CN116828394B - Tracking communication method, tracking communication device, electronic apparatus, and storage medium - Google Patents
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Abstract
The application discloses a tracking communication method, a tracking communication device, an electronic apparatus, and a computer storage medium, the tracking communication method comprising: dividing the current tracking period into a first time period and a second time period; in a first time period, transmitting a wide beam to cover an extended target of communication to be tracked, and obtaining measurement data of the extended target; determining first position information of a communication receiver carried by the expansion target based on the measurement data; and transmitting a narrow beam based on the first position information to align the communication receiver for a second time period, and communicating with the communication receiver. The method can realize high-resolution perception of the expansion target, and further improve the communication rate between the expansion target and a communication receiver carried by the expansion target.
Description
Technical Field
The present application relates to the field of communications technologies, and in particular, to a tracking communication method, a tracking communication device, an electronic apparatus, and a computer readable storage medium.
Background
With the rapid development of communication technology, the fifth generation mobile communication technology (5th Generation Mobile Communication Technology,5G) has come into the field of view of the public, and new vitality is injected for technologies such as internet of vehicles and the like. Under the promotion of the fifth generation mobile communication technology, the intelligent logistics transportation can realize the refinement and the dynamics of logistics tracks. Among other things, to implement this technology benefits mainly from the communication and tracking of logistics vehicles by roadside base stations.
Radar sensing and communication have long been independently developed, and the trend of radar sensing and communication are fused and finally integrated in the pursuit of large bandwidth and high speed is a mainstream trend. In this context, the integration of perceived communication (Integrated Sensing And Communication, ISAC) has grown and plays a critical role in internet of vehicles communication, for example by means of a perceived algorithm to assist in communication data transmission. However, the carrier targets of many communication receivers exhibit extended target characteristics due to the distance and angle high resolution capabilities brought by millimeter waves and massive Multiple-Input Multiple-Output (MIMO). This means that even if the target is accurately tracked using perceptual algorithms, the beam main lobe of a massive MIMO transmission is not necessarily able to align or at least cover the communication receiver, which leads to a reduced communication performance.
Disclosure of Invention
The application provides a tracking communication method, a tracking communication device, electronic equipment and a computer readable storage medium, which can realize high-resolution perception of an extended target and improve the communication rate of a communication receiver carried by the extended target.
In a first aspect, the present application provides a method of tracking communications, including:
Dividing the current tracking period into a first time period and a second time period;
in a first time period, transmitting a wide beam to cover an extended target of communication to be tracked, and obtaining measurement data of the extended target;
determining first position information of the communication receiver mounted on the expansion target based on the measurement data;
and in a second time period, transmitting a narrow beam to the communication receiver based on the first position information to communicate with the communication receiver.
In a second aspect, the present application provides a tracking communication device comprising:
the dividing module is used for dividing the current tracking period into a first time period and a second time period;
the measuring module is used for transmitting wide beams to cover an expansion target of communication to be tracked in a first time period to obtain measurement data of the expansion target;
a first determining module configured to determine first location information of the communication receiver mounted on the expansion target based on the measurement data;
and the communication module is used for transmitting a narrow beam to be aligned with the communication receiver based on the first position information in a second time period and communicating with the communication receiver.
In a third aspect, the present application provides an electronic device comprising a memory, a processor and a computer program stored in said memory and executable on said processor, said processor implementing the steps of the method of the first aspect as described above when said computer program is executed by said processor.
In a fourth aspect, the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of the method of the first aspect described above.
In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by one or more processors, implements the steps of the method of the first aspect described above.
Compared with the prior art, the beneficial effects that this application exists are: by dividing one tracking period into two time periods, namely a first time period and a second time period, accurate tracking of an extended target based on alternate beams is achieved. The specific process is as follows: firstly, in a first time period, covering an expansion target by using a wide beam to determine measurement data with higher accuracy, thereby further accurately deducing first position information of a communication receiver; and then, in a second time period, according to the first position information, emitting a narrow beam which can be aligned with the communication receiver, and carrying out efficient communication with the communication receiver. In the process, the base station transmitting the wave beam is a large-scale MIMO base station, so that accurate perception of an expansion target can be realized through a wide wave beam in a first time period, and more accurate first position information is obtained through deduction; and then, the large-scale MIMO base station can transmit a narrow beam according to the first position information in the second time period, so that the alignment of a communication receiver is realized, the advantage of high array gain of the large-scale MIMO base station is fully utilized, and the communication rate is effectively improved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a tracking communication method according to an embodiment of the present application;
FIG. 2 is a top view of a vehicle provided in an embodiment of the present application;
FIG. 3 is a schematic view of a scenario of vehicle tracking communication provided in an embodiment of the present application;
FIG. 4 is a graph showing the change over time of the theoretical communication rate and four real communication rates provided by the embodiments of the present application;
FIG. 5 is a schematic diagram showing the variation of the outage probability with the moving speed of the vehicle according to four tracking communication methods according to the embodiment of the present application;
fig. 6 is a schematic flow chart of a tracking communication method in a practical application scenario provided in the embodiment of the present application;
fig. 7 is a schematic structural diagram of a tracking communication device according to an embodiment of the present application;
fig. 8 is a schematic diagram of a virtual module structure of an electronic device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments 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 systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
The tracking communication method provided by the embodiment of the application can be applied to the beam transmitting base station, and can also be applied to electronic equipment such as a tablet personal computer, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (personal digital assistant, PDA) and the like which are externally connected with the beam transmitting base station, and the embodiment of the application does not limit the specific type of the electronic equipment. For convenience of subsequent illustration, the implementation body implementing the method of the present application is exemplified by a beam transmitting base station, and specifically, the beam transmitting base station is a massive MIMO base station.
It should be noted that, the extended target refers to a target that generates a plurality of measurement results at each sampling time in a case where the resolution of the sensor is high, the target is close to the sensor, and the target is large, that is, a target that occupies a plurality of resolution units at each sampling time, for example, a vehicle. For ease of understanding, the extension target will be further described below with respect to a vehicle as an example.
Currently, the tracking communication method mainly comprises a pure communication protocol-based tracking communication method, an additional radar sensor-based tracking communication method and a sensing communication integrated tracking communication method.
The first tracking communication method is that a base station transmits downlink pilot frequency to carry out beam training, and meanwhile, a communication receiver of a vehicle receives signals and then carries out simple signal-to-noise ratio detection and algebraic conversion to estimate angle information of an expansion target at the current moment and feed the angle information back to the base station through an uplink, so that accurate downlink beam alignment and communication are realized. However, this method requires a large amount of overhead for downlink pilot and uplink feedback, which is very disadvantageous to the overall communication capacity of the system. Especially in the scene of the high-speed movement of the expansion target, the situation that the communication is interrupted due to the tracking failure easily occurs.
The second tracking communication method is to deploy an additional radar sensor on the base station, receive radar measurement signals reflected by the vehicle through the radar sensor and estimate the angle of the vehicle through a sensing algorithm process, thereby assisting the beam tracking and communication of the base station. However, this method requires the introduction of additional hardware equipment, which is costly.
The third tracking communication method is to estimate and predict the angle of the vehicle by using a perception algorithm, so as to assist the beam tracking and communication of the base station. In the method, the vehicle is only treated as a point target, and the expansion characteristic of the vehicle is not considered, and at the moment, although the target can be precisely tracked through the beam, the main lobe of the beam is not necessarily aligned to the communication receiver, so that the communication efficiency is lower.
Aiming at the problems, the application provides a tracking communication method, which can realize zero overhead of downlink pilot frequency and uplink feedback and ensure the stability of communication; secondly, no extra hardware is required to be introduced, so that the communication cost is saved; finally, the method can also process aiming at the expansion target, and the communication rate is improved.
In order to illustrate the technical solutions proposed in the present application, the following description is made by specific embodiments.
Fig. 1 shows a schematic flowchart of a tracking communication method provided in the present application, the tracking communication method including:
step 110, dividing the current tracking period into a first time period and a second time period.
In tracking an extended target, it can be understood that a cyclic process is composed of a plurality of tracking periods. Wherein each tracking period may be divided into two time periods, a first time period and a second time period. The first time period is mainly used for sensing the expansion target, and the second time period is mainly used for communicating with a communication receiver carried by the expansion target. Therefore, for a tracking period, the first task is to divide the first time period and the second time period first, so as to further track and communicate with the extended target.
Step 120, in a first period of time, a wide beam is emitted to cover an extended target of the communication to be tracked, and measurement data of the extended target is obtained.
In order to be able to accurately perceive the extended target, a broad beam capable of covering the extended target may be transmitted during a first period of time, and then measurement data of the extended target may be generated by acquiring radar echo signals.
Step 130, determining first location information of the communication receiver carried by the expansion target based on the measurement data.
After the measurement data are obtained, the position information, namely the first position information, of the communication receiver carried by the expansion target can be further determined according to the measurement data, so that the communication receiver is aligned with the transmission beam based on the first position information, and the communication rate is improved.
And 140, transmitting a narrow beam to the communication receiver based on the first position information in a second time period to communicate with the communication receiver.
After determining the first location information of the communication receiver, the communication receiver may be aligned by transmitting a narrow beam based on the first location information, so that the massive MIMO base station can efficiently communicate with the communication receiver.
In each tracking period, the large-scale MIMO base station transmits wide beams in a first time period, so that an expansion target is covered, accurate perception of the expansion target can be realized, and measurement data of the expansion target are obtained; then determining more accurate first position information according to the measurement data; and finally, in a second time period, according to the narrow beam transmitted by the first position information, the communication receiver is aligned, and meanwhile, the advantage of high array gain of the large-scale MIMO base station is fully utilized, and the communication rate is improved. Wherein the width of the beam is relatively small, the main object of the wide beam is to cover the extended object in order to determine the first position information of the communication receiver; the narrow beams are aimed at the communication receiver to take advantage of the high array gain of the massive MIMO base station to increase the communication rate.
In some embodiments, to improve the perceived accuracy of the extended target, before the step 110, the method further includes:
and step A, if the expansion target is detected for the first time, determining second position information of the expansion target.
The signal coverage of the beam transmitted by the beam transmitting base station is limited. For example, when a beam transmitting base station is built on a roadside, assuming that the coverage area of a beam transmitted by the beam transmitting base station is a sector, and the expansion target is a vehicle, the vehicle can be detected only if the vehicle is driven into the signal coverage area of the sector. The first detection method of the vehicle can divide the signal coverage area firstly, then divide the signal coverage area according to the dividing area where the vehicle falls, and finally gradually refine the dividing area to gradually approach the real position of the vehicle so as to realize the first detection of the vehicle. Assuming that the signal coverage is 180 °, the 180 ° signal coverage may be first divided into two 90 ° divided regions, and when it is determined which 90 ° divided region the vehicle falls into, the 90 ° divided regions are further divided. For example, two 45 ° divided areas are divided, then it is determined which 45 ° divided area the vehicle falls into, and so on until the true position of the vehicle is approximated, to determine that the vehicle is detected for the first time, and the positional information of the vehicle, that is, second positional information later, is obtained. And wherein when a certain vehicle is detected by the beam transmitting base station for the first time, the detection result can be understood as a start signal triggering the tracking communication step; that is, if a vehicle enters the signal coverage area for the first time and is detected by the beam emitting base station, the tracking communication operation for the vehicle may be triggered, i.e. steps 110 to 140 may be started. In order to be able to track the vehicle by beam perception, position information of the vehicle can be determined first, which can be noted as second position information.
In some embodiments, the step 120 specifically includes:
and step 121, transmitting the wide beam coverage extension target based on the second position information in the first time period to obtain measurement data.
After the second position information is obtained, a first tracking cycle for the extended target is entered. In the first time period of the first tracking period, the beam transmitting base station can transmit a wide beam according to the second position information so as to accurately cover and sense the expansion target, thereby obtaining measurement data with higher accuracy. The measurement data is obtained by receiving a radar echo signal and inputting the radar echo signal into a delay-Doppler channel for conversion. The delay-doppler channel is a real physical channel that reflects the moving speed of the extended target and the extended target in the scene, which is embodied as doppler frequency.
In some embodiments, in order to enable the transmitted beam to be directed at the communication receiver, the step 130 includes:
and 131, performing two-dimensional filtering matching and multi-signal classification on the measured data to obtain the state information of identifiable scattering points in the measured data.
After the measurement data are obtained, two-dimensional filtering matching can be performed on the measurement data, so that the position and Doppler frequency of an expansion target relative to a beam transmitting base station are determined; the measurement data is then multi-signal classified to determine the number of identifiable scattering points in the measurement data. After these two operations, the state information of each scattering point can be obtained, where the state information includes the angle, distance, and speed of each scattering point relative to the beam-emitting base station.
Step 132, determining third location information of the centroid of the extended target based on the status information.
In the practical application process, the vehicle presents the expansion target characteristic on the distance and angle for the large-scale MIMO array of the millimeter wave frequency band. For example, for a millimeter wave signal with a bandwidth of 500MHz, the perceived range resolution is 30 cm, whereas a typical logistic vehicle length is greater than 5 meters wide and greater than 2 meters wide, meaning that the vehicle is distributed over a range profile within a plurality of range bins; at the same time, the beam main lobe width of the massive MIMO array (64 antennas to 128 antennas) is approximately in the range of 1 degree to 5 degrees, and the whole vehicle cannot be covered when the vehicle is close, which means that the vehicle is also expanded in angle.
Based on this, referring to fig. 2, an example of a vehicle identified as a plurality of scattering points is given in fig. 2. It will be appreciated that the high-resolution scattering points on the vehicle may be considered to be approximately evenly distributed within the regular geometry, and thus the location of the centroid of the extended target may be determined from the location information of the individual scattering points, denoted as third location information.
Step 133, determining first location information of the communication receiver based on the third location information.
Whereas the position of the communication receiver on the vehicle is fixed, the relative positional relationship between the communication receiver and the centroid is also fixed (Δx and Δy in fig. 2). Δx and Δy may be obtained when the vehicle-mounted communication receiver first accesses the beam-transmitting base station, i.e., Δx and Δy are known data. After obtaining the third location information, the beam emitting base station may determine the first location information based on the third location information, Δx and Δy.
In some embodiments, in order to balance the time duration of the wide beam perceived extended target with the time duration of the narrow beam communication with the communication receiver within one tracking period, the step 110 specifically includes:
step 111, obtaining a first communication rate of the wide beam, a second communication rate of the narrow beam, and an alignment probability between the narrow beam and the communication receiver.
Step 112, dividing the tracking period into a first time period and a second time period based on the first communication rate, the second communication rate, and the alignment probability.
In one tracking period, the time is limited, on one hand, the beam transmitting base station hopes to have enough time to expand the target by using wide beam perception to improve the perceived accuracy; on the other hand, it is also desirable for the beam transmitting base station to have enough time to communicate with the communication receiver using a narrow beam to increase the average communication rate. Therefore, in order to improve the average communication rate while ensuring the perceived accuracy, the tracking period may be divided into a first period and a second period according to the communication rates of the two beams and the alignment probability between the narrow beam and the communication receiver.
Alternatively, assuming that the nth tracking period is currently present, the first time period and the second time period may be divided in the tracking period by the following formula:
s.t.0<ρ≤1
where ρ represents a time length distribution factor,a first communication rate representing a wide beam, +.>A second communication rate representing a narrow beam, and having +.>Wherein said->Representing the communication rate when the narrow beam is directed at the communication receiver; />Represents the alignment probability between the narrow beam and the communication receiver, erf () represents the error function, ++ >Representing the beamwidth, sigma, of a half narrow beam n Represents the standard deviation of angle measurement, N t,n For transmitting a narrow beam, phi is the angle of the communication receiver relative to the beam transmitting base station. For alignment of a narrow beam with a quasi-communication receiver, two cases can be roughly divided: one is aligned and the other is misaligned, and in the case of misalignment, the communication rate is 0. The alignment probability is introduced here in order to count the average communication rate of the narrow beam during communication with the communication receiver, and to obtain a statistically significant expected value. In addition, it should be noted that, in practical application, the above formula may use an approximate communication rate, for example, assume that the beamforming gains of the wide beam and the narrow beam are both 1.
In some embodiments, it will be appreciated that, if the duration of one cycle is recorded as DeltaT, then in the nth traceWithin the trace period, a first period T e [ nΔT, (n+ρ) opt ) Δt). In this period, assuming that there are k identifiable scattering points, the measurement data of the extended target can be obtained by superposition of k scattering point echoes, and can be expressed as:
wherein,representing the array gain, N t,n And N r The number of transmitting antennas and the number of receiving antennas of the wide beam are respectively represented; p is p n Representing the transmit power; mu (mu) k,n 、β k,n And τ k,n Respectively representing Doppler frequency, complex reflection coefficient and time delay of the kth scattering point at the nth moment; a (θ) and b (θ) represent the transmit steering vector and the receive steering vector, respectively, of the wide beam; f (f) n Representing a wide beamforming vector; z r And (t) represents noise.
After determining the state information of the k scattering points, the first position information of the communication receiver may be further determined by a measurement equation of the communication receiver, where the measurement equation may be expressed as:
wherein,representing an estimated angle of the communication receiver for the current tracking period; z φ Representing angle measurement noise; />Representing an estimated distance of the communication receiver currently tracking the current tracking period; z d Representing distance measurement noise; />Representation c represents an estimated speed of the communication receiver currently tracking the current tracking period; representing the propagation speed of electromagnetic waves, which is equal to the speed of light; />Representing the Doppler frequency measurement variance of the kth scattering point at the nth time; f (f) c Representing the transmit signal carrier frequency of the wide beam; z v Representing the speed measurement noise.
In some embodiments, in order to be able to accurately locate the first location information of the communication receiver in the next tracking period, after the above step 131, the method further comprises:
And B1, establishing a state transition model of the expansion target based on the state information.
And B2, executing linearization operation on the state transition model.
And step B3, tracking the extended target based on the linearized state transition model and the extended Kalman filter to determine the attribute information of the wide beam in the next tracking period.
After obtaining the state information of the scattering point, a state transition model of the extended target in the next tracking period can be constructed based on the state information, and the state transition model can be expressed as:
wherein phi is n+1 Representing the predicted angle of the extended target of the next tracking period; omega φ Indicating an angular state error; d, d n+1 Representing the predicted distance of the extended target of the next tracking period; omega d Representing a distance status error; v n+1 Representing the predicted speed of the extended target of the next tracking period; omega v Representing a speed state error.
After the state transition model is obtained, in order to solve the state information of the extended target smoothly, the state transition model can be linearized first, then the extended Kalman filtering and the linearized state transition model are utilized to track the extended target, and further a wide beam in the next tracking period is designed, namely, the attribute information of the wide beam is determined.
In some embodiments, the attribute information of the wide beam includes a number of transmitting antennas and a wide beam forming vector, and the step B3 specifically includes:
and step B31, predicting the predicted position information of the communication receiver relative to the beam transmitting base station based on the linearized state transition model and the extended Kalman filter.
Step B32, determining the wide beam forming vector and the number of transmitting antennas transmitting the wide beam in the next tracking period based on the predicted position information.
To achieve real-time tracking of an extended target, the width and angle of the wide beam may change during different tracking periods, i.e., the wide beam is a dynamic beam throughout the tracking communication. Still, the description will be given of a vehicle as an example: when the vehicle is close to the beam transmitting base station, the width of the wide beam may be increased in order to be able to cover the vehicle; when the vehicle is far away from the beam transmitting base station, the extended target characteristics of the vehicle are weakened, and only a wide beam with a narrow width is needed to cover the vehicle. That is, the closer the vehicle is to the beam transmitting base station, the wider the wide beam is; the farther the vehicle is from the beam-emitting base station, the narrower the width of the wide beam. It should be noted that the width comparison is relative to the distance of the vehicle; whereas the wide and narrow of the wide and narrow beams described above are for beams transmitted for two different time periods. For ease of understanding, reference may be made to fig. 3, which shows a schematic diagram of the tracking communication of the vehicle by the beam emitting base station 30 during two different tracking periods. Wherein the wide beam 31 and the narrow beam 32 belong to one tracking period; the wide beam 31 'and the narrow beam 32' belong to another tracking period; and it will be appreciated that there may be several tracking periods (not shown in the figures) between the two tracking periods.
Based on this, the design of a wide beam in the next tracking period can predict the position information of the extended target with respect to the beam transmitting base station first. The purpose of tracking the extended target is to accurately determine the position information of the communication receiver, and the position information of the communication receiver can be further derived from the position information of the centroid of the extended target, so that the position information of the communication receiver, i.e. the predicted position information, can be directly predicted. By this predicted position information, it can be further ensured that the communication receiver can be within the coverage of a wide beam.
In some embodiments, assuming that the current tracking period is the nth tracking period, the predicted position information of the communication receiver may be used as the position information used to control the narrow beam alignment in the (n+1) th tracking period to shorten the time period required for the narrow beam alignment to the communication receiver. However, although this method can shorten the time required for the narrow beam alignment communication receiver, the alignment probability is lower than the above method of controlling the narrow beam alignment communication receiver based on the estimated position information in real time. In the above method, the estimated position information in the n+1th tracking period is estimated by modeling the data in the n+1th tracking period in real time, and in this embodiment, the predicted position information used in the n+1th tracking period is predicted based on the data in the n tracking period. Clearly, the lag in data real-time results in less accurate predicted position information than estimated position information. Conversely, controlling the alignment probability of a narrow beam aligned communication receiver based on the estimated position information is higher. It is considered that the method mentioned in the above step is a more preferable scheme than the method in the present embodiment.
Alternatively, and in addition, the above preferred scheme may be modified to reduce the time required for narrow beam alignment to the communication receiver while ensuring that the position information of the communication receiver is accurately estimated. Specifically, after the next tracking period is started, the narrow beam adjustment angle can be controlled according to the predicted position information, and after the current position information of the communication receiver is estimated in real time, the narrow beam adjustment angle is controlled again.
For ease of understanding, the following is illustrative: assuming that the current position of the narrow beam is a1, the predicted position of the communication receiver is a2, and the estimated position of the communication receiver is a3, if the narrow beam is obtained according to a preferred method, the narrow beam is directly adjusted from a1 to a3 after a3 is obtained; the improved method is that in the process of calculating a3, the narrow beam is firstly adjusted from a1 to a2, and after a3 is obtained by calculation, the narrow beam is then adjusted from a2 to a3. That is, the improved method is to adjust the narrow beam to a2 with lower accuracy, then adjust from a2 with lower accuracy to a3 with higher accuracy, and adopt a mode of coarse adjustment and fine adjustment, so as to shorten the time required by the narrow beam to the communication receiver to a certain extent, and can strive for time for efficient communication between the narrow beam and the communication receiver, and improve the communication rate.
The design of the wide beam in the next tracking period mainly involves two attribute information, one is the number of transmitting antennas of the wide beam, which determines the beam width of the wide beam; another attribute information is a wide beam forming vector, which determines the transmission angle of the wide beam. Specifically, the number of transmit antennas transmitting a wide beam in the next tracking period may be updated according to the predicted position information. Assuming that the current tracking period is the nth tracking period, the next tracking period is the (n+1) th tracking period, and the number of transmitting antennas of the wide beam in the (n+1) th tracking period can be updated by the following formula:
where Δd represents the beam coverage area,and->Representing the predicted angle and the predicted distance, i.e. the predicted position information, N, respectively, of the communication receiver with respect to the beam-transmitting base station t,max Indicating the maximum number of antennas of the beam transmitting base station.
The wide beamforming vector may be controlled in angle such that the wide beam can cover the extended target, and in particular, the formula of the wide beamforming vector may be expressed as:
in some embodiments, in order to enable the narrow beam to be aimed at the communication receiver, the step 140 includes:
Step 141, determining an estimated angle between the narrow beam and the beam transmitting base station based on the first location information.
Step 142, determining a narrow beamforming vector for the narrow beam based on the estimated angle.
Step 143, transmitting a narrow beam based on the narrow beam forming vector to align the communication receiver such that a main lobe of the narrow beam covers the communication receiver to communicate with the communication receiver.
For narrow beams, the task is to communicate with a communication receiver that is small relative to its carrier, so the expansion target features are not prominent. To ensure high array gain for massive MIMO, its width can be designed to be somewhat narrower than for wide beams and can be fixed. For example, the number of antennas transmitting a narrow beam is 128 antennas that are fixed. Based on this, for the transmission of narrow beams, mainly the transmission angle thereof is designed, i.e. the narrow beamforming vector is designed. To determine the narrow beamforming vector, an estimated angle between the narrow beam and the beam transmitting base station may be determined based on the first location information, and then the narrow beamforming vector may be further determined according to the estimated angle, where a formula of the narrow beamforming vector may be expressed as:
Wherein,and->Representing a narrow beamforming vector and a narrow beam transmit steering vector, respectively.
In summary, compared with the three tracking communication methods in the prior art, the tracking communication method provided by the present application has the following advantages:
(1) Compared with the first tracking communication method, the method has the advantages that firstly, the radar echo replaces pilot frequency and feedback, so that zero overhead is realized, and extra pilot frequency and feedback overhead of a system can be effectively reduced; and secondly, the method of sensing integration is utilized, and a prediction function is added, so that the communication performance is more stable and reliable.
(2) Compared with the second tracking communication method, the method has the advantages that data transmission is carried out through communication signals, echo waves can be collected to carry out expanded target sensing, and an additional radar sensor is not needed.
(3) Compared with the third tracking communication method, the method combines the extended target characteristics of the target, models the state of the target, realizes accurate tracking of the communication receiver, and has higher communication rate; and secondly, a tracking period is divided into two time periods, sensing is performed firstly, then communication is performed, and the high array gain of large-scale MIMO is utilized, so that the communication rate is improved.
To further embody the promotion of the communication rate by the trace communication method of the present application, reference may be made to fig. 4, which illustrates the advantage of the present application in terms of communication rate by simulating theoretical communication rates and the true communication rates of the 4 trace communication methods. The five control groups were:
1. the optimized objective function (approximation, which can be seen as the average communication rate when the beam is perfectly aligned, i.e., the upper bound of the true communication rate);
2. the alternating wide and narrow beam method proposed by the present application is denoted ISAC-AB;
3. using dynamic broad beams only, i.e. ρ in ISAC-AB opt A special case of=1, noted ISAC-DB;
4. the pure communication protocol method is realized by using downlink pilot frequency and uplink feedback;
isac point target method, regarding a vehicle as a point target.
Obviously, the communication rate of the tracking communication method proposed by the application is higher and more stable.
In addition, referring to fig. 5, it can be seen from fig. 5 that the tracking communication method proposed in the present application is also more advantageous in maintaining stability of communication. Compared with the other three methods, the communication interruption probability of the tracking communication method is not large in rising amplitude and does not increase sharply in the environment of the expansion target moving at a high speed.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
For easy understanding, the following describes a tracking communication method proposed in the present application in a practical application scenario, where the tracking communication method is applied to a roadside base station, and the roadside base station integrates a massive MIMO array antenna, and referring to fig. 6, the tracking communication method specifically includes:
in the first tracking period, the period may be divided into a first period and a second period according to the communication rate of the wide beam and the communication rate of the narrow beam and the alignment probability between the narrow beam and the communication receiver (first alignment probability is 0).
In the first time period, according to the second position information determined after the vehicle is detected for the first time, the wide beam is emitted to cover the vehicle, and radar echo signals of a plurality of scattering points are obtained. And collecting radar echo signals in a first time period, and generating measurement data when the radar echo signals pass through a time delay-kepler channel. And then carrying out two-dimensional filtering matching and multi-signal classification on the measured data to obtain the angles, the distances and the speeds of k scattering points. Based on the location information of the individual scattering points, a measurement equation of the communication receiver can be detected, so that the first location information of the communication receiver can be further determined based on the measurement equation.
In the second time period, the narrow beam can be designed according to the first position information, the narrow beam is emitted to be aligned with the communication receiver, and communication between the road side base station and the communication receiver is established.
Meanwhile, for tracking communication in the second tracking period, after the angles, the distances and the speeds of k scattering points are obtained, a state transition equation of the extended target is established, and after linearization of the state transition equation, the extended target is tracked by using extended Kalman filtering so as to predict the predicted position information of the communication receiver in the second tracking period. The number of transmit antennas transmitting the wide beam and the wide beam forming vector may be further updated according to the predicted position information to complete the design of the wide beam for the second tracking period. After the first tracking period is finished, a second tracking period can be started, and the tracking period repeats all steps of the first tracking period; and after the second tracking is finished, and so on, starting the next tracking period until the vehicle exits the signal coverage area of the road side base station, so as to complete a complete tracking communication process. In the process, the wide beam and the narrow beam are alternately arranged, and the width of the wide beam in different periods is dynamically adjusted along with the position change of the vehicle, so that the accurate tracking communication of the vehicle with the extended target characteristic can be realized, and the communication rate is remarkably improved.
Corresponding to the tracking communication method described in the above embodiments, fig. 7 shows a block diagram of the tracking communication device 7 provided in the embodiment of the present application, and for convenience of explanation, only the portions related to the embodiment of the present application are shown.
Referring to fig. 7, the tracking communication device 7 includes:
a dividing module 71, configured to divide the current tracking period into a first period and a second period;
a measurement module 72, configured to transmit a wide beam to cover an extended target of the communication to be tracked in a first period of time, so as to obtain measurement data of the extended target;
a first determining module 73 for determining first location information of the communication receiver carried by the expansion target based on the measurement data;
the communication module 74 is configured to transmit a narrow beam based on the first location information to the communication receiver for a second time period, and to communicate with the communication receiver.
Optionally, the tracking communication device 7 may further include:
the second determining module is used for determining second position information of the expansion target if the expansion target is detected for the first time;
the measurement module is specifically configured to transmit, in a first period of time, a wide beam coverage extension target based on second location information, and obtain measurement data.
Alternatively, the first determining module 73 may include:
the data processing unit is used for carrying out two-dimensional filtering matching and multi-signal classification on the measured data to obtain the state information of identifiable scattering points in the measured data;
a first determination unit configured to determine third position information of a centroid of the expansion target based on the state information;
and a second determining unit configured to determine first location information of the communication receiver based on the third location information.
Alternatively, the dividing module 71 may include:
an acquisition unit configured to acquire a first communication rate of the wide beam, a second communication rate of the narrow beam, and an alignment probability between the narrow beam and the communication receiver;
and a dividing unit for dividing the tracking period into a first period and a second period based on the first communication rate, the second communication rate, and the alignment probability.
Optionally, the tracking communication device 7 may further include:
the modeling module is used for establishing a state transition model of the expansion target based on the state information;
the linearization module is used for executing linearization operation on the state transition model;
and the tracking module is used for tracking the extended target based on the linearized state transition model and the extended Kalman filter so as to determine the attribute information of the wide beam in the next tracking period.
Optionally, the attribute information includes a number of transmitting antennas and a wide beamforming vector, and the tracking module may include:
a prediction unit for predicting predicted position information of the communication receiver relative to the beam transmitting base station based on the linearized state transition model and the extended kalman filter;
and a determining unit for determining a wide beam forming vector and the number of transmitting antennas transmitting the wide beam in the next tracking period based on the predicted position information.
Alternatively, the communication module 74 may include:
a third determining unit configured to determine an estimated angle between the narrow beam and the beam transmitting base station based on the first position information;
a fourth determining unit configured to determine a narrow beamforming vector of the narrow beam based on the estimated angle;
and the communication unit is used for transmitting the narrow beam based on the narrow beam forming vector to align the communication receiver so that the main lobe of the narrow beam covers the communication receiver and communicates with the communication receiver.
It should be noted that, because the content such as the information interaction and the execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 8, the electronic device 8 of this embodiment includes: at least one processor 80 (only one shown in fig. 8), a memory 81, and a computer program 82 stored in the memory 81 and executable on the at least one processor 80, the processor 80 implementing steps in any of the tracking communication method embodiments described above, such as steps 110-140 shown in fig. 1, when the computer program 82 is executed.
The processor 80 may be a central processing unit (Central Processing Unit, CPU), the processor 80 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 81 may in some embodiments be an internal storage unit of the electronic device 8, such as a hard disk or a memory of the electronic device 8. The memory 81 may in other embodiments also be an external storage device of the electronic device 8, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the electronic device 8. Further, the memory 81 may also include both an internal storage unit of the terminal device 8 and an external storage device. The memory 81 is used for storing an operating device, an application program, a boot loader (BootLoader), data, and other programs and the like, such as program codes of computer programs and the like. The memory 81 may also be used to temporarily store data that has been output or is to be output. The specific functions and technical effects of the embodiments of the method according to the present application are based on the same conception, and may be referred to in the method embodiment section specifically, and will not be described herein again.
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 8, the electronic device 8 of this embodiment includes: at least one processor 80 (only one shown in fig. 8), a memory 81, and a computer program 82 stored in the memory 81 and executable on the at least one processor 80, the processor 80 implementing steps in any of the tracking communication method embodiments described above, such as steps 1110-140 shown in fig. 1, when the computer program 82 is executed.
The processor 80 may be a central processing unit (Central Processing Unit, CPU), the processor 80 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 81 may in some embodiments be an internal storage unit of the electronic device 8, such as a hard disk or a memory of the electronic device 8. The memory 81 may in other embodiments also be an external storage device of the electronic device 8, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the electronic device 8. Further, the memory 81 may also include both an internal storage unit of the terminal device 8 and an external storage device. The memory 81 is used for storing an operating device, an application program, a boot loader (BootLoader), data, and other programs and the like, such as program codes of computer programs and the like. The memory 81 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Claims (9)
1. A method of tracking communications, comprising:
dividing the current tracking period into a first time period and a second time period;
In a first time period, transmitting a wide beam to cover an expansion target of communication to be tracked, and obtaining measurement data of the expansion target;
determining first position information of the communication receiver carried by the expansion target based on the measurement data;
transmitting a narrow beam based on the first location information to align the communication receiver for a second period of time, and communicating with the communication receiver;
wherein the determining, based on the measurement data, the first location information of the communication receiver carried by the expansion target includes:
performing two-dimensional filtering matching and multi-signal classification on the measurement data to obtain state information of identifiable scattering points in the measurement data;
determining third location information of a centroid of the extended target based on the status information;
first location information of the communication receiver is determined based on the third location information.
2. The method of tracking communication according to claim 1, further comprising, before said dividing the current tracking period into the first period and the second period:
if the expansion target is detected for the first time, determining second position information of the expansion target;
And in the first time period, transmitting a wide beam to cover an expansion target of communication to be tracked, and obtaining measurement data of the expansion target, wherein the measurement data comprises the following steps:
and transmitting the wide beam to cover the expansion target based on the second position information in a first time period to obtain the measurement data.
3. The method of tracking communication according to claim 1, wherein the dividing the current tracking period into the first period and the second period includes:
acquiring a first communication rate of the wide beam, a second communication rate of the narrow beam and an alignment probability between the narrow beam and the communication receiver;
the tracking period is divided into the first time period and the second time period based on the first communication rate, the second communication rate, and the alignment probability.
4. The tracking communication method according to claim 1, further comprising, after said obtaining the state information of the identifiable scattering points in the measurement data:
establishing a state transition model of the expansion target based on the state information;
performing linearization operation on the state transition model;
and tracking the extended target based on the linearized state transition model and extended Kalman filtering to determine the attribute information of the wide beam in the next tracking period.
5. The method of tracking communication according to claim 4, wherein the attribute information includes a number of transmit antennas and a wide beam forming vector, and the tracking of the extended target based on the linearized state transition model and extended kalman filter to determine the attribute information of the wide beam in a next tracking period includes:
predicting predicted position information of the communication receiver relative to a beam transmitting base station based on the linearized state transition model and an extended kalman filter;
and determining the wide beam forming vector and the number of transmitting antennas for transmitting the wide beam in the next tracking period based on the predicted position information.
6. The method of tracking communication according to any of claims 1-5, wherein the transmitting a narrow beam based on the first location information to the communication receiver during the second time period, communicating with the communication receiver, comprises:
determining an estimated angle between the narrow beam and a beam transmitting base station based on the first location information;
determining a narrow beamforming vector for the narrow beam based on the estimated angle;
the narrow beam is transmitted based on the narrow beam forming vector to align the communication receiver so that a main lobe of the narrow beam covers the communication receiver and communicates with the communication receiver.
7. A tracking communication device, comprising:
the dividing module is used for dividing the current tracking period into a first time period and a second time period;
the measuring module is used for transmitting wide beams to cover an expansion target of communication to be tracked in a first time period to obtain measuring data of the expansion target;
a first determining module, configured to determine first location information of a communication receiver carried by the expansion target based on the measurement data;
a communication module, configured to transmit a narrow beam based on the first location information to the communication receiver for a second period of time, and communicate with the communication receiver;
the first determining module is specifically configured to:
performing two-dimensional filtering matching and multi-signal classification on the measurement data to obtain state information of identifiable scattering points in the measurement data;
determining third location information of a centroid of the extended target based on the status information;
first location information of the communication receiver is determined based on the third location information.
8. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 6.
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