CN115103374B - Beam tracking method and device - Google Patents
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- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
- 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
- H04B7/0617—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 for beam forming
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Abstract
The application discloses a beam tracking method and 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 current motion state information of each adjacent node j in a straight-through relation with the node i, predicts motion state information of the node i in the next cooperative control period according to a cooperative control method based on the current motion state information of the node i and the acquired motion state information, and sends the motion state information of the node i to the adjacent node j; 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 where the communication period is positioned; and before the next cooperative control period is reached, for each adjacent node j, the node i adjusts the beam forming parameters of the node i to the adjacent node j based on the node i and the motion state information of the adjacent node j, which is predicted by the adjacent node j, in the next cooperative control period. By adopting the method and the device, the node beam pointing can be accurately regulated in real time in the multi-agent network.
Description
Technical Field
The present invention relates to mobile communication technology, and in particular, to a beam tracking method and apparatus.
Background
Communication networking by utilizing millimeter wave frequency bands is a main way for realizing ultra-high-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 always in a motion state, so that the network node needs to precisely point the generated millimeter wave signals with extremely narrow wave 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, the network node motion causes a link spatial orientation change, making the beam extremely prone to misalignment. For this reason, there is a need for a corresponding beam tracking alignment scheme to adjust node beam pointing in real time, ensure that the beam can track (cover) the transmitting and receiving nodes of the link, and maintain link transmission.
At present, a technical scheme capable of accurately adjusting the node beam pointing in real time is not proposed for a multi-agent network.
Disclosure of Invention
Accordingly, a primary object of the present invention is to provide a beam tracking method and apparatus that can accurately adjust the node beam pointing in real time in a multi-agent network.
In order to achieve the above purpose, the technical solution provided by the embodiment of the present invention is as follows:
a method of beam tracking, comprising:
when the communication period of each cooperative control period arrives, each node i in the multi-agent network acquires current motion state information of each adjacent node j in a straight-through relation with the node i, predicts motion state information of the node i in the next cooperative control period according to a cooperative control method based on the current motion state information of the node i and the acquired motion state information, and sends the motion state information to the adjacent node in the communication period; the duration of the communication period is smaller than that 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 moment before the arrival of the next cooperative control period, for each adjacent node j, the node i adjusts 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, which are predicted by the node i and are respectively in the next cooperative control period.
The embodiment of the invention also provides a beam tracking device, which is arranged in each node i in the multi-agent network and comprises:
the prediction module is used for acquiring current motion state information of each adjacent node j in a straight-through relation with the node i when a communication period of each cooperative control period arrives, predicting motion state information of the adjacent node in the next cooperative control period according to a cooperative control method based on the current motion state information of the adjacent node j and the acquired motion state information, and transmitting the motion state information to the adjacent node in the communication period; the duration of the communication period is smaller than that 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 according to the motion state information of the node i and the adjacent node j, which are predicted by the node i and the adjacent node j, in the next cooperative control period at a preset moment before the next cooperative control period arrives.
The embodiments of the present invention also propose a computer-readable storage medium in which computer-readable instructions for performing a beam tracking method as described above are stored.
The embodiments of the invention also provide a computer program product comprising a computer program/instruction, characterized in that the computer program/instruction, when executed by a processor, implements the steps of the beam tracking method as described above.
In summary, in the beam tracking scheme provided by the embodiment of the present invention, for each node in the multi-agent network, the communication period in each cooperative control period needs to predict the motion state information of itself in the next cooperative control period according to the cooperative control method based on the current motion state information of itself and each neighboring node having a through relationship, and inform each neighboring node; and then, before the next communication period arrives, each node in the network adjusts the beam forming parameters of the node to the corresponding adjacent node based on the motion state information of the node and the adjacent node respectively predicted in the next cooperative control period. The motion state information of the next cooperative control period adopted in the adjustment of the beam forming parameters 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, 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, the accuracy of adjusting the beam forming parameters before each cooperative control period arrives can be improved, and the beam pointing of the node in the multi-agent network can be accurately and real-timely adjusted by adopting the embodiment of the invention, so that the beam can be ensured to track the transmitting and receiving nodes of the link.
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FIG. 1 is a schematic flow chart of a method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a relationship between a cooperative control period and a communication period in an embodiment of the present invention;
FIG. 3 is a schematic flow chart of predicting motion state information of a node itself in a k+1th cooperative control period and transmitting the motion state information to an adjacent node in a k cooperative control period according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating node position change in an embodiment of the present invention;
fig. 5 is a schematic view of a device structure according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and the embodiments, in order to make the objects, technical solutions and advantages of the present invention more apparent.
In order to accurately adjust node beam pointing in real time in a multi-agent network, the embodiment of the present invention will utilize the feature that the motion of nodes (i.e., agents) in the multi-agent network is essentially completed in iterative planning, and communication control is performed by joint cooperative control in the multi-agent network, i.e., each node in the network will utilize cooperative control to predict future location information of neighboring nodes, and accordingly develop beam tracking/alignment, so as to realize stable link transmission under the motion 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:
step 101, when the communication period of each cooperative control period arrives, each node i in the multi-agent network acquires current motion state information of each adjacent node j in a straight-through relation with the node i, predicts motion state information of the node i in the next cooperative control period according to a cooperative control method based on the current motion state information of the node i and the acquired motion state information, and sends the motion state information to the adjacent node in the communication period; the duration of the communication period is smaller than that 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.
In this step, when the communication period of each cooperative control period (i.e., the cooperative control interval) arrives, each node in the network interacts with each neighboring node having a through relationship (i.e., a direct link exists) to obtain current motion state information of each neighboring node having a through relationship when the communication period of each cooperative control period arrives, so that each node can predict motion state information of itself in the next cooperative control period based on the current motion state information of itself and its neighboring node, and thus, immediately before the next communication period arrives, accurately adjust beamforming parameters of the corresponding neighboring node based on the predicted value of motion state information of itself and neighboring node in the next cooperative control period, 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 the step, namely the motion state information of the node when the next cooperative control period arrives. Here, since the motion state information of the multi-agent network 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, the beamforming parameters used in the next communication period need to be accurately adjusted, so that the starting point of each communication period is the starting point of the cooperative control period where the communication period is located.
Fig. 2 is a schematic diagram of a relationship between a cooperative control period and a communication period in an embodiment of the present invention. In fig. 2, T represents the length of the cooperative control period, and Δt 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 size of the motion state information is small in practical application, the millimeter wave transmission data rate is high, the motion state information interaction and the calculation of the state value at the (k+1) T moment can be regarded as being completed at the starting moment (namely the kT moment) of the kth cooperative control period, and each node performs data transmission in the communication period (as shown in fig. 3).
In one embodiment, for the duration Δt of the communication cycle, a person skilled in the art can set an appropriate value according to the actual communication needs. Preferably, in order to improve the accuracy of beam tracking and reduce the operation complexity, the communication period time can be set to be far smaller than the cooperative control interval time length, so that the speed in Δt can be regarded as uniform speed, and the motion position of the node can be simply and accurately predicted based on uniform speed motion. Preferably, in order to not only meet the data transmission requirement between nodes, but also make the duration of the communication period far smaller than the duration of the cooperative control interval, the duration Δt of the communication period can be set within the range that t1 is less than or equal to Δt < t2, namely Δt meets the following conditions: t1 is less than or equal to delta t and less than t2.
Wherein t1 is the longest time required for information interaction between adjacent nodes in the network in a single communication period, and specifically, the time required for information interaction between a pair of adjacent nodes is: the amount of data of the interaction information between adjacent nodes in one communication period is divided by the millimeter wave transmission data rate.
t2 is the time obtained by dividing the preset minimum value of the beam width between adjacent nodes by twice the maximum motion speed, wherein the maximum motion speed is the maximum value of the maximum motion speeds supported by all nodes.
In one embodiment, the motion state information may specifically include location information, so that the node may predict the location of the neighboring node at the start time of the next cooperative control period. At this time, it may be characterized by a vector form x= [ p ], where p represents position information.
In one embodiment, to further improve the accuracy of the adjustment of the beamforming parameters, the motion state information may further include velocity information and/or acceleration, so that the node may further predict the position change of the neighboring node in the Δt communication duration of the next cooperative control period. For example, it may take the form of vectorsCharacterization, where v represents speed.
In step 101, each node predicts its own motion state information in the next cooperative control period according to the cooperative control method adopted by the multi-agent network, specifically as follows:
according toCalculating 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) For the vector representation of the current motion state information of the node i, x j (k) Vector representation of current motion state information for a neighboring node j of said node i, N i K represents the current cooperative control period number for a set of neighboring nodes that have a pass-through relationship with the node i.
Step 102, at a preset time before the arrival of the next cooperative control period, for each adjacent node j, the node i adjusts a beamforming parameter 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.
In this step, each node will adjust the beam forming parameters of the node to its neighboring node based on the motion state information of the next cooperative control period predicted by the previous period, just before the arrival of the next cooperative control period, 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 adjusting the beamforming parameters of the node i to the neighboring node j may include:
and step x1, the node i prejudges 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.
And step x2, the node i prejudges 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 step x3, the node i determines an adjustment target of the beamforming parameter based on the motion range, so that the adjusted corresponding beam scanning range can cover the motion range of the adjacent node j in the next cooperative control period.
In this step, the node i will determine the adjustment target of the beamforming parameter of itself to the neighboring node based on the motion ranges of itself and the neighboring node in the next communication period 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 period of the next cooperative control period.
If the movement state information isThe node may pre-determine the position of the partner at time (k+1) T at time kT. Let i be the transmitting node and j be the receiving node. 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) to determine the waveThe direction of beam shaping. For receiving node j, the position p of transmitting node i at (k+1) T moment is known i After (k+1) T, faster beam scanning and tracking alignment can be performed. For example, if the receiving node j adopts a beam traversing scanning mode, the starting position of scanning can be set at the position p of the transmitting node i i Near (k+1) T) in order to locate the transmit beam faster. If the receiving node j adopts a beam alignment mode of hierarchical scanning and gradual width change, the position p of the transmitting node i can be known i On the premise of (k+1) T), the beam width and the direction of each stage of scanning are determined, so that p can be covered after the beam is narrowed i ((k+1) T) nearby locations.
If the motion state information acquired by the node isThe node can not only know the position information of the opposite side, but also obtain the speed information of the opposite side. Thus, the node can further predict the positional change of the counterpart within the Δt communication time period at the (k+1) T time. Let i be the transmitting node and j be the receiving node. In the example shown in fig. 4, since the motion state information of the neighboring node based on node planning has been acquired, both nodes i and j can estimate the approximate position change range of each other. Since the communication period is much smaller than the cooperative control interval duration (i.e., Δt<T), the velocity within Δt can be considered uniform. Node i is located within Δt by p i ((k+1) T) moves to p i ((k+1) T+Δt). While node j is formed by p j ((k+1) T) moves to p j ((k+1) T+Δt). Wherein p is 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.Δt. Based on this information, the transmitting node i can predict the direction of beamforming so that the transmitting beam can cover the range of motion p of node j for a duration of Δt j ((k+1) T) to p j ((k+1) T+Δt). For the receiving node j, the position change of the transmitting node i in the communication duration deltat can be predicted according to the position and the speed of the transmitting node at the moment (k+1) T, thereby determining the direction of beam tracking alignmentSo that the beam scanning range can cover the movement of the node.
According to the technical scheme, the node planning of the multi-agent network is utilized, so that each node can predict the motion state information of the adjacent node in the next communication period, and further, the beam adjustment can be performed in advance based on the predicted motion state information, so that the beam searching range and scanning times can be effectively reduced, and the speed and accuracy of beam tracking/alignment are improved.
Based on the above method embodiment, the embodiment of the present invention correspondingly further provides a beam tracking device, where the beam tracking device is disposed in each node in the multi-agent network, as shown in fig. 5, and includes:
the prediction module 501 is configured to obtain current motion state information of each neighboring node j having a through relationship with the node i when a communication period of each cooperative control period arrives, and predict motion state information of the neighboring node in a next cooperative control period according to a cooperative control method based on the current motion state information of the neighboring node j and the obtained motion state information, and send the motion state information to the neighboring node in the communication period; the duration of the communication period is smaller than that 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;
the beam adjusting module 502 is configured to adjust, for each of the neighboring nodes j, a beam forming parameter of the node i to the neighboring node j based on the motion state information of the node i and the neighboring node j, which is predicted by the node i and is in the next cooperative control period, at a preset time before the next cooperative control period arrives.
The method embodiment and the device embodiment are based on the same inventive concept, and because the principles of solving the problems by the method and the device are similar, the implementation of the device and the method can be referred to each other, and the repetition is not repeated.
Based on the beam tracking method embodiment, the embodiment of the application also realizes the beam tracking electronic device, which comprises a processor and a memory; the memory has stored therein an application executable by the processor for causing the processor to perform the beam tracking method as described above. Specifically, a system or apparatus provided with a storage medium on which a software program code realizing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus may be caused to read out and execute the program code stored in the storage medium. Further, some or all of the actual operations may be performed by an operating system or the like operating on a computer based on instructions of the program code. The program code read out from the storage medium may also be written into a memory provided in an expansion board inserted into a computer or into a memory provided in an expansion unit connected to the computer, and then, based on instructions of the program code, a CPU or the like mounted on the expansion board or the expansion unit may be caused to perform part or all of actual operations, thereby realizing the functions of any of the above-described beam tracking method embodiments.
The memory may be implemented as various storage media such as an electrically erasable programmable read-only memory (EEPROM), a Flash memory (Flash memory), a programmable read-only memory (PROM), and the like. A processor may be implemented to include one or more central processors or one or more field programmable gate arrays, where 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 the steps and modules in the above processes and the structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution sequence of the steps is not fixed and can be adjusted as required. The division of the modules is merely for convenience of description and the division of functions adopted in the embodiments, and in actual implementation, one module may be implemented by a plurality of modules, and functions of a plurality of modules may be implemented by the same module, and the modules may be located in the same device or different devices.
The hardware modules in the various embodiments may be implemented mechanically or electronically. For example, a hardware module may include specially designed permanent circuits or logic devices (e.g., special purpose processors such as FPGAs or ASICs) for performing certain operations. A hardware module may also include programmable logic devices or circuits (e.g., including a general purpose processor or other programmable processor) temporarily configured by software for performing particular operations. As regards implementation of the hardware modules in a mechanical manner, either by dedicated permanent circuits or by circuits that are temporarily configured (e.g. by software), this may be determined by cost and time considerations.
In this document, "schematic" means "serving as an example, instance, or illustration," and any illustrations, embodiments described herein as "schematic" should not be construed as a more preferred or advantageous solution. For simplicity of the drawing, the parts relevant to the present invention are shown only schematically in the drawings, and do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. In this document, "a" does not mean to limit the number of relevant portions of the present invention to "only one thereof", and "an" does not mean to exclude the case where the number of relevant portions of the present invention is "more than one". In this document, "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A method of beam tracking, comprising:
when the communication period of each cooperative control period arrives, each node i in the multi-agent network acquires current motion state information of each adjacent node j in a straight-through relation with the node i, predicts motion state information of the node i in the next cooperative control period according to a cooperative control method based on the current motion state information of the node i and the acquired motion state information, and sends the motion state information to the adjacent node in the communication period; the duration of the communication period is smaller than that 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 moment before the arrival of the next cooperative control period, for each adjacent node j, the node i adjusts 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, which are predicted by the node i and are respectively in the next cooperative control period.
2. The method of claim 1, wherein the motion state information comprises position information.
3. The method according to claim 2, wherein the motion state information further comprises speed information and/or acceleration.
4. The method of claim 1, wherein the beamforming parameters comprise a beamwidth and a direction.
5. The method of claim 1, wherein predicting motion state information of itself in a next cooperative control cycle comprises:
according toCalculating 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) For the vector representation of the current motion state information of the node i, x j (k) Vector representation of current motion state information for a neighboring node j of said node i, N i Is a set of neighboring nodes that have a pass-through relationship with the node i.
6. The method according to claim 1, wherein the duration Δt of the communication cycle satisfies: t1 is less than or equal to delta t < t2, wherein t1 is the longest time required for information interaction between adjacent nodes in a network in a single communication period, t2 is the time obtained by dividing a preset minimum value of beam width between adjacent nodes by twice the maximum motion speed, and the maximum motion speed is the maximum value of the maximum motion speeds supported by all nodes.
7. A method according to claim 3, wherein said adjusting the beamforming parameters of said node i to the neighboring node j comprises:
the node i prejudges 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 prejudges 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 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.
8. A beam tracking apparatus, disposed in each node i in a multi-agent network, comprising:
the prediction module is used for acquiring current motion state information of each adjacent node j in a straight-through relation with the node i when a communication period of each cooperative control period arrives, predicting motion state information of the adjacent node in the next cooperative control period according to a cooperative control method based on the current motion state information of the adjacent node j and the acquired motion state information, and transmitting the motion state information to the adjacent node in the communication period; the duration of the communication period is smaller than that 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 according to the motion state information of the node i and the adjacent node j, which are predicted by the node i and the adjacent node j, in the next cooperative control period at a preset moment before the next cooperative control period arrives.
9. A computer readable storage medium having stored therein computer readable instructions for performing the beam tracking method of any one of claims 1 to 7.
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