WO2023245664A1 - Procédé et dispositif de communication sans fil - Google Patents

Procédé et dispositif de communication sans fil Download PDF

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Publication number
WO2023245664A1
WO2023245664A1 PCT/CN2022/101282 CN2022101282W WO2023245664A1 WO 2023245664 A1 WO2023245664 A1 WO 2023245664A1 CN 2022101282 W CN2022101282 W CN 2022101282W WO 2023245664 A1 WO2023245664 A1 WO 2023245664A1
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Prior art keywords
sensing
information
shortest path
path
perception
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PCT/CN2022/101282
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English (en)
Chinese (zh)
Inventor
何世文
高宁
黄磊
黄世悦
蔡康利
罗朝明
周培
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Oppo广东移动通信有限公司
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Priority to PCT/CN2022/101282 priority Critical patent/WO2023245664A1/fr
Publication of WO2023245664A1 publication Critical patent/WO2023245664A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L27/00—Modulated-carrier systems

Definitions

  • the embodiments of the present application relate to the field of communications, and specifically relate to a sensing method and device.
  • ranging the sensing target requires knowing the line-of-sight distance between the sensing sending device and the sensing receiving device. Scenarios such as the line-of-sight path between the sensing receiving device and the sensing sending device are blocked, signal fading, etc. , the line-of-sight distance between the sensing sending device and the sensing receiving device cannot be obtained. In this case, how to range the sensing target is an urgent problem that needs to be solved.
  • This application provides a wireless communication method and device, which can realize ranging of sensing targets.
  • a first aspect provides a wireless communication method, including: a sensing receiving device determines a target sensing distance according to target information, wherein the target sensing distance includes distance information from a sensing sending device to a sensing target and/or the sensing distance Distance information from the target to the perception receiving device; wherein the target information includes at least one of the following: first information used to determine whether the shortest path between the perception sending device and the perception receiving device is Line-of-sight path; antenna plane information of the sensing device, wherein the sensing device includes the sensing receiving device and/or the sensing transmitting device; second information, including angle information and/or distance information of the shortest path; The third information includes angle information of the sensing beam, where the sensing beam includes a sensing transmitting beam and/or a sensing receiving beam.
  • a wireless communication method including: a sensing sending device sending target information to a sensing receiving device, the target information being used to determine a target sensing distance, the target sensing distance including the sensing sending device to the sensing receiving device.
  • the target information includes at least one of the following: first information, used to determine the sensing sending device and the sensing receiving device Whether the shortest path between devices is a line-of-sight path; antenna plane information of the sensing device, where the sensing device includes the sensing receiving device and/or the sensing sending device; second information, including the shortest path Angle information and/or distance information; the third information includes angle information of sensing beams, wherein the sensing beams include sensing transmitting beams and/or sensing receiving beams.
  • a third aspect provides a terminal device for executing the method in the above first aspect or its respective implementations.
  • the terminal device includes a functional module for executing the method in the above-mentioned first aspect or its respective implementations.
  • a fourth aspect provides a network device for performing the method in the above second aspect or its respective implementations.
  • the network device includes a functional module for executing the method in the above second aspect or its respective implementations.
  • a terminal device including a processor and a memory.
  • the memory is used to store computer programs, and the processor is used to call and run the computer programs stored in the memory to execute the method in the above first aspect or its implementations.
  • a sixth aspect provides a network device, including a processor and a memory.
  • the memory is used to store computer programs, and the processor is used to call and run the computer programs stored in the memory, and execute the method in the above second aspect or its respective implementations.
  • a seventh aspect provides a chip for implementing any one of the above-mentioned first to second aspects or the method in each implementation manner thereof.
  • the chip includes: a processor, configured to call and run a computer program from a memory, so that the device installed with the device executes any one of the above-mentioned first to second aspects or implementations thereof. method.
  • An eighth aspect provides a computer-readable storage medium for storing a computer program, the computer program causing the computer to execute any one of the above-mentioned first to second aspects or the method in each implementation thereof.
  • a computer program product including computer program instructions, which cause a computer to execute any one of the above-mentioned first to second aspects or the method in each implementation thereof.
  • a tenth aspect provides a computer program that, when run on a computer, causes the computer to execute any one of the above-mentioned first to second aspects or the method in each implementation thereof.
  • the sensing receiving device can use at least one of the angle information of the sensing beam according to the type of path between the sensing transmitting device and the sensing receiving device, the antenna plane information, the angle information of the shortest path, the distance information of the shortest path, and the angle information of the sensing beam. , determine the perceived distance, which is beneficial to achieve accurate ranging.
  • the sensing receiving device can combine the angle of the shortest path, the distance information and the angle of the sensing path based on the transmitting antenna plane information and the receiving antenna plane information. Convert to the same coordinate system to achieve accurate distance measurement.
  • Figure 1 is a schematic diagram of a communication system architecture provided by an embodiment of the present application.
  • Figure 2 is a schematic diagram of a Wi-Fi sensing process.
  • Figure 3 is a schematic diagram of the principle of radar ranging.
  • Figure 4 is a schematic diagram of a scenario applicable to the embodiment of the present application.
  • Figure 5 is a schematic interaction diagram of a wireless communication method provided by an embodiment of the present application.
  • Figure 6 is a schematic flow chart for determining whether the shortest path is a LOS path.
  • Figure 7 is a schematic flow chart for determining target sensing distance.
  • Figure 8 is a schematic format diagram of a DMG Sensing Measurement Setup element provided by the embodiment of the present application.
  • Figure 9 is a schematic format diagram of a Measurement Setup Control field provided by the embodiment of the present application.
  • Figure 10 is a schematic format diagram of an Antenna Information field provided by an embodiment of the present application.
  • Figure 11 is a schematic format diagram of the DMG Sensing Beam Description element.
  • Figure 12 is a schematic format diagram of the Beam Descriptor field.
  • Figure 13 is a schematic diagram of the interaction between a measurement setting request frame and a measurement setting response frame provided by an embodiment of the present application.
  • Figure 14 is an interaction diagram of another measurement setting request frame and measurement setting response frame provided by an embodiment of the present application.
  • Figures 15 to 19 are schematic diagrams of the positional relationship between the perception transmitting device, the perception receiving device, the projection of the perception target and the reflecting object on the same plane.
  • Figure 20 is a schematic diagram of an implementation scenario of the embodiment of the present application.
  • Figure 21 is a schematic block diagram of a perception receiving device provided according to an embodiment of the present application.
  • Figure 22 is a schematic block diagram of a sensing sending device provided according to an embodiment of the present application.
  • Figure 23 is a schematic block diagram of a communication device provided according to an embodiment of the present application.
  • Figure 24 is a schematic block diagram of a chip provided according to an embodiment of the present application.
  • Figure 25 is a schematic block diagram of a communication system provided according to an embodiment of the present application.
  • WLAN Wireless Local Area Networks
  • WiFi Wireless Fidelity
  • other communication systems such as: Wireless Local Area Networks (WLAN), Wireless Fidelity (Wireless Fidelity, WiFi) or other communication systems.
  • WLAN Wireless Local Area Networks
  • WiFi Wireless Fidelity
  • WiFi Wireless Fidelity
  • the communication system 100 applied in the embodiment of the present application is shown in Figure 1 .
  • the communication system 100 may include an access point (Access Point, AP) 110, and a station (STATION, STA) 120 that accesses the network through the access point 110.
  • Access Point Access Point
  • STA station
  • AP is also called AP STA, that is, in a certain sense, AP is also a kind of STA.
  • STA is also called non-AP STA (non-AP STA).
  • Communication in the communication system 100 may be communication between AP and non-AP STA, communication between non-AP STA and non-AP STA, or communication between STA and peer STA, where peer STA It can refer to the device that communicates peer-to-peer with the STA.
  • the peer STA may be an AP or a non-AP STA.
  • the AP is equivalent to a bridge connecting the wired network and the wireless network. Its main function is to connect various wireless network clients together and then connect the wireless network to the Ethernet.
  • the AP device can be a terminal device with a WiFi chip (such as a mobile phone) or a network device (such as a router).
  • the role of STA in the communication system is not absolute.
  • the mobile phone when the mobile phone is connected to the router, the mobile phone is a non-AP STA.
  • the mobile phone When the mobile phone is used as a hotspot for other mobile phones, the mobile phone acts as an AP. .
  • AP and non-AP STA can be devices used in the Internet of Vehicles, IoT nodes, sensors, etc. in the Internet of Things (IoT), smart cameras, smart remote controls, smart water meters, etc. in smart homes. and sensors in smart cities, etc.
  • IoT Internet of Things
  • non-AP STAs may support the 802.11be standard.
  • Non-AP STA can also support 802.11ax, 802.11ac, 802.11n, 802.11g, 802.11b and 802.11a and other current and future 802.11 family wireless LAN (wireless local area networks, WLAN) standards.
  • the AP may be a device supporting the 802.11be standard.
  • the AP can also be a device that supports multiple current and future 802.11 family WLAN standards such as 802.11ax, 802.11ac, 802.11n, 802.11g, 802.11b, and 802.11a.
  • the STA may be a mobile phone (Mobile Phone), tablet computer (Pad), computer, virtual reality (Virtual Reality, VR) device, augmented reality (Augmented Reality, AR) device that supports WLAN or WiFi technology, Wireless equipment in industrial control, set-top boxes, wireless equipment in self-driving, vehicle communication equipment, wireless equipment in remote medical, and wireless equipment in smart grid , wireless equipment in transportation safety, wireless equipment in smart city (smart city) or wireless equipment in smart home (smart home), wireless communication chips/ASIC/SOC/, etc.
  • the frequency bands that WLAN technology can support may include, but are not limited to: low frequency bands (such as 2.4GHz, 5GHz, 6GHz) and high frequency bands (such as 60GHz).
  • Figure 1 exemplarily shows one AP STA and two non-AP STAs.
  • the communication system 100 may include multiple AP STAs and other numbers of non-AP STAs. This is not the case in the embodiment of the present application. Make limitations.
  • the communication device may include an access point 110 and a station 120 with communication functions.
  • the access point 110 and the station 120 may be the specific devices described above, which will not be described again here.
  • the communication device may also include other devices in the communication system 100, such as network controllers, gateways and other network entities, which are not limited in the embodiments of this application.
  • the "instruction” mentioned in the embodiments of this application may be a direct instruction, an indirect instruction, or an association relationship.
  • a indicates B which can mean that A directly indicates B, for example, B can be obtained through A; it can also mean that A indirectly indicates B, for example, A indicates C, and B can be obtained through C; it can also mean that there is an association between A and B. relation.
  • correlate can mean that there is a direct correspondence or indirect correspondence between the two, it can also mean that there is an associated relationship between the two, or it can mean indicating and being instructed, configuration and being. Configuration and other relationships.
  • predefinition can be achieved by pre-saving corresponding codes, tables or other methods that can be used to indicate relevant information in the device (for example, including access points and sites).
  • This application is specific to its The implementation method is not limited.
  • predefined can refer to what is defined in the protocol.
  • AID Association Identifier
  • MAC Media Access Control
  • Transmission Opportunity refers to a period of time during which a terminal with the transmission opportunity can actively initiate one or more transmissions.
  • Burst generally refers to a short period of time in which one or more signals are sent.
  • Burst Group refers to a combination of one or more burst signals. Burst signals in the same burst signal group generally have some common characteristics.
  • Sensing measurement is to perceive people or objects in the environment by measuring changes in signals scattered and/or reflected by people or objects. That is to say, Sensing measurement uses wireless signals to measure and perceive the surrounding environment, so that it can complete many functions such as detection of indoor intrusion, movement, and falls, gesture recognition, and creation of three-dimensional spatial images.
  • Devices participating in perceptual measurement may include the following roles:
  • Sensing Initiator a device that initiates a sensing session and wants to know the sensing results
  • Sensing Responder a non-Sensing Initiator device that participates in the sensing session
  • Sensing Transmitter a device that initiates sensing illumination signal
  • Sensing Receiver a device that receives sensing illumination signals
  • Sensing processor a device that processes sensory measurement results
  • Sensing Participant includes sensing initiating device, sensing sending device and sensing receiving device.
  • a device may have one or more roles in a sensing measurement.
  • a sensing initiating device can be a sensing initiating device, a sensing sending device, a sensing receiving device, or a sensing sending device and a sensing receiving device at the same time. .
  • STA1 can be a sensing initiator (Sensing Initiator), a sensing receiving device (Sensing Receiver), or a sensing processing device (Sensing processor); STA2 can be a sensing sending device (Sensing Transmitter).
  • STA1 can be a Sensing Initiator or a Sensing Transmitter
  • STA2 can be a Sensing Receiver or a Sensing Processor.
  • Equipment (Sensing processor) For another example, as shown in B in Figure 2, STA1 can be a Sensing Initiator or a Sensing Transmitter; STA2 can be a Sensing Receiver or a Sensing Processor. Equipment (Sensing processor).
  • STA1 can be a Sensing Initiator or a Sensing processor
  • STA2 can be a Sensing Receiver
  • STA3 can be a Sensing Transmitter. Equipment (Sensing Transmitter).
  • STA1 can be a sensing initiator (Sensing Initiator), a sensing receiving device (Sensing Receiver), or a sensing processing device (Sensing processor);
  • STA2 can be a sensing transmitter Device (Sensing Transmitter);
  • STA3 can be a sensing transmitting device (Sensing Transmitter).
  • STA1 can be a sensing initiator (Sensing Initiator), a sensing transmitter (Sensing Transmitter), or a sensing processing device (Sensing processor);
  • STA2 can be a sensing receiver.
  • Device Sensing Receiver;
  • STA3 can be a sensing receiving device (Sensing Receiver).
  • STA1 can be a sensing initiator (Sensing Initiator); STA2 can be a sensing receiving device (Sensing Receiver) or a sensing processing device (Sensing processor); STA3 can be a sensing transmitter Device (Sensing Transmitter); STA4 can be a sensing transmitting device (Sensing Transmitter).
  • STA1 can be a sensing initiator (Sensing Initiator), a sensing transmitter (Sensing Transmitter), a sensing receiving device (Sensing Receiver), or a sensing processing device. Equipment (Sensing processor).
  • STA1 can be a sensing initiator (Sensing Initiator); STA2 can be a sensing transmitter (Sensing Transmitter), a sensing receiving device (Sensing Receiver), or a sensing processing device. Equipment (Sensing processor).
  • STA1 can be a sensing initiator (Sensing Initiator), a sensing transmitter (Sensing Transmitter), a sensing receiving device (Sensing Receiver), or a sensing processing device.
  • Device Sensing processor
  • STA2 can be a sensing transmitter device (Sensing Transmitter) or a sensing receiving device (Sensing Receiver).
  • STA1 can be a Sensing Initiator or a Sensing processor
  • STA2 can be a Sensing Transmitter or a Sensing Receiver.
  • Device Sensing Receiver
  • STA3 can be a sensing transmitter device (Sensing Transmitter) or a sensing receiving device (Sensing Receiver).
  • Figure 2 is only an example of the present application and should not be understood as a limitation of the present application.
  • STA1, STA2, and STA3 in Figure 2 only represent the roles of STA. In Figure 2 and subsequent sensing sessions, measurements, and other steps, they are not used to limit the number of STAs.
  • the roles represented by STA1, STA2, and STA3 can Implemented as one or more STAs.
  • sensing Type there may be multiple sensing types (Sensing Type).
  • the sensing type based on Channel State Information (CSI) that is, CSI-based Sensing, obtains sensing measurement results by processing the CSI of the received sensing measurement signal.
  • CSI-based Sensing Channel State Information
  • the sensing type based on reflected signals namely Radar-based Sensing. This sensing type obtains sensing measurement results by processing the reflected signal of the received sensing measurement signal.
  • the perception initiating device is also called a perception initiator, an initiating device, and a perception session initiating device.
  • the sensing response device is also called a sensing responder, a response device, and a sensing session response device.
  • the sensing receiving device senses the receiver.
  • the sensing sending device or the sensing signal sending device, senses the sender.
  • a WLAN awareness session includes one or more of the following stages: session establishment, awareness measurement setting, awareness measurement, awareness reporting, awareness measurement setting termination, and session termination.
  • Session establishment phase Establish a sensing session, exchange the sensing capabilities of both parties and/or determine the operating parameters related to sensing measurement, or the terminal declares its own role and operating parameters (for example, through beacon frames or other special frames)
  • Perception measurement setting phase Determine the perception participating devices and their roles (including perception sending devices and perception receiving devices), determine the operating parameters related to perception measurement, and optionally exchange the parameters between terminals.
  • Perception measurement stage Implement perception measurement, and the sensing signal device sends sensing signals to the sensing receiving device.
  • Sensing reporting stage reporting of measurement results, determined by the application scenario.
  • the sensing receiving device may need to report the measurement results to the sensing initiating device.
  • Perceptual measurement setup termination phase Terminate one or more measurement setups, stop corresponding measurements, and release related storage and computing resources.
  • Session termination phase Terminate all measurement settings, stop measurements, and terminate the sensing session.
  • ranging the sensing target requires knowing the distance between the sensing sending device and the sensing receiving device, or knowing the orientation information of the sensing sending device and the sensing receiving device to calculate the distance between them.
  • the perception of the target can include single-based sensing, dual-based or multi-based sensing, single-based collaborative sensing, and dual-based collaborative sensing.
  • the following describes the principle of radar ranging in dual-base sensing with reference to Figure 3.
  • radar ranging needs to be measured based on the distance between the sensing transmitting device and the sensing receiving device. This requires that the distance between the two is known or can be calculated based on the position information between the two. distance.
  • the sensing sending device and the sensing receiving device can exchange their location information to obtain the distance L between them. If there are not enough APs to provide positioning services but Line of Sight (LOS) exists, the distance between the sensing sending device and the sensing receiving device can be determined through relevant positioning protocols (such as 802.11az protocol) or traditional device positioning methods. Distance L. In some cases, the sensing transmitting device and the sensing receiving device may also interact with the sending beam list and the receiving beam list to determine the beam information when the sensing device senses the target.
  • relevant positioning protocols such as 802.11az protocol
  • the sensing transmitting device and the sensing receiving device may also interact with the sending beam list and the receiving beam list to determine the beam information when the sensing device senses the target.
  • the sensing receiving device can know the angle of arrival (Angle of Arrival, AoA) of the sensing path, that is, ⁇ R , and the angle of departure (Angle of Departure, AoD), that is, ⁇ T , based on the transmitting beam list and the receiving beam list.
  • the difference RD between the sensing path R T + RR and the distance L between the sensing devices can be calculated based on the reference timestamp and the distance L.
  • the sensing receiving device can calculate the target sensing distance.
  • Method 1 According to L, R D and ⁇ R , determine the distance R R from the sensing target to the sensing receiving device, and the distance R T from the sensing target to the sensing transmitting device.
  • RD RT + RR -L.
  • Method 2 Based on L, R D and ⁇ T , determine the distance RR from the sensing target to the sensing receiving device, and the distance RT from the sensing target to the sensing transmitting device.
  • RD RT + RR -L.
  • Method 3 According to L, ⁇ R , ⁇ T , determine the distance RR from the sensing target to the sensing receiving device, and the distance R T from the sensing target to the sensing transmitting device.
  • Method 4 Based on R D , ⁇ R , ⁇ T , determine the distance RR from the sensing target to the sensing receiving device, and the distance RT from the sensing target to the sensing transmitting device.
  • RD RT + RR -L.
  • the line-of-sight distance L between the sensing transmitting device and the sensing receiving device needs to be known, or the sensing transmitting device needs to be known
  • the location information of the device and the sensing device is used to determine the line-of-sight distance L.
  • FIG. 5 is a schematic interaction diagram of a wireless communication method 200 according to an embodiment of the present application. As shown in Figure 5, the method 200 includes the following content:
  • the sensing receiving device determines the target sensing distance based on the target information.
  • the target sensing distance includes distance information from the sensing sending device to the sensing target (denoted as R T ) and/or distance information from the sensing target to the sensing receiving device (denoted as RR ).
  • the distance information from the sensing transmitting device to the sensing target can also be understood as the distance information from the center point of the antenna plane of the sensing transmitting device to the sensing target.
  • the distance information from the sensing target to the sensing receiving device can also be understood as the distance information from the sensing target to the center point of the antenna plane of the sensing receiving device.
  • the sensing receiving device may be an AP, or may also be a STA.
  • the sensing sending device may be a STA, or it may also be an AP.
  • the number of sensing sending devices may be one, or may be multiple.
  • the number of sensing receiving devices may be one, or may be multiple.
  • the sensing receiving device may be a sensing initiating device, or may also be a sensing responding device.
  • the sensing receiving device may be a sensing responding device, or may also be a sensing initiating device.
  • the number of sensing response devices may be one, or may be multiple.
  • the number of sensing initiating devices may be one, or may be multiple.
  • the sensing initiating device may be an AP, or it may also be a STA.
  • the sensing response device may include at least one AP and/or at least one STA.
  • the embodiments of the present application do not limit specific sensing types.
  • the embodiments of the present application can be applied to dual-base sensing scenarios, multi-base sensing scenarios, cooperative dual-base sensing scenarios, etc.
  • the present application is not limited thereto.
  • the number of sensing initiating devices and sensing responding devices is one respectively.
  • the number of sensing sending devices may be one, and the number of sensing responding devices may be multiple.
  • multi-base sensing scenarios may include but are not limited to the following scenarios:
  • the AP is a sensing initiating device and plays the role of sensing sending device.
  • Multiple STAs are sensing responding devices and play the role of sensing receiving devices.
  • the AP is a sensing initiating device and functions as a sensing receiving device.
  • Multiple STAs are sensing responding devices and function as sensing transmitting devices;
  • the AP is a sensing response device, and its role is a sensing receiving device.
  • STA i is a sensing initiating device, and its role is a sensing sending device.
  • the other STAs are sensing responding devices, and their role is a sensing receiving device.
  • the AP is a sensing response device, and its role is a sensing sending device.
  • STA i is a sensing initiating device, and its role is a sensing receiving device.
  • the other STAs are sensing responding devices, and their role is a sensing sending device.
  • the target information includes at least one of the following:
  • the first information is used to determine whether the shortest path between the sensing sending device and the sensing receiving device is a line-of-sight path;
  • the second information includes angle information and/or distance information of the shortest path
  • the third information includes angle information of the sensing beam, where the sensing beam includes a sensing transmitting beam and/or a sensing receiving beam.
  • the second information and the third information may be considered basic sensing parameters, and the first information and the antenna plane information of the sensing device may be considered auxiliary sensing parameters.
  • the shortest path between the sensing sending device and the sensing receiving device is determined during the sensing measurement setup phase.
  • the shortest path may be obtained by measuring distance and angle information between the sensing sending device and the sensing receiving device using a ranging protocol.
  • the ranging protocol may include but is not limited to the 802.11az ranging protocol.
  • the shortest path can be considered to be the actual transmission path of signals from the sensing sending device to the sensing receiving device, or in other words, the propagation path of the ranging signal.
  • the shortest path may be a line-of-sight path, or may be a non-line-of-sight path.
  • the shortest path may be composed of a path from the sensing sending device to the reflecting object and a path from the reflecting object to the sensing receiving device, where the reflecting object is not located on the line-of-sight path between the sensing sending device and the sensing receiving device.
  • the shortest path is also called the first path.
  • the first information may be obtained during the perceptual measurement setup phase.
  • the first information may be determined by measuring distance information and/or angle information between the perception sending device and the perception receiving device.
  • the first information is used to indicate the likelihood that the shortest path is a LOS path, or in other words, the possibility or probability that the shortest path is a LOS path.
  • the first information may be used to indicate a ratio of a probability that the shortest path is a LOS path and a probability that the shortest path is a non-LOS (NLOS) path.
  • the first information may be represented by a logarithmic likelihood.
  • the first information may be expressed as
  • the second information is also called peer orientation information.
  • the angle information of the shortest path includes at least one of the following:
  • Departure angle AoD information of the shortest path Departure angle AoD information of the shortest path, arrival angle AoA information of the shortest path.
  • the angle information in the embodiment of the present application can be characterized by azimuth angle and/or elevation angle.
  • the AoD information of the shortest path may include azimuth information and/or elevation information of the AoD of the shortest path.
  • the AoA information of the shortest path may include azimuth information and/or elevation information of the AoA of the shortest path.
  • the AoD information of the shortest path may be the angle information of the transmit beam (Tx Beam) corresponding to the shortest path.
  • the azimuth angle information of the AoD of the shortest path may be the azimuth angle information of the transmitting beam corresponding to the shortest path
  • the elevation angle information of the AoD of the shortest path may be the elevation angle information of the transmitting beam corresponding to the shortest path.
  • the AoA information of the shortest path may be the angle information of the receive beam (Rx Beam) corresponding to the shortest path.
  • the azimuth angle information of the AoA of the shortest path may be the azimuth angle information of the receiving beam corresponding to the shortest path
  • the elevation angle information of the AoA of the shortest path may be the elevation angle information of the receiving beam corresponding to the shortest path.
  • the angle information of the sensing beam includes at least one of the following:
  • Perceive the azimuth information of the transmitting beam perceive the elevation information of the transmitting beam, perceive the azimuth information of the receiving beam, and perceive the elevation information of the receiving beam.
  • the sensing transmitting beam may be a beam used by the sensing transmitting device to transmit sensing signals.
  • the sensing receiving beam may be a beam used by the sensing receiving device to receive the sensing signal.
  • the angle information of the sensing transmit beam is called the angle information of the transmit beam (Tx Beam) corresponding to the sensing path, or the AoD information of the sensing path.
  • the angle information of the sensing receive beam is called the angle information of the receiving beam (Rx Beam) corresponding to the sensing path, or the AoA information of the sensing path.
  • the angle information of the sensing beam can be considered as the angle information of the sensing path.
  • the sensing path may refer to the propagation path of the sensing signal in the sensing measurement phase.
  • the sensing path may include a path from the sensing sending device to the sensing target and a path from the sensing target to the sensing receiving device.
  • the antenna plane information of the sensing device may be measured according to a ranging protocol.
  • the ranging protocol may include but is not limited to the 802.11az ranging protocol.
  • the antenna plane information is also called antenna panel information.
  • the sensing device includes the sensing receiving device and/or the sensing sending device, or in other words, the sensing device includes a sensing initiating device and a sensing responding device.
  • the antenna plane information of the sensing device may include antenna plane information of the sensing transmitting device and/or antenna plane information of the sensing receiving device.
  • the antenna plane information of the sensing transmitting device, or transmit (Tx) antenna plane information is transmitted.
  • the antenna plane information of the sensing receiving device is also called receive (Rx) antenna plane information.
  • the antenna plane information of the sensing device includes at least one of the following:
  • the azimuth angle information of the antenna plane of the sensing receiving device that is, the azimuth angle information of the receiving antenna plane
  • the elevation angle information of the antenna plane of the sensing receiving device that is, the elevation angle information of the receiving antenna plane
  • the azimuth angle information of the antenna plane of the sensing transmitting device that is, the azimuth angle information of the transmitting antenna plane
  • the elevation angle information of the antenna plane of the sensing transmitting device is, that is, the elevation angle information of the transmitting antenna plane.
  • the coordinate system of the receive antenna plane and the angular information of the transmit antenna plane may be an earth coordinate system.
  • the AoA information on the shortest path may be angle information with a receiving antenna plane as a reference.
  • the AoD information on the shortest path may be angle information with the transmitting antenna plane as a reference.
  • the AoA information and AoD information on the shortest path may be based on different coordinate systems.
  • the AoA information on the sensing path may be angle information with the receiving antenna plane as a reference.
  • the AoD information on the sensing path may be angle information with the transmitting antenna plane as a reference.
  • the AoA information and AoD information on the sensing path may be based on different coordinate systems.
  • the antenna plane information of the sensing device can be used to determine the target sensing distance by combining the angle information of the shortest path and the angle information of the sensing path when the shortest path is an NLOS path.
  • the AoA angle information of the shortest path can be referenced to the receiving antenna plane
  • the AoD angle information of the shortest path can be referenced to the transmitting antenna plane
  • the AoA angle information of the sensing path can be referenced to the receiving antenna plane.
  • the angle information of the AoD of the sensing path can be based on the transmitting antenna plane. Determining the target sensing distance directly based on the angle information of the shortest path and the angle information of the sensing path will affect the accuracy of the results.
  • the angle information of the shortest path and the angle information of the sensing path can first be normalized into the same coordinate system based on the antenna plane information, and further based on the relationship between the sensing path and the shortest path in the same coordinate system. Geometric relationship to determine target sensing distance.
  • the sensing receiving device may determine whether the shortest path is a LOS path according to at least one of the following:
  • the first information, the second information, the antenna plane information of the sensing device, and the received signal strength information are the first information, the second information, the antenna plane information of the sensing device, and the received signal strength information.
  • the sensing receiving device determines whether the shortest path is a LOS path according to the first information.
  • the sensing receiving device may determine whether the shortest path is based on the second information and the antenna plane information of the sensing device. is the LOS path.
  • the sensing receiving device may determine whether the shortest path is a LOS path according to the strength information of the received signal. For example, if the strength of the received signal is higher than the second threshold, the shortest path is determined to be the LOS path; otherwise, the shortest path is determined to be the NLOS path.
  • S303 Determine whether the shortest path is a LOS path based on the first information and the first threshold.
  • the sensing receiving device may determine that the shortest path is the LOS path when the likelihood is greater than the first threshold. Otherwise, the shortest path is determined to be an NLOS path.
  • S304 Determine whether the sensing receiving device obtains the second information and the antenna plane information of the sensing device.
  • S305 Determine whether the shortest path is a LOS path based on the second information and the antenna plane information of the sensing device.
  • determine whether the shortest path is a LOS path by calculating whether the transmit beam direction and the receive beam direction on the shortest path are collinear.
  • the transmitting beam direction on the shortest path can be determined based on the angle information of the transmitting antenna plane and the AoD information on the shortest path
  • the receiving beam direction on the shortest path can be determined based on the angle information of the receiving antenna plane and the AoA on the shortest path.
  • the information is certain.
  • the shortest path is determined to be the LOS path; otherwise, the shortest path is determined to be the NLOS path.
  • S306 Determine whether the shortest path is a LOS path based on the received signal strength information and the second threshold.
  • the shortest path is determined to be the LOS path; otherwise, the shortest path is determined to be the NLOS path.
  • the input parameters for determining the perceived distance of the target may include at least one of the following:
  • the sensing receiving device can select corresponding target information and determine the target sensing distance based on the determination result of whether the shortest path is a LOS path.
  • the sensing receiving device may determine the target sensing distance based on the second information and/or the third information.
  • the perception receiving device can use a triangle ranging algorithm to determine the target perception distance.
  • the target sensing distance can be determined according to the calculation methods shown in the aforementioned methods 1 to 4.
  • the sensing receiving device may determine the target according to at least one of the antenna plane information, the second information, and the third information of the sensing device. Perceive distance.
  • the perception receiving device can use the edge-sharing triangle ranging algorithm to determine the target perception distance.
  • the perception receiving device determines the target perception distance based on the target information, including:
  • a vector corresponding to the sensing path and a vector corresponding to the shortest path are determined, wherein the sensing path is the path where the sensing target is located, and the vector corresponding to the sensing path includes the path from the sensing sending device to The vector of the sensing target and the vector from the sensing target to the sensing receiving device, the vector corresponding to the shortest path includes the vector from the sensing transmitting device to the reflecting object on the shortest path and the vector from the reflecting object to the sensing object.
  • the vector of the sensing receiving device is the path where the sensing target is located, and the vector corresponding to the sensing path includes the path from the sensing sending device to The vector of the sensing target and the vector from the sensing target to the sensing receiving device, the vector corresponding to the shortest path includes the vector from the sensing transmitting device to the reflecting object on the shortest path and the vector from the reflecting object to the sensing object.
  • distance information from the perception sending device to the perception target and/or distance information from the perception target to the perception target is determined.
  • Sense the distance information of the receiving device is determined.
  • the perception is determined.
  • the vector from the transmitting antenna plane to the reflecting object on the shortest path (that is, the vector from the sensing transmitting device to the reflecting object) can be determined based on the antenna plane information of the sensing transmitting device and the AoD information of the shortest path, and Based on the antenna plane information of the sensing receiving device and the AoA information of the shortest path, the vector from the receiving antenna plane to the transmitting object on the shortest path (that is, the vector from the sensing receiving device to the reflecting object) is determined.
  • the vector from the transmitting antenna plane to the sensing target (that is, the vector from the sensing transmitting device to the sensing target) can be determined based on the antenna plane information of the sensing transmitting device and the AoD information of the sensing path, and based on the antenna plane information of the sensing receiving device and the AoA information of the sensing path to determine the vector from the receiving antenna plane to the sensing target (that is, the vector from the sensing receiving device to the sensing target).
  • the above four vectors are projected on the same plane to obtain four projection vectors. That is to say, two distinguishable NLOS paths (i.e., the sensing path and the shortest path) are mapped to the same plane. Then, based on the four projection vectors, the sensing sending device, the sensing receiving device, the sensing target and the reflecting object can be determined. The positional relationship and angular relationship between them on the projection plane, for example, can determine the projection distance from the sensing sending device to the sensing target and the projection distance from the sensing target to the sensing receiving device on the projection plane. Further, the angle information of the sensing transmitting beam and the sensing receiving beam is converted into spatial distance information by converting the above two projection distances, that is, the target sensing distance is obtained.
  • the target information may also include at least one of the following:
  • the length information of the sensing path (denoted as c 0 ), and the length information of the shortest path (denoted as c 1 ).
  • the length information of the sensing path may include the length of the path from the sensing sending device to the sensing target and the length of the path from the sensing target to the sensing receiving device.
  • the length information of the shortest path may include the length of the path from the sensing sending device to the reflecting object and the length of the path from the reflecting object to the sensing receiving device.
  • the length information of the sensing path may be measured using a ranging protocol (such as Fine Timing Measurement (FTM)).
  • FTM Fine Timing Measurement
  • the length information of the shortest path may be measured using a ranging protocol (eg, 802.11az).
  • a ranging protocol eg, 802.11az
  • the following describes how to obtain the target information.
  • the target information may be obtained by the sensing receiving device itself, or may be obtained from the sensing sending device through information interaction, which is not limited in this application.
  • the method 200 further includes:
  • the sensing receiving device and the sensing sending device obtain target information through information interaction.
  • the target information is obtained during a perceptual measurement setup phase.
  • the method of obtaining the target information will be described based on the specific roles of the perception transmitting device and the perception receiving device in the perception measurement.
  • the sensing receiving device is a sensing responding device
  • the sensing sending device is a sensing initiating device.
  • the target information may be obtained from the sensing initiating device.
  • the method 200 further includes:
  • the perception receiving device may obtain the first information, the antenna plane information of the perception sending device, the second information and the third information from the perception sending device.
  • At least one of the first information, the antenna plane information of the sensing transmitting device, the second information and the third information is sent by the sensing receiving device during the sensing measurement setting stage. obtained by the device.
  • the sensing receiving device can obtain the above information through any frame in the sensing measurement setup phase, and this application does not limit this.
  • At least one of the first information, the antenna plane information of the sensing transmitting device, the second information and the third information may be through a sensing measurement setup request frame (Sensing measurement setup request) acquired.
  • the sensing measurement setting request frame may be used to negotiate measurement setting related parameters.
  • the sensing measurement setting request frame is also called a measurement setting request frame.
  • the sensing measurement setting request frame carries the first information
  • the sensing measurement The setting request frame carries the first information and the antenna plane information of the sensing transmitting device.
  • the sensing initiating device can determine the information content carried in the sensing measurement setting request frame based on whether the shortest path is a LOS path. If the shortest path is a LOS path, the sensing receiving device can adopt the aforementioned method 1 to method 4. Determine the target sensing distance by any of the methods. Therefore, the sensing measurement setting request frame does not need to carry the antenna plane information of the sensing sending device. When the shortest path is an NLOS path, the sensing measurement setting request frame needs to carry the sensing sending device. The antenna plane information is used to calculate the target sensing distance. For the specific manner in which the sensing initiating device determines whether the shortest path is a LOS path, refer to the relevant descriptions in the above embodiments.
  • the sensing receiving device is the sensing initiating device, and the sensing sending device is the sensing responding device.
  • the perception receiving device when the perception receiving device is a perception initiating device, the perception receiving device itself can obtain the first information, the second information and the third information.
  • the first information may be obtained by measuring distance information and/or angle information between the sensing response device and the sensing response device using a ranging protocol.
  • the second information may be obtained by measuring distance information and/or angle information between the sensing sending device and the sensing receiving device using a ranging protocol.
  • the third information may be selected by the sensing receiving device from a transmit beam list and/or a receive beam list.
  • the transmitting beam list and/or the receiving beam list may be obtained by the sensing initiating device and the sensing receiving device through frame interaction during the sensing session establishment phase.
  • the method 200 further includes:
  • the perception initiating device sends at least one of the first information, the second information and the third information to the perception response device.
  • the perception initiating device may send at least one of the first information, the second information and the third information to the perception response device in the perception measurement setting phase.
  • the perception initiating device sends a perception measurement setting request frame to the perception response device, wherein the perception measurement setting request frame includes at least the first information, the second information and the third information.
  • the perception measurement setting request frame includes at least the first information, the second information and the third information.
  • the first information may be used to sense the sending device to determine whether the shortest path is a LOS path.
  • the sensing response device may send antenna plane information of the sensing response device to the sensing initiating device, that is, send antenna plane information.
  • the sensing response device determines that the shortest path is an NLOS path according to the first information
  • the sensing response device sends the transmit antenna plane information to the sensing initiating device.
  • the sensing initiating device receives a sensing measurement setting response frame sent by the sensing response device, and the sensing measurement setting response frame carries the transmitting antenna plane information.
  • the sensing measurement setting response frame carries the transmit antenna plane information.
  • the sensing measurement setting response frame may not carry the transmit antenna plane information.
  • the sensing measurement setting response frame is also called a measurement setting response frame.
  • the first information and/or the antenna plane information of the sensing device may be carried in a Directional Multi-Gigabit (DMG) Sensing Measurement Setup element (DMG Sensing Measurement Setup element) , wherein the DMG perception measurement setting element includes a LOS likelihood rate (LOS Log Likelihood Ratio) field and/or an antenna information (Antenna Information) field, wherein the LOS likelihood rate field is used to carry the first information , the antenna information field is used to carry antenna plane information of the sensing device.
  • DMG Directional Multi-Gigabit
  • DMG Sensing Measurement Setup element DMG Sensing Measurement Setup element
  • the DMG perception measurement setting element includes a LOS likelihood rate (LOS Log Likelihood Ratio) field and/or an antenna information (Ana Information) field, wherein the LOS likelihood rate field is used to carry the first information , the antenna information field is used to carry antenna plane information of the sensing device.
  • the number of bytes (Octet) of the LOS likelihood field may be 1.
  • the number of bytes of the antenna information field may be 3.
  • the antenna information field may include an antenna azimuth (Antenna Azimuth) field and/or an antenna elevation (Antenna Elevation) field, where the Antenna Azimuth field is used to indicate the azimuth information of the antenna plane of the sensing device, The Antenna Elevation field is used to indicate the elevation information of the antenna plane of the sensing device.
  • Antenna Azimuth is used to indicate the azimuth information of the antenna plane of the sensing device
  • the Antenna Elevation field is used to indicate the elevation information of the antenna plane of the sensing device.
  • the coordinate system of the azimuth angle information of the antenna plane is an Earth coordinate system.
  • the coordinate information of the elevation angle information of the antenna plane is an earth coordinate system.
  • the number of bits (bits) of the Antenna Azimuth field may be 12.
  • the number of bits (bits) of the Antenna Elevation field may be 12.
  • the second information may be carried in a DMG perception measurement setting element, wherein the DMG perception measurement setting element includes a peer orientation (Peer Orientation) field, wherein the Peer Orientation field is used to carry the second information.
  • DMG perception measurement setting element includes a peer orientation (Peer Orientation) field, wherein the Peer Orientation field is used to carry the second information.
  • the Peer Orientation field may include at least one of the following fields:
  • Azimuth field used to indicate the azimuth information measured by one sensing device of another sensing device
  • Elevation field used to indicate the elevation information measured by one sensing device of another sensing device
  • the distance (Range) field is used to indicate the distance information measured by the sensing device to another sensing device.
  • the line-of-sight distance L between the two can be obtained through the Range field in the Peer Orientation field.
  • the DMG sensing measurement setting element may also include a location configuration information (LCI) field for carrying location information of the sensing device.
  • LCI location configuration information
  • the DMG perception measurement setup element includes a Measurement Setup Control field, wherein the measurement setup control field includes a LOS Log Likelihood Ratio Present field and/or an antenna Information presence (Antenna Information Present) field, wherein the LOS likelihood rate presence field is used to indicate whether the LOS likelihood rate field is included in the DMG perception measurement setting element, and the antenna information presence field is used to indicate whether Whether the antenna information field exists in the DMG sensing measurement setting element.
  • the measurement setup control field includes a LOS Log Likelihood Ratio Present field and/or an antenna Information presence (Ana Information Present) field, wherein the LOS likelihood rate presence field is used to indicate whether the LOS likelihood rate field is included in the DMG perception measurement setting element, and the antenna information presence field is used to indicate whether Whether the antenna information field exists in the DMG sensing measurement setting element.
  • the value of the LOS likelihood rate existence field is 1, which means it exists; otherwise, it means it does not exist.
  • the value of the antenna information existence field is 1, which means it exists; otherwise, it means it does not exist.
  • the Measurement Setup Control may also include an Orientation Present field, which is used to indicate whether the DMG sensing measurement setting element includes a Peer Orientation field.
  • FIG 8 is a schematic format diagram of a DMG Sensing Measurement Setup element provided by the embodiment of the present application. It should be understood that the position and size of each field in the DMG Sensing Measurement Setup element can be flexibly adjusted, and the present application is not limited thereto.
  • Figure 9 is a schematic format diagram of a Measurement Setup Control field provided by an embodiment of the present application. It should be understood that the position and size of each field in the Measurement Setup Control can be flexibly adjusted, and the present application is not limited thereto.
  • the Measurement Setup Control field may also include the following fields:
  • Sensing type field used to indicate the type of sensing. For example, a value of 1 indicates a cooperative single-base sensing type, a value of 2 indicates a dual-base sensing type, a value of 3 indicates a multi-base sensing type, and 0 is a reserved value. .
  • the receiving initiator field is used to indicate the role of the sensing initiating device. For example, a value of 1 indicates that the sensing initiating device is a sensing receiving device, and a value of 0 indicates that the sensing initiating device is a sensing sending device. If the sensing type is not a dual-base sensing type, this field is reserved.
  • the LCI presence field is used to determine whether the LCI field is included in the DMG sensing measurement setting element.
  • Figure 10 is a schematic format diagram of an Antenna Information field provided by an embodiment of the present application. It should be understood that the position and size of each field in the Antenna Information field can be flexibly adjusted, and the present application is not limited thereto.
  • the DMG sensing measurement setting element is carried in a sensing measurement setting request frame and/or a sensing measurement setting response frame.
  • the third information is carried in a DMG Sensing Beam Description element, wherein the DMG Sensing Beam Description element includes a Beam Descriptor field indicating a Angle information of the sensing beam.
  • Figure 11 is a schematic format diagram of a DMG Sensing Beam Description element provided by the embodiment of the present application.
  • the DMG Sensing Beam Description element also includes at least one of the following fields:
  • Element ID field Element ID Extension field, Length field, and beam type (Tx Flag) field.
  • Element ID and Element ID Extension jointly indicate the unique identifier of the DMG Sensing Beam Description element, and Length indicates the length of the DMG Sensing Beam Description element.
  • the Tx Flag field is used to indicate the types of all beam descriptors in the DMG Sensing Beam Description element. For example, a value of 1 indicates a transmit beam, and a value of 0 indicates a receive beam.
  • the Beam Descriptor field may include at least one of the following fields:
  • Beam azimuth field used to indicate the azimuth of the sensing beam
  • Beam elevation field used to indicate the elevation angle of the sensing beam
  • Azimuth width field used to indicate the 3dB width of the sensing beam in the horizontal direction
  • Elevation width field used to indicate the 3dB width of the sensing beam in the vertical direction
  • Beam gain field used to indicate the gain of the sensing beam.
  • the DMG Sensing Beam Description element may be carried in a management frame.
  • Figure 12 is a schematic format diagram of a Beam Descriptor field provided by an embodiment of the present application. It should be understood that the position and size of each field in the Beam Descriptor field can be flexibly adjusted, and the present application is not limited thereto.
  • the DMG Sensing Beam Description element may be carried in at least one of the following frames:
  • the method may include at least some of the following steps:
  • Step 0000 The sensing initiating device and the sensing responding device realize the interaction of device discovery and sensing capabilities through interaction management frames, where.
  • the management frame includes the DMG Sensing Beam Description element, which is used to expose the sensing transmitting beam and sensing receiving beam supported by the sensing device.
  • Step 1000 The sensing initiating device uses a ranging protocol (such as 802.11az) to measure distance and angle information with the sensing response device, and obtains the aforementioned first information and/or second information and/or antenna plane information of the sensing response device.
  • a ranging protocol such as 802.11az
  • the length information of the shortest path that is, c 1 , can also be obtained.
  • Step 1010 The sensing initiating device sends a sensing measurement setup request frame to the sensing response device, where the sensing measurement setup request frame carries the DMG Sensing Measurement Setup element.
  • the sensing measurement setting request frame may include basic sensing parameters, such as the roles of the sensing initiating device and the sensing response device, DMG sensing type, DMG sensing measurement report type, training (Training, TRN) sequence information ( For example, TRN-P, TRN-M, TRN-N), Peer orientation information, selected sensing transmit beam, selected sensing receive beam, etc.
  • basic sensing parameters such as the roles of the sensing initiating device and the sensing response device, DMG sensing type, DMG sensing measurement report type, training (Training, TRN) sequence information ( For example, TRN-P, TRN-M, TRN-N), Peer orientation information, selected sensing transmit beam, selected sensing receive beam, etc.
  • the sensing measurement setting request frame may also include sensing assistance parameters.
  • the specific parameters carried may be determined based on the role of the sensing initiating device and whether the shortest path is a LOS path.
  • the sensing initiating device is a sensing sending device
  • the sensing responding device is a sensing receiving device.
  • the sensing initiating device first determines whether the shortest path is a LOS path.
  • the specific determination method refer to the relevant description of the embodiment shown in FIG. 6 .
  • the sensing initiating device may carry the first information in the sensing measurement setting request frame.
  • the sensing response device uses a triangle ranging algorithm to determine the target sensing distance.
  • the sensing initiating device may carry the first information and the antenna plane information of the sensing initiating device (ie, send the antenna plane information) in the sensing measurement setting request frame.
  • the sensing response device uses a common-edge triangle ranging algorithm to determine the target sensing distance.
  • the sensing initiating device is a sensing receiving device
  • the sensing responding device is a sensing sending device.
  • the sensing initiating device may carry the first information in the sensing measurement setting request frame, so that the sensing responding device determines whether the shortest path is a LOS path based on the first information, and further feeds back the corresponding information.
  • Step 1100 After receiving the sensing measurement setting request frame sent by the sensing initiating device, the sensing response device sends a sensing measurement setting response frame to the sensing initiating device. Specifically, the sensing measurement setting response frame is replied after a short interframe space (SIFS).
  • SIFS short interframe space
  • the sensing measurement setting response frame carries response information indicating whether to receive a request from the sensing initiating device. If accepted, jump to step 2000; if not accepted, return to step 1000 to renegotiate.
  • which parameters the sensing response device carries in the sensing measurement setting response frame can be determined based on the role of the sensing initiating device and whether the shortest path is a LOS path.
  • the sensing response device does not need to carry additional information in the sensing measurement setup response frame.
  • the sensing response device further feeds back corresponding information based on whether the shortest path is a LOS path.
  • the antenna plane information of the sensing response device is carried in the sensing measurement setting response frame, that is, the antenna plane information is sent, or when the shortest path is determined to be an LOS path based on the first information , there is no need to carry other information in the perceptual measurement setup response frame.
  • Figure 13 is the frame interaction process under the role in case 1. As shown in Figure 13, the following steps can be included:
  • Step 1020 The sensing initiating device sends a sensing measurement setting request frame to the sensing responding device.
  • the sensing measurement setting request frame may include the aforementioned sensing basic parameters, for example, second information and third information.
  • the sensing measurement setting request frame when the shortest path is a LOS path, the sensing measurement setting request frame further includes first information.
  • the sensing measurement setting request frame when the shortest path is an NLOS path, the sensing measurement setting request frame also includes the first information and the antenna plane information of the sensing initiating device, that is, the transmitting antenna plane information.
  • the sensing response device returns an acknowledgment (Ack) message to the sensing initiating device.
  • Ack acknowledgment
  • Step 1120 The sensing response device sends a sensing measurement setting response frame to the sensing initiating device.
  • the sensing response device does not accept the request from the sensing initiating device, renegotiation is required.
  • the sensing response device accepts the request from the sensing initiating device, it does not need to carry any information in the sensing measurement setting response frame.
  • Figure 14 is the frame interaction process under the role in case 2. As shown in Figure 14, the following steps may be included:
  • Step 1030 The sensing initiating device sends a sensing measurement setting request frame to the sensing responding device.
  • the perceptual measurement setting request frame may include first information, second information, and third information.
  • the sensing response device returns an acknowledgment (Ack) message to the sensing initiating device.
  • Ack acknowledgment
  • Step 1130 The sensing response device sends a sensing measurement setting response frame to the sensing initiating device.
  • the sensing response device does not accept the request from the sensing initiating device, renegotiation is required.
  • the sensing response device if the sensing response device accepts the request of the sensing initiating device, the sensing response device carries the corresponding information in the sensing measurement setting response frame according to whether the shortest path is a LOS path. Wherein, the sensing response device may determine whether the shortest path is a LOS path according to the first information in the sensing measurement setting request frame.
  • the shortest path is a LOS path
  • the antenna plane information of the sensing response device is carried in the sensing measurement setting response frame, that is, the antenna plane information is sent.
  • step 1020 and step 1130 the specific determination steps of determining whether the shortest path is a LOS path may refer to the description of steps 2110 to 2130.
  • Step 2110 If the first information can be obtained, it can be determined whether the shortest path is a LOS path according to the following formula (5):
  • R is obtained from the Log Likelihood Ratio field, and R th represents the first threshold. Otherwise, determine whether the shortest path is a LOS path according to step 2120.
  • Step 2120 When the sensing initiating device knows its own antenna plane information, the antenna plane information of the sensing response device, the AoA information of the shortest path, and the AoD information of the shortest path, it can calculate the transmitting beam direction and the receiving beam direction on the shortest path. Collinearity determines whether the shortest path is a LOS path.
  • the vector of the transmit beam on the shortest path Determine according to the following formula (6):
  • the vector of the receiving beam on the shortest path Determine according to the following formula (7):
  • Step 2130 Determine whether the shortest path is a LOS path based on the received signal strength information. Alternatively, you can also determine whether the shortest path is a LOS path by collecting channel impulse response data or time data of multiple signal transmissions.
  • Perceptual measurement stage or in other words, perceptual measurement instance stage
  • Step 2000 The sensing initiating device and the sensing response device perform sensing measurement according to the parameters negotiated in the sensing measurement setting phase.
  • the perception receiving device can determine the target perception distance based on the target information.
  • Step 2210 If the shortest path is a LOS path, the sensing receiving device can use the triangle ranging algorithm to calculate RT and RR .
  • the triangle is solved based on the angle information of the sensing transmitting beam, the angle information of the sensing receiving beam, and at least one of the angle information and the distance information of the shortest path, and RT and RR are calculated. Otherwise, RT and RR are calculated according to step 2220.
  • the perception receiving device can calculate RT and RR using any one of the aforementioned methods 1 to 4.
  • Step 2220 If the shortest path is an NLOS path, the sensing and receiving device determines the shortest path based on the angle information of the transmitting antenna plane, the angle information of the receiving antenna plane, the angle information of the transmitting beam corresponding to the sensing path, and the angle information of the receiving beam corresponding to the sensing path.
  • RT and R R can be calculated using the edge-sharing triangle ranging algorithm based on the above information.
  • the edge-sharing triangle distance measurement algorithm refer to the relevant descriptions in steps S2221 to 2228.
  • Step 2221 Determine the vector from the transmitting antenna plane to the sensing target (that is, sense the vector from the transmitting device to the sensing target) The vector from the receiving antenna plane to the sensing target (that is, the vector from the sensing receiving device to the sensing target) And the vector from the transmitting antenna plane to the reflecting object on the shortest path (that is, the vector from the transmitting device to the reflecting object) The vector from the receiving antenna plane to the reflecting object on the shortest path (that is, the vector from the sensing receiving device to the reflecting object)
  • the origin of the coordinate system may be different, but the x, y, and z axis directions of the coordinate system are consistent.
  • the origin of the coordinate system is the center point of the transmitting antenna plane.
  • the origin of the coordinate system is the center point of the receiving antenna plane.
  • Step 2222 Calculate The projection vector of the vector on the projection plane A Among them, the normal vector of the projection plane A is Optionally, the projection plane A can be any plane, or it can also be a predefined plane.
  • Step 2223 According to the projection vector Determine the scene type formed by the projection of the sensing transmitting device (that is, the plane projection of the transmitting antenna), the projection of the sensing receiving device (that is, the plane projection of the receiving antenna), the sensing target projection O1 and the reflecting object projection O2.
  • calculate and The clockwise angle ⁇ t of , and The clockwise angle ⁇ r of , and The angle ⁇ nct , and The angle ⁇ ncr , and The clockwise angle ⁇ tr of , and The angle ⁇ nctr1 , and The angle ⁇ nctr2 is determined based on the above angle information to determine the scene type formed by the plane projection of the transmitting antenna, the plane projection of the receiving antenna, the sensing target projection O1 and the reflecting object projection O2.
  • angle between vectors can point to an angle smaller than ⁇
  • clockwise angle between vectors can refer to the clockwise angle from one vector to another. In this case, the normal vector needs to be considered. direction.
  • the scene type formed by the transmitting antenna plane projection, the receiving antenna plane projection, the sensing target projection O1 and the reflecting object projection O2 can be determined according to the following formula (10):
  • Figures 15 to 19 are schematic position relationship diagrams of scene types 0 to 4. It should be understood that Figures 15 to 19 only take the perception sending device as the AP and the perception receiving device as the STA as examples. In other embodiments, the perception sending device and the perception receiving device can also be a combination of other device types, for example, The sensing sending device is STA, the sensing receiving device is AP, etc.
  • ⁇ represents the preset threshold ( ⁇ >0 and ⁇ 0). If the scene type is 0, jump to one of steps 2224 to 2226, otherwise, jump to step 2227.
  • Step 2224 If the perception target projection O1 on the projection plane A coincides with the reflection object projection O2, that is,
  • Step 2225 If the transmitting antenna plane projection, the reflecting object projection O2 and the sensing target projection O1 are collinear, that is,
  • the position relationship diagram is shown in Figure 15.
  • ⁇ 2 represents the plane projection of the receiving antenna, the angle formed by the sensing target projection O1 on the sensing path and the reflection object projection O2 on the shortest path.
  • the distance ccos ⁇ t,2 between the projection of the transmitting antenna plane and the reflecting object can be calculated, as well as the length ecos ⁇ e of the line connecting the sensing target projection O1 and the reflecting object projection O2 on the projection plane, where c represents the distance from the transmitting antenna plane to the reflecting object.
  • the calculation formulas of c and ecos ⁇ e are respectively:
  • c 0 represents the length of the sensing path (that is, the length of the path where the sensing target is located)
  • c 1 represents the length of the shortest path (that is, the length of the path where the reflecting object is located)
  • the acquisition methods of c 0 and c 1 refer to the relevant information in the previous embodiments. describe.
  • the distances between the sensing sending device and the sensing receiving device to the sensing target can be determined according to the following formula:
  • Step 2226 If the plane projection of the receiving antenna, the projection of the reflecting object, and the projection of the sensing target are collinear, that is,
  • ⁇ 1 represents the angle formed by the plane projection of the transmitting antenna, the sensing target projection O1 on the sensing path, and the reflection object projection O2 on the shortest path.
  • the distance ccos ⁇ t,2 between the projection of the transmitting antenna plane and the reflecting object can be calculated, as well as the length ecos ⁇ e of the line connecting the sensing target projection O1 and the reflecting object projection O2 on the projection plane, where c represents the distance from the transmitting antenna plane to the reflecting object.
  • the calculation formulas of c and ecos ⁇ e are respectively:
  • c 0 represents the length of the sensing path (that is, the length of the path where the sensing target is located)
  • c 1 represents the length of the shortest path (that is, the length of the path where the reflecting object is located)
  • the acquisition methods of c 0 and c 1 refer to the relevant information in the previous embodiments. describe.
  • the distances between the sensing sending device and the sensing receiving device to the sensing target can be determined according to the following formula:
  • Step 2227 If the scene type is 1, 2, 3, 4, calculate ⁇ 1 , ⁇ 2 , sign. For example, calculate according to the following formula (25) to formula (27) respectively:
  • Step 2228 Calculate ⁇ 1 , ⁇ 2 , ecos ⁇ e , the specific formula is as follows:
  • the distances between the sensing sending device and the sensing receiving device to the sensing target can be determined according to the following formula:
  • Figure 20 is a schematic diagram of an implementation scenario of the embodiment of the present application.
  • the sensing initiating device is the AP, and its role is the sensing sending device.
  • the sensing responding device is the STA, and its role is the sensing receiving device.
  • the unknown parameters are: the xyz coordinates of STA are (6, 2, 1), the coordinates of sensing target 1 on the sensing path are (3, 4, 7), and the coordinates of reflecting object 2 on the shortest path are (2, 2, 0).
  • the actual distances R T and R R between the AP and STA to the sensing target 1 are 7.874007874011811 and 7.0 respectively.
  • the azimuth and elevation angles of the transmit beam corresponding to the sensing path are 1.6251745675842388 and 0.997718445372519 respectively.
  • the azimuth and elevation angles of the receiving beam (i.e., the sensing receive beam) corresponding to the sensing path are 0.4636476090008059, respectively. 1.5337248805009298.
  • the azimuth and elevation angles of the transmit beam corresponding to the shortest path i.e., the AoD of the shortest path
  • the azimuth and elevation angles of the receiving beam corresponding to the shortest path are 2.08994244104142 and 0.2116179307497 respectively. 5277.
  • the lengths of the perceived path and the shortest path are 14.874007874011811 and 5.5373191879907555 respectively.
  • the azimuth and elevation angles of the transmitting antenna plane are 2.6179938779914944 and 1.0471975511965976 respectively, and the azimuth and elevation angles of the receiving antenna plane are 1.0471975511965976 and -0.5235987755982988 respectively.
  • STA can use the calculation method in the aforementioned formula (6) to calculate the vector from the transmitting antenna plane to the sensing target. and the vector from the transmitting antenna plane to the reflecting object on the shortest path
  • calculate and The angle is 0.7043991861118861, and The angle between is 2.3267657372188046, which does not satisfy formula (8). Therefore, the shortest path and the perceived path are both NLOS paths.
  • the clockwise angle ⁇ t is 0.197395559849881
  • the clockwise angle ⁇ r is 5.695182703632021
  • the angle ⁇ nct is 0.197395559849881
  • the angle ⁇ ncr is 0.5880026035475647
  • the clockwise angle ⁇ tr is 4.712388980384686
  • the angle ⁇ nctr1 is 1.5707963267949
  • the angle ⁇ nctr2 is 2.3561944901923453.
  • the angle ⁇ t,1 with the projection plane A is 1.0951586113039717, The angle ⁇ t,2 with the projection plane A is 0.0, The angle ⁇ r,1 with the projection plane A is 1.029696800837752, The angle ⁇ r,2 with the projection plane A is -0.2449786631268647.
  • the target sensing distance is determined according to the formulas in the aforementioned steps 2227 and 2228.
  • ⁇ 1 , ⁇ 2 sign can be determined as:
  • R R is:
  • FIG. 21 shows a schematic block diagram of a perception receiving device 400 according to an embodiment of the present application.
  • the perception receiving device 400 includes:
  • the processing unit 410 is configured to determine the target sensing distance according to the target information, wherein the target sensing distance includes distance information from the sensing sending device to the sensing target and/or distance information from the sensing target to the sensing receiving device;
  • the target information includes at least one of the following:
  • First information used to determine whether the shortest path between the sensing sending device and the sensing receiving device is a line-of-sight path
  • Antenna plane information of a sensing device wherein the sensing device includes the sensing receiving device and/or the sensing transmitting device;
  • the second information includes angle information and/or distance information of the shortest path
  • the third information includes angle information of the sensing beam, where the sensing beam includes a sensing transmitting beam and/or a sensing receiving beam.
  • the first information is used to indicate a likelihood that the shortest path is a line-of-sight path.
  • the antenna plane information of the sensing device includes at least one of the following:
  • Elevation angle information of the antenna plane of the sensing receiving device
  • Elevation angle information of the antenna plane of the sensing transmitting device is derived from the Elevation angle information of the antenna plane of the sensing transmitting device.
  • the angle information of the shortest path includes at least one of the following:
  • Departure angle AoD information of the shortest path Departure angle AoD information of the shortest path, arrival angle AoA information of the shortest path.
  • the angle information of the sensing beam includes at least one of the following:
  • Perceive the azimuth information of the transmitting beam perceive the elevation information of the transmitting beam, perceive the azimuth information of the receiving beam, and perceive the elevation information of the receiving beam.
  • the target information is obtained during a perceptual measurement setup phase.
  • the sensing receiving device is a sensing responding device
  • the sensing sending device is a sensing initiating device
  • the sensing receiving device further includes:
  • a communication unit configured to obtain at least one of the first information, the antenna plane information of the perception transmitting device, the second information and the third information from the perception initiating device.
  • the communication unit is specifically used for:
  • the sensing measurement setting request frame includes the first information, the antenna plane information of the sensing transmitting device, the second information and the third information. At least one item.
  • the perceptual measurement setting request frame carries the first information
  • the perception measurement setting request frame carries the first information and the antenna plane information of the perception transmitting device.
  • the sensing receiving device is a sensing initiating device
  • the sensing sending device is a sensing responding device.
  • the communication unit is specifically used for:
  • the communication unit is also used to:
  • a sensing measurement setting request frame is sent to the sensing response device, where the sensing measurement setting request frame includes at least one of the first information, the second information and the third information.
  • the communication unit is further configured to: receive a sensing measurement setting response frame sent by the sensing response device;
  • the sensing measurement setting response frame carries antenna plane information of the sensing transmitting device.
  • the perception measurement setting response frame when the shortest path is a line-of-sight path, does not carry antenna plane information of the perception sending device.
  • the first information and/or the antenna plane information of the sensing device is carried in a directional multi-gigabit DMG sensing measurement setting element, wherein the DMG sensing measurement setting element includes LOS likelihood field and/or an antenna information field, wherein the LOS likelihood field is used to carry the first information, and the antenna information field is used to carry antenna plane information of the sensing receiving device and/or the sensing transmitting device.
  • the DMG sensing measurement setting element includes LOS likelihood field and/or an antenna information field, wherein the LOS likelihood field is used to carry the first information, and the antenna information field is used to carry antenna plane information of the sensing receiving device and/or the sensing transmitting device.
  • the DMG sensing measurement setting element includes a measurement setting control field, wherein the measurement setting control field includes a LOS likelihood rate presence field and/or an antenna information presence field, wherein the LOS likelihood rate The existence field is used to indicate whether the LOS likelihood field is included in the DMG perception measurement setting element, and the antenna information existence field is used to indicate whether the antenna information field exists in the DMG perception measurement setting element.
  • the second information is carried in a DMG aware measurement setting element, wherein the DMG aware measurement setting element includes a peer positioning field, wherein the peer positioning field is used to carry the second information.
  • the location information of the sensing sending device is carried in a DMG sensing measurement setting element, wherein the DMG sensing measurement setting element includes a positioning configuration information LCI field, and the LCI field is used to carry the sensing sending device.
  • Device location information is carried in a DMG sensing measurement setting element, wherein the DMG sensing measurement setting element includes a positioning configuration information LCI field, and the LCI field is used to carry the sensing sending device.
  • the DMG sensing measurement setting element is carried in a sensing measurement setting request frame and/or a sensing measurement setting response frame.
  • the third information is carried in a DMG sensing beam description element, wherein the DMG sensing beam description element includes a beam description field indicating angle information of the sensing beam.
  • the processing unit 410 is also used to:
  • the shortest path is a line-of-sight path based on at least one of the first information, the antenna plane information of the sensing receiving device, the antenna plane information of the sensing transmitting device, and the angle information of the shortest path .
  • the processing unit 410 is also used to:
  • the shortest path is a line-of-sight path.
  • the processing unit 410 is also used to:
  • the shortest path is determined to be a non-line-of-sight path.
  • the processing unit 410 is also used to:
  • Whether the shortest path is a line-of-sight path is determined based on at least one of the antenna plane information of the sensing receiving device, the antenna plane information of the sensing transmitting device, and the angle information of the shortest path.
  • the processing unit 410 is also used to:
  • the AoA information on the path determines the vector of the receiving beam on the shortest path
  • Whether the shortest path is a line-of-sight path is determined based on whether the vector of the transmit beam on the shortest path and the vector of the receive beam on the shortest path are collinear.
  • the shortest path is determined to be a line-of-sight path; otherwise, it is an NLOS path.
  • the processing unit 410 is also used to:
  • the target sensing distance is determined based on at least one of the following information:
  • the processing unit 410 is also used to:
  • the target sensing distance is determined based on at least one of the following information:
  • the antenna plane information of the sensing receiving device The antenna plane information of the sensing receiving device, the antenna plane information of the sensing transmitting device, the angle information of the sensing transmitting beam, the angle information of the sensing receiving beam, the AoD information of the shortest path, and the AoA information of the shortest path.
  • the processing unit 410 is also used to:
  • a vector corresponding to the sensing path and a vector corresponding to the shortest path are determined, wherein the sensing path is the path where the sensing target is located, and the vector corresponding to the sensing path includes the path from the sensing sending device to The vector of the sensing target and the vector from the sensing target to the sensing receiving device, the vector corresponding to the shortest path includes the vector from the sensing transmitting device to the reflecting object on the shortest path and the vector from the reflecting object to the sensing object.
  • the vector of the sensing receiving device is the path where the sensing target is located, and the vector corresponding to the sensing path includes the path from the sensing sending device to The vector of the sensing target and the vector from the sensing target to the sensing receiving device, the vector corresponding to the shortest path includes the vector from the sensing transmitting device to the reflecting object on the shortest path and the vector from the reflecting object to the sensing object.
  • distance information from the sensing sending device to the sensing target and/or distance information from the sensing target to the sensing receiving device is determined.
  • the processing unit 410 is also used to:
  • a vector from the reflecting object to the sensing receiving device is determined based on the antenna plane information of the sensing receiving device and the angle information of the AoA of the shortest path.
  • the above-mentioned communication unit may be a communication interface or transceiver, or an input/output interface of a communication chip or a system on a chip.
  • the above-mentioned processing unit may be one or more processors.
  • sensing receiving device 400 may correspond to the sensing receiving device in the method embodiment of the present application, and the above and other operations and/or functions of each unit in the sensing receiving device 400 are respectively to implement Figure 5 As for the corresponding process of sensing the receiving device in the method shown in Figure 20, for the sake of simplicity, it will not be described again here.
  • FIG 22 is a schematic block diagram of a sensing sending device according to an embodiment of the present application.
  • the perception sending device 500 of Figure 22 includes:
  • Communication unit 510 configured to send target information to the sensing receiving device, where the target information is used to determine the target sensing distance
  • the target information includes at least one of the following:
  • First information used to determine whether the shortest path between the sensing sending device and the sensing receiving device is a line-of-sight path
  • Antenna plane information of a sensing device wherein the sensing device includes the sensing receiving device and/or the sensing transmitting device;
  • the second information includes angle information and/or distance information of the shortest path
  • the third information includes angle information of the sensing beam, where the sensing beam includes a sensing transmitting beam and/or a sensing receiving beam.
  • the target sensing distance includes at least one of the following:
  • the distance information from the sensing sending device to the sensing target and/or the distance information from the sensing target to the sensing receiving device are used.
  • the first information is used to indicate a likelihood that the shortest path is a line-of-sight path.
  • the antenna plane information of the sensing device includes at least one of the following:
  • Elevation angle information of the antenna plane of the sensing receiving device
  • Elevation angle information of the antenna plane of the sensing transmitting device is derived from the Elevation angle information of the antenna plane of the sensing transmitting device.
  • the angle information of the shortest path includes at least one of the following:
  • Departure angle AoD information of the shortest path Departure angle AoD information of the shortest path, arrival angle AoA information of the shortest path.
  • the angle information of the sensing beam includes at least one of the following:
  • Perceive the azimuth information of the transmitting beam perceive the elevation information of the transmitting beam, perceive the azimuth information of the receiving beam, and perceive the elevation information of the receiving beam.
  • the target information is sent during the perceptual measurement setup phase.
  • the sensing sending device is a sensing initiating device
  • the sensing receiving device is a sensing responding device
  • the communication unit 510 is also used to:
  • the sensing measurement setting request frame includes the first information, the antenna plane information of the sensing sending device, the second information and the third information. At least one item.
  • the perceptual measurement setting request frame carries the first information
  • the perception measurement setting request frame carries the first information and the antenna plane information of the perception transmitting device.
  • the sensing sending device is a sensing responding device
  • the sensing receiving device is a sensing initiating device
  • the communication unit 510 is also used to:
  • the sensing measurement setting request frame includes at least one of the first information, the second information, and the third information.
  • the communication unit 510 is also used to:
  • the sensing measurement setting response frame carries antenna plane information of the sensing transmitting device.
  • the perception measurement setting response frame when the shortest path is a line-of-sight path, does not carry antenna plane information of the perception sending device.
  • the first information and/or the antenna plane information of the sensing device is carried in a directional multi-gigabit DMG sensing measurement setting element, wherein the DMG sensing measurement setting element includes LOS likelihood field and/or an antenna information field, wherein the LOS likelihood field is used to carry the first information, and the antenna information field is used to carry antenna plane information of the sensing receiving device and/or the sensing transmitting device.
  • the DMG sensing measurement setting element includes LOS likelihood field and/or an antenna information field, wherein the LOS likelihood field is used to carry the first information, and the antenna information field is used to carry antenna plane information of the sensing receiving device and/or the sensing transmitting device.
  • the DMG sensing measurement setting element includes a measurement setting control field, wherein the measurement setting control field includes a LOS likelihood rate presence field and/or an antenna information presence field, wherein the LOS likelihood rate The existence field is used to indicate whether the LOS likelihood field is included in the DMG perception measurement setting element, and the antenna information existence field is used to indicate whether the antenna information field exists in the DMG perception measurement setting element.
  • the second information is carried in a DMG aware measurement setting element, wherein the DMG aware measurement setting element includes a peer positioning field, wherein the peer positioning field is used to carry the second information.
  • the location information of the sensing sending device is carried in a DMG sensing measurement setting element, wherein the DMG sensing measurement setting element includes a positioning configuration information LCI field, and the LCI field is used to carry the sensing sending device.
  • Device location information is carried in a DMG sensing measurement setting element, wherein the DMG sensing measurement setting element includes a positioning configuration information LCI field, and the LCI field is used to carry the sensing sending device.
  • the DMG sensing measurement setting element is carried in a sensing measurement setting request frame and/or a sensing measurement setting response frame.
  • the third information is carried in a DMG sensing beam description element, wherein the DMG sensing beam description element includes a beam description field indicating angle information of the sensing beam.
  • the sensing sending device further includes:
  • a processing unit configured to determine the shortest path based on at least one of the first information, the antenna plane information of the sensing receiving device, the antenna plane information of the sensing transmitting device, and the angle information of the shortest path. Whether it is a line-of-sight path.
  • the processing unit is also used to:
  • the shortest path is a line-of-sight path.
  • the processing unit is also used to:
  • the shortest path is determined to be a non-line-of-sight path.
  • processing unit 510 is also used to:
  • Whether the shortest path is a line-of-sight path is determined based on at least one of the antenna plane information of the sensing receiving device, the antenna plane information of the sensing transmitting device, and the angle information of the shortest path.
  • processing unit 510 is also used to:
  • the AoA information on the path determines the vector of the receiving beam on the shortest path
  • Whether the shortest path is a line-of-sight path is determined based on whether the vector of the transmit beam on the shortest path and the vector of the receive beam on the shortest path are collinear.
  • the above-mentioned communication unit may be a communication interface or transceiver, or an input/output interface of a communication chip or a system on a chip.
  • the above-mentioned processing unit may be one or more processors.
  • the perceptual sending device 500 may correspond to the perceptual sending device in the method embodiment of the present application, and the above and other operations and/or functions of each unit in the perceptual sending device 500 are respectively to implement Figure 5
  • the corresponding process of sensing the sending device in the method shown in Figure 20 will not be described again for the sake of simplicity.
  • Figure 23 is a schematic structural diagram of a communication device 600 provided by an embodiment of the present application.
  • the communication device 600 shown in Figure 23 includes a processor 610.
  • the processor 610 can call and run a computer program from the memory to implement the method in the embodiment of the present application.
  • the communication device 600 may further include a memory 620.
  • the processor 610 can call and run the computer program from the memory 620 to implement the method in the embodiment of the present application.
  • the memory 620 may be a separate device independent of the processor 610 , or may be integrated into the processor 610 .
  • the communication device 600 may also include a transceiver 630, and the processor 610 may control the transceiver 630 to communicate with other devices. Specifically, the communication device 600 may send information or data to other devices, or receive other devices. Information or data sent by the device.
  • the transceiver 630 may include a transmitter and a receiver.
  • the transceiver 630 may further include an antenna, and the number of antennas may be one or more.
  • the communication device 600 may specifically be a perceptual receiving device in the embodiment of the present application, and the communication device 600 may implement the corresponding processes implemented by the perceptual receiving device in the various methods of the embodiment of the present application. For the sake of brevity, these are not included here. Again.
  • the communication device 600 can be specifically the sensing and sending device in the embodiment of the present application, and the communication device 600 can implement the corresponding processes implemented by the sensing and sending device in the various methods of the embodiment of the present application. For the sake of brevity, they are not mentioned here. Again.
  • Figure 24 is a schematic structural diagram of a chip according to an embodiment of the present application.
  • the chip 700 shown in Figure 24 includes a processor 710.
  • the processor 710 can call and run a computer program from the memory to implement the method in the embodiment of the present application.
  • the chip 700 may also include a memory 720.
  • the processor 710 can call and run the computer program from the memory 720 to implement the method in the embodiment of the present application.
  • the memory 720 may be a separate device independent of the processor 710 , or may be integrated into the processor 710 .
  • the chip 700 may also include an input interface 730.
  • the processor 710 can control the input interface 730 to communicate with other devices or chips. Specifically, it can obtain information or data sent by other devices or chips.
  • the chip 700 may also include an output interface 740.
  • the processor 710 can control the output interface 740 to communicate with other devices or chips. Specifically, it can output information or data to other devices or chips.
  • the chip can be applied to the perceptual sending device in the embodiment of the present application, and the chip can implement the corresponding processes implemented by the perceptual sending device in the various methods of the embodiment of the present application.
  • the details are not repeated here.
  • the chip can be applied to the perception receiving device in the embodiment of the present application, and the chip can implement the corresponding processes implemented by the perception receiving device in the various methods of the embodiment of the present application. For the sake of brevity, details will not be repeated 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.
  • FIG 25 is a schematic block diagram of a communication system 900 provided by an embodiment of the present application.
  • the communication system 900 includes a perception sending device 910 and a perception receiving device 920.
  • the perception sending device 910 can be used to implement the corresponding functions implemented by the perception sending device in the above method
  • the perception receiving device 920 can be used to implement the corresponding functions implemented by the perception receiving device in the above method. For simplicity, in This will not be described again.
  • the processor in the embodiment of the present application may be an integrated circuit chip and has signal processing capabilities.
  • each step of the above method embodiment can be completed through an integrated logic circuit of hardware in the processor or instructions in the form of software.
  • the above-mentioned processor can be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other available processors.
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.
  • 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 may be Random Access Memory (RAM), which is used as an external cache.
  • RAM Random Access Memory
  • RAM static random access memory
  • DRAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • SDRAM double data rate synchronous dynamic random access memory
  • Double Data Rate SDRAM DDR SDRAM
  • enhanced SDRAM ESDRAM
  • Synchlink DRAM SLDRAM
  • Direct Rambus RAM Direct Rambus RAM
  • the memory in the embodiment of the present application can also be a static random access memory (static RAM, SRAM), a 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, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous connection Dynamic random access memory (synch link DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DR RAM) and so on. That is, memories in embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.
  • Embodiments of the present application also provide a computer-readable storage medium for storing computer programs.
  • the computer-readable storage medium can be applied to the perceptual sending device in the embodiment of the present application, and the computer program causes the computer to execute the corresponding processes implemented by the perceptual sending device in the various methods of the embodiment of the present application.
  • I won’t go into details here.
  • the computer-readable storage medium can be applied to the perception receiving device in the embodiment of the present application, and the computer program causes the computer to execute the corresponding processes implemented by the perception receiving device in the various methods of the embodiment of the present application. For the sake of simplicity, I won’t go into details here.
  • An embodiment of the present application also provides a computer program product, including computer program instructions.
  • the computer program product can be applied to the perception sending device in the embodiment of the present application, and the computer program instructions cause the computer to execute the corresponding processes implemented by the perception sending device in the various methods of the embodiment of the present application. For simplicity, in This will not be described again.
  • the computer program product can be applied to the perception receiving device in the embodiment of the present application, and the computer program instructions cause the computer to execute the corresponding processes implemented by the perception receiving device in the various methods of the embodiment of the present application. For simplicity, in This will not be described again.
  • An embodiment of the present application also provides a computer program.
  • the computer program can be applied to the perceptual sending device in the embodiment of the present application.
  • the computer program When the computer program is run on the computer, it causes the computer to execute the corresponding processes implemented by the perceptual sending device in the various methods of the embodiment of the present application.
  • the computer program When the computer program is run on the computer, it causes the computer to execute the corresponding processes implemented by the perceptual sending device in the various methods of the embodiment of the present application.
  • no further details will be given here.
  • the computer program can be applied to the perception receiving device in the embodiment of the present application.
  • the computer program is run on the computer, the computer is caused to execute the corresponding processes implemented by the perception receiving device in the various methods of the embodiment of the present application.
  • the computer program is run on the computer, the computer is caused to execute the corresponding processes implemented by the perception receiving device in the various methods of the embodiment of the present application.
  • the disclosed systems, devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code. .

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Abstract

L'invention concerne un procédé et un dispositif de communication sans fil. Le procédé comprend les étapes suivantes : un dispositif de réception de détection détermine une distance de détection cible selon des informations cibles, la distance de détection cible comprenant des informations de distance d'un dispositif de transmission de détection à une cible de détection et/ou des informations de distance de la cible de détection au dispositif de réception de détection ; les informations cibles comprennent ce qui suit : des premières informations utilisées pour déterminer si le chemin le plus court entre le dispositif de transmission de détection et le dispositif de réception de détection est un chemin en visibilité directe et/ou des informations de plan d'antenne d'un dispositif de détection, le dispositif de détection comprenant le dispositif de réception de détection et/ou le dispositif de transmission de détection et/ou des deuxièmes informations comprenant des informations d'angle et/ou des informations de distance du chemin le plus court et/ou des troisièmes informations comprenant des informations d'angle d'un faisceau de détection, le faisceau de détection comprenant un faisceau de transmission de détection et/ou un faisceau de réception de détection.
PCT/CN2022/101282 2022-06-24 2022-06-24 Procédé et dispositif de communication sans fil WO2023245664A1 (fr)

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