WO2023000196A1

WO2023000196A1 - Signal processing method and apparatus, device, and storage medium

Info

Publication number: WO2023000196A1
Application number: PCT/CN2021/107557
Authority: WO
Inventors: 苏进喜
Original assignee: Oppo广东移动通信有限公司
Priority date: 2021-07-21
Filing date: 2021-07-21
Publication date: 2023-01-26
Also published as: CN117203914A

Abstract

The present application relates to the technical field of communications, and provides a signal processing method and apparatus, a device, and a storage medium. The method comprises: a sending end sending a frequency hopping sensing signal on N time units, the frequency hopping sensing signal comprising N sub-sequences belonging to a first sequence, wherein N is a positive integer, time units occupied by any two sub-sequences in the N sub-sequences are different, and the frequency domain ranges occupied by any two sub-sequences in the N sub-sequences are different; and a receiving end receiving the frequency hopping sensing signal on the N time units. According to embodiments of the present application, by providing a frequency hopping sensing signal, the positioning, sensing, imaging, etc. of a target to be detected can be implemented without a need for said target to have a communication function. Moreover, the frequency hopping sensing signal uses a segmented frequency hopping transmission mode, such that a device having a limited working bandwidth and/or limited power can also provide high-precision positioning and sensing capabilities.

Description

Signal processing method, device, equipment and storage medium

technical field

The embodiments of the present application relate to the field of communication technologies, and in particular, to a signal processing method, device, device, and storage medium.

Background technique

The positioning technology standardized by 3GPP (3rd Generation Partnership Project) refers to the technology that realizes positioning based on the transmission of communication signals between network equipment and communication equipment.

In the NR (New Radio, new air interface) system, in order to realize the positioning of the terminal device, the network device needs to send downlink positioning reference information (Positioning Reference Signal, PRS) to the terminal device; the terminal device performs positioning based on the received positioning reference information. Delay and beam measurement, and send uplink positioning reference signal (such as SRS (Sounding Reference Signal, sounding reference signal) for positioning) to network equipment; network equipment performs timing and incoming wave azimuth based on the received positioning reference signal Measurement. In the NR system, a variety of technical solutions for positioning have been standardized, such as Downlink-Time Difference of Arrival (DL-TDOA) positioning, Uplink-Time Difference of Arrival (Uplink-Time Difference of Arrival, UL-TDOA) positioning, Multi-Round Trip Time (Multi-RTT) positioning, etc.

However, the implementation of the above positioning technology depends on the transmission of communication signals, and is only applicable to the positioning of terminal devices with communication capabilities.

Contents of the invention

Embodiments of the present application provide a signal processing method, device, device, and storage medium. Described technical scheme is as follows:

On the one hand, an embodiment of the present application provides a signal processing method, the method comprising:

In N time units, a frequency hopping sensing signal is sent, the frequency hopping sensing signal includes N subsequences belonging to the first sequence, and N is a positive integer;

Wherein, time units occupied by any two subsequences in the N subsequences are different, and frequency domain ranges occupied by any two subsequences in the N subsequences are different.

On the other hand, an embodiment of the present application provides a signal processing method, the method including:

In N time units, receive a frequency hopping sensing signal, the frequency hopping sensing signal includes N subsequences belonging to the first sequence, where N is a positive integer;

In another aspect, an embodiment of the present application provides a signal processing device, the device comprising:

A signal sending module, configured to send a frequency hopping sensing signal in N time units, where the frequency hopping sensing signal includes N subsequences belonging to the first sequence, where N is a positive integer;

In yet another aspect, an embodiment of the present application provides a signal processing device, the device comprising:

A signal receiving module, configured to receive a frequency hopping sensing signal in N time units, the frequency hopping sensing signal including N subsequences belonging to the first sequence, where N is a positive integer;

Wherein, the time units occupied by any two subsequences in the N subsequences are different, and the frequency domain ranges occupied by any two subsequences in the N subsequences are different.

In another aspect, an embodiment of the present application provides a device, the device includes: a processor, and a transceiver connected to the processor; wherein:

The transceiver is configured to send a frequency hopping sensing signal in N time units, the frequency hopping sensing signal includes N subsequences belonging to the first sequence, and N is a positive integer;

The transceiver is configured to receive a frequency hopping sensing signal in N time units, the frequency hopping sensing signal includes N subsequences belonging to the first sequence, and N is a positive integer;

In another aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored in the storage medium, and the computer program is used to be executed by a processor of a device, so as to implement the above-mentioned signal processing method.

In another aspect, an embodiment of the present application provides a chip, the chip includes a programmable logic circuit and/or program instructions, and when the chip runs on a device, it is used to implement the above signal processing method.

In another aspect, an embodiment of the present application provides a computer program product, which causes the device to execute the above signal processing method when the computer program product is run on the device.

The technical solutions provided by the embodiments of the present application may include the following beneficial effects:

By providing a frequency hopping sensing signal, the positioning, perception and imaging of the detection target can be realized without the detection target having a communication function, which reduces the cost and capability requirements of the equipment. Moreover, in the embodiment of the present application, the frequency hopping sensing signal maps a large-bandwidth sequence to multiple time units in a frequency domain segmentation manner, that is, the frequency hopping sensing signal adopts a segmented frequency hopping transmission mode, Devices with limited operating bandwidth and/or limited power can also provide high-precision positioning and perception capabilities, which is helpful for high-precision positioning, target tracking, position awareness, attitude recognition, high-precision imaging, and environment reconstruction. It will be more widely used and deployed in more scenarios in the future.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

FIG. 1 is a schematic diagram of a perception system provided by an embodiment of the present application;

Fig. 2 is a flowchart of a signal processing method provided by an embodiment of the present application;

Fig. 3 is a schematic diagram of sequence segmentation provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of time-frequency resource mapping provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of a beam sending mechanism provided by an embodiment of the present application;

Fig. 6 is a block diagram of a signal processing device provided by an embodiment of the present application;

Fig. 7 is a block diagram of a signal processing device provided by another embodiment of the present application;

Fig. 8 is a block diagram of a signal processing device provided by another embodiment of the present application;

FIG. 9 is a block diagram of a signal processing device provided in another embodiment of the present application;

Fig. 10 is a structural block diagram of a device provided by an embodiment of the present application.

detailed description

In order to make the purpose, technical solutions and advantages of the application clearer, the following will further describe the implementation of the application in detail in conjunction with the accompanying drawings.

The network architecture and business scenarios described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute limitations on the technical solutions provided by the embodiments of the present application. The evolution of the technology and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

The positioning technology standardized by 3GPP refers to the technology that realizes positioning based on the transmission of communication signals between network equipment and communication equipment. In the NR system, in order to locate the terminal device, the network device needs to send downlink positioning reference information to the terminal device; the terminal device performs delay and beam measurement based on the received positioning reference information, and sends uplink positioning to the network device Reference signals: Network devices perform timing and incoming wave azimuth measurements based on received positioning reference signals.

In the NR system, a variety of technical solutions for positioning have been standardized, such as Enhanced Cell Identifier (E-CID) positioning, downlink time difference of arrival positioning, uplink time difference of arrival positioning, multi-site Round trip delay positioning, downlink angle of departure (Downlink-Angle of Departure, DL-AOD) positioning, uplink angle of arrival (Uplink-Angle of Arrival, UL-AOA) positioning, etc.

The above positioning method has the following defects:

First of all, for downlink time difference of arrival positioning and uplink time difference of arrival positioning, network equipment usually needs to deploy multiple transmit-receive points (Transmit-Receive Point, TRP), and strict clock synchronization needs to be maintained between multiple TRPs, so that The cost of network equipment and requirements for deployment conditions are relatively high.

Secondly, for multi-station round-trip delay positioning, from the perspective of signal transmission and reception between terminal equipment and each TRP, and the perspective of implementation complexity, multi-station round-trip delay positioning is equivalent to supporting both downlink time difference of arrival positioning and uplink positioning. Link arrival time difference positioning, therefore, the system resources and processing complexity required for multi-station round-trip delay positioning are very high.

Finally, the above positioning methods are all implemented based on communication signals. On the one hand, during the positioning process, it is necessary to receive, measure and process positioning-related communication signals, resulting in a long time for positioning processing; on the other hand, due to the communication signals involved transmission and processing, so it is only applicable to the positioning of terminal equipment with communication capabilities, and the positioning function is an optional function of terminal equipment, if the terminal equipment has the positioning function, it will increase the complexity and cost of the terminal equipment .

In the future, in scenarios such as smart homes, smart factories, high-precision imaging, and environmental reconstruction, there will be requirements for positioning, sensing, and imaging of non-communication devices, targets, and environments, and the requirements for positioning accuracy will also be very high. High, centimeter-level or millimeter-level precision may be required. Therefore, the above positioning method will not be able to meet the needs of future business scenarios. Based on this, an embodiment of the present application provides a signal processing method, which can be used to implement ubiquitous perception of equipment, objects, and environments. In the following, the technical solution provided by the present application will be described in combination with several embodiments.

Please refer to FIG. 1 , which shows a schematic diagram of a perception system provided by an embodiment of the present application. As shown in FIG. 1 , the perception system includes: a detection target 110 and a device 120 . In the embodiment of the present application, the device 120 is used to realize the positioning, perception and imaging of the detection target 110 .

The detection target 110 includes various terminal devices (such as mobile phones, smart wearable devices, vehicle-mounted devices, computing devices, user equipment, etc.), objects (such as people, animals, buildings, vehicles, plants, etc.), environments, etc. The embodiment of the present application does not limit whether the detection target 110 has the communication capability. In other words, the embodiment of the present application does not require the detection target 110 to be able to transmit and process communication signals, but the detection target 110 may also have the communication capability. Optionally, the detection target 110 is stationary or moving at a low speed, so that the Doppler effect can be ignored and a larger channel coherence time can be obtained.

The device 120 is capable of transmitting and processing perception signals, and the device 120 implements positioning, perception and imaging of the detection target 110 through the perception signals. Device 120 includes various radar devices, network devices, base stations, relay stations, access points, communication terminal devices, etc. For the convenience of description, in the embodiment of the present application, devices capable of processing sensing signals are collectively referred to as devices.

Optionally, the sensing signal in this embodiment of the present application is a frequency hopping sensing signal, and the frequency hopping sensing signal refers to a sensing signal that performs segmentation and frequency hopping transmission on a full bandwidth sequence. Through frequency hopping sensing signals, devices with limited transmission bandwidth or limited transmission power can also provide high-precision positioning and sensing capabilities, reducing the cost and capability requirements of equipment, enabling high-precision positioning, target tracking, position awareness, and attitude recognition Advanced services such as high-precision imaging and environmental reconstruction can be more widely applied and deployed in the future. For other descriptions about the frequency hopping sensing signal, etc., please refer to the following method embodiments, and details are not repeated here.

As shown in FIG. 1 , the device 120 includes a sending end 122 and a receiving end 124, the sending end 122 is used to generate and send a sensing signal 132, and the sensing signal 132 is reflected and/or refracted into an echo signal 134 after encountering the detection target 110, The receiving end 124 is used for receiving and processing the echo signal 134 . In some examples, the sending end 122 may also be called a "sensing signal sending end", etc., and the receiving end 124 may also be called a "sensing signal receiving end", etc. For the convenience of description, the embodiments of the present application refer to "sending end" and "sensing signal receiving end". The name "Receiver" will be introduced as an example. The embodiment of the present application does not limit the deployment manners of the sending end 122 and the receiving end 124, and several exemplary deployment manners are shown below.

In one example, the sending end 122 and the receiving end 124 are deployed in the same device 120 . In this deployment mode, the sender of the sensing signal is also the receiver of the echo signal, and this deployment mode can be called single-station sensing or active sensing. Optionally, when the sending end 122 and the receiving end 124 are deployed in the same device 120, the device 120 is required to have full-duplex capability and same-frequency self-interference cancellation capability, that is, the sending path and receiving path of the device 120 Can work simultaneously on the same working frequency band.

In another example, the sending end 122 and the receiving end 124 are deployed in different devices 120 , that is, the sending end 122 is implemented as one device 120 , and the receiving end 124 is implemented as another device 120 . In this deployment mode, the sender of the sensing signal does not receive and process the echo signal itself, but the receiver of the sensing signal deployed at a certain distance and azimuth from the sender of the sensing signal Signals are received and processed, and this deployment method can be called dual-station sensing, multi-station joint sensing, or passive sensing. Optionally, when the sending end 122 and the receiving end 124 are deployed in different devices 120, the device 120 (the sending end 122 and the receiving end 124) is required to have high-precision time synchronization capability, and the receiving end 124 needs to accurately know the transmission The exact position and orientation of end 122.

It should be understood that the sensing system provided in the embodiment of the present application can be implemented as an integrated communication sensing system, that is, devices in the sensing system can transmit and process communication signals in addition to sensing signals. Therefore, in the case of realizing an integrated system of communication and perception, it involves transmission multiplexing between communication signals and perception signals. The embodiment of the present application does not limit the multiplexing mode between the transmission resources of the communication signal and the sensing signal. In an example, at least one of the following multiplexing modes can be used for transmission between the communication signal and the sensing signal: time division multiplexing ( Time Division Multiplexing (TDM), Frequency Division Multiplexing (FDM), Code Division Multiplexing (CDM), Space Division Multiplexing (SDM). Since the sensing signal designed in the embodiment of the present application can still obtain high-precision positioning and high-resolution sensing when the working bandwidth of the device is limited or the power is limited, the transmission resource between the sensing signal and the communication signal uses The multiplexing mode of time division multiplexing can maximize the performance of the system. In the case of time-division multiplexing between the transmission resources of communication signals and sensing signals, the unit of time-division multiplexing can be time slots, so there can be two types of time slots: time slots for transmitting communication signals (communication time slots) and time slots for transmission The time slot of the sensing signal (sensing slot); or, the unit of time division multiplexing is a symbol, so that the sensing signal can be transmitted on the symbol resource not occupied by the communication signal, or the communication signal can be transmitted on the symbol resource not occupied by the sensing signal.

It should be noted that the communication in the communication-aware integrated system described in the embodiment of the present application can be implemented as communication between the network device and the terminal device through the air interface (Uu), or as a communication between the terminal device and the terminal device. Communication between them is through a sidelink (Sidelink), or implemented in other communication manners, which is not limited in this embodiment of the present application.

Please refer to FIG. 2 , which shows a flow chart of a signal processing method provided by an embodiment of the present application. The method can be executed by the sending end 122 and the receiving end 124 in the sensing system shown in FIG. 1 . The method may include at least some of the following steps.

Step 210, the sending end sends the frequency hopping sensing signal in N time units, the frequency hopping sensing signal includes N subsequences belonging to the first sequence, and N is a positive integer; wherein, the time occupied by any two subsequences in the N subsequences The units are different, and any two subsequences in the N subsequences occupy different frequency domain ranges.

The sending end can send the frequency hopping sensing signal, because the frequency hopping sensing signal will be reflected and/or refracted when encountering the detection target during transmission, so that the receiving end receives the frequency hopping sensing signal reflected and/or refracted by the detection target, And by timing processing, the positioning, perception and imaging of the detection target can be realized. For an introduction to receiving the frequency hopping sensing signal and timing processing at the receiving end, please refer to the following embodiments, and details will not be repeated here.

It can be seen from the above embodiments that the technical solution provided by the present application can be applied to an integrated communication and perception system. Based on this, there is a technical problem of how to multiplex the transmission resources of the frequency hopping sensing signal and the communication signal. Optionally, the frequency hopping sensing signal and the communication signal are transmitted using at least one of the following multiplexing methods: time division multiplexing, frequency division multiplexing, code division multiplexing, and space division multiplexing. Optionally, the unit of time division multiplexing is time slot; or, the unit of time division multiplexing is symbol. For other descriptions of multiplexing modes, please refer to the above-mentioned embodiments, and details will not be repeated here.

In the embodiment of the present application, the frequency hopping sensing signal is transmitted in N time units, and the frequency hopping sensing signal includes N subsequences belonging to the first sequence. In one example, time units include, but are not limited to, symbols. During the transmission of the frequency hopping sensing signal, the time units occupied by any two subsequences in the N subsequences are different, that is, the sending end transmits the frequency hopping sensing signal in each time unit of the N time units. A subsequence of , in other words, the sender transmits the frequency hopping sensing signal in a segmented manner. Moreover, in the transmission process of the frequency hopping sensing signal, the frequency domain ranges occupied by any two subsequences in the N subsequences are also different, that is, the sending end sends different subsequences in the frequency hopping sensing signal through different frequency domain ranges. Sequence, in other words, the sender uses frequency hopping to transmit the frequency hopping sensing signal. Therefore, in the embodiment of the present application, the frequency hopping sensing signal is transmitted in a manner combining segmentation and frequency hopping. For other descriptions of transmitting the frequency hopping sensing signal, please refer to the following embodiments, and details will not be repeated here.

In the following, the waveform and frequency domain mapping pattern of the frequency hopping sensing signal will be introduced and explained.

The embodiment of the present application does not limit the waveform of the frequency hopping sensing signal. In one example, the frequency hopping sensing signal includes but is not limited to any of the following waveforms: OFDM (Orthogonal Frequency Division Multiplexing, Orthogonal Frequency Division Multiplexing) waveform, DFT- S-OFDM (Discrete Fourier Transform-Spread OFDM, Discrete Fourier Transform-Extended Orthogonal Frequency Division Multiplexing) waveform. Among them, OFDM waveform has advantages in spectral efficiency, MIMO (Multiple-Input Multiple-Output, multiple-input multiple-output) capability, and resistance to frequency selective fading; DFT-S-OFDM waveform has low peak-to-average Frequency, radio frequency) power amplifier device indicators have lower requirements.

The embodiment of the present application does not limit the frequency domain mapping pattern of the frequency hopping sensing signal. In one example, the frequency hopping sensing signal includes any one of the following frequency domain mapping patterns: continuous mapping pattern and comb mapping pattern. The continuous mapping pattern refers to a pattern formed by mapping on continuous frequency domain units, and the best distance resolution and positioning accuracy can be obtained through the continuous mapping pattern. The comb-like mapping pattern refers to the pattern formed by mapping every M frequency domain units, and M is a positive integer. The comb-like mapping pattern is beneficial to reduce the interference of the communication-sensing integrated signal between cells, and is conducive to improving The power of a single frequency domain unit to increase the sensing and detection distance. Exemplarily, when the comb-shaped mapping pattern is three-fold comb division, mapping is performed every 3 frequency domain units; when the comb-like mapping pattern is six-fold comb division, mapping is performed every 6 frequency domain units. Optionally, the foregoing frequency domain unit includes subcarriers. Optionally, the sensing sending end can flexibly select a continuous mapping pattern or a comb mapping pattern based on configuration.

In the following, the manner of generating the frequency hopping sensing signal will be introduced and described. In an example, the above step 210 further includes the following steps (steps 200-202).

Step 200, the sending end obtains the first sequence.

The first sequence can also be called a full bandwidth sequence, and the full length of the first sequence has a decisive impact on positioning accuracy and time resolution. In the embodiment of the present application, the first sequence may be a sequence with good autocorrelation and/or good cross-correlation, wherein good autocorrelation can obtain sequence correlation and matched filter gain, and good cross-correlation can Reduce distractions. Based on this, in an example, the first sequence includes but is not limited to any one of the following sequences: a pseudo-noise M sequence, a Gold sequence, and a ZC (Zadoff-Chu) sequence. It should be understood that the first sequence may also include a sequence that may be adopted in a system after the NR system (such as a 6G (6-Generation, 6th generation) system).

This embodiment of the present application does not limit the way the sending end acquires the first sequence. In one example, the first sequence is preconfigured. For example, the sending end statically generates the first sequence during the device initialization phase; in another example, the first sequence A sequence is dynamically generated, for example, the sending end dynamically generates the first sequence before transmitting the frequency hopping sensing signal. The embodiment of the present application does not limit the sequence length of the first sequence. Optionally, the sequence length of the first sequence is positively correlated with the maximum radio frequency operating bandwidth of the transmitting end, that is, the larger the maximum radio frequency operating bandwidth, the greater the sequence length of the first sequence. Also bigger.

In step 202, the sending end performs segmentation processing on the first sequence to obtain a frequency hopping sensing signal.

In future sensing systems, the signal bandwidth will increase with the use of higher spectral resources. According to the basic theory of signal processing, the time resolution is inversely proportional to the signal bandwidth, that is, the larger the signal bandwidth, the higher the time resolution and the higher the positioning accuracy. However, excessive signal bandwidth will have higher requirements on the sampling rate and sampling clock of the device, and in the case of limited power, the power spectral density (Power Spectral Density, PSD) of the signal will also decrease, resulting in echo The receiving signal-to-noise ratio of wave signals is reduced, which affects the performance and accuracy of positioning and so on.

In order to reduce the requirements on equipment and ensure high-precision time resolution, the embodiment of the present application performs segmentation processing on the first sequence of the full bandwidth to obtain a frequency hopping sensing signal including N subsequences, and implements the frequency hopping sensing signal using the frequency hopping sensing signal High-precision positioning, perception and imaging, etc. The embodiment of the present application does not limit the segmentation processing method. Optionally, the segmentation processing is equal division processing, that is, the first sequence is divided into N subsequences equally, and the sequence lengths of the N subsequences are the same, in other words In other words, the sequence length of each subsequence in the N subsequences is the first length; or, the segmentation process is unequal processing, so that there are at least two subsequences in the N subsequences obtained through the first sequence. same.

Exemplarily, as shown in FIG. 3 , assuming that the total length of the first sequence is L, and the first sequence is equally divided into 4 subsequences, the sequence length of each subsequence is equal to L/4.

The embodiment of the present application does not limit the value of N. Generally, the value of N should not be too large, so as to ensure channel coherence among N time units. In an example, the value of N is related to at least one of the following information: radio resource availability, maximum bandwidth capability of a single transmission, channel coherence between consecutive time units, and subcarrier spacing; in practical applications, it can be integrated The above four aspects of information determine the value of N, and the value of N can also be determined by referring to information in one or part of aspects. Taking the reference subcarrier spacing size in the process of determining the value of N as an example, a large subcarrier spacing corresponds to a short symbol length, and the value of N can be larger; a small subcarrier spacing corresponds to a long symbol length, and the selection of N The value can be smaller. In an example, the value of N is a positive integer greater than or equal to 1 and less than or equal to 14, that is, [1, 14]. Optionally, N is preconfigured; or, N is determined dynamically.

Next, the transmission resources of the frequency hopping sensing signal are introduced and described.

In an example, in order to ensure channel coherence within the transmission time of the frequency hopping sensing signal, the embodiment of the present application transmits the subsequences included in the frequency hopping sensing signal in consecutive time units, that is, the time unit occupied by the above N subsequences is in It is continuous in the time domain, or it can be said that the above N time units are continuous time units. Of course, within the channel coherence time, the sender can also transmit the subsequences included in the frequency hopping sensing signal in discontinuous time units, that is, the above N time units are discontinuous time units, for example, the above N time units There is one time unit between two adjacent time units in the unit, but N time units need to be within the channel coherence time.

In an example, in order to ensure the integrity of the frequency domain occupied by the frequency hopping sensing signal and reduce the processing overhead of the device, etc., the frequency domain ranges occupied by the above N subsequences are continuous in the frequency domain. Based on this, the N frequency domain ranges for transmitting frequency hopping sensing signals have neither overlapping areas nor frequency intervals in the frequency domain, and, from the perspective of the entire transmission process, the N frequency domain ranges are continuous in the frequency domain of. In other words, among any two adjacent subsequences among the N subsequences included in the frequency hopping sensing signal, the frequency domain range occupied by the previously transmitted subsequence is higher than the frequency domain range occupied by the subsequent transmitted subsequence, and the former The frequency domain range occupied by the transmitted subsequence is continuous with the frequency domain range occupied by the subsequent transmitted subsequence; or, among any two adjacent subsequences among the N subsequences included in the frequency hopping sensing signal, the previously transmitted subsequence occupies The frequency domain range of is lower than the frequency domain range occupied by the subsequence transmitted later, and the frequency domain range occupied by the subsequence transmitted earlier is continuous with the frequency domain range occupied by the subsequence transmitted later.

In the above embodiment, when introducing the generation process of the frequency hopping sensing signal, it is mentioned that the first sequence can be equally divided to obtain N subsequences. Based on this, the sequence lengths of the N subsequences are equal, and therefore, the sizes of frequency domain ranges for transmitting the N subsequences may also be equal. That is, in an example, the sizes of the frequency domain ranges occupied by the N subsequences are equal, in other words, the sizes of the frequency domain ranges occupied by each of the N subsequences are all the first value. Optionally, when the sequence lengths of the N subsequences are not equal, the sizes of the frequency domain ranges occupied by the N subsequences are also not equal. Of course, when the sequence lengths of the N subsequences are equal, the sizes of the frequency domain ranges occupied by the N subsequences may also be unequal; or, when the sequence lengths of the N subsequences are not equal, the size of the frequency domain ranges occupied by the N subsequences Can also be equal. It should be understood that all these should fall within the protection scope of the present application.

Exemplarily, assuming that the sensing system works in the millimeter wave frequency band, a typical subcarrier spacing of NR on FR2 (Frequency 2, frequency domain range 2) is 120KHz (kilohertz), then the time domain length of one OFDM symbol is About 8.7us (microsecond), the total duration of 4 consecutive symbols is 35us. For objects and targets to be sensed and detected, if they are stationary or moving at a low speed, the coherence time of the channel is long enough and the Doppler frequency shift is small enough, and the channel can be assumed to be stable within 35us. Based on this, as shown in FIG. 4 , the frequency hopping sensing signal includes 4 subsequences belonging to the first sequence, and the transmitting end sequentially sends these 4 subsequences in 4 consecutive symbols and a continuous frequency domain range. As shown in Figure 4(a), the frequency domain range occupied by the previously transmitted subsequence is higher than the frequency domain range occupied by the subsequent transmitted subsequence. This frequency hopping transmission method is "from high frequency to low frequency frequency hopping transmission method". As shown in Figure 4(b), the frequency range occupied by the previously transmitted subsequence is lower than that occupied by the subsequent transmitted subsequence. frequency transmission method".

After receiving the reflected and/or refracted frequency hopping sensing signal, the receiving end combines the N subsequences to obtain the first sequence with full bandwidth. From the perspective of signal processing, the time unit of transmitting N subsequences (that is, N time units) must not only be within the channel correlation time, but also need to maintain the consistency of the channel space characteristics. Based on this, in an example, the sending end uses the same beam direction to send the frequency hopping sensing signal in N time units, that is, the beam direction corresponding to each subsequence in the N subsequences included in the frequency hopping sensing signal is the first A beam direction; or, the beam directions corresponding to each time unit in the N time units are the first beam direction. Optionally, the beam direction corresponding to the frequency hopping sensing signal is related to the position parameter of the detection target, the position parameter includes azimuth and/or movement trajectory, and the transmitting end can determine the beam direction of the frequency hopping sensing signal by itself.

In some examples, the sending end may send multiple frequency hopping sensing signals. In the above example, one or more subsequences included in each frequency hopping sensing signal correspond to the same beam direction, and whether the beam directions corresponding to different frequency hopping sensing signals are the same is not limited in this embodiment of the present application. In an example, beam directions corresponding to at least two frequency hopping sensing signals are the same. For example, when it is necessary to detect a target in a specific direction, etc., the sending end keeps the beam direction unchanged when sending frequency hopping sensing signals multiple times. In another example, beam directions corresponding to at least two frequency hopping sensing signals are different. For example, when it is necessary to detect a specific target and the specific target is constantly moving, or when it is necessary to detect the target in multiple directions, or when it is necessary to perform imaging and environment reconstruction on the detection physical space, the sending end sends frequency hopping multiple times Beam direction can be changed when sensing a signal.

Exemplarily, as shown in FIG. 5 , assuming that one time slot includes 14 symbols, the transmitting end sends frequency hopping sensing signals on 4 consecutive symbols, and transmits 3 frequency hopping sensing signals in one time slot. As shown in FIG. 4 , the symbols occupied by the three frequency hopping sensing signals are: symbol 0 to symbol 3, symbol 5 to symbol 8, and symbol 10 to symbol 13. As shown in FIG. 4 , for each frequency hopping sensing signal, each subsequence included in it is transmitted using the same beam direction; for different frequency hopping sensing signals, different beam directions may be used for transmission.

In the following, the receiving and processing mechanism of the frequency hopping sensing signal will be introduced and described.

As shown in Figure 2, the signal processing method provided by the embodiment of the present application further includes: Step 220, the receiving end receives the frequency hopping sensing signal in N time units, the frequency hopping sensing signal includes N subsequences belonging to the first sequence, N is a positive integer; wherein, the time units occupied by any two subsequences in the N subsequences are different, and the frequency domain ranges occupied by any two subsequences in the N subsequences are different.

The frequency hopping sensing signal sent by the sending end is received by the receiving end after encountering the detection target, after being reflected and/or refracted by the detection target, and the transmission process of the frequency hopping sensing signal, the reflection and/or refraction process of the frequency hopping sensing signal are both Signal loss will occur. Therefore, compared with the frequency hopping sensing signal sent by the sending end, the frequency hopping sensing signal received by the receiving end has a certain loss. From the perspective of signal energy, they are not exactly the same. In some examples, the frequency hopping sensing signal received by the receiving end may also be referred to as an echo signal. For other descriptions about the frequency hopping sensing signal, such as the frequency hopping sensing signal including N subsequences, etc., please refer to the above-mentioned embodiments, and details will not be repeated here.

In order to achieve high-precision positioning, detection and imaging, etc., the receiving end needs to process the received frequency hopping sensing signal. Based on this, in an example, after the above step 220, it further includes: combining N subsequences included in the frequency hopping sensing signal to obtain a first sequence; and performing timing processing on the first sequence. Optionally, the timing processing includes at least one of the following processing manners: sequence correlation and matched filtering. By performing timing processing on the full-bandwidth sequences obtained through the combined processing, high-precision time resolution can be obtained, so as to realize high-precision positioning, detection and imaging, etc. It should be understood that the first sequence obtained by combining the subsequences received at the receiving end in N time units in the frequency domain is due to transmission process loss, reflection and/or refraction loss, etc., so that the first sequence obtained by the combining processing at the receiving end The signal energy of a sequence is different from the signal energy of the first sequence generated by the sending end. In the embodiment of the present application, for the convenience of describing the technical solution, the full bandwidth sequence obtained by combining processing at the receiving end is also referred to as the first sequence, and those skilled in the art should be able to understand its meaning.

Optionally, performing timing processing on the first sequence includes: the receiving end acquires the second sequence; and performing timing processing on the first sequence based on the second sequence. In this example, the receiving end also needs to obtain the full bandwidth sequence, so as to perform timing processing on the first sequence obtained by combining processing based on the obtained full bandwidth sequence. In this example, the full-bandwidth sequence obtained by the receiving end and generated in the same manner as the first sequence is called a second sequence. Optionally, the second sequence includes any one of the following sequences: pseudo-noise M sequence, Gold sequence, and ZC sequence. Optionally, the sequence length of the first sequence is positively correlated with the maximum radio frequency working bandwidth. Optionally, the first sequence is preconfigured; or, the first sequence is dynamically generated. For other instructions on obtaining the second sequence, please refer to the above-mentioned introduction to obtaining the first sequence, so I won't go into details here.

From the above deployment methods for the sending end and the receiving end, it can be concluded that the sending end and the receiving end can be deployed in the same device (single-station sensing) or in different devices (dual-station sensing) . In the deployment mode of dual-station sensing, the sending end can transmit the relevant parameters of the frequency hopping sensing signal to the receiving end through the communication signal. Based on this, in an example, the above method further includes: the sending end sends relevant parameters of the frequency hopping sensing signal to the receiving end. Optionally, the relevant parameters of the frequency hopping sensing signal include at least one of the following: the sequence length of the first sequence, N (the number of subsequences included in the frequency hopping sensing signal, or the number of segments of the first sequence), each The frequency domain range corresponding to each time unit, and the frequency domain mapping pattern (continuous mapping pattern or comb mapping pattern) of the frequency hopping sensing signal.

To sum up, the technical solution provided by the embodiment of the present application provides a frequency hopping sensing signal, which can realize the positioning, perception and imaging of the detection target without the need for the detection target to have a communication function, and reduces the burden on the equipment. cost and capacity requirements. Moreover, in the embodiment of the present application, the frequency hopping sensing signal maps a large-bandwidth sequence to multiple time units in a frequency domain segmentation manner, that is, the frequency hopping sensing signal adopts a segmented frequency hopping transmission mode, Devices with limited operating bandwidth and/or limited power can also provide high-precision positioning and perception capabilities, which is helpful for high-precision positioning, target tracking, position awareness, attitude recognition, high-precision imaging, and environment reconstruction. It will be more widely used and deployed in more scenarios in the future.

It should be noted that, in the foregoing embodiments, the signal processing method provided by the present application is introduced and described from the perspective of cooperation between the sending end and the receiving end. In the above-mentioned embodiments, the steps implemented by the transmitting end may be separately implemented as a signal processing method of the transmitting end; the steps implemented by the receiving end may be independently implemented as a signal processing method of the receiving end.

Another point that needs to be explained is that when N is an integer greater than 1, the frequency hopping sensing signal includes multiple subsequences belonging to the first sequence, that is, the first sequence with a larger full bandwidth is subjected to segmental frequency hopping transmission , so that it can be applied to devices with limited working bandwidth and/or limited power, and reduce the requirements on device capabilities of the devices. However, when the operating bandwidth and power of the device are not limited, the first sequence may not be segmented (that is, N is equal to 1), and the sending end may repeatedly send the full sequence within several time units of channel coherence. The first sequence of bandwidth to improve the signal-to-noise ratio and signal processing gain at the receiving end, effectively solve the problems of weak echo signals caused by long-distance target perception, and help to expand the distance and range of perception and detection.

The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

Please refer to FIG. 6 , which shows a block diagram of a signal processing apparatus provided by an embodiment of the present application. The device has the function of realizing the method example of the above-mentioned sending end, and the function may be realized by hardware, or may be realized by executing corresponding software by hardware. The device may be the above-mentioned sending end, or may be set in the sending end. As shown in FIG. 6 , the apparatus 600 may include: a signal sending module 610 .

The signal sending module 610 is configured to send a frequency hopping sensing signal in N time units, the frequency hopping sensing signal includes N subsequences belonging to the first sequence, and the N is a positive integer; wherein, the N subsequences The time units occupied by any two subsequences in the N subsequences are different, and the frequency domain ranges occupied by any two subsequences in the N subsequences are different.

In one example, as shown in FIG. 7 , the apparatus 600 further includes: a sequence acquisition module 620, configured to acquire the first sequence; a sequence segmentation module 630, configured to segment the first sequence , to obtain the frequency hopping sensing signal.

In an example, the first sequence includes any one of the following sequences: a pseudo-noise M sequence, a Gold sequence, and a ZC sequence.

In an example, the sequence length of the first sequence is positively correlated with the maximum radio frequency working bandwidth.

In an example, the first sequence is preconfigured; or, the first sequence is dynamically generated.

In an example, the frequency hopping sensing signal includes any one of the following waveforms: OFDM waveform, DFT-S-OFDM waveform.

In an example, the frequency hopping sensing signal includes any one of the following frequency domain mapping patterns: continuous mapping pattern, comb mapping pattern; wherein, the continuous mapping pattern refers to the frequency domain formed by mapping on continuous frequency domain units pattern; the comb mapping pattern refers to a pattern formed by performing mapping every M frequency domain units, where M is a positive integer.

In one example, the frequency domain units include subcarriers.

In an example, each subsequence in the N subsequences has a sequence length of the first length.

In an example, the time units occupied by the N subsequences are continuous in the time domain; or, the N time units are continuous time units.

In one example, the time units include symbols.

In an example, the frequency domain ranges occupied by the N subsequences are continuous in the frequency domain.

In an example, the size of the frequency domain range occupied by each subsequence in the N subsequences is the first value.

In an example, the N is preconfigured; or, the N is determined dynamically.

In an example, the value of N is related to at least one of the following information: radio resource availability, maximum bandwidth capability of a single transmission, channel coherence between consecutive time units, and subcarrier spacing.

In an example, the value of N is a positive integer greater than or equal to 1 and less than or equal to 14.

In an example, the beam directions corresponding to each of the N subsequences included in the frequency hopping sensing signal are the first beam direction; or, the beam directions corresponding to each of the N time units are all is the first beam direction.

In an example, beam directions corresponding to at least two frequency hopping sensing signals are the same; or, beam directions corresponding to at least two frequency hopping sensing signals are different.

In an example, the beam direction corresponding to the frequency hopping sensing signal is related to a position parameter of a detection target; the position parameter includes an orientation and/or a movement track.

In an example, the frequency hopping sensing signal and the communication signal are transmitted using at least one of the following multiplexing methods: time division multiplexing, frequency division multiplexing, code division multiplexing, and space division multiplexing.

In an example, the unit of time division multiplexing is time slot; or, the unit of time division multiplexing is symbol.

In an example, as shown in FIG. 7 , the apparatus further includes: a parameter sending module 640, configured to send related parameters of the frequency hopping sensing signal to the receiving end; wherein, the related parameters of the frequency hopping sensing signal include At least one of the following: the sequence length of the first sequence, the N, the frequency domain range corresponding to each time unit, and the frequency domain mapping pattern of the frequency hopping sensing signal.

Please refer to FIG. 8 , which shows a block diagram of a signal processing apparatus provided by an embodiment of the present application. The device has the function of realizing the method example of the above-mentioned receiving end, and the function can be realized by hardware, and can also be realized by executing corresponding software by hardware. The device may be the above-mentioned receiving end, or may be set in the receiving end. As shown in FIG. 8 , the apparatus 800 may include: a signal receiving module 810 .

The signal receiving module 810 is configured to receive a frequency hopping sensing signal in N time units, the frequency hopping sensing signal includes N subsequences belonging to the first sequence, and the N is a positive integer; wherein the N subsequences The time units occupied by any two subsequences in the N subsequences are different, and the frequency domain ranges occupied by any two subsequences in the N subsequences are different.

In an example, as shown in FIG. 9 , the apparatus further includes: a sequence combining module 820, configured to combine the N subsequences included in the frequency hopping sensing signal to obtain the first sequence; a timing processing module 830 , used to perform timing processing on the first sequence.

In an example, the timing processing includes at least one of the following processing manners: sequence correlation and matched filtering.

In an example, as shown in FIG. 9, the timing processing module 830 is configured to: acquire a second sequence whose generation method is the same as that of the first sequence; A series of timed processing.

In an example, the second sequence includes any one of the following sequences: a pseudo-noise M sequence, a Gold sequence, and a ZC sequence.

In one example, as shown in FIG. 9 , the apparatus 800 further includes: a parameter receiving module 840, configured to receive related parameters of the frequency hopping sensing signal from the sending end; wherein, the correlation of the frequency hopping sensing signal The parameters include at least one of the following: the sequence length of the first sequence, the N, the frequency domain range corresponding to each time unit, and the frequency domain mapping pattern of the frequency hopping sensing signal.

It should be noted that when the device provided by the above embodiment realizes its functions, it only uses the division of the above-mentioned functional modules as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional modules according to actual needs. That is, the content structure of the device is divided into different functional modules to complete all or part of the functions described above.

Regarding the apparatus in the foregoing embodiments, the specific manner in which each module executes operations has been described in detail in the embodiments related to the method, and will not be described in detail here.

Please refer to FIG. 10 , which shows a schematic structural diagram of a device 100 provided by an embodiment of the present application. For example, the device can be used to perform the above signal processing method, such as implementing the above signal processing method at the sending end, and/or, implementing the above The signal processing method at the receiving end. Specifically, the device 100 may include: a processor 101, and a transceiver 102 connected to the processor 101; wherein:

The processor 101 includes one or more processing cores, and the processor 101 executes various functional applications and information processing by running software programs and modules.

Transceiver 102 includes a receiver and a transmitter. Optionally, the transceiver 102 is a communication chip.

In one example, the device 100 further includes: a memory and a bus. The memory is connected to the processor through a bus. The memory may be used to store a computer program, and the processor is used to execute the computer program, so as to implement various steps performed by the device in the above method embodiments.

In addition, the memory can be implemented by any type of volatile or non-volatile storage device or their combination, and the volatile or non-volatile storage device includes but is not limited to: RAM (Random-Access Memory, Random Access Memory) and ROM (Read-Only Memory, read-only memory), EPROM (Erasable Programmable Read-Only Memory, erasable programmable read-only memory), EEPROM (Electrically Erasable Programmable Read-Only Memory, electrically erasable programmable read-only memory ), flash memory or other solid-state storage technology, CD-ROM (Compact Disc Read-Only Memory, CD-ROM), DVD (Digital Video Disc, high-density digital video disc) or other optical storage, tape cartridges, tapes, disk storage or other magnetic storage devices.

In the case that the device 100 includes the above-mentioned sending end:

The transceiver 102 is configured to send a frequency hopping sensing signal in N time units, the frequency hopping sensing signal includes N subsequences belonging to the first sequence, and the N is a positive integer; wherein, the N subsequences Time units occupied by any two subsequences in the sequence are different, and frequency domain ranges occupied by any two subsequences in the N subsequences are different.

In an example, the processor 101 is configured to obtain the first sequence; perform segmentation processing on the first sequence to obtain the frequency hopping sensing signal.

In one example, the frequency domain units include subcarriers.

In one example, the time units include symbols.

In an example, the N is preconfigured; or, the N is determined dynamically.

In an example, the transceiver 102 is further configured to send related parameters of the frequency hopping sensing signal to the receiving end; wherein, the related parameters of the frequency hopping sensing signal include at least one of the following: the first sequence sequence length, the N, the frequency domain range corresponding to each time unit, and the frequency domain mapping pattern of the frequency hopping sensing signal.

In the case where the device 100 includes the above receiving end:

The transceiver 102 is configured to receive a frequency hopping sensing signal in N time units, the frequency hopping sensing signal includes N subsequences belonging to the first sequence, and the N is a positive integer; wherein, the N subsequences Time units occupied by any two subsequences in the sequence are different, and frequency domain ranges occupied by any two subsequences in the N subsequences are different.

In an example, the processor 101 is configured to combine the N subsequences included in the frequency hopping sensing signal to obtain the first sequence; and perform timing processing on the first sequence.

In an example, the processor 101 is configured to: acquire a second sequence whose generation manner is the same as that of the first sequence; and perform timing processing on the first sequence based on the second sequence.

In an example, the transceiver 102 is further configured to receive related parameters of the frequency hopping sensing signal from the sending end; wherein, the related parameters of the frequency hopping sensing signal include at least one of the following: the first The sequence length of the sequence, the N, the frequency domain range corresponding to each of the time units, and the frequency domain mapping pattern of the frequency hopping sensing signal.

An embodiment of the present application also provides a computer-readable storage medium, where a computer program is stored in the storage medium, and the computer program is used to be executed by a processor of a device, so as to implement the above signal processing method.

The embodiment of the present application also provides a chip, the chip includes a programmable logic circuit and/or program instructions, and when the chip is run on a device, it is used to implement the above signal processing method.

The present application also provides a computer program product, which causes the device to execute the above signal processing method when the computer program product runs on the device.

Those skilled in the art should be aware that, in the foregoing one or more examples, the functions described in the embodiments of the present application may be implemented by hardware, software, firmware or any combination thereof. When implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

The above are only exemplary embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the application shall be included in the protection of the application. within range.

Claims

A signal processing method, characterized in that it is applied to a sending end, the method comprising:

In N time units, a frequency hopping sensing signal is sent, the frequency hopping sensing signal includes N subsequences belonging to the first sequence, and N is a positive integer;

Wherein, time units occupied by any two subsequences in the N subsequences are different, and frequency domain ranges occupied by any two subsequences in the N subsequences are different.
The method according to claim 1, wherein before sending the frequency hopping sensing signal, further comprising:

obtaining the first sequence;

Perform segmentation processing on the first sequence to obtain the frequency hopping sensing signal.
The method according to claim 1 or 2, wherein the first sequence comprises any one of the following sequences: pseudo-noise M sequence, Gold sequence, ZC sequence.
The method according to any one of claims 1 to 3, wherein the sequence length of the first sequence is positively correlated with the maximum radio frequency working bandwidth.
The method according to any one of claims 1 to 4, wherein the first sequence is preconfigured; or, the first sequence is dynamically generated.
The method according to any one of claims 1 to 5, wherein the frequency hopping sensing signal includes any one of the following waveforms: OFDM waveform, discrete Fourier transform-extended orthogonal frequency division Multiplexing DFT-S-OFDM waveforms.
The method according to any one of claims 1 to 6, wherein the frequency hopping sensing signal includes any of the following frequency domain mapping patterns: continuous mapping patterns, comb mapping patterns;

Wherein, the continuous mapping pattern refers to a pattern formed by mapping on continuous frequency domain units; the comb mapping pattern refers to a pattern formed by mapping every M frequency domain units, and the M is a positive integer.
The method according to claim 7, wherein the frequency domain unit comprises subcarriers.
The method according to any one of claims 1 to 8, characterized in that the sequence length of each subsequence in the N subsequences is the first length.
The method according to any one of claims 1 to 9, wherein the time units occupied by the N subsequences are continuous in the time domain; or, the N time units are continuous time units.
The method according to any one of claims 1 to 10, wherein the time units comprise symbols.
The method according to any one of claims 1 to 11, characterized in that the frequency domain ranges occupied by the N subsequences are continuous in the frequency domain.
The method according to any one of claims 1 to 12, characterized in that the size of the frequency domain range occupied by each subsequence in the N subsequences is the first value.
The method according to any one of claims 1 to 13, wherein the N is preconfigured; or, the N is determined dynamically.
The method according to any one of claims 1 to 14, wherein the value of N is related to at least one of the following information: availability of wireless resources, maximum bandwidth capability of a single transmission, channel between consecutive time units Coherence, subcarrier spacing size.
The method according to any one of claims 1 to 15, wherein the value of N is a positive integer greater than or equal to 1 and less than or equal to 14.
The method according to any one of claims 1 to 16, wherein the beam direction corresponding to each of the N subsequences included in the frequency hopping sensing signal is the first beam direction; or, the The beam direction corresponding to each time unit in the N time units is the first beam direction.
The method according to any one of claims 1 to 17, wherein the beam directions corresponding to at least two frequency hopping sensing signals are the same; or, the beam directions corresponding to at least two frequency hopping sensing signals are different.
The method according to any one of claims 1 to 18, wherein the beam direction corresponding to the frequency hopping sensing signal is related to a position parameter of the detection target; the position parameter includes orientation and/or movement trajectory.
The method according to any one of claims 1 to 19, wherein the frequency hopping sensing signal and the communication signal are transmitted using at least one of the following multiplexing methods: time division multiplexing, frequency division multiplexing, code division multiplexing use, space division multiplexing.
The method according to claim 20, characterized in that, the unit of time division multiplexing is time slot; or, the unit of time division multiplexing is symbol.
The method according to any one of claims 1 to 21, further comprising:

sending relevant parameters of the frequency hopping sensing signal to the receiving end;

Wherein, the relevant parameters of the frequency hopping sensing signal include at least one of the following: the sequence length of the first sequence, the N, the frequency domain range corresponding to each of the time units, the frequency range of the frequency hopping sensing signal Domain map pattern.
A signal processing method, characterized in that it is applied to a receiving end, the method comprising:

In N time units, receive a frequency hopping sensing signal, the frequency hopping sensing signal includes N subsequences belonging to the first sequence, where N is a positive integer;

Wherein, time units occupied by any two subsequences in the N subsequences are different, and frequency domain ranges occupied by any two subsequences in the N subsequences are different.
The method according to claim 23, wherein after receiving the frequency hopping sensing signal, further comprising:

combining the N subsequences included in the frequency hopping sensing signal to obtain the first sequence;

Timing processing is performed on the first sequence.
The method according to claim 24, wherein the timing processing includes at least one of the following processing methods: sequence correlation and matched filtering.
The method according to claim 24 or 25, wherein the timing processing of the first sequence comprises:

acquiring a second sequence whose generation method is the same as that of the first sequence;

Timing processing is performed on the first sequence based on the second sequence.
The method according to claim 26, wherein the second sequence comprises any one of the following sequences: pseudo-noise M sequence, Gold sequence, ZC sequence.
The method according to claim 26 or 27, wherein the sequence length of the first sequence is positively correlated with the maximum radio frequency working bandwidth.
The method according to any one of claims 26 to 28, wherein the first sequence is preconfigured; or, the first sequence is dynamically generated.
The method according to any one of claims 23 to 29, wherein the frequency hopping sensing signal and the communication signal are transmitted using at least one of the following multiplexing methods: time division multiplexing, frequency division multiplexing, code division multiplexing use, space division multiplexing.
The method according to claim 30, characterized in that, the unit of time division multiplexing is time slot; or, the unit of time division multiplexing is symbol.
The method according to any one of claims 23 to 31, further comprising:

receiving relevant parameters of the frequency hopping sensing signal from the sending end;

Wherein, the relevant parameters of the frequency hopping sensing signal include at least one of the following: the sequence length of the first sequence, the N, the frequency domain range corresponding to each of the time units, the frequency range of the frequency hopping sensing signal Domain map pattern.
A signal processing device, characterized in that it is arranged at the sending end, and the device includes:

A signal sending module, configured to send a frequency hopping sensing signal in N time units, where the frequency hopping sensing signal includes N subsequences belonging to the first sequence, where N is a positive integer;

Wherein, time units occupied by any two subsequences in the N subsequences are different, and frequency domain ranges occupied by any two subsequences in the N subsequences are different.
The device according to claim 33, further comprising:

a sequence obtaining module, configured to obtain the first sequence;

A sequence segmentation module, configured to segment the first sequence to obtain the frequency hopping sensing signal.
The device according to claim 33 or 34, wherein the first sequence includes any one of the following sequences: a pseudo-noise M sequence, a Gold sequence, and a ZC sequence.
The device according to any one of claims 33 to 35, wherein the sequence length of the first sequence is positively correlated with the maximum radio frequency working bandwidth.
The device according to any one of claims 33 to 36, wherein the first sequence is preconfigured; or, the first sequence is dynamically generated.
The device according to any one of claims 33 to 37, wherein the frequency hopping sensing signal includes any one of the following waveforms: Orthogonal Frequency Division Multiplexing OFDM waveform, Discrete Fourier Transform-Extended Orthogonal Frequency Division Multiplexing DFT-S-OFDM waveforms.
The device according to any one of claims 33 to 38, wherein the frequency hopping sensing signal includes any of the following frequency domain mapping patterns: continuous mapping patterns, comb mapping patterns;

Wherein, the continuous mapping pattern refers to a pattern formed by mapping on continuous frequency domain units; the comb mapping pattern refers to a pattern formed by mapping every M frequency domain units, and the M is a positive integer.
The apparatus according to claim 39, wherein the frequency domain unit comprises subcarriers.
The device according to any one of claims 33 to 40, wherein the sequence length of each subsequence in the N subsequences is the first length.
The device according to any one of claims 33 to 41, wherein the time units occupied by the N subsequences are continuous in the time domain; or, the N time units are continuous time units.
The apparatus according to any one of claims 33 to 42, wherein the time units comprise symbols.
The device according to any one of claims 33 to 43, wherein the frequency domain ranges occupied by the N subsequences are continuous in the frequency domain.
The device according to any one of claims 33 to 44, wherein the size of the frequency domain range occupied by each subsequence in the N subsequences is the first value.
The device according to any one of claims 33 to 45, wherein the N is preconfigured; or, the N is determined dynamically.
The device according to any one of claims 33 to 46, wherein the value of N is related to at least one of the following information: availability of wireless resources, maximum bandwidth capability of a single transmission, channel between consecutive time units Coherence, subcarrier spacing size.
The device according to any one of claims 33 to 47, wherein the value of N is a positive integer greater than or equal to 1 and less than or equal to 14.
The device according to any one of claims 33 to 48, wherein the beam direction corresponding to each of the N subsequences included in the frequency hopping sensing signal is the first beam direction; or, the The beam direction corresponding to each time unit in the N time units is the first beam direction.
The device according to any one of claims 33 to 49, wherein the beam directions corresponding to at least two frequency hopping sensing signals are the same; or, the beam directions corresponding to at least two frequency hopping sensing signals are different.
The device according to any one of claims 33 to 50, wherein the beam direction corresponding to the frequency hopping sensing signal is related to a position parameter of the detection target; the position parameter includes orientation and/or movement trajectory.
The device according to any one of claims 33 to 51, wherein the frequency hopping sensing signal and the communication signal are transmitted using at least one of the following multiplexing methods: time division multiplexing, frequency division multiplexing, code division multiplexing use, space division multiplexing.
The device according to claim 52, wherein the unit of time division multiplexing is time slot; or, the unit of time division multiplexing is symbol.
The device according to any one of claims 33 to 53, wherein the device further comprises:

A parameter sending module, configured to send relevant parameters of the frequency hopping sensing signal to the receiving end;

Wherein, the relevant parameters of the frequency hopping sensing signal include at least one of the following: the sequence length of the first sequence, the N, the frequency domain range corresponding to each of the time units, the frequency range of the frequency hopping sensing signal Domain map pattern.
A signal processing device, characterized in that it is arranged at the receiving end, and the device includes:

A signal receiving module, configured to receive a frequency hopping sensing signal in N time units, the frequency hopping sensing signal including N subsequences belonging to the first sequence, where N is a positive integer;

Wherein, time units occupied by any two subsequences in the N subsequences are different, and frequency domain ranges occupied by any two subsequences in the N subsequences are different.
The device according to claim 55, further comprising:

a sequence combining module, configured to combine the N subsequences included in the frequency hopping sensing signal to obtain the first sequence;

A timing processing module, configured to perform timing processing on the first sequence.
The device according to claim 56, wherein the timing processing includes at least one of the following processing methods: sequence correlation and matched filtering.
The device according to claim 56 or 57, wherein the timing processing module is configured to:

acquiring a second sequence whose generation method is the same as that of the first sequence;

Timing processing is performed on the first sequence based on the second sequence.
The device according to claim 58, wherein the second sequence includes any one of the following sequences: a pseudo-noise M sequence, a Gold sequence, and a ZC sequence.
The device according to claim 58 or 59, wherein the sequence length of the first sequence is positively correlated with the maximum radio frequency working bandwidth.
The device according to any one of claims 58 to 60, wherein the first sequence is preconfigured; or, the first sequence is dynamically generated.
The device according to any one of claims 55 to 61, wherein the frequency hopping sensing signal and the communication signal are transmitted using at least one of the following multiplexing methods: time division multiplexing, frequency division multiplexing, code division multiplexing use, space division multiplexing.
The device according to claim 62, wherein the unit of time division multiplexing is time slot; or, the unit of time division multiplexing is symbol.
The device according to any one of claims 55 to 63, wherein the device further comprises:

A parameter receiving module, configured to receive relevant parameters of the frequency hopping sensing signal from the sending end;

Wherein, the relevant parameters of the frequency hopping sensing signal include at least one of the following: the sequence length of the first sequence, the N, the frequency domain range corresponding to each of the time units, the frequency range of the frequency hopping sensing signal Domain map pattern.
A device, characterized in that the device includes: a processor, and a transceiver connected to the processor; wherein:

The transceiver is configured to send a frequency hopping sensing signal in N time units, the frequency hopping sensing signal includes N subsequences belonging to the first sequence, and N is a positive integer;

Wherein, time units occupied by any two subsequences in the N subsequences are different, and frequency domain ranges occupied by any two subsequences in the N subsequences are different.
A device, characterized in that the device includes: a processor, and a transceiver connected to the processor; wherein:

The transceiver is configured to receive a frequency hopping sensing signal in N time units, the frequency hopping sensing signal includes N subsequences belonging to the first sequence, and N is a positive integer;

Wherein, time units occupied by any two subsequences in the N subsequences are different, and frequency domain ranges occupied by any two subsequences in the N subsequences are different.
A computer-readable storage medium, wherein a computer program is stored in the storage medium, and the computer program is used to be executed by a processor of a device to realize the signal according to any one of claims 1 to 22 Approach.
A computer-readable storage medium, wherein a computer program is stored in the storage medium, and the computer program is used to be executed by a processor of a device to realize the signal according to any one of claims 23 to 32 Approach.