. That is, when the sensing device needs to transmit the current state data of multiple bits, the sensing device converts the serial state data of multiple bits into the parallel state data to implement two-way parallel transmission, so as to further improve the transmission efficiency. After the serial-to-parallel conversion, the quantized amplitude represented by one of the two bit streams may be loaded onto a carrier to form a radio frame to be transmitted to the control device.

After the control device receives the radio frames loaded with the quantization amplitudes, it converts the radio frames into recognizable and processable values, then demodulates the quantization amplitudes from the radio frames and performs state estimation according to the quantization amplitudes and channel conditions, thereby further generating corresponding control instructions. Specifically, referring to fig. 6, the control device subjects the received radio frame to analog-to-digital conversion by the analog-to-digital converter 61 to obtain a bit stream of the corresponding radio frame, and this bit stream that can be processed by the control device will be taken as the quantized amplitude of the received status data. Then, the bit stream of the radio frame sequentially passes through a frame synchronization module 62 for frame synchronization and a Fast Fourier Transform (FFT) module 63 for demodulation to obtain the loaded quantized amplitude information, and then the output end thereof is sent to a channel estimation module 64 and a state estimation module 65. The state estimation module 65 performs state estimation according to the output of the fft module 63 and the output of the channel estimation module 64.

It will be appreciated that although the bit stream is obtained by analog-to-digital conversion in the analog coding scheme proposed in the present application, the analog-to-digital conversion is not aimed at transmitting each data bit, but rather provides a device that can process amplitude information that is composed of a plurality of bits in common. Thus, with respect to the digital coding scheme, the control apparatus performs state estimation based on the received amplitude information, instead of making a decision for each information bit, so that more efficient and robust state estimation performance can be obtained.

To better illustrate the advantages of the analog coding scheme proposed in this application, a brief description of digital coding follows. Digital coding may require the source signal to pass through an analog-to-digital conversion module, transport block checking, block partitioning, and rate matching in sequence for digital coding, followed by a transform precoder, a resource element mapper, an SC-FDMA signal generator, a frame generator for processing, and output to a transmission channel. Once the receiving end receives the signal frame, on the contrary, the received signal frame needs to sequentially pass through a demodulator, a channel deinterleaver, a channel and a CRC decoder for digital decoding, followed by state estimation. The signal received by the receiving end is y_d(n)＝r(n)x(n)+Z_q(n)[1]. Wherein Z is_q(n) is quantization noise, x (n) is state data, and r (n) is e {0, 1}, which is a binary random variable, wherein if the corresponding r (n) can be correctly decoded, r (n) is 1, if the received signal does not contain any information about r (n) but only noise, r (n) is 0r (n), so the state estimation performance is degraded.

However, with the analog coding scheme proposed in this application, the signal received by the control device can be modeled as y_a(n)＝H(n)x(n)+Z_c(n), wherein H (n) represents a wireless channel state, Z_c(n) includes channel noise and quantization noise, and x (n) is state data. Therefore, the received signal will always contain information of the state data x (n), thereby effectively improving the state estimation performance.

Furthermore, an analog encoding scheme can be implemented by simply replacing the digital modulation module in an existing digital encoding scheme with a corresponding analog encoding module, and removing the existing digital decoding components. For example, the sensing device need only replace all modules before the precoder in digital coding with the above-described analog-to-digital converter and serial-to-parallel converter, while the control device need only remove all demodulation-related modules after the FFT module. The analog coded transmission scheme is compatible with existing network physical layers, such as the LTE physical layer, because the remaining modules perform the same function when they are applied to digital coding. In addition, the invention simplifies the structure of the device further because the analog coding scheme does not need digital modulation and digital demodulation.

In addition, in existing digital coding schemes, very simple channel coding schemes are employed, such as repetition coding, uncoding or coding of the bit stream. This will result in a very high BER (bit error rate) of the encoded signal, which in turn results in poor state estimation performance. However, analog coding transmission schemes do not require digital encoding of the bit stream and thus avoid the above problems. Furthermore, the digital coding transmission scheme is not suitable for devices with low transmission power, because sensing devices with lower transmission power cannot guarantee a sufficiently large SNR (signal to noise ratio) for stable state estimation performance, where high bit error rates are involved, and conversely, the coverage area will be greatly limited, while according to the analog coding scheme, the received signal will always contain state data information, resulting in much better coverage performance.

In one specific example of an application, the data processing in the analog coding scheme is as follows: the source signal carrying the current state data comprises two true values 6 and 15, i.e.

The source signal is first analog-to-digital converted to obtain a corresponding bit stream of 10101101, and then passed through a serial-to-parallel converter to obtain a repeated data symbol sequence s: 5.8+ i15.2, the sequence s is repeated 84 times in one resource block because one resource block contains 84 symbols. The repeated sequence of data symbols s is then output to a transform precoder for corresponding processing and then transmitted over a wireless channel to a control device. After the control equipment receives the signal, the control equipment processes the signal through a DAC (digital-to-analog converter), a frame synchronization module and an FFT (fast Fourier transform) module in sequence to obtain 12+ i2.1, and then a state estimator calculates according to the FFT output end 12+ i2.1 and a channel estimation output end 1.1+ i2.6 to obtain state estimation data

It can be seen that the state estimation performance is good.

In addition, since the data symbol sequence corresponds to the quantization width in the analog coding scheme, the digital symbol sequence of each current state data includes only one symbol, so that the symbol can be repeated 84 times in one resource block. However, in the digital coding scheme, each current state data corresponds to a plurality of bits, so the data symbol sequence includes a plurality of symbols. For example, in the above application examples, these symbols are-1-i 1, 1-i1, 1+ i1, and-1 + i 1. Therefore, the data symbol sequence is repeated only 21 times in one resource block. Therefore, the number of repetitions in analog coding schemes is much larger than in digital coding. When the control device receives this resource block and performs processing according to the repeated data symbols in the resource block, for example, dividing the noise of the resource block by the repetition number, arguably, the more the repetition number is, the more the noise of each data symbol sequence can be reduced, that is, the higher the SNR is.

In addition, based on experiments and algorithmic derivation, it has been shown that controlled devices can be more easily stabilized by analog coding, and the more collision data, the easier stability is achieved.

S44: the sensing device transmits the encoded current state data to the control device using a first preset time-frequency resource on the uplink channel, and transmits a Reference Signal (RS) to the control device using a second preset time-frequency resource on the uplink channel.

In the NCS, all the sensing devices wirelessly connected to the control device transmit the detected current state data to the control device using a first preset time-frequency resource. A reference signal (also referred to as a pilot signal) is provided to the control device for channel state estimation of the uplink channel. All sensing devices wirelessly connected to the control device transmit reference signals using a second preset time-frequency resource. In one embodiment, the first predetermined time-frequency resource and the second predetermined time-frequency resource are configured by the control device, so that the information of the resources can be included in the synchronized network system information and transmitted to the sensing device, or broadcasted to the sensing device after synchronization.

That is, all sensing devices currently connected to the network use the same time-frequency resource to transmit the radio frame carrying the quantization amplitude of their respective detected current state data to the control device, and use another same time-frequency resource to transmit the reference signal to the control device.

Thus, the sensing device can directly transmit the reference signal and the current state data using the same time-frequency resource on the wireless uplink channel without sending a channel resource scheduling request to the control device. Since all the sensing devices use the same time-frequency resource to transmit the state data, in the embodiment, the state data sent from different sensing devices are purposefully collided, so that the control device obtains the state estimation with higher precision by adopting the collision state data.

For example, as shown in FIG. 7, a controlled device may have three state data (x)₁ x₂ x₃)^TWhere X is a column vector. The sensing device 1 can detect two of the three status data, x₁And x₂Can be expressed as (x)₁ x₂)^T＝C₁X, wherein, C₁A measurement matrix representing the sensing device 1, and is

While the sensing device 2 can detect two of the three status data, x₂And x₃Can be expressed as (x)₂ x₃)^T＝C₂X, wherein, C₂A measurement matrix representing the sensing device 2, and is

The controlled device being unstable and its state transition matrix

The number of rows or columns of the state transition matrix may generally be, but is not limited to, the total amount of controlled device state data. The state transition matrix A may beA diagonal matrix in which the diagonal elements are progressively incremented from 1, in step size 1, from the top left corner to the bottom right corner. If the sensing device 1 and the sensing device 2 transmit the status data without collision because (A, C)₁) And (A, C)₂) None is observable, (observability is a concept of control theory which states that if and only if the value of the initial state is from time interval t0<t<A system with an initial state is observable when the observed system output y (t) in tf is determined; whereas if the initial state cannot be so determined, the system is not observable; the more non-zero matrix elements in C, the greater the probability that the system is observable), the control device obtains a state estimate of relatively large error after performing state estimation based on the received collision-free state data. The controlled device cannot be effectively controlled and is thus unstable. On the contrary, if the status data transmitted from the

sensor devices

1 and 2 collide, for example, (x)₁ x₂)^T+(x₂ x₃)^T＝(C₁+C₂)X＝C₃X, then the measurement matrix of the collision data is

Due to (A, C)₃) Observable, the control device may obtain a more accurate state estimate based on the received collision state data. Therefore, the controlled device can be effectively controlled, and the controlled device is stabilized. Thus, collisions of state data may increase the probability of observability, and analog coded collisions may improve the stability of the controlled device.

In another example, as shown in fig. 8, the controlled device may have three pieces of state data X ═ (X)₁ x₂ x₃)^TWhere X is a column vector. The sensing device 1 can detect two of the three status data, x₁And x₂Can be expressed as (x)₁ x₂)^T＝C₁X, wherein, C₁A measurement matrix, C, representing the sensing device 1₁Is composed of

While the sensor device 2 can detect three status data, x₁，x₂And x₃Can be expressed as (x)₁+x₂ x₃)^T＝C₂X, wherein, C₂A measurement matrix, C, representing the sensing device 2₂Is composed of

Instability of the controlled apparatus, state transition matrix thereof

If the status data transmitted by the

sensing devices

1 and 2 do not collide because (A, C)₂) Can be observed, and (A, C)₁) Unobservable, the control device can still effectively control the controlled device based on the received collision-free status data, and thus the controlled device can be stabilized. In contrast, if the status data transmitted from the

sensor devices

Due to (A, C)₃) It is observed that the control device is still actively controlling the controlled device, so that the controlled device can be stabilized. It can be concluded that collisions do not destroy the observability of the state data and can improve the stability of the controlled device.

Generally, all sensing devices transmit reference signals using the same time-frequency resource, and thus, multiple reference signals transmitted from multiple sensing devices may collide. The control device may estimate a channel using the collision reference signal to obtain an equivalent channel, and further calculate state data of the controlled device by taking the estimated equivalent channel as a channel state of the collision state data. Further, the status data of the controlled device may be used to control the controlled device accordingly.

In order to further reduce the processing overhead of the sensing devices, all sensing devices may transmit the same reference signal, so that the control device performs estimation based on the unique agreed reference signal to be transmitted and the received reference signal to obtain the equivalent channel, and a series of processing is not required to obtain the reference signal transmitted by each sensing device.

In an application example, the wife sensing device and the control device wirelessly communicate through an LTE or 3GPP network, the first predetermined time-frequency resource may be located on an uplink PUSCH, and the second predetermined resource block may include time-frequency resources on at least a portion of the uplink PUSCH for transmitting the reference signal, as shown in fig. 9. The first preset time-frequency resource may be configured by the control device through DCI format 0.

It can be appreciated that the sensing devices may not be required to transmit reference signals using the same time-frequency resources. The control device may estimate the current equivalent channel from the channel on which data was received last time, and further perform state estimation based on the estimated equivalent channel and the received collision data.

Referring to fig. 10, fig. 10 is a schematic flow chart illustrating a method for transmitting device status data according to another embodiment of the present application. In the present embodiment, the method is applied to the NCS shown in fig. 1 and executed by the control apparatus shown in fig. 1. For purposes of illustration, the method is shown as being performed sequentially, however, portions of the method may be performed in other sequences or in parallel (e.g., concurrently). The method specifically comprises the following steps.

S101: the control device receives current state data wirelessly transmitted from a plurality of sensing devices, and does not perform channel resource scheduling on the sensing devices. And when the sensing equipment detects that the preset transmission condition is met, carrying out analog coding on the detected current state data, and sending the coded current state data through a wireless channel.

The sensing device may use the method of the previous embodiment to transmit its detected current status data; for a detailed description, refer to the related description of the foregoing embodiments, which are not repeated herein. Before the sensing device sends the current state data, the control device may not perform channel resource scheduling on the sensing device, and thus, the sensing device may autonomously select channel resources to transmit the current state data.

S102: the control device analyzes the received current status data to acquire current status data of the controlled device.

The control device may decode the current state data and perform state estimation accordingly, as shown in fig. 6; for a detailed description, refer to the description of the foregoing embodiments.

In some embodiments, each sensing device in the system transmits the detected current status data using a first predetermined time-frequency resource on the uplink channel, for example, all sensing devices transmit the status data using the first predetermined time-frequency resource, as shown in fig. 9. Specifically in S101, the control device may receive collision status data generated by collision of current status data wirelessly transmitted from a plurality of sensing devices. In S102, the control device may estimate the state of the controlled device using the collision state data and the estimated equivalent channel.

In some embodiments, all sensing devices in the system further transmit reference signals using a second predetermined time-frequency resource on the uplink channel. For example, all sensing devices transmit the reference signal using the second preset time-frequency resource, as shown in fig. 9. Specifically in S101, the control device may further receive a collision reference signal generated by collision of reference signals wirelessly transmitted from the plurality of sensing devices. S102 may specifically include the following substeps.

S1021: based on the received collision reference signal y, using equation (11) below_p(n) obtaining an equivalent collision channel

Where n denotes a sequence number of a currently received frame or subframe, and Ω denotes a plurality of sensing devices currently connected to the network (i.e., which may be made with a control device in the NCS)Wireless communication), H_iIs the current channel state of the ith sensing device, P is a column vector consisting of reference signals of all sensing devices currently connected to the network, (typically, all sensing devices currently connected to the network may transmit the same reference signal), and v (n) represents channel noise when the reference signal is transmitted.

The control device uses equation (11) based on the collision reference signal y_p(n) calculating an equivalent collision channel

Standard channel estimation methods in LTE, such as LMS and MMSE filtering algorithms, may be employed.

Note that in other embodiments, the sensing device may not transmit a reference signal or transmit multiple reference signals using the same time-frequency resources. And the control device may estimate the current equivalent collision channel based on the previous channel state or a combination of the previous channel state and the received reference signal. In particular, kalman filtering may be used for channel estimation. For example, it may use Least Squares (LS) or Minimum Mean Square Error (MMSE) estimation for channel estimation.

S1022: and acquiring the current state data of the controlled equipment based on the received collision state data and the equivalent collision channel.

For example, using equation (12) below, based on the received collision state data y_d(n) and equivalent collision channels

Calculating current state data of a controlled device

Where z (n) represents the channel noise when transmitting the current state data.

In addition toIn one example, the control device may use kalman filtering to acquire the current state data. And S1022 may include: using a Kalman filtering algorithm based on received collision state data and an equivalent collision channel

To estimate the current state data of the controlled device

More specifically, the control apparatus may use the following equation (13) based on the collision state data y of the received previous frame_d(n-1) and equivalent collision channel

Estimating current state data of a controlled device

Wherein the content of the first and second substances,

It will be appreciated that in other embodiments, the current state data may also be estimated using the currently received state data.

S103: the control device generates a control command in response to the analyzed current state data of the controlled device.

For example, the control device may generate a control instruction based on the current state data of the controlled device calculated in S122 and the control demand for the controlled device.

S104: and the control device transmits the control instruction to the controlled device so that the controlled device operates according to the control instruction.

For example, the control device may generate and transmit corresponding control instructions to the controlled device over the MIMO channel so that the controlled device may execute the control instructions, whereby the controlled device may be stabilized accordingly.

For purposes of illustration, examples are given below. As in the NCS shown in fig. 1, the sensing device and the control device may communicate through the LTE network. First, when a sensing device is newly added to a wireless network communicating with a control device or when relevant communication parameters are changed, the sensing device may transmit a synchronization request to the control device to acquire network system information broadcast by the control device. Thereby, synchronization between the sensing device and the control device can be achieved.

For example, when a sensing device is newly added to a wireless network communicating with a control device or when relevant communication parameters change, it first detects a Primary Synchronization Signal (PSS), which causes the sensing device to synchronize on a subframe level. In some embodiments, the sensing device may communicate using Frequency Division Duplex (FDD), as shown in fig. 11, the PSS is located in the first slot of the first subframe (subframe 0) and the last Orthogonal Frequency Division Multiplexing (OFDM) symbol of the eleventh slot. The PSS is repeated at subframe 5, which means that the sensing devices are synchronized on a 5ms basis. In some embodiments, the sensing device may employ Time Division Duplex (TDD) communication, as shown in fig. 12, with the PSS located in the third symbol of the third and thirteenth time slots.

Subsequently, the sensing device detects a Secondary Synchronization Signal (SSS). In FDD embodiments, the SSS symbols are located in the same subframe as the PSS, but in symbols before the PSS, as shown in figure 11. In TDD embodiments, SSS is transmitted three symbols earlier than PSS, as shown in fig. 12. The SSS provides information to the sensing devices regarding frame timing properties, etc. Therefore, synchronization between the sensing devices and the control device may enable each sensing device to obtain system information (MIB and SIB) of the network. The system information may be broadcast periodically in the network and the individual sensing devices need the information to be able to connect to the network. The control device may periodically broadcast network system information so that the sensing device may achieve time slot and frame synchronization, and further, the sensing device is connected to the network based on the network system information. It should be noted that the present application is also fully compatible with Filter Bank Orthogonal Frequency Division Multiple Access (FB-OFDMA).

After the sensing devices are synchronized with the control device and the sensing devices acquire network system information (a Master Information Block (MIB) and a plurality of System Information Blocks (SIBs)), each sensing device is ready to access the network. Referring to fig. 13, a communication protocol between the sensing device and the control device is discussed in detail, and hereinafter the MTC device refers to the sensing device and the MTC server refers to the control device.

1. Initialization

The MTC server broadcasts a Radio Resource Control (RRC) connection reconfiguration message to all MTC devices to configure parameters configured by DCI format 0. The MTC server also broadcasts a scalar value L and a preset threshold value Ths to all MTC equipment by using the PDSCH

Grantless emulated asynchronous network access at MTC devices

Each MTC device sets the dynamic range of its slicer to a scalar value L. Each MTC device determines whether to transmit its state data and reference signal (pilot) or turn off the transmitter based on the state data (partial state observation) and a preset threshold Ths. Specifically, under the condition | | C_ix(n)||²>||C_iIf | | Ths is satisfied, the ith MTC device actively transmits, wherein C_iA state measurement matrix for the ith MTC device, C_ix (n) is partial status data of the ith MTC device; otherwise, the ith MTC device is turned off or enters a sleep state to stop transmission. If the MTC device is in active transmission, the MTC device sends the coded state data on a specified data field of a PUSCH configured by the MTC server, and sends a reference signal (pilot frequency) on the same reference signal field on the PUSCH. Each active MTC device transmits the same reference signal (pilot) on the same reference signal field of the PUSCH. Based on the partial state observation of each sensor and the preset threshold value ThsThe fixed protocol causes data collisions in the unobservable device states to make the unobservable devices observable, thus greatly improving system stability.

3. Equivalent collision channel estimation at MTC server

The MTC server estimates an equivalent collision channel from collision reference signals (pilots) on the same reference signal field of the received PUSCH.

4. Device state estimation at MTC server

The MTC server calculates a device state estimate based on the collision state data on the data field of the received PUSCH and the equivalent collision channel estimate. Subsequently, the MTC server generates a device control action, and the actuator takes the control action to perform the device action.

Periodic feedback of MTC servers

The MTC server updates the scalar value L and the preset threshold value Ths, and periodically broadcasts the updated values to all MTC equipment through the PDSCH with the period of T.

The MTC device may periodically receive a message broadcast by the MTC server. More specifically, as shown in fig. 14, each MTC device is periodically turned on to receive system information broadcast by the MTC server. System information (MIB and SIB) may be periodically broadcast in the network by the MTC server, and each sensing device needs the system information to be able to connect to the network. The system information map is shown in fig. 13. Specifically, each MTC device turns on every 40ms to receive the MIB on the BCH carried on the PBCH. Each MTC device turns on once every 80ms, 160ms, 320ms and 640ms to receive SIB-1, SI-2 and SI-3 on the DL-SCH carried by the PDSCH, respectively. Each MTC device is periodically turned on with T as a period to receive a scalar value and a preset threshold value broadcast by the MTC server on the PDSCH.

The advantages of the above communication protocol can be summarized as follows.

1) PHY layer (L1) Link budget advantage

The concept of "packet errors" in analog transmission is not present.

Simpler, cheaper PHY data paths.

Has a better link budget than an unencoded digital data path.

2) Advantages of the MAC layer (L2)

all digital multiple MTC access schemes in a.3gpp cannot handle and avoid collisions by either contention resolution or scheduling.

b. The proposed analog transmission accommodates and welcomes collisions.

c. Robustness to collisions.

Collision detection is very useful under analog transmission

Contention-free or collision-free solution

d. Access without authorization

No UL (uplink) scheduling is required, thereby reducing access delay. The proposed protocol is authorization-free and completely uncoordinated, and can reduce access latency, thus substantially enhancing the performance of MTC control type applications.

Unlike the unlicensed access solution in digital transmission, the data path of the receiver in the proposed solution is very simple. No complex collision resolution signal processing is required.

e. Collisions enhance "observability".

Observable detection can improve system stability.

Unobservable detection of collisions between multiple MTC devices becomes observable, thereby improving stability.

f. Collisions do not destroy "observability".

The observable detection is still observable after the collision, thereby improving stability.

g. No contention resolution or collision resolution is required.

The proposed protocol can utilize collision data detection for remote state estimation and control.

3) Decentralized local state-based event-driven transmission

Efficient use of radio Resource Blocks (RBs).

Centralized MTC device scheduling is not required at all, thus the MAC layer is greatly simplified.

4) Facilitating collisions to enhance stability

Different from the traditional MAC protocol for avoiding collision, the proposed MAC protocol promotes the collision of local MTC state detection, so that the unobservable state becomes observable, and the system stability is greatly improved.

5) Low overhead

All MTC devices need only share common pilot symbols that ensure that the protocol has low overhead.

The above state estimation method used by the control apparatus may have the following advantages:

1) exploiting collisions by equivalent collision channel estimation

All MTC devices are allowed to share the same reference signal (pilot) (instead of orthogonal pilots in the existing 3GPP multi-MTC) to improve resource efficiency.

Even if collision occurs, the MTC server can utilize equivalent channel conditions, and the robustness of the collision is enhanced.

2) Low complexity state estimation algorithm using collision simulation data detection of multiple MTC devices

An MTC server employing a state estimation algorithm may accommodate collision data detection for multiple active MTC devices.

By using a state estimation algorithm, more information on the state of the device can be utilized from the collision data detection, and thus it is welcome to collisions.

Referring to fig. 15, fig. 15 is a schematic structural diagram of an embodiment of a sensing device according to the present application. The sensing device may be the sensing device 12 shown in fig. 1. The sensing device may include a detection module 151, an encoding module 152, and a transmission module 153.

The detection module 151 is used to detect the current status data of the controlled device.

The encoding module 152 is configured to perform analog encoding on the current state data when it is determined that the preset transmission condition is satisfied.

And the transmission module 153 is configured to transmit the encoded current state data to the control device controlling the controlled device directly through a wireless channel without transmitting a channel resource scheduling request to the control device. The control device may be the control device 13 shown in fig. 1.

Specifically, the transmission module 153 is configured to send the encoded current status data to the control device by using a first preset time-frequency resource on the uplink channel, where all the sensing devices wirelessly connected to the control device send the detected current status data by using the first preset time-frequency resource. The first preset time frequency may be set by the control device.

In particular, the transmission module 153 is further configured to transmit a reference signal (reference signal) to the control device using a second preset time-frequency resource on the uplink channel. And providing the reference signals to the control device for channel state estimation of the uplink channel, and transmitting the plurality of reference signals by all sensing devices wirelessly connected to the control device using a second preset time-frequency resource. Typically, all sensing devices wirelessly connected to the control device transmit the same plurality of reference signals.

In an embodiment, the RF circuit group and the control device perform wireless communication through an LTE network, where the first predetermined time-frequency resource is located on a PUSCH, and the second predetermined time-frequency resource includes at least a part of time-frequency resources used for transmitting multiple reference signals on the PUSCH, as shown in fig. 9.

Alternatively, the transmission condition may be related to current status data detected by the sensing device. For example, the transmission condition may be expressed as the relation | | | C_ix(n)||²>||C_iI Ths, wherein C_iMeasurement matrix for the i-th sensing device, C_ix (n) is the current state data detected by the ith sensing equipment, and Ths is a preset threshold value. The preset threshold value Ths may be set by the control apparatus.

Referring to fig. 16, fig. 16 is a schematic structural diagram of another embodiment of the sensing device of the present application. In addition to the modules shown in FIG. 15, sensing device 160 may include a receiving module 164, an amplitude limiting module 165, an adjustment module 166, and a synchronization module 167.

The transmission condition employed in the present embodiment may be expressed as | | C_ix(n)||²>||C_i| ls Ths. The receiving module 164 is used for receivingAnd receiving a preset threshold value Ths sent by the control equipment. The preset threshold value Ths is determined by the current demand of the control device for status data of the controlled device. For example, the preset threshold value Ths is inversely related to the controlled plant state data that meets the current demand control plant demand.

The encoding module 152 is used to obtain the quantized amplitude of the current state data. The quantized amplitude is loaded directly onto a carrier and transmitted to a control device.

Alternatively, the encoding module 152 may include an analog-to-digital conversion unit 1521 and a serial-to-parallel conversion unit 1522.

The analog-to-digital conversion unit 1521 is configured to perform analog-to-digital conversion on the clipped current state data to obtain a bitstream corresponding to the current state data. The value represented by the bitstream is the quantized amplitude of the current state data.

The serial-to-parallel conversion unit 1522 is configured to perform serial-to-parallel conversion on the bit stream corresponding to the current state data.

The amplitude limiting module 165 is configured to perform amplitude limiting processing on the detected current state data.

And the adjusting module 166 is configured to adjust the dynamic range of the amplitude limitation according to a preset scalar value. The preset scalar value may be set by the control device. For example, the receiving module 164 is configured to receive a preset scalar value sent from the control device, wherein the preset scalar value is determined by the control device based on a size of a state estimation error generated when the control device performs state estimation on the controlled device according to the received current state data.

The synchronization module 167 is configured to send a synchronization request to the control device to acquire network system information broadcasted by the control device when the sensing device is newly added to a wireless network communicating with the control device or a related communication parameter is changed.

It will be appreciated that in other embodiments, the sensing device may also optionally include some newly added modules as shown in fig. 16, depending on different functional requirements. For example, the sensing device may include only the receiving module and the synchronization module, or only the amplitude limiting module, the adjusting module, and the synchronization module, etc.

The various modules of the sensing device are used to perform the corresponding steps of the method of the previous embodiment; for further details, reference is made to the description of the corresponding method embodiments.

Referring to fig. 17, fig. 17 is a schematic structural diagram of another embodiment of the sensing device of the present application. The sensing device may be the sensing device 12 shown in fig. 1, and the sensing apparatus 170 may include a detection circuit 171, a processing circuit 172, and a Radio Frequency (RF) circuit set 173 connected in series.

Specifically, the RF circuit group 173 includes an RF circuit 1731 and an antenna 1732. Antennas 1732 may be MIMO antennas and RF circuitry 1732 transmits signals through antennas 1732.

The detection circuit 171 is used to detect the current state data of the controlled device and send it to the processing circuit 172.

The processing circuit 172 is configured to perform analog encoding on the current state data when it is determined that the preset transmission condition is satisfied, and send the encoded current state data to the RF circuit group 173.

And the RF circuit group 173 is used to transmit the encoded current state data to the control device controlling the controlled device directly through the wireless channel without transmitting a channel resource scheduling request to the control device. The control device may be the control device 13 shown in fig. 1.

Optionally, the RF circuit set 173 is configured to transmit the encoded current status data to the control device using a first predetermined time-frequency resource on the uplink channel. All the sensing devices which are wirelessly connected to the control device use the first preset time frequency resource to send the detected current state data. The first preset time-frequency resource can be set by the control device.

In some embodiments, the RF circuit set 173 is further configured to transmit a reference signal to the control device using a second predetermined time-frequency resource on the uplink channel, and provide the reference signal to the control device for channel state estimation of the uplink channel, and all sensing devices wirelessly connected to the control device transmit a plurality of reference signals using the second predetermined time-frequency resource.

In some embodiments, all sensing devices wirelessly connected to the control device transmit the same plurality of reference signals.

In a specific embodiment, the RF circuit group 173 and the control device may perform wireless communication through an LTE network, where the first predetermined time-frequency resource is located on a PUSCH, and the second predetermined time-frequency resource includes at least a part of time-frequency resources used for transmitting multiple reference signals on the PUSCH, as shown in fig. 9.

Alternatively, the transmission condition may be related to the current status data detected by the sensing device 170. For example, the transmission condition may be expressed as the relation | | | C_ix(n)||²>||C_iI Ths, wherein C_iMeasurement matrix for the i-th sensing device, C_ix (n) is the current state data detected by the ith sensing equipment, and Ths is a preset threshold value.

Optionally, the RF circuit group 173 may also be used for a preset threshold value Ths issued by the control device. The preset threshold value Ths can be determined by the control device as a function of the current demand of the control device for status data of the controlled device.

Optionally, the processing circuit 172 includes an analog encoder 1721, and the analog encoder 1721 is used for obtaining the quantized amplitude of the current state data. The quantized amplitude may be loaded directly onto a carrier and transmitted to a control device.

Specifically, the analog encoder 1721 may be configured to perform analog-to-digital conversion on the current state data to obtain a bit stream corresponding to the current state data. The value represented by the bit stream is the quantization amplitude of the current state data, and the analog encoder 1721 can be further used for serial-to-parallel conversion of the bit stream corresponding to the current state data. In one particular implementation, the analog encoder 1721 may include at

least modules

51 and 52, which are structured as shown in FIG. 5.

Optionally, the processing circuit 172 may further include a limiter 1722, and the limiter 1722 is coupled to the detecting circuit 171 and the analog encoder 1721, respectively, and is used for performing a limiting process on the detected current state data.

Optionally, the processing circuit 172 may be further configured to adjust the dynamic range of the clipping according to a preset scalar value. For example, the processing circuitry 172 may also include: the controller is configured to adjust the dynamic range according to a preset scalar value, or the limiter 1722 may be further configured to adjust the dynamic range of the limiting according to the preset scalar value.

Optionally, the RF circuit set 173 is further configured to receive a preset scalar value sent from the control device. The preset scalar value may be determined by the control device based on a magnitude of a state estimation error generated by the control device when estimating a state of the controlled device based on the received current state data.

Optionally, the RF circuit group 173 is further configured to send a synchronization request to the control device to acquire network system information broadcast by the control device when the sensing device 170 is newly added to a wireless network communicating with the control device or a related communication parameter is changed.

Processing circuitry 172 may include a structure as shown in fig. 5.

The method performed by the control device according to the above-described embodiment of the present invention may be applied to the processing circuit 172 or implemented by the processing circuit 172. Processing circuit 172 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processing circuit 172. The Processing circuit 172 may be a general-purpose processor, a DSP (Digital Signal Processing), an ASIC (Application Specific Integrated circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The processing circuit 172 reads the program in the storage medium and, in conjunction with its hardware, performs the steps of the above-described method.

Referring to fig. 18, fig. 18 is a schematic structural diagram of an embodiment of a control device according to the present application. The control device may be the control device 13 as shown in fig. 1. The control device may include a receiving module 181, a calculating module 182, a generating module 183, and a transmitting module 184.

The receiving module 181 is configured to receive current status data wirelessly transmitted from a plurality of sensing devices, and does not perform channel resource scheduling on the sensing devices. And when the current state data meets the preset transmission condition, each sensing device carries out analog coding on the detected current state data and sends the coded current state data through a wireless channel. The sensing means is the means discussed in the previous embodiments.

The calculation module 182 is configured to analyze the received current status data to obtain current status data of the controlled device.

The generating module 183 is used for generating control instructions in response to the analyzed current state data of the controlled device.

And the transmission module 184 is configured to send the control instruction to the controlled device, so that the controlled device can operate according to the control instruction.

Optionally, the multiple sensing devices each transmit the detected current state data using a first preset time-frequency resource on the uplink channel. And the receiving module 181 is configured to receive collision status data generated by collision of current status data wirelessly transmitted from a plurality of sensing devices.

Optionally, the receiving module 181 is configured to receive an impact reference signal generated by impact of reference signals wirelessly transmitted from a plurality of sensing devices. And the plurality of sensing devices all use a second preset time frequency resource to send the reference signal.

The calculation module 182 is configured to use equation (11) above to calculate the collision reference signal y based on the received collision reference signal_p(n) obtaining an equivalent collision channel

And based on the received collision status data and an equivalent collision channel

And acquiring current state data of the controlled equipment.

Optionally, the calculation module 182 is configured to employ equation (12) above, based on the received collision status data y_d(n) and equivalent collision channels

Calculating current state data of a controlled device

Optionally, the calculation module 182 is further configured to use a Kalman filtering algorithm based on the received collision state data and an equivalent collision channel

To estimate the current state data of the controlled device.

For example, the calculation module 182 is configured to use equation (13) above to calculate the collision status data y based on the received previous frame_d(n-1) and equivalent collision channel

Estimating current state data of a controlled device

Referring to fig. 19, fig. 19 is a schematic structural diagram of another embodiment of the control device of the present application. The control device may be the control device 13 as shown in fig. 1. The control device 190 may include a processing circuit 191, a bank of RF circuits 192 and an output 193. The processing circuit 191 is coupled to the RF circuit group 192 and the output terminal 193, respectively.

The RF circuit group 192 specifically includes RF circuits 1921 and antennas 1922 the antennas 1922 may be MIMO antennas and the RF circuits 1922 transmit signals through the antennas 1921.

The RF circuit group 192 receives the current status data wirelessly transmitted from the plurality of sensor devices without performing channel resource scheduling for the sensor devices, and transmits the received current status data to the processing circuit 191. The sensing device may be the sensing device discussed in the above embodiments.

The processing circuit 191 is configured to analyze the received current status data to obtain current status data of the controlled device, and to generate a control command in response to the analyzed current status data of the controlled device, and to transmit the control command to the output 193.

The output end 193 is used for transmitting a control instruction to the controlled device so that the controlled device can operate according to the control instruction.

It is understood that the RF circuit group 192 and the output 193 may be the same circuit. Alternatively, the output 193 may be another RF circuit group.

Optionally, the multiple sensing devices each transmit the detected current state data using a first preset time-frequency resource on the uplink channel. And the RF circuit group 192 may be configured to receive an impact reference signal generated by an impact of reference signals wirelessly transmitted from a plurality of sensing devices.

Alternatively, the RF circuit group 192 is configured to receive an impact reference signal generated by an impact of reference signals wirelessly transmitted from a plurality of sensing devices. And the plurality of sensing devices all use a second preset time frequency resource on the uplink channel to transmit the reference signal.

The processing circuit 191 is configured to use equation (11) above to receive the collision reference signal y_p(n) obtaining an equivalent collision channel

And acquiring current state data of the controlled equipment.

In some embodiments, the method comprisesThe physical circuit 191 is configured to employ the above equation (12) based on the received collision state data y_d(n) and equivalent collision channels

Calculating current state data of a controlled device

In some embodiments, the processing circuit 191 is further configured to use a kalman filtering algorithm based on the received collision state data and an equivalent collision channel

To estimate the current state data of the controlled device. For using the above equation (13) to determine the collision status data y based on the received previous frame_d(n-1) and equivalent collision channel

Estimating current state data of a controlled device

The method performed by the control apparatus shown in the present embodiment can be applied to the processing circuit 191 or implemented by the processing circuit 191.

The method performed by the control device disclosed in the above embodiments of the present invention may be applied to the processing circuit 191, or may be implemented by the processing circuit 191.

The processing circuit 191 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be implemented by hardware integrated logic circuits in the processing circuit 191 or by instructions in the form of software. The Processing circuit 191 may be a general purpose processor, a DSP (Digital Signal processor), an ASIC (Application specific integrated circuit), an FPGA (Field programmable gate array) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The processing circuit 191 reads the program in the storage medium and, in conjunction with its hardware, performs the steps of the above-described method.

According to the scheme, the sensing equipment can directly transmit the detected current state data to the control equipment through analog transmission without sending a resource scheduling request to the control equipment, namely the detected current state data is transmitted after analog coding. With the analog transmission, even if a collision occurs, the state estimation can be obtained using collision data, so that the reliability of data transmission can be improved, whereby the control device can achieve effective control of the controlled device without worrying about data collision. Furthermore, since the sensing device can transmit the status data only when the preset transmission condition is satisfied and does not need to transmit the scheduling request, uplink data overhead can be doubly reduced. In addition, the simplification of the data uploading process and the improvement of the data uploading speed can effectively shorten the uplink access time delay and improve the data transmission efficiency.

The elements with the same name and different reference numbers in different embodiments of the present application are the same elements.

In the several embodiments provided in this application, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and another division may be implemented in practice, for example, by combining or integrating a plurality of units or components into another system, or by omitting some features or not performing the same.

In addition, the shown or discussed mutual coupling or direct coupling or communication connection is an indirect coupling or communication connection of some interfaces, devices or units, and is an electrical, mechanical or other form.

Units described as separate parts are or are not physically separate, and parts shown as units are or are not physical units, i.e. located in one place, or are also distributed over a plurality of network elements. Some or all of the units are selected according to actual needs to achieve the purpose of the embodiment.

In addition, functional units in the embodiments of the present application are integrated into one processing unit, each unit may exist alone physically, and two or more units are integrated into one unit. The integrated unit is realized in a form of hardware, and also in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, is stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application is substantially or partially contributed by the prior art, or all or part of the technical solution is embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which is a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a portable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media storing program codes.

Claims

1. A method for transmitting device status data, comprising:

the sensing equipment detects the current state data of the controlled equipment;

when a preset transmission condition is met, carrying out analog coding on the current state data; and

directly transmitting the encoded current state data to a control device controlling the controlled device through a wireless channel without transmitting a channel resource scheduling request to the control device;

wherein the sending the encoded current state data to a control device directly through a wireless channel comprises:

sending the encoded current state data to the control device by using a first preset time-frequency resource on an uplink channel;

all sensing equipment which is wirelessly connected to the control equipment uses the first preset time-frequency resource to send current state data detected by the sensing equipment;

the first preset time-frequency resource is designated by the control device.

2. The method of claim 1, wherein the step of transmitting the encoded current state data to a control device directly through a wireless channel further comprises:

transmitting a reference signal to the control device using a second preset time-frequency resource on the uplink channel, wherein the reference signal is provided to the control device for channel state estimation of the uplink channel, and all sensing devices wirelessly connected to the control device transmit a plurality of the reference signals using the second preset time-frequency resource.

3. The method of claim 2,

all sensing devices wirelessly connected to the control device transmit the same reference signal.

4. The method of claim 2,

5. The method of claim 1,

the transmission condition is associated with current status data detected by the sensing device.

6. The method of claim 5,

the transmission condition is expressed as | | C_ix(n)||²>||C_iI Ths, wherein C_iMeasurement matrix for the i-th sensing device, C_ix (n) is the current state data detected by the ith sensing equipment, and Ths is a preset threshold value.

7. The method of claim 6, further comprising:

and receiving a preset threshold value Ths issued by the control equipment, wherein the preset threshold value Ths is determined by the current requirement of the control equipment on the state data of the controlled equipment.

8. The method of claim 1, wherein the step of analog encoding the current state data comprises:

obtaining a quantized amplitude of the current state data, wherein the quantized amplitude is directly loaded onto a carrier and transmitted to the control device.

9. The method of claim 8, wherein the step of obtaining the quantized amplitude of the current state data comprises:

and performing analog-to-digital conversion on the current state data to obtain a bit stream corresponding to the current state data, wherein a numerical value represented by the bit stream is the quantization amplitude of the current state data.

10. The method of claim 9, wherein after performing the analog-to-digital conversion on the current state data to obtain the bitstream corresponding to the current state data, the method further comprises:

and performing serial-parallel conversion on the bit stream corresponding to the current state data.

11. The method of claim 1, wherein after the sensing device detects current status data of the controlled device, the method further comprises:

and carrying out amplitude limiting processing on the detected current state data.

12. The method of claim 11, wherein prior to said slicing the detected current state data, the method further comprises:

and adjusting the dynamic range of amplitude limiting according to a preset scalar value.

13. The method of claim 12, wherein prior to said adjusting the dynamic range of clipping according to a preset scalar value, the method further comprises:

receiving the preset scalar value sent from the control device, wherein the preset scalar value is determined by the control device based on the size of a state estimation error generated when the control device performs state estimation on the controlled device according to the received current state data.

14. The method of claim 1, further comprising:

and when the sensing equipment is newly added to a wireless network communicated with the control equipment or relevant communication parameters are changed, sending a synchronization request to the control equipment to acquire network system information broadcasted by the control equipment.

15. A method for transmitting device status data, comprising:

the control equipment receives current state data wirelessly transmitted from a plurality of sensing equipment and does not perform channel resource scheduling on the sensing equipment, wherein when the sensing equipment detects that a preset transmission condition is met, each sensing equipment performs analog coding on the detected current state data and transmits the coded current state data through a wireless channel;

analyzing the received current state data to acquire current state data of the controlled equipment;

generating a control instruction in response to the analyzed current state data of the controlled device; and

sending the control instruction to the controlled equipment so that the controlled equipment operates according to the control instruction;

the sensing equipment transmits the detected current state data by using a first preset time-frequency resource on an uplink channel; and

the receiving current state data wirelessly transmitted from a plurality of sensing devices includes:

and receiving collision state data generated by collision of the current state data wirelessly transmitted from a plurality of the sensing devices.

16. The method of claim 15, further comprising:

receiving collision reference signals generated by collision of reference signals wirelessly transmitted by the plurality of sensing devices, wherein the plurality of sensing devices all transmit the reference signals by using a second preset time-frequency resource; and

the analyzing the received current status data to obtain current status data of the controlled device includes:

using the following equation (1), based on the received collision reference signal y_p(n) obtaining an equivalent collision channel

Based on the received collision status data and the equivalent collision channel

Acquiring current state data of controlled equipment;

17. The method of claim 16, wherein the collision status data is received based on the equivalent collision channel

Acquiring current state data of a controlled device, comprising:

employing the following equation (2), based on the received collision state data y_d(n) and the equivalent collision channel

Calculating current state data of the controlled device

Where z (n) is channel noise.

18. The method of claim 16, wherein the collision status data is received based on the equivalent collision channel

Acquiring current state data of the controlled equipment, wherein the current state data comprises:

using a Kalman filtering algorithm based on the collision state data received and the equivalent collision channel

Estimating current state data of the controlled device.

19. The method of claim 18, wherein a kalman filtering algorithm is used based on the collision state data received and the equivalent collision channel

Estimating current state data of the controlled device, including:

using the following equation (3), the collision status data y based on the received previous frame_d(n-1) and the equivalent collision channel

Estimating current state data of the controlled device

Wherein the content of the first and second substances,

20. A sensing device, comprising:

the detection module is used for detecting the current state data of the controlled equipment;

the encoding module is used for carrying out analog encoding on the current state data when the preset transmission condition is met;

a transmission module, configured to directly send the encoded current state data to a control device that controls the controlled device through a wireless channel, without sending a channel resource scheduling request to the control device;

the first preset time-frequency resource is designated by the control device.

21. A sensing apparatus comprising a detection circuit, a processing circuit and a Radio Frequency (RF) circuit bank connected in series;

the detection circuit is used for detecting the current state data of the controlled equipment and sending the current state data to the processing circuit;

the processing circuit is used for carrying out analog coding on the current state data when the preset transmission condition is met, and sending the coded current state data to the RF circuit group; and

the RF circuit group is used for directly transmitting the coded current state data to a control device for controlling the controlled device through a wireless channel without transmitting a channel resource scheduling request to the control device;

22. The sensing apparatus of claim 21,

the RF circuit group is further configured to transmit a reference signal to the control device using a second predetermined time-frequency resource on the uplink channel, and to provide the reference signal to the control device for channel state estimation of the uplink channel, and all the sensing devices wirelessly connected to the control device transmit a plurality of the reference signals using the second predetermined time-frequency resource.

23. The sensing apparatus of claim 22,

all sensing devices wirelessly connected to the control device transmit the same plurality of said reference signals.

24. The sensing apparatus of claim 22,

the RF circuit group and the control equipment are in wireless communication through an LTE network, the first preset time-frequency resource is located on a PUSCH, and the second preset time-frequency resource comprises at least part of time-frequency resources used for sending a plurality of reference signals on the PUSCH.

25. The sensing apparatus of claim 21,

26. The sensing apparatus of claim 25,

27. The sensing apparatus of claim 26, wherein the set of RF circuits is further configured to:

28. The sensing apparatus of claim 21,

the processing circuit includes an analog encoder for obtaining a quantized amplitude of the current state data, wherein the quantized amplitude is loaded directly onto a carrier and transmitted to the control device.

29. The sensing apparatus of claim 28,

30. The sensing apparatus of claim 29,

31. The sensing apparatus of claim 21,

the processing circuit further comprises a limiter for performing a limiting process on the detected current state data.

32. The sensing apparatus of claim 21,

the processing circuit is further configured to adjust the dynamic range of the clipping according to a preset scalar value.

33. The sensing apparatus of claim 32,

the RF circuit group is further configured to receive the preset scalar value sent from the control device, where the preset scalar value is determined by the control device based on a size of a state estimation error generated when the control device performs state estimation on the controlled device according to the received current state data.

34. A control apparatus, characterized by comprising:

the receiving module is used for receiving current state data wirelessly transmitted from a plurality of sensing devices and not scheduling channel resources for the sensing devices, wherein when the sensing devices detect that preset transmission conditions are met, each sensing device carries out analog coding on the detected current state data and transmits the coded current state data through a wireless channel;

the computing module is used for analyzing the received current state data to acquire the current state data of the controlled equipment;

the generating module is used for responding to the analyzed current state data of the controlled equipment and generating a control instruction; and

the transmission module is used for sending a control instruction to the controlled equipment so that the controlled equipment can operate according to the control instruction;

35. A control apparatus, characterized by comprising: a processing circuit, a set of RF circuits, and an output, the processing circuit coupled to the set of RF circuits and the output, respectively;

the RF circuit group is used for receiving current state data wirelessly transmitted from a plurality of sensing devices without performing channel resource scheduling on the sensing devices and transmitting the received current state data to the processing circuit;

the processing circuit is used for analyzing the received current state data to obtain the current state data of the controlled equipment, responding to the analyzed current state data of the controlled equipment, generating a control instruction and sending the control instruction to an output end;

the output end is used for sending the control instruction to the controlled equipment so that the controlled equipment can operate according to the control instruction;

the plurality of sensing devices all use a first preset time-frequency resource on an uplink channel to send the detected current state data, and the RF circuit group is used for receiving collision state data generated by collision of the current state data sent by the plurality of sensing devices in a wireless mode.

36. The control apparatus according to claim 35,

the RF circuit group is used for receiving collision reference signals generated by collision of reference signals wirelessly transmitted by a plurality of sensing devices, wherein the sensing devices all transmit the reference signals by using a second preset time-frequency resource on an uplink channel;

the processing circuit is configured to employ equation (1) below based on the received collision reference signal y_p(n) obtaining an equivalent collision channel

Acquiring current state data of controlled equipment;

37. The control apparatus according to claim 36,

the processing circuit is configured to employ equation (2) below, based on the received collision status data y_d(n) and the equivalent collision channel

Calculating current state data of a controlled device

Where z (n) is channel noise.

38. The control apparatus according to claim 36,

the processing circuit is configured to use a Kalman filtering algorithm based on the collision state data received and the equivalent collision channel

Current state data of the controlled device is estimated.

39. The control apparatus according to claim 38,

the processing circuit is configured to use the following equation (3) to determine a collision status data y based on the received previous frame_d(n-1) and the equivalent collision channel

Estimating current state data of a controlled device

Wherein the content of the first and second substances,