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

Sensing processing method and apparatus, network device and terminal Download PDF

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Publication number
WO2023198124A1
WO2023198124A1 PCT/CN2023/087894 CN2023087894W WO2023198124A1 WO 2023198124 A1 WO2023198124 A1 WO 2023198124A1 CN 2023087894 W CN2023087894 W CN 2023087894W WO 2023198124 A1 WO2023198124 A1 WO 2023198124A1
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Prior art keywords
information
signal
antenna
sensing
target
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PCT/CN2023/087894
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French (fr)
Chinese (zh)
Inventor
李健之
丁圣利
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维沃移动通信有限公司
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Publication of WO2023198124A1 publication Critical patent/WO2023198124A1/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/89Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W24/00Supervisory, monitoring or testing arrangements
    • H04W24/02Arrangements for optimising operational condition
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W24/00Supervisory, monitoring or testing arrangements
    • H04W24/10Scheduling measurement reports ; Arrangements for measurement reports
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W72/00Local resource management
    • H04W72/04Wireless resource allocation
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W72/00Local resource management
    • H04W72/04Wireless resource allocation
    • H04W72/044Wireless resource allocation based on the type of the allocated resource
    • H04W72/0446Resources in time domain, e.g. slots or frames
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W72/00Local resource management
    • H04W72/04Wireless resource allocation
    • H04W72/044Wireless resource allocation based on the type of the allocated resource
    • H04W72/0453Resources in frequency domain, e.g. a carrier in FDMA
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W72/00Local resource management
    • H04W72/20Control channels or signalling for resource management
    • H04W72/23Control channels or signalling for resource management in the downlink direction of a wireless link, i.e. towards a terminal

Definitions

  • This application belongs to the field of communication technology, and specifically relates to a sensing processing method, device, network side equipment and terminal.
  • synaesthesia integration can be realized in communication systems.
  • communication and perception There are two types of services, communication and perception, in the synaesthesia integration scenario.
  • 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.
  • 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:
  • the first device determines the first configuration information based on the target information
  • the first device sends first configuration information
  • the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device
  • 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
  • the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device
  • 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 perception processing device 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
  • the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device
  • 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 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
  • the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device
  • 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 terminal in a fifth aspect, 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, the following implementations are implemented: The steps of the method described in one aspect.
  • a terminal 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;
  • the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device
  • 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.
  • a network side device in a seventh aspect, 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.
  • a network side device 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;
  • 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.
  • a readable storage medium 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.
  • a chip in an eleventh aspect, 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.
  • 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 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 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.
  • 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.
  • 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.
  • the first object can be one or multiple.
  • “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.
  • LTE Long Term Evolution
  • LTE-Advanced, LTE-A Long Term Evolution
  • LTE-A Long Term Evolution
  • CDMA Code Division Multiple Access
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • SC-FDMA Single-carrier Frequency Division Multiple Access
  • NR New Radio
  • FIG. 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.
  • Tablet Personal Computer Tablet Personal Computer
  • laptop computer laptop computer
  • PDA Personal Digital Assistant
  • PDA Personal Digital Assistant
  • 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.
  • 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).
  • RAN radio access network
  • RAN radio access network
  • RAN radio access network
  • 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).
  • BTS Base Transceiver Station
  • radio base station radio transceiver
  • BSS Basic Service Set
  • ESS Extended Service Set
  • home B-node home evolved B-node
  • TRP Transmission Reception Point
  • 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.
  • 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.
  • 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.
  • Wireless sensing can broadly refer to retrieving information from received radio signals, rather than modulating communication data into a signal at a transmitter.
  • 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.
  • wireless sensing refers to more general sensing technologies and applications that use radio signals.
  • Integrated Sensing and Communication 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.
  • 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.
  • 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).
  • SNR signal-to-noise ratio
  • 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.
  • MIMO radars send signals independently from different antennas (quasi-orthogonal or orthogonal), and generally have wider beams.
  • 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.
  • radar technology-based perception such as device-free positioning and trajectory tracking of pedestrians, motor vehicles, drones, etc.
  • radar technology-based perception such as device-free positioning and trajectory tracking of pedestrians, motor vehicles, drones, etc.
  • radar technology-based perception such as device-free positioning and trajectory tracking of pedestrians, motor vehicles, drones, etc.
  • 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.
  • 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.
  • MIMO-ISAC MIMO synaesthetic integrated system
  • MIMO radar has been widely used in the field of radar detection.
  • the antenna selection method of the MIMO-ISAC system and the corresponding adaptive method are still unclear.
  • 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.
  • M the total number of MIMO radar transmitting array antennas
  • N the total number of receiving array antennas
  • the signals transmitted by each transmitting antenna are orthogonal, then:
  • s m (t) represents the transmission signal of the m-th antenna
  • s k (t) represents the transmission signal of the k-th antenna
  • ⁇ mk is the Dirac function.
  • 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.
  • the target response obtained by the m-th matched filter of the n-th receiving antenna can be expressed as:
  • u t is a unit vector pointing from the radar transmitter to the point target
  • ⁇ (t) is the reflection coefficient of the point target
  • is the carrier frequency wavelength of the transmitted signal.
  • the phase of the reflected signal is determined by both the transmitting and receiving antennas.
  • 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
  • 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.
  • 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:
  • ⁇ l is the l-th target reflection coefficient and reflection delay
  • T 0 is the length of the transmitted signal
  • A( ⁇ ) satisfies:
  • A( ⁇ ) is the N ⁇ M MIMO radar steering vector matrix
  • equations (6) and (7) are the receiving and transmitting array steering vectors respectively
  • the correlation matrix of signals sent by each transmitting antenna is
  • ⁇ ij is the correlation coefficient of the signal sent by the i-th transmitting antenna and the j-th transmitting antenna.
  • the effective number of virtual array elements is only N.
  • 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
  • the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device
  • 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 above target information can be understood as information used to determine whether to update the antenna selection information and signal configuration information.
  • the target information may include at least one of the following:
  • 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
  • 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;
  • the first signal changes.
  • 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.
  • 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.
  • 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.
  • 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.
  • the above-mentioned first configuration information may include first configuration information of the sending device and first configuration information of the receiving device.
  • 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.
  • 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.
  • each transmitting antenna signal can be a signal that only has a sensing function and does not contain transmission information.
  • existing synchronization and reference signals use pseudo-random sequences, including m-sequences and Zadoff-Chu sequences.
  • Gold sequence, etc. 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.
  • CW continuous wave
  • FMCW frequency modulated continuous wave
  • PAPR Peak to Average Power Ratio
  • 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.
  • the first state information 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:
  • the sensing result may be a sensing parameter value obtained by a sensing measurement.
  • the sensing result may be the position coordinates of the sensing target.
  • the sensing result may be a target result determined based on a sensing parameter value obtained by a sensing measurement.
  • 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.
  • the sensing result can be determined based on the sensing parameter values obtained by multiple sensing measurements.
  • 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.
  • the signal configuration information includes at least one of the following:
  • 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 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 are used to control the orthogonal code resource configuration of the first signal based on code division multiplexing (Code Division Multiplexing, CDM);
  • the initial seed used to produce the first signal is the initial seed used to produce the first signal.
  • 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.
  • the resource pattern parameters include at least one of the following: number of symbols in the resource slot, resource comb size, and silence pattern.
  • 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).
  • TDM Time division multiplexing
  • FDM frequency division multiplexing
  • Doppler frequency division Multiplexing Doppler Division Multiplexing
  • CDM Code Division Multiplexing
  • the transmission signal of the transmitting antenna 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.
  • the transmission signal of the transmitting antenna can be understood as a combination of the two signals.
  • the transmission signal of the transmitting antenna includes a combination of TDM signals and FDM signals.
  • 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.
  • 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.
  • the transmission signals of at least two transmitting antennas in the MIMO-ISAC system mutually orthogonal Doppler frequency domain resources are respectively used.
  • the transmission signals of the transmitting antennas include DDM signals.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • each sensing device may report its own antenna array information, first status information, channel information and resource information.
  • the sending device can report the antenna array information, first status information, and resource information of the sending device
  • the receiving device can report the antenna array information, first status information, and channel of the receiving device.
  • 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.
  • the first configuration parameter includes signal configuration information of the first signal and antenna selection information of the sending device.
  • the second configuration parameter includes signal configuration information of the first signal and antenna selection information of the receiving device.
  • the content contained in the above-mentioned second information can be set according to actual needs.
  • 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.
  • 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.
  • the method further includes:
  • the first device obtains third information
  • the first device calculates and obtains the sensing result based on the third information
  • the third information includes:
  • the antenna array information of the sending device
  • Antenna array information of the receiving device
  • 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.
  • 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.
  • the above signal configuration information may include at least one of the following:
  • Resource location parameters which are used to control the time-frequency location of the first signal resource
  • 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 are used to control the orthogonal code resource configuration of the first signal based on code division multiplexing CDM;
  • the initial seed used to produce the first signal is the initial seed used to produce the first signal.
  • the above-mentioned signal configuration information may also include at least one of a signal correlation matrix and a beamforming matrix.
  • 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.
  • the third information satisfies at least one of the following:
  • the third information also includes precoding information
  • the third information further includes beam forming matrix information.
  • the first device obtaining the third information includes any of the following:
  • the first device obtains the third information stored locally;
  • 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;
  • the first device obtains the third information from at least one sensing device.
  • the first device 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.
  • 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
  • the fourth information may be at least part of the third information.
  • the fourth information satisfies at least one of the following:
  • the fourth information also includes precoding information
  • the fourth information further includes beamforming matrix information.
  • 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.
  • the antenna selection information includes at least one of the following:
  • 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;
  • 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).
  • the antenna array information includes at least one of the following:
  • mapping relationship between the first identifier and the position of the antenna array element in the antenna array
  • the bit mapping rules for the antenna panels and the bit mapping rules for the antenna elements within a single antenna panel are arranged 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;
  • the number of antenna panels included in the antenna array is the number of antenna panels included in the antenna array.
  • the number of antenna elements contained in the antenna array is the number of antenna elements contained in the antenna array
  • 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 is the position information of the antenna array element relative to the preset local reference point on the antenna array
  • 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;
  • Three-dimensional or two-dimensional pattern information of at least part of the antenna array elements are provided.
  • 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 array type may include, for example, area array, linear array, circular array, cylindrical array, 2D irregular array, 3D array, etc.
  • the antenna array information satisfies at least one of the following:
  • 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;
  • 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)
  • 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.
  • the interval between panels can be measured by a unified local reference point, such as the center point of each panel.
  • the antenna array information satisfies at least one of the following:
  • 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;
  • 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).
  • 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.
  • 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:
  • 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;
  • AOD azimuth angle of departure
  • EOD angle of departure of Departure
  • Receive a second measurement value of a second measurement parameter of the device 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;
  • 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 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 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;
  • a fourth measurement value of a fourth measurement parameter of the power spectrum of the sensing target including at least one of an average angle of the first signal reception signal and an angular spread of the first signal reception signal
  • a fifth measurement value of a fifth measurement parameter of the delay power spectrum of the sensing target 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 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 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 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 number of sensing targets in the preset sensing area is the number of sensing targets in the preset sensing area
  • 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.
  • 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.
  • CSI Channel State Information
  • CQI Channel Quality Indicator
  • RI Rank Indication
  • 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.
  • RSRP Reference Signal Received Power
  • SNR Signal to Physical Network
  • SINR Signal to Physical Network
  • transmission rate/throughput spectrum efficiency
  • bit error rate bit error rate
  • block error rate bit error rate
  • 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.
  • 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.
  • sensing demand service type
  • perceived quality of service Quality of Service, QoS
  • synaesthesia integrated QoS synaesthesia integrated QoS
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • the antenna array elements ⁇ A1, A2 ⁇ of the terminal send the first signal
  • the antenna array elements ⁇ B1, B2, B3 ⁇ of the base station receive it to meet the angle. resolution requirements, saving some antenna resources.
  • 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
  • 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.
  • the terminal antenna elements ⁇ A1, A2, A3, A4 ⁇ send the first signal
  • 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.
  • 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
  • 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.
  • 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.
  • the method of this application can also be used to ensure or improve the perception performance.
  • traffic flow perception at a certain intersection may include sensing the number of vehicles passing through in a certain period of time, the speed and position (lane) of each vehicle, etc.).
  • 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:
  • L max represents the maximum number of sensing targets that can be sensed simultaneously
  • M is the number of transmitting antennas
  • N is the number of receiving antennas.
  • 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).
  • 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 ;
  • 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.
  • 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.
  • 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.
  • 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 ⁇ .
  • the number of transmitting antenna elements can also be appropriately increased, and TDM+DDM signals can be used to maintain sensing performance.
  • 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.
  • the first signal can occupy multiple RBs and time slot resources.
  • 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
  • the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device
  • 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 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.
  • 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.
  • 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 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.
  • 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;
  • 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 signal configuration information includes at least one of the following:
  • 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 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 are used to control the orthogonal code resource configuration of the first signal based on code division multiplexing CDM;
  • the initial seed used to produce the first signal is the initial seed used to produce the first signal.
  • 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
  • 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.
  • 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 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
  • the initial configuration parameters of the first sensing device are the first configuration parameters
  • the target device is the first device
  • the target device is the sending device
  • the initial configuration parameters of the first sensing device are the second configuration parameters determined by 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 first configuration parameter includes signal configuration information of the first signal and antenna selection information of the sending device.
  • the second configuration parameter includes signal configuration information of the first signal and antenna selection information of the receiving device.
  • 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.
  • 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
  • the third information includes:
  • the antenna array information of the sending device
  • Antenna array information of the receiving device
  • the third information satisfies at least one of the following:
  • the third information also includes precoding information
  • the third information further includes beam forming matrix information.
  • the first sensing device obtaining the third information includes any of the following:
  • the first device obtains the third information stored locally;
  • 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 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
  • the fourth information satisfies at least one of the following:
  • the fourth information also includes precoding information
  • the fourth information further includes beamforming matrix information.
  • the method further includes:
  • the first sensing device receives the sensing results from the computing device.
  • the antenna selection information includes at least one of the following:
  • 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 antenna array information includes at least one of the following:
  • mapping relationship between the first identifier and the position of the antenna array element in the antenna array
  • the bit mapping rules for the antenna panels and the bit mapping rules for the antenna elements within a single antenna panel are arranged 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;
  • the number of antenna panels included in the antenna array is the number of antenna panels included in the antenna array.
  • the number of antenna elements contained in the antenna array is the number of antenna elements contained in the antenna array
  • 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 is the position information of the antenna array element relative to the preset local reference point on the antenna array
  • 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;
  • Three-dimensional or two-dimensional pattern information of at least part of the antenna array elements are provided.
  • the first status information includes at least one of the following:
  • the first measurement parameter including at least one of an departure azimuth angle and an departure elevation angle of the sensing target
  • 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;
  • 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 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 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;
  • a fourth measurement value of a fourth measurement parameter of the power spectrum of the sensing target 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 obtained from a perceptual measurement The difference between the obtained fourth measured value and the sixth predicted value corresponding to the fourth measured parameter;
  • a fifth measurement value of a fifth measurement parameter of the delay power spectrum of the sensing target 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 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 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 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 number of sensing targets in the preset sensing area is the number of sensing targets in the preset sensing area
  • 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.
  • 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.
  • an embodiment of the present application also provides a perception processing device.
  • 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 first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device
  • 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 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.
  • 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 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 using the The transmission signals of at least two transmitting antennas of a time domain resource use mutually orthogonal frequency domain resources;
  • 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 signal configuration information includes at least one of the following:
  • 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 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 are used to control the orthogonal code resource configuration of the first signal based on code division multiplexing CDM;
  • the initial seed used to produce the first signal is the initial seed used to produce the first signal.
  • the target information includes at least one of the following:
  • 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
  • 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.
  • 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 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.
  • the first configuration parameter includes signal configuration information of the first signal and antenna selection information of the sending device.
  • the second configuration parameter includes signal configuration information of the first signal and antenna selection information of the receiving device.
  • 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. .
  • 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
  • the third information includes:
  • the antenna array information of the sending device
  • Antenna array information of the receiving device
  • the third information satisfies at least one of the following:
  • the third information also includes precoding information
  • the third information further includes beam forming matrix information.
  • the first device obtaining the third information includes any of the following:
  • the first device obtains the third information stored locally;
  • 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;
  • the first device obtains the third information from at least one sensing device.
  • 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
  • the fourth information satisfies at least one of the following:
  • the fourth information also includes precoding information
  • the fourth information further includes beamforming matrix information.
  • the perception processing device 700 further includes:
  • a first receiving module configured to receive the sensing result from the computing device.
  • the antenna selection information includes at least one of the following:
  • 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 antenna array information includes at least one of the following:
  • mapping relationship between the first identifier and the position of the antenna array element in the antenna array
  • the bit mapping rules for the antenna panels and the bit mapping rules for the antenna elements within a single antenna panel are arranged 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;
  • the number of antenna panels included in the antenna array is the number of antenna panels included in the antenna array.
  • the number of antenna elements contained in the antenna array is the number of antenna elements contained in the antenna array
  • 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 is the position information of the antenna array element relative to the preset local reference point on the antenna array
  • 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;
  • Three-dimensional or two-dimensional pattern information of at least part of the antenna array elements are provided.
  • the first status information includes at least one of the following:
  • the first measurement parameter including at least one of an departure azimuth angle and an departure elevation angle of the sensing target
  • the second measurement parameter including at least one of an azimuth angle of arrival and an elevation angle of arrival 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 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 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;
  • a fourth measurement value of a fourth measurement parameter of the power spectrum of the sensing target including at least one of an average angle of the first signal reception signal and an angular spread of the first signal reception signal
  • a fifth measurement value of a fifth measurement parameter of the delay power spectrum of the sensing target 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 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;
  • 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 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 number of sensing targets in the preset sensing area is the number of sensing targets in the preset sensing area
  • 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.
  • 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.
  • 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.
  • 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
  • the first configuration information includes antenna selection information and signal configuration information of the first signal of a target sensing device
  • 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 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.
  • 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.
  • 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 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.
  • the signal configuration information includes at least one of the following:
  • 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 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 are used to control the orthogonal code resource configuration of the first signal based on code division multiplexing CDM;
  • the initial seed used to produce the first signal is the initial seed used to produce the first signal.
  • 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
  • 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.
  • 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 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
  • the initial configuration parameters of the first sensing device are the first configuration parameters
  • the target device is the first device
  • the target device is the sending device
  • the initial configuration parameters of the first sensing device are the second configuration parameters determined by 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;
  • the first sensing device sends the second configuration parameter to the receiving device.
  • the first configuration parameter includes signal configuration information of the first signal and antenna selection information of the sending device.
  • the second configuration parameter includes signal configuration information of the first signal and antenna selection information of the receiving device.
  • 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.
  • 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
  • the third information includes:
  • the antenna array information of the sending device
  • Antenna array information of the receiving device
  • the third information satisfies at least one of the following:
  • the third information also includes precoding information
  • the third information further includes beam forming matrix information.
  • the first sensing device obtaining the third information includes any of the following:
  • the first device obtains the third information stored locally;
  • 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 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
  • 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
  • the fourth information satisfies at least one of the following:
  • the fourth information also includes precoding information
  • the fourth information further includes beamforming matrix information.
  • the second receiving module is also configured to receive the sensing result from the computing device.
  • the antenna selection information includes at least one of the following:
  • 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 antenna array information includes at least one of the following:
  • mapping relationship between the first identifier and the position of the antenna array element in the antenna array
  • the bit mapping rules for the antenna panels and the bit mapping rules for the antenna elements within a single antenna panel are arranged 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;
  • the number of antenna panels included in the antenna array is the number of antenna panels included in the antenna array.
  • the number of antenna elements contained in the antenna array is the number of antenna elements contained in the antenna array
  • 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 is the position information of the antenna array element relative to the preset local reference point on the antenna array
  • 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;
  • Three-dimensional or two-dimensional pattern information of at least part of the antenna array elements are provided.
  • the first status information includes at least one of the following:
  • the first measurement parameter including at least one of an departure azimuth angle and an departure elevation angle of the sensing target
  • the second measurement parameter including at least one of an azimuth angle of arrival and an elevation angle of arrival 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 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 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;
  • a fourth measurement value of a fourth measurement parameter of the power spectrum of the sensing target 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 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;
  • 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 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 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 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 number of sensing targets in the preset sensing area is the number of sensing targets in the preset sensing area
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the radio frequency unit 1001 after receiving downlink data from the network side device, 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.
  • 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.
  • memory 1009 may include volatile memory or nonvolatile memory, or memory 1009 may include both volatile and nonvolatile memory.
  • 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.
  • 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).
  • RAM Random Access Memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • synchronous dynamic random access memory Synchronous DRAM, SDRAM
  • Double data rate synchronous dynamic random access memory Double Data Rate SDRAM, DDRSDRAM
  • enhanced SDRAM synchronous dynamic random access memory
  • Synch link DRAM synchronous link dynamic random access memory
  • SLDRAM direct memory bus random access memory
  • Direct Rambus RAM Direct Rambus RAM
  • 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.
  • 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.
  • 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.
  • 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.
  • the embodiment of the present application also provides a network side device.
  • 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.
  • the radio frequency device 1102 receives information through the antenna 1101 and sends the received information to the baseband device 1103 for processing.
  • 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).
  • a network interface 1106, which is, for example, a common public radio interface (CPRI).
  • CPRI common public radio interface
  • 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.
  • 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.
  • 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.
  • 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
  • the computer program/program product is executed by at least one processor
  • 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.
  • 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.
  • 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.

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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

感知处理方法、装置、网络侧设备以及终端Perception processing method, device, network side equipment and terminal
相关申请的交叉引用Cross-references to related applications
本申请主张在2022年04月15日在中国提交的中国专利申请No.202210399424.4的优先权,其全部内容通过引用包含于此。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.
技术领域Technical field
本申请属于通信技术领域,具体涉及一种感知处理方法、装置、网络侧设备以及终端。This application belongs to the field of communication technology, and specifically relates to a sensing processing method, device, network side equipment and terminal.
背景技术Background technique
随着通信技术的发展,在通信系统中,可以实现通感一体化。通感一体化场景中同时存在通信和感知两种类型的业务,目前,在传统的感知方法中,通常采用固定的信号配置以及天线执行感知业务或通感一体化业务,由于感知目标的状态或者感知环境在不断变化,若采用固定的信号配置和天线执行感知业务或通感一体化业务,可能导致感知性能下降。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.
发明内容Contents of the invention
本申请实施例提供一种感知处理方法、装置、网络侧设备以及终端,能够提高感知性能。Embodiments of the present application provide a sensing processing method, device, network-side device and terminal, which can improve sensing performance.
第一方面,提供了一种感知处理方法,包括:The first aspect provides a perceptual processing method, including:
在目标信息发生变化的情况下,第一设备基于目标信息确定第一配置信息;In the case where the target information changes, the first device determines the first configuration information based on the target information;
所述第一设备发送第一配置信息;The first device sends first configuration information;
其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项。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.
第二方面,提供了一种感知处理方法,包括:The second aspect provides a perception processing method, including:
第一感知设备从第一设备接收第一配置信息; The first sensing device receives first configuration information from the first device;
所述第一感知设备基于所述第一配置信息进行天线选择操作和第一信号配置;The first sensing device performs an antenna selection operation and a first signal configuration based on the first configuration information;
其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项,且所述目标感知设备包括所述第一感知设备。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.
第三方面,提供了一种感知处理装置,包括:In a third aspect, a perception processing device is provided, including:
第一确定模块,用于在目标信息发生变化的情况下,基于目标信息确定第一配置信息;A first determination module, configured to determine the first configuration information based on the target information when the target information changes;
第一发送模块,用于发送第一配置信息;The first sending module is used to send the first configuration information;
其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项。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.
第四方面,提供了一种感知处理装置,应用于第一感知设备,包括:In a fourth aspect, a perception processing device is provided, applied to the first perception device, including:
第二接收模块,用于从第一设备接收第一配置信息;a second receiving module, configured to receive the first configuration information from the first device;
执行模块,用于基于所述第一配置信息进行天线选择操作和第一信号配置;An execution module configured to perform antenna selection operations and first signal configuration based on the first configuration information;
其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项,且所述目标感知设备包括所述第一感知设备。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.
第五方面,提供了一种终端,该终端包括处理器和存储器,所述存储器存储可在所述处理器上运行的程序或指令,所述程序或指令被所述处理器执行时实现如第一方面所述的方法的步骤。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.
第六方面,提供了一种终端,包括处理器及通信接口,其中,所述通信接口用于从第一设备接收第一配置信息;所述处理器用于基于所述第一配置信息进行天线选择操作和第一信号配置;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;
其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备 和用于接收所述第一信号的接收设备中的至少一项,且所述目标感知设备包括所述第一感知设备。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.
第七方面,提供了一种网络侧设备,该网络侧设备包括处理器和存储器,所述存储器存储可在所述处理器上运行的程序或指令,所述程序或指令被所述处理器执行时实现如第二方面所述的方法的步骤。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.
第八方面,提供了一种网络侧设备,包括处理器及通信接口,其中,所述处理器用于在目标信息发生变化的情况下,基于目标信息确定第一配置信息;所述通信接口用于发送第一配置信息;其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项;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;
或者,所述通信接口用于从第一设备接收第一配置信息;所述处理器用于基于所述第一配置信息进行天线选择操作和第一信号配置;其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项,且所述目标感知设备包括所述第一感知设备。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.
第九方面,提供了一种通信系统,包括:第一感知设备及第一设备,所述第一感知设备可用于执行如第二方面所述的感知处理方法的步骤,所述第一设备可用于执行如第一方面所述的感知处理方法的步骤。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.
第十方面,提供了一种可读存储介质,所述可读存储介质上存储程序或指令,所述程序或指令被处理器执行时实现如第一方面所述的方法的步骤,或者实现如第二方面所述的方法的步骤。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.
第十一方面,提供了一种芯片,所述芯片包括处理器和通信接口,所述通信接口和所述处理器耦合,所述处理器用于运行程序或指令,实现如第一方面所述的方法的步骤,或实现如第二方面所述的方法的步骤。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.
第十二方面,提供了一种计算机程序/程序产品,所述计算机程序/程序产品被存储在存储介质中,所述计算机程序/程序产品被至少一个处理器执行以实现如第一方面所述的方法的步骤,或实现如第二方面所述的方法的步骤。 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.
本申请实施例中,第一设备在目标信息发生变化的情况下,基于目标信息确定第一配置信息;所述第一设备发送第一配置信息;其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项。这样,由于根据目标信息确定第一配置信息,从而可以根据当前的感知环境对目标感知设备的天线选择信息和信号配置信息进行更新,进而可以有效提升感知性能。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.
附图说明Description of the drawings
图1是本申请实施例可应用的网络结构图;Figure 1 is a network structure diagram applicable to the embodiment of the present application;
图2是本申请实施例提供的一种感知处理方法的流程图;Figure 2 is a flow chart of a perception processing method provided by an embodiment of the present application;
图3是本申请实施例提供的一种感知处理方法中感知示例图之一;Figure 3 is one of the perception example diagrams in the perception processing method provided by the embodiment of the present application;
图4A至图4C是本申请实施例提供的一种感知处理方法中第一信号在不同阶段的示例图;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;
图5是本申请实施例提供的一种感知处理方法中感知示例图之二;Figure 5 is the second example diagram of perception in a perception processing method provided by the embodiment of the present application;
图5A至图5B是本申请实施例提供的一种感知处理方法中第一信号在不同阶段的示例图;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;
图6是本申请实施例提供的另一种感知处理方法的流程图;Figure 6 is a flow chart of another perception processing method provided by an embodiment of the present application;
图7是本申请实施例提供的一种感知处理装置的结构图;Figure 7 is a structural diagram of a perception processing device provided by an embodiment of the present application;
图8是本申请实施例提供的另一种感知处理装置的结构图;Figure 8 is a structural diagram of another perception processing device provided by an embodiment of the present application;
图9是本申请实施例提供的通信设备的结构图;Figure 9 is a structural diagram of a communication device provided by an embodiment of the present application;
图10是本申请实施例提供的终端的结构图;Figure 10 is a structural diagram of a terminal provided by an embodiment of the present application;
图11是本申请实施例提供的网络侧设备的结构图。Figure 11 is a structural diagram of a network-side device provided by an embodiment of the present application.
具体实施方式Detailed ways
下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员所获得的所有其他实施例,都属于本申请保护的范围。 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.
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象,而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换,以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施,且“第一”、“第二”所区别的对象通常为一类,并不限定对象的个数,例如第一对象可以是一个,也可以是多个。此外,说明书以及权利要求中“和/或”表示所连接对象的至少其中之一,字符“/”一般表示前后关联对象是一种“或”的关系。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.
值得指出的是,本申请实施例所描述的技术不限于长期演进型(Long Term Evolution,LTE)/LTE的演进(LTE-Advanced,LTE-A)系统,还可用于其他无线通信系统,诸如码分多址(Code Division Multiple Access,CDMA)、时分多址(Time Division Multiple Access,TDMA)、频分多址(Frequency Division Multiple Access,FDMA)、正交频分多址(Orthogonal Frequency Division Multiple Access,OFDMA)、单载波频分多址(Single-carrier Frequency Division Multiple Access,SC-FDMA)和其他系统。本申请实施例中的术语“系统”和“网络”常被可互换地使用,所描述的技术既可用于以上提及的系统和无线电技术,也可用于其他系统和无线电技术。以下描述出于示例目的描述了新空口(New Radio,NR)系统,并且在以下大部分描述中使用NR术语,但是这些技术也可应用于NR系统应用以外的应用,如第6代(6th Generation,6G)通信系统。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.
图1示出本申请实施例可应用的一种无线通信系统的框图。无线通信系统包括终端11和网络侧设备12。其中,终端11可以是手机、平板电脑(Tablet Personal Computer)、膝上型电脑(Laptop Computer)或称为笔记本电脑、个人数字助理(Personal Digital Assistant,PDA)、掌上电脑、上网本、超级移动个人计算机(ultra-mobile personal computer,UMPC)、移动上网装置(Mobile Internet Device,MID)、增强现实(augmented reality,AR)/虚拟现实(virtual reality,VR)设备、机器人、可穿戴式设备(Wearable Device)、车载设备(Vehicle User Equipment,VUE)、行人终端(Pedestrian User Equipment,PUE)、智能家居(具有无线通信功能的家居设备,如冰箱、电视、洗衣机或者家具等)、游戏机、个人计算机(personal computer,PC)、柜员机或者自助机等终端侧 设备,可穿戴式设备包括:智能手表、智能手环、智能耳机、智能眼镜、智能首饰(智能手镯、智能手链、智能戒指、智能项链、智能脚镯、智能脚链等)、智能腕带、智能服装等。需要说明的是,在本申请实施例并不限定终端11的具体类型。网络侧设备12可以包括接入网设备或核心网设备,其中,接入网设备也可以称为无线接入网设备、无线接入网(Radio Access Network,RAN)、无线接入网功能或无线接入网单元。接入网设备可以包括基站、WLAN接入点或WiFi节点等,基站可被称为节点B、演进节点B(Evolved Node B,eNB)、接入点、基收发机站(Base Transceiver Station,BTS)、无线电基站、无线电收发机、基本服务集(Basic Service Set,BSS)、扩展服务集(Extended Service Set,ESS)、家用B节点、家用演进型B节点、发送接收点(Transmission Reception Point,TRP)或所述领域中其他某个合适的术语,只要达到相同的技术效果,所述基站不限于特定技术词汇,需要说明的是,在本申请实施例中仅以NR系统中的基站为例进行介绍,并不限定基站的具体类型。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.
为了方便理解,以下对本申请实施例涉及的一些内容进行说明:To facilitate understanding, some contents involved in the embodiments of this application are described below:
一、通信感知一体化或通感一体化。1. Communication-perception integration or synaesthesia integration.
无线通信和雷达传感一直在并行发展,但交集有限。它们在信号处理算法、设备以及一定程度上的系统架构方面都有很多共性。近年来,这两个系统在共存、合作和联合设计上受到了越来越多研究人员的关注。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.
早期人们对通信系统和雷达系统共存的问题进行了广泛的研究,研究侧重是开发有效的干扰管理技术,使两个单独部署的系统能够在相互不干扰的情况下平稳运行。虽然雷达和通信系统可能在同一位置,甚至物理上集成,但它们在时间/频率域传输的是不同的两种信号。它们通过合作共享相同的资源,以最大限度地减少同时工作是对彼此之间的干扰。相应的措施包括波束赋形、合作频谱共享、主次频谱共享、动态共存等。然而有效的干扰消除通常对节点的移动性和节点之间的信息交换有着严格的要求,因此频谱效率的提高实际比较有限。由于共存系统中的干扰是由发射两个独立的信号引起的,因此很自然地会问,我们是否可以同时使用一个发射信号同时进行通信和雷达传感。雷达系统通常使用特别设计的波形,如短脉冲和啁啾,能够实现高功率辐射和简化接收机处理。然而这些波形对雷达探测来说不是必需的,无 源雷达或无源传感以不同的无线电信号作为感知信号就是一个很好的例子。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.
机器学习,特别是深度学习技术进一步促进了非专用无线电信号用于雷达传感的潜力。有了这些技术,传统雷达正朝着更通用的无线感知方向发展。这里的无线感知可以广泛地指从接收到的无线电信号中检索信息,而不是在发射机上调制到信号的通信数据。对于感知目标位置相关的无线感知,可以通过常用的信号处理方法,对目标信号反射时延、到达角(Angle of Arrival,AOA)、离开角(Angle of Departure,AOD)和多普勒等动力学参数进行估计;对于感知目标物理特征,可以通过测量设备、对象或者固有模式信号来实现。两种感知方式可以分别称为感知参数估计以及模式识别。在这个意义上,无线感知是指使用无线电信号的更通用的传感技术和应用。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.
通信感知一体化(Integrated Sensing and Communication,ISAC)有潜力将无线感知集成到大规模移动网络中,在这里称为感知移动网络(Perceptive Mobile Networks,PMNs)。PMN可以从目前的第五代移动通信技术(5th-Generation,5G)移动网络演变而来,有望成为一个无处不在的无线传感网络,同时提供稳定高质量的移动通信服务。它可以建立在现有移动网络基础设施之上,而不需要对网络结构和设备进行重大改变。它将释放移动网络的最大能力,并避免花费高昂基础设施成本去额外单独建设新的广域无线传感网络。随着覆盖范围的扩大,综合通信和传感能力有望实现许多新的应用。感知移动网络能够同时提供通信和无线感知服务,并且由于其较大的宽带覆盖范围和强大的基础设施,有可能成为一种无处不在的无线传感解决方案。其联合协调的通信和传感能力将提高我们社会的生产力,并有助于催生出大量现有传感器网络无法有效实现的新应用。利用移动信号进行被动传感的一些早期工作已经证明了它的潜力。例如基于全球移动通信系统(Global System for Mobile Communications,GSM)的无线电信号的交通监控、天气预报和降雨遥感。感知移动网络可以广泛应用于交通、通信、能源、精准农业和安全领域的通信和传感,而现有的解决方案要么不可行,要么效率低下。它还可以为现有的传感器网络提供互补的传感能力,具有独特的昼夜操作功能,能够穿透雾、树叶甚至固体物体。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.
二、阵列雷达。 2. Array radar.
基于相控阵雷达的感知技术,目前具有成熟的硬件实现方案和信号处理方法。相控阵雷达使用整个阵列进行波束赋形,能够形成高增益、高指向性窄波束,利于提高感知信噪比(Signal Noise Ratio,SNR)。然而,相控阵雷达的波束宽度决定了角度分辨率,感知区域较大时需要进行波束扫描,多目标彼此距离小于波束宽度则无法区分;最大可探测目标数量受限。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.
多进多出(Multiple Input Multiple Output,MIMO)雷达不同天线发送信号彼此独立(准正交或正交),一般波束都较宽。通过合理部署天线位置,能够在同样数量天线情况下,能够形成大孔径虚拟阵列,进而提升角度分辨率。此外,MIMO雷达具有较强的杂波抑制能力。准正交指的是不同发射天线发射信号不是完全正交,具备一定互相关性,但互相关性较弱。例如该互相关性用相关系数表示,为<0.5,则认为互相关性较弱。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.
未来通感一体化场景中,基于雷达技术的感知,诸如行人、机动车、无人机等的免设备(device-free)定位和轨迹追踪等,往往需要对某个区域一个或多个目标或事件进行感知,在此之前也可能需要对角度覆盖范围较大的区域先进行检测,识别目标所在大致区域。不同于传统雷达场景,通感一体化场景下,业务覆盖距离一般为几十~几百米,周围环境和物体容易形成显著杂波,对感知性能造成严重影响。通感一体化场景下,信号多径传播对于通信来说能够提升容量,但对于感知来说情况更复杂,一部分会成为杂波,另一部分也可能有助于提升感知性能。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.
未来通信系统很大一部分为MIMO系统,基于阵列雷达的感知技术是一大发展趋势。为了简便,可以将MIMO通感一体化系统简称为MIMO-ISAC系统。MIMO雷达已经广泛应用于雷达探测领域,但在通信感知一体化领域,目前MIMO-ISAC系统的天线选择方法,以及相应的自适应方法均尚不明确。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.
三、MIMO雷达虚拟阵列原理。3. MIMO radar virtual array principle.
MIMO-ISAC系统感知精度的提升同样利用了MIMO雷达中虚拟阵列的概念,下面进行简单介绍。考虑MIMO雷达发射阵列天线总数为M,各发射天线位置坐标为xT,m,m=0,1,...,M-1,接收阵列天线总数为N,各接收天线坐标为xR,n,n=0,1,...,N-1。假设各发射天线发射信号正交,则:
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:
其中,sm(t)表示第m个天线的发送信号,sk(t)表示第k个天线的发送信号,δmk为狄拉克函数。此时接收机每个接收天线使用M个匹配滤波器分离发射信号,因此接收机总共得到NM个接收信号。考虑1个远场点目标,则第n个接收天线的第m个匹配滤波器得到的目标响应可以表示为:
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:
其中ut为1个从雷达发射机指向点目标的单位向量,α(t)为点目标的反射系数,λ为发射信号载频波长。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.
可以看到反射信号的相位由发射天线和接收天线共同确定。等效地,等式(2)的目标响应与1个天线数为NM的阵列得到的目标响应完全相同,该等效阵列天线位置坐标为:
{xT,m+xR,n|m=0,1,...,M-1;n=0,1,...,N-1}            (3)
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)
应理解,MIMO雷达实际部署时,通过合理设置发射阵列和/或接收阵列位置,仅仅通过N+M个物理天线,就能构造出包含NM个互不重叠的虚拟天线的阵列。由于虚拟阵列往往能够形成更大的阵列孔径,因此能够获得更好的角度分辨率。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.
若存在L个目标,假设各发射天线发送信号存在一定相关性,MIMO雷达经过距离-多普勒滤波之后的(这里只分析角度估计,假设时延和多普勒参数在接收机侧已进行过补偿)接收信号为:
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:
其中,αl为第l个目标反射系数和反射时延,T0为发送信号长度,且A(θ)满足:
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:
其中,

s(t)=[s1(t),...,sM(t)]T             (8)
in,

s(t)=[s 1 (t),...,s M (t)] T (8)
其中,A(θ)为N×M的MIMO雷达导向矢量矩阵,等式(6)(7)分别为接收和发射阵列导向矢量,τT,m,m=0,1,...,M-1和τR,n,n=0,1,...,N-1分别为发射和接收阵列相对参考点的信号传播时延。各发射天线发送信号相关矩阵为
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
其中,βij为第i个发射天线和第j个发射天线发送信号的相关系数。Among them, β ij is the correlation coefficient of the signal sent by the i-th transmitting antenna and the j-th transmitting antenna.
可以证明[5,Appendix 4A],等式(4)对参数θ的最大似然估计可以根据NM×1向量得到:
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:
一般为了接收机算法复杂度的简化,希望η为统计独立的充分统计量[5]。对发送信号相关矩阵做特征值分解,有Rs=UΛUH,相应地,实际发送信号可以看作是一组正交信号的线性变换,即:
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:
代入等式(4)且由于得到:
Substitute into equation (4) and since get:
相应地,等式(10)变为
Correspondingly, equation (10) becomes
其中,维度为NM×1的等效虚拟导向矢量表示为:
d(θl)=vec(A(θl)UΛ1/2)           (14)
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)
对于相控阵雷达,各发射天线信号是相干的,此时Rs=uuH仅包含1个非零特征值,所以此时,
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,
此时虚拟阵列的有效阵元数仅为N。对于各发射天线发射信号完全正交的MIMO雷达,有Rs=IM×M以及UΛ1/2=IM×M,此时
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
由上可见,各发射天线发送信号间的正交性(相关性)会影响MIMO雷达的虚拟阵列有效阵元数,进而影响接收机侧信号处理的灵活性。为此,提出本申请的感知处理方法。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.
下面结合附图,通过一些实施例及其应用场景对本申请实施例提供的感知处理方法进行详细地说明。 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.
参照图2,本申请实施例提供了一种感知处理方法,如图2所示,该感知处理方法包括: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:
步骤201,在目标信息发生变化的情况下,第一设备基于目标信息确定第一配置信息;Step 201: When the target information changes, the first device determines the first configuration information based on the target information;
步骤202,所述第一设备发送第一配置信息;Step 202: The first device sends first configuration information;
其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项。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.
可选地,上述目标信息可以理解为用于确定是否进行天线选择信息和信号配置信息更新的信息。在一些实施例中,该目标信息可以包括以下至少一项: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:
在预设时间段内执行所述第一信号关联的第一业务获得的感知结果;The sensing result obtained by executing the first service associated with the first signal within a preset time period;
所述目标感知设备在所述预设时间段内执行所述第一业务的天线选择信息;The target sensing device executes the antenna selection information of the first service within the preset time period;
所述目标感知设备的天线阵列信息;Antenna array information of the target sensing device;
感知目标的第一状态信息;Perceive the first status information of the target;
信道信息;channel information;
与所述第一业务关联的资源信息;Resource information associated with the first service;
用于确定感知设备的第一信息。First information used to determine the sensing device.
需要说明的是,在满足预设条件的情况下,将会导致上述目标信息发生变化,该预设条件可以包括以下至少一项: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:
所述感知目标的动力学参数发生变化,所述动力学参数包括速度、角度和距离中的至少一项;The dynamic parameters of the sensing target change, and the dynamic parameters include at least one of speed, angle and distance;
感知区域内感知目标数量或密度发生变化;Changes in the number or density of perceived targets within the sensing area;
感知区域内环境杂波发生变化;Changes in environmental clutter within the sensing area;
感知区域环境干扰发生变化;Sensing changes in regional environmental interference;
可用的业务时频资源发生变化;Available business time-frequency resources change;
可用的天线资源发生变化;Available antenna resources change;
所述第一信号发生变化。 The first signal changes.
其中,上述目标数量、密度和环境干扰发生变化可以理解为相应的参数值的变化量大于预设的门限值。由于以上各参数的变化会对感知的性能产生影响,通过自适应调整天线选择信息,从而可以保持或提高感知性能。可用的天线资源发生变化可以理解为,所有执行第一业务的感知设备整体可用的天线资源发生变化,例如,某一个感知设备上可用的天线资源发生变化导致整体可用的天线资源发生变化,也可以为增加或者减少或者更新感知设备导致整体可用的天线资源发生变化。上述第一信号发生变化,可以理解为第一信号的正交方式、序列发生变化,或者第一信号中至少一个发射天线的信号的序列发生变化。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.
本申请实施例中,第一设备可以从与第一信号关联的至少一个感知设备接收目标信息,第一设备也可以从至少一个感知设备接收目标信息中的部分信息,且第一感知设备计算确定目标信息中的另一部分信息,第一设备还可以直接计算确定目标信息,在此不做进一步的限定。其中,感知设备可以称之为感知节点,感知设备包括上述发送设备和接收设备。该发送设备和接收设备可为同一设备或者不同的设备。上述第一设备可以理解为网络侧设备,具体的,可以为核心网中的设备或者为基站。应理解,根据目标信息确定第一配置信息可以理解为,根据目标感知设备的目标信息确定第一配置信息,也可以根据目标感知设备和至少一个感知设备中的其他感知设备的目标信息联合确定第一配置信息。例如,在一些实施例中,在感知目标与目标感知设备之间的距离发生变化,使得需要增加或者减少目标感知设备的天线资源时,可以联合所有的感知设备的目标信息确定第一配置信息。例如,在一些实施例中,在目标感知设备的信道信息发生变化的情况下,可以基于目标感知设备的目标信息确定第一配置信息。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.
可选地,上述第一配置信息可以包括发送设备的第一配置信息和接收设备的第一配置信息。在需要对发送设备的天线选择信息进行更新的情况下,上述目标感知设备包括发送设备;在需要对接收设备的天线选择信息进行更新的情况下,上述目标感知设备包括接收设备。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.
可选地,在一些实施例中,所述第一信号为多输入多输出通信感知一体化MIMO-ISAC系统中各发射天线发射信号的集合,所述MIMO-ISAC系统 中各发射天线的发射信号彼此相互正交或准正交。应理解,在MIMO-ISAC系统中,各发射天线信号可以是只有感知功能的、不包含传输信息的信号,如现有的同步和参考信号中使用伪随机序列,包括m序列、Zadoff-Chu序列、Gold序列等,也可以是雷达常用的单频连续波(Continuous Wave,CW)、调频连续波(Frequency Modulated CW,FMCW),以及超宽带高斯脉冲等;也可以是新设计的专用感知信号,具有良好的相关特性和低峰均功率比(Peak to Average Power Ratio,PAPR),或者新设计的通感一体化信号,既承载一定信息,同时具有较好的感知性能。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.
可选地,上述第一状态信息可以包括一项或者多项测量参数值,例如可以包括感知目标的位置坐标、感知目标相对所述发送设备的距离和感知目标的移动速度等测量参数值,在对感知目标进行感知测量前,可以基于感知目标的先验信息确定该第一状态信息,在执行感知测量后,可以基于感知测量获得的测量参数值更新第一状态信息。上述感知结果可以基于一次或者多次感知测量获得的测量参数值确定。以下对此进行示例性说明: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:
在一些实施例中,该感知结果可以为一次感知测量获得的感知参数值,例如,在对感知目标进行位置感知的感知场景中,该感知结果可以为感知目标的位置坐标。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.
在一些实施例中,该感知结果可以为基于一次感知测量获得的感知参数值确定的目标结果,例如,在对感知目标进行轮廓感知的感知场景中,该感知结果可以基于感知目标的位置坐标、感知目标的离开方位角和离开俯仰角等多个感知参数值进行计算确定。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.
在一些实施例中,该感知结果可以基于多次感知测量获得的感知参数值确定,例如,在对感知目标进行轨迹感知的感知场景中,该感知结果可以为多次执行感知测量获得的感知目标的位置坐标确定的轨迹。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.
上述第一业务可以理解为感知业务或通感一体化业务。上述预设时间段可以理解为第一设备确定第一配置信息之前的一段时间,即进行天线选择信息和信号配置信息更新之前的一段时间。也就是说,可以基于天线选择信息和信号配置信息更新之前的预设时间段内执行感知业务的感知结果对天线选择信息和信号配置信息进行更新。这样,由于根据目标信息确定第一配置信 息,从而可以根据当前的感知环境对目标感知设备的天线选择信息和信号配置信息进行更新,进而可以有效提升感知性能。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.
可选地,所述信号配置信息包括以下至少一项:Optionally, the signal configuration information includes at least one of the following:
资源周期类参数,所述资源周期类参数用于控制所述第一信号资源的时域重复周期、时域重复次数、频域重复周期和频域重复次数中的至少一项;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;
资源位置类参数,所述资源位置类参数用于控制所述第一信号资源的时频位置;Resource location parameters, which are used to control the time-frequency location of the first signal resource;
资源图样类参数,所述资源图样类参数用于控制所述第一信号资源的基本时频图样;Resource pattern parameters, the resource pattern parameters are used to control the basic time-frequency pattern of the first signal resource;
资源调制类参数,所述资源调制类参数用于控制所述第一信号相位调制;Resource modulation parameters, the resource modulation parameters are used to control the phase modulation of the first signal;
资源编码类参数,所述资源编码类参数用于控制基于码分复用(Code Division Multiplexing,CDM)的所述第一信号的正交码资源配置;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);
信号序列类型;Signal sequence type;
信号序列长度;Signal sequence length;
用于生产所述第一信号的初始种子。The initial seed used to produce the first signal.
可选地,资源周期类参数以下至少一项:资源集周期、资源重复系数、资源时间间隙和子载波间隔。Optionally, the resource period parameter includes at least one of the following: resource set period, resource repetition coefficient, resource time gap, and subcarrier spacing.
上述资源位置类参数包括以下至少一项:资源起始频率、资源集时隙偏移、资源单元偏移、资源时隙偏移和资源符号偏移。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.
可选地,资源图样类参数包括以下至少一项:资源时隙内符号数、资源梳状大小和静默图样。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.
可选地,所述各发射天线的发射信号的正交类型包括以下至少一项:时分复用(Time division multiplexing,TDM)、频分复用(Frequency Division Multiplex,FDM)、多普勒频分复用(Doppler Division Multiplexing,DDM)和码分复用(Code Division Multiplexing,CDM)。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).
本申请实施例中,在所述各发射天线的发射信号的正交类型包括TDM时,可以理解为发射天线的发射信号包括TDM信号;在所述各发射天线的发射信号的正交类型包括FDM时,可以理解为发射天线的发射信号包括FDM信号;在所述各发射天线的发射信号的正交类型包括DDM时,可以理解为发 射天线的发射信号包括DDM信号;在所述各发射天线的发射信号的正交类型包括CDM时,可以理解为发射天线的发射信号包括CDM信号。进一步,当各发射天线的发射信号的正交类型包括两种正交类型的情况下,发射天线的发射信号可以理解为两种信号的组合,例如,在所述各发射天线的发射信号的正交类型包括TDM和FDM时,可以理解为发射天线的发射信号包括TDM信号和FDM信号的组合。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.
可选地,所述MIMO-ISAC系统中的各发射天线的发射信号相互正交或准正交包括以下至少一项: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:
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的时域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal time domain resources;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的频域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal frequency domain resources;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号使用相同的频域图样,且所述MIMO-ISAC系统中的各发射天线的发射信号分别在互不相同的发送时刻发送;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;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别为预设时频图样在频域和/或时域的不同循环移位版本;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;
所述MIMO-ISAC系统中的各发射天线的发射信号具备多个脉冲周期,其频域资源部分重叠或者完全不重叠,且在多个不同信号脉冲周期间各发射天线的发射信号按照预设规则改变所使用的频域资源;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;
所述MIMO-ISAC系统中至少两个发射天线的发射信号使用第一时域资源,所述MIMO-ISAC系统中至少一个发射天线的发射信号使用第二时域资源,其中,所述第一时域资源与所述第二时域资源相互正交,且使用所述第一时域资源的至少两个发射天线的发射信号使用相互正交的频域资源;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;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的码域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal code domain resources;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的多普勒频域资源。The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal Doppler frequency domain resources.
其中,至少两个发射天线的发射信号分别使用相互正交的码域资源可以理解 为至少两个发射天线中不同发射天线的发射信号分别乘上一组正交编码(例如,阿达马(Hadamard)码、沃尔什(Walsh)码等)实现,此时,可以理解为发射天线的发射信号包括CDM信号。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.
针对所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的多普勒频域资源,可以理解为发射天线的发射信号包括DDM信号。例如,在一些实施例中,所述多个信号包括至少两个DDM信号,且所述至少两个DDM信号分别通过不同的发射天线发送。所述至少两个DDM信号的脉冲初始相位或者目标相位的变化率不同,其中,所述目标相位为脉冲内不同采样时刻的DDM信号相位。可选地,所述至少两个DDM信号满足以下任一项: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:
同一发射天线发送的DDM信号的脉冲初始相位随时间线性变化,脉冲内不同采样时刻的信号相位保持恒定;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;
同一发射天线发送的DDM信号的目标相位随时间线性变化。The target phase of the DDM signal transmitted by the same transmitting antenna changes linearly with time.
可选地,在一些实施例中,所述第一设备获取至少一个感知设备的第二信息,所述至少一个感知设备包括所述目标感知设备;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;
所述第一设备根据所述第二信息确定目标配置参数;The first device determines target configuration parameters according to the second information;
所述第一设备向所述至少一个感知设备发送所述目标配置参数,所述目标配置参数用于所述至少一个感知设备执行所述第一信号关联的第一业务。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.
本申请实施例中,上述目标配置参数可以包括发送设备的初始配置参数和接收设备的初始配置参数。上述感知设备可以仅包括发送设备或接收设备,也可以包括发送设备和接收设备,例如在上述感知设备为发送设备或接收设备的情况下,所述第一设备向至少一个感知设备发送所述目标配置参数可以理解为:第一设备可以向每一感知设备发送对应的初始配置参数,也可以向每一感知设备发送所有感知设备的初始配置参数。即向发送设备发送该发送设备的初始配置参数,或者向发送设备发送该发设备的初始配置参数和接收设备的初始配置参数。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.
可选地,所述目标配置参数包括所述第一信号的信号配置信息、发送设备的天线选择信息和接收设备的天线选择信息。该目标配置参数可以理解为至少部分初始配置参数。即目标配置参数包括发送设备和接收设置初次执行 第一业务所需要的所有初始配置参数中的部分或全部的初始配置参数。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.
可选地,在一些实施例中,所述方法还包括:Optionally, in some embodiments, the method further includes:
所述第一设备获取至少两个感知设备的第二信息,所述至少两个感知设备包括所述目标感知设备;The first device obtains second information of at least two sensing devices, and the at least two sensing devices include the target sensing device;
所述第一设备根据所述至少两个感知设备中发送设备的第二信息确定第一配置参数,所述第一配置参数用于所述发送设备执行所述第一信号关联的第一业务;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;
所述第一设备向所述发送设备发送所述第一配置参数和接收设备的第二信息,所述接收设备的第二信息用于确定第二配置参数,所述第二配置参数用于所述至少两个感知设备中接收设备执行所述第一业务。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.
本申请实施例中,可以由各个感知设备上报各自的天线阵列信息、第一状态信息、信道信息和资源信息。例如,发送设备和接收设备为不同的感知设备时,发送设备可以上报发送设备的天线阵列信息、第一状态信息和资源信息,接收设备可以上报接收设备的天线阵列信息、第一状态信息、信道信息和资源信息。该第一配置参数可以理解为至少部分初始配置参数。即第一配置参数包括发送设备初次执行第一业务所需要的所有初始配置参数中的部分或全部的初始配置参数;该第二配置参数可以理解为至少部分初始配置参数。即第二配置参数包括接收设备初次执行第一业务所需要的所有初始配置参数中的部分或全部的初始配置参数。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.
可选地,在一些实施例中,所述第一配置参数包括所述第一信号的信号配置信息和发送设备的天线选择信息。Optionally, in some embodiments, the first configuration parameter includes signal configuration information of the first signal and antenna selection information of the sending device.
可选地,在一些实施例中,所述第二配置参数包括所述第一信号的信号配置信息和接收设备的天线选择信息。Optionally, in some embodiments, the second configuration parameter includes signal configuration information of the first signal and antenna selection information of the receiving device.
可选地,上述第二信息包含的内容可以根据实际需要进行设置,例如,在一些实施例中,所述第二信息包括以下至少一项:天线阵列信息、感知目标的第一状态信息、信道信息、与所述第一业务关联的资源信息和用于确定感知设备的第一信息。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.
需要说明的是,计算上述感知结果的计算设备可以第一设备,也可以是感知设备,在此不做进一步的限定。计算节点可以基于第三信息计算获得感 知结果,若计算节点缺少第三信息中的一个或多个时,可以从其他设备获取缺少的信息。例如,在一些实施例中,第一设备为计算设备时,所述方法还包括: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:
所述第一设备获取第三信息;The first device obtains third information;
所述第一设备根据所述第三信息计算获得所述感知结果;The first device calculates and obtains the sensing result based on the third information;
其中,所述第三信息包括:Wherein, the third information includes:
发送设备的天线阵列信息;The antenna array information of the sending device;
发送设备的天线选择信息或基于所述发送设备的天线选择信息确定的第一导向矢量;Antenna selection information of the transmitting device or a first steering vector determined based on the antenna selection information of the transmitting device;
接收设备的天线阵列信息;Antenna array information of the receiving device;
接收设备的天线选择信息或基于所述接收设备的天线选择信息确定的第二导向矢量;Antenna selection information of the receiving device or a second steering vector determined based on the antenna selection information of the receiving device;
所述第一信号的信号配置信息。Signal configuration information of the first signal.
应理解,上述天线阵列信息用于确定导向矢量(包括上述第一导向矢量和第二导向失灵),该导向矢量可以由感知设备确定也可以由第一设备确定。需要说明的是,在第一设备发送第一配置信息后,第一设备需要获取基于该第一配置信息进行天线选择信息和信号配置信息更新的感知设备更新后的第三信息。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.
为了降低传输开销,感知设备上报的天线阵列信息可以仅包括部分天线阵列信息,例如仅包括选择的面板(panel)和/或天线阵元相对阵列上某个局部参考点的位置信息。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.
可选地,上述信号配置信息可以包括以下至少一项:Optionally, the above signal configuration information may include at least one of the following:
资源位置类参数,所述资源位置类参数用于控制所述第一信号资源的时频位置;Resource location parameters, which are used to control the time-frequency location of the first signal resource;
资源图样类参数,所述资源图样类参数用于控制所述第一信号资源的基本时频图样;Resource pattern parameters, the resource pattern parameters are used to control the basic time-frequency pattern of the first signal resource;
资源调制类参数,所述资源调制类参数用于控制所述第一信号相位调制;Resource modulation parameters, the resource modulation parameters are used to control the phase modulation of the first signal;
资源编码类参数,所述资源编码类参数用于控制基于码分复用CDM的所述第一信号的正交码资源配置; 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;
信号序列类型;Signal sequence type;
信号序列长度;Signal sequence length;
用于生产所述第一信号的初始种子。The initial seed used to produce the first signal.
可选地,在一些实施例中,上述信号配置信息还可以包括信号相关矩阵和波束赋形矩阵中的至少一项。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.
需要说明的是,上述信号相关矩阵和波束赋形矩阵可以由第一设备计算获得,也可以由感知设备计算获得。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.
可选地,所述第三信息满足以下至少一项:Optionally, the third information satisfies at least one of the following:
在所述发送设备进行预编码的情况下,所述第三信息还包括预编码信息;In the case where the sending device performs precoding, the third information also includes precoding information;
在所述发送设备进行波束赋形的情况下,所述第三信息还包括波束赋形矩阵信息。When the sending device performs beam forming, the third information further includes beam forming matrix information.
可选地,所述第一设备获取第三信息包括以下任一项:Optionally, the first device obtaining the third information includes any of the following:
在所述第一设备的本地存储有所述第三信息的全部信息的情况下,所述第一设备获取本地存储的所述第三信息;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;
在所述第一设备的本地存储有第一子信息,且未存储有第二子信息的情况下,所述第一设备获取本地存储的所述第一子信息,并从至少一个感知设备获取所述第二子信息,所述第一子信息为所述第三信息中的一部分信息,所述第二子信息为所述第三信息中的另一部分信息;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;
在所述第一设备的本地存储有所述第三信息的全部信息的情况下,所述第一设备从至少一个感知设备获取所述第三信息。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.
可选地,在一些实施例中,所述第一设备不为计算设备时,第一设备可以向计算设备发送至少部分第三信息。例如,所述方法还包括: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:
所述第一设备向计算设备发送第四信息,所述第四信息用于计算所述感知结果,所述计算设备为用于计算所述感知结果的设备,所述第四信息包括以下至少一项: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:
发送设备的天线阵列信息;The antenna array information of the sending device;
发送设备的天线选择信息或基于所述发送设备的天线选择信息确定的第一导向矢量;Antenna selection information of the transmitting device or a first steering vector determined based on the antenna selection information of the transmitting device;
接收设备的天线阵列信息; Antenna array information of the receiving device;
接收设备的天线选择信息或基于所述接收设备的天线选择信息确定的第二导向矢量;Antenna selection information of the receiving device or a second steering vector determined based on the antenna selection information of the receiving device;
第一信号的信号配置信息。Signal configuration information of the first signal.
本申请实施例中,该第四信息可以为第三信息中的至少部分信息。可选地,所述第四信息满足以下至少一项: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:
在所述发送设备进行预编码的情况下,所述第四信息还包括预编码信息;In the case where the sending device performs precoding, the fourth information also includes precoding information;
在所述发送设备进行波束赋形的情况下,所述第四信息还包括波束赋形矩阵信息。When the sending device performs beamforming, the fourth information further includes beamforming matrix information.
进一步地,在计算设备计算获得感知结果之后,计算设备可以将感知结果发送给第一设备,以供第一设备进行天线选择信息的更新。也就是说,所述第一设备向计算设备发送第四信息之后,所述方法还包括: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:
所述第一设备从所述计算设备接收所述感知结果。The first device receives the sensing results from the computing device.
可选地,所述天线选择信息包括以下至少一项:Optionally, the antenna selection information includes at least one of the following:
发送所述第一信号的天线阵元的标识;The identification of the antenna array element that sent the first signal;
接收所述第一信号的天线阵元的标识;The identification of the antenna array element that receives the first signal;
发送所述第一信号的第一天线面板的标识;An identification of the first antenna panel transmitting the first signal;
接收所述第一信号的第二天线面板的标识;An identification of the second antenna panel that receives the first signal;
发送所述第一信号的天线阵元相对天线阵列的预设局部参考点的位置信息;Position information of the antenna element that sends the first signal relative to a preset local reference point of the antenna array;
接收所述第一信号的天线阵元相对天线阵列的预设局部参考点的位置信息;Position information of the antenna array element that receives the first signal relative to a preset local reference point of the antenna array;
发送所述第一信号的第一天线面板相对天线阵列的预设局部参考点的位置信息以及所述第一天线面板内用于发送所述第一信号的天线阵元相对所述第一天线面板的预设统一参考点的位置信息;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;
接收所述第一信号的第二天线面板相对天线阵列的预设局部参考点的位置信息以及所述第二天线面板内用于接收所述第一信号的天线阵元相对所述第二天线面板的预设统一参考点的位置信息;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;
天线阵元的位映射信息;Bit mapping information of antenna array elements;
阵列天线面板的位映射信息。 Bit mapping information for the array antenna panel.
应理解,上述标识具体可以为索引标识。It should be understood that the above identification may specifically be an index identification.
上述位置信息可以采用笛卡尔坐标(x,y,z)或者球坐标表示。上述位映射(Bitmap)信息可以称之为位图信息,其中,该天线阵元的bitmap使用“1”指示阵元被选择用于发送和/或接收第一信号,使用“0”表示阵元未被选择。该阵列天线面板的bitmap使用“1”指示阵元被选择用于发送和/或接收第一信号,使用“0”表示阵元未被选择(也可以反过来)。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).
可选地,在一些实施例中,所述天线阵列信息包括以下至少一项:Optionally, in some embodiments, the antenna array information includes at least one of the following:
可用于所述第一信号关联的第一业务的可用第一标识集合,所述第一标识为天线阵元的标识;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;
所述第一标识与天线阵元在天线阵列所处位置的映射关系;The mapping relationship between the first identifier and the position of the antenna array element in the antenna array;
在天线阵列包括至少两个天线面板的情况下,第二标识与天线面板在天线阵列所处位置的映射关系,所述第二标识为天线面板的标识;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;
天线阵元的位映射规则;Bit mapping rules for antenna array elements;
在天线阵列包括至少两个天线面板的情况下,天线面板的位映射规则和单个天线面板内天线阵元的位映射规则;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;
天线阵列类型;Antenna array type;
天线阵列包含的天线面板的数量;The number of antenna panels included in the antenna array;
天线阵列包含的天线阵元的数量;The number of antenna elements contained in the antenna array;
天线阵列预先确定的局部参考点的位置信息;Position information of the predetermined local reference point of the antenna array;
在天线阵列包括至少两个天线面板的情况下,天线面板相对于天线阵列的局部参考点的位置信息;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;
天线阵元相对天线阵列上预设局部参考点的位置信息;The position information of the antenna array element relative to the preset local reference point on the antenna array;
在天线阵列包括至少两个天线面板的情况下,每个所述天线面板内天线阵元相对于所述天线面板内预设统一参考点的位置信息;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;
所述第一标识的天线极化方式;The antenna polarization mode of the first identification;
至少部分天线阵元的三维或二维方向图信息。Three-dimensional or two-dimensional pattern information of at least part of the antenna array elements.
其中,阵元标识(Identity,ID)可以是唯一的,与阵元一一对应;在阵列具有多个天线面板情况下,天线ID可以不唯一,但天线面板ID唯一,通过天线面板ID+阵元ID唯一确定某个阵元。 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.
假设64阵元阵列,需要8byte(64bit)指示天线阵元位映射规则。Assuming a 64-element array, 8 bytes (64 bits) are required to indicate the antenna array element bit mapping rules.
可选地,天线阵列类型可以包括例面阵、线阵、圆阵、圆柱阵、2D不规则阵列和3D阵列等。Optionally, the antenna array type may include, for example, area array, linear array, circular array, cylindrical array, 2D irregular array, 3D array, etc.
可选地,在一些实施例中,在天线阵列包括至少两个天线面板的情况下,所述天线阵列信息满足以下至少一项: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:
若天线面板是均匀线阵或面阵,所述天线阵列信息还可以包括:水平方向相邻天线面板(panel)间距、垂直方向相邻panel间距、水平方向panel数量和垂直方向panel数量;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;
若天线面板是均匀圆阵或圆柱阵,所述天线阵列信息还可以包括:单层圆阵panel到圆心距离R、单层圆阵相邻panel与圆心连线间夹角、相邻圆阵panel间距,单层圆阵panel数量、圆柱阵轴心方向panel数量(数量为1则是单个圆阵)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)
若天线面板是不规则/不均匀2D阵列或3D阵列,所述天线阵列信息还可以包括:panel相对天线阵列上某个局部参考点的位置坐标(可以用笛卡尔坐标(x,y,z)或者球坐标表示,以列表形式体现)、panel数量;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;
单个panel内水平方向相邻阵元间距、单个panel内垂直方向相邻阵元间距、单个panel内水平方向阵元数量、单个panel内垂直方向阵元数量。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.
其中,panel间的间隔,可以以其上某个统一的局部参考点进行衡量,例如各个panel的中心点。Among them, the interval between panels can be measured by a unified local reference point, such as the center point of each panel.
可选地,在一些实施例中,所述天线阵列信息满足以下至少一项:Optionally, in some embodiments, the antenna array information satisfies at least one of the following:
若天线阵元是均匀线阵或面阵,所述天线阵列信息还可以包括:水平方向相邻阵元间距、垂直方向阵元间距、水平方向阵元数量、垂直方向阵元数量;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;
若天线阵元是均匀圆阵或圆柱阵,所述天线阵列信息还可以包括:单层圆阵阵元到圆心距离R、单层圆阵相邻阵元与圆心连线间夹角、圆柱阵轴心方向相邻阵元间距,单层圆阵阵元数量、圆柱阵轴心方向阵元数量(数量为1则是单个圆阵)。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).
若天线阵元是不规则/不均匀2D阵列或3D阵列,所述天线阵列信息还可以包括:阵元相对天线阵列上某个局部参考点的位置坐标(可以用笛卡尔 坐标(x,y,z)或者球坐标表示,以列表形式体现)、阵元数量。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.
可选地,上述天线极化方式可以包括垂直极化、水平极化、±45°极化和圆极化等。Optionally, the above-mentioned antenna polarization methods may include vertical polarization, horizontal polarization, ±45° polarization, circular polarization, etc.
所述第一状态信息包括以下至少一项:The first status information includes at least one of the following:
发送设备的第一测量参数的第一测量值,所述第一测量参数包括感知目标的离开方位角(Azimuth of Departure,AOD)和离开俯仰角(Elevation of Departure,EOD)中的至少一项;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;
接收设备的第二测量参数的第二测量值,所述第二测量参数包括感知目标的到达方位角(Azimuth of Arrival,AOA)和到达俯仰角(Elevation of Arrival,EOA)中的至少一项;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;
至少两次感知测量获得的所述第一测量值的标准差或方差;the standard deviation or variance of said first measurement obtained from at least two perceptual measurements;
至少两次感知测量获得的所述第二测量值的标准差或方差;the standard deviation or variance of said second measurement value obtained from at least two perceptual measurements;
至少两个第一值的均值、标准差或方差,所述第一值为一次感知测量获得的所述第一测量值与所述第一测量参数对应的第一预测值的差值;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;
至少两个第二值的均值、标准差或方差,所述第二值为一次感知测量获得的所述第二测量值与所述第二测量参数对应的第二预测值的差值;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;
所述感知目标相对所述发送设备的距离;The distance of the sensing target relative to the sending device;
所述感知目标相对所述接收设备的距离;The distance of the sensing target relative to the receiving device;
所述感知目标的移动速度;The moving speed of the sensing target;
所述感知目标的移动方向;The movement direction of the sensing target;
第一速度分量,所述第一速度分量为一次感知测量获得的所述感知目标在预设笛卡尔坐标系上至少一个坐标轴方向上的速度分量大小;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;
至少两次感知测量获得的所述第一速度分量的均值、标准差或方差;the mean, standard deviation or variance of said first velocity component obtained from at least two perceptual measurements;
至少两个第三值的均值、标准差或方差,所述第三值为一次感知测量获得的所述第一速度分量与速度分量对应的第三预测值的差值;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;
所述感知目标的位置坐标;The position coordinates of the sensing target;
至少两次感知测量获得的所述感知目标的位置坐标的均值、标准差或方差;The mean, standard deviation or variance of the position coordinates of the sensing target obtained from at least two sensing measurements;
至少两个第四值的均值、标准差或方差,所述第四值为一次感知测量获 得的所述感知目标的位置坐标和与所述位置坐标对应的第四预测值的差值;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;
所述接收设备上至少一个天线阵元上接收到的所述第一信号的第三测量参数的第三测量值,所述第三测量参数包括接收功率、信噪比SNR和信号与干扰加噪声比(Signal-to-Noise and Interference Ratio,SINR);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);
至少两个所述第三测量值的均值、标准差或方差;the mean, standard deviation or variance of at least two said third measurements;
至少两个第五值的均值、标准差或方差,所述第五值为一次感知测量获得的所述第三测量值与所述第三测量参数对应的第五预测值的差值;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;
所述接收设备的天线阵列中至少两个天线阵元之间接收到的第一信号的均值、标准差或方差;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;
所述感知目标的功率谱的第四测量参数的第四测量值,所述第四测量参数包括第一信号接收信号平均角度和第一信号接收信号的角度扩展中的至少一项;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;
至少两个第六值的均值、标准差或方差,所述第六值为一次感知测量获得的所述第四测量值与所述第四测量参数对应的第六预测值的差值;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;
所述感知目标的时延功率谱的第五测量参数的第五测量值,所述第五测量参数包括第一信号接收信号平均时延和第一信号接收信号的时延扩展中的至少一项;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 ;
至少两个第七值的均值、标准差或方差,所述第七值为一次感知测量获得的所述第五测量值与所述第五测量参数对应的第七预测值的差值;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;
所述感知目标的多普勒功率谱的第六测量参数的第六测量值,所述第六测量参数包括第一信号接收信号平均多普勒频移和第一信号接收信号的多普勒扩展中的至少一项;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;
至少两个第八值的均值、标准差或方差,所述第八值为一次感知测量获得的所述第六测量值与所述第六测量参数对应的第八预测值的差值;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;
环境杂波(Clutter)功率;Environmental clutter (Clutter) power;
至少两个第九值的均值、标准差或方差,所述第九值为一次感知测量获得的所述环境杂波功率与所述环境杂波功率对应的第九预测值的差值;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;
第七测量参数的第七测量值,所述第七测量参数包括环境杂波的多普勒带宽和环境杂波与感知目标叠加的多普勒带宽中的至少一项; 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;
至少两个第十值的均值、标准差或方差,所述第十值为一次感知测量获得的所述第七测量值与所述第七测量参数对应的第十预测值的差值;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;
预设感知区域内感知目标的数量;The number of sensing targets in the preset sensing area;
预设感知区域内感知目标的密度;The density of sensing targets in the preset sensing area;
在感知区域发生变化的情况下,感知区域的位置坐标以及物理范围大小相关的参数。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.
可选地,上述第一信号接收信号平均角度、第一信号接收信号平均时延和第一信号接收信号平均多普勒频移可以称之为一阶统计量。上述第一信号接收信号平均角度扩展、第一信号接收信号平均时延扩展和第一信号接收信号平均多普勒频移扩展可以称之为二阶统计量。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.
可选地,在一些实施例中,所述信道信息包括发送设备和接收设备之间任一天线对的第五信息,所述第五信息包括以下至少一项:信道传输函数、信道冲击响应、信道状态信息(Channel State Information,CSI)、信道质量指示(Channel Quality Indicator,CQI)、秩指示(Rank Indication,RI)和与通信相关的性能指标。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.
其中,与通信相关的性能指标可以包括信号接收功率(Reference Signal Received Power,RSRP)、SNR、SINR、传输速率/吞吐量、频谱效率、误码率和误块率等。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.
可选地,在一些实施例中,所述资源信息包括可用于所述第一信号关联的第一业务的目标资源的资源数量,所述目标资源包括以下至少一项:时间资源、频率资源、天线资源、DDM相位调制器资源和正交码资源。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.
其中,天线资源可以包括天线阵列数或天线子阵列数。The antenna resources may include the number of antenna arrays or the number of antenna sub-arrays.
可选地,在一些实施例中,所述第一信息包括以下至少一项:感知需求、业务类型、感知服务质量(Quality of Service,QoS)或通感一体化QoS、感知区域的先验信息和感知目标的先验信息。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.
需要说明的是,上述发送设备的数量可以为一个或者多个,上述接收设备的数量可以为一个或者多个。上述发送设备和接收设备的天线阵列中所选择的天线组数不少于1组。即同感知节点,根据可用天线资源,可以同时进行多个感知/通感一体化业务,每个业务对应1组选择天线。 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.
可选地,发送设备和/或接收设备的部分或全部天线阵列信息可以在网络部署时预存在第一设备中。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.
可选地,发送设备和/或接收设备执行天线选择后的虚拟天线阵列可以存在虚拟阵元重叠,实现在单个天线阵元发射功率固定的情况下,通过天线选择提升第一信号接收SNR。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.
可选地,本申请实施例中天线和天线阵元为同一含义,其在物理上也可以是包含多个天线阵元的天线子阵列。在逻辑上,1个天线阵元或者1个天线子阵列对应1个天线端口(Antenna Port)或者资源ID(Resource Identity),因此选择的对象也可以认为是天线端口或者资源ID。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.
为了更好的理解本申请,以下通过一些实施例对天线选择和信号配置联合自适应进行说明。In order to better understand this application, joint adaptation of antenna selection and signal configuration is described below through some embodiments.
可选地,在一些实施例中,在感知目标的轨迹追踪感知场景中,距离或方向变化,需要改变天线间距或者改变天线间距和数量,以及改变信号配置信息,来维持或提高角度分辨率。感知目标可以为机动车、自行车、无人机、行人等移动目标。感知方式可以是节点A发第一信号,节点B接收的方式,也可以是节点A自发自收第一信号。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.
如图3所示,以无人机轨迹追踪为例进行说明,假设节点A为终端,节点B为基站,对某个感知区域内的无人机进行轨迹追踪感知。相对基站,无人机的距离由远及近,且在位置3处改变方向向上飞行。在位置1处,由于无人机距离基站较远,对其定位需要较高的角度分辨率,终端的天线阵元{A1,A2}发送第一信号,基站天线阵元{B1,B2,B3,B4,B5}接收,这样构造出来的虚拟阵列能在水平方向具有较大孔径。此时可使用阶段1的第一信号(TDM+FDM信号),保证MIMO-ISAC系统具有一定的距离分辨率以及较低的距离和多普勒旁瓣,适当降低多普勒无模糊范围;当无人机到达位置2处,无人机距离基站已较近,此时终端的天线阵元{A1,A2}发送第一信号,基站天线阵元{B1,B2,B3}接收即可满足角度分辨率要求,节省一部分天线资源。由于目标距离较近且收发天线总数较少,此时可使用阶段2的第一信号(TDM信号),适当降低发射总功率以及多普勒无模糊范围;当无人机在位置3以及位置4处,第一设备再次基于计算节点反馈的第一状态信息和/或感知结果(例 如感知目标距离、速度、角度至少1项的历史测量值与预测值差值的统计均值/方差/标准差),调整终端和基站用于感知的天线。例如终端天线阵元{A1,A2,A3,A4}发送第一信号,基站天线阵元{B1,B2,B3,B6,B7}接收,这样构造出来的虚拟阵列能在垂直方向也有较大孔径,保证无人机轨迹追踪位置感知精度。此时可使用阶段3的第一信号(TDM+FDM信号),适当降低距离分辨率,但保证较低的距离和多普勒旁瓣,以及较高的多普勒分辨率。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.
其中,阶段1的第一信号的时频图样如图4A所示,阶段2的第一信号的时频图样如图4B所示,阶段3的第一信号的时频图样如图4C所示。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.
上述3个阶段的第一信号自适应,可通过改变所述信号配置信息中的资源周期类参数(包括资源集周期、资源重复系数、资源时间间隙、子载波间隔等)、资源位置类参数(包括资源起始频率、资源集时隙偏移、资源单元(Resource element,RE)偏移、资源块(Resource Block,RB)偏移、资源时隙偏移、资源符号偏移等)实现;MIMO-ISAC天线选择自适应可通过改变所述天线选择信息(包括用于发送和/或接收第一信号的天线阵元ID、天线阵元相对天线阵列上某个局部参考点的位置信息、天线选择bitmap信息等)实现。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.
可选地,在一些实施例中,在感知区域感知目标数量改变,需要改变天线数量或者改变天线密度,以及改变信号配置信息,来改变最大可同时感知的感知目标数,以及距离或多普勒感知精度。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.
对于预定动态环境的感知也可使用本申请的方法保证或提升感知性能。例如,对某个路口的车流感知(所述车流感知可以包括感知某段时间内的车辆通过数量、各车辆速度和位置(所在车道)等)。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.).
如图5所示,路边基站通过自发自收方式对某段公路进行车流感知。MIMO-ISAC系统可通过测量第一信号回波时延、角度和多普勒频率,实现对车辆进行区分,以及单个车辆的速度和位置确定。MIMO-ISAC最大可同时感知的感知目标数由发射阵列和接收阵列的天线数共同决定[3,5],即: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:
其中,Lmax表示最大可同时感知的感知目标数,M为发射天线的数量,N为接收天线的数量。 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.
在某段交通非拥堵时段,道路上车辆较为稀疏,此时基站(或第一设备 指示基站)选择天线阵元{A1,A2}发送第一信号,天线阵元{B2,B3,B5,B6}接收,即可达到感知性能要求(满足第一信息中的感知需求和/或感知/通感一体化QoS)。此时,可使用图5A所示的阶段1的第一信号(FDM信号),适当牺牲距离分辨率,但保证在有限带宽资源下,系统具有较低的距离和多普勒旁瓣,以及适中的最大可同时感知的目标数LmaxDuring 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 ;
若进入交通拥堵时段,第一设备基于计算节点反馈的前述第一状态信息和/或感知结果(例如感知区域内感知目标数量/密度),调整基站第一信号接收天线阵元为{B1,B2,B3,B4,B5,B6,B7,B8,B9},提升MIMO-ISAC系统最大可同时感知的感知目标数Lmax。同时,可使用图5B所示的阶段2的第一信号(DDM信号),适当减小多普勒无模糊范围,但保证系统具有非常低的距离和多普勒旁瓣,同时具有最优的杂波抑制性能,适合多个动目标感知,保证综合感知性能。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.
可选地,在一些实施例中,感知节点可用时间/频率/多普勒频率/正交码资源发生改变,需要通过信号和天线选择自适应,维持感知性能。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.
MIMO-ISAC系统中,天线资源与时频资源、正交码资源存在一定约束关系。仍以图5车流感知为例,假设初始时采用图5A所示阶段1的第一信号(FDM信号),由于某些原因(例如其他高优先级业务资源抢占),导致可用频率资源减少50%,为了维持预定感知性能,一种解决方案是切换为TDM信号结合动态天线选择的方式进行感知。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.
在交通非拥堵时段,在预设时间内不同2个时刻,分别选择A1、A2发送第一信号,天线阵元{B2,B3,B5,B6}接收;在交通拥堵时段同理,第一信号接收天线阵元为{B1,B2,B3,B4,B5,B6,B7,B8,B9}。可选地,也可适当增加发射天线阵元数目,采用TDM+DDM信号实现感知性能的维持。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.
需要说明的是,上述场景中需要保证在天线选择的预设时间内,感知目标状态或感知区域环境不发生显著变化。此外,上述实施例中,仅仅给出了若干种可选的第一信号配置和天线选择方案,应用时可以根据实际情况灵活自适应配置。其中信号配置仅仅给出1个RB以及1个时隙内的信号时频图样作为示例,实际应用时第一信号可以占用多个RB和时隙资源。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.
参照图6,本申请实施例还提供了一种感知处理方法,包括: Referring to Figure 6, an embodiment of the present application also provides a perception processing method, including:
步骤601,第一感知设备从第一设备接收第一配置信息;Step 601: The first sensing device receives first configuration information from the first device;
步骤602,所述第一感知设备基于所述第一配置信息进行天线选择操作和第一信号配置;Step 602: The first sensing device performs an antenna selection operation and a first signal configuration based on the first configuration information;
其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项,且所述目标感知设备包括所述第一感知设备。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.
可选地,所述第一配置信息基于目标信息确定,所述目标信息包括用于确定是否进行天线选择信息和信号配置信息更新的信息。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.
可选地,所述第一信号为多输入多输出通信感知一体化MIMO-ISAC系统中各发射天线发射信号的集合,所述MIMO-ISAC系统中各发射天线的发射信号彼此相互正交或准正交。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.
可选地,所述各发射天线的发射信号的正交类型包括以下至少一项:时分复用TDM、频分复用FDM、多普勒频分复用DDM、码分复用CDM。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.
可选地,所述MIMO-ISAC系统中的各发射天线的发射信号相互正交或准正交包括以下至少一项: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:
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的时域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal time domain resources;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的频域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal frequency domain resources;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号使用相同的频域图样,且所述MIMO-ISAC系统中的各发射天线的发射信号分别在互不相同的发送时刻发送;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;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别为预设时频图样在频域和/或时域的不同循环移位版本;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;
所述MIMO-ISAC系统中的各发射天线的发射信号具备多个脉冲周期,其频域资源部分重叠或者完全不重叠,且在多个不同信号脉冲周期间各发射天线的发射信号按照预设规则改变所使用的频域资源;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;
所述MIMO-ISAC系统中至少两个发射天线的发射信号使用第一时域资 源,所述MIMO-ISAC系统中至少一个发射天线的发射信号使用第二时域资源,其中,所述第一时域资源与所述第二时域资源相互正交,且使用所述第一时域资源的至少两个发射天线的发射信号使用相互正交的频域资源;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;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的码域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal code domain resources;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的多普勒频域资源。The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal Doppler frequency domain resources.
可选地,所述信号配置信息包括以下至少一项:Optionally, the signal configuration information includes at least one of the following:
资源周期类参数,所述资源周期类参数用于控制所述第一信号资源的时域重复周期、时域重复次数、频域重复周期和频域重复次数中的至少一项;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;
资源位置类参数,所述资源位置类参数用于控制所述第一信号资源的时频位置;Resource location parameters, which are used to control the time-frequency location of the first signal resource;
资源图样类参数,所述资源图样类参数用于控制所述第一信号资源的基本时频图样;Resource pattern parameters, the resource pattern parameters are used to control the basic time-frequency pattern of the first signal resource;
资源调制类参数,所述资源调制类参数用于控制所述第一信号相位调制;Resource modulation parameters, the resource modulation parameters are used to control the phase modulation of the first signal;
资源编码类参数,所述资源编码类参数用于控制基于码分复用CDM的所述第一信号的正交码资源配置;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;
信号序列类型;Signal sequence type;
信号序列长度;Signal sequence length;
用于生产所述第一信号的初始种子。The initial seed used to produce the first signal.
可选地,所述目标信息包括以下至少一项:Optionally, the target information includes at least one of the following:
在预设时间段内执行所述第一信号关联的第一业务获得的感知结果;The sensing result obtained by executing the first service associated with the first signal within a preset time period;
目标感知设备在所述预设时间段内执行所述第一业务的天线选择信息,所述目标感知设备包括用于发送第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项,且所述目标感知设备包括所述第一感知设备;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;
所述目标感知设备的天线阵列信息;Antenna array information of the target sensing device;
感知目标的第一状态信息;Perceive the first status information of the target;
信道信息;channel information;
与所述第一业务关联的资源信息; Resource information associated with the first service;
用于确定感知设备的第一信息。First information used to determine the sensing device.
可选地,所述方法还包括:Optionally, the method also includes:
所述第一感知设备向所述第一设备发送所述第一感知设备的第二信息,所述第二信息用于确定目标配置参数,所述目标配置参数用于至少一个感知设备执行所述第一信号关联的第一业务。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.
可选地,所述目标配置参数包括所述第一信号的信号配置信息、发送设备的天线选择信息和接收设备的天线选择信息。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.
可选地,所述方法还包括:Optionally, the method also includes:
所述第一感知设备向所述第一设备发送所述第一感知设备的第二信息,所述第二信息用于确定所述第一感知设备的初始配置参数;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;
所述第一感知设备从目标设备接收所述第一感知设备的初始配置参数;The first sensing device receives initial configuration parameters of the first sensing device from the target device;
所述第一感知设备基于所述第一感知设备的初始配置参数执行所述第一信号关联的第一业务;The first sensing device performs the first service associated with the first signal based on the initial configuration parameters of the first sensing device;
其中,在所述第一感知设备为所述第一信号的发送设备的情况下,所述第一感知设备的初始配置参数为第一配置参数,所述目标设备为第一设备;在所述第一感知设备为所述第一信号的接收设备的情况下,所述目标设备为所述发送设备,所述第一感知设备的初始配置参数为所述发送设备确定的第二配置参数。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.
可选地,在所述第一感知设备为所述发送设备的情况下,所述方法还包括:Optionally, in the case where the first sensing device is the sending device, the method further includes:
所述第一感知设备从所述接收设备接收第二信息;The first sensing device receives second information from the receiving device;
所述第一感知设备根据所述第二信息确定所述接收设备的第二配置参数,所述第二配置参数用于所述接收设备执行所述第一信号关联的第一业务;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;
所述第一感知设备向所述接收设备发送所述第二配置参数。The first sensing device sends the second configuration parameter to the receiving device.
可选地,所述第一配置参数包括所述第一信号的信号配置信息和发送设备的天线选择信息。Optionally, the first configuration parameter includes signal configuration information of the first signal and antenna selection information of the sending device.
可选地,所述第二配置参数包括所述第一信号的信号配置信息和接收设备的天线选择信息。Optionally, the second configuration parameter includes signal configuration information of the first signal and antenna selection information of the receiving device.
可选地,所述第二信息包括以下至少一项:天线阵列信息、感知目标的 第一状态信息、信道信息、与所述第一业务关联的资源信息和用于确定感知设备的第一信息。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.
可选地,所述方法还包括:Optionally, the method also includes:
所述第一感知设备获取第三信息;The first sensing device obtains third information;
所述第一感知设备根据所述第三信息计算获得所述感知结果;The first sensing device calculates and obtains the sensing result based on the third information;
其中,所述第三信息包括:Wherein, the third information includes:
发送设备的天线阵列信息;The antenna array information of the sending device;
发送设备的天线选择信息或基于所述发送设备的天线选择信息确定的第一导向矢量;Antenna selection information of the transmitting device or a first steering vector determined based on the antenna selection information of the transmitting device;
接收设备的天线阵列信息;Antenna array information of the receiving device;
接收设备的天线选择信息或基于所述接收设备的天线选择信息确定的第二导向矢量;Antenna selection information of the receiving device or a second steering vector determined based on the antenna selection information of the receiving device;
所述第一信号的信号配置信息。Signal configuration information of the first signal.
可选地,所述第三信息满足以下至少一项:Optionally, the third information satisfies at least one of the following:
在所述发送设备进行预编码的情况下,所述第三信息还包括预编码信息;In the case where the sending device performs precoding, the third information also includes precoding information;
在所述发送设备进行波束赋形的情况下,所述第三信息还包括波束赋形矩阵信息。When the sending device performs beam forming, the third information further includes beam forming matrix information.
可选地,所述第一感知设备获取第三信息包括以下任一项:Optionally, the first sensing device obtaining the third information includes any of the following:
在所述第一感知设备的本地存储有所述第三信息的全部信息的情况下,所述第一设备获取本地存储的所述第三信息;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;
在所述第一感知设备的本地存储有第一子信息,且未存储有第二子信息的情况下,所述第一感知设备获取本地存储的所述第一子信息,并从至少一个第二感知设备和所述第一设备中的至少一项获取所述第二子信息,所述第一子信息为所述第三信息中的一部分信息,所述第二子信息为所述第三信息中的另一部分信息。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.
可选地,所述方法还包括:Optionally, the method also includes:
所述第一感知设备向计算设备发送第四信息,所述第四信息用于计算所述感知结果,所述计算设备为用于计算所述感知结果的设备,所述第四信息包括以下至少一项: 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:
所述第一感知设备的天线阵列信息;Antenna array information of the first sensing device;
所述第一感知设备的天线选择信息或基于所述发送设备的天线选择信息确定的第一导向矢量;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;
所述第一信号的信号配置信息。Signal configuration information of the first signal.
可选地,在所述第一感知设备为发送设备的情况下,所述第四信息满足以下至少一项:Optionally, when the first sensing device is a sending device, the fourth information satisfies at least one of the following:
在所述第一感知设备进行预编码的情况下,所述第四信息还包括预编码信息;In the case where the first sensing device performs precoding, the fourth information also includes precoding information;
在所述第一感知设备进行波束赋形的情况下,所述第四信息还包括波束赋形矩阵信息。When the first sensing device performs beamforming, the fourth information further includes beamforming matrix information.
可选地,所述第一感知设备向计算设备发送第四信息之后,所述方法还包括:Optionally, after the first sensing device sends the fourth information to the computing device, the method further includes:
所述第一感知设备从所述计算设备接收所述感知结果。The first sensing device receives the sensing results from the computing device.
可选地,所述天线选择信息包括以下至少一项:Optionally, the antenna selection information includes at least one of the following:
发送所述第一信号的天线阵元的标识;The identification of the antenna array element that sent the first signal;
接收所述第一信号的天线阵元的标识;The identification of the antenna array element that receives the first signal;
发送所述第一信号的第一天线面板的标识;An identification of the first antenna panel transmitting the first signal;
接收所述第一信号的第二天线面板的标识;An identification of the second antenna panel that receives the first signal;
发送所述第一信号的天线阵元相对天线阵列的预设局部参考点的位置信息;Position information of the antenna element that sends the first signal relative to a preset local reference point of the antenna array;
接收所述第一信号的天线阵元相对天线阵列的预设局部参考点的位置信息;Position information of the antenna array element that receives the first signal relative to a preset local reference point of the antenna array;
发送所述第一信号的第一天线面板相对天线阵列的预设局部参考点的位置信息以及所述第一天线面板内用于发送所述第一信号的天线阵元相对所述第一天线面板的预设统一参考点的位置信息;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;
接收所述第一信号的第二天线面板相对天线阵列的预设局部参考点的位置信息以及所述第二天线面板内用于接收所述第一信号的天线阵元相对所述第二天线面板的预设统一参考点的位置信息;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;
天线阵元的位映射信息; Bit mapping information of antenna array elements;
阵列天线面板的位映射信息。Bit mapping information for the array antenna panel.
可选地,所述天线阵列信息包括以下至少一项:Optionally, the antenna array information includes at least one of the following:
可用于所述第一信号关联的第一业务的可用第一标识集合,所述第一标识为天线阵元的标识;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;
所述第一标识与天线阵元在天线阵列所处位置的映射关系;The mapping relationship between the first identifier and the position of the antenna array element in the antenna array;
在天线阵列包括至少两个天线面板的情况下,第二标识与天线面板在天线阵列所处位置的映射关系,所述第二标识为天线面板的标识;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;
天线阵元的位映射规则;Bit mapping rules for antenna array elements;
在天线阵列包括至少两个天线面板的情况下,天线面板的位映射规则和单个天线面板内天线阵元的位映射规则;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;
天线阵列类型;Antenna array type;
天线阵列包含的天线面板的数量;The number of antenna panels included in the antenna array;
天线阵列包含的天线阵元的数量;The number of antenna elements contained in the antenna array;
天线阵列预先确定的局部参考点的位置信息;Position information of the predetermined local reference point of the antenna array;
在天线阵列包括至少两个天线面板的情况下,天线面板相对于天线阵列的局部参考点的位置信息;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;
天线阵元相对天线阵列上预设局部参考点的位置信息;The position information of the antenna array element relative to the preset local reference point on the antenna array;
在天线阵列包括至少两个天线面板的情况下,每个所述天线面板内天线阵元相对于所述天线面板内预设统一参考点的位置信息;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;
所述第一标识的天线极化方式;The antenna polarization mode of the first identification;
至少部分天线阵元的三维或二维方向图信息。Three-dimensional or two-dimensional pattern information of at least part of the antenna array elements.
可选地,所述第一状态信息包括以下至少一项:Optionally, the first status information includes at least one of the following:
发送设备的第一测量参数的第一测量值,所述第一测量参数包括感知目标的离开方位角和离开俯仰角中的至少一项;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;
接收设备的第二测量参数的第二测量值,所述第二测量参数包括感知目标的到达方位角和到达俯仰角中的至少一项;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;
至少两次感知测量获得的所述第一测量值的标准差或方差;the standard deviation or variance of said first measurement obtained from at least two perceptual measurements;
至少两次感知测量获得的所述第二测量值的标准差或方差;the standard deviation or variance of said second measurement value obtained from at least two perceptual measurements;
至少两个第一值的均值、标准差或方差,所述第一值为一次感知测量获 得的所述第一测量值与所述第一测量参数对应的第一预测值的差值;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;
至少两个第二值的均值、标准差或方差,所述第二值为一次感知测量获得的所述第二测量值与所述第二测量参数对应的第二预测值的差值;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;
所述感知目标相对所述发送设备的距离;The distance of the sensing target relative to the sending device;
所述感知目标相对所述接收设备的距离;The distance of the sensing target relative to the receiving device;
所述感知目标的移动速度;The moving speed of the sensing target;
所述感知目标的移动方向;The movement direction of the sensing target;
第一速度分量,所述第一速度分量为一次感知测量获得的所述感知目标在预设笛卡尔坐标系上至少一个坐标轴方向上的速度分量大小;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;
至少两次感知测量获得的所述第一速度分量的均值、标准差或方差;the mean, standard deviation or variance of said first velocity component obtained from at least two perceptual measurements;
至少两个第三值的均值、标准差或方差,所述第三值为一次感知测量获得的所述第一速度分量与速度分量对应的第三预测值的差值;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;
所述感知目标的位置坐标;The position coordinates of the sensing target;
至少两次感知测量获得的所述感知目标的位置坐标的均值、标准差或方差;The mean, standard deviation or variance of the position coordinates of the sensing target obtained from at least two sensing measurements;
至少两个第四值的均值、标准差或方差,所述第四值为一次感知测量获得的所述感知目标的位置坐标和与所述位置坐标对应的第四预测值的差值;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;
所述接收设备上至少一个天线阵元上接收到的所述第一信号的第三测量参数的第三测量值,所述第三测量参数包括接收功率、信噪比SNR和信号与干扰加噪声比SINR;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;
至少两个所述第三测量值的均值、标准差或方差;the mean, standard deviation or variance of at least two said third measurements;
至少两个第五值的均值、标准差或方差,所述第五值为一次感知测量获得的所述第三测量值与所述第三测量参数对应的第五预测值的差值;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;
所述接收设备的天线阵列中至少两个天线阵元之间接收到的第一信号的均值、标准差或方差;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;
所述感知目标的功率谱的第四测量参数的第四测量值,所述第四测量参数包括第一信号接收信号平均角度和第一信号接收信号的角度扩展中的至少一项;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;
至少两个第六值的均值、标准差或方差,所述第六值为一次感知测量获 得的所述第四测量值与所述第四测量参数对应的第六预测值的差值;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;
所述感知目标的时延功率谱的第五测量参数的第五测量值,所述第五测量参数包括第一信号接收信号平均时延和第一信号接收信号的时延扩展中的至少一项;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 ;
至少两个第七值的均值、标准差或方差,所述第七值为一次感知测量获得的所述第五测量值与所述第五测量参数对应的第七预测值的差值;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;
所述感知目标的多普勒功率谱的第六测量参数的第六测量值,所述第六测量参数包括第一信号接收信号平均多普勒频移和第一信号接收信号的多普勒扩展中的至少一项;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;
至少两个第八值的均值、标准差或方差,所述第八值为一次感知测量获得的所述第六测量值与所述第六测量参数对应的第八预测值的差值;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;
环境杂波功率;Environmental clutter power;
至少两个第九值的均值、标准差或方差,所述第九值为一次感知测量获得的所述环境杂波功率与所述环境杂波功率对应的第九预测值的差值;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;
第七测量参数的第七测量值,所述第七测量参数包括环境杂波的多普勒带宽和环境杂波与感知目标叠加的多普勒带宽中的至少一项;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;
至少两个第十值的均值、标准差或方差,所述第十值为一次感知测量获得的所述第七测量值与所述第七测量参数对应的第十预测值的差值;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;
预设感知区域内感知目标的数量;The number of sensing targets in the preset sensing area;
预设感知区域内感知目标的密度;The density of sensing targets in the preset sensing area;
在感知区域发生变化的情况下,感知区域的位置坐标以及物理范围大小相关的参数。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.
可选地,所述信道信息包括发送设备和接收设备之间任一天线对的第五信息,所述第五信息包括以下至少一项:信道传输函数、信道冲击响应、信道状态信息、信道质量指示、秩指示和与通信相关的性能指标。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.
可选地,所述资源信息包括可用于所述第一信号关联的第一业务的目标资源的资源数量,所述目标资源包括以下至少一项:时间资源、频率资源、天线资源、多普勒频分复用DDM相位调制器资源和正交码资源。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.
参照图7,本申请实施例还提供了一种感知处理装置,如图7所示,该 感知处理装置700包括: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:
第一确定模块701,用于在目标信息发生变化的情况下,基于目标信息确定第一配置信息;The first determination module 701 is used to determine the first configuration information based on the target information when the target information changes;
第一发送模块702,用于发送第一配置信息;The first sending module 702 is used to send the first configuration information;
其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项。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.
可选地,所述第一信号为多输入多输出通信感知一体化MIMO-ISAC系统中各发射天线发射信号的集合,所述MIMO-ISAC系统中各发射天线的发射信号彼此相互正交或准正交。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.
可选地,所述各发射天线的发射信号的正交类型包括以下至少一项:时分复用TDM、频分复用FDM、多普勒频分复用DDM、码分复用CDM。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.
可选地,所述MIMO-ISAC系统中的各发射天线的发射信号相互正交或准正交包括以下至少一项: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:
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的时域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal time domain resources;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的频域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal frequency domain resources;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号使用相同的频域图样,且所述MIMO-ISAC系统中的各发射天线的发射信号分别在互不相同的发送时刻发送;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;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别为预设时频图样在频域和/或时域的不同循环移位版本;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;
所述MIMO-ISAC系统中的各发射天线的发射信号具备多个脉冲周期,其频域资源部分重叠或者完全不重叠,且在多个不同信号脉冲周期间各发射天线的发射信号按照预设规则改变所使用的频域资源;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;
所述MIMO-ISAC系统中至少两个发射天线的发射信号使用第一时域资源,所述MIMO-ISAC系统中至少一个发射天线的发射信号使用第二时域资源,其中,所述第一时域资源与所述第二时域资源相互正交,且使用所述第 一时域资源的至少两个发射天线的发射信号使用相互正交的频域资源;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;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的码域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal code domain resources;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的多普勒频域资源。The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal Doppler frequency domain resources.
可选地,所述信号配置信息包括以下至少一项:Optionally, the signal configuration information includes at least one of the following:
资源周期类参数,所述资源周期类参数用于控制所述第一信号资源的时域重复周期、时域重复次数、频域重复周期和频域重复次数中的至少一项;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;
资源位置类参数,所述资源位置类参数用于控制所述第一信号资源的时频位置;Resource location parameters, which are used to control the time-frequency location of the first signal resource;
资源图样类参数,所述资源图样类参数用于控制所述第一信号资源的基本时频图样;Resource pattern parameters, the resource pattern parameters are used to control the basic time-frequency pattern of the first signal resource;
资源调制类参数,所述资源调制类参数用于控制所述第一信号相位调制;Resource modulation parameters, the resource modulation parameters are used to control the phase modulation of the first signal;
资源编码类参数,所述资源编码类参数用于控制基于码分复用CDM的所述第一信号的正交码资源配置;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;
信号序列类型;Signal sequence type;
信号序列长度;Signal sequence length;
用于生产所述第一信号的初始种子。The initial seed used to produce the first signal.
可选地,所述目标信息包括以下至少一项:Optionally, the target information includes at least one of the following:
在预设时间段内执行所述第一信号关联的第一业务获得的感知结果;The sensing result obtained by executing the first service associated with the first signal within a preset time period;
所述目标感知设备在所述预设时间段内执行所述第一业务的天线选择信息;The target sensing device executes the antenna selection information of the first service within the preset time period;
所述目标感知设备的天线阵列信息;Antenna array information of the target sensing device;
感知目标的第一状态信息;Perceive the first status information of the target;
信道信息;channel information;
与所述第一业务关联的资源信息;Resource information associated with the first service;
用于确定感知设备的第一信息。First information used to determine the sensing device.
可选地,所述感知处理装置700还包括:Optionally, the perception processing device 700 further includes:
第一获取模块,用于获取至少一个感知设备的第二信息,所述至少一个 感知设备包括所述目标感知设备;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;
第二确定模块,用于根据所述第二信息确定目标配置参数;a second determination module, configured to determine target configuration parameters according to the second information;
第一发送模块,用于向至少一个感知设备发送所述目标配置参数,所述目标配置参数用于所述至少一个感知设备执行所述第一信号关联的第一业务。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.
可选地,所述目标配置参数包括所述第一信号的信号配置信息、发送设备的天线选择信息和接收设备的天线选择信息。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.
可选地,所述感知处理装置700还包括:Optionally, the perception processing device 700 further includes:
第一获取模块,用于获取至少两个感知设备的第二信息,所述至少两个感知设备包括所述目标感知设备;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;
第二确定模块,用于根据所述至少两个感知设备中发送设备的第二信息确定第一配置参数,所述第一配置参数用于所述发送设备执行所述第一信号关联的第一业务,所述第一配置参数为初始配置参数;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;
第一发送模块,用于向所述发送设备发送所述第一配置参数和接收设备的第二信息,所述接收设备的第二信息用于确定第二配置参数,所述第二配置参数用于所述至少两个感知设备中接收设备执行所述第一业务,所述第二配置参数为初始配置参数。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.
可选地,所述第一配置参数包括所述第一信号的信号配置信息和发送设备的天线选择信息。Optionally, the first configuration parameter includes signal configuration information of the first signal and antenna selection information of the sending device.
可选地,所述第二配置参数包括所述第一信号的信号配置信息和接收设备的天线选择信息。Optionally, the second configuration parameter includes signal configuration information of the first signal and antenna selection information of the receiving device.
可选地,所述第二信息包括以下至少一项:天线阵列信息、感知目标的第一状态信息、信道信息、与所述第一业务关联的资源信息和用于确定感知设备的第一信息。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. .
可选地,所述感知处理装置700还包括:Optionally, the perception processing device 700 further includes:
第一获取模块,用于获取第三信息;The first acquisition module is used to acquire the third information;
第一计算模块,用于根据所述第三信息计算获得所述感知结果;A first calculation module, configured to calculate and obtain the perception result according to the third information;
其中,所述第三信息包括:Wherein, the third information includes:
发送设备的天线阵列信息;The antenna array information of the sending device;
发送设备的天线选择信息或基于所述发送设备的天线选择信息确定的第 一导向矢量;Antenna selection information of the transmitting device or the first determined based on the antenna selection information of the transmitting device. a guidance vector;
接收设备的天线阵列信息;Antenna array information of the receiving device;
接收设备的天线选择信息或基于所述接收设备的天线选择信息确定的第二导向矢量;Antenna selection information of the receiving device or a second steering vector determined based on the antenna selection information of the receiving device;
所述第一信号的信号配置信息。Signal configuration information of the first signal.
可选地,所述第三信息满足以下至少一项:Optionally, the third information satisfies at least one of the following:
在所述发送设备进行预编码的情况下,所述第三信息还包括预编码信息;In the case where the sending device performs precoding, the third information also includes precoding information;
在所述发送设备进行波束赋形的情况下,所述第三信息还包括波束赋形矩阵信息。When the sending device performs beam forming, the third information further includes beam forming matrix information.
可选地,所述第一设备获取第三信息包括以下任一项:Optionally, the first device obtaining the third information includes any of the following:
在所述第一设备的本地存储有所述第三信息的全部信息的情况下,所述第一设备获取本地存储的所述第三信息;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;
在所述第一设备的本地存储有第一子信息,且未存储有第二子信息的情况下,所述第一设备获取本地存储的所述第一子信息,并从至少一个感知设备获取所述第二子信息,所述第一子信息为所述第三信息中的一部分信息,所述第二子信息为所述第三信息中的另一部分信息;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;
在所述第一设备的本地存储有所述第三信息的全部信息的情况下,所述第一设备从至少一个感知设备获取所述第三信息。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.
可选地,所述感知处理装置700还包括:Optionally, the perception processing device 700 further includes:
第一发送模块,用于向计算设备发送第四信息,所述第四信息用于计算所述感知结果,所述计算设备为用于计算所述感知结果的设备,所述第四信息包括以下至少一项: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:
发送设备的天线阵列信息;The antenna array information of the sending device;
发送设备的天线选择信息或基于所述发送设备的天线选择信息确定的第一导向矢量;Antenna selection information of the transmitting device or a first steering vector determined based on the antenna selection information of the transmitting device;
接收设备的天线阵列信息;Antenna array information of the receiving device;
接收设备的天线选择信息或基于所述接收设备的天线选择信息确定的第二导向矢量;Antenna selection information of the receiving device or a second steering vector determined based on the antenna selection information of the receiving device;
第一信号的信号配置信息。 Signal configuration information of the first signal.
可选地,所述第四信息满足以下至少一项:Optionally, the fourth information satisfies at least one of the following:
在所述发送设备进行预编码的情况下,所述第四信息还包括预编码信息;In the case where the sending device performs precoding, the fourth information also includes precoding information;
在所述发送设备进行波束赋形的情况下,所述第四信息还包括波束赋形矩阵信息。When the sending device performs beamforming, the fourth information further includes beamforming matrix information.
可选地,所述感知处理装置700还包括:Optionally, the perception processing device 700 further includes:
第一接收模块,用于从所述计算设备接收所述感知结果。A first receiving module, configured to receive the sensing result from the computing device.
可选地,所述天线选择信息包括以下至少一项:Optionally, the antenna selection information includes at least one of the following:
发送所述第一信号的天线阵元的标识;The identification of the antenna array element that sent the first signal;
接收所述第一信号的天线阵元的标识;The identification of the antenna array element that receives the first signal;
发送所述第一信号的第一天线面板的标识;An identification of the first antenna panel transmitting the first signal;
接收所述第一信号的第二天线面板的标识;An identification of the second antenna panel that receives the first signal;
发送所述第一信号的天线阵元相对天线阵列的预设局部参考点的位置信息;Position information of the antenna element that sends the first signal relative to a preset local reference point of the antenna array;
接收所述第一信号的天线阵元相对天线阵列的预设局部参考点的位置信息;Position information of the antenna array element that receives the first signal relative to a preset local reference point of the antenna array;
发送所述第一信号的第一天线面板相对天线阵列的预设局部参考点的位置信息以及所述第一天线面板内用于发送所述第一信号的天线阵元相对所述第一天线面板的预设统一参考点的位置信息;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;
接收所述第一信号的第二天线面板相对天线阵列的预设局部参考点的位置信息以及所述第二天线面板内用于接收所述第一信号的天线阵元相对所述第二天线面板的预设统一参考点的位置信息;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;
天线阵元的位映射信息;Bit mapping information of antenna array elements;
阵列天线面板的位映射信息。Bit mapping information for the array antenna panel.
可选地,所述天线阵列信息包括以下至少一项:Optionally, the antenna array information includes at least one of the following:
可用于所述第一信号关联的第一业务的可用第一标识集合,所述第一标识为天线阵元的标识;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;
所述第一标识与天线阵元在天线阵列所处位置的映射关系;The mapping relationship between the first identifier and the position of the antenna array element in the antenna array;
在天线阵列包括至少两个天线面板的情况下,第二标识与天线面板在天线阵列所处位置的映射关系,所述第二标识为天线面板的标识; 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;
天线阵元的位映射规则;Bit mapping rules for antenna array elements;
在天线阵列包括至少两个天线面板的情况下,天线面板的位映射规则和单个天线面板内天线阵元的位映射规则;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;
天线阵列类型;Antenna array type;
天线阵列包含的天线面板的数量;The number of antenna panels included in the antenna array;
天线阵列包含的天线阵元的数量;The number of antenna elements contained in the antenna array;
天线阵列预先确定的局部参考点的位置信息;Position information of the predetermined local reference point of the antenna array;
在天线阵列包括至少两个天线面板的情况下,天线面板相对于天线阵列的局部参考点的位置信息;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;
天线阵元相对天线阵列上预设局部参考点的位置信息;The position information of the antenna array element relative to the preset local reference point on the antenna array;
在天线阵列包括至少两个天线面板的情况下,每个所述天线面板内天线阵元相对于所述天线面板内预设统一参考点的位置信息;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;
所述第一标识的天线极化方式;The antenna polarization mode of the first identification;
至少部分天线阵元的三维或二维方向图信息。Three-dimensional or two-dimensional pattern information of at least part of the antenna array elements.
可选地,所述第一状态信息包括以下至少一项:Optionally, the first status information includes at least one of the following:
发送设备的第一测量参数的第一测量值,所述第一测量参数包括感知目标的离开方位角和离开俯仰角中的至少一项;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;
接收设备的第二测量参数的第二测量值,所述第二测量参数包括感知目标的到达方位角和到达俯仰角中的至少一项;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;
至少两次感知测量获得的所述第一测量值的标准差或方差;the standard deviation or variance of said first measurement obtained from at least two perceptual measurements;
至少两次感知测量获得的所述第二测量值的标准差或方差;the standard deviation or variance of said second measurement value obtained from at least two perceptual measurements;
至少两个第一值的均值、标准差或方差,所述第一值为一次感知测量获得的所述第一测量值与所述第一测量参数对应的第一预测值的差值;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;
至少两个第二值的均值、标准差或方差,所述第二值为一次感知测量获得的所述第二测量值与所述第二测量参数对应的第二预测值的差值;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;
所述感知目标相对所述发送设备的距离;The distance of the sensing target relative to the sending device;
所述感知目标相对所述接收设备的距离;The distance of the sensing target relative to the receiving device;
所述感知目标的移动速度;The moving speed of the sensing target;
所述感知目标的移动方向; The movement direction of the sensing target;
第一速度分量,所述第一速度分量为一次感知测量获得的所述感知目标在预设笛卡尔坐标系上至少一个坐标轴方向上的速度分量大小;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;
至少两次感知测量获得的所述第一速度分量的均值、标准差或方差;the mean, standard deviation or variance of said first velocity component obtained from at least two perceptual measurements;
至少两个第三值的均值、标准差或方差,所述第三值为一次感知测量获得的所述第一速度分量与速度分量对应的第三预测值的差值;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;
所述感知目标的位置坐标;The position coordinates of the sensing target;
至少两次感知测量获得的所述感知目标的位置坐标的均值、标准差或方差;The mean, standard deviation or variance of the position coordinates of the sensing target obtained from at least two sensing measurements;
至少两个第四值的均值、标准差或方差,所述第四值为一次感知测量获得的所述感知目标的位置坐标和与所述位置坐标对应的第四预测值的差值;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;
所述接收设备上至少一个天线阵元上接收到的所述第一信号的第三测量参数的第三测量值,所述第三测量参数包括接收功率、信噪比SNR和信号与干扰加噪声比SINR;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;
至少两个所述第三测量值的均值、标准差或方差;the mean, standard deviation or variance of at least two said third measurements;
至少两个第五值的均值、标准差或方差,所述第五值为一次感知测量获得的所述第三测量值与所述第三测量参数对应的第五预测值的差值;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;
所述接收设备的天线阵列中至少两个天线阵元之间接收到的第一信号的均值、标准差或方差;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;
所述感知目标的功率谱的第四测量参数的第四测量值,所述第四测量参数包括第一信号接收信号平均角度和第一信号接收信号的角度扩展中的至少一项;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;
至少两个第六值的均值、标准差或方差,所述第六值为一次感知测量获得的所述第四测量值与所述第四测量参数对应的第六预测值的差值;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;
所述感知目标的时延功率谱的第五测量参数的第五测量值,所述第五测量参数包括第一信号接收信号平均时延和第一信号接收信号的时延扩展中的至少一项;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 ;
至少两个第七值的均值、标准差或方差,所述第七值为一次感知测量获得的所述第五测量值与所述第五测量参数对应的第七预测值的差值;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;
所述感知目标的多普勒功率谱的第六测量参数的第六测量值,所述第六 测量参数包括第一信号接收信号平均多普勒频移和第一信号接收信号的多普勒扩展中的至少一项;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;
至少两个第八值的均值、标准差或方差,所述第八值为一次感知测量获得的所述第六测量值与所述第六测量参数对应的第八预测值的差值;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;
环境杂波功率;Environmental clutter power;
至少两个第九值的均值、标准差或方差,所述第九值为一次感知测量获得的所述环境杂波功率与所述环境杂波功率对应的第九预测值的差值;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;
第七测量参数的第七测量值,所述第七测量参数包括环境杂波的多普勒带宽和环境杂波与感知目标叠加的多普勒带宽中的至少一项;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;
至少两个第十值的均值、标准差或方差,所述第十值为一次感知测量获得的所述第七测量值与所述第七测量参数对应的第十预测值的差值;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;
预设感知区域内感知目标的数量;The number of sensing targets in the preset sensing area;
预设感知区域内感知目标的密度;The density of sensing targets in the preset sensing area;
在感知区域发生变化的情况下,感知区域的位置坐标以及物理范围大小相关的参数。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.
可选地,所述信道信息包括发送设备和接收设备之间任一天线对的第五信息,所述第五信息包括以下至少一项:信道传输函数、信道冲击响应、信道状态信息、信道质量指示、秩指示和与通信相关的性能指标。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.
可选地,所述资源信息包括可用于所述第一信号关联的第一业务的目标资源的资源数量,所述目标资源包括以下至少一项:时间资源、频率资源、天线资源、DDM相位调制器资源和正交码资源。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.
可选地,所述第一信息包括以下至少一项:感知需求、业务类型、感知服务质量QoS或通感一体化QoS、感知区域的先验信息和感知目标的先验信息。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.
参照图8,本申请实施例还提供了一种感知处理装置,如图8所示,该感知处理装置800包括: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:
第二接收模块801,用于从第一设备接收第一配置信息;The second receiving module 801 is used to receive the first configuration information from the first device;
执行模块802,用于基于所述第一配置信息进行天线选择操作和第一信号配置; Execution module 802, configured to perform antenna selection operations and first signal configuration based on the first configuration information;
其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项,且所述目标感知设备包括所述第一感知设备。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.
可选地,所述第一配置信息基于目标信息确定,所述目标信息包括用于确定是否进行天线选择信息和信号配置信息更新的信息。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.
可选地,所述第一信号为多输入多输出通信感知一体化MIMO-ISAC系统中各发射天线发射信号的集合,所述MIMO-ISAC系统中各发射天线的发射信号彼此相互正交或准正交。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.
可选地,所述各发射天线的发射信号的正交类型包括以下至少一项:时分复用TDM、频分复用FDM、多普勒频分复用DDM、码分复用CDM。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.
可选地,所述MIMO-ISAC系统中的各发射天线的发射信号相互正交或准正交包括以下至少一项: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:
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的时域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal time domain resources;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的频域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal frequency domain resources;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号使用相同的频域图样,且所述MIMO-ISAC系统中的各发射天线的发射信号分别在互不相同的发送时刻发送;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;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别为预设时频图样在频域和/或时域的不同循环移位版本;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;
所述MIMO-ISAC系统中的各发射天线的发射信号具备多个脉冲周期,其频域资源部分重叠或者完全不重叠,且在多个不同信号脉冲周期间各发射天线的发射信号按照预设规则改变所使用的频域资源;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;
所述MIMO-ISAC系统中至少两个发射天线的发射信号使用第一时域资源,所述MIMO-ISAC系统中至少一个发射天线的发射信号使用第二时域资源,其中,所述第一时域资源与所述第二时域资源相互正交,且使用所述第一时域资源的至少两个发射天线的发射信号使用相互正交的频域资源; 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;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的码域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal code domain resources;
所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的多普勒频域资源。The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal Doppler frequency domain resources.
可选地,所述信号配置信息包括以下至少一项:Optionally, the signal configuration information includes at least one of the following:
资源周期类参数,所述资源周期类参数用于控制所述第一信号资源的时域重复周期、时域重复次数、频域重复周期和频域重复次数中的至少一项;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;
资源位置类参数,所述资源位置类参数用于控制所述第一信号资源的时频位置;Resource location parameters, which are used to control the time-frequency location of the first signal resource;
资源图样类参数,所述资源图样类参数用于控制所述第一信号资源的基本时频图样;Resource pattern parameters, the resource pattern parameters are used to control the basic time-frequency pattern of the first signal resource;
资源调制类参数,所述资源调制类参数用于控制所述第一信号相位调制;Resource modulation parameters, the resource modulation parameters are used to control the phase modulation of the first signal;
资源编码类参数,所述资源编码类参数用于控制基于码分复用CDM的所述第一信号的正交码资源配置;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;
信号序列类型;Signal sequence type;
信号序列长度;Signal sequence length;
用于生产所述第一信号的初始种子。The initial seed used to produce the first signal.
可选地,所述目标信息包括以下至少一项:Optionally, the target information includes at least one of the following:
在预设时间段内执行所述第一信号关联的第一业务获得的感知结果;The sensing result obtained by executing the first service associated with the first signal within a preset time period;
目标感知设备在所述预设时间段内执行所述第一业务的天线选择信息,所述目标感知设备包括用于发送第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项,且所述目标感知设备包括所述第一感知设备;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;
所述目标感知设备的天线阵列信息;Antenna array information of the target sensing device;
感知目标的第一状态信息;Perceive the first status information of the target;
信道信息;channel information;
与所述第一业务关联的资源信息;Resource information associated with the first service;
用于确定感知设备的第一信息。First information used to determine the sensing device.
可选地,所述感知处理装置800还包括:Optionally, the perception processing device 800 also includes:
第二发送模块,用于向所述第一设备发送所述第一感知设备的第二信息, 所述第二信息用于确定目标配置参数,所述目标配置参数用于至少一个感知设备执行所述第一信号关联的第一业务。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.
可选地,所述目标配置参数包括所述第一信号的信号配置信息、发送设备的天线选择信息和接收设备的天线选择信息。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.
可选地,所述感知处理装置800还包括:Optionally, the perception processing device 800 also includes:
第二发送模块,用于向所述第一设备发送所述第一感知设备的第二信息,所述第二信息用于确定所述第一感知设备的初始配置参数;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;
所述第二接收模块还用于从目标设备接收所述第一感知设备的初始配置参数;The second receiving module is also configured to receive initial configuration parameters of the first sensing device from the target device;
执行模块,用于基于所述第一感知设备的初始配置参数执行所述第一信号关联的第一业务;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;
其中,在所述第一感知设备为所述第一信号的发送设备的情况下,所述第一感知设备的初始配置参数为第一配置参数,所述目标设备为第一设备;在所述第一感知设备为所述第一信号的接收设备的情况下,所述目标设备为所述发送设备,所述第一感知设备的初始配置参数为所述发送设备确定的第二配置参数。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.
可选地,在所述第一感知设备为所述发送设备的情况下,所述感知处理装置800还包括:第三确定模块,Optionally, when the first sensing device is the sending device, the sensing processing device 800 further includes: a third determination module,
所述第二接收模块还用于从所述接收设备接收第二信息;The second receiving module is also configured to receive second information from the receiving device;
所述第三确定模块,用于根据所述第二信息确定所述接收设备的第二配置参数,所述第二配置参数用于所述接收设备执行第一信号关联的所述第一业务;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;
所述第一感知设备向所述接收设备发送所述第二配置参数。The first sensing device sends the second configuration parameter to the receiving device.
可选地,所述第一配置参数包括所述第一信号的信号配置信息和发送设备的天线选择信息。Optionally, the first configuration parameter includes signal configuration information of the first signal and antenna selection information of the sending device.
可选地,所述第二配置参数包括所述第一信号的信号配置信息和接收设备的天线选择信息。Optionally, the second configuration parameter includes signal configuration information of the first signal and antenna selection information of the receiving device.
可选地,所述第二信息包括以下至少一项:天线阵列信息、感知目标的第一状态信息、信道信息、与所述第一业务关联的资源信息和用于确定感知 设备的第一信息。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.
可选地,所述感知处理装置还包括:Optionally, the perception processing device further includes:
第二获取模块,获取第三信息;The second acquisition module acquires the third information;
第二计算模块,用于根据所述第三信息计算获得所述感知结果;a second calculation module, configured to calculate and obtain the perception result according to the third information;
其中,所述第三信息包括:Wherein, the third information includes:
发送设备的天线阵列信息;The antenna array information of the sending device;
发送设备的天线选择信息或基于所述发送设备的天线选择信息确定的第一导向矢量;Antenna selection information of the transmitting device or a first steering vector determined based on the antenna selection information of the transmitting device;
接收设备的天线阵列信息;Antenna array information of the receiving device;
接收设备的天线选择信息或基于所述接收设备的天线选择信息确定的第二导向矢量;Antenna selection information of the receiving device or a second steering vector determined based on the antenna selection information of the receiving device;
所述第一信号的信号配置信息。Signal configuration information of the first signal.
可选地,所述第三信息满足以下至少一项:Optionally, the third information satisfies at least one of the following:
在所述发送设备进行预编码的情况下,所述第三信息还包括预编码信息;In the case where the sending device performs precoding, the third information also includes precoding information;
在所述发送设备进行波束赋形的情况下,所述第三信息还包括波束赋形矩阵信息。When the sending device performs beam forming, the third information further includes beam forming matrix information.
可选地,所述第一感知设备获取第三信息包括以下任一项:Optionally, the first sensing device obtaining the third information includes any of the following:
在所述第一感知设备的本地存储有所述第三信息的全部信息的情况下,所述第一设备获取本地存储的所述第三信息;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;
在所述第一感知设备的本地存储有第一子信息,且未存储有第二子信息的情况下,所述第一感知设备获取本地存储的所述第一子信息,并从至少一个第二感知设备和所述第一设备中的至少一项获取所述第二子信息,所述第一子信息为所述第三信息中的一部分信息,所述第二子信息为所述第三信息中的另一部分信息。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.
可选地,所述感知处理装置还包括:Optionally, the perception processing device further includes:
第二发送模块,用于向计算设备发送第四信息,所述第四信息用于计算所述感知结果,所述计算设备为用于计算所述感知结果的设备,所述第四信息包括以下至少一项: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:
所述第一感知设备的天线阵列信息; Antenna array information of the first sensing device;
所述第一感知设备的天线选择信息或基于所述发送设备的天线选择信息确定的第一导向矢量;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;
所述第一信号的信号配置信息。Signal configuration information of the first signal.
可选地,在所述第一感知设备为发送设备的情况下,所述第四信息满足以下至少一项:Optionally, when the first sensing device is a sending device, the fourth information satisfies at least one of the following:
在所述第一感知设备进行预编码的情况下,所述第四信息还包括预编码信息;In the case where the first sensing device performs precoding, the fourth information also includes precoding information;
在所述第一感知设备进行波束赋形的情况下,所述第四信息还包括波束赋形矩阵信息。When the first sensing device performs beamforming, the fourth information further includes beamforming matrix information.
可选地,所述第二接收模块还用于从所述计算设备接收所述感知结果。Optionally, the second receiving module is also configured to receive the sensing result from the computing device.
可选地,所述天线选择信息包括以下至少一项:Optionally, the antenna selection information includes at least one of the following:
发送所述第一信号的天线阵元的标识;The identification of the antenna array element that sent the first signal;
接收所述第一信号的天线阵元的标识;The identification of the antenna array element that receives the first signal;
发送所述第一信号的第一天线面板的标识;An identification of the first antenna panel transmitting the first signal;
接收所述第一信号的第二天线面板的标识;An identification of the second antenna panel that receives the first signal;
发送所述第一信号的天线阵元相对天线阵列的预设局部参考点的位置信息;Position information of the antenna element that sends the first signal relative to a preset local reference point of the antenna array;
接收所述第一信号的天线阵元相对天线阵列的预设局部参考点的位置信息;Position information of the antenna array element that receives the first signal relative to a preset local reference point of the antenna array;
发送所述第一信号的第一天线面板相对天线阵列的预设局部参考点的位置信息以及所述第一天线面板内用于发送所述第一信号的天线阵元相对所述第一天线面板的预设统一参考点的位置信息;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;
接收所述第一信号的第二天线面板相对天线阵列的预设局部参考点的位置信息以及所述第二天线面板内用于接收所述第一信号的天线阵元相对所述第二天线面板的预设统一参考点的位置信息;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;
天线阵元的位映射信息;Bit mapping information of antenna array elements;
阵列天线面板的位映射信息。Bit mapping information for the array antenna panel.
可选地,所述天线阵列信息包括以下至少一项:Optionally, the antenna array information includes at least one of the following:
可用于所述第一信号关联的第一业务的可用第一标识集合,所述第一标 识为天线阵元的标识;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;
所述第一标识与天线阵元在天线阵列所处位置的映射关系;The mapping relationship between the first identifier and the position of the antenna array element in the antenna array;
在天线阵列包括至少两个天线面板的情况下,第二标识与天线面板在天线阵列所处位置的映射关系,所述第二标识为天线面板的标识;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;
天线阵元的位映射规则;Bit mapping rules for antenna array elements;
在天线阵列包括至少两个天线面板的情况下,天线面板的位映射规则和单个天线面板内天线阵元的位映射规则;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;
天线阵列类型;Antenna array type;
天线阵列包含的天线面板的数量;The number of antenna panels included in the antenna array;
天线阵列包含的天线阵元的数量;The number of antenna elements contained in the antenna array;
天线阵列预先确定的局部参考点的位置信息;Position information of the predetermined local reference point of the antenna array;
在天线阵列包括至少两个天线面板的情况下,天线面板相对于天线阵列的局部参考点的位置信息;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;
天线阵元相对天线阵列上预设局部参考点的位置信息;The position information of the antenna array element relative to the preset local reference point on the antenna array;
在天线阵列包括至少两个天线面板的情况下,每个所述天线面板内天线阵元相对于所述天线面板内预设统一参考点的位置信息;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;
所述第一标识的天线极化方式;The antenna polarization mode of the first identification;
至少部分天线阵元的三维或二维方向图信息。Three-dimensional or two-dimensional pattern information of at least part of the antenna array elements.
可选地,所述第一状态信息包括以下至少一项:Optionally, the first status information includes at least one of the following:
发送设备的第一测量参数的第一测量值,所述第一测量参数包括感知目标的离开方位角和离开俯仰角中的至少一项;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;
接收设备的第二测量参数的第二测量值,所述第二测量参数包括感知目标的到达方位角和到达俯仰角中的至少一项;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;
至少两次感知测量获得的所述第一测量值的标准差或方差;the standard deviation or variance of said first measurement obtained from at least two perceptual measurements;
至少两次感知测量获得的所述第二测量值的标准差或方差;the standard deviation or variance of said second measurement value obtained from at least two perceptual measurements;
至少两个第一值的均值、标准差或方差,所述第一值为一次感知测量获得的所述第一测量值与所述第一测量参数对应的第一预测值的差值;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;
至少两个第二值的均值、标准差或方差,所述第二值为一次感知测量获得的所述第二测量值与所述第二测量参数对应的第二预测值的差值; 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;
所述感知目标相对所述发送设备的距离;The distance of the sensing target relative to the sending device;
所述感知目标相对所述接收设备的距离;The distance of the sensing target relative to the receiving device;
所述感知目标的移动速度;The moving speed of the sensing target;
所述感知目标的移动方向;The movement direction of the sensing target;
第一速度分量,所述第一速度分量为一次感知测量获得的所述感知目标在预设笛卡尔坐标系上至少一个坐标轴方向上的速度分量大小;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;
至少两次感知测量获得的所述第一速度分量的均值、标准差或方差;the mean, standard deviation or variance of said first velocity component obtained from at least two perceptual measurements;
至少两个第三值的均值、标准差或方差,所述第三值为一次感知测量获得的所述第一速度分量与速度分量对应的第三预测值的差值;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;
所述感知目标的位置坐标;The position coordinates of the sensing target;
至少两次感知测量获得的所述感知目标的位置坐标的均值、标准差或方差;The mean, standard deviation or variance of the position coordinates of the sensing target obtained from at least two sensing measurements;
至少两个第四值的均值、标准差或方差,所述第四值为一次感知测量获得的所述感知目标的位置坐标和与所述位置坐标对应的第四预测值的差值;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;
所述接收设备上至少一个天线阵元上接收到的所述第一信号的第三测量参数的第三测量值,所述第三测量参数包括接收功率、信噪比SNR和信号与干扰加噪声比SINR;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;
至少两个所述第三测量值的均值、标准差或方差;the mean, standard deviation or variance of at least two said third measurements;
至少两个第五值的均值、标准差或方差,所述第五值为一次感知测量获得的所述第三测量值与所述第三测量参数对应的第五预测值的差值;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;
所述接收设备的天线阵列中至少两个天线阵元之间接收到的第一信号的均值、标准差或方差;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;
所述感知目标的功率谱的第四测量参数的第四测量值,所述第四测量参数包括第一信号接收信号平均角度和第一信号接收信号的角度扩展中的至少一项;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;
至少两个第六值的均值、标准差或方差,所述第六值为一次感知测量获得的所述第四测量值与所述第四测量参数对应的第六预测值的差值;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;
所述感知目标的时延功率谱的第五测量参数的第五测量值,所述第五测量参数包括第一信号接收信号平均时延和第一信号接收信号的时延扩展中的 至少一项;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;
至少两个第七值的均值、标准差或方差,所述第七值为一次感知测量获得的所述第五测量值与所述第五测量参数对应的第七预测值的差值;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;
所述感知目标的多普勒功率谱的第六测量参数的第六测量值,所述第六测量参数包括第一信号接收信号平均多普勒频移和第一信号接收信号的多普勒扩展中的至少一项;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;
至少两个第八值的均值、标准差或方差,所述第八值为一次感知测量获得的所述第六测量值与所述第六测量参数对应的第八预测值的差值;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;
环境杂波功率;Environmental clutter power;
至少两个第九值的均值、标准差或方差,所述第九值为一次感知测量获得的所述环境杂波功率与所述环境杂波功率对应的第九预测值的差值;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;
第七测量参数的第七测量值,所述第七测量参数包括环境杂波的多普勒带宽和环境杂波与感知目标叠加的多普勒带宽中的至少一项;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;
至少两个第十值的均值、标准差或方差,所述第十值为一次感知测量获得的所述第七测量值与所述第七测量参数对应的第十预测值的差值;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;
预设感知区域内感知目标的数量;The number of sensing targets in the preset sensing area;
预设感知区域内感知目标的密度;The density of sensing targets in the preset sensing area;
在感知区域发生变化的情况下,感知区域的位置坐标以及物理范围大小相关的参数。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.
可选地,所述信道信息包括发送设备和接收设备之间任一天线对的第五信息,所述第五信息包括以下至少一项:信道传输函数、信道冲击响应、信道状态信息、信道质量指示、秩指示和与通信相关的性能指标。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.
可选地,所述资源信息包括可用于所述第一信号关联的第一业务的目标资源的资源数量,所述目标资源包括以下至少一项:时间资源、频率资源、天线资源、多普勒频分复用DDM相位调制器资源和正交码资源。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.
可选地,所述第一信息包括以下至少一项:感知需求、业务类型、感知服务质量QoS或通感一体化QoS、感知区域的先验信息和感知目标的先验信息。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.
本申请实施例中的感知处理装置可以是电子设备,例如具有操作系统的 电子设备,也可以是电子设备中的部件,例如集成电路或芯片。该电子设备可以是终端,也可以为除终端之外的其他设备。示例性的,终端可以包括但不限于上述所列举的终端11的类型,其他设备可以为服务器、网络附属存储器(Network Attached Storage,NAS)等,本申请实施例不作具体限定。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.
本申请实施例提供的感知处理装置能够实现图2至图6的方法实施例实现的各个过程,并达到相同的技术效果,为避免重复,这里不再赘述。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.
可选的,如图9所示,本申请实施例还提供一种通信设备900,包括处理器901和存储器902,存储器902上存储有可在所述处理器901上运行的程序或指令,该程序或指令被处理器901执行时实现上述感知处理方法实施例的各个步骤,且能达到相同的技术效果,为避免重复,这里不再赘述。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.
本申请实施例还提供一种终端,包括处理器和通信接口,所述通信接口用于从第一设备接收第一配置信息;所述处理器用于基于所述第一配置信息进行天线选择操作和第一信号配置;其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项,且所述目标感知设备包括所述第一感知设备。该终端实施例与上述第一感知设备侧方法实施例对应,上述方法实施例的各个实施过程和实现方式均可适用于该终端实施例中,且能达到相同的技术效果。具体地,图10为实现本申请实施例的一种终端的硬件结构示意图。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.
该终端1000包括但不限于:射频单元1001、网络模块1002、音频输出单元1003、输入单元1004、传感器1005、显示单元1006、用户输入单元1007、接口单元1008、存储器1009以及处理器1010等中的至少部分部件。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.
本领域技术人员可以理解,终端1000还可以包括给各个部件供电的电源(比如电池),电源可以通过电源管理系统与处理器1010逻辑相连,从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。图10中示出的终端结构并不构成对终端的限定,终端可以包括比图示更多或更少的部件,或者组合某些部件,或者不同的部件布置,在此不再赘述。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.
应理解的是,本申请实施例中,输入单元1004可以包括图形处理单元(Graphics Processing Unit,GPU)10041和麦克风10042,图形处理器10041 对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频的图像数据进行处理。显示单元1006可包括显示面板10061,可以采用液晶显示器、有机发光二极管等形式来配置显示面板10061。用户输入单元1007包括触控面板10071以及其他输入设备10072中的至少一种。触控面板10071,也称为触摸屏。触控面板10071可包括触摸检测装置和触摸控制器两个部分。其他输入设备10072可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆,在此不再赘述。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.
本申请实施例中,射频单元1001接收来自网络侧设备的下行数据后,可以传输给处理器1010进行处理;另外,射频单元1001可以向网络侧设备发送上行数据。通常,射频单元1001包括但不限于天线、放大器、收发信机、耦合器、低噪声放大器、双工器等。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.
存储器1009可用于存储软件程序或指令以及各种数据。存储器1009可主要包括存储程序或指令的第一存储区和存储数据的第二存储区,其中,第一存储区可存储操作系统、至少一个功能所需的应用程序或指令(比如声音播放功能、图像播放功能等)等。此外,存储器1009可以包括易失性存储器或非易失性存储器,或者,存储器1009可以包括易失性和非易失性存储器两者。其中,非易失性存储器可以是只读存储器(Read-Only Memory,ROM)、可编程只读存储器(Programmable ROM,PROM)、可擦除可编程只读存储器(Erasable PROM,EPROM)、电可擦除可编程只读存储器(Electrically EPROM,EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory,RAM),静态随机存取存储器(Static RAM,SRAM)、动态随机存取存储器(Dynamic RAM,DRAM)、同步动态随机存取存储器(Synchronous DRAM,SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM,DDRSDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM,ESDRAM)、同步连接动态随机存取存储器(Synch link DRAM,SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM,DRRAM)。本申请实施例中的存储器1009包括但不限于这些和任意其它适合类型的存储器。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.
处理器1010可包括一个或多个处理单元;可选的,处理器1010集成应 用处理器和调制解调处理器,其中,应用处理器主要处理涉及操作系统、用户界面和应用程序等的操作,调制解调处理器主要处理无线通信信号,如基带处理器。可以理解的是,上述调制解调处理器也可以不集成到处理器1010中。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.
其中,射频单元1001,用于从第一设备接收第一配置信息;所述处理器1010用于基于所述第一配置信息进行天线选择操作和第一信号配置;其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项,且所述目标感知设备包括所述第一感知设备。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.
本申请实施例由于根据目标信息确定第一配置信息,从而可以根据当前的感知环境对目标感知设备的天线选择信息和信号配置信息进行更新,进而可以有效提升感知性能。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.
本申请实施例还提供一种网络侧设备,包括处理器和通信接口,所述处理器用于在目标信息发生变化的情况下,基于目标信息确定第一配置信息;所述通信接口用于发送第一配置信息;其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项;或者,所述通信接口用于从第一设备接收第一配置信息;所述处理器用于基于所述第一配置信息进行天线选择操作和第一信号配置;其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项,且所述目标感知设备包括所述第一感知设备。该网络侧设备实施例与上述方法实施例对应,上述方法实施例的各个实施过程和实现方式均可适用于该网络侧设备实施例中,且能达到相同的技术效果。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.
具体地,本申请实施例还提供了一种网络侧设备。如图11所示,该网络侧设备1100包括:天线1101、射频装置1102、基带装置1103、处理器1104和存储器1105。天线1101与射频装置1102连接。在上行方向上,射频装置 1102通过天线1101接收信息,将接收的信息发送给基带装置1103进行处理。在下行方向上,基带装置1103对要发送的信息进行处理,并发送给射频装置1102,射频装置1102对收到的信息进行处理后经过天线1101发送出去。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.
以上实施例中网络侧设备执行的方法可以在基带装置1103中实现,该基带装置1103包括基带处理器。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.
基带装置1103例如可以包括至少一个基带板,该基带板上设置有多个芯片,如图11所示,其中一个芯片例如为基带处理器,通过总线接口与存储器1105连接,以调用存储器1105中的程序,执行以上方法实施例中所示的网络设备操作。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.
该网络侧设备还可以包括网络接口1106,该接口例如为通用公共无线接口(common public radio interface,CPRI)。The network side device may also include a network interface 1106, which is, for example, a common public radio interface (CPRI).
具体地,本申请实施例的网络侧设备1100还包括:存储在存储器1105上并可在处理器1104上运行的指令或程序,处理器1104调用存储器1105中的指令或程序执行图7或图8所示各模块执行的方法,并达到相同的技术效果,为避免重复,故不在此赘述。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.
本申请实施例还提供一种可读存储介质,所述可读存储介质上存储有程序或指令,该程序或指令被处理器执行时实现上述感知处理方法实施例的各个过程,且能达到相同的技术效果,为避免重复,这里不再赘述。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.
其中,所述处理器为上述实施例中所述的终端中的处理器。所述可读存储介质,包括计算机可读存储介质,如计算机只读存储器ROM、随机存取存储器RAM、磁碟或者光盘等。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.
本申请实施例另提供了一种芯片,所述芯片包括处理器和通信接口,所述通信接口和所述处理器耦合,所述处理器用于运行程序或指令,实现上述感知处理方法实施例的各个过程,且能达到相同的技术效果,为避免重复,这里不再赘述。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.
应理解,本申请实施例提到的芯片还可以称为系统级芯片,系统芯片,芯片系统或片上系统芯片等。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.
本申请实施例另提供了一种计算机程序/程序产品,所述计算机程序/程序产品被存储在存储介质中,所述计算机程序/程序产品被至少一个处理器执行 以实现上述感知处理方法实施例的各个过程,且能达到相同的技术效果,为避免重复,这里不再赘述。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.
本申请实施例还提供了一种通信系统,包括:第一感知设备及第一设备,所述第一感知设备用于执行如图2及上述各个方法实施例的各个过程,所述第一设备用于执行如图6及上述各个方法实施例的各个过程,且能达到相同的技术效果,为避免重复,这里不再赘述。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.
需要说明的是,在本文中,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外,需要指出的是,本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能,还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能,例如,可以按不同于所描述的次序来执行所描述的方法,并且还可以添加、省去、或组合各种步骤。另外,参照某些示例所描述的特征可在其他示例中被组合。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.
通过以上的实施方式的描述,本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现,当然也可以通过硬件,但很多情况下前者是更佳的实施方式。基于这样的理解,本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以计算机软件产品的形式体现出来,该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中,包括若干指令用以使得一台终端(可以是手机,计算机,服务器,空调器,或者网络设备等)执行本申请各个实施例所述的方法。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.
上面结合附图对本申请的实施例进行了描述,但是本申请并不局限于上述的具体实施方式,上述的具体实施方式仅仅是示意性的,而不是限制性的,本领域的普通技术人员在本申请的启示下,在不脱离本申请宗旨和权利要求所保护的范围情况下,还可做出很多形式,均属于本申请的保护之内。 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 (48)

  1. 一种感知处理方法,包括:A method of perceptual processing that includes:
    在目标信息发生变化的情况下,第一设备基于所述目标信息确定第一配置信息;In the case where the target information changes, the first device determines the first configuration information based on the target information;
    所述第一设备发送第一配置信息;The first device sends first configuration information;
    其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项。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.
  2. 根据权利要求1所述的方法,其中,所述第一信号为多输入多输出通信感知一体化MIMO-ISAC系统中各发射天线发射信号的集合,所述MIMO-ISAC系统中各发射天线的发射信号彼此相互正交或准正交。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.
  3. 根据权利要求2所述的方法,其中,所述各发射天线的发射信号的正交类型包括以下至少一项:时分复用TDM、频分复用FDM、多普勒频分复用DDM、码分复用CDM。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.
  4. 根据权利要求2所述的方法,其中,所述MIMO-ISAC系统中的各发射天线的发射信号相互正交或准正交包括以下至少一项: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:
    所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的时域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal time domain resources;
    所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的频域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal frequency domain resources;
    所述MIMO-ISAC系统中的至少两个发射天线的发射信号使用相同的频域图样,且所述MIMO-ISAC系统中的各发射天线的发射信号分别在互不相同的发送时刻发送;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;
    所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别为预设时频图样在频域和/或时域的不同循环移位版本;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;
    所述MIMO-ISAC系统中的各发射天线的发射信号具备多个脉冲周期,其频域资源部分重叠或者完全不重叠,且在多个不同信号脉冲周期间各发射天线的发射信号按照预设规则改变所使用的频域资源; 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;
    所述MIMO-ISAC系统中至少两个发射天线的发射信号使用第一时域资源,所述MIMO-ISAC系统中至少一个发射天线的发射信号使用第二时域资源,其中,所述第一时域资源与所述第二时域资源相互正交,且使用所述第一时域资源的至少两个发射天线的发射信号使用相互正交的频域资源;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;
    所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的码域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal code domain resources;
    所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的多普勒频域资源。The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal Doppler frequency domain resources.
  5. 根据权利要求1所述的方法,其中,所述信号配置信息包括以下至少一项:The method according to claim 1, wherein the signal configuration information includes at least one of the following:
    资源周期类参数,所述资源周期类参数用于控制所述第一信号资源的时域重复周期、时域重复次数、频域重复周期和频域重复次数中的至少一项;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;
    资源位置类参数,所述资源位置类参数用于控制所述第一信号资源的时频位置;Resource location parameters, which are used to control the time-frequency location of the first signal resource;
    资源图样类参数,所述资源图样类参数用于控制所述第一信号资源的基本时频图样;Resource pattern parameters, the resource pattern parameters are used to control the basic time-frequency pattern of the first signal resource;
    资源调制类参数,所述资源调制类参数用于控制所述第一信号相位调制;Resource modulation parameters, the resource modulation parameters are used to control the phase modulation of the first signal;
    资源编码类参数,所述资源编码类参数用于控制基于码分复用CDM的所述第一信号的正交码资源配置;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;
    信号序列类型;Signal sequence type;
    信号序列长度;Signal sequence length;
    用于生产所述第一信号的初始种子。The initial seed used to produce the first signal.
  6. 根据权利要求1所述的方法,所述方法还包括:The method of claim 1, further comprising:
    所述第一设备获取至少一个感知设备的第二信息,所述至少一个感知设备包括所述目标感知设备;The first device acquires second information of at least one sensing device, and the at least one sensing device includes the target sensing device;
    所述第一设备根据所述第二信息确定目标配置参数;The first device determines target configuration parameters according to the second information;
    所述第一设备向所述至少一个感知设备发送所述目标配置参数,所述目标配置参数用于所述至少一个感知设备执行所述第一信号关联的第一业务。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.
  7. 根据权利要求6所述的方法,其中,所述目标配置参数包括所述第一 信号的信号配置信息、发送设备的天线选择信息和接收设备的天线选择信息。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.
  8. 根据权利要求1所述的方法,所述方法还包括:The method of claim 1, further comprising:
    所述第一设备获取至少两个感知设备的第二信息,所述至少两个感知设备包括所述目标感知设备;The first device obtains second information of at least two sensing devices, and the at least two sensing devices include the target sensing device;
    所述第一设备根据所述至少两个感知设备中发送设备的第二信息确定第一配置参数,所述第一配置参数用于所述发送设备执行所述第一信号关联的第一业务;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;
    所述第一设备向所述发送设备发送所述第一配置参数和接收设备的第二信息,所述接收设备的第二信息用于确定第二配置参数,所述第二配置参数用于所述至少两个感知设备中接收设备执行所述第一业务。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.
  9. 根据权利要求8所述的方法,其中,所述第一配置参数包括所述第一信号的信号配置信息和发送设备的天线选择信息。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.
  10. 根据权利要求8所述的方法,其中,所述第二配置参数包括所述第一信号的信号配置信息和接收设备的天线选择信息。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.
  11. 根据权利要求6至10中任一项所述的方法,其中,所述第二信息包括以下至少一项:天线阵列信息、感知目标的第一状态信息、信道信息、与所述第一业务关联的资源信息和用于确定感知设备的第一信息。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.
  12. 根据权利要求1所述的方法,所述方法还包括:The method of claim 1, further comprising:
    所述第一设备获取第三信息;The first device obtains third information;
    所述第一设备根据所述第三信息计算获得所述感知结果;The first device calculates and obtains the sensing result based on the third information;
    其中,所述第三信息包括:Wherein, the third information includes:
    发送设备的天线阵列信息;The antenna array information of the sending device;
    发送设备的天线选择信息或基于所述发送设备的天线选择信息确定的第一导向矢量;Antenna selection information of the transmitting device or a first steering vector determined based on the antenna selection information of the transmitting device;
    接收设备的天线阵列信息;Antenna array information of the receiving device;
    接收设备的天线选择信息或基于所述接收设备的天线选择信息确定的第二导向矢量;Antenna selection information of the receiving device or a second steering vector determined based on the antenna selection information of the receiving device;
    所述第一信号的信号配置信息。Signal configuration information of the first signal.
  13. 根据权利要求12所述的方法,其中,所述第三信息满足以下至少一 项:The method of claim 12, wherein the third information satisfies at least one of the following item:
    在所述发送设备进行预编码的情况下,所述第三信息还包括预编码信息;In the case where the sending device performs precoding, the third information also includes precoding information;
    在所述发送设备进行波束赋形的情况下,所述第三信息还包括波束赋形矩阵信息。When the sending device performs beam forming, the third information further includes beam forming matrix information.
  14. 根据权利要求12所述的方法,其中,所述第一设备获取第三信息包括以下任一项:The method according to claim 12, wherein the first device obtaining the third information includes any of the following:
    在所述第一设备的本地存储有所述第三信息的全部信息的情况下,所述第一设备获取本地存储的所述第三信息;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;
    在所述第一设备的本地存储有第一子信息,且未存储有第二子信息的情况下,所述第一设备获取本地存储的所述第一子信息,并从至少一个感知设备获取所述第二子信息,所述第一子信息为所述第三信息中的一部分信息,所述第二子信息为所述第三信息中的另一部分信息;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;
    在所述第一设备的本地存储有所述第三信息的全部信息的情况下,所述第一设备从至少一个感知设备获取所述第三信息。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.
  15. 根据权利要求1所述的方法,所述方法还包括:The method of claim 1, further comprising:
    所述第一设备向计算设备发送第四信息,所述第四信息用于计算所述感知结果,所述计算设备为用于计算所述感知结果的设备,所述第四信息包括以下至少一项: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:
    发送设备的天线阵列信息;The antenna array information of the sending device;
    发送设备的天线选择信息或基于所述发送设备的天线选择信息确定的第一导向矢量;Antenna selection information of the transmitting device or a first steering vector determined based on the antenna selection information of the transmitting device;
    接收设备的天线阵列信息;Antenna array information of the receiving device;
    接收设备的天线选择信息或基于所述接收设备的天线选择信息确定的第二导向矢量;Antenna selection information of the receiving device or a second steering vector determined based on the antenna selection information of the receiving device;
    第一信号的信号配置信息。Signal configuration information of the first signal.
  16. 根据权利要求15所述的方法,其中,所述第四信息满足以下至少一项:The method of claim 15, wherein the fourth information satisfies at least one of the following:
    在所述发送设备进行预编码的情况下,所述第四信息还包括预编码信息;In the case where the sending device performs precoding, the fourth information also includes precoding information;
    在所述发送设备进行波束赋形的情况下,所述第四信息还包括波束赋形 矩阵信息。When the sending device performs beamforming, the fourth information also includes beamforming matrix information.
  17. 根据权利要求15所述的方法,其中,所述第一设备向计算设备发送第四信息之后,所述方法还包括:The method of claim 15, wherein after the first device sends the fourth information to the computing device, the method further includes:
    所述第一设备从所述计算设备接收所述感知结果。The first device receives the sensing results from the computing device.
  18. 根据权利要求1至17中任一项所述的方法,其中,所述目标信息包括以下至少一项:The method according to any one of claims 1 to 17, wherein the target information includes at least one of the following:
    在预设时间段内执行所述第一信号关联的第一业务获得的感知结果;The sensing result obtained by executing the first service associated with the first signal within a preset time period;
    所述目标感知设备在所述预设时间段内执行所述第一业务的天线选择信息;The target sensing device executes the antenna selection information of the first service within the preset time period;
    所述目标感知设备的天线阵列信息;Antenna array information of the target sensing device;
    感知目标的第一状态信息;Perceive the first status information of the target;
    信道信息;channel information;
    与所述第一业务关联的资源信息;Resource information associated with the first service;
    用于确定感知设备的第一信息。First information used to determine the sensing device.
  19. 根据权利要求18所述的方法,其中,所述天线选择信息包括以下至少一项:The method of claim 18, wherein the antenna selection information includes at least one of the following:
    发送所述第一信号的天线阵元的标识;The identification of the antenna array element that sent the first signal;
    接收所述第一信号的天线阵元的标识;The identification of the antenna array element that receives the first signal;
    发送所述第一信号的第一天线面板的标识;An identification of the first antenna panel transmitting the first signal;
    接收所述第一信号的第二天线面板的标识;An identification of the second antenna panel that receives the first signal;
    发送所述第一信号的天线阵元相对天线阵列的预设局部参考点的位置信息;Position information of the antenna element that sends the first signal relative to a preset local reference point of the antenna array;
    接收所述第一信号的天线阵元相对天线阵列的预设局部参考点的位置信息;Position information of the antenna array element that receives the first signal relative to a preset local reference point of the antenna array;
    发送所述第一信号的第一天线面板相对天线阵列的预设局部参考点的位置信息以及所述第一天线面板内用于发送所述第一信号的天线阵元相对所述第一天线面板的预设统一参考点的位置信息;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;
    接收所述第一信号的第二天线面板相对天线阵列的预设局部参考点的位置信息以及所述第二天线面板内用于接收所述第一信号的天线阵元相对所述 第二天线面板的预设统一参考点的位置信息;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;
    天线阵元的位映射信息;Bit mapping information of antenna array elements;
    阵列天线面板的位映射信息。Bit mapping information for the array antenna panel.
  20. 根据权利要求18所述的方法,其中,所述天线阵列信息包括以下至少一项:The method of claim 18, wherein the antenna array information includes at least one of the following:
    可用于所述第一信号关联的第一业务的可用第一标识集合,所述第一标识为天线阵元的标识;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;
    所述第一标识与天线阵元在天线阵列所处位置的映射关系;The mapping relationship between the first identifier and the position of the antenna array element in the antenna array;
    在天线阵列包括至少两个天线面板的情况下,第二标识与天线面板在天线阵列所处位置的映射关系,所述第二标识为天线面板的标识;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;
    天线阵元的位映射规则;Bit mapping rules for antenna array elements;
    在天线阵列包括至少两个天线面板的情况下,天线面板的位映射规则和单个天线面板内天线阵元的位映射规则;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;
    天线阵列类型;Antenna array type;
    天线阵列包含的天线面板的数量;The number of antenna panels included in the antenna array;
    天线阵列包含的天线阵元的数量;The number of antenna elements contained in the antenna array;
    天线阵列预先确定的局部参考点的位置信息;Position information of the predetermined local reference point of the antenna array;
    在天线阵列包括至少两个天线面板的情况下,天线面板相对于天线阵列的局部参考点的位置信息;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;
    天线阵元相对天线阵列上预设局部参考点的位置信息;The position information of the antenna array element relative to the preset local reference point on the antenna array;
    在天线阵列包括至少两个天线面板的情况下,每个所述天线面板内天线阵元相对于所述天线面板内预设统一参考点的位置信息;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;
    所述第一标识的天线极化方式;The antenna polarization mode of the first identification;
    至少部分天线阵元的三维或二维方向图信息。Three-dimensional or two-dimensional pattern information of at least part of the antenna array elements.
  21. 根据权利要求18所述的方法,其中,所述第一状态信息包括以下至少一项:The method of claim 18, wherein the first status information includes at least one of the following:
    发送设备的第一测量参数的第一测量值,所述第一测量参数包括感知目标的离开方位角和离开俯仰角中的至少一项;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;
    接收设备的第二测量参数的第二测量值,所述第二测量参数包括感知目 标的到达方位角和到达俯仰角中的至少一项;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;
    至少两次感知测量获得的所述第一测量值的标准差或方差;the standard deviation or variance of said first measurement obtained from at least two perceptual measurements;
    至少两次感知测量获得的所述第二测量值的标准差或方差;the standard deviation or variance of said second measurement value obtained from at least two perceptual measurements;
    至少两个第一值的均值、标准差或方差,所述第一值为一次感知测量获得的所述第一测量值与所述第一测量参数对应的第一预测值的差值;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;
    至少两个第二值的均值、标准差或方差,所述第二值为一次感知测量获得的所述第二测量值与所述第二测量参数对应的第二预测值的差值;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;
    所述感知目标相对所述发送设备的距离;The distance of the sensing target relative to the sending device;
    所述感知目标相对所述接收设备的距离;The distance of the sensing target relative to the receiving device;
    所述感知目标的移动速度;The moving speed of the sensing target;
    所述感知目标的移动方向;The movement direction of the sensing target;
    第一速度分量,所述第一速度分量为一次感知测量获得的所述感知目标在预设笛卡尔坐标系上至少一个坐标轴方向上的速度分量大小;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;
    至少两次感知测量获得的所述第一速度分量的均值、标准差或方差;the mean, standard deviation or variance of said first velocity component obtained from at least two perceptual measurements;
    至少两个第三值的均值、标准差或方差,所述第三值为一次感知测量获得的所述第一速度分量与速度分量对应的第三预测值的差值;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;
    所述感知目标的位置坐标;The position coordinates of the sensing target;
    至少两次感知测量获得的所述感知目标的位置坐标的均值、标准差或方差;The mean, standard deviation or variance of the position coordinates of the sensing target obtained from at least two sensing measurements;
    至少两个第四值的均值、标准差或方差,所述第四值为一次感知测量获得的所述感知目标的位置坐标和与所述位置坐标对应的第四预测值的差值;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;
    所述接收设备上至少一个天线阵元上接收到的所述第一信号的第三测量参数的第三测量值,所述第三测量参数包括接收功率、信噪比SNR和信号与干扰加噪声比SINR;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;
    至少两个所述第三测量值的均值、标准差或方差;the mean, standard deviation or variance of at least two said third measurements;
    至少两个第五值的均值、标准差或方差,所述第五值为一次感知测量获得的所述第三测量值与所述第三测量参数对应的第五预测值的差值;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;
    所述接收设备的天线阵列中至少两个天线阵元之间接收到的第一信号的均值、标准差或方差; 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;
    所述感知目标的功率谱的第四测量参数的第四测量值,所述第四测量参数包括第一信号接收信号平均角度和第一信号接收信号的角度扩展中的至少一项;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;
    至少两个第六值的均值、标准差或方差,所述第六值为一次感知测量获得的所述第四测量值与所述第四测量参数对应的第六预测值的差值;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;
    所述感知目标的时延功率谱的第五测量参数的第五测量值,所述第五测量参数包括第一信号接收信号平均时延和第一信号接收信号的时延扩展中的至少一项;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 ;
    至少两个第七值的均值、标准差或方差,所述第七值为一次感知测量获得的所述第五测量值与所述第五测量参数对应的第七预测值的差值;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;
    所述感知目标的多普勒功率谱的第六测量参数的第六测量值,所述第六测量参数包括第一信号接收信号平均多普勒频移和第一信号接收信号的多普勒扩展中的至少一项;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;
    至少两个第八值的均值、标准差或方差,所述第八值为一次感知测量获得的所述第六测量值与所述第六测量参数对应的第八预测值的差值;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;
    环境杂波功率;Environmental clutter power;
    至少两个第九值的均值、标准差或方差,所述第九值为一次感知测量获得的所述环境杂波功率与所述环境杂波功率对应的第九预测值的差值;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;
    第七测量参数的第七测量值,所述第七测量参数包括环境杂波的多普勒带宽和环境杂波与感知目标叠加的多普勒带宽中的至少一项;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;
    至少两个第十值的均值、标准差或方差,所述第十值为一次感知测量获得的所述第七测量值与所述第七测量参数对应的第十预测值的差值;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;
    预设感知区域内感知目标的数量;The number of sensing targets in the preset sensing area;
    预设感知区域内感知目标的密度;The density of sensing targets in the preset sensing area;
    在感知区域发生变化的情况下,感知区域的位置坐标以及物理范围大小相关的参数。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.
  22. 根据权利要求18所述的方法,其中,所述信道信息包括发送设备和接收设备之间任一天线对的第五信息,所述第五信息包括以下至少一项:信道传输函数、信道冲击响应、信道状态信息、信道质量指示、秩指示和与通 信相关的性能指标。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.
  23. 根据权利要求18所述的方法,其中,所述资源信息包括可用于所述第一信号关联的第一业务的目标资源的资源数量,所述目标资源包括以下至少一项:时间资源、频率资源、天线资源、多普勒频分复用DDM相位调制器资源和正交码资源。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.
  24. 根据权利要求18所述的方法,其中,所述第一信息包括以下至少一项:感知需求、业务类型、感知服务质量QoS或通感一体化QoS、感知区域的先验信息和感知目标的先验信息。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.
  25. 一种感知处理方法,包括:A method of perceptual processing that includes:
    第一感知设备从第一设备接收第一配置信息;The first sensing device receives first configuration information from the first device;
    所述第一感知设备基于所述第一配置信息进行天线选择操作和第一信号配置;The first sensing device performs an antenna selection operation and a first signal configuration based on the first configuration information;
    其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项,且所述目标感知设备包括所述第一感知设备。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.
  26. 根据权利要求25所述的方法,其中,所述第一信号为多输入多输出通信感知一体化MIMO-ISAC系统中各发射天线发射信号的集合,所述MIMO-ISAC系统中各发射天线的发射信号彼此相互正交或准正交。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.
  27. 根据权利要求26所述的方法,其中,所述各发射天线的发射信号的正交类型包括以下至少一项:时分复用TDM、频分复用FDM、多普勒频分复用DDM、码分复用CDM。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.
  28. 根据权利要求26所述的方法,其中,所述MIMO-ISAC系统中的各发射天线的发射信号相互正交或准正交包括以下至少一项: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:
    所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的时域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal time domain resources;
    所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的频域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal frequency domain resources;
    所述MIMO-ISAC系统中的至少两个发射天线的发射信号使用相同的频 域图样,且所述MIMO-ISAC系统中的各发射天线的发射信号分别在互不相同的发送时刻发送;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;
    所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别为预设时频图样在频域和/或时域的不同循环移位版本;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;
    所述MIMO-ISAC系统中的各发射天线的发射信号具备多个脉冲周期,其频域资源部分重叠或者完全不重叠,且在多个不同信号脉冲周期间各发射天线的发射信号按照预设规则改变所使用的频域资源;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;
    所述MIMO-ISAC系统中至少两个发射天线的发射信号使用第一时域资源,所述MIMO-ISAC系统中至少一个发射天线的发射信号使用第二时域资源,其中,所述第一时域资源与所述第二时域资源相互正交,且使用所述第一时域资源的至少两个发射天线的发射信号使用相互正交的频域资源;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;
    所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的码域资源;The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal code domain resources;
    所述MIMO-ISAC系统中的至少两个发射天线的发射信号分别使用相互正交的多普勒频域资源。The transmission signals of at least two transmitting antennas in the MIMO-ISAC system respectively use mutually orthogonal Doppler frequency domain resources.
  29. 根据权利要求26所述的方法,其中,所述信号配置信息包括以下至少一项:The method of claim 26, wherein the signal configuration information includes at least one of the following:
    资源周期类参数,所述资源周期类参数用于控制所述第一信号资源的时域重复周期、时域重复次数、频域重复周期和频域重复次数中的至少一项;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;
    资源位置类参数,所述资源位置类参数用于控制所述第一信号资源的时频位置;Resource location parameters, which are used to control the time-frequency location of the first signal resource;
    资源图样类参数,所述资源图样类参数用于控制所述第一信号资源的基本时频图样;Resource pattern parameters, the resource pattern parameters are used to control the basic time-frequency pattern of the first signal resource;
    资源调制类参数,所述资源调制类参数用于控制所述第一信号相位调制;Resource modulation parameters, the resource modulation parameters are used to control the phase modulation of the first signal;
    资源编码类参数,所述资源编码类参数用于控制基于码分复用CDM的所述第一信号的正交码资源配置;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;
    信号序列类型;Signal sequence type;
    信号序列长度;Signal sequence length;
    用于生产所述第一信号的初始种子。 The initial seed used to produce the first signal.
  30. 根据权利要求25所述的方法,所述方法还包括:The method of claim 25, further comprising:
    所述第一感知设备向所述第一设备发送所述第一感知设备的第二信息,所述第二信息用于确定目标配置参数,所述目标配置参数用于至少一个感知设备执行所述第一信号关联的第一业务。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.
  31. 根据权利要求30所述的方法,其中,所述目标配置参数包括所述第一信号的信号配置信息、发送设备的天线选择信息和接收设备的天线选择信息。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.
  32. 根据权利要求25所述的方法,所述方法还包括:The method of claim 25, further comprising:
    所述第一感知设备向所述第一设备发送所述第一感知设备的第二信息,所述第二信息用于确定所述第一感知设备的初始配置参数;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;
    所述第一感知设备从目标设备接收所述第一感知设备的初始配置参数;The first sensing device receives initial configuration parameters of the first sensing device from the target device;
    所述第一感知设备基于所述第一感知设备的初始配置参数执行所述第一信号关联的第一业务;The first sensing device performs the first service associated with the first signal based on the initial configuration parameters of the first sensing device;
    其中,在所述第一感知设备为所述第一信号的发送设备的情况下,所述第一感知设备的初始配置参数为第一配置参数,所述目标设备为第一设备;在所述第一感知设备为所述第一信号的接收设备的情况下,所述目标设备为所述发送设备,所述第一感知设备的初始配置参数为所述发送设备确定的第二配置参数。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.
  33. 根据权利要求32所述的方法,其中,在所述第一感知设备为所述发送设备的情况下,所述方法还包括:The method according to claim 32, wherein when the first sensing device is the sending device, the method further includes:
    所述第一感知设备从所述接收设备接收第二信息;The first sensing device receives second information from the receiving device;
    所述第一感知设备根据所述第二信息确定所述接收设备的第二配置参数,所述第二配置参数用于所述接收设备执行所述第一信号关联的第一业务;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;
    所述第一感知设备向所述接收设备发送所述第二配置参数。The first sensing device sends the second configuration parameter to the receiving device.
  34. 根据权利要求32所述的方法,其中,所述第一配置参数包括所述第一信号的信号配置信息和发送设备的天线选择信息。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.
  35. 根据权利要求32所述的方法,其中,所述第二配置参数包括所述第一信号的信号配置信息和接收设备的天线选择信息。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.
  36. 根据权利要求30至35中任一项所述的方法,其中,所述第二信息包 括以下至少一项:天线阵列信息、感知目标的第一状态信息、信道信息、与所述第一业务关联的资源信息和用于确定感知设备的第一信息。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.
  37. 根据权利要求25所述的方法,所述方法还包括:The method of claim 25, further comprising:
    所述第一感知设备获取第三信息;The first sensing device obtains third information;
    所述第一感知设备根据所述第三信息计算获得所述感知结果;The first sensing device calculates and obtains the sensing result based on the third information;
    其中,所述第三信息包括:Wherein, the third information includes:
    发送设备的天线阵列信息;The antenna array information of the sending device;
    发送设备的天线选择信息或基于所述发送设备的天线选择信息确定的第一导向矢量;Antenna selection information of the transmitting device or a first steering vector determined based on the antenna selection information of the transmitting device;
    接收设备的天线阵列信息;Antenna array information of the receiving device;
    接收设备的天线选择信息或基于所述接收设备的天线选择信息确定的第二导向矢量;Antenna selection information of the receiving device or a second steering vector determined based on the antenna selection information of the receiving device;
    所述第一信号的信号配置信息。Signal configuration information of the first signal.
  38. 根据权利要求37所述的方法,其中,所述第三信息满足以下至少一项:The method of claim 37, wherein the third information satisfies at least one of the following:
    在所述发送设备进行预编码的情况下,所述第三信息还包括预编码信息;In the case where the sending device performs precoding, the third information also includes precoding information;
    在所述发送设备进行波束赋形的情况下,所述第三信息还包括波束赋形矩阵信息。When the sending device performs beam forming, the third information further includes beam forming matrix information.
  39. 根据权利要求37所述的方法,其中,所述第一感知设备获取第三信息包括以下任一项:The method according to claim 37, wherein the first sensing device obtaining the third information includes any of the following:
    在所述第一感知设备的本地存储有所述第三信息的全部信息的情况下,所述第一设备获取本地存储的所述第三信息;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;
    在所述第一感知设备的本地存储有第一子信息,且未存储有第二子信息的情况下,所述第一感知设备获取本地存储的所述第一子信息,并从至少一个第二感知设备和所述第一设备中的至少一项获取所述第二子信息,所述第一子信息为所述第三信息中的一部分信息,所述第二子信息为所述第三信息中的另一部分信息。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.
  40. 根据权利要求25所述的方法,所述方法还包括:The method of claim 25, further comprising:
    所述第一感知设备向计算设备发送第四信息,所述第四信息用于计算所 述感知结果,所述计算设备为用于计算所述感知结果的设备,所述第四信息包括以下至少一项: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:
    所述第一感知设备的天线阵列信息;Antenna array information of the first sensing device;
    所述第一感知设备的天线选择信息或基于所述发送设备的天线选择信息确定的第一导向矢量;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;
    所述第一信号的信号配置信息。Signal configuration information of the first signal.
  41. 根据权利要求40所述的方法,其中,在所述第一感知设备为发送设备的情况下,所述第四信息满足以下至少一项: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:
    在所述第一感知设备进行预编码的情况下,所述第四信息还包括预编码信息;In the case where the first sensing device performs precoding, the fourth information also includes precoding information;
    在所述第一感知设备进行波束赋形的情况下,所述第四信息还包括波束赋形矩阵信息。When the first sensing device performs beamforming, the fourth information further includes beamforming matrix information.
  42. 根据权利要求41所述的方法,其中,所述第一感知设备向计算设备发送第四信息之后,所述方法还包括:The method of claim 41, wherein after the first sensing device sends the fourth information to the computing device, the method further includes:
    所述第一感知设备从所述计算设备接收所述感知结果。The first sensing device receives the sensing results from the computing device.
  43. 根据权利要求25所述的方法,其中,所述天线选择信息包括以下至少一项:The method of claim 25, wherein the antenna selection information includes at least one of the following:
    发送所述第一信号的天线阵元的标识;The identification of the antenna array element that sent the first signal;
    接收所述第一信号的天线阵元的标识;The identification of the antenna array element that receives the first signal;
    发送所述第一信号的第一天线面板的标识;An identification of the first antenna panel transmitting the first signal;
    接收所述第一信号的第二天线面板的标识;An identification of the second antenna panel that receives the first signal;
    发送所述第一信号的天线阵元相对天线阵列的预设局部参考点的位置信息;Position information of the antenna element that sends the first signal relative to a preset local reference point of the antenna array;
    接收所述第一信号的天线阵元相对天线阵列的预设局部参考点的位置信息;Position information of the antenna array element that receives the first signal relative to a preset local reference point of the antenna array;
    发送所述第一信号的第一天线面板相对天线阵列的预设局部参考点的位置信息以及所述第一天线面板内用于发送所述第一信号的天线阵元相对所述第一天线面板的预设统一参考点的位置信息;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;
    接收所述第一信号的第二天线面板相对天线阵列的预设局部参考点的位 置信息以及所述第二天线面板内用于接收所述第一信号的天线阵元相对所述第二天线面板的预设统一参考点的位置信息;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;
    天线阵元的位映射信息;Bit mapping information of antenna array elements;
    阵列天线面板的位映射信息。Bit mapping information for the array antenna panel.
  44. 一种感知处理装置,包括:A perception processing device including:
    第一确定模块,用于在目标信息发生变化的情况下,基于所述目标信息确定第一配置信息;A first determination module, configured to determine first configuration information based on the target information when the target information changes;
    第一发送模块,用于发送第一配置信息;The first sending module is used to send the first configuration information;
    其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项。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.
  45. 一种感知处理装置,应用于第一感知设备,包括:A perception processing device, applied to a first perception device, including:
    第二接收模块,用于从第一设备接收第一配置信息;a second receiving module, configured to receive the first configuration information from the first device;
    执行模块,用于基于所述第一配置信息进行天线选择操作和第一信号配置;An execution module configured to perform antenna selection operations and first signal configuration based on the first configuration information;
    其中,所述第一配置信息包括目标感知设备的天线选择信息和第一信号的信号配置信息,所述目标感知设备包括用于发送所述第一信号的发送设备和用于接收所述第一信号的接收设备中的至少一项,且所述目标感知设备包括所述第一感知设备。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.
  46. 一种网络侧设备,包括处理器和存储器,所述存储器存储可在所述处理器上运行的程序或指令,所述程序或指令被所述处理器执行时实现如权利要求1至43任一项所述的感知处理方法的步骤。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.
  47. 一种终端,包括处理器和存储器,所述存储器存储可在所述处理器上运行的程序或指令,所述程序或指令被所述处理器执行时实现如权利要求25至43任一项所述的感知处理方法的步骤。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.
  48. 一种可读存储介质,所述可读存储介质上存储程序或指令,所述程序或指令被处理器执行时实现如权利要求1至43任一项所述的感知处理方法的步骤。 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.
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