CN115103374A - Beam tracking method and device - Google Patents
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- H04B7/0613—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission
- H04B7/0615—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission of weighted versions of same signal
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Abstract
The application discloses a beam tracking method and a device, wherein the method comprises the following steps: when the communication period of each cooperative control period arrives, each node i in the multi-agent network acquires the current motion state information of each adjacent node j having a direct connection relation with the node i, and predicts the motion state information of the node i in the next cooperative control period according to the cooperative control method and sends the motion state information to the adjacent node j based on the current motion state information and the acquired motion state information; the communication period is shorter than the duration of the cooperative control period, and the starting point of the communication period is the starting point of the cooperative control period in which the communication period is positioned; and before the next cooperative control period is close to arrival, for each adjacent node j, the node i adjusts the beam forming parameters from the node i to the adjacent node j based on the motion state information predicted by the node i and the adjacent node j in the next cooperative control period. By adopting the method and the device, the node beam direction can be accurately adjusted in real time in the multi-agent network.
Description
Technical Field
The present invention relates to mobile communication technologies, and in particular, to a beam tracking method and apparatus.
Background
The communication networking by utilizing the millimeter wave frequency band is a main way for realizing ultrahigh-speed and low-delay data transmission in a multi-agent network. Because the multi-agent network node has high dynamic property, the transmitting and receiving nodes of the transmission link are often in a motion state, and therefore, the network node needs to accurately point the generated millimeter wave signals with extremely narrow beams to adjacent nodes to form the transmission link so as to perform continuous data transmission under the condition that the transmitting and receiving nodes of the link move simultaneously. However, in practical application scenarios, network node motion causes link spatial orientation variations, making the beams highly susceptible to misalignment. For this reason, a corresponding beam tracking alignment scheme is needed to adjust the node beam pointing in real time to ensure that the beam can track (cover) the transmitting and receiving nodes of the link and maintain the link transmission.
At present, a technical scheme capable of accurately adjusting the node beam direction in real time is not provided for a multi-agent network.
Disclosure of Invention
In view of the above, the main objective of the present invention is to provide a beam tracking method and apparatus, which can accurately adjust the node beam pointing direction in real time in a multi-agent network.
In order to achieve the above purpose, the embodiment of the present invention provides a technical solution:
a method of beam tracking, comprising:
when the communication cycle of each cooperative control cycle arrives, each node i in the multi-agent network acquires the current motion state information of each adjacent node j in a direct connection relationship with the node i, and predicts the motion state information of the node i in the next cooperative control cycle according to a cooperative control method based on the current motion state information and the acquired motion state information and sends the motion state information to the adjacent node in the communication cycle; the duration of the communication period is less than that of the cooperative control period, and the starting point of the communication period is the starting point of the cooperative control period in which the communication period is located;
and at a preset time before the next cooperative control period arrives, for each adjacent node j, the node i adjusts the beam forming parameters from the node i to the adjacent node j based on the motion state information of the node i and the adjacent node j in the next cooperative control period.
The embodiment of the present invention further provides a beam tracking device, which is disposed in each node i in a multi-agent network, and includes:
the prediction module is used for acquiring the current motion state information of each adjacent node j having a direct connection relation with the node i when the communication cycle of each cooperative control cycle arrives, predicting the motion state information of the adjacent node in the next cooperative control cycle according to a cooperative control method based on the current motion state information and the acquired motion state information, and sending the motion state information to the adjacent node in the communication cycle; the duration of the communication period is less than the duration of the cooperative control period, and the starting point of the communication period is the starting point of the cooperative control period where the communication period is located;
and the beam adjusting module is used for adjusting the beam forming parameters of the node i to the adjacent node j based on the motion state information of the node i and the adjacent node j in the next cooperative control period, which is predicted by the node i and the adjacent node j, at the preset time before the next cooperative control period is reached.
Embodiments of the present invention also provide a computer-readable storage medium, in which computer-readable instructions are stored, and the computer-readable instructions are configured to execute the beam tracking method described above.
An embodiment of the present invention further provides a computer program product, which includes a computer program/instruction, and is characterized in that the computer program/instruction implements the steps of the beam tracking method as described above when being executed by a processor.
In summary, in the beam tracking scheme provided in the embodiment of the present invention, for each node in the multi-agent network, it is necessary to predict, according to the cooperative control method, the motion state information of the node itself in the next cooperative control period based on the current motion state information of the node itself and each neighboring node having a direct connection relationship in the communication period of each cooperative control period, and notify each neighboring node; and then, before the next communication period arrives, each node in the network adjusts the beamforming parameters from the node to the corresponding adjacent nodes based on the motion state information of the node and the adjacent nodes in the next cooperative control period, which is respectively predicted by the node and the adjacent nodes. The motion state information of the next cooperative control period adopted in the adjustment of the beam forming parameters is obtained by prediction according to a cooperative control method, and the motion of each node in the multi-agent network is controlled based on the cooperative control method, so that the accuracy of predicting the actual motion state information of the next cooperative control period can be ensured by predicting the motion state information of each node in the next cooperative control period according to the cooperative control method, and the accuracy of adjusting the beam forming parameters before each cooperative control period arrives can be improved.
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FIG. 1 is a schematic flow chart of a method according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a relationship between a cooperative control period and a communication period according to an embodiment of the present invention;
fig. 3 is a schematic flow chart illustrating a process in which a node predicts motion state information of itself in a (k +1) th cooperative control period in a kth cooperative control period and transmits the motion state information to an adjacent node in the embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating node location changes in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
In order to accurately adjust the node beam pointing direction in real time in the multi-agent network, the embodiment of the invention utilizes the characteristic that the movement of nodes (namely, agents) in the multi-agent network is essentially completed in iterative planning, and carries out communication control in the multi-agent network by joint cooperative control, namely, each node in the network predicts the future position information of adjacent nodes by utilizing the cooperative control, and carries out beam tracking/alignment according to the future position information so as to realize stable link transmission under the movement condition.
Fig. 1 is a schematic flow chart of a beam tracking method according to an embodiment of the present invention, as shown in fig. 1, the embodiment mainly includes:
In this step, when the communication cycle of each cooperative control cycle (i.e. cooperative control interval) arrives, each node in the network will interact with each neighboring node having a direct connection relationship (i.e. having a direct link) to obtain the current motion state information of each other, that is, when each node arrives at the communication period of each cooperative control period, the current motion state information of each adjacent node having a direct connection relation with the node is acquired, so that each node can predict the motion state information of itself in the next cooperative control period based on the current motion state information of itself and its neighboring nodes, and thus, the method can be implemented by the following steps of, immediately before the next communication cycle, based on the predicted values of the motion state information of the self node and the adjacent nodes in the next cooperative control cycle, and accurately adjusting the beam forming parameters of the corresponding adjacent nodes, thereby ensuring that the beam can track the transmitting and receiving nodes of the link.
The motion state information of the next cooperative control period predicted in this step is the motion state information of the node when the next cooperative control period arrives. Here, since the motion state information of itself in the next cooperative control period is predicted according to the cooperative control method, and the motion of each node in the multi-agent network is controlled based on the cooperative control method, the predicted motion state information when the next cooperative control period arrives can be maximally close to the corresponding actual motion state information. In order to ensure that the motion state information of the next cooperative control period can be utilized to accurately adjust the beamforming parameters used in the next communication period, the starting point of each communication period needs to be the starting point of the cooperative control period where the communication period is located.
Fig. 2 is a schematic diagram showing a relationship between a cooperative control period and a communication period in the embodiment of the present invention. In fig. 2, T represents the length of the cooperative control period, and Δ T represents the length of the communication period. As shown in fig. 2, the cooperative control period and the communication period have the same start point.
Considering that the data volume of the motion state information is small in practical application and the data transmission rate of millimeter wave is high, the motion state information interaction and the calculation of the state value at the (k +1) th time can be regarded as being completed at the starting time of the kth cooperative control period (i.e. kT time), and each node performs data transmission in the communication period (as shown in fig. 3).
In one embodiment, for the duration Δ t of the communication period, a person skilled in the art may set a suitable value according to actual communication needs. Preferably, in order to improve the accuracy of beam tracking and reduce the computation complexity, the communication period duration may be set to be smaller than the cooperative control interval duration, so that the speed within Δ t may be regarded as a uniform speed, and the motion position of the node may be simply and accurately predicted based on the uniform motion. Preferably, in order to meet the data transmission requirement between the nodes and make the duration of the communication period much smaller than the duration of the cooperative control interval, specifically, the duration Δ t of the communication period may be set within a range where Δ t is greater than or equal to t1 and less than t2, that is, Δ t satisfies: t1 is not less than delta t is less than t 2.
Wherein t1 is the longest time required for information interaction between adjacent nodes in a network in a single communication cycle, and specifically, the time required for information interaction between a pair of adjacent nodes is: and dividing the data quantity of the mutual information between the adjacent nodes in one communication period by the time obtained by the millimeter wave transmission data rate.
t2 is a time obtained by dividing the minimum value of the beam width between the preset adjacent nodes by twice the maximum moving speed, which is the maximum value among the maximum moving speeds supported by all the nodes.
In an embodiment, the motion state information may specifically include position information, so that a node may predict a position of an adjacent node at a starting time of a next cooperative control period. At this time, it may be characterized in a vector form x ═ p, where p denotes position information.
In an embodiment, in order to further improve the accuracy of the adjustment of the beamforming parameter, the motion state information may further include speed information and/or acceleration, so that the node may further predict the position change of the adjacent node within the Δ t communication duration of the next cooperative control period. For example, it may take the form of a vector
Characterization, where v represents velocity.
In step 101, each node predicts the motion state information of itself in the next cooperative control period according to the cooperative control method adopted by the multi-agent network, which is specifically as follows:
according to
Calculating a vector representation x of the motion state information of the node i in the next cooperative control period i (k + 1); wherein x is i (k) Is a vector representation of the current motion state information of the node i, x j (k) Vector representation of current motion state information for a node j adjacent to the node i, N i And k represents the current cooperative control period number for the adjacent node set having a direct connection relationship with the node i.
And 102, at a preset time before the next cooperative control period is reached, for each adjacent node j, the node i adjusts a beam forming parameter from the node i to the adjacent node j based on the motion state information of the node i and the adjacent node j in the next cooperative control period.
In this step, each node adjusts the beam forming parameter of the node to its neighboring node based on the motion state information of the next cooperative control period predicted by the previous period immediately before the next cooperative control period arrives, so as to ensure that the beam can cover the position of the neighboring node in the next communication period.
In one embodiment, the beamforming parameters include beam width and direction.
In one embodiment, the following method may be adopted to adjust the beamforming parameter of the node i to the neighboring node j, including:
step x1, the node i predicts the movement range of the node i in the communication period of the next cooperative control period based on the movement state information of the node i in the next cooperative control period.
Step x2, the node i pre-judges the movement range of the adjacent node j in the communication period of the next cooperative control period based on the movement state information of the adjacent node j in the next cooperative control period.
Step x3, the node i determines an adjustment target of the beamforming parameter based on the movement range, so that the adjusted corresponding beam scanning range can cover the movement range of the adjacent node j in the next cooperative control period.
In this step, the node i determines an adjustment target of the beamforming parameter from the node i to the neighboring node based on the motion ranges of the node i and the neighboring node in the next communication cycle obtained in steps x1 and x2, so as to ensure that the beam can track the transmitting and receiving nodes of the link in the communication cycle of the next cooperative control cycle.
If the motion state information is x ═ p]In the vector form, the node can predict the position of the other party at the time of (k +1) T at the time of kT. Assume that the sending node is i and the receiving node is j. For the transmitting node i, the position p of the receiving node j at time (k +1) T can be predicted j ((k +1) T), from which the direction of beamforming is determined. For the receiving node j, the position p at the moment of (k +1) T of the transmitting node i is known i (k +1) T) later, faster beam scanning and tracking alignment can be performed. For example, if the receiving node j adopts the beam traversal scanning mode, the starting position of the scanning can be set at the position p of the transmitting node i i (k +1) T) to more quickly locate the transmit beam. If the receiving node j adopts a beam alignment mode of hierarchical scanning and gradual width change, the position p of the sending node i can be obtained i (k +1) T, determining the beam width and the direction of each scanning stage, and ensuring that the beam can cover p after narrowing i (k +1) T) vicinity position.
If the motion state information acquired by the node is
The node can not only know the position information of the opposite side, but also obtain the speed information of the opposite side in the vector form. Thus, the node can further predict the change in the position of the partner within the Δ T communication period at the time (k +1) T. Assume that the sending node is i and the receiving node is j. In the example shown in fig. 4, since the motion state information of the neighboring nodes based on node planning is already acquired, the nodes i and j can each estimate the approximate position change range of the other. Because the communication cycle duration is much shorter than the cooperative control interval duration (i.e., Δ t)<T), the velocity within Δ T can be considered uniform. The position of the node i in delta t is p i (k +1) T) to p i ((k +1) T + Δ T). Node j is represented by p j ((k +1) T) move to p j ((k +1) T + Δ T) where p i ((k+1)T+Δt)≈p i ((k+1)T)+v i ((k+1)T)×Δt，p j ((k+1)T+Δt)≈p j ((k+1)T)+v j ((k +1) T). times.DELTA.t. According to the information, the sending node i can prejudge the beam forming direction, so that the sending beam can cover the motion range p of the node j in the time length of delta t j ((k +1) T) to p j For the receiving node j, the position change of the transmitting node i in the communication time length Δ T can also be predicted according to the position and the speed of the transmitting node at the time of (k +1) T, so as to determine the direction of beam tracking alignment, and enable the beam scanning range to cover the movement of the node.
According to the method and the device, the technical scheme has the advantages that by utilizing the node planning performance of the multi-agent network, each node can predict the motion state information of the adjacent node in the next communication period, and then the wave beam can be adjusted in advance based on the predicted motion state information, so that the wave beam searching range and the scanning times can be effectively reduced, and the wave beam tracking/aligning speed and precision can be improved.
Based on the foregoing method embodiments, the present invention further provides a beam tracking apparatus, which is disposed in each node in a multi-agent network, as shown in fig. 5, and includes:
the prediction module 501 is configured to, when a communication cycle of each cooperative control cycle arrives, obtain current motion state information of each neighboring node j having a direct connection relationship with a node i where the neighboring node j is located, predict, according to a cooperative control method, motion state information of the neighboring node j in a next cooperative control cycle based on the current motion state information of the neighboring node j and the obtained motion state information, and send the predicted motion state information to the neighboring node in the communication cycle; the duration of the communication period is less than the duration of the cooperative control period, and the starting point of the communication period is the starting point of the cooperative control period where the communication period is located;
a beam adjusting module 502, configured to, at a preset time before the next cooperative control period arrives, for each adjacent node j, adjust a beam forming parameter of the node i to the adjacent node j based on motion state information of the node i and the adjacent node j in the next cooperative control period, which is predicted by the node i and the adjacent node j.
The method embodiment and the device embodiment are based on the same inventive concept, and because the principles of solving the problems of the method and the device are similar, the device and the method can be implemented by referring to each other, and repeated parts are not described again.
Based on the embodiment of the beam tracking method, the embodiment of the application further realizes an electronic device for beam tracking, which comprises a processor and a memory; an application program executable by the processor is stored in the memory for causing the processor to perform the beam tracking method as described above. Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the embodiments described above are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium. Further, part or all of the actual operations may be performed by an operating system or the like operating on the computer by instructions based on the program code. The functions of any of the above-described embodiments of the beam tracking method may also be implemented by writing the program code read out from the storage medium to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion unit connected to the computer, and then causing a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on the instructions of the program code.
The memory may be embodied as various storage media such as an Electrically Erasable Programmable Read Only Memory (EEPROM), a Flash memory (Flash memory), and a Programmable Read Only Memory (PROM). The processor may be implemented to include one or more central processors or one or more field programmable gate arrays, wherein the field programmable gate arrays integrate one or more central processor cores. In particular, the central processor or central processor core may be implemented as a CPU or MCU.
Embodiments of the present application implement a computer program product comprising computer programs/instructions which, when executed by a processor, implement the steps of the beam tracking method as described above.
It should be noted that not all steps and modules in the above flows and structures are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The division of each module is only for convenience of describing adopted functional division, and in actual implementation, one module may be divided into multiple modules, and the functions of multiple modules may also be implemented by the same module, and these modules may be located in the same device or in different devices.
The hardware modules in the various embodiments may be implemented mechanically or electronically. For example, a hardware module may include a specially designed permanent circuit or logic device (e.g., a special purpose processor such as an FPGA or ASIC) for performing specific operations. A hardware module may also include programmable logic devices or circuits (e.g., including a general-purpose processor or other programmable processor) that are temporarily configured by software to perform certain operations. The implementation of the hardware module in a mechanical manner, or in a dedicated permanent circuit, or in a temporarily configured circuit (e.g., configured by software), may be determined based on cost and time considerations.
"exemplary" means "serving as an example, instance, or illustration" herein, and any illustration, embodiment, or steps described as "exemplary" herein should not be construed as a preferred or advantageous alternative. For the sake of simplicity, the drawings are only schematic representations of the relevant parts of the invention, and do not represent the actual structure of the product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "a" does not mean that the number of the relevant portions of the present invention is limited to "only one", and "a" does not mean that the number of the relevant portions of the present invention "more than one" is excluded. In this document, "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of beam tracking, comprising:
when the communication cycle of each cooperative control cycle arrives, each node i in the multi-agent network acquires the current motion state information of each adjacent node j in a direct connection relationship with the node i, and predicts the motion state information of the node i in the next cooperative control cycle according to a cooperative control method based on the current motion state information and the acquired motion state information and sends the motion state information to the adjacent node in the communication cycle; the duration of the communication period is less than the duration of the cooperative control period, and the starting point of the communication period is the starting point of the cooperative control period where the communication period is located;
and at a preset time before the next cooperative control period arrives, for each adjacent node j, the node i adjusts the beam forming parameters from the node i to the adjacent node j based on the motion state information of the node i and the adjacent node j in the next cooperative control period.
2. The method of claim 1, wherein the motion state information comprises location information.
3. The method of claim 2, wherein the motion state information further comprises velocity information and/or acceleration.
4. The method of claim 1, wherein the beamforming parameters comprise a beam width and a direction.
5. The method of claim 1, wherein the predicting motion state information of the mobile device in a next cooperative control cycle comprises:
according to
Calculating a vector representation x of the motion state information of the node i in the next cooperative control period i (k + 1); wherein x is i (k) Is a vector representation of the current motion state information of the node i, x j (k) Vector representation of current motion state information for a node j adjacent to the node i, N i Is a set of adjacent nodes having a direct connection relationship with the node i.
6. The method according to claim 1, wherein the duration Δ t of the communication period satisfies: and t1 is greater than or equal to Δ t < t2, wherein t1 is the longest time required for information interaction between adjacent nodes in the network in a single communication period, and t2 is the time obtained by dividing the minimum value of the preset beam width between the adjacent nodes by twice the maximum movement speed, wherein the maximum movement speed is the maximum value of the maximum movement speeds supported by all the nodes.
7. The method of claim 3, wherein the adjusting the beamforming parameter of the node i to the neighboring node j comprises:
the node i pre-judges the motion range of the node i in the communication period of the next cooperative control period based on the motion state information of the node i in the next cooperative control period;
the node i pre-judges the motion range of the adjacent node j in the communication period of the next cooperative control period based on the motion state information of the adjacent node j in the next cooperative control period;
and the node i determines an adjustment target of the beam forming parameter based on the movement range, so that the adjusted corresponding beam scanning range can cover the movement range of the adjacent node j in the next cooperative control period.
8. A beam tracking apparatus, provided in each node i in a multi-agent network, comprising:
the prediction module is used for acquiring the current motion state information of each adjacent node j having a direct connection relation with the node i when the communication cycle of each cooperative control cycle arrives, predicting the motion state information of the adjacent node in the next cooperative control cycle according to a cooperative control method based on the current motion state information and the acquired motion state information, and sending the motion state information to the adjacent node in the communication cycle; the duration of the communication period is less than that of the cooperative control period, and the starting point of the communication period is the starting point of the cooperative control period in which the communication period is located;
and the beam adjusting module is used for adjusting the beam forming parameters of the node i to the adjacent node j based on the motion state information of the node i and the adjacent node j in the next cooperative control period, which is predicted by the node i and the adjacent node j, at the preset time before the next cooperative control period is reached.
9. A computer readable storage medium having computer readable instructions stored thereon for performing the beam tracking method of any one of claims 1 to 7.
10. A computer program product comprising computer program/instructions, characterized in that the computer program/instructions, when executed by a processor, implement the steps of the beam tracking method of any of claims 1 to 7.
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