WO2023198124A1

WO2023198124A1 - Sensing processing method and apparatus, network device and terminal

Info

Publication number: WO2023198124A1
Application number: PCT/CN2023/087894
Authority: WO
Inventors: 李健之; 丁圣利
Original assignee: 维沃移动通信有限公司
Priority date: 2022-04-15
Filing date: 2023-04-12
Publication date: 2023-10-19
Also published as: CN116980918A

Abstract

The present application belongs to the technical field of communications. Disclosed are a sensing processing method and apparatus, a network device and a terminal. The sensing processing method in embodiments of the present application comprises: when target information changes, a first device determines first configuration information on the basis of the target information; and the first device sends the first configuration information; wherein the first configuration information comprises antenna selection information of a target sensing device and signal configuration information of a first signal, and the target sensing device comprises at least one of a sending device used for sending the first signal and a receiving device used for receiving the first signal.

Description

Perception processing method, device, network side equipment and terminal

Cross-references to related applications

This application claims priority to Chinese Patent Application No. 202210399424.4 filed in China on April 15, 2022, the entire content of which is incorporated herein by reference.

Technical field

This application belongs to the field of communication technology, and specifically relates to a sensing processing method, device, network side equipment and terminal.

Background technique

With the development of communication technology, synaesthesia integration can be realized in communication systems. There are two types of services, communication and perception, in the synaesthesia integration scenario. Currently, in traditional sensing methods, fixed signal configurations and antennas are usually used to perform sensing services or synaesthesia integration services. Due to the status of the sensing target or The sensing environment is constantly changing. If fixed signal configurations and antennas are used to perform sensing services or synaesthesia integrated services, sensing performance may be degraded.

Contents of the invention

Embodiments of the present application provide a sensing processing method, device, network-side device and terminal, which can improve sensing performance.

The first aspect provides a perceptual processing method, including:

In the case where the target information changes, the first device determines the first configuration information based on the target information;

The first device sends first configuration information;

Wherein, the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device, and the target sensing device includes a sending device for sending the first signal and a sending device for receiving the first signal. At least one of the signal receiving equipment.

The second aspect provides a perception processing method, including:

The first sensing device receives first configuration information from the first device;

The first sensing device performs an antenna selection operation and a first signal configuration based on the first configuration information;

Wherein, the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device, and the target sensing device includes a sending device for sending the first signal and a sending device for receiving the first signal. At least one of the receiving devices of the signal, and the target sensing device includes the first sensing device.

In a third aspect, a perception processing device is provided, including:

A first determination module, configured to determine the first configuration information based on the target information when the target information changes;

The first sending module is used to send the first configuration information;

In a fourth aspect, a perception processing device is provided, applied to the first perception device, including:

a second receiving module, configured to receive the first configuration information from the first device;

An execution module configured to perform antenna selection operations and first signal configuration based on the first configuration information;

In a fifth aspect, a terminal is provided. The terminal includes a processor and a memory. The memory stores programs or instructions that can be run on the processor. When the program or instructions are executed by the processor, the following implementations are implemented: The steps of the method described in one aspect.

In a sixth aspect, a terminal is provided, including a processor and a communication interface, wherein the communication interface is configured to receive first configuration information from a first device; and the processor is configured to perform antenna selection based on the first configuration information. Operation and first signal configuration;

Wherein, the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device, and the target sensing device includes a sending device for sending the first signal. and at least one of a receiving device for receiving the first signal, and the target sensing device includes the first sensing device.

In a seventh aspect, a network side device is provided. The network side device includes a processor and a memory. The memory stores programs or instructions that can be run on the processor. The program or instructions are executed by the processor. When implementing the steps of the method described in the second aspect.

In an eighth aspect, a network side device is provided, including a processor and a communication interface, wherein the processor is configured to determine the first configuration information based on the target information when the target information changes; the communication interface is configured to Send first configuration information; wherein the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device, and the target sensing device includes a sending device for sending the first signal and a user at least one of the receiving devices receiving the first signal;

Alternatively, the communication interface is configured to receive first configuration information from the first device; the processor is configured to perform an antenna selection operation and a first signal configuration based on the first configuration information; wherein the first configuration information includes a target Antenna selection information of the sensing device and signal configuration information of the first signal, the target sensing device includes at least one of a sending device for sending the first signal and a receiving device for receiving the first signal, And the target sensing device includes the first sensing device.

A ninth aspect provides a communication system, including: a first sensing device and a first device. The first sensing device can be used to perform the steps of the sensing processing method as described in the second aspect. The first device can To perform the steps of the perception processing method described in the first aspect.

In a tenth aspect, a readable storage medium is provided. Programs or instructions are stored on the readable storage medium. When the programs or instructions are executed by a processor, the steps of the method described in the first aspect are implemented, or the steps of the method are implemented as described in the first aspect. The steps of the method described in the second aspect.

In an eleventh aspect, a chip is provided. The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the method described in the first aspect. The steps of a method, or steps of implementing a method as described in the second aspect.

In a twelfth aspect, a computer program/program product is provided, the computer program/program product is stored in a storage medium, and the computer program/program product is executed by at least one processor to implement as described in the first aspect The steps of the method, or the steps of implementing the method as described in the second aspect.

In the embodiment of the present application, when the target information changes, the first device determines the first configuration information based on the target information; the first device sends the first configuration information; wherein the first configuration information includes the target sensing device The antenna selection information and the signal configuration information of the first signal, the target sensing device includes at least one of a sending device for sending the first signal and a receiving device for receiving the first signal. In this way, since the first configuration information is determined based on the target information, the antenna selection information and signal configuration information of the target sensing device can be updated according to the current sensing environment, thereby effectively improving sensing performance.

Description of the drawings

Figure 1 is a network structure diagram applicable to the embodiment of the present application;

Figure 2 is a flow chart of a perception processing method provided by an embodiment of the present application;

Figure 3 is one of the perception example diagrams in the perception processing method provided by the embodiment of the present application;

Figures 4A to 4C are example diagrams of the first signal at different stages in a perceptual processing method provided by an embodiment of the present application;

Figure 5 is the second example diagram of perception in a perception processing method provided by the embodiment of the present application;

Figures 5A to 5B are example diagrams of the first signal at different stages in a perceptual processing method provided by an embodiment of the present application;

Figure 6 is a flow chart of another perception processing method provided by an embodiment of the present application;

Figure 7 is a structural diagram of a perception processing device provided by an embodiment of the present application;

Figure 8 is a structural diagram of another perception processing device provided by an embodiment of the present application;

Figure 9 is a structural diagram of a communication device provided by an embodiment of the present application;

Figure 10 is a structural diagram of a terminal provided by an embodiment of the present application;

Figure 11 is a structural diagram of a network-side device provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art fall within the scope of protection of this application.

The terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances so that the embodiments of the present application can be practiced in sequences other than those illustrated or described herein, and that "first" and "second" are distinguished objects It is usually one type, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and/or" in the description and claims indicates at least one of the connected objects, and the character "/" generally indicates that the related objects are in an "or" relationship.

It is worth pointing out that the technology described in the embodiments of this application is not limited to Long Term Evolution (LTE)/LTE Evolution (LTE-Advanced, LTE-A) systems, and can also be used in other wireless communication systems, such as code Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access, OFDMA), Single-carrier Frequency Division Multiple Access (SC-FDMA) and other systems. The terms "system" and "network" in the embodiments of this application are often used interchangeably, and the described technology can be used not only for the above-mentioned systems and radio technologies, but also for other systems and radio technologies. The following description describes a New Radio (NR) system for example purposes, and NR terminology is used in much of the following description, but these techniques can also be applied to applications other than NR system applications, such as 6th ^generation Generation, 6G) communication system.

Figure 1 shows a block diagram of a wireless communication system to which embodiments of the present application are applicable. The wireless communication system includes a terminal 11 and a network side device 12. The terminal 11 may be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer), or a notebook computer, a personal digital assistant (Personal Digital Assistant, PDA), a palmtop computer, a netbook, or a super mobile personal computer. (ultra-mobile personal computer, UMPC), mobile Internet device (Mobile Internet Device, MID), augmented reality (AR)/virtual reality (VR) equipment, robots, wearable devices (Wearable Device) , Vehicle User Equipment (VUE), Pedestrian User Equipment (PUE), smart home (home equipment with wireless communication functions, such as refrigerators, TVs, washing machines or furniture, etc.), game consoles, personal computers (personal computer, PC), teller machine or self-service machine and other terminal side Equipment, wearable devices include: smart watches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart bracelets, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, Smart clothing, etc. It should be noted that the embodiment of the present application does not limit the specific type of the terminal 11. The network side device 12 may include an access network device or a core network device, where the access network device may also be called a radio access network device, a radio access network (Radio Access Network, RAN), a radio access network function or a wireless device. access network unit. Access network equipment may include base stations, WLAN access points, or WiFi nodes. The base station may be called a Node B, an Evolved Node B (eNB), an access point, or a Base Transceiver Station (BTS). ), radio base station, radio transceiver, Basic Service Set (BSS), Extended Service Set (ESS), home B-node, home evolved B-node, Transmission Reception Point (TRP) ) or some other appropriate term in the field, as long as the same technical effect is achieved, the base station is not limited to specific technical terms. It should be noted that in the embodiment of this application, only the base station in the NR system is used as an example. Introduction, does not limit the specific type of base station.

To facilitate understanding, some contents involved in the embodiments of this application are described below:

1. Communication-perception integration or synaesthesia integration.

Wireless communications and radar sensing have been developing in parallel, but the intersection is limited. They have many commonalities in signal processing algorithms, equipment, and to a certain extent system architecture. In recent years, the coexistence, cooperation, and joint design of these two systems have attracted increasing attention from researchers.

The problem of coexistence of communication systems and radar systems was extensively studied in the early days. The research focused on developing effective interference management techniques to enable two separately deployed systems to operate smoothly without interfering with each other. While radar and communications systems may be co-located or even physically integrated, they transmit two different signals in the time/frequency domain. They collaborate to share the same resources to minimize interference with each other while working simultaneously. Corresponding measures include beam forming, cooperative spectrum sharing, primary and secondary spectrum sharing, dynamic coexistence, etc. However, effective interference cancellation usually has strict requirements on node mobility and information exchange between nodes, so the improvement of spectrum efficiency is actually limited. Since interference in coexistence systems is caused by transmitting two independent signals, it is natural to ask whether we can use one transmit signal for both communication and radar sensing at the same time. Radar systems often use specially designed waveforms, such as short pulses and chirps, that enable high-power radiation and simplified receiver processing. However, these waveforms are not necessary for radar detection. Source radar or passive sensing using different radio signals as sensing signals is a good example.

Machine learning, especially deep learning techniques, further promotes the potential of non-dedicated radio signals for radar sensing. With these technologies, traditional radar is moving towards more versatile wireless sensing. Wireless sensing here can broadly refer to retrieving information from received radio signals, rather than modulating communication data into a signal at a transmitter. For wireless sensing related to sensing the target position, common signal processing methods can be used to analyze the target signal reflection delay, angle of arrival (Angle of Arrival, AOA), angle of departure (Angle of Departure, AOD) and Doppler dynamics. Parameters are estimated; for sensing the physical characteristics of the target, it can be achieved by measuring equipment, objects or inherent mode signals. The two sensing methods can be called sensing parameter estimation and pattern recognition respectively. In this sense, wireless sensing refers to more general sensing technologies and applications that use radio signals.

Integrated Sensing and Communication (ISAC) has the potential to integrate wireless sensing into large-scale mobile networks, here called Perceptive Mobile Networks (PMNs). PMN can evolve from the current fifth-generation mobile communication technology (5th-Generation, 5G) mobile network and is expected to become a ubiquitous wireless sensor network while providing stable and high-quality mobile communication services. It can be built on existing mobile network infrastructure without requiring major changes to network structures and equipment. It will unleash the maximum capabilities of mobile networks and avoid the high infrastructure costs of building new wide-area wireless sensor networks separately. As coverage expands, integrated communication and sensing capabilities are expected to enable many new applications. Sensing mobile networks are capable of providing both communication and wireless sensing services, and have the potential to become a ubiquitous wireless sensing solution due to their large broadband coverage and strong infrastructure. Their jointly coordinated communications and sensing capabilities will increase the productivity of our society and help enable a host of new applications that cannot be effectively enabled by existing sensor networks. Some early work using mobile signals for passive sensing has demonstrated its potential. For example, traffic monitoring, weather forecasting and rainfall remote sensing based on Global System for Mobile Communications (GSM) radio signals. Sensitive mobile networks can be widely used in communication and sensing in the fields of transportation, communications, energy, precision agriculture, and security, where existing solutions are either unfeasible or inefficient. It can also provide complementary sensing capabilities to existing sensor networks, with unique day and night operation capabilities and the ability to penetrate fog, foliage and even solid objects.

2. Array radar.

Perception technology based on phased array radar currently has mature hardware implementation solutions and signal processing methods. Phased array radar uses the entire array for beamforming, which can form a high-gain, high-directional narrow beam, which is beneficial to improving the perceived signal-to-noise ratio (SNR). However, the beam width of phased array radar determines the angular resolution. When the sensing area is large, beam scanning is required. Multiple targets cannot be distinguished if the distance between them is smaller than the beam width; the maximum number of detectable targets is limited.

Multiple Input Multiple Output (MIMO) radars send signals independently from different antennas (quasi-orthogonal or orthogonal), and generally have wider beams. By rationally deploying antenna positions, a large-aperture virtual array can be formed with the same number of antennas, thereby improving angular resolution. In addition, MIMO radar has strong clutter suppression capabilities. Quasi-orthogonal means that the signals emitted by different transmitting antennas are not completely orthogonal and have a certain degree of mutual correlation, but the mutual correlation is weak. For example, if the cross-correlation is expressed as a correlation coefficient and is <0.5, then the cross-correlation is considered weak.

In future integrated synaesthesia scenarios, radar technology-based perception, such as device-free positioning and trajectory tracking of pedestrians, motor vehicles, drones, etc., often requires the detection of one or more targets or targets in a certain area. Before sensing the event, it may also be necessary to detect the area with a large angle coverage and identify the general area where the target is located. Different from traditional radar scenarios, in synaesthesia integrated scenarios, the service coverage distance is generally tens to hundreds of meters, and the surrounding environment and objects can easily form significant clutter, seriously affecting the perception performance. In the integrated synesthesia scenario, multipath signal propagation can increase capacity for communication, but the situation is more complicated for perception. Some parts will become clutter, and other parts may also help improve perception performance.

A large part of future communication systems are MIMO systems, and sensing technology based on array radar is a major development trend. For simplicity, the MIMO synaesthetic integrated system can be referred to as the MIMO-ISAC system. MIMO radar has been widely used in the field of radar detection. However, in the field of communication and perception integration, the antenna selection method of the MIMO-ISAC system and the corresponding adaptive method are still unclear.

3. MIMO radar virtual array principle.

The improvement of the perception accuracy of the MIMO-ISAC system also utilizes the concept of virtual array in MIMO radar, which is briefly introduced below. Consider that the total number of MIMO radar transmitting array antennas is M, the position coordinates of each transmitting antenna are x _T,m ,m=0,1,...,M-1, the total number of receiving array antennas is N, and the coordinates of each receiving antenna are x _{R, n} ,n=0,1,...,N-1. Assuming that the signals transmitted by each transmitting antenna are orthogonal, then:

Among them, s _m (t) represents the transmission signal of the m-th antenna, s _k (t) represents the transmission signal of the k-th antenna, and δ _mk is the Dirac function. At this time, each receiving antenna of the receiver uses M matched filters to separate the transmitted signals, so the receiver obtains a total of NM received signals. Considering a far-field point target, the target response obtained by the m-th matched filter of the n-th receiving antenna can be expressed as:

Among them, u _t is a unit vector pointing from the radar transmitter to the point target, α ^(t) is the reflection coefficient of the point target, and λ is the carrier frequency wavelength of the transmitted signal.

It can be seen that the phase of the reflected signal is determined by both the transmitting and receiving antennas. Equivalently, the target response of equation (2) is exactly the same as the target response obtained by an array with NM antennas. The equivalent array antenna position coordinates are:
{x _T,m +x _R,n |m＝0,1,...,M-1; n＝0,1,...,N-1} (3)

It should be understood that when MIMO radar is actually deployed, by reasonably setting the positions of the transmitting array and/or receiving array, an array containing NM non-overlapping virtual antennas can be constructed using only N+M physical antennas. Since virtual arrays tend to form larger array apertures, better angular resolution can be obtained.

If there are L targets, assuming that there is a certain correlation between the signals sent by each transmitting antenna, the MIMO radar after range-Doppler filtering (only angle estimation is analyzed here, assuming that the delay and Doppler parameters have been processed on the receiver side compensation) the received signal is:

Among them, α _l is the l-th target reflection coefficient and reflection delay, T ₀ is the length of the transmitted signal, and A(θ) satisfies:

in,

s(t)＝[s ₁ (t),...,s _M (t)] ^T (8)

Among them, A(θ) is the N×M MIMO radar steering vector matrix, equations (6) and (7) are the receiving and transmitting array steering vectors respectively, τ _T,m ,m=0,1,...,M -1 and τ _R,n ,n=0,1,...,N-1 are the signal propagation delays of the transmitting and receiving arrays relative to the reference point respectively. The correlation matrix of signals sent by each transmitting antenna is

Among them, β _ij is the correlation coefficient of the signal sent by the i-th transmitting antenna and the j-th transmitting antenna.

It can be proved [5, Appendix 4A] that the maximum likelihood estimate of parameter θ in equation (4) can be obtained based on the NM × 1 vector:

Generally, in order to simplify the complexity of the receiver algorithm, it is hoped that eta is a statistically independent sufficient statistic [5]. Perform eigenvalue decomposition on the correlation matrix of the transmitted signal, R _s = UΛU ^H , correspondingly, the actual transmitted signal can be regarded as a set of orthogonal signals Linear transformation of , that is:

Substitute into equation (4) and since get:

Correspondingly, equation (10) becomes

Among them, the equivalent virtual guidance vector with dimension NM×1 is expressed as:
d(θ _l )=vec(A(θ _l )UΛ ^1/2 ) (14)

For phased array radar, the signals of each transmitting antenna are coherent. At this time, R _s =uu ^H only contains 1 non-zero eigenvalue, so at this time,

At this time, the effective number of virtual array elements is only N. For a MIMO radar in which the signals transmitted by each transmitting antenna are completely orthogonal, there are R _s =IM _×M and UΛ ^1/2 =IM _×M . At this time

It can be seen from the above that the orthogonality (correlation) between the signals sent by each transmitting antenna will affect the effective number of virtual array elements of the MIMO radar, thereby affecting the flexibility of signal processing on the receiver side. For this reason, the perception processing method of this application is proposed.

The perception processing method provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings through some embodiments and application scenarios.

Referring to Figure 2, an embodiment of the present application provides a perception processing method. As shown in Figure 2, the perception processing method includes:

Step 201: When the target information changes, the first device determines the first configuration information based on the target information;

Step 202: The first device sends first configuration information;

Optionally, the above target information can be understood as information used to determine whether to update the antenna selection information and signal configuration information. In some embodiments, the target information may include at least one of the following:

The sensing result obtained by executing the first service associated with the first signal within a preset time period;

The target sensing device executes the antenna selection information of the first service within the preset time period;

Antenna array information of the target sensing device;

Perceive the first status information of the target;

channel information;

Resource information associated with the first service;

First information used to determine the sensing device.

It should be noted that when the preset conditions are met, the above target information will change. The preset conditions may include at least one of the following:

The dynamic parameters of the sensing target change, and the dynamic parameters include at least one of speed, angle and distance;

Changes in the number or density of perceived targets within the sensing area;

Changes in environmental clutter within the sensing area;

Sensing changes in regional environmental interference;

Available business time-frequency resources change;

Available antenna resources change;

The first signal changes.

Among them, changes in the number, density and environmental interference of the above-mentioned targets can be understood as changes in the corresponding parameter values greater than the preset threshold value. Since changes in the above parameters will affect the perception performance, the perception performance can be maintained or improved by adaptively adjusting the antenna selection information. A change in the available antenna resources can be understood as a change in the overall available antenna resources of all sensing devices that perform the first service. For example, a change in the available antenna resources on a certain sensing device results in a change in the overall available antenna resources. In order to add, reduce or update sensing equipment, the overall available antenna resources will change. The above-mentioned change in the first signal can be understood as a change in the orthogonal mode or sequence of the first signal, or a change in the sequence of signals from at least one transmitting antenna in the first signal.

In this embodiment of the present application, the first device may receive target information from at least one sensing device associated with the first signal, and the first device may also receive part of the target information from at least one sensing device, and the first sensing device calculates and determines For another part of the target information, the first device can also directly calculate and determine the target information, which is not further limited here. The sensing device can be called a sensing node, and the sensing device includes the above-mentioned sending device and receiving device. The sending device and the receiving device may be the same device or different devices. The above-mentioned first device can be understood as a network-side device. Specifically, it can be a device in a core network or a base station. It should be understood that determining the first configuration information based on the target information can be understood as determining the first configuration information based on the target information of the target sensing device, or jointly determining the first configuration information based on the target information of the target sensing device and other sensing devices in at least one sensing device. 1. Configuration information. For example, in some embodiments, when the distance between the sensing target and the target sensing device changes, so that the antenna resources of the target sensing device need to be increased or decreased, the first configuration information can be determined by combining the target information of all sensing devices. For example, in some embodiments, in the case where the channel information of the target sensing device changes, the first configuration information may be determined based on the target information of the target sensing device.

Optionally, the above-mentioned first configuration information may include first configuration information of the sending device and first configuration information of the receiving device. When the antenna selection information of the sending device needs to be updated, the target sensing device includes the sending device; when the antenna selection information of the receiving device needs to be updated, the target sensing device includes the receiving device.

Optionally, in some embodiments, the first signal is a set of signals transmitted by each transmitting antenna in a multiple-input multiple-output communication-aware integrated MIMO-ISAC system. The transmission signals of each transmitting antenna are orthogonal or quasi-orthogonal to each other. It should be understood that in the MIMO-ISAC system, each transmitting antenna signal can be a signal that only has a sensing function and does not contain transmission information. For example, existing synchronization and reference signals use pseudo-random sequences, including m-sequences and Zadoff-Chu sequences. , Gold sequence, etc., or it can be single-frequency continuous wave (CW), frequency modulated continuous wave (Frequency Modulated CW, FMCW) commonly used in radar, and ultra-wideband Gaussian pulse, etc.; it can also be a newly designed special sensing signal, It has good correlation characteristics and low Peak to Average Power Ratio (PAPR), or a newly designed synaesthesia integrated signal, which not only carries certain information, but also has good perceptual performance.

Optionally, the above-mentioned first status information may include one or more measurement parameter values, for example, it may include measurement parameter values such as the position coordinates of the sensing target, the distance of the sensing target relative to the sending device, and the moving speed of the sensing target. Before performing perceptual measurement on the perceptual target, the first state information may be determined based on a priori information of the perceptual target. After perceptual measurement is performed, the first state information may be updated based on the measurement parameter value obtained by perceptual measurement. The above sensing results may be determined based on measurement parameter values obtained from one or more sensing measurements. The following is an example of this:

In some embodiments, the sensing result may be a sensing parameter value obtained by a sensing measurement. For example, in a sensing scene in which position sensing is performed on a sensing target, the sensing result may be the position coordinates of the sensing target.

In some embodiments, the sensing result may be a target result determined based on a sensing parameter value obtained by a sensing measurement. For example, in a sensing scene where contour sensing is performed on a sensing target, the sensing result may be based on the position coordinates of the sensing target, Multiple sensing parameter values such as the departure azimuth angle and departure pitch angle of the sensing target are calculated and determined.

In some embodiments, the sensing result can be determined based on the sensing parameter values obtained by multiple sensing measurements. For example, in a sensing scenario where trajectory sensing is performed on a sensing target, the sensing result can be a sensing target obtained by performing multiple sensing measurements. The trajectory determined by the position coordinates.

The above-mentioned first service can be understood as a perception service or a synaesthesia integration service. The above preset time period can be understood as a period of time before the first device determines the first configuration information, that is, a period of time before updating the antenna selection information and signal configuration information. That is to say, the antenna selection information and signal configuration information can be updated based on the sensing results of performing the sensing service within a preset time period before the antenna selection information and signal configuration information are updated. In this way, since the first configuration information is determined based on the target information, information, so that the antenna selection information and signal configuration information of the target sensing device can be updated according to the current sensing environment, which can effectively improve the sensing performance.

Optionally, the signal configuration information includes at least one of the following:

Resource period parameters, the resource period parameters are used to control at least one of the time domain repetition period, the time domain repetition number, the frequency domain repetition period and the frequency domain repetition number of the first signal resource;

Resource location parameters, which are used to control the time-frequency location of the first signal resource;

Resource pattern parameters, the resource pattern parameters are used to control the basic time-frequency pattern of the first signal resource;

Resource modulation parameters, the resource modulation parameters are used to control the phase modulation of the first signal;

Resource coding parameters, the resource coding parameters are used to control the orthogonal code resource configuration of the first signal based on code division multiplexing (Code Division Multiplexing, CDM);

Signal sequence type;

Signal sequence length;

The initial seed used to produce the first signal.

Optionally, the resource period parameter includes at least one of the following: resource set period, resource repetition coefficient, resource time gap, and subcarrier spacing.

The above resource location parameters include at least one of the following: resource starting frequency, resource set time slot offset, resource unit offset, resource time slot offset and resource symbol offset.

Optionally, the resource pattern parameters include at least one of the following: number of symbols in the resource slot, resource comb size, and silence pattern.

Optionally, the orthogonal type of the transmission signal of each transmitting antenna includes at least one of the following: Time division multiplexing (TDM), frequency division multiplexing (Frequency Division Multiplex, FDM), Doppler frequency division Multiplexing (Doppler Division Multiplexing, DDM) and Code Division Multiplexing (Code Division Multiplexing, CDM).

In the embodiment of the present application, when the orthogonal type of the transmission signal of each transmitting antenna includes TDM, it can be understood that the transmission signal of the transmitting antenna includes a TDM signal; when the orthogonal type of the transmission signal of each transmitting antenna includes FDM When, it can be understood that the transmission signal of the transmitting antenna includes FDM signal; when the orthogonal type of the transmission signal of each transmitting antenna includes DDM, it can be understood that the transmitting signal The transmission signals of the transmitting antennas include DDM signals; when the orthogonal type of the transmission signals of each of the transmitting antennas includes CDM, it can be understood that the transmission signals of the transmitting antennas include CDM signals. Further, when the orthogonal type of the transmission signal of each transmitting antenna includes two orthogonal types, the transmission signal of the transmitting antenna can be understood as a combination of the two signals. For example, in the orthogonal direction of the transmission signal of each transmitting antenna, When the communication type includes TDM and FDM, it can be understood that the transmission signal of the transmitting antenna includes a combination of TDM signals and FDM signals.

Optionally, the mutual orthogonality or quasi-orthogonality of the transmission signals of each transmitting antenna in the MIMO-ISAC system includes at least one of the following:

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal time domain resources;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal frequency domain resources;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system use the same frequency domain pattern, and the transmission signals of each transmitting antenna in the MIMO-ISAC system are sent at different transmission times;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system are different cyclically shifted versions of the preset time-frequency pattern in the frequency domain and/or time domain;

The transmission signals of each transmitting antenna in the MIMO-ISAC system have multiple pulse periods, and their frequency domain resources partially overlap or do not overlap at all, and the transmission signals of each transmitting antenna during multiple different signal pulse periods follow preset rules. Change the frequency domain resources used;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system use first time domain resources, and the transmission signals of at least one transmitting antenna in the MIMO-ISAC system use second time domain resources, wherein the first time domain resource is used. domain resources and the second time domain resources are orthogonal to each other, and the transmission signals of at least two transmitting antennas using the first time domain resources use frequency domain resources that are orthogonal to each other;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal code domain resources;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal Doppler frequency domain resources.

Among them, it can be understood that the transmission signals of at least two transmitting antennas respectively use mutually orthogonal code domain resources. It is achieved by multiplying the transmitted signals of different transmitting antennas in at least two transmitting antennas by a set of orthogonal codes (for example, Hadamard code, Walsh code, etc.). At this time, it can be understood as the transmitting antenna The transmitted signals include CDM signals.

For the transmission signals of at least two transmitting antennas in the MIMO-ISAC system, mutually orthogonal Doppler frequency domain resources are respectively used. It can be understood that the transmission signals of the transmitting antennas include DDM signals. For example, in some embodiments, the plurality of signals include at least two DDM signals, and the at least two DDM signals are respectively transmitted through different transmitting antennas. The at least two DDM signals have different initial pulse phases or change rates of target phases, where the target phase is the DDM signal phase at different sampling moments within the pulse. Optionally, the at least two DDM signals satisfy any of the following:

The initial phase of the pulse of the DDM signal sent by the same transmitting antenna changes linearly with time, and the signal phase at different sampling moments within the pulse remains constant;

The target phase of the DDM signal transmitted by the same transmitting antenna changes linearly with time.

Optionally, in some embodiments, the first device obtains second information of at least one sensing device, and the at least one sensing device includes the target sensing device;

The first device determines target configuration parameters according to the second information;

The first device sends the target configuration parameters to the at least one sensing device, where the target configuration parameters are used by the at least one sensing device to perform the first service associated with the first signal.

In this embodiment of the present application, the target configuration parameters may include initial configuration parameters of the sending device and initial configuration parameters of the receiving device. The above-mentioned sensing device may only include a sending device or a receiving device, or may include a sending device and a receiving device. For example, in the case where the above-mentioned sensing device is a sending device or a receiving device, the first device sends the target to at least one sensing device. Configuration parameters can be understood as: the first device may send corresponding initial configuration parameters to each sensing device, or may send initial configuration parameters of all sensing devices to each sensing device. That is, the initial configuration parameters of the sending device are sent to the sending device, or the initial configuration parameters of the sending device and the initial configuration parameters of the receiving device are sent to the sending device.

Optionally, the target configuration parameters include signal configuration information of the first signal, antenna selection information of the sending device, and antenna selection information of the receiving device. The target configuration parameters may be understood as at least part of the initial configuration parameters. That is, the target configuration parameters include the sending device and receiving settings for the initial execution. Some or all of the initial configuration parameters required by the first service.

Optionally, in some embodiments, the method further includes:

The first device obtains second information of at least two sensing devices, and the at least two sensing devices include the target sensing device;

The first device determines first configuration parameters based on the second information of the sending device among the at least two sensing devices, and the first configuration parameters are used by the sending device to perform the first service associated with the first signal;

The first device sends the first configuration parameter and the second information of the receiving device to the sending device, the second information of the receiving device is used to determine the second configuration parameter, and the second configuration parameter is used for the The receiving device among the at least two sensing devices performs the first service.

In this embodiment of the present application, each sensing device may report its own antenna array information, first status information, channel information and resource information. For example, when the sending device and the receiving device are different sensing devices, the sending device can report the antenna array information, first status information, and resource information of the sending device, and the receiving device can report the antenna array information, first status information, and channel of the receiving device. Information and resource information. The first configuration parameters may be understood as at least part of the initial configuration parameters. That is, the first configuration parameters include some or all of the initial configuration parameters required by the sending device to perform the first service for the first time; the second configuration parameters can be understood as at least part of the initial configuration parameters. That is, the second configuration parameters include some or all of the initial configuration parameters required by the receiving device to perform the first service for the first time.

Optionally, in some embodiments, the first configuration parameter includes signal configuration information of the first signal and antenna selection information of the sending device.

Optionally, in some embodiments, the second configuration parameter includes signal configuration information of the first signal and antenna selection information of the receiving device.

Optionally, the content contained in the above-mentioned second information can be set according to actual needs. For example, in some embodiments, the second information includes at least one of the following: antenna array information, first status information of the sensing target, channel information, resource information associated with the first service and first information used to determine the sensing device.

It should be noted that the computing device that calculates the above sensing results may be the first device or the sensing device, which is not further limited here. The computing node can calculate the sense of acquisition based on the third information. Knowing the result, if the computing node lacks one or more of the third information, it can obtain the missing information from other devices. For example, in some embodiments, when the first device is a computing device, the method further includes:

The first device obtains third information;

The first device calculates and obtains the sensing result based on the third information;

Wherein, the third information includes:

The antenna array information of the sending device;

Antenna selection information of the transmitting device or a first steering vector determined based on the antenna selection information of the transmitting device;

Antenna array information of the receiving device;

Antenna selection information of the receiving device or a second steering vector determined based on the antenna selection information of the receiving device;

Signal configuration information of the first signal.

It should be understood that the above-mentioned antenna array information is used to determine the steering vector (including the above-mentioned first steering vector and the second steering failure), and the steering vector may be determined by the sensing device or the first device. It should be noted that, after the first device sends the first configuration information, the first device needs to obtain the updated third information of the sensing device that updates antenna selection information and signal configuration information based on the first configuration information.

In order to reduce transmission overhead, the antenna array information reported by the sensing device may only include part of the antenna array information, for example, only the position information of the selected panel and/or antenna element relative to a certain local reference point on the array.

Optionally, the above signal configuration information may include at least one of the following:

Resource coding parameters, the resource coding parameters are used to control the orthogonal code resource configuration of the first signal based on code division multiplexing CDM;

Signal sequence type;

Signal sequence length;

The initial seed used to produce the first signal.

Optionally, in some embodiments, the above-mentioned signal configuration information may also include at least one of a signal correlation matrix and a beamforming matrix.

It should be noted that the above signal correlation matrix and beamforming matrix can be calculated and obtained by the first device, or can also be calculated and obtained by the sensing device.

Optionally, the third information satisfies at least one of the following:

In the case where the sending device performs precoding, the third information also includes precoding information;

When the sending device performs beam forming, the third information further includes beam forming matrix information.

Optionally, the first device obtaining the third information includes any of the following:

In the case where all the information of the third information is stored locally on the first device, the first device obtains the third information stored locally;

In the case where the first sub-information is stored locally on the first device and the second sub-information is not stored, the first device obtains the locally stored first sub-information and obtains it from at least one sensing device. The second sub-information, the first sub-information is a part of the information in the third information, and the second sub-information is another part of the information in the third information;

In the case where all the information of the third information is stored locally on the first device, the first device obtains the third information from at least one sensing device.

Optionally, in some embodiments, when the first device is not a computing device, the first device may send at least part of the third information to the computing device. For example, the method further includes:

The first device sends fourth information to a computing device. The fourth information is used to calculate the perception result. The computing device is a device used to calculate the perception result. The fourth information includes at least one of the following: item:

The antenna array information of the sending device;

Antenna array information of the receiving device;

Signal configuration information of the first signal.

In this embodiment of the present application, the fourth information may be at least part of the third information. Optionally, the fourth information satisfies at least one of the following:

In the case where the sending device performs precoding, the fourth information also includes precoding information;

When the sending device performs beamforming, the fourth information further includes beamforming matrix information.

Further, after the computing device calculates and obtains the sensing result, the computing device may send the sensing result to the first device, so that the first device can update the antenna selection information. That is to say, after the first device sends the fourth information to the computing device, the method further includes:

The first device receives the sensing results from the computing device.

Optionally, the antenna selection information includes at least one of the following:

The identification of the antenna array element that sent the first signal;

The identification of the antenna array element that receives the first signal;

An identification of the first antenna panel transmitting the first signal;

An identification of the second antenna panel that receives the first signal;

Position information of the antenna element that sends the first signal relative to a preset local reference point of the antenna array;

Position information of the antenna array element that receives the first signal relative to a preset local reference point of the antenna array;

The position information of the first antenna panel that sends the first signal relative to the preset local reference point of the antenna array and the antenna array element used to send the first signal in the first antenna panel relative to the first antenna panel The position information of the preset unified reference point;

The position information of the second antenna panel that receives the first signal relative to the preset local reference point of the antenna array and the antenna array element in the second antenna panel that is used to receive the first signal relative to the second antenna panel. The position information of the preset unified reference point;

Bit mapping information of antenna array elements;

Bit mapping information for the array antenna panel.

It should be understood that the above identification may specifically be an index identification.

The above position information can use Cartesian coordinates (x, y, z) or spherical coordinates express. The above bitmap information can be called bitmap information, where the bitmap of the antenna array element uses "1" to indicate that the array element is selected for transmitting and/or receiving the first signal, and uses "0" to indicate that the array element is selected. Not selected. The bitmap of the array antenna panel uses "1" to indicate that the array element is selected for transmitting and/or receiving the first signal, and uses "0" to indicate that the array element is not selected (the reverse can also be done).

Optionally, in some embodiments, the antenna array information includes at least one of the following:

A set of available first identifiers that can be used for the first service associated with the first signal, where the first identifier is the identifier of the antenna array element;

The mapping relationship between the first identifier and the position of the antenna array element in the antenna array;

In the case where the antenna array includes at least two antenna panels, the mapping relationship between the second identification and the position of the antenna panel in the antenna array, where the second identification is the identification of the antenna panel;

Bit mapping rules for antenna array elements;

In the case where the antenna array includes at least two antenna panels, the bit mapping rules for the antenna panels and the bit mapping rules for the antenna elements within a single antenna panel;

Antenna array type;

The number of antenna panels included in the antenna array;

The number of antenna elements contained in the antenna array;

Position information of the predetermined local reference point of the antenna array;

Where the antenna array includes at least two antenna panels, position information of the antenna panels relative to a local reference point of the antenna array;

The position information of the antenna array element relative to the preset local reference point on the antenna array;

In the case where the antenna array includes at least two antenna panels, position information of the antenna elements in each antenna panel relative to a preset unified reference point in the antenna panel;

The antenna polarization mode of the first identification;

Three-dimensional or two-dimensional pattern information of at least part of the antenna array elements.

Among them, the array element identification (Identity, ID) can be unique and correspond to the array element one-to-one; when the array has multiple antenna panels, the antenna ID may not be unique, but the antenna panel ID is unique. The antenna panel ID + array element The ID uniquely identifies a certain array element.

Assuming a 64-element array, 8 bytes (64 bits) are required to indicate the antenna array element bit mapping rules.

Optionally, the antenna array type may include, for example, area array, linear array, circular array, cylindrical array, 2D irregular array, 3D array, etc.

Optionally, in some embodiments, in the case where the antenna array includes at least two antenna panels, the antenna array information satisfies at least one of the following:

If the antenna panel is a uniform linear array or area array, the antenna array information may also include: the spacing between adjacent antenna panels in the horizontal direction, the spacing between adjacent panels in the vertical direction, the number of panels in the horizontal direction, and the number of panels in the vertical direction;

If the antenna panel is a uniform circular array or cylindrical array, the antenna array information may also include: the distance R from the single-layer circular array panel to the center of the circle, the angle between the adjacent panels of the single-layer circular array and the line connecting the center of the circle, the adjacent circular array panels Spacing, the number of panels in a single-layer circular array, the number of panels in the axial direction of a cylindrical array (a quantity of 1 means a single circular array)

If the antenna panel is an irregular/non-uniform 2D array or 3D array, the antenna array information may also include: the position coordinates of the panel relative to a local reference point on the antenna array (Cartesian coordinates (x, y, z) can be used) or spherical coordinates Represented in list form), the number of panels;

The spacing between adjacent array elements in the horizontal direction within a single panel, the spacing between adjacent array elements in the vertical direction within a single panel, the number of horizontal array elements within a single panel, and the number of vertical array elements within a single panel.

Among them, the interval between panels can be measured by a unified local reference point, such as the center point of each panel.

Optionally, in some embodiments, the antenna array information satisfies at least one of the following:

If the antenna elements are a uniform linear array or an area array, the antenna array information may also include: the spacing between adjacent array elements in the horizontal direction, the spacing between the array elements in the vertical direction, the number of horizontal array elements, and the number of vertical array elements;

If the antenna array elements are a uniform circular array or a cylindrical array, the antenna array information may also include: the distance R from the single-layer circular array element to the center of the circle, the angle between the adjacent array elements of the single-layer circular array and the line connecting the center of the circle, the cylindrical array The spacing between adjacent array elements in the axis direction, the number of array elements in a single-layer circular array, and the number of array elements in the axis direction of a cylindrical array (the number is 1, which means a single circular array).

If the antenna array elements are irregular/non-uniform 2D arrays or 3D arrays, the antenna array information may also include: the position coordinates of the array elements relative to a local reference point on the antenna array (Cartesian coordinates may be used Coordinates (x, y, z) or spherical coordinates Represented in list form) and the number of array elements.

Optionally, the above-mentioned antenna polarization methods may include vertical polarization, horizontal polarization, ±45° polarization, circular polarization, etc.

The first status information includes at least one of the following:

Transmitting a first measurement value of a first measurement parameter of the device, the first measurement parameter including at least one of an azimuth angle of departure (Azimuth of Departure, AOD) and an angle of departure of Departure (EOD) of the sensing target;

Receive a second measurement value of a second measurement parameter of the device, the second measurement parameter including at least one of the azimuth angle of arrival (Azimuth of Arrival, AOA) and the angle of arrival elevation (Elevation of Arrival, EOA) of the sensing target;

the standard deviation or variance of said first measurement obtained from at least two perceptual measurements;

the standard deviation or variance of said second measurement value obtained from at least two perceptual measurements;

The mean, standard deviation or variance of at least two first values, the first value being the difference between the first measured value obtained by one perceptual measurement and the first predicted value corresponding to the first measured parameter;

The mean, standard deviation or variance of at least two second values, the second value being the difference between the second measurement value obtained by one perceptual measurement and the second predicted value corresponding to the second measurement parameter;

The distance of the sensing target relative to the sending device;

The distance of the sensing target relative to the receiving device;

The moving speed of the sensing target;

The movement direction of the sensing target;

A first velocity component, the first velocity component being the magnitude of the velocity component of the sensing target in at least one coordinate axis direction on the preset Cartesian coordinate system obtained by a sensing measurement;

the mean, standard deviation or variance of said first velocity component obtained from at least two perceptual measurements;

The mean, standard deviation or variance of at least two third values, the third value being the difference between the first speed component obtained by a perceptual measurement and the third predicted value corresponding to the speed component;

The position coordinates of the sensing target;

The mean, standard deviation or variance of the position coordinates of the sensing target obtained from at least two sensing measurements;

The mean, standard deviation or variance of at least two fourth values obtained from a perceptual measurement The difference between the obtained position coordinates of the sensing target and the fourth predicted value corresponding to the position coordinates;

A third measurement value of a third measurement parameter of the first signal received on at least one antenna element on the receiving device, where the third measurement parameter includes received power, signal-to-noise ratio SNR, and signal and interference plus noise. Ratio (Signal-to-Noise and Interference Ratio, SINR);

the mean, standard deviation or variance of at least two said third measurements;

The mean, standard deviation or variance of at least two fifth values, the fifth value being the difference between the third measurement value obtained by one perceptual measurement and the fifth predicted value corresponding to the third measurement parameter;

The mean, standard deviation or variance of the first signal received between at least two antenna elements in the antenna array of the receiving device;

a fourth measurement value of a fourth measurement parameter of the power spectrum of the sensing target, the fourth measurement parameter including at least one of an average angle of the first signal reception signal and an angular spread of the first signal reception signal;

The mean, standard deviation or variance of at least two sixth values, the sixth value being the difference between the fourth measurement value obtained by one perceptual measurement and the sixth predicted value corresponding to the fourth measurement parameter;

A fifth measurement value of a fifth measurement parameter of the delay power spectrum of the sensing target, the fifth measurement parameter including at least one of the average delay of the first signal received signal and the delay spread of the first signal received signal ;

The mean, standard deviation or variance of at least two seventh values, the seventh value being the difference between the fifth measurement value obtained by one perceptual measurement and the seventh predicted value corresponding to the fifth measurement parameter;

a sixth measurement value of a sixth measurement parameter of the Doppler power spectrum of the sensing target, the sixth measurement parameter including the average Doppler frequency shift of the first signal received signal and the Doppler spread of the first signal received signal at least one of;

The mean, standard deviation or variance of at least two eighth values, the eighth value being the difference between the sixth measurement value obtained by one perceptual measurement and the eighth predicted value corresponding to the sixth measurement parameter;

Environmental clutter (Clutter) power;

The mean, standard deviation or variance of at least two ninth values, the ninth value being the difference between the environmental clutter power obtained by one sensing measurement and the ninth predicted value corresponding to the environmental clutter power;

A seventh measurement value of a seventh measurement parameter, the seventh measurement parameter including at least one of the Doppler bandwidth of environmental clutter and the Doppler bandwidth of superposition of environmental clutter and the sensing target;

The mean, standard deviation or variance of at least two tenth values, the tenth value being the difference between the seventh measurement value obtained by one perceptual measurement and the tenth predicted value corresponding to the seventh measurement parameter;

The number of sensing targets in the preset sensing area;

The density of sensing targets in the preset sensing area;

In the case of changes in the sensing area, parameters related to the position coordinates of the sensing area and the size of the physical range.

Optionally, the above-mentioned average angle of the received signal of the first signal, average delay of the received signal of the first signal and average Doppler frequency shift of the received signal of the first signal can be called first-order statistics. The above-mentioned average angle spread of the received signal of the first signal, the average delay spread of the received signal of the first signal and the average Doppler frequency shift spread of the received signal of the first signal can be called second-order statistics.

Optionally, in some embodiments, the channel information includes fifth information of any antenna pair between the sending device and the receiving device, and the fifth information includes at least one of the following: channel transfer function, channel impulse response, Channel State Information (CSI), Channel Quality Indicator (CQI), Rank Indication (RI) and communication-related performance indicators.

Among them, communication-related performance indicators can include signal received power (Reference Signal Received Power, RSRP), SNR, SINR, transmission rate/throughput, spectrum efficiency, bit error rate, block error rate, etc.

Optionally, in some embodiments, the resource information includes the number of resources available for target resources of the first service associated with the first signal, and the target resources include at least one of the following: time resources, frequency resources, Antenna resources, DDM phase modulator resources and orthogonal code resources.

The antenna resources may include the number of antenna arrays or the number of antenna sub-arrays.

Optionally, in some embodiments, the first information includes at least one of the following: sensing demand, service type, perceived quality of service (Quality of Service, QoS) or synaesthesia integrated QoS, and prior information of the sensing area and prior information about perceived targets.

It should be noted that the number of the above-mentioned sending devices may be one or more, and the number of the above-mentioned receiving devices may be one or more. The number of antenna groups selected in the antenna arrays of the above-mentioned transmitting equipment and receiving equipment shall be no less than one group. That is, the same sensing node can perform multiple sensing/synapsthesia integrated services at the same time according to the available antenna resources, and each service corresponds to a set of selected antennas.

Optionally, part or all of the antenna array information of the sending device and/or receiving device may be pre-stored in the first device when the network is deployed.

Optionally, the virtual antenna array after the transmitting device and/or the receiving device performs antenna selection may have virtual array elements overlapping, so that when the transmit power of a single antenna element is fixed, the first signal reception SNR can be improved through antenna selection.

Optionally, in the embodiment of the present application, antenna and antenna array element have the same meaning, and it may also be an antenna sub-array that physically includes multiple antenna array elements. Logically, one antenna element or one antenna sub-array corresponds to one antenna port (Antenna Port) or resource ID (Resource Identity), so the selected object can also be considered as an antenna port or resource ID.

In order to better understand this application, joint adaptation of antenna selection and signal configuration is described below through some embodiments.

Optionally, in some embodiments, in the trajectory tracking sensing scenario of sensing targets, changes in distance or direction require changing the antenna spacing or changing the spacing and number of antennas, as well as changing signal configuration information, to maintain or improve angular resolution. Sensing targets can be moving targets such as motor vehicles, bicycles, drones, and pedestrians. The sensing method may be that node A sends the first signal and node B receives it, or it may be that node A spontaneously receives the first signal.

As shown in Figure 3, UAV trajectory tracking is taken as an example. Assume that node A is the terminal and node B is the base station, and the trajectory tracking and sensing of the UAV in a certain sensing area is performed. Relative to the base station, the distance of the drone is from far to near, and it changes direction and flies upward at position 3. At position 1, since the UAV is far away from the base station, its positioning requires higher angular resolution. The terminal's antenna array elements {A1, A2} send the first signal, and the base station's antenna array elements {B1, B2, B3 ,B4,B5} receive, the virtual array constructed in this way can have a larger aperture in the horizontal direction. At this time, the first signal of stage 1 (TDM+FDM signal) can be used to ensure that the MIMO-ISAC system has a certain range resolution and lower range and Doppler side lobes, and appropriately reduces the Doppler ambiguity-free range; when When the drone reaches position 2, the drone is already close to the base station. At this time, the antenna array elements {A1, A2} of the terminal send the first signal, and the antenna array elements {B1, B2, B3} of the base station receive it to meet the angle. resolution requirements, saving some antenna resources. Since the target distance is close and the total number of transmitting and receiving antennas is small, the first signal (TDM signal) of stage 2 can be used at this time to appropriately reduce the total transmit power and Doppler ambiguity-free range; when the drone is in position 3 and position 4 At, the first device is again based on the first status information and/or sensing results (for example, For example, the statistical mean/variance/standard deviation of the difference between the historical measurement value and the predicted value of at least one of the sensing target distance, speed, and angle), adjust the antennas used by the terminal and base station for sensing. For example, the terminal antenna elements {A1, A2, A3, A4} send the first signal, and the base station antenna elements {B1, B2, B3, B6, B7} receive the first signal. The virtual array constructed in this way can also have a larger aperture in the vertical direction. , to ensure the accuracy of UAV trajectory tracking and position perception. At this time, the first signal of stage 3 (TDM+FDM signal) can be used to appropriately reduce the range resolution, but ensure lower range and Doppler side lobes, and higher Doppler resolution.

The time-frequency pattern of the first signal in stage 1 is shown in Figure 4A, the time-frequency pattern of the first signal in stage 2 is shown in Figure 4B, and the time-frequency pattern of the first signal in stage 3 is shown in Figure 4C.

The first signal adaptation in the above three stages can be achieved by changing the resource period parameters (including resource set period, resource repetition coefficient, resource time gap, subcarrier spacing, etc.), resource location parameters ( Including resource starting frequency, resource set slot offset, resource unit (Resource element, RE) offset, resource block (Resource Block, RB) offset, resource slot offset, resource symbol offset, etc.) implementation; MIMO -ISAC antenna selection adaptation can be achieved by changing the antenna selection information (including the antenna element ID used to transmit and/or receive the first signal, the position information of the antenna element relative to a local reference point on the antenna array, antenna selection bitmap information, etc.) are implemented.

Optionally, in some embodiments, if the number of sensing targets in the sensing area changes, it is necessary to change the number of antennas or the density of the antennas, and change the signal configuration information to change the maximum number of sensing targets that can be sensed simultaneously, as well as the distance or Doppler Perceptual accuracy.

For the perception of a predetermined dynamic environment, the method of this application can also be used to ensure or improve the perception performance. For example, traffic flow perception at a certain intersection (the traffic flow perception may include sensing the number of vehicles passing through in a certain period of time, the speed and position (lane) of each vehicle, etc.).

As shown in Figure 5, the roadside base station senses traffic flow on a certain section of highway through spontaneous self-collection. The MIMO-ISAC system can distinguish vehicles and determine the speed and position of a single vehicle by measuring the first signal echo delay, angle and Doppler frequency. The maximum number of sensing targets that can be sensed simultaneously by MIMO-ISAC is jointly determined by the number of antennas in the transmitting array and the receiving array [3,5], that is:

Among them, L _max represents the maximum number of sensing targets that can be sensed simultaneously, M is the number of transmitting antennas, and N is the number of receiving antennas.

During a certain period of non-congested traffic, there are relatively few vehicles on the road. At this time, the base station (or first equipment Instruct the base station) to select the antenna array elements {A1, A2} to send the first signal, and the antenna array elements {B2, B3, B5, B6} to receive the first signal, which can achieve the perception performance requirements (meet the perception requirements and/or perception in the first information /Synesthesia Integrated QoS). At this time, the first signal (FDM signal) of stage 1 shown in Figure 5A can be used, appropriately sacrificing range resolution, but ensuring that under limited bandwidth resources, the system has lower range and Doppler side lobes, and moderate The maximum number of targets that can be sensed simultaneously is L _max ;

If it enters a traffic jam period, the first device adjusts the first signal receiving antenna array element of the base station to {B1, B2 based on the aforementioned first status information and/or sensing results fed back by the computing node (such as the number/density of sensing targets in the sensing area) ,B3,B4,B5,B6,B7,B8,B9}, improve the maximum number of sensing targets L _max that the MIMO-ISAC system can sense simultaneously. At the same time, the first signal (DDM signal) of stage 2 shown in Figure 5B can be used to appropriately reduce the Doppler ambiguity-free range, but ensure that the system has very low range and Doppler side lobes, and at the same time has optimal Clutter suppression performance, suitable for sensing multiple moving targets, ensuring comprehensive sensing performance.

Optionally, in some embodiments, the available time/frequency/Doppler frequency/orthogonal code resources of the sensing node change, and it is necessary to maintain sensing performance through signal and antenna selection adaptation.

In the MIMO-ISAC system, there are certain constraints between antenna resources, time-frequency resources, and orthogonal code resources. Still taking the traffic flow sensing in Figure 5 as an example, assume that the first signal (FDM signal) in phase 1 shown in Figure 5A is initially used. Due to some reasons (such as other high-priority service resource preemption), the available frequency resources are reduced by 50%. , in order to maintain the predetermined sensing performance, one solution is to switch to TDM signals combined with dynamic antenna selection for sensing.

During the non-traffic congestion period, at two different times within the preset time, A1 and A2 are selected to send the first signal, and the antenna array elements {B2, B3, B5, B6} receive the first signal; during the traffic congestion period, the same principle applies. The receiving antenna elements are {B1, B2, B3, B4, B5, B6, B7, B8, B9}. Optionally, the number of transmitting antenna elements can also be appropriately increased, and TDM+DDM signals can be used to maintain sensing performance.

It should be noted that in the above scenario, it is necessary to ensure that the sensing target state or the sensing area environment does not change significantly within the preset time for antenna selection. In addition, in the above embodiments, only several optional first signal configurations and antenna selection schemes are provided, and the configurations can be flexibly adaptive according to actual conditions during application. The signal configuration only gives one RB and the signal time-frequency pattern in one time slot as an example. In actual application, the first signal can occupy multiple RBs and time slot resources.

Referring to Figure 6, an embodiment of the present application also provides a perception processing method, including:

Step 601: The first sensing device receives first configuration information from the first device;

Step 602: The first sensing device performs an antenna selection operation and a first signal configuration based on the first configuration information;

Optionally, the first configuration information is determined based on target information, and the target information includes information used to determine whether to update antenna selection information and signal configuration information.

Optionally, the first signal is a set of signals transmitted by each transmitting antenna in the multiple-input multiple-output communication-aware integrated MIMO-ISAC system. The transmission signals of each transmitting antenna in the MIMO-ISAC system are orthogonal or quasi-normal to each other. orthogonal.

Optionally, the orthogonal type of the transmission signal of each transmitting antenna includes at least one of the following: time division multiplexing TDM, frequency division multiplexing FDM, Doppler frequency division multiplexing DDM, and code division multiplexing CDM.

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system use first time domain resources. Source, the transmission signal of at least one transmitting antenna in the MIMO-ISAC system uses a second time domain resource, wherein the first time domain resource and the second time domain resource are orthogonal to each other, and the first time domain resource is used. The transmission signals of at least two transmitting antennas of the time domain resource use mutually orthogonal frequency domain resources;

Signal sequence type;

Signal sequence length;

The initial seed used to produce the first signal.

Optionally, the target information includes at least one of the following:

The target sensing device performs the antenna selection information of the first service within the preset time period. The target sensing device includes a sending device for sending the first signal and a receiving device for receiving the first signal. At least one of, and the target sensing device includes the first sensing device;

Antenna array information of the target sensing device;

Perceive the first status information of the target;

channel information;

Resource information associated with the first service;

First information used to determine the sensing device.

Optionally, the method also includes:

The first sensing device sends second information of the first sensing device to the first device, the second information is used to determine target configuration parameters, and the target configuration parameters are used by at least one sensing device to perform the The first service associated with the first signal.

Optionally, the target configuration parameters include signal configuration information of the first signal, antenna selection information of the sending device, and antenna selection information of the receiving device.

Optionally, the method also includes:

The first sensing device sends second information of the first sensing device to the first device, where the second information is used to determine initial configuration parameters of the first sensing device;

The first sensing device receives initial configuration parameters of the first sensing device from the target device;

The first sensing device performs the first service associated with the first signal based on the initial configuration parameters of the first sensing device;

Wherein, when the first sensing device is the sending device of the first signal, the initial configuration parameters of the first sensing device are the first configuration parameters, and the target device is the first device; in the When the first sensing device is the receiving device of the first signal, the target device is the sending device, and the initial configuration parameters of the first sensing device are the second configuration parameters determined by the sending device.

Optionally, in the case where the first sensing device is the sending device, the method further includes:

The first sensing device receives second information from the receiving device;

The first sensing device determines second configuration parameters of the receiving device according to the second information, and the second configuration parameters are used by the receiving device to perform the first service associated with the first signal;

The first sensing device sends the second configuration parameter to the receiving device.

Optionally, the first configuration parameter includes signal configuration information of the first signal and antenna selection information of the sending device.

Optionally, the second configuration parameter includes signal configuration information of the first signal and antenna selection information of the receiving device.

Optionally, the second information includes at least one of the following: antenna array information, sensing target First status information, channel information, resource information associated with the first service and first information used to determine a sensing device.

Optionally, the method also includes:

The first sensing device obtains third information;

The first sensing device calculates and obtains the sensing result based on the third information;

Wherein, the third information includes:

The antenna array information of the sending device;

Antenna array information of the receiving device;

Signal configuration information of the first signal.

Optionally, the third information satisfies at least one of the following:

Optionally, the first sensing device obtaining the third information includes any of the following:

In the case where all the information of the third information is stored locally on the first sensing device, the first device obtains the third information stored locally;

In the case where the first sub-information is stored locally on the first sensing device and the second sub-information is not stored, the first sensing device obtains the locally stored first sub-information and obtains the first sub-information from at least one third At least one of the two sensing devices and the first device obtains the second sub-information, the first sub-information is part of the third information, and the second sub-information is the third Another piece of information within the information.

Optionally, the method also includes:

The first sensing device sends fourth information to a computing device. The fourth information is used to calculate the sensing result. The computing device is a device used to calculate the sensing result. The fourth information includes at least the following: One item:

Antenna array information of the first sensing device;

The antenna selection information of the first sensing device or the first steering vector determined based on the antenna selection information of the sending device;

Signal configuration information of the first signal.

Optionally, when the first sensing device is a sending device, the fourth information satisfies at least one of the following:

In the case where the first sensing device performs precoding, the fourth information also includes precoding information;

When the first sensing device performs beamforming, the fourth information further includes beamforming matrix information.

Optionally, after the first sensing device sends the fourth information to the computing device, the method further includes:

The first sensing device receives the sensing results from the computing device.

The identification of the antenna array element that sent the first signal;

The identification of the antenna array element that receives the first signal;

An identification of the first antenna panel transmitting the first signal;

An identification of the second antenna panel that receives the first signal;

Bit mapping information of antenna array elements;

Bit mapping information for the array antenna panel.

Optionally, the antenna array information includes at least one of the following:

Bit mapping rules for antenna array elements;

Antenna array type;

The number of antenna panels included in the antenna array;

The number of antenna elements contained in the antenna array;

The antenna polarization mode of the first identification;

Optionally, the first status information includes at least one of the following:

transmitting a first measurement value of a first measurement parameter of the device, the first measurement parameter including at least one of an departure azimuth angle and an departure elevation angle of the sensing target;

receiving a second measurement value of a second measurement parameter of the device, the second measurement parameter including at least one of an azimuth angle of arrival and an elevation angle of arrival of the sensing target;

The mean, standard deviation or variance of at least two first values obtained from a perceptual measurement The difference between the obtained first measured value and the first predicted value corresponding to the first measured parameter;

The distance of the sensing target relative to the sending device;

The distance of the sensing target relative to the receiving device;

The moving speed of the sensing target;

The movement direction of the sensing target;

The position coordinates of the sensing target;

The mean, standard deviation or variance of at least two fourth values, the fourth value being the difference between the position coordinates of the sensing target obtained by one sensing measurement and the fourth predicted value corresponding to the position coordinates;

A third measurement value of a third measurement parameter of the first signal received on at least one antenna element on the receiving device, where the third measurement parameter includes received power, signal-to-noise ratio SNR, and signal and interference plus noise. than SINR;

The mean, standard deviation or variance of at least two sixth values obtained from a perceptual measurement The difference between the obtained fourth measured value and the sixth predicted value corresponding to the fourth measured parameter;

Environmental clutter power;

The number of sensing targets in the preset sensing area;

The density of sensing targets in the preset sensing area;

Optionally, the channel information includes fifth information about any antenna pair between the sending device and the receiving device, and the fifth information includes at least one of the following: channel transfer function, channel impulse response, channel status information, and channel quality. Indication, rank indication, and communication-related performance metrics.

Optionally, the resource information includes the number of resources available for target resources of the first service associated with the first signal, and the target resources include at least one of the following: time resources, frequency resources, antenna resources, Doppler Frequency division multiplexing DDM phase modulator resources and orthogonal code resources.

Referring to Figure 7, an embodiment of the present application also provides a perception processing device. As shown in Figure 7, the The perception processing device 700 includes:

The first determination module 701 is used to determine the first configuration information based on the target information when the target information changes;

The first sending module 702 is used to send the first configuration information;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system use first time domain resources, and the transmission signals of at least one transmitting antenna in the MIMO-ISAC system use second time domain resources, wherein the first time domain resource is used. domain resources and the second time domain resources are orthogonal to each other, and using the The transmission signals of at least two transmitting antennas of a time domain resource use mutually orthogonal frequency domain resources;

Signal sequence type;

Signal sequence length;

The initial seed used to produce the first signal.

Optionally, the target information includes at least one of the following:

Antenna array information of the target sensing device;

Perceive the first status information of the target;

channel information;

Resource information associated with the first service;

First information used to determine the sensing device.

Optionally, the perception processing device 700 further includes:

A first acquisition module, configured to acquire second information of at least one sensing device, said at least one The sensing device includes the target sensing device;

a second determination module, configured to determine target configuration parameters according to the second information;

The first sending module is configured to send the target configuration parameters to at least one sensing device, where the target configuration parameters are used by the at least one sensing device to perform the first service associated with the first signal.

Optionally, the perception processing device 700 further includes:

A first acquisition module, configured to acquire second information of at least two sensing devices, where the at least two sensing devices include the target sensing device;

The second determination module is configured to determine first configuration parameters according to the second information of the sending device among the at least two sensing devices. The first configuration parameters are used for the sending device to perform the first step of the first signal association. Service, the first configuration parameter is an initial configuration parameter;

The first sending module is used to send the first configuration parameter and the second information of the receiving device to the sending device. The second information of the receiving device is used to determine the second configuration parameter. The second configuration parameter is The receiving device in the at least two sensing devices performs the first service, and the second configuration parameters are initial configuration parameters.

Optionally, the second information includes at least one of the following: antenna array information, first status information of the sensing target, channel information, resource information associated with the first service, and first information used to determine the sensing device. .

Optionally, the perception processing device 700 further includes:

The first acquisition module is used to acquire the third information;

A first calculation module, configured to calculate and obtain the perception result according to the third information;

Wherein, the third information includes:

The antenna array information of the sending device;

Antenna selection information of the transmitting device or the first determined based on the antenna selection information of the transmitting device. a guidance vector;

Antenna array information of the receiving device;

Signal configuration information of the first signal.

Optionally, the third information satisfies at least one of the following:

Optionally, the perception processing device 700 further includes:

A first sending module, configured to send fourth information to a computing device. The fourth information is used to calculate the sensing result. The computing device is a device used to calculate the sensing result. The fourth information includes the following: At least one:

The antenna array information of the sending device;

Antenna array information of the receiving device;

Signal configuration information of the first signal.

Optionally, the fourth information satisfies at least one of the following:

Optionally, the perception processing device 700 further includes:

A first receiving module, configured to receive the sensing result from the computing device.

The identification of the antenna array element that sent the first signal;

The identification of the antenna array element that receives the first signal;

An identification of the first antenna panel transmitting the first signal;

An identification of the second antenna panel that receives the first signal;

Bit mapping information of antenna array elements;

Bit mapping information for the array antenna panel.

Bit mapping rules for antenna array elements;

Antenna array type;

The number of antenna panels included in the antenna array;

The number of antenna elements contained in the antenna array;

The antenna polarization mode of the first identification;

The distance of the sensing target relative to the sending device;

The distance of the sensing target relative to the receiving device;

The moving speed of the sensing target;

The movement direction of the sensing target;

The position coordinates of the sensing target;

a sixth measurement value of a sixth measurement parameter of the Doppler power spectrum of the sensing target, the sixth The measurement parameter includes at least one of an average Doppler frequency shift of the first signal received signal and a Doppler spread of the first signal received signal;

Environmental clutter power;

The number of sensing targets in the preset sensing area;

The density of sensing targets in the preset sensing area;

Optionally, the resource information includes the number of resources available for target resources of the first service associated with the first signal, and the target resources include at least one of the following: time resources, frequency resources, antenna resources, and DDM phase modulation. processor resources and orthogonal code resources.

Optionally, the first information includes at least one of the following: sensing requirements, service type, perceived service quality QoS or synaesthesia integrated QoS, a priori information of the sensing area and a priori information of the sensing target.

Referring to Figure 8, an embodiment of the present application also provides a perception processing device. As shown in Figure 8, the perception processing device 800 includes:

The second receiving module 801 is used to receive the first configuration information from the first device;

Execution module 802, configured to perform antenna selection operations and first signal configuration based on the first configuration information;

Signal sequence type;

Signal sequence length;

The initial seed used to produce the first signal.

Optionally, the target information includes at least one of the following:

Antenna array information of the target sensing device;

Perceive the first status information of the target;

channel information;

Resource information associated with the first service;

First information used to determine the sensing device.

Optionally, the perception processing device 800 also includes:

a second sending module, configured to send the second information of the first sensing device to the first device, The second information is used to determine target configuration parameters, and the target configuration parameters are used by at least one sensing device to perform the first service associated with the first signal.

Optionally, the perception processing device 800 also includes:

A second sending module, configured to send second information of the first sensing device to the first device, where the second information is used to determine initial configuration parameters of the first sensing device;

The second receiving module is also configured to receive initial configuration parameters of the first sensing device from the target device;

An execution module, configured to execute the first service associated with the first signal based on the initial configuration parameters of the first sensing device;

Optionally, when the first sensing device is the sending device, the sensing processing device 800 further includes: a third determination module,

The second receiving module is also configured to receive second information from the receiving device;

The third determination module is configured to determine second configuration parameters of the receiving device according to the second information, and the second configuration parameters are used by the receiving device to perform the first service associated with the first signal;

Optionally, the second information includes at least one of the following: antenna array information, first status information of the sensing target, channel information, resource information associated with the first service and information used to determine sensing The first information about the device.

Optionally, the perception processing device further includes:

The second acquisition module acquires the third information;

a second calculation module, configured to calculate and obtain the perception result according to the third information;

Wherein, the third information includes:

The antenna array information of the sending device;

Antenna array information of the receiving device;

Signal configuration information of the first signal.

Optionally, the third information satisfies at least one of the following:

Optionally, the perception processing device further includes:

The second sending module is configured to send fourth information to a computing device. The fourth information is used to calculate the sensing result. The computing device is a device used to calculate the sensing result. The fourth information includes the following: At least one:

Antenna array information of the first sensing device;

Signal configuration information of the first signal.

Optionally, the second receiving module is also configured to receive the sensing result from the computing device.

The identification of the antenna array element that sent the first signal;

The identification of the antenna array element that receives the first signal;

An identification of the first antenna panel transmitting the first signal;

An identification of the second antenna panel that receives the first signal;

Bit mapping information of antenna array elements;

Bit mapping information for the array antenna panel.

A set of available first identifiers that can be used for the first service associated with the first signal, the first identifier Identified as the identification of the antenna array element;

Bit mapping rules for antenna array elements;

Antenna array type;

The number of antenna panels included in the antenna array;

The number of antenna elements contained in the antenna array;

The antenna polarization mode of the first identification;

The distance of the sensing target relative to the sending device;

The distance of the sensing target relative to the receiving device;

The moving speed of the sensing target;

The movement direction of the sensing target;

The position coordinates of the sensing target;

The fifth measurement value of the fifth measurement parameter of the delay power spectrum of the sensing target, the fifth measurement parameter includes the average delay of the first signal received signal and the delay spread of the first signal received signal. at least one item;

Environmental clutter power;

The number of sensing targets in the preset sensing area;

The density of sensing targets in the preset sensing area;

The perception processing device in the embodiment of the present application may be an electronic device, such as an operating system with Electronic equipment can also be components in electronic equipment, such as integrated circuits or chips. The electronic device may be a terminal or other devices other than the terminal. For example, terminals may include but are not limited to the types of terminals 11 listed above, and other devices may be servers, network attached storage (Network Attached Storage, NAS), etc., which are not specifically limited in the embodiment of this application.

The perception processing device provided by the embodiments of the present application can implement each process implemented by the method embodiments of Figures 2 to 6, and achieve the same technical effect. To avoid duplication, the details will not be described here.

Optionally, as shown in Figure 9, this embodiment of the present application also provides a communication device 900, which includes a processor 901 and a memory 902. The memory 902 stores programs or instructions that can be run on the processor 901. When the program or instruction is executed by the processor 901, each step of the above-mentioned perception processing method embodiment is implemented, and the same technical effect can be achieved. To avoid duplication, the details will not be described here.

An embodiment of the present application also provides a terminal, including a processor and a communication interface. The communication interface is configured to receive first configuration information from a first device; the processor is configured to perform an antenna selection operation based on the first configuration information and A first signal configuration; wherein the first configuration information includes antenna selection information of a target sensing device and signal configuration information of a first signal, and the target sensing device includes a sending device for sending the first signal and a device for sending the first signal. At least one of the receiving devices receives the first signal, and the target sensing device includes the first sensing device. This terminal embodiment corresponds to the above-mentioned first sensing device side method embodiment. Each implementation process and implementation manner of the above-mentioned method embodiment can be applied to this terminal embodiment, and can achieve the same technical effect. Specifically, FIG. 10 is a schematic diagram of the hardware structure of a terminal that implements an embodiment of the present application.

The terminal 1000 includes but is not limited to: a radio frequency unit 1001, a network module 1002, an audio output unit 1003, an input unit 1004, a sensor 1005, a display unit 1006, a user input unit 1007, an interface unit 1008, a memory 1009, a processor 1010, etc. At least some parts.

Those skilled in the art can understand that the terminal 1000 may also include a power supply (such as a battery) that supplies power to various components. The power supply may be logically connected to the processor 1010 through a power management system, thereby managing charging, discharging, and power consumption through the power management system. Management and other functions. The terminal structure shown in FIG. 10 does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown in the figure, or some components may be combined or arranged differently, which will not be described again here.

It should be understood that in this embodiment of the present application, the input unit 1004 may include a graphics processing unit (GPU) 10041 and a microphone 10042. The graphics processor 10041 Image data of still pictures or videos obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode is processed. The display unit 1006 may include a display panel 10061, which may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 1007 includes at least one of a touch panel 10071 and other input devices 10072 . Touch panel 10071, also known as touch screen. The touch panel 10071 may include two parts: a touch detection device and a touch controller. Other input devices 10072 may include but are not limited to physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which will not be described again here.

In this embodiment of the present application, after receiving downlink data from the network side device, the radio frequency unit 1001 can transmit it to the processor 1010 for processing; in addition, the radio frequency unit 1001 can send uplink data to the network side device. Generally, the radio frequency unit 1001 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.

Memory 1009 may be used to store software programs or instructions as well as various data. The memory 1009 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, Image playback function, etc.) etc. Additionally, memory 1009 may include volatile memory or nonvolatile memory, or memory 1009 may include both volatile and nonvolatile memory. Among them, non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically removable memory. Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. Volatile memory can be random access memory (Random Access Memory, RAM), static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDRSDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synch link DRAM) , SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DRRAM). The memory 1009 in the embodiment of the present application includes, but is not limited to, these and any other suitable types of memory.

The processor 1010 may include one or more processing units; optionally, the processor 1010 integrates an application A processor and a modem processor are used. The application processor mainly processes operations involving the operating system, user interface and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above modem processor may not be integrated into the processor 1010.

Wherein, the radio frequency unit 1001 is used to receive the first configuration information from the first device; the processor 1010 is used to perform an antenna selection operation and a first signal configuration based on the first configuration information; wherein the first configuration information The target sensing device includes antenna selection information and signal configuration information of the first signal. The target sensing device includes at least one of a sending device for sending the first signal and a receiving device for receiving the first signal. item, and the target sensing device includes the first sensing device.

In the embodiment of the present application, since the first configuration information is determined based on the target information, the antenna selection information and signal configuration information of the target sensing device can be updated according to the current sensing environment, thereby effectively improving sensing performance.

An embodiment of the present application also provides a network side device, including a processor and a communication interface. The processor is configured to determine the first configuration information based on the target information when the target information changes; the communication interface is configured to send the first configuration information. Configuration information; wherein the first configuration information includes antenna selection information and signal configuration information of a first signal of a target sensing device, and the target sensing device includes a sending device for sending the first signal and a receiving device for receiving the first signal. at least one of the first signal receiving devices; or the communication interface is used to receive first configuration information from the first device; the processor is used to perform an antenna selection operation and a third operation based on the first configuration information A signal configuration; wherein the first configuration information includes antenna selection information of a target sensing device and signal configuration information of a first signal, and the target sensing device includes a sending device for sending the first signal and a receiving device for receiving the first signal. At least one of the receiving devices of the first signal, and the target sensing device includes the first sensing device. This network-side device embodiment corresponds to the above-mentioned method embodiment. Each implementation process and implementation manner of the above-mentioned method embodiment can be applied to this network-side device embodiment, and can achieve the same technical effect.

Specifically, the embodiment of the present application also provides a network side device. As shown in Figure 11, the network side device 1100 includes: an antenna 1101, a radio frequency device 1102, a baseband device 1103, a processor 1104 and a memory 1105. The antenna 1101 is connected to the radio frequency device 1102. In the upstream direction, the radio frequency device 1102 receives information through the antenna 1101 and sends the received information to the baseband device 1103 for processing. In the downlink direction, the baseband device 1103 processes the information to be sent and sends it to the radio frequency device 1102. The radio frequency device 1102 processes the received information and then sends it out through the antenna 1101.

The method performed by the network side device in the above embodiment can be implemented in the baseband device 1103, which includes a baseband processor.

The baseband device 1103 may include, for example, at least one baseband board, which is provided with multiple chips, as shown in FIG. Program to perform the network device operations shown in the above method embodiments.

The network side device may also include a network interface 1106, which is, for example, a common public radio interface (CPRI).

Specifically, the network side device 1100 in the embodiment of the present application also includes: instructions or programs stored in the memory 1105 and executable on the processor 1104. The processor 1104 calls the instructions or programs in the memory 1105 to execute Figure 7 or Figure 8 The execution methods of each module are shown and achieve the same technical effect. To avoid repetition, they will not be described in detail here.

Embodiments of the present application also provide a readable storage medium. Programs or instructions are stored on the readable storage medium. When the program or instructions are executed by a processor, each process of the above embodiments of the perception processing method is implemented and the same can be achieved. The technical effects will not be repeated here to avoid repetition.

Wherein, the processor is the processor in the terminal described in the above embodiment. The readable storage medium includes computer readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disk or optical disk, etc.

An embodiment of the present application further provides a chip. The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the above embodiments of the perception processing method. Each process can achieve the same technical effect. To avoid duplication, it will not be described again here.

It should be understood that the chips mentioned in the embodiments of this application may also be called system-on-chip, system-on-a-chip, system-on-chip or system-on-chip, etc.

Embodiments of the present application further provide a computer program/program product, the computer program/program product is stored in a storage medium, and the computer program/program product is executed by at least one processor In order to implement each process of the above embodiments of the perception processing method and achieve the same technical effect, to avoid duplication, they will not be described again here.

Embodiments of the present application also provide a communication system, including: a first sensing device and a first device. The first sensing device is used to perform various processes in Figure 2 and the above method embodiments. The first device It is used to perform various processes as shown in Figure 6 and the above-mentioned method embodiments, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

It should be noted that, in this document, the terms "comprising", "comprises" or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or device that includes a series of elements not only includes those elements, It also includes other elements not expressly listed or inherent in the process, method, article or apparatus. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article or apparatus that includes that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, but may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. Functions may be performed, for example, the methods described may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better. implementation. Based on this understanding, the technical solution of the present application can be embodied in the form of a computer software product that is essentially or contributes to the existing technology. The computer software product is stored in a storage medium (such as ROM/RAM, disk , CD), including several instructions to cause a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of this application.

The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above-mentioned specific implementations. The above-mentioned specific implementations are only illustrative and not restrictive. Those of ordinary skill in the art will Inspired by this application, many forms can be made without departing from the purpose of this application and the scope protected by the claims, all of which fall within the protection of this application.

Claims

A method of perceptual processing that includes:

In the case where the target information changes, the first device determines the first configuration information based on the target information;

The first device sends first configuration information;

Wherein, the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device, and the target sensing device includes a sending device for sending the first signal and a sending device for receiving the first signal. At least one of the signal receiving equipment.
The method according to claim 1, wherein the first signal is a set of signals transmitted by each transmitting antenna in a multiple-input multiple-output communication-aware integrated MIMO-ISAC system, and the transmission signals of each transmitting antenna in the MIMO-ISAC system are The signals are mutually orthogonal or quasi-orthogonal to each other.
The method according to claim 2, wherein the orthogonal type of the transmission signal of each transmitting antenna includes at least one of the following: time division multiplexing TDM, frequency division multiplexing FDM, Doppler frequency division multiplexing DDM, code Demultiplexing CDM.
The method according to claim 2, wherein the transmission signals of each transmitting antenna in the MIMO-ISAC system are mutually orthogonal or quasi-orthogonal including at least one of the following:

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal time domain resources;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal frequency domain resources;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system use the same frequency domain pattern, and the transmission signals of each transmitting antenna in the MIMO-ISAC system are sent at different transmission times;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system are different cyclically shifted versions of the preset time-frequency pattern in the frequency domain and/or time domain;

The transmission signals of each transmitting antenna in the MIMO-ISAC system have multiple pulse periods, and their frequency domain resources partially overlap or do not overlap at all, and the transmission signals of each transmitting antenna during multiple different signal pulse periods follow preset rules. Change the frequency domain resources used;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system use first time domain resources, and the transmission signals of at least one transmitting antenna in the MIMO-ISAC system use second time domain resources, wherein the first time domain resource is used. domain resources and the second time domain resources are orthogonal to each other, and the transmission signals of at least two transmitting antennas using the first time domain resources use frequency domain resources that are orthogonal to each other;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal code domain resources;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal Doppler frequency domain resources.
The method according to claim 1, wherein the signal configuration information includes at least one of the following:

Resource period parameters, the resource period parameters are used to control at least one of the time domain repetition period, the time domain repetition number, the frequency domain repetition period and the frequency domain repetition number of the first signal resource;

Resource location parameters, which are used to control the time-frequency location of the first signal resource;

Resource pattern parameters, the resource pattern parameters are used to control the basic time-frequency pattern of the first signal resource;

Resource modulation parameters, the resource modulation parameters are used to control the phase modulation of the first signal;

Resource coding parameters, the resource coding parameters are used to control the orthogonal code resource configuration of the first signal based on code division multiplexing CDM;

Signal sequence type;

Signal sequence length;

The initial seed used to produce the first signal.
The method of claim 1, further comprising:

The first device acquires second information of at least one sensing device, and the at least one sensing device includes the target sensing device;

The first device determines target configuration parameters according to the second information;

The first device sends the target configuration parameters to the at least one sensing device, where the target configuration parameters are used by the at least one sensing device to perform the first service associated with the first signal.
The method of claim 6, wherein the target configuration parameters include the first The signal configuration information of the signal, the antenna selection information of the transmitting device, and the antenna selection information of the receiving device.
The method of claim 1, further comprising:

The first device obtains second information of at least two sensing devices, and the at least two sensing devices include the target sensing device;

The first device determines first configuration parameters based on the second information of the sending device among the at least two sensing devices, and the first configuration parameters are used by the sending device to perform the first service associated with the first signal;

The first device sends the first configuration parameter and the second information of the receiving device to the sending device, the second information of the receiving device is used to determine the second configuration parameter, and the second configuration parameter is used for the The receiving device among the at least two sensing devices performs the first service.
The method of claim 8, wherein the first configuration parameter includes signal configuration information of the first signal and antenna selection information of the transmitting device.
The method of claim 8, wherein the second configuration parameter includes signal configuration information of the first signal and antenna selection information of the receiving device.
The method according to any one of claims 6 to 10, wherein the second information includes at least one of the following: antenna array information, first status information of the sensing target, channel information, association with the first service The resource information and the first information used to determine the sensing device.
The method of claim 1, further comprising:

The first device obtains third information;

The first device calculates and obtains the sensing result based on the third information;

Wherein, the third information includes:

The antenna array information of the sending device;

Antenna selection information of the transmitting device or a first steering vector determined based on the antenna selection information of the transmitting device;

Antenna array information of the receiving device;

Antenna selection information of the receiving device or a second steering vector determined based on the antenna selection information of the receiving device;

Signal configuration information of the first signal.
The method of claim 12, wherein the third information satisfies at least one of the following item:

In the case where the sending device performs precoding, the third information also includes precoding information;

When the sending device performs beam forming, the third information further includes beam forming matrix information.
The method according to claim 12, wherein the first device obtaining the third information includes any of the following:

In the case where all the information of the third information is stored locally on the first device, the first device obtains the third information stored locally;

In the case where the first sub-information is stored locally on the first device and the second sub-information is not stored, the first device obtains the locally stored first sub-information and obtains it from at least one sensing device. The second sub-information, the first sub-information is a part of the information in the third information, and the second sub-information is another part of the information in the third information;

In the case where all the information of the third information is stored locally on the first device, the first device obtains the third information from at least one sensing device.
The method of claim 1, further comprising:

The first device sends fourth information to a computing device. The fourth information is used to calculate the perception result. The computing device is a device used to calculate the perception result. The fourth information includes at least one of the following: item:

The antenna array information of the sending device;

Antenna selection information of the transmitting device or a first steering vector determined based on the antenna selection information of the transmitting device;

Antenna array information of the receiving device;

Antenna selection information of the receiving device or a second steering vector determined based on the antenna selection information of the receiving device;

Signal configuration information of the first signal.
The method of claim 15, wherein the fourth information satisfies at least one of the following:

In the case where the sending device performs precoding, the fourth information also includes precoding information;

When the sending device performs beamforming, the fourth information also includes beamforming matrix information.
The method of claim 15, wherein after the first device sends the fourth information to the computing device, the method further includes:

The first device receives the sensing results from the computing device.
The method according to any one of claims 1 to 17, wherein the target information includes at least one of the following:

The sensing result obtained by executing the first service associated with the first signal within a preset time period;

The target sensing device executes the antenna selection information of the first service within the preset time period;

Antenna array information of the target sensing device;

Perceive the first status information of the target;

channel information;

Resource information associated with the first service;

First information used to determine the sensing device.
The method of claim 18, wherein the antenna selection information includes at least one of the following:

The identification of the antenna array element that sent the first signal;

The identification of the antenna array element that receives the first signal;

An identification of the first antenna panel transmitting the first signal;

An identification of the second antenna panel that receives the first signal;

Position information of the antenna element that sends the first signal relative to a preset local reference point of the antenna array;

Position information of the antenna array element that receives the first signal relative to a preset local reference point of the antenna array;

The position information of the first antenna panel that sends the first signal relative to the preset local reference point of the antenna array and the antenna array element used to send the first signal in the first antenna panel relative to the first antenna panel The position information of the preset unified reference point;

The position information of the second antenna panel receiving the first signal relative to the preset local reference point of the antenna array and the antenna array element in the second antenna panel for receiving the first signal relative to the Position information of the preset unified reference point of the second antenna panel;

Bit mapping information of antenna array elements;

Bit mapping information for the array antenna panel.
The method of claim 18, wherein the antenna array information includes at least one of the following:

A set of available first identifiers that can be used for the first service associated with the first signal, where the first identifier is the identifier of the antenna array element;

The mapping relationship between the first identifier and the position of the antenna array element in the antenna array;

In the case where the antenna array includes at least two antenna panels, the mapping relationship between the second identification and the position of the antenna panel in the antenna array, where the second identification is the identification of the antenna panel;

Bit mapping rules for antenna array elements;

In the case where the antenna array includes at least two antenna panels, the bit mapping rules for the antenna panels and the bit mapping rules for the antenna elements within a single antenna panel;

Antenna array type;

The number of antenna panels included in the antenna array;

The number of antenna elements contained in the antenna array;

Position information of the predetermined local reference point of the antenna array;

Where the antenna array includes at least two antenna panels, position information of the antenna panels relative to a local reference point of the antenna array;

The position information of the antenna array element relative to the preset local reference point on the antenna array;

In the case where the antenna array includes at least two antenna panels, position information of the antenna elements in each antenna panel relative to a preset unified reference point in the antenna panel;

The antenna polarization mode of the first identification;

Three-dimensional or two-dimensional pattern information of at least part of the antenna array elements.
The method of claim 18, wherein the first status information includes at least one of the following:

transmitting a first measurement value of a first measurement parameter of the device, the first measurement parameter including at least one of an departure azimuth angle and an departure elevation angle of the sensing target;

receiving a second measurement value of a second measurement parameter of the device, the second measurement parameter including a sensing object At least one of the target's arrival azimuth angle and arrival pitch angle;

the standard deviation or variance of said first measurement obtained from at least two perceptual measurements;

the standard deviation or variance of said second measurement value obtained from at least two perceptual measurements;

The mean, standard deviation or variance of at least two first values, the first value being the difference between the first measured value obtained by one perceptual measurement and the first predicted value corresponding to the first measured parameter;

The mean, standard deviation or variance of at least two second values, the second value being the difference between the second measurement value obtained by one perceptual measurement and the second predicted value corresponding to the second measurement parameter;

The distance of the sensing target relative to the sending device;

The distance of the sensing target relative to the receiving device;

The moving speed of the sensing target;

The movement direction of the sensing target;

A first velocity component, the first velocity component being the magnitude of the velocity component of the sensing target in at least one coordinate axis direction on the preset Cartesian coordinate system obtained by a sensing measurement;

the mean, standard deviation or variance of said first velocity component obtained from at least two perceptual measurements;

The mean, standard deviation or variance of at least two third values, the third value being the difference between the first speed component obtained by a perceptual measurement and the third predicted value corresponding to the speed component;

The position coordinates of the sensing target;

The mean, standard deviation or variance of the position coordinates of the sensing target obtained from at least two sensing measurements;

The mean, standard deviation or variance of at least two fourth values, the fourth value being the difference between the position coordinates of the sensing target obtained by one sensing measurement and the fourth predicted value corresponding to the position coordinates;

A third measurement value of a third measurement parameter of the first signal received on at least one antenna element on the receiving device, where the third measurement parameter includes received power, signal-to-noise ratio SNR, and signal and interference plus noise. than SINR;

the mean, standard deviation or variance of at least two said third measurements;

The mean, standard deviation or variance of at least two fifth values, the fifth value being the difference between the third measurement value obtained by one perceptual measurement and the fifth predicted value corresponding to the third measurement parameter;

The mean, standard deviation or variance of the first signal received between at least two antenna elements in the antenna array of the receiving device;

a fourth measurement value of a fourth measurement parameter of the power spectrum of the sensing target, the fourth measurement parameter including at least one of an average angle of the first signal reception signal and an angular spread of the first signal reception signal;

The mean, standard deviation or variance of at least two sixth values, the sixth value being the difference between the fourth measurement value obtained by one perceptual measurement and the sixth predicted value corresponding to the fourth measurement parameter;

A fifth measurement value of a fifth measurement parameter of the delay power spectrum of the sensing target, the fifth measurement parameter including at least one of the average delay of the first signal received signal and the delay spread of the first signal received signal ;

The mean, standard deviation or variance of at least two seventh values, the seventh value being the difference between the fifth measurement value obtained by one perceptual measurement and the seventh predicted value corresponding to the fifth measurement parameter;

a sixth measurement value of a sixth measurement parameter of the Doppler power spectrum of the sensing target, the sixth measurement parameter including the average Doppler frequency shift of the first signal received signal and the Doppler spread of the first signal received signal at least one of;

The mean, standard deviation or variance of at least two eighth values, the eighth value being the difference between the sixth measurement value obtained by one perceptual measurement and the eighth predicted value corresponding to the sixth measurement parameter;

Environmental clutter power;

The mean, standard deviation or variance of at least two ninth values, the ninth value being the difference between the environmental clutter power obtained by one sensing measurement and the ninth predicted value corresponding to the environmental clutter power;

A seventh measurement value of a seventh measurement parameter, the seventh measurement parameter including at least one of the Doppler bandwidth of environmental clutter and the Doppler bandwidth of superposition of environmental clutter and the sensing target;

The mean, standard deviation or variance of at least two tenth values, the tenth value being the difference between the seventh measurement value obtained by one perceptual measurement and the tenth predicted value corresponding to the seventh measurement parameter;

The number of sensing targets in the preset sensing area;

The density of sensing targets in the preset sensing area;

In the case of changes in the sensing area, parameters related to the position coordinates of the sensing area and the size of the physical range.
The method according to claim 18, wherein the channel information includes fifth information of any antenna pair between the sending device and the receiving device, and the fifth information includes at least one of the following: channel transfer function, channel impulse response , channel status information, channel quality indicator, rank indicator and communication letter-related performance indicators.
The method according to claim 18, wherein the resource information includes the number of resources available for target resources of the first service associated with the first signal, and the target resources include at least one of the following: time resources, frequency resources , antenna resources, Doppler frequency division multiplexing DDM phase modulator resources and orthogonal code resources.
The method according to claim 18, wherein the first information includes at least one of the following: sensing requirements, service types, perceived service quality QoS or synaesthesia integrated QoS, prior information of the sensing area and prior information of the sensing target. test information.
A method of perceptual processing that includes:

The first sensing device receives first configuration information from the first device;

The first sensing device performs an antenna selection operation and a first signal configuration based on the first configuration information;

Wherein, the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device, and the target sensing device includes a sending device for sending the first signal and a sending device for receiving the first signal. At least one of the receiving devices of the signal, and the target sensing device includes the first sensing device.
The method according to claim 25, wherein the first signal is a set of signals transmitted by each transmitting antenna in a multiple-input multiple-output communication-aware integrated MIMO-ISAC system, and the transmission signals of each transmitting antenna in the MIMO-ISAC system are The signals are mutually orthogonal or quasi-orthogonal to each other.
The method according to claim 26, wherein the orthogonal type of the transmission signal of each transmitting antenna includes at least one of the following: time division multiplexing TDM, frequency division multiplexing FDM, Doppler frequency division multiplexing DDM, code Demultiplexing CDM.
The method according to claim 26, wherein the transmit signals of each transmit antenna in the MIMO-ISAC system are mutually orthogonal or quasi-orthogonal including at least one of the following:

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal time domain resources;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal frequency domain resources;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system use the same frequency domain pattern, and the transmission signals of each transmitting antenna in the MIMO-ISAC system are transmitted at different transmission times;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system are different cyclically shifted versions of the preset time-frequency pattern in the frequency domain and/or time domain;

The transmission signals of each transmitting antenna in the MIMO-ISAC system have multiple pulse periods, and their frequency domain resources partially overlap or do not overlap at all, and the transmission signals of each transmitting antenna during multiple different signal pulse periods follow preset rules. Change the frequency domain resources used;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system use first time domain resources, and the transmission signals of at least one transmitting antenna in the MIMO-ISAC system use second time domain resources, wherein the first time domain resource is used. domain resources and the second time domain resources are orthogonal to each other, and the transmission signals of at least two transmitting antennas using the first time domain resources use frequency domain resources that are orthogonal to each other;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal code domain resources;

The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal Doppler frequency domain resources.
The method of claim 26, wherein the signal configuration information includes at least one of the following:

Resource period parameters, the resource period parameters are used to control at least one of the time domain repetition period, the time domain repetition number, the frequency domain repetition period and the frequency domain repetition number of the first signal resource;

Resource location parameters, which are used to control the time-frequency location of the first signal resource;

Resource pattern parameters, the resource pattern parameters are used to control the basic time-frequency pattern of the first signal resource;

Resource modulation parameters, the resource modulation parameters are used to control the phase modulation of the first signal;

Resource coding parameters, the resource coding parameters are used to control the orthogonal code resource configuration of the first signal based on code division multiplexing CDM;

Signal sequence type;

Signal sequence length;

The initial seed used to produce the first signal.
The method of claim 25, further comprising:

The first sensing device sends second information of the first sensing device to the first device, the second information is used to determine target configuration parameters, and the target configuration parameters are used by at least one sensing device to perform the The first service associated with the first signal.
The method of claim 30, wherein the target configuration parameters include signal configuration information of the first signal, antenna selection information of the sending device, and antenna selection information of the receiving device.
The method of claim 25, further comprising:

The first sensing device sends second information of the first sensing device to the first device, where the second information is used to determine initial configuration parameters of the first sensing device;

The first sensing device receives initial configuration parameters of the first sensing device from the target device;

The first sensing device performs the first service associated with the first signal based on the initial configuration parameters of the first sensing device;

Wherein, when the first sensing device is the sending device of the first signal, the initial configuration parameters of the first sensing device are the first configuration parameters, and the target device is the first device; in the When the first sensing device is the receiving device of the first signal, the target device is the sending device, and the initial configuration parameters of the first sensing device are the second configuration parameters determined by the sending device.
The method according to claim 32, wherein when the first sensing device is the sending device, the method further includes:

The first sensing device receives second information from the receiving device;

The first sensing device determines second configuration parameters of the receiving device according to the second information, and the second configuration parameters are used by the receiving device to perform the first service associated with the first signal;

The first sensing device sends the second configuration parameter to the receiving device.
The method of claim 32, wherein the first configuration parameter includes signal configuration information of the first signal and antenna selection information of the transmitting device.
The method of claim 32, wherein the second configuration parameter includes signal configuration information of the first signal and antenna selection information of the receiving device.
The method according to any one of claims 30 to 35, wherein the second information packet It includes at least one of the following: antenna array information, first status information of the sensing target, channel information, resource information associated with the first service and first information used to determine the sensing device.
The method of claim 25, further comprising:

The first sensing device obtains third information;

The first sensing device calculates and obtains the sensing result based on the third information;

Wherein, the third information includes:

The antenna array information of the sending device;

Antenna selection information of the transmitting device or a first steering vector determined based on the antenna selection information of the transmitting device;

Antenna array information of the receiving device;

Antenna selection information of the receiving device or a second steering vector determined based on the antenna selection information of the receiving device;

Signal configuration information of the first signal.
The method of claim 37, wherein the third information satisfies at least one of the following:

In the case where the sending device performs precoding, the third information also includes precoding information;

When the sending device performs beam forming, the third information further includes beam forming matrix information.
The method according to claim 37, wherein the first sensing device obtaining the third information includes any of the following:

In the case where all the information of the third information is stored locally on the first sensing device, the first device obtains the third information stored locally;

In the case where the first sub-information is stored locally on the first sensing device and the second sub-information is not stored, the first sensing device obtains the locally stored first sub-information and obtains the first sub-information from at least one third At least one of the two sensing devices and the first device obtains the second sub-information, the first sub-information is part of the third information, and the second sub-information is the third Another piece of information within the information.
The method of claim 25, further comprising:

The first sensing device sends fourth information to the computing device, the fourth information is used to calculate the The sensing result, the computing device is a device used to calculate the sensing result, and the fourth information includes at least one of the following:

Antenna array information of the first sensing device;

The antenna selection information of the first sensing device or the first steering vector determined based on the antenna selection information of the sending device;

Signal configuration information of the first signal.
The method of claim 40, wherein, when the first sensing device is a sending device, the fourth information satisfies at least one of the following:

In the case where the first sensing device performs precoding, the fourth information also includes precoding information;

When the first sensing device performs beamforming, the fourth information further includes beamforming matrix information.
The method of claim 41, wherein after the first sensing device sends the fourth information to the computing device, the method further includes:

The first sensing device receives the sensing results from the computing device.
The method of claim 25, wherein the antenna selection information includes at least one of the following:

The identification of the antenna array element that sent the first signal;

The identification of the antenna array element that receives the first signal;

An identification of the first antenna panel transmitting the first signal;

An identification of the second antenna panel that receives the first signal;

Position information of the antenna element that sends the first signal relative to a preset local reference point of the antenna array;

Position information of the antenna array element that receives the first signal relative to a preset local reference point of the antenna array;

The position information of the first antenna panel that sends the first signal relative to the preset local reference point of the antenna array and the antenna array element used to send the first signal in the first antenna panel relative to the first antenna panel The position information of the preset unified reference point;

The position of the second antenna panel that receives the first signal relative to the preset local reference point of the antenna array The position information and the position information of the antenna array element in the second antenna panel for receiving the first signal relative to the preset unified reference point of the second antenna panel;

Bit mapping information of antenna array elements;

Bit mapping information for the array antenna panel.
A perception processing device including:

A first determination module, configured to determine first configuration information based on the target information when the target information changes;

The first sending module is used to send the first configuration information;

Wherein, the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device, and the target sensing device includes a sending device for sending the first signal and a sending device for receiving the first signal. At least one of the signal receiving equipment.
A perception processing device, applied to a first perception device, including:

a second receiving module, configured to receive the first configuration information from the first device;

An execution module configured to perform antenna selection operations and first signal configuration based on the first configuration information;

Wherein, the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device, and the target sensing device includes a sending device for sending the first signal and a sending device for receiving the first signal. At least one of the receiving devices of the signal, and the target sensing device includes the first sensing device.
A network-side device, including a processor and a memory. The memory stores programs or instructions that can be run on the processor. When the program or instructions are executed by the processor, any one of claims 1 to 43 is implemented. The steps of the perceptual processing method described in the item.
A terminal, including a processor and a memory, the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the implementation as claimed in any one of claims 25 to 43 is provided. The steps of the perceptual processing method described above.
A readable storage medium on which a program or instructions are stored. When the program or instructions are executed by a processor, the steps of the perception processing method according to any one of claims 1 to 43 are implemented.