WO2026007403A1 - 通信感知方法、电子装置和计算机程序产品 - Google Patents

通信感知方法、电子装置和计算机程序产品

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Publication number
WO2026007403A1
WO2026007403A1 PCT/CN2025/076269 CN2025076269W WO2026007403A1 WO 2026007403 A1 WO2026007403 A1 WO 2026007403A1 CN 2025076269 W CN2025076269 W CN 2025076269W WO 2026007403 A1 WO2026007403 A1 WO 2026007403A1
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WIPO (PCT)
Prior art keywords
information
sensing
sensing device
network element
sro
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PCT/CN2025/076269
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English (en)
French (fr)
Inventor
刘峻琛
蒋创新
刘娟
李梦真
王聪
时荣伟
娄俊鹏
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ZTE Corp
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ZTE Corp
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Application filed by ZTE Corp filed Critical ZTE Corp
Publication of WO2026007403A1 publication Critical patent/WO2026007403A1/zh
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Anticipated expiration legal-status Critical

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/02—Arrangements for optimising operational condition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/08—Testing, supervising or monitoring using real traffic
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports

Definitions

  • This disclosure relates to the field of communications, and more specifically, to a communication sensing method, electronic device, and computer program product.
  • sensing networks composed of multiple sensing modes will empower various communication and sensing applications.
  • sensing devices may introduce biased errors in their sensing results due to various factors. These errors are difficult to resolve without any prior reference information.
  • the integrated sensing system is expected to be based on wireless signal transceivers of the 3GPP system. It detects the distance, angle, speed, and other sensing-related information of the target relative to the transceiver by receiving sensing signals reflected from the target. In this process, various adverse factors such as timing errors between transceivers, Doppler shift of the sensing signal, and clock drift can all affect the accuracy of the sensing results.
  • a communication sensing method comprising: a first network element of a core network acquiring sensing information of a sensing device; and the first network element acquiring a sensing result of a target sensing device based on the sensing information.
  • a communication sensing method comprising: a first network element of a core network acquiring sensing information of a second sensing device; and the first network element acquiring a sensing result of a target sensing device based on the sensing information.
  • a communication sensing method comprising: a first network element of a core network acquiring sensing information of a first sensing device; and the first network element acquiring a sensing result of a target sensing device based on the sensing information.
  • a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when it is run.
  • an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.
  • a computer program product including a computer program that, when executed by a processor, implements the steps in any of the above method embodiments.
  • Figure 1 is a hardware structure block diagram of a mobile terminal for a communication sensing method according to an embodiment of the present disclosure
  • Figure 2 is a flowchart of a communication sensing method according to an embodiment of this disclosure
  • FIG. 3 is a flowchart of the communication sensing method according to an embodiment of this disclosure.
  • Figure 4 is a flowchart of the communication sensing method according to an embodiment of this disclosure.
  • Figure 5 is a flowchart of the communication sensing method according to an embodiment of this disclosure.
  • Figure 6 is a schematic diagram of the sensing principle of an embodiment of this disclosure.
  • Figure 7 is a schematic flowchart of the active SRO association process initiated by an active SRO according to an embodiment of this disclosure.
  • FIG. 8 is a schematic flowchart of the SRU association process initiated by the SRU according to an embodiment of this disclosure
  • Figure 9 is a schematic diagram of the process of active SRO association initiated by the first network element in an embodiment of this disclosure.
  • Figure 10 is a schematic diagram of the SRU association initiated by the first network element in an embodiment of this disclosure.
  • Figure 11 is a schematic diagram of the process of active SRO deassociation initiated by the first network element in an embodiment of this disclosure
  • Figure 12 is a schematic diagram of the SRU deassociation process initiated by the first network element in an embodiment of this disclosure
  • Figure 13 is a schematic diagram of the process of the first network element deassociation initiated by the active SRO according to an embodiment of this disclosure
  • Figure 14 is a schematic diagram of the SRU deassociation process initiated by the SRU according to an embodiment of this disclosure
  • Figure 15 is a schematic diagram of the coupling process initiated by the first network element according to an embodiment of this disclosure.
  • Figure 16 is a schematic diagram of the coupling initiated by SRU & SRO according to an embodiment of this disclosure
  • Figure 17 is a schematic diagram of the communication sensing process based on SRU and active SRO according to an embodiment of this disclosure.
  • Figure 18 is a schematic diagram of the communication sensing process based on the SRU sensing device according to an embodiment of this disclosure
  • Figure 19 is a schematic diagram of the information transmission process between the SRO and the SRO associated with the first network element according to an embodiment of this disclosure.
  • Figure 20 is a schematic diagram of the information transmission process between an SRO and an SRO not associated with the first network element according to an embodiment of this disclosure
  • Figure 21 is a schematic diagram of the principle of communication sensing based on active SRO according to an embodiment of this disclosure.
  • Figure 22 is a schematic diagram of the communication sensing process based on active SRO according to an embodiment of the present disclosure
  • Figure 23 is a schematic diagram of the communication sensing principle based on SRU and passive SRO according to an embodiment of this disclosure
  • Figure 24 is a schematic diagram of the communication sensing process based on SRU and passive SRO according to an embodiment of this disclosure
  • Figure 25 is a schematic diagram of the sensing process of the SRU and sensing device assisted by passive SRO.
  • Figure 26 is a schematic diagram of the principle of communication sensing based on SRU according to an embodiment of this disclosure.
  • Figure 27 is a schematic diagram of the communication awareness process based on SRU according to an embodiment of this disclosure.
  • Figure 28 is a schematic diagram of the principle of communication sensing based on passive SRO according to an embodiment of the present disclosure
  • Figure 29 is a schematic flowchart of communication sensing based on passive SRO according to an embodiment of the present disclosure.
  • FIG1 is a hardware structure block diagram of a mobile terminal for the communication sensing method of this disclosure.
  • the mobile terminal may include one or more (only one is shown in FIG1) processors 102 (processor 102 may include, but is not limited to, processing devices such as microprocessors MCUs or programmable logic devices FPGAs) and a memory 104 for storing data.
  • the mobile terminal may also include a transmission device 106 for communication functions and an input/output device 108.
  • the structure shown in FIG1 is only illustrative and does not limit the structure of the mobile terminal.
  • the mobile terminal may also include more or fewer components than shown in FIG1, or have a different configuration than shown in FIG1.
  • the memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the communication sensing method in this embodiment.
  • the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thus implementing the above-described method.
  • the memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.
  • the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the transmission device 106 is used to receive or send data via a network.
  • Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider.
  • the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet.
  • the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.
  • NIC Network Interface Controller
  • RF Radio Frequency
  • the first network element of the core network is a network element of the core network related to the perception service.
  • the first network element is not limited, but only refers to the network element of the core network related to the perception service.
  • the sensing device interacts with the first network element to transmit registration information, sensing-related capabilities, sensing-related auxiliary information, sensing measurement results, sensing estimation results, and error information to each other.
  • the first network element may be a network element of the core network in the 3GPP network that is related to the sensing service.
  • the first sensing device may also be referred to as a Sensing Reference Unit (SRU).
  • the SRU is an active 3GPP device (which may be a UE or a base station) with the capability to transmit and/or receive sensing signals, and can provide sensing measurement results/sensing estimation results to other devices on the 3GPP network (for the purpose of calibrating the sensing results).
  • SRU and Sensing Reference Unit are used only to refer to the unit having the described function, and do not specifically refer to or limit it to any kind of network element.
  • the second sensing device may also be referred to as a sensing reference object (SRO).
  • SRO sensing reference object
  • the SRO can be active or passive, and can be certain objects or 3GPP devices that are the sensing targets. These targets themselves carry/or the 3GPP system knows in advance certain prior information about these SROs, in order to calibrate the sensing observation results/sensing estimation results involving their own SROs.
  • FIG. 2 is a flowchart of the communication sensing method according to this disclosure. As shown in Figure 2, the process includes the following steps:
  • step S202 the first network element of the core network acquires the sensing information from the sensing device.
  • the sensing device includes: a first sensing device and/or a second sensing device.
  • the method further includes: a first network element acquiring perception information of a target sensing device; and the first network element acquiring a perception result of the target sensing device based on the perception information of the sensing device and the perception information of the target sensing device.
  • the sensing information includes: sensing measurement information and sensing estimation information.
  • the sensed measurement information includes at least one of the following: channel estimation results; power delay profile (PDP); phase delay spectrum; reference signal received power (RSRP); received signal code power (RSCP); and reference signal received power per resource block (RSRPP).
  • PDP power delay profile
  • RSRP reference signal received power
  • RSCP received signal code power
  • RSRPP reference signal received power per resource block
  • the sensing estimation information includes at least one of the transmission parameter information of the sensing path of the sensing information transmission channel.
  • the aforementioned transmission parameter information includes the energy or combination of energy (normalized or unnormalized) of one or more or all sensing paths in the channel corresponding to the sensing signal of the sensing device, distance, propagation delay TOA, arrival delay difference TDOA, position (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, velocity (one-dimensional, two-dimensional, or three-dimensional), micro-Doppler spectrum, type of micro-Doppler detected mode, parameters of micro-Doppler detected mode; and the difference values of all the above quantities relative to their respective specified reference values.
  • the second sensing device is provided with prior sensing information.
  • the prior sensing information includes at least one of the following: type information of the second sensing device; physical parameter information of the second sensing device; location information of the second sensing device; relative location information of the second sensing device; and radar cross section (RCS) information of the second sensing device.
  • type information of the second sensing device includes at least one of the following: type information of the second sensing device; physical parameter information of the second sensing device; location information of the second sensing device; relative location information of the second sensing device; and radar cross section (RCS) information of the second sensing device.
  • RCS radar cross section
  • the aforementioned category information refers to the target category of the sensing device.
  • any category such as vehicles, drones, buildings, statues, etc.
  • these targets can be UE devices associated with the target, specifically responsible for forwarding information defined therein about the associated target.
  • the aforementioned physical parameter information may be the model of the second sensing device itself, the size of the second sensing device itself, the surface material of the second sensing device itself, and the distribution of the material on the surface.
  • the aforementioned position information may be position coordinates (two-dimensional or three-dimensional) in a certain reference frame, attitude angles (azimuth, roll, pitch) of the second sensing device in a certain reference frame, several parameters in the rotation matrix of the second sensing device in a certain reference frame, velocity magnitude (one-dimensional scalar) of the second sensing device, and velocity vector (two-dimensional or three-dimensional) of the second sensing device.
  • the aforementioned relative position information may be a position difference component relative to a reference point, a distance relative to a reference point, a propagation delay relative to a reference point, a TDOA of arrival delay difference relative to multiple reference points, an elevation angle relative to a reference point, an azimuth angle relative to a reference point, a beam direction relative to a reference point, a velocity relative to a reference point, a Doppler frequency relative to a reference point, a micro-Doppler mode, or parameters related to the micro-Doppler mode/spectrum.
  • the RCS information may include the following forms: a fixed RCS value related to the second sensing device itself; a random distribution of the RCS related to the second sensing device itself; a deterministic model of the RCS related to the second sensing device itself, which, in addition to being related to the attributes of the second sensing device itself, may be related to the incident angle (incident azimuth angle, incident elevation angle), the exit angle (exit azimuth angle, exit elevation angle), the distance to the sensing device, and the polarization direction; and a model composed of the deterministic RCS model related to the second sensing device itself and the random distribution.
  • the second sensing device includes an active second sensing device and a passive second sensing device.
  • the method before the first network element acquires the sensing information from the sensing device, the method further includes: the first network element sending association request information to the sensing device; and the first network element receiving association feedback information from the sensing device.
  • the association request information includes at least one of the following: the identity ID information of the first network element; the status information of the association relationship; the update cycle of the association relationship; and the update conditions of the association relationship.
  • the status information of the above-mentioned association relationship may include: initializing the association for the first time, or updating the association between the sensing device and the first network element when the status of the sensing device changes.
  • the method before the first network element acquires the sensing information of the sensing device, the method further includes: the first network element sending a call request to the sensing device, wherein the sensing device is associated with the current first network element, or the sensing device is associated with a first network element other than the current first network element.
  • the call request information includes at least one of the following: the ID information of the sensing device required by the current first network element; and the sensing device selection condition information of the current first network element.
  • the sensing device selection condition information includes at least one of the following: the tracking area (TA) information of the sensing device; the location information of the sensing device; and the cell ID information of the sensing device.
  • TA tracking area
  • the target sensing device and the first sensing device in the sensing devices are the same sensing device or the same group of sensing devices; or, the target sensing device and the first sensing device are different sensing devices.
  • the target sensing device and the first sensing device in the sensing device can be the same sensing device, that is, the target sensing device and the first sensing device in the sensing device can be merged into the same device. Because these devices are essentially sensing devices and all have the ability to receive or transmit sensing signals, they are functionally merged into the same network element device.
  • the target sensing device and the first sensing device in the sensing device can also be a group of sensing devices, that is, the number of the target sensing device and the first sensing device in the sensing device can be multiple.
  • Step S204 The first network element obtains the perception result of the target perception device based on the perception information.
  • the first network element sends coupling request information to the first sensing device and the second sensing device, respectively, wherein the coupling request information is used to instruct the first sensing device and the second sensing device to establish a coupling session; the first network element receives coupling feedback information from the first sensing device or the second sensing device.
  • the first sensing device may be a base station, a UE, or any 3GPP device, in some cases, the first sensing device may be directly coupled to the second sensing device, transmitting some information without going through the first network element, so that the first sensing device can directly perform sensing and measurement on the second sensing device.
  • this association should be known and permitted by the first network element.
  • the coupling request information includes at least one of the following: the identity ID information of the first network element; the ID information of the coupling session; the ID information of the first sensing device; the ID information of the second sensing device; the status information of the coupling session; the update cycle of the coupling session; and the update conditions of the coupling session.
  • the state information of the above-mentioned coupling session may include: the first initialization of the coupling relationship, or the first network element requesting to update the coupling relationship between the first sensing device and the second sensing device when the states of the first sensing device and the second sensing device change.
  • the method further includes: a first network element sending association release information to a first sensing device and/or a second sensing device; and the first network element receiving association release feedback information from the first sensing device and/or the second sensing device.
  • the association release information includes at least one of the following: the identity ID information of the first network element; the updated ID information of the first network element.
  • the method further includes: the first network element sending association call request information to other first network elements besides itself.
  • the associated call request information includes at least one of the following: ID information of the target sensing device; sensing information; and preset time window information of the associated call request information.
  • the method further includes: the first network element sending error calibration information to the sensing device.
  • the method further includes: the first network element sending error calibration information to the target sensing device.
  • the error calibration step may occur on the first network element or the target sensing device.
  • the error calibration information includes at least one of the following: the sensing measurement result error of the sensing device; the sensing estimation result error of the sensing device; the clock error of the sensing device; the delay information of the sensing device; the sampling rate matching error of the sensing device; and the electromagnetic interference error of the sensing device.
  • the above steps provide a communication sensing method that acquires sensing information from sensing devices through a first network element in the core network; the first network element then acquires the sensing results from the target sensing device based on the sensing information. This solves the problem of poor communication sensing accuracy in related technologies and achieves the effect of improving communication sensing accuracy.
  • Figure 3 is a flowchart of the communication sensing method according to this disclosure. As shown in Figure 3, the process includes the following steps:
  • step S302 the first network element of the core network acquires the sensing information of the second sensing device.
  • the second sensing device is provided with prior sensing information.
  • the prior sensing information includes at least one of the following: type information of the second sensing device; physical parameter information of the second sensing device; location information of the second sensing device; relative location information of the second sensing device; and radar cross section (RCS) information of the second sensing device.
  • type information of the second sensing device includes at least one of the following: type information of the second sensing device; physical parameter information of the second sensing device; location information of the second sensing device; relative location information of the second sensing device; and radar cross section (RCS) information of the second sensing device.
  • RCS radar cross section
  • the aforementioned category information refers to the target category of the sensing device.
  • any category such as vehicles, drones, buildings, statues, etc.
  • these targets can be UE devices associated with the target, specifically responsible for forwarding information defined therein about the associated target.
  • the aforementioned physical parameter information may be the model of the second sensing device itself, the size of the second sensing device itself, the surface material of the second sensing device itself, and the distribution of the material on the surface.
  • the aforementioned position information may be position coordinates (two-dimensional or three-dimensional) in a certain reference frame, attitude angles (azimuth, roll, pitch) of the second sensing device in a certain reference frame, several parameters in the rotation matrix of the second sensing device in a certain reference frame, velocity magnitude (one-dimensional scalar) of the second sensing device, and velocity vector (two-dimensional or three-dimensional) of the second sensing device.
  • the aforementioned relative position information may be a position difference component relative to a reference point, a distance relative to a reference point, a propagation delay relative to a reference point, a TDOA of arrival delay difference relative to multiple reference points, an elevation angle relative to a reference point, an azimuth angle relative to a reference point, a beam direction relative to a reference point, a velocity relative to a reference point, a Doppler frequency relative to a reference point, a micro-Doppler mode, or parameters related to the micro-Doppler mode/spectrum.
  • the RCS information may include the following forms: a fixed RCS value related to the second sensing device itself; a random distribution of the RCS related to the second sensing device itself; a deterministic model of the RCS related to the second sensing device itself, which, in addition to being related to the attributes of the second sensing device itself, may be related to the incident angle (incident azimuth angle, incident elevation angle), the exit angle (exit azimuth angle, exit elevation angle), the distance to the sensing device, and the polarization direction; and a model composed of the deterministic RCS model related to the second sensing device itself and the random distribution.
  • the method further includes: a first network element acquiring perception information of the target perception device; and the first network element acquiring the perception result of the target perception device based on the perception information of the second perception device and the perception information of the target perception device.
  • the second sensing device includes an active second sensing device and a passive second sensing device.
  • the first network element acquires sensing information from the second sensing device, including: when the second sensing device is an active second sensing device, the first network element receives sensing information from the second sensing device, or the first network element receives sensing information from other first network elements besides itself.
  • the first network element when the second sensing device is an active second sensing device, can receive information from its associated second sensing device, and can also receive information from other first network elements' associated second sensing devices. These other first network elements are those other than the current first network element.
  • the first network element acquires sensing information from the second sensing device, including: when the second sensing device is a passive second sensing device, the first network element receives sensing information from a Transmission Reception Point (TRP), wherein the TRP has at least one second sensing device registered.
  • TRP Transmission Reception Point
  • the passive second sensing device needs to be pre-registered via TRP.
  • the sensing information includes: sensing measurement information and sensing estimation information.
  • the sensed measurement information includes at least one of the following: channel estimation results; power delay distribution spectrum (PDP); phase delay spectrum; reference signal received power (RSRP); received signal code power (RSCP); and reference signal received power per resource block (RSRPP).
  • PDP power delay distribution spectrum
  • RSRP reference signal received power
  • RSCP received signal code power
  • RSRPP reference signal received power per resource block
  • the sensing estimation information includes at least one of the transmission parameter information of the sensing path of the sensing information transmission channel.
  • the aforementioned transmission parameter information includes the energy or combination of energy (normalized or unnormalized) of one or more or all sensing paths in the channel corresponding to the sensing signal of the sensing device, distance, propagation delay TOA, arrival delay difference TDOA, position (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, velocity (one-dimensional, two-dimensional, or three-dimensional), micro-Doppler spectrum, type of micro-Doppler detected mode, parameters of micro-Doppler detected mode; and the difference values of all the above quantities relative to their respective specified reference values.
  • the prior sensing information includes at least one of the following: type information of the second sensing device; physical parameter information of the second sensing device; location information of the second sensing device; relative location information of the second sensing device; and radar cross section (RCS) information of the second sensing device.
  • type information of the second sensing device includes at least one of the following: type information of the second sensing device; physical parameter information of the second sensing device; location information of the second sensing device; relative location information of the second sensing device; and radar cross section (RCS) information of the second sensing device.
  • RCS radar cross section
  • Step S304 The first network element obtains the perception result of the target perception device based on the perception information.
  • the method further includes: the first network element sending a call request to other first network elements besides itself.
  • the call request information includes at least one of the following: the ID information of the second sensing device required by the current first network element; and the sensing device selection condition information of the current first network element.
  • the sensing device selection condition information includes at least one of the following: tracking area (TA) information of the second sensing device; location information of the second sensing device; and cell ID information of the second sensing device.
  • TA tracking area
  • Figure 4 is a flowchart of the communication sensing method according to this disclosure. As shown in Figure 4, the process includes the following steps:
  • step S402 the first network element of the core network acquires the sensing information of the first sensing device.
  • the first sensing device is used for sensing and measuring other objects for calibration.
  • the method further includes: a first network element acquiring perception information of a target sensing device; and the first network element acquiring a perception result of the target sensing device based on the perception information of the first sensing device and the perception information of the target sensing device.
  • the sensing information includes: sensing measurement information and sensing estimation information.
  • the sensed measurement information includes at least one of the following: channel estimation results; power delay distribution spectrum (PDP); phase delay spectrum; reference signal received power (RSRP); received signal code power (RSCP); and reference signal received power per resource block (RSRPP).
  • PDP power delay distribution spectrum
  • RSRP reference signal received power
  • RSCP received signal code power
  • RSRPP reference signal received power per resource block
  • the sensing estimation information includes at least one of the transmission parameter information of the sensing path of the sensing information transmission channel.
  • the aforementioned transmission parameter information includes the energy or combination of energy (normalized or unnormalized) of one or more or all sensing paths in the channel corresponding to the sensing signal of the sensing device, distance, propagation delay TOA, arrival delay difference TDOA, position (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, velocity (one-dimensional, two-dimensional, or three-dimensional), micro-Doppler spectrum, type of micro-Doppler detected mode, parameters of micro-Doppler detected mode; and the difference values of all the above quantities relative to their respective specified reference values.
  • Step S404 The first network element obtains the perception result of the target perception device based on the perception information.
  • the method further includes: the first network element sending a call request to other first network elements besides itself.
  • the call request information includes at least one of the following: the ID information of the first sensing device required by the current first network element; and the sensing device selection condition information of the current first network element.
  • the sensing device selection condition information includes at least one of the following: tracking area (TA) information of the first sensing device; location information of the first sensing device; and cell ID information of the first sensing device.
  • TA tracking area
  • Figure 5 is a flowchart of the communication sensing method according to this disclosure. As shown in Figure 5, the process includes the following steps:
  • step S502 the sensing device sends the sensing information to the first network element of the core network, so that the first network element can obtain the sensing result of the target sensing device based on the sensing information.
  • the sensing device includes: a first sensing device and/or a second sensing device.
  • the method further includes: the target sensing device sending sensing information to the first network element.
  • the first network element obtains the perception result of the target perception device based on the perception information of the sensing device and the perception information of the target perception device.
  • the sensing information includes: sensing measurement information and sensing estimation information.
  • the sensed measurement information includes at least one of the following: channel estimation results; power delay distribution spectrum (PDP); phase delay spectrum; reference signal received power (RSRP); received signal code power (RSCP); and reference signal received power per resource block (RSRPP).
  • PDP power delay distribution spectrum
  • RSRP reference signal received power
  • RSCP received signal code power
  • RSRPP reference signal received power per resource block
  • the sensing estimation information includes at least one of the transmission parameter information of the sensing path of the sensing information transmission channel.
  • the second sensing device is provided with prior sensing information.
  • the prior sensing information includes at least one of the following: type information of the second sensing device; physical parameter information of the second sensing device; location information of the second sensing device; relative location information of the second sensing device; and radar cross section (RCS) information of the second sensing device.
  • type information of the second sensing device includes at least one of the following: type information of the second sensing device; physical parameter information of the second sensing device; location information of the second sensing device; relative location information of the second sensing device; and radar cross section (RCS) information of the second sensing device.
  • RCS radar cross section
  • the second sensing device includes an active second sensing device and a passive second sensing device.
  • the method before the sensing device sends the sensing information to the first network element of the core network, the method further includes: the sensing device sending association request information to the first network element; and the sensing device receiving association response information from the first network element.
  • the first sensing device sends association request information to the first network element, wherein the association request information includes at least one of the following: the ID information of the first sensing device; the status information of the association relationship; the sensing capability information of the first sensing device; the measurement results of the first sensing device that are unrelated to the sensing measurement service; and the ON/OFF status information of the first sensing device.
  • the second sensing device sends association request information to the first network element, wherein the association request information includes at least one of the following: ID information of the second sensing device; status information of the association relationship; prior information related to the sensing of the second sensing device; positioning capability information of the second sensing device; and ON/OFF status information of the second sensing device.
  • the sensing device sends association release information to the first network element; the sensing device receives association release reply information from the first network element.
  • the first sensing device sends association release information to the first network element, wherein the association release information includes at least one of the following: the ID information of the first sensing device; the ID information of the current association session.
  • the second sensing device sends association release information to the first network element, wherein the association release information includes at least one of the following: the ID information of the second sensing device; the ID information of the current association session.
  • the method further includes: the sensing device sending coupling request information to the first network element, wherein the coupling request information is used to instruct the first sensing device and the second sensing device to establish a coupling session; and the sensing device receiving coupling response information from the first network element.
  • the first sensing device sends coupling request information to the first network element, wherein the coupling request information includes at least one of the following: ID information of the first sensing device; ID information of the second sensing device; and status information of the coupling session.
  • the second sensing device sends coupling request information to the first network element, wherein the coupling request information includes at least one of the following: ID information of the first sensing device; ID information of the second sensing device; and status information of the coupling session.
  • the method further includes: a second sensing device sending prior information to a first network element.
  • the aforementioned prior information may also be referred to as auxiliary information.
  • the aforementioned prior information may come from the second sensing device itself or from other devices.
  • the method further includes: a second sensing device sending prior information to other second sensing devices through a first network element. These other second sensing devices are not associated with the current first network element.
  • module can refer to a combination of software and/or hardware that implements a predetermined function.
  • the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.
  • the communication sensing device provided in this embodiment can be installed in the core network.
  • the communication sensing device may include: a first acquisition module, configured to acquire sensing information of a sensing device; and a second acquisition module, configured to acquire the sensing result of a target sensing device based on the sensing information.
  • the communication sensing device provided in this embodiment can be installed in the core network.
  • the communication sensing device may include: a third acquisition module configured to acquire sensing information from a second sensing device; and a fourth acquisition module configured to acquire the sensing result of a target sensing device based on the sensing information.
  • the communication sensing device provided in this embodiment can be installed in the core network.
  • the communication sensing device may include: a fifth acquisition module configured to acquire sensing information from a first sensing device; and a sixth acquisition module configured to acquire the sensing result of a target sensing device based on the sensing information.
  • the communication sensing device provided in this embodiment can be installed in a sensing device.
  • the communication sensing device may include a sending module configured to send sensing information to a first network element of the core network, so that the first network element can obtain the sensing result of the target sensing device based on the sensing information.
  • the communication sensing device may further include different modules, and the naming and functional division of the modules may be selected in different ways according to the actual situation, without specific limitations.
  • modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.
  • This disclosure also provides a computer-readable storage medium storing a computer program configured to perform the steps in any of the above method embodiments when executed.
  • the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.
  • This disclosure also provides an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.
  • the electronic device may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor and the input/output device is connected to the processor.
  • This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the steps in any of the above method embodiments.
  • the computer program product described above includes a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the methods described in various embodiments of this application.
  • modules or steps of the embodiments of this disclosure described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the embodiments of this disclosure are not limited to any particular combination of hardware and software.
  • the first network element of the core network is a network element of the core network related to the sensing service.
  • the term "first network element" is not limited to any particular type; it only refers to a network element of the core network related to the sensing service.
  • the sensing device interacts with the first network element to mutually transmit registration information, sensing-related capabilities, sensing-related auxiliary information, sensing measurement results, sensing estimation results, and error information.
  • the first network element can be a network element of the core network related to the sensing service in a 3GPP network.
  • the Sensing Reference Unit is the first sensing device described in the previous embodiments.
  • the SRU is an active 3GPP device (which can be a UE or a base station) with the capability to transmit and/or receive sensing signals, and can provide sensing measurement results/sensing estimation results to other devices on the 3GPP network (for calibration of the sensing results).
  • the names SRU and Sensing Reference Unit are used only to refer to units with the described functions, and do not specifically refer to or limit them to any type of network element.
  • the Sensing Reference Target is the second sensing device described in the previous embodiments.
  • the SRO can be active or passive, and can be certain objects or 3GPP devices used as sensing targets. These targets carry/or the 3GPP system has prior knowledge of certain information about these SROs to calibrate the sensing observation/estimation results related to their own SROs.
  • the terms SRO and Sensing Reference are used only to refer to units with the described functions and do not specifically refer to or limit them to any type of network element.
  • the first network element in some embodiments is abbreviated as SF.
  • the capabilities of the perception reference unit SRU first perception device
  • the perception reference target SRO second perception device
  • the first network element related to the perception service will first be described.
  • the capabilities of the Sensing Reference Unit (SRU), or the related signaling behavior are as follows:
  • the SRU can communicate with the 3GPP network.
  • the SRU can interact with core network elements related to sensing services within the 3GPP network (hereinafter referred to as "first network elements," without name restriction, only referring to core network elements related to sensing services) to mutually transmit registration information, sensing-related capabilities, sensing-related auxiliary information, sensing measurement results, sensing estimation results, and error information.
  • the SRU has the capability to transmit sensing signals in the 3GPP system.
  • the SRU has the capability to receive sensing signals in the 3GPP system.
  • the SRU has the capability to obtain its own location (which can be any positioning method, including but not limited to 3GPP positioning).
  • the SRU can transmit sensing measurement results and sensing estimation results to the first network element.
  • results include, but are not limited to: channel estimation results corresponding to the sensing signal, PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP; energy or combination of energy (normalized or unnormalized), distance, propagation delay TOA, arrival delay difference TDOA, position (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, velocity (one-dimensional, two-dimensional, or three-dimensional), micro-Doppler spectrum, types of micro-Doppler detected modes, parameters of micro-Doppler detected modes; and the difference values of all the above quantities relative to their respective specified reference values.
  • the SRU can transmit other measurement results and estimation results unrelated to sensing services to the first network element or other core network elements.
  • These results include, but are not limited to: the location of the SRU itself; the channel estimation results corresponding to the positioning reference signal, including PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP; the energy or combination of energy (normalized or unnormalized), location, distance, propagation delay TOA, arrival delay difference TDOA, location (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, and velocity (one-dimensional, two-dimensional, or three-dimensional) of one or more or all sensing paths in the channel corresponding to the positioning signal; and the difference values of all the above quantities relative to their respective specified reference values.
  • the capability information of the first network element is as follows:
  • the first network element compares the actual measurement results of the SRU with the ideal measurement results to determine the sensing-related calibration quantities.
  • the first network element may transmit the calibration quantities to any other network element for calibration.
  • the first network element indicates which devices (user equipment, base stations) are allowed to act as an SRU.
  • the first network element indicates which devices (user equipment, base stations) begin acting as an SRU.
  • the first network element indicates which devices (user equipment, base stations) maintain their SRU status and update their information.
  • the first network element indicates which devices (user equipment, base stations) cease acting as an SRU.
  • the first network element stores SRU information.
  • the first network element deletes SRU information.
  • the first network element retains relevant information for SRUs in the OFF state.
  • the first network element requires the SRU to associate with another new first network element.
  • the first network element actively triggers the SRU to perform sensing measurements and reports the sensing measurement results or sensing estimates.
  • the SRU needs to have the ability to report both sensing measurement results and sensing estimates simultaneously.
  • the first network element to be sensed will locate the SRUs under other first network elements and obtain the SRU measurement calibration results.
  • the core network allows one first network element to transmit SRU measurement results to other first network elements.
  • the core network allows an SRU to be associated with multiple first network elements.
  • a sensing device (any sensing device in a 3GPP network, including but not limited to UEs and base stations) can report to the first network element whether SRU participation is required for calibration.
  • the first network element can proactively provide sensing procedures involving SRUs to the sensing devices (including but not limited to UEs and base stations) for calibration.
  • the first network element can transmit measurement results, estimation results, sensing measurement results, sensing estimation results, and SRU-related identification information unrelated to the sensing service to the sensing devices (including but not limited to UEs and base stations) for calibration.
  • the first network element can transmit any calculated error calibration information related to SRUs to the sensing devices (including but not limited to UEs and base stations; the sensing device can be any sensing device requiring SRU-assisted calibration) for calibration.
  • SRUs can also directly establish a communication link with sensing devices (including but not limited to UEs and base stations) to transmit auxiliary information related to the sensing of SRUs, error calibration information related to SRUs, and SRU-related identification information to the sensing devices (including but not limited to UEs and base stations) for calibration.
  • the aforementioned error calibration information is typically obtained by comparing two or more quantities from different sources. Therefore, the sources of this error calibration information include, but are not limited to: comparing the actual measurement of the SRU with the ideal measurement result to obtain the relevant error amount; comparing the actual measurement of the SRU with the measurement results of other sensing devices to obtain the relevant error amount; and obtaining the relevant error based on the actual measurement of the SRU, the ideal measurement result, and the measurement results of other sensing devices.
  • the error calibration information includes, but is not limited to, the following forms: channel estimation result error, PDP spectrum error, phase delay spectrum error, RSRP error, RSCP error, and RSRPP error corresponding to the sensing signal of any sensing device (including SRU, and including, but not limited to, UE and base station); energy error or combination of energy (normalized or unnormalized), distance error, and propagation delay (TOA) of one or more or all sensing paths in the channel corresponding to the sensing signal of any sensing device (including SRU, and including, but not limited to, UE and base station).
  • Errors include: Time Difference of Arrival (TDOA) error, position error (2D or 3D), pitch angle error, azimuth angle error, beam direction error, Doppler frequency error, velocity error (1D, 2D, or 3D), micro-Doppler spectrum error, error in the type of micro-Doppler detected mode, and parameter error of the micro-Doppler detected mode; clock deviation of any sensing device (including SRU, and including but not limited to UE and base station), digital signal processing delay, sampling frequency matching error, electromagnetic interference error, etc.
  • TDOA Time Difference of Arrival
  • position error 2D or 3D
  • pitch angle error pitch angle error
  • azimuth angle error azimuth angle error
  • beam direction error Doppler frequency error
  • velocity error (1D, 2D, or 3D
  • micro-Doppler spectrum error error in the type of micro-Doppler detected mode
  • parameter error of the micro-Doppler detected mode and parameter error of the micro-Doppler detected mode
  • clock deviation of any sensing device including SRU, and including
  • the active SRO may possess the following capabilities, or involve the following signaling behaviors:
  • Active SROs can communicate with 3GPP networks. They can interact with core network elements related to sensing services within the 3GPP network (hereinafter referred to as first network elements; the name is not limited, only referring to core network elements related to sensing services) to mutually transmit registration information, sensing-related auxiliary information (i.e., prior information in the above embodiments), error information, etc. Active SROs have the ability to use themselves as the sensing target of the sensing system, reflecting, refracting, diffracting, scattering, and transmitting sensing signals. Active SROs have the ability to obtain their own location (which can be any positioning method, including but not limited to 3GPP positioning).
  • the aforementioned prior information includes, but is not limited to: the target type of the active SRO itself (e.g., any type such as vehicles, drones, buildings, statues, etc.) (for targets such as buildings and statues that are not part of 3GPP UE devices, these targets can be UE devices associated with the target, specifically responsible for forwarding information defined therein), the model of the active SRO itself, the size of the active SRO itself, the surface material of the active SRO itself, and the distribution of the material on the surface.
  • the target type of the active SRO itself e.g., any type such as vehicles, drones, buildings, statues, etc.
  • targets for targets such as buildings and statues that are not part of 3GPP UE devices, these targets can be UE devices associated with the target, specifically responsible for forwarding information defined therein
  • the model of the active SRO itself e.g., the size of the active SRO itself, the surface material of the active SRO itself, and the distribution of the material on the surface.
  • the position coordinates of the active SRO in a certain reference frame two-dimensional or three-dimensional
  • the attitude angles of the active SRO in a certain reference frame azimuth, roll, pitch
  • several parameters in the rotation matrix of the active SRO in a certain reference frame the velocity magnitude of the active SRO (one-dimensional scalar)
  • the velocity vector of the active SRO two-dimensional or three-dimensional
  • the parameters include the position difference component of the active SRO relative to a reference point, the distance relative to a reference point, the propagation delay relative to a reference point, the TDOA of the arrival delay difference relative to multiple reference points, the elevation angle relative to a reference point, the azimuth angle relative to a reference point, the beam direction relative to a reference point, the velocity relative to a reference point, the Doppler frequency relative to a reference point, the micro-Doppler mode, and the parameters related to the micro-Doppler mode/spectrum.
  • the RCS information of the active SRO itself can take the following forms, including but not limited to: a fixed RCS value related to the active SRO itself; a random distribution of the RCS related to the active SRO itself; a deterministic model of the RCS related to the active SRO itself, which, in addition to being related to the attributes of the active SRO itself, can be related to the incident angle (incident azimuth angle, incident elevation angle), the exit angle (exit azimuth angle, exit elevation angle), the distance to the sensing device, and the polarization direction; and a model composed of the deterministic RCS model and the random distribution related to the active SRO itself.
  • the capability information of the first network element corresponding to the active SRO is as follows:
  • the first network element compares the actual measurement results and ideal measurement results related to the active SRO to determine the calibration quantities related to sensing.
  • the first network element may transmit the calibration quantities to any other network element for calibration.
  • the first network element instructs which devices (user equipment) are allowed to act as an active SRO.
  • the first network element instructs which devices (user equipment) begin acting as an active SRO.
  • the first network element instructs which devices (user equipment, base stations) maintain their status as an active SRO and update their information.
  • the first network element instructs which devices (user equipment, base stations) cease acting as an active SRO.
  • the first network element stores the information of active SROs.
  • the first network element deletes the information of active SROs.
  • the first network element retains relevant information for active SROs in the OFF state.
  • the first network element requests that an active SRO be associated with another new first network element.
  • the first network element actively triggers the active SRO to be sensed by other sensing devices.
  • the first network element to be sensed will find active SROs under other first network elements, obtain the active SRO's registration information, auxiliary information related to being sensed, etc.
  • the core network allows a first network element to transmit registration information of an active SRO, auxiliary information related to the sensed object, and other information to other first network elements.
  • the core network allows an active SRO to be associated with multiple first network elements. Sensing devices (including but not limited to UEs and base stations) can report to first network elements whether active SRO correction is needed.
  • First network elements can proactively provide sensing processes involving SROs to sensing devices (including but not limited to UEs and base stations) for correction.
  • first network elements can transmit auxiliary information related to the sensed active SRO and the active SRO's identification identifier to sensing devices (including but not limited to UEs and base stations) for calibration.
  • first network elements can transmit any calculated error calibration information related to the active SRO to sensing devices (including but not limited to UEs and base stations; the sensing device can be any sensing device requiring SRO-assisted calibration) for calibration.
  • active SROs can also directly establish communication links with sensing devices (including but not limited to UEs and base stations) to transmit auxiliary information related to the active SRO being sensed, error calibration information related to the active SRO, and identification information related to the active SRO to the sensing devices (including but not limited to UEs and base stations) for calibration.
  • sensing devices including but not limited to UEs and base stations
  • the aforementioned error calibration information is typically obtained by comparing two or more quantities from different sources. Therefore, the sources of this error calibration information include, but are not limited to, the relevant error quantities obtained by comparing the actual measurement of the active SRO with the ideal measurement result of the active SRO.
  • the forms of the aforementioned error calibration information include, but are not limited to, the following: Channel estimation result error, PDP spectrum error, phase delay spectrum error, RSRP error, RSCP error, and RSRPP error corresponding to the sensing signal of any sensing device (including SRUs, and including, but not limited to, UEs and base stations).
  • Energy error or combination of energy normalized or unnormalized
  • distance error distance error
  • propagation delay TOA error arrival delay difference
  • TDOA error position error (2D or 3D)
  • elevation angle error azimuth angle error
  • beam direction error Doppler frequency error
  • velocity error one-dimensional, two-dimensional, or three-dimensional
  • micro-Doppler spectrum error error of the type of micro-Doppler detected mode
  • parameter error of the micro-Doppler detected mode Clock deviation, digital signal processing delay, sampling frequency matching error, electromagnetic interference error, etc. of any sensing device (including SRU, UE, base station, etc.).
  • the passive SRO may have the following capabilities, or involve the following signaling behaviors:
  • Passive SROs are pre-registered with core network elements related to sensing services in the 3GPP network (hereinafter referred to as the first network element; the name is not restricted and only refers to the core network elements related to sensing services).
  • the first network element can obtain the registration information, sensing-related auxiliary information (prior information), and error information of passive SROs through other means (including but not limited to the 3GPP network and external information input).
  • Passive SROs have the ability to act as sensing targets of the sensing system, reflecting, refracting, diffracting, scattering, and transmitting sensing signals.
  • the first network element compares the actual measurement results related to the passive SRO with the ideal measurement results to determine the sensing-related calibration quantities.
  • the first network element may transmit the calibration quantities to any other network element for calibration.
  • the aforementioned prior information includes, but is not limited to:
  • the passive SRO's target type e.g., any type such as buildings, sculptures, bridges, etc.
  • the passive SRO's position coordinates (2D or 3D) in a reference frame its attitude angles (azimuth, roll, pitch), parameters in its rotation matrix, velocity magnitude (one-dimensional scalar), and velocity vector (2D or 3D).
  • TDOA Time Delay Affected Area
  • the RCS information of the passive SRO itself can take the form of, but is not limited to, the following: a fixed RCS value related to the passive SRO itself; a random distribution of the RCS related to the passive SRO itself; a deterministic model of the RCS related to the passive SRO itself, which, in addition to being related to the attributes of the active SRO itself, can be related to the incident angle (incident azimuth angle, incident elevation angle), the exit angle (exit azimuth angle, exit elevation angle), the distance to the sensing device, and the polarization direction; and a model composed of the deterministic RCS model related to the passive SRO itself and the random distribution.
  • the capability information of the first network element is as follows:
  • the first network element registers locally which targets are allowed to be a passive SRO.
  • the first network element decides locally which targets begin as a passive SRO.
  • the first network element decides locally which targets maintain their passive SRO status and updates their information.
  • the first network element decides locally which targets cease to be a passive SRO.
  • the first network element stores the passive SRO information.
  • the first network element deletes the passive SRO information.
  • the first network element transmits relevant registration messages and sensing-related auxiliary information to another first network element, associating the passive SRO with another new first network element. With permission from the higher-level core network, the first network element to be sensed will find passive SROs under other first network elements and request their registration information and sensing-related auxiliary information from those first network elements.
  • the first network element can transmit any calculated error calibration information related to the passive SRO to the sensing device (including but not limited to UE and base station; the sensing device can be any sensing device requiring SRU-assisted calibration) for calibration.
  • the sensing device including but not limited to UE and base station; the sensing device can be any sensing device requiring SRU-assisted calibration
  • the aforementioned error calibration information includes, but is not limited to, the following: channel estimation result error, PDP spectrum error, phase delay spectrum error, RSRP error, RSCP error, and RSRPP error corresponding to the sensing signal of any sensing device (including SRU, and including, but not limited to, UE and base station).
  • Energy error or combination of energy normalized or unnormalized
  • distance error distance error
  • propagation delay TOA error arrival delay difference
  • TDOA error position error (2D or 3D)
  • elevation angle error azimuth angle error
  • beam direction error Doppler frequency error
  • velocity error one-dimensional, two-dimensional, or three-dimensional
  • micro-Doppler spectrum error error of the type of micro-Doppler detected mode
  • parameter error of the micro-Doppler detected mode Clock deviation, digital signal processing delay, sampling frequency matching error, electromagnetic interference error, etc. of any sensing device (including SRU, UE, base station, etc.).
  • Figure 6 is a schematic diagram of the sensing principle of an embodiment of this disclosure.
  • the sensing principle of an embodiment of this disclosure.
  • the first network element can send location information related to the SRU/SRO, as well as the SRU's sensing data for that SRO, to other sensing devices, enabling other sensing devices to calibrate the parameters of the sensing devices in the sensing link to be calibrated based on the measurement results and ideal measurement results.
  • Different signaling structures will be involved.
  • the following signaling flow can be a sequential structure or an asynchronous structure. This embodiment of the disclosure does not limit the order in which all signaling occurs.
  • a sub-process can be a signaling interaction between two network elements, or it can be a higher-level description of a combination of signaling from multiple intermediate network element nodes.
  • the name of any process is not limited; different process names are only used to refer to the function of the sub-process.
  • a sensing association process needs to be carried out to associate the SRU and/or SRO with the first network element.
  • Figure 7 is a flowchart illustrating the active SRO association process initiated by an active SRO according to an embodiment of this disclosure. As shown in Figure 7, it includes the following steps:
  • step S701 the active SRO sends an initialized SRO association request message to the first network element, requesting to associate the SRO with the first network element.
  • the aforementioned SRO initialized SRO Association Request message may include, but is not limited to, the following:
  • step S702 the active SRO receives the associated feedback information from the first network element.
  • an active SRO sends a request to a first network element
  • the first network element can accept the association between the first network element and the active SRO
  • the first network element returns an association acceptance message (SRO Association Accept) to the SRO.
  • the associated receiving information includes, but is not limited to, the following:
  • the periodicity of the association between the active SRO and the first network element is indicated; the conditions for updating the association information between the active SRO and the first network element are indicated; the amount of change in the sensing auxiliary information of the active SRO will cause the association between the active SRO and the first network element to be updated; the change of the TAI of the active SRO; the change of the AMF of the active SRO; the change of the ON/OFF state of the active SRO; whether the active SRO continues to be accepted as a sensing target; for the active SRO in the OFF state, the SRO-related information is stored on the first network element.
  • an active SRO sends a request to a first network element, but the first network element cannot accept the association between the first network element and the active SRO for some reason, then the first network element returns an association rejection message (SRO Association Reject) to the SRO.
  • SRO Association Reject association rejection message
  • FIG. 8 is a schematic flowchart of the SRU-initiated SRU association process according to an embodiment of this disclosure. As shown in Figure 8, it includes the following steps:
  • step S801 the SRU sends an initialized SRU association request message to the first network element, requesting to associate the SRU with the first network element.
  • the aforementioned association request message (SRU initialized SRU Association Request) includes, but is not limited to, the following: any ID information identifying the SRU; the reason for this request to associate with the first network element (it may be the first time to initialize the association, or it may be that the association between the SRU and the first network element is updated when the state of the SRU changes); the sensing capability of the SRU; other measurement results of the SRU that are not related to sensing services; and the ON/OFF state of the SRU.
  • step S802 the SRU receives the associated feedback message from the first network element.
  • association acceptance message includes, but is not limited to, the following:
  • It indicates the periodicity of the SRU's periodic update association with the first network element; it indicates the conditions for the SRU to update the association information with the first network element; it indicates the amount of change in other measurement results and estimation results of the SRU that are not related to sensing services; it indicates the change of the SRU's TAI; it indicates the change of the SRU's AMF; it indicates the change of the SRU's ON/OFF state; for an SRU in the OFF state, the SRU-related information is stored on the first network element.
  • the SRU sends a request to the first network element, but the first network element cannot accept the association between the first network element and the SRU for some reason, the first network element returns an association rejection message (SRU Association Reject) to the SRU.
  • SRU Association Reject association rejection message
  • step S803 if the SRU is rejected, the SRU can perform a process of associating with other available first network elements.
  • Figure 9 is a schematic diagram of the process of active SRO association initiated by the first network element according to an embodiment of this disclosure. As shown in Figure 9, it includes the following steps:
  • Step 901 The first network element sends an initialized SRO association request message to the active SRO, requesting that the SRO be associated with the first network element.
  • the aforementioned association request message includes, but is not limited to, the following: it includes any ID information that identifies the first network element; it includes the reason for this request to associate with the active SRO (it could be the first time to initialize the association, or it could be that the first network element requests to update the information of the associated SRO and the first network element when the state of the SRO changes); it indicates the periodicity of the active SRO periodically updating its association with the first network element; and it indicates the conditions for the active SRO and the first network element to update their association information.
  • the conditions for updating the association information between the active SRO and the first network element include at least one of the following: the amount of change in the sensing auxiliary information of the active SRO will cause the active SRO to update its association with the first network element; the change of the TAI of the active SRO; the change of the AMF of the active SRO; the change of the ON/OFF state of the active SRO; and whether the active SRO continues to be accepted as a sensing target.
  • Step 902 The first network element receives the associated response information from the active SRO.
  • association acceptance message includes, but is not limited to, the following: any ID information identifying the SRO; auxiliary information related to the active SRO being perceived; and the location capability of the active SRO.
  • the active SRO If the first network element sends a request to the active SRO, but the active SRO cannot accept the association between the first network element and the active SRO for some reason, the active SRO returns an association rejection message (SRO Association Reject) to the first network element.
  • SRO Association Reject an association rejection message
  • Step 903 If the first network element is rejected, the first network element can perform a process of associating with other available active SROs.
  • Figure 10 is a schematic diagram of the SRU association initiated by the first network element in this embodiment of the present disclosure. As shown in Figure 10, it includes the following steps:
  • step S1001 the first network element sends an association request message (SF initialized SRU Association Request) to the SRU, requesting that the SRU be associated with the first network element.
  • an association request message (SF initialized SRU Association Request)
  • the aforementioned association request message includes, but is not limited to, the following: it includes any ID information that identifies the first network element; it includes the reason for this request to associate with the SRU (it could be the first time to initialize the association, or it could be that the first network element requests to update the information of the associated SRU and the first network element when the state of the SRU changes); it indicates the period for the SRU to periodically update the association relationship with the first network element; and it indicates the conditions for the SRU and the first network element to update the association information.
  • the conditions for updating the association information between the upper SRU and the first network element include, but are not limited to, the following: changes in other measurement results or estimation results of the SRU that are unrelated to sensing services will cause the active SRU to update the association with the first network element; changes in the TAI of the SRU; changes in the AMF of the SRU; changes in the ON/OFF state of the SRU.
  • step S1002 the first network element receives the associated response information from the SRU.
  • the SRU If the first network element sends a request to the SRU, and the SRU is currently able to accept the first network element associating with the SRU, then the SRU returns an association acceptance message (SRU Association Accept from SRU) to the first network element.
  • the associated received information includes, but is not limited to, the following: any ID information that identifies the SRU; the SRU's sensing capabilities; other measurement results of the SRU that are not related to sensing services (defined in yellow in Embodiment 1); and the SRU's ON/OFF status.
  • the SRU If the first network element sends a request to the SRU, but the SRU cannot accept the first network element associating with the SRU for some reason, the SRU returns an association rejection message (SRU Association Reject) to the first network element.
  • SRU Association Reject an association rejection message
  • step S1003 if the first network element is rejected, the first network element can perform a process of associating with other available SRUs.
  • the process of deassociating the first network element with the sensing device is included before, during, and after communication sensing.
  • This embodiment describes the process of deassociating the first network element with the sensing device.
  • Figure 11 is a schematic diagram of the process of active SRO deassociation initiated by the first network element according to an embodiment of this disclosure. As shown in Figure 11, it includes the following steps:
  • step S1101 the first network element sends an Initiated SRO Disassociation Request message to the active SRO, requesting to terminate the association between the active SRO and the first network element.
  • the aforementioned SF Initiated SRO Disassociation Request message includes, but is not limited to, the following: ID information that identifies the identity of a first network element; and ID information that identifies a new first network element (if a new one is provided, the active SRO is allowed to associate with a new first network element in the third step).
  • step S1102 the active SRO receives the disassociation request and replies to the first network element with a (SRO Disassociation Accept) message, which may include the ID information of the new first network element identity that has been received.
  • step S1103 the active SRO receives a new ID information of the first network element, and the active SRO may perform an association process with the new first network element.
  • Figure 12 is a schematic diagram of the SRU deassociation process initiated by the first network element according to an embodiment of this disclosure. As shown in Figure 12, it includes the following steps:
  • step S1201 the first network element sends a disassociation request message (SF Initiated SRU Disassociation Request) to the SRU, requesting to terminate the association between the SRU and the first network element.
  • SF Initiated SRU Disassociation Request a disassociation request message
  • the above-mentioned disassociation request message includes, but is not limited to, the following: any ID information identifying the identity of the first network element; and ID information identifying a new first network element (if a new one is provided, the SRU is allowed to associate with a new first network element in the third step).
  • step S1202 the SRU receives the request to disassociate and replies to the first network element (SRU Disassociation Accept), which may include the ID information of the new first network element identity that has been received.
  • SRU Disassociation Accept the first network element
  • step S1203 if the SRU receives the ID information of a new first network element, the SRU may perform an association process with the new first network element.
  • Figure 13 is a schematic diagram of the process of the first network element deassociation initiated by the active SRO according to an embodiment of the present disclosure. As shown in Figure 13, it includes the following steps:
  • step S1301 the active SRO sends a process to the first network element to disconnect from the current first network element, which includes at least the ID information of the current SRO and the ID information of the current associated session.
  • Step S1302 The first network element verifies that the active SRO is the active SRO currently associated with it.
  • step S1303 the first network element confirms with the active SRO that the association relationship has been cancelled.
  • FIG 14 is a schematic diagram of the SRU-initiated SRU deassociation process according to an embodiment of this disclosure. As shown in Figure 14, it includes the following steps:
  • step S1401 the SRU sends a process to the first network element to disconnect from the current first network element, which includes at least the ID information of the current SRU and the ID information of the current associated session.
  • Step S1402 The first network element verifies that this SRU is the SRU currently associated with it.
  • step S1403 the first network element confirms with the SRU that the association relationship has been cancelled.
  • the SRU since the SRU may be a base station, a UE, or any 3GPP device, in some cases, the SRU may be directly coupled to another SRU, transmitting some information without going through the first network element, so that the SRU can directly sense and measure the SRO. However, this association should be known and permitted by the first network element.
  • This embodiment describes two coupling processes.
  • Figure 15 is a schematic diagram of the coupling initiated by the first network element according to an embodiment of this disclosure. As shown in Figure 15, it includes the following steps:
  • Step S1501 The first network element initiates a coupling request for SRO and SRU (SF initiated SRO & SRU Coupling Request), requesting that SRO and SRU be coupled.
  • the aforementioned coupling request may include, but is not limited to, the following: any ID information identifying the first network element; any ID information identifying the coupling session; any ID information identifying the SRU; any ID information indicating the active SRO; the reason for requesting the SRU and SRO to establish a coupling relationship (which may be the first initialization of the coupling relationship, or the first network element requesting to update the coupling relationship of the SRU and SRO when the states of the SRU and SRO change); indicating the period for the SRU and active SRO to periodically update the coupling relationship; and indicating the conditions for the SRU and active SRO to update the association information.
  • the conditions for updating the association information of the SRU and the active SRO may include, but are not limited to, the following: changes in other measurement results or estimation results of the SRU that are unrelated to the sensing service will cause the active SRO to update its association with the first network element; changes in the TAI of the SRU; changes in the AMF of the SRU; changes in the ON/OFF state of the SRU; changes in the amount of sensing auxiliary information that changes the active SRO will cause the active SRO to update its association with the first network element; changes in the TAI of the active SRO; changes in the AMF of the active SRO; changes in the ON/OFF state of the active SRO; and whether the active SRO continues to be considered as a sensing target.
  • step S1502 after receiving the coupling request, SRU and SRO establish a local communication coupling relationship according to the instructions.
  • step S1503 SRU and SRO send coupling feedback information to the first network element.
  • the SRU successfully establishes a communication coupling relationship with the active SRO and replies with a request confirmation message (SRU Coupling Accept) to the first network element.
  • the SRU if the SRU cannot establish a communication coupling relationship with the active SRO for some reason, it replies to the first network element with a message of refusal to establish a communication coupling relationship with the active SRO (SRU Coupling Reject).
  • the active SRO successfully establishes a communication coupling relationship with the SRU and replies with a request confirmation message (SRO Coupling Accept) to the first network element.
  • the active SRO is unable to establish a communication coupling relationship with the SRU for some reason, and replies to the first network element with a message of refusal to establish a communication coupling relationship with the first network element (SRO Coupling Reject).
  • Figure 16 is a schematic diagram of the coupling initiated by SRU & SRO according to an embodiment of this disclosure. As shown in Figure 16, it includes the following steps:
  • step S1601 SRO and SRU initiate a coupling process locally, establish a communication coupling relationship, or confirm the feasibility of establishing a communication coupling relationship so that some auxiliary information (prior information) can be transmitted subsequently.
  • step S1602 SRO and SRU send coupling request information to the first network element.
  • the SRU transmits a request to the first network element to establish a coupling relationship with the active SRO, and sends a coupling request message (SRO & SRU Coupling Request) to the first network element.
  • the coupling request information may include, but is not limited to, the following: any ID information that identifies the SRU; any ID information that indicates the identity of an active SRO; and the reason for requesting the SRU and SRO to establish a coupling relationship (which may be the first initialization of the coupling relationship, or a request to update the coupling relationship of the SRU and SRO to the first network element when the state of the SRU and SRO changes).
  • the active SRO transmits a request to the first network element to establish a coupling relationship with the SRU, and sends a coupling request message (SRO&SRU Coupling Request) to the first network element.
  • the coupling request information may include, but is not limited to, the following: any ID information that identifies the SRU; any ID information that indicates the identity of an active SRO; and the reason for requesting the SRU and SRO to establish a coupling relationship (which may be the first initialization of the coupling relationship, or a request to update the coupling relationship of the SRU and SRO to the first network element when the state of the SRU and SRO changes).
  • step S1603 the first network element sends coupling feedback information to SRO and SRU.
  • the first network element accepts the communication coupling relationship between the active SRO and the SRU, so that the SRU can directly perform sensing measurements on the SRO.
  • the first network element replies with confirmation information (SRO & SRU Coupling Accept), which may include, but is not limited to, the following: ID information indicating the coupling session; the periodicity of the periodic update of the coupling relationship between the SRU and the active SRO; the conditions for the SRU and the active SRO to update the association information; changes in other measurement results or estimation results of the SRU unrelated to sensing services that will cause the active SRO and the first network element to update the association; changes in the SRU's TAI; changes in the SRU's AMF; changes in the SRU's ON/OFF state; changes in the amount of sensing auxiliary information that will cause the active SRO and the first network element to update the association; changes in the active SRO's TAI; changes in the active SRO's AMF; changes in the active SRO's ON/OFF state; and
  • the first network element refuses to establish a communication coupling relationship between the active SRO and SRU, and replies with a rejection message (SRO&SRU Coupling Reject).
  • the communication sensing process assisted by SRU and active SRO is introduced.
  • Figure 17 is a schematic flowchart of communication sensing based on SRU and active SRO according to an embodiment of this disclosure. As shown in Figure 17, it includes the following steps:
  • the first network element associated with the target sensing device may mobilize several SRUs and several SROs to perform measurements (as well as SRUs and SROs under other first network elements not associated with the target sensing device) to perform sensing observations.
  • step S1702 the AMF associated with the target sensing device sends a sensing request to the first network element associated with the target sensing device.
  • step S1703 the first network element of the target sensing device triggers the sensing device to start the sensing process.
  • the first network element decides to use SRU and SRO to improve the sensing results.
  • step S1704 the first network element of the target sensing device selects one or more SRUs and SROs to assist the target sensing device in sensing.
  • the first network element of the target sensing device initiates a request to other possible core network elements, requesting the use of SRUs and SROs associated with the other first network elements to assist the target sensing device in sensing.
  • This request may include the ID information of the SRUs and SROs to be assisted, and may also include other selection criteria, including but not limited to certain TAs, locations and location ranges, and cell IDs, to vaguely assist other core network elements in deciding which SRUs and SROs to use for assistance.
  • step S1706 if step S1705 is executed, other core network elements select one or more first network elements associated with SRUs and SROs, based on the ID or selection criteria provided in step five, and send a reply to the first network element of the target sensing device.
  • This reply contains information about the other first network elements associated with SRUs and SROs in the selected area.
  • step S1707 if steps S1705 and S1706 are executed, the first network element of the target sensing device sends a request to one or more other first network elements associated with the SRU/SRO (these first network elements were indicated in step S1706).
  • This request may contain any ID information of the target sensing device, any sensing and positioning results obtained in step S1703, and may also contain a time window for scheduling SRO/SRU measurements.
  • step S1708 the first network element of the target sensing device initiates a sensing process to obtain the results of the SRU/SRO selected in step S1704 through measurement.
  • these perception results may include, but are not limited to, the following: perception measurement results and perception estimation results related to active SRO; other perception measurement results and perception estimation results unrelated to active SRO; and other measurement results and estimation results unrelated to perception services.
  • the sensing measurement results and sensing estimation results related to active SRO include, but are not limited to: channel estimation results, PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP corresponding to the active SRO-related sensing signals.
  • sensing estimation results include, but are not limited to: channel estimation results, PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP corresponding to sensing signals unrelated to active SRO.
  • other measurement and estimation results unrelated to sensing services include, but are not limited to: the location of the SRU itself; the channel estimation results corresponding to the positioning reference signal, including PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP; the energy or combination of energy (normalized or unnormalized), location, distance, propagation delay TOA, arrival delay difference TDOA, location (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, and velocity (one-dimensional, two-dimensional, or three-dimensional) of one or more or all sensing paths in the channel corresponding to the positioning signal; and the difference values of all the above quantities relative to their respective specified reference values.
  • step S1709 if steps S1705 to S1707 are executed, the information of the first network element associated with other SRUs and SROs is sent from the network elements of other core networks to the first network element of the target sensing device.
  • the first network element associated with other SRUs and SROs initiates a sensing process to obtain the results obtained by other selected SRUs/SROs in the sensing process. These results include, but are not limited to, the sensing results in step S1706.
  • steps S1703, S1708, and S1709 can occur in any order, synchronously, or asynchronously.
  • step S1710 if step S1709 is executed, the first network element associated with other SRUs/SROs will feed back all or part of the measurement results obtained in step S1709, as well as other necessary auxiliary information, to the first network element associated with the target sensing device.
  • step S1711 the first network element of the target sensing device determines the sensing result of the sensing device based on the measurement results and other information obtained in steps S1701, S1703, S1708, and S1710.
  • step S1712 the first network element of the target sensing device returns the sensing result of the target sensing device to the AMF. Also, the first network element of the target sensing device sends the sensing result of the target sensing device to the GMLC or other core network elements.
  • both SRU and sensing devices have the ability to receive or transmit sensing signals, they are functionally merged into the same network element and described here as merging SRU and sensing devices.
  • Figure 18 is a schematic diagram of the communication sensing process based on the SRU sensing device according to an embodiment of this disclosure. As shown in Figure 18, it includes the following steps:
  • Step S1801 The SRU/target sensing device transmits sensing capabilities to the first network element.
  • the target sensing device and the first network element associated with the SRU request other first network elements to transmit the SRO information of the SRO associated with the other first network elements.
  • the SRO information includes, but is not limited to, the following: the target type of the active SRO itself (e.g., any type such as vehicles, drones, buildings, statues, etc.) (for targets such as buildings and statues that are not part of 3GPP UE devices, such targets can be UE devices associated with the target, specifically responsible for forwarding information defined therein), the model of the active SRO itself, the size of the active SRO itself, the surface material of the active SRO itself, and the distribution of the material on the surface; the position coordinates (two-dimensional or three-dimensional) of the active SRO in a certain reference frame, the attitude angles (azimuth, roll, pitch) of the active SRO in a certain reference frame, several parameters in the rotation matrix of the active SRO in a certain reference frame, the velocity magnitude (one-dimensional scalar) of the active SRO, and the velocity vector (two-dimensional or three-dimensional) of the active SRO; the position difference components of the active SRO relative to a certain reference point,
  • RCS information of the active SRO itself which may take the form of, but is not limited to, the following: fixed RCS values related to the active SRO itself; random distribution of RCS related to the active SRO itself; deterministic model of RCS related to the active SRO itself, which, in addition to being related to the properties of the active SRO itself, may be related to the incident angle (incident azimuth angle, incident elevation angle), exit angle (exit azimuth angle, exit elevation angle), distance to the sensing device, and polarization direction; and a model composed of the deterministic RCS model and the
  • the target sensing device and the first network element associated with the SRU obtain SRO information of the SRO associated with the first network element.
  • This information includes, but is not limited to, the sensing-related auxiliary information of the active SRO defined in Embodiment 1.
  • the SRU and the active SRO are in a communication coupling relationship, and the SRU and the SRO can directly communicate and interact, enabling the SRU to obtain the sensing-related auxiliary information of the active SRO.
  • step S1802 the SRU/target sensing device executes the positioning procedure defined in TS23.273, using the position estimation results so that the first network element can provide more accurate sensing assistance data.
  • step S1803 the SRU/target sensing device and the first network element perform auxiliary data transmission.
  • step S1804 the SRU/target sensing device and the first network element transmit a sensing request.
  • Step S1805 The SRU/target sensing device performs sensing and measurement on the SRO.
  • step S1806 the SRU/target sensing device and the first network element transmit the sensing measurement results and sensing estimation results.
  • the SRO, SRU, and target sensing device may all be in motion, once information containing the SRO is transmitted, a time window will be started based on the time of transmission, and the measurement of the SRO cannot exceed this time window.
  • SROs associated with the same first network element and other SROs not associated with the same first network element.
  • FIG 19 is a schematic diagram of the information transmission process between the SRO and the SRO associated with the first network element according to an embodiment of this disclosure. As shown in Figure 19, the process includes the following steps:
  • step S1901 the SRO can directly provide the first network element with relevant sensing-related auxiliary information based on its existing capability information. Additionally, the first network element requests relevant sensing-related auxiliary information from the active SRO.
  • Step S1902 Active SRO performs positioning or sensing measurement.
  • step S1903 the active SRO provides the sensed auxiliary information to the associated first network element.
  • step S2001 other first network elements request the first network element associated with the SRO from the SRO's sensed auxiliary information.
  • step S2002 the SRO actively provides sensing-related auxiliary information to the first network element associated with the SRO. Additionally, the first network element associated with the SRO requests sensing-related auxiliary information from the SRO.
  • Step S2003 Active SRO performs positioning or sensing measurement.
  • step S2004 the active SRO provides the sensed auxiliary information to the associated first network element.
  • step S2005 the first network element associated with the active SRO transmits the sensing-related auxiliary information of the active SRO to other SROs.
  • sensing information auxiliary information (prior information), error calibration information, capability information of SRU (first sensing device), capability information of active and passive SRO (second sensing device), capability information of SF (first network element), etc.
  • auxiliary information prior information
  • error calibration information capability information of SRU (first sensing device)
  • capability information of active and passive SRO second sensing device
  • capability information of SF first network element
  • Figure 21 is a schematic diagram illustrating the principle of communication sensing based on active SROs according to an embodiment of this disclosure.
  • some active SROs such as vehicles, can trigger a positioning process on their own to determine their own location.
  • these SROs can be sensed, and the first network element can send SRO-related location information to other sensing devices, enabling these devices to calibrate their parameters based on their own measurement results and the ideal measurement results estimated from the SROs and their own locations.
  • Figure 22 is a schematic flowchart of communication sensing based on active SRO according to an embodiment of this disclosure. As shown in Figure 22, it includes the following steps:
  • the first network element associated with the target sensing device may perform measurements on several SROs (and other SROs not associated with the first network element) for sensing and observation.
  • step S2202 the AMF associated with the target sensing device sends a sensing request to the first network element associated with the sensing device to be calibrated.
  • step S2203 the first network element of the target sensing device triggers the sensing device to start the sensing process.
  • the first network element decides to use active SRO to improve the sensing results.
  • step S2204 the first network element of the target sensing device selects one or more SROs to assist the target sensing device in sensing.
  • the first network element of the target sensing device initiates a request to other possible core network elements, requesting the use of active SROs associated with the other first network elements to assist the target sensing device in sensing.
  • This request may directly include the ID information of the SRO to be assisted, or it may include other selection criteria, including but not limited to certain TAs, location and location range, and cell ID, to vaguely assist other core network elements in deciding which active SROs to use for assistance.
  • Step S2206 If step S2205 is executed, other core network elements select one or more first network elements associated with active SROs, based on the ID or selection criteria provided in step S2205, and send a reply to the first network element of the target sensing device. This reply contains information about the other first network elements associated with the selected SROs.
  • step S2207 the first network element of the target sensing device initiates a sensing process to obtain the results of the active SRO selected in step S2204 through measurement.
  • These sensing results may include, but are not limited to, the following: sensing measurement results and sensing estimation results related to the active SRO; other sensing measurement results and sensing estimation results unrelated to the active SRO; and other measurement results and estimation results of the target sensing device unrelated to sensing services.
  • the sensing measurement results and sensing estimation results related to active SRO include, but are not limited to: channel estimation results, PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP corresponding to the sensing signals related to active SRO; energy or combination of energy (normalized or unnormalized), distance, propagation delay TOA, arrival delay difference TDOA, position (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, velocity (one-dimensional, two-dimensional, or three-dimensional), micro-Doppler spectrum, types of micro-Doppler detected modes, parameters of micro-Doppler detected modes; and the difference values of all the above quantities relative to their respective specified reference values.
  • sensing measurement results and sensing estimation results unrelated to active SRO include, but are not limited to: channel estimation results, PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP corresponding to sensing signals unrelated to active SRO; energy or combination of energy (normalized or unnormalized), distance, propagation delay TOA, arrival delay difference TDOA, position (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, velocity (one-dimensional, two-dimensional, or three-dimensional), micro-Doppler spectrum, types of micro-Doppler detected modes, parameters of micro-Doppler detected modes; and the difference values of all the above quantities relative to their respective specified reference values.
  • other measurement results and estimation results of the target sensing device that are unrelated to sensing services include, but are not limited to: the position of the target sensing device itself; the channel estimation results corresponding to the positioning reference signal, such as PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP; the energy or combination of energy (normalized or unnormalized), position, distance, propagation delay TOA, arrival delay difference TDOA, position (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, and velocity (one-dimensional, two-dimensional, or three-dimensional) of one or more or all sensing paths in the channel corresponding to the positioning signal; and the difference values of all the above quantities relative to their respective specified reference values.
  • the positioning reference signal such as PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP
  • the energy or combination of energy normalized or unnormalized
  • position distance, propagation delay TOA, arrival delay difference TDOA, position (2D or 3D)
  • elevation angle azimuth angle
  • step S2208 if steps S2205 to S2206 are executed, the information of the first network element associated with other SROs is sent from the network elements of other core networks to the first network element of the target sensing device.
  • the first network element of the target initiates a sensing process to obtain the results obtained by other selected sensing devices for the selected active SROs in the sensing process.
  • steps S2203, S2207, and S2208 may occur in any order, synchronously, or asynchronously.
  • the ground sensing process involved in steps S2203, S2207, and S2208 is the ground sensing process of SRU and sensing device assisted by active SRO.
  • step S2209 the first network element of the target sensing device determines the sensing result of the sensing device based on the measurement results and other information obtained in steps S2201, S2203, S2207, and S2208.
  • step S2210 the first network element of the target sensing device returns the sensing result of the target sensing device to the AMF. Also, the first network element of the target sensing device sends the sensing result of the target sensing device to the GMLC or other core network elements.
  • Figure 23 is a schematic diagram of the communication sensing principle based on SRU and passive SRO according to an embodiment of this disclosure. As shown in Figure 23, some passive objects with known locations and characteristics may also be introduced as passive SROs. For active devices capable of sensing SROs, they can be managed as SRUs in the core network. The first network element can send the location information related to the SRU/passive SRO, as well as the sensing data of the SRU for the passive SRO, to other sensing devices, so that other sensing devices can calibrate the parameters of the sensing devices in the sensing link to be calibrated based on the measurement results and the measurement results under ideal conditions.
  • the passive SRO no longer has interactive capabilities.
  • the SRO is entirely based on information from a third party, registered in the core network, and its related information can be made public by the core network to the SRU and other sensing devices for calibration based on sensing results.
  • Figure 24 is a schematic flowchart of communication sensing based on SRU and passive SRO according to an embodiment of this disclosure. As shown in Figure 24, it includes the following steps:
  • the first network element associated with the target sensing device may mobilize several SRUs and several passive SROs to perform measurements (as well as SRUs and passive SROs under the first network element not associated with the target sensing device) to perform sensing observations.
  • step S2402 the AMF associated with the target sensing device sends a sensing request to the first network element associated with the sensing device to be calibrated.
  • step S2403 the first network element of the target sensing device triggers the sensing device to start the sensing process.
  • the first network element decides to use SRU and passive SRO to improve the sensing results.
  • step S2404 the first network element of the target sensing device selects one or more SRUs to assist the target sensing device in sensing.
  • the first network element of the target sensing device initiates a request to other possible core network elements, requesting the use of SRUs associated with the other first network elements to assist the target sensing device in sensing.
  • This request may directly include the ID information of the SRU to be assisted, or it may include other selection criteria, including but not limited to certain TAs, location and location range, and cell ID, to vaguely assist other core network elements in deciding which SRUs to use for assistance.
  • Step S2406 If step S2405 is executed, other core network elements select one or more first network elements associated with SRUs, based on the ID or selection criteria provided in step S2405, and send a reply to the first network element of the target sensing device. This reply contains information about the other first network elements associated with the selected SRUs.
  • step S2407 if steps S2405 and S2406 are executed, the first network element of the target sensing device sends a request to one or more other first network elements associated with the SRU/SRO (these first network elements were indicated in step S2406).
  • This request may contain any ID information of the target sensing device, any sensing and positioning results obtained in step S2403, and may also contain a time window for scheduling SRU measurements.
  • step S2408 the first network element of the target sensing device initiates a sensing process to obtain the measurement results acquired by the SRU selected in step 4 during the sensing process.
  • These sensing results may include, but are not limited to, the following: sensing measurement results and sensing estimation results related to passive SROs; other sensing measurement results and sensing estimation results unrelated to passive SROs; and other measurement and estimation results unrelated to sensing services.
  • the sensing measurement results and sensing estimation results related to passive SRO include, but are not limited to: channel estimation results, PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP corresponding to the sensing signals related to passive SRO; energy or combination of energy (normalized or unnormalized), distance, propagation delay TOA, arrival delay difference TDOA, position (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, velocity (one-dimensional, two-dimensional, or three-dimensional), micro-Doppler spectrum, types of micro-Doppler detected modes, parameters of micro-Doppler detected modes; and the difference values of all the above quantities relative to their respective specified reference values.
  • sensing measurement results and sensing estimation results unrelated to passive SRO include, but are not limited to: channel estimation results, PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP corresponding to the sensing signal unrelated to passive SRO; energy or combination of energy (normalized or unnormalized), distance, propagation delay TOA, arrival delay difference TDOA, position (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, velocity (one-dimensional, two-dimensional, or three-dimensional), micro-Doppler spectrum, types of micro-Doppler detected modes, parameters of micro-Doppler detected modes; and the difference values of all the above quantities relative to their respective specified reference values.
  • other measurement results and estimation results unrelated to sensing services include, but are not limited to: the location of the SRU itself; the channel estimation results corresponding to the positioning reference signal, such as PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP; the energy or combination of energy (normalized or unnormalized), location, distance, propagation delay TOA, arrival delay difference TDOA, location (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, and velocity (one-dimensional, two-dimensional, or three-dimensional) of one or more or all sensing paths in the channel corresponding to the positioning signal; and the difference values of all the above quantities relative to their respective specified reference values.
  • the positioning reference signal such as PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP
  • the energy or combination of energy normalized or unnormalized
  • location distance, propagation delay TOA, arrival delay difference TDOA, location (2D or 3D)
  • elevation angle azimuth angle
  • beam direction e.g.,
  • step S2409 if steps S2405 to S2407 are executed, the information of the first network element associated with other SRUs is sent from the network elements of other core networks to the first network element of the target sensing device.
  • the first network element associated with other SRUs initiates the sensing process and obtains the results obtained by other selected SRUs in the sensing process.
  • steps S2403, S2408, and S2409 may occur in any order, synchronously, or asynchronously.
  • step S2410 if step S2409 is executed, the first network element associated with other SRUs will feed back all or part of the measurement results obtained in step S2409, as well as other necessary auxiliary information, to the first network element associated with the target sensing device.
  • step S2411 the first network element of the target sensing device determines the sensing result of the sensing device based on the measurement results and other information obtained in steps S2401, S2403, S2408, and S2410.
  • step S2412 the first network element of the target sensing device returns the sensing result of the target sensing device to the AMF. Also, the first network element of the target sensing device sends the sensing result of the target sensing device to the GMLC or other core network elements.
  • a passive SRO is used, and the SRU and sensing devices are merged because these devices are essentially sensing devices and have the ability to receive or transmit sensing signals. Therefore, they are merged into the same network element based on their functions.
  • Figure 25 is a schematic diagram of the sensing process of a passive SRO-assisted SRU and sensing device, as shown in Figure 25, including the following steps:
  • Step S2501 The SRU/target sensing device transmits sensing capabilities to the first network element.
  • some passive SRO information is registered at a first network element other than the first network element associated with other sensing devices and SRUs. Therefore, sensing devices and SRUs may request information from other first network elements that store SROs. This information may include, but is not limited to, the registration information of passive SROs, sensing-related auxiliary information, error information, etc.
  • the perceived auxiliary information includes, but is not limited to: the target type of the passive SRO (e.g., any type such as buildings, sculptures, bridges, etc.), the model of the passive SRO, the size of the passive SRO, the surface material of the passive SRO, and the distribution of the material on the surface.
  • the RCS information of the passive SRO itself can take the form of, but is not limited to, the following: a fixed RCS value related to the passive SRO itself; a random distribution of the RCS related to the passive SRO itself; a deterministic model of the RCS related to the passive SRO itself, which, in addition to being related to the attributes of the active SRO itself, can be related to the incident angle (incident azimuth angle, incident elevation angle), the exit angle (exit azimuth angle, exit elevation angle), the distance to the sensing device, and the polarization direction; and a model composed of the deterministic RCS model related to the passive SRO itself and the random distribution.
  • the target sensing device and the first network element associated with the SRU obtain SRO information of the SRO associated with the first network element.
  • This information includes, but is not limited to, auxiliary information related to the sensing of active SROs.
  • step S2502 the SRU/target sensing device executes the positioning procedure defined in TS23.273, using the position estimation results so that the first network element can provide more accurate sensing assistance data.
  • step S2503 the SRU/target sensing device and the first network element perform auxiliary data transmission.
  • step S2504 the SRU/target sensing device and the first network element transmit a sensing request.
  • Step S2505 The SRU/target sensing device performs sensing and measurement on the passive SRO.
  • step S2506 the SRU/target sensing device and the first network element transmit the sensing measurement results and sensing estimation results.
  • sensing information auxiliary information (prior information), error calibration information, capability information of SRU (first sensing device), capability information of active and passive SRO (second sensing device), capability information of SF (first network element), etc.
  • auxiliary information prior information
  • error calibration information capability information of SRU (first sensing device)
  • capability information of active and passive SRO second sensing device
  • capability information of SF first network element
  • Figure 26 is a schematic diagram of the principle of SRU-based communication sensing according to an embodiment of this disclosure.
  • the core network directly uses the observations of the SRU for calibration. Instead of fine-grained calibration of certain SROs of the SRU, the core network no longer provides SRO information known to it, relying entirely on the measurement results of the SRU and the measurement results of the target sensing device to calibrate certain sensing parameters in the sensing link.
  • Figure 27 is a schematic flowchart of communication awareness based on SRU according to an embodiment of this disclosure. As shown in Figure 27, it includes the following steps:
  • the first network element associated with the target sensing device may mobilize several SRUs to perform measurements (and other SRUs under the first network element not associated with the target sensing device) to perform sensing observations.
  • step S2702 the AMF associated with the target sensing device sends a sensing request to the first network element associated with the sensing device to be calibrated.
  • step S2703 the first network element of the target sensing device triggers the sensing device to start the sensing process.
  • the first network element decides to use SRU to improve the sensing results.
  • step S2704 the first network element of the target sensing device selects one or more SRU(s) to assist the target sensing device in sensing.
  • the first network element of the target sensing device initiates a request to other possible core network elements, requesting the use of SRUs associated with the other first network elements to assist the target sensing device in sensing.
  • This request may directly include the ID information of the SRU to be assisted, or it may include other selection criteria, including but not limited to certain TAs, location and location range, and cell ID, to vaguely assist other core network elements in deciding which SRUs to use for assistance.
  • Step S2706 If step S2705 is executed, other core network elements select one or more first network elements associated with SRUs, based on the ID or selection criteria provided in step S2705, and send a reply to the first network element of the target sensing device. This reply contains information about the other first network elements associated with the selected SRUs.
  • step S2707 if steps S2705 and S2706 are executed, the first network element of the target sensing device sends a request to one or more other first network elements associated with the SRU (these first network elements were indicated in step S2706).
  • This request may contain any ID information of the target sensing device, any sensing and positioning results obtained in step S2703, and may also contain a time window for scheduling SRU measurements.
  • step S2708 the first network element of the target sensing device initiates a sensing process to obtain the measurement results obtained by the SRU selected in step S2704 during the sensing process.
  • these perception results may include, but are not limited to, the following: perception measurement results and perception estimation results of the SRU; and other measurement and estimation results unrelated to perception services.
  • the sensing measurement results and sensing estimation results of the SRU include, but are not limited to: channel estimation results corresponding to the SRU sensing signal, PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP.
  • other measurement and estimation results unrelated to sensing services include, but are not limited to: the location of the SRU itself; channel estimation results corresponding to the positioning reference signal, including PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP; the energy or combination of energy (normalized or unnormalized), location, distance, propagation delay TOA, arrival delay difference TDOA, location (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, and velocity (one-dimensional, two-dimensional, or three-dimensional) of one or more or all sensing paths in the channel corresponding to the positioning signal; and the differences of all the above quantities relative to their respective defined reference values.
  • step S2709 if steps S2705 to S2707 are executed, the information of the first network element associated with other SRUs is sent from the network elements of other core networks to the network element of the first network element of the target sensing device.
  • the first network element associated with other SRUs initiates the sensing process and obtains the results obtained by other selected SRUs in the sensing process.
  • steps S2703, S2708, and S2709 may occur in any order, synchronously, or asynchronously.
  • step S2710 if step S2709 is executed, the first network element associated with other SRUs will feed back all or part of the measurement results obtained in step S2709, as well as other necessary auxiliary information, to the first network element associated with the target sensing device.
  • step S2711 the first network element of the target sensing device determines the sensing result of the sensing device based on the measurement results and other information obtained in steps S2701, S2703, S2708, and S2710.
  • step S2712 the first network element of the target sensing device returns the sensing result of the target sensing device to the AMF. Also, the first network element of the target sensing device sends the sensing result of the target sensing device to the GMLC or other core network elements.
  • Figure 28 is a schematic diagram illustrating the principle of communication sensing based on passive SROs according to an embodiment of this disclosure.
  • the core network pre-registers certain known environmental targets at fixed locations as SROs and sends the locations of these SROs and corresponding sensing auxiliary data to surrounding sensing devices for calibration.
  • the target sensing devices can calibrate certain sensing parameters in the current sensing link based on the actual observed sensing data, the SROs, and their own ideal sensing results.
  • Figure 29 is a schematic flowchart of communication sensing based on passive SRO according to an embodiment of this disclosure. As shown in Figure 29, it includes the following steps:
  • step S2901 the AMF associated with the target sensing device sends a sensing request to the first network element associated with the sensing device to be calibrated.
  • step S2902 the first network element of the target sensing device triggers the sensing device to start the sensing process.
  • the first network element decides to use passive SRO to improve the sensing results.
  • step S2903 the first network element of the target sensing device selects one or more SROs to assist the target sensing device in sensing.
  • step S2904 the first network element of the target sensing device initiates a request to other possible core network elements, requesting the use of passive SROs associated with the other first network elements to assist the target sensing device in sensing.
  • This request may directly include the ID information of the SRO to be assisted, or it may include other selection criteria, including but not limited to certain TAs, location and location range, and cell ID, to vaguely assist other core network elements in deciding which passive SROs to use for assistance.
  • Step S2905 If step S2904 was executed, other core network elements select one or more passive SRO-associated first network elements based on the ID or selection criteria provided in step S2904, and send a response to the first network element of the target sensing device. This response contains information about the other passive SRO-associated first network elements in the selected area.
  • step S2906 the first network element of the target sensing device initiates a sensing process to obtain the results of the passive SR0 selected in steps S2903 and S2905 through measurement.
  • these perception results may include, but are not limited to: perception measurement results and perception estimation results related to passive SRO; other perception measurement results and perception estimation results unrelated to passive SRO; and other measurement results and estimation results unrelated to perception services.
  • the sensing measurement results and sensing estimation results related to passive SRO include, but are not limited to: channel estimation results, PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP corresponding to the passive SRO-related sensing signals; energy or combination of energy (normalized or unnormalized), distance, propagation delay TOA, arrival delay difference TDOA, position (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, velocity (one-dimensional, two-dimensional, or three-dimensional), micro-Doppler spectrum, types of micro-Doppler detected modes, parameters of micro-Doppler detected modes; and the difference values of all the above quantities relative to their respective defined reference values.
  • sensing measurement results and sensing estimation results unrelated to passive SRO include, but are not limited to: channel estimation results, PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP corresponding to the passive SRO-independent sensing signal; energy or combination of energy (normalized or unnormalized), distance, propagation delay TOA, arrival delay difference TDOA, position (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, velocity (one-dimensional, two-dimensional, or three-dimensional), micro-Doppler spectrum, types of micro-Doppler detected modes, parameters of micro-Doppler detected modes; and the difference values of all the above quantities relative to their respective defined reference values.
  • other measurement and estimation results unrelated to the sensing service include, but are not limited to: the location of the sensing device itself; channel estimation results corresponding to the positioning reference signal, including PDP spectrum, phase delay spectrum, RSRP, RSCP, and RSRPP; the energy or combination of energy (normalized or unnormalized), location, distance, propagation delay TOA, arrival delay difference TDOA, location (2D or 3D), elevation angle, azimuth angle, beam direction, Doppler frequency, and velocity (one-dimensional, two-dimensional, or three-dimensional) of one or more or all sensing paths in the channel corresponding to the positioning signal; and the differences of all the above quantities relative to their respective defined reference values.
  • steps S2902 and S2906 can occur in any order, synchronously or asynchronously.
  • step S2907 the first network element of the target sensing device determines the sensing result of the sensing device based on the measurement results and other information obtained in steps 2 and 6.
  • step S2908 the first network element of the target sensing device returns the sensing result of the target sensing device to the AMF. Also, the first network element of the target sensing device sends the sensing result of the target sensing device to the GMLC or other core network elements.
  • sensing information auxiliary information (prior information), error calibration information, capability information of SRU (first sensing device), capability information of active and passive SRO (second sensing device), capability information of SF (first network element), etc.
  • auxiliary information prior information
  • error calibration information capability information of SRU (first sensing device)
  • capability information of active and passive SRO second sensing device
  • capability information of SF first network element
  • all core network scheduling processes may be triggered in any order, synchronously or asynchronously, to form a comprehensive perception process.

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Abstract

本公开实施例提供了一种通信感知方法、电子装置和计算机程序产品，通过核心网的第一网元获取感知设备的感知信息；第一网元根据感知信息，获取目标感知设备的感知结果。

Description

通信感知方法、电子装置和计算机程序产品
相关申请的交叉引用
本申请基于2024年7月5日提交的发明名称为“通信感知方法、电子装置和计算机程序产品”的中国专利申请CN202410902077.1，并且要求该专利申请的优先权，通过引用将其所公开的内容全部并入本申请。
技术领域
本公开实施例涉及通信领域，具体而言，涉及一种通信感知方法、电子装置和计算机程序产品。
背景技术
在对未来6G的规划中，通信感知一体化系统将是组成6G网络的重要组成部分。多种感知模式组成的通感网络将赋能各个通信感知应用。然而感知设备可能由于各种因素的影响，使得感知结果出现有偏误差。这类误差难以在没有任何先验的参考信息的情况下解决。
相关技术中，通感一体化系统预计基于3GPP系统的无线信号收发设备，通过接收经过感知目标反射的感知信号来检测感知目标相对于收发机的距离、角度、速度以及其他感知相关信息。在这个过程中，收发机之间的定时误差、感知信号多普勒频移、钟飘效应等各种不利因素都可能对感知结果的精度造成影响。
综上，相关技术中存在通信感知精度差的问题。
发明内容
根据本公开的一个实施例，提供了一种通信感知方法，包括：核心网的第一网元获取感知设备的感知信息；所述第一网元根据所述感知信息，获取目标感知设备的感知结果。
根据本公开的另一个实施例，提供了一种通信感知方法，包括：核心网的第一网元获取第二感知设备的感知信息；所述第一网元根据所述感知信息获取目标感知设备的感知结果。
根据本公开的又一个实施例，提供了一种通信感知方法，包括：核心网的第一网元获取第一感知设备的感知信息；所述第一网元根据所述感知信息获取目标感知设备的感知结果。
根据本公开的又一个实施例，还提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，其中，所述计算机程序被设置为运行时执行上述任一项方法实施例中的步骤。
根据本公开的又一个实施例，还提供了一种电子装置，包括存储器和处理器，所述存储器中存储有计算机程序，所述处理器被设置为运行所述计算机程序以执行上述任一项方法实施例中的步骤。
根据本公开的又一个实施例，还提供了一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现上述任一项方法实施例中的步骤。
附图说明
图1是本公开实施例的通信感知方法的移动终端的硬件结构框图；
图2是本公开实施例的通信感知方法的流程图一；
图3是本公开实施例的通信感知方法的流程图二；
图4是本公开实施例的通信感知方法的流程图三；
图5是本公开实施例的通信感知方法的流程图四；
图6是本公开实施例的感知原理示意图一；
图7是本公开实施例的有源SRO发起的有源SRO关联流程的流程示意图；
图8是本公开实施例的SRU发起的SRU关联流程的流程示意图；
图9是本公开实施例的第一网元发起的有源SRO关联的流程示意图；
图10是本公开实施例中第一网元发起的SRU关联的流程原理示意图；
图11是本公开实施例的第一网元发起的有源SRO解关联的流程示意图；
图12是本公开实施例的第一网元发起的SRU解关联的流程示意图；
图13是本公开实施例的有源SRO发起的第一网元解关联的流程示意图；
图14是本公开实施例的SRU发起的SRU解关联的流程示意图；
图15是本公开实施例的第一网元发起的耦合的流程示意图；
图16是本公开实施例的SRU&SRO发起的耦合的流程示意图；
图17是本公开实施例的基于SRU和有源SRO的通信感知的流程示意图；
图18是本公开实施例的基于SRU\感知设备的通信感知的流程示意图；
图19是本公开实施例的SRO与第一网元关联的SRO之间的信息传输的流程示意图；
图20是本公开实施例的SRO与第一网元未关联的SRO之间的信息传输的流程示意图；
图21是本公开实施例的基于有源SRO的通信感知的原理示意图；
图22是本公开实施例的基于有源SRO的通信感知的流程示意图；
图23是本公开实施例的基于SRU和无源SRO的通信感知原理示意图；
图24是本公开实施例的基于SRU和无源SRO的通信感知的流程示意图；
图25是无源SRO辅助的SRU、感知设备的感知流程示意图；
图26是本公开实施例的基于SRU的通信感知的原理示意图；
图27是本公开实施例的基于SRU的通信感知的流程示意图；
图28是本公开实施例的基于无源SRO的通信感知的原理示意图；
图29是本公开实施例的基于无源SRO的通信感知的流程示意图。
具体实施方式
下文中将参考附图并结合实施例来详细说明本公开实施例。
需要说明的是，本公开实施例的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
本申请实施例中所提供的方法实施例可以在移动终端、计算机终端或者类似的运算装置中执行。以运行在移动终端上为例，图1是本公开实施例的通信感知方法的移动终端的硬件结构框图。如图1所示，移动终端可以包括一个或多个(图1中仅示出一个)处理器102(处理器102可以包括但不限于微处理器MCU或可编程逻辑器件FPGA等的处理装置)和用于存储数据的存储器104，其中，上述移动终端还可以包括用于通信功能的传输设备106以及输入输出设备108。本领域普通技术人员可以理解，图1所示的结构仅为示意，其并不对上述移动终端的结构造成限定。例如，移动终端还可包括比图1中所示更多或者更少的组件，或者具有与图1所示不同的配置。
存储器104可用于存储计算机程序，例如，应用软件的软件程序以及模块，如本公开实施例中的通信感知方法对应的计算机程序，处理器102通过运行存储在存储器104内的计算机程序，从而执行各种功能应用以及数据处理，即实现上述的方法。存储器104可包括高速随机存储器，还可包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器104可进一步包括相对于处理器102远程设置的存储器，这些远程存储器可以通过网络连接至移动终端。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
传输设备106用于经由一个网络接收或者发送数据。上述的网络具体实例可包括移动终端的通信供应商提供的无线网络。在一个实例中，传输设备106包括一个网络适配器(Network Interface Controller，NIC)，其可通过基站与其他网络设备相连从而可与互联网进行通讯。在一个实例中，传输设备106可以为射频(Radio Frequency，RF)模块，其用于通过无线方式与互联网进行通讯。
本公开实施例中，核心网的第一网元是与感知服务相关的核心网的网元，在本公开实施例中，不对第一网元的进行限制，仅指代与感知服务相关的核心网的网元。
本公开实施例中，感知设备与第一网元进行交互，用以互相传输注册信息、感知相关能力、感知相关的辅助信息、感知测量结果、感知估计结果以及错误信息等。
本公开实施例中，第一网元可以是3GPP网络中与感知服务相关的核心网的网元。
本公开实施例中，第一感知设备还可以称作感知参考单元(Sensing Reference Unit，SRU)。在本公开实施例中，SRU是有源的，具有感知信号发射或者/和感知信号接收能力的3GPP设备(可以是UE，也可以是基站)，并且可以提供感知测量结果/感知估计结果给3GPP网络上的其他设备(用以进行感知结果的校准)。
本公开实施例中，SRU、感知参考单元这个名称仅用于指代具有所描述功能的单元，不特指、不限制是任何一种网元。
本公开实施例中，第二感知设备还可以称作感知参考目标(Sensing Reference Object，SRO)。
本公开实施例中，SRO可以是有源或者无源的，可以被作为感知目标的某些物体或者3GPP设备，这些目标自身携带/或者3GPP系统提前知晓某些关于这些SRO的先验信息，用以对涉及自身SRO的感知观测结果/感知估计结果进行校准。
本公开实施例中，SRO、感知参考这个名称仅用于指代具有所描述功能的单元，不特指、不限制是任何一种网元。
本公开实施例中提供了一种通信感知方法，图2是本公开实施例的通信感知方法的流程图一，如图2所示，该流程包括如下步骤：
步骤S202，核心网的第一网元获取感知设备的感知信息。
在一个示例性实施例中，感知设备包括：第一感知设备和/或第二感知设备。
在一个示例性实施例中，还包括：第一网元获取目标感知设备的感知信息；第一网元根据感知设备的感知信息和目标感知设备的感知信息，获取目标感知设备的感知结果。
在一个示例性实施例中，感知信息包括：感知测量信息和感知估计信息。
在一个示例性实施例中，感知测量信息至少包括以下之一：信道估计结果；功率时延分布谱(Power Delay Profile，PDP)；相位时延谱；参考信号接收功率(Reference Signal Received Power，RSRP)；接收信号码功率(Received Signal Code Power，RSCP)；每资源块参考信号接收功率(Reference Signal Received Power Per Resource Block，RSRPP)。
在一个示例性实施例中，感知估计信息包括感知信息的传输信道的感知径的传输参数信息的至少一种。
在本公开实施例中，上述传输参数信息包括感知设备的感知信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)、微多普勒谱、微多普勒被检测出的模式的种类、微多普勒被检测出的模式的参数；以及上述所有的量相对于各自规定的参考值的差分值。
在一个示例性实施例中，第二感知设备设置有感知先验信息。
在一个示例性实施例中，感知先验信息至少包括以下之一：第二感知设备的种类信息；第二感知设备的物理参数信息；第二感知设备的位置信息；第二感知设备的相对位置信息；第二感知设备的雷达散射截面(Radar Cross Section，RCS)信息。
在本公开实施例中，在第二感知设备为有源的第二感知设备的情况下，上述种类信息为感知设备的目标种类。例如，车辆、无人机、楼宇、雕像等任何种类。对于楼宇、雕像这类不属于3GPP UE设备的目标，这类目标可以是与目标相关联的UE设备，专门负责转发与之关联的目标的、被定义于此的信息。
在本公开实施例中，上述物理参数信息可以是第二感知设备的自身的模型、第二感知设备的自身的尺寸大小、第二感知设备的自身的表面材质以及材质在表面的分布情况。
在本公开实施例中，上述位置信息可以是在某个参考系下的位置坐标(二维或者三维)、第二感知设备在某个参考系下的姿态角(方位角、滚转角、俯仰角)、第二感知设备在某个参考系下的旋转矩阵中的若干参数、第二感知设备的速度模值(一维标量)，第二感知设备的速度矢量(二维或者三维)。
在本公开实施例中，上述相对位置信息可以是相对于某个参考点的位置差分量、相对于某个参考点的距离、相对于某个参考点的传播时延、相对于多个参考点的到达时延差的TDOA、相对与某个参考点的俯仰角，相对于某个参考点的方位角、相对于某个参考点的波束方向，相对于某个参考点的速度、相对于某个参考点的多普勒频率、微多普勒模式、微多普勒模式/谱相关的参数。
在本公开实施例中，上述RCS信息可以包括以下形式：与第二感知设备自身相关的RCS固定值；与第二感知设备自身相关的RCS的随机分布；与第二感知设备自身相关的RCS的确定性模型，除了和第二感知设备自身属性相关外，这个模型可以与入射角(入射方位角、入射俯仰角)、出射角(出射方位角、出射俯仰角)、与感知设备的距离、极化方向有关；与第二感知设备自身相关的RCS确定性模型以及随机分布共同构成的模型。
在一个示例性实施例中，第二感知设备包括有源的第二感知设备和无源的第二感知设备。
在一个示例性实施例中，第一网元获取感知设备的感知信息之前，还包括：第一网元向感知设备发送关联请求信息；第一网元接收来自感知设备的关联反馈信息。
在一个示例性实施例中，关联请求信息至少包括以下之一：第一网元的身份标识ID信息；关联关系的状态信息；关联关系的更新周期；关联关系的更新条件。
在本公开实施例中，上述关联关系的状态信息可以包括：第一次地初始化关联，也可以是在感知设备的状态发生变化的情况下，感知设备和第一网元关联进行更新。
在一个示例性实施例中，在第一网元获取感知设备的感知信息之前，还包括：第一网元向感知设备发送调用请求信息，其中，感知设备与当前的第一网元关联，或者感知设备与除当前的第一网元之外的第一网元关联。
在一个示例性实施例中，调用请求信息至少包括以下之一：当前的第一网元需要的感知设备的ID信息；当前的第一网元的感知设备选择条件信息。
在一个示例性实施例中，感知设备选择条件信息至少包括以下之一：感知设备的跟踪区域TA信息；感知设备的位置信息；感知设备的小区ID信息。
在一个示例性实施例中，目标感知设备与感知设备中的第一感知设备为同一感知设备或者同一组感知设备；或者，目标感知设备与第一感知设备是不同的感知设备。
在本公开实施例中，目标感知设备与感知设备中的第一感知设备可以是同一感知设备，即目标感知设备与感知设备中的第一感知设备可以合并为同一个设备。因为这些设备本质上都是感知设备，都具有收或者发感知信号的能力，因此将其根据功能上合并为同样的网元设备。
在本公开实施例中，目标感知设备与感知设备中的第一感知设备还可以是一组感知设备，即目标感知设备与感知设备中的第一感知设备的数量可以是多个。
步骤S204，第一网元根据感知信息，获取目标感知设备的感知结果。
在一个示例性实施例中，第一网元分别向第一感知设备和第二感知设备发送耦合请求信息，其中，耦合请求信息用于指示第一感知设备和第二感知设备建立耦合会话；第一网元接收来自第一感知设备或者第二感知设备的耦合反馈信息。
在本公开实施例中，由于第一感知设备可能是基站、UE或者任何3GPP设备，因此在某些情况下，第一感知设备可能会和第二感知设备直接进行耦合，不经过第一网元进行一些信息的传输，以便第一感知设备能直接对第二感知设备进行感知测量。但是，这种关联关系应当是第一网元知晓并许可的。
在一个示例性实施例中，耦合请求信息至少包括以下之一：第一网元的身份标识ID信息；耦合会话的ID信息；第一感知设备的ID信息；第二感知设备的ID信息；耦合会话的状态信息；耦合会话的更新周期；耦合会话的更新条件。
在本公开实施例中，上述耦合会话的状态信息可以包括：第一次初始化耦合关系，也可以是在第一感知设备和第二感知设备的状态发生变化的情况下，第一网元请求更新第一感知设备和第二感知设备的耦合关系。
在一个示例性实施例中，还包括：第一网元向第一感知设备和/或第二感知设备发送关联解除信息；第一网元接收来自第一感知设备和/或第二感知设备的关联解除反馈信息。
在一个示例性实施例中，关联解除信息至少包括以下之一：第一网元的身份标识ID信息；更新的第一网元的ID信息。
在一个示例性实施例中，还包括：第一网元向除自身之外的其他第一网元发送关联调用请求信息。
在一个示例性实施例中，关联调用请求信息至少包括以下之一：目标感知设备的ID信息；感知信息；关联调用请求信息的预设时间窗口信息。
在一个示例性实施例中，还包括：第一网元向感知设备发送误差校准信息。
在一个示例性实施例中，还包括：第一网元向目标感知设备发送误差校准信息。
在本公开实施例中，误差校准的步骤可能发生在第一网元或者目标感知设备上。
在一个示例性实施例中，误差校准信息至少包括以下之一：感知设备的感知测量结果误差；感知设备的感知估计结果误差；感知设备的时钟误差；感知设备的延迟信息；感知设备的采样率匹配误差；感知设备的电磁干扰误差。
通过上述步骤，提供了一种通信感知方法，通过核心网的第一网元获取感知设备的感知信息；第一网元根据感知信息，获取目标感知设备的感知结果。解决了相关技术中通信感知精度差的问题，达到了提高通信感知精度的效果。
本公开实施例中提供了一种通信感知方法，图3是本公开实施例的通信感知方法的流程图二，如图3所示，该流程包括如下步骤：
步骤S302，核心网的第一网元获取第二感知设备的感知信息。
在一个示例性实施例中，第二感知设备设置有感知先验信息。
在一个示例性实施例中，感知先验信息至少包括以下之一：第二感知设备的种类信息；第二感知设备的物理参数信息；第二感知设备的位置信息；第二感知设备的相对位置信息；第二感知设备的雷达散射截面(Radar Cross Section，RCS)信息。
在本公开实施例中，在第二感知设备为有源的第二感知设备的情况下，上述种类信息为感知设备的目标种类。例如，车辆、无人机、楼宇、雕像等任何种类。对于楼宇、雕像这类不属于3GPP UE设备的目标，这类目标可以是与目标相关联的UE设备，专门负责转发与之关联的目标的、被定义于此的信息。
在本公开实施例中，上述物理参数信息可以是第二感知设备的自身的模型、第二感知设备的自身的尺寸大小、第二感知设备的自身的表面材质以及材质在表面的分布情况。
在本公开实施例中，上述位置信息可以是在某个参考系下的位置坐标(二维或者三维)、第二感知设备在某个参考系下的姿态角(方位角、滚转角、俯仰角)、第二感知设备在某个参考系下的旋转矩阵中的若干参数、第二感知设备的速度模值(一维标量)，第二感知设备的速度矢量(二维或者三维)。
在本公开实施例中，上述相对位置信息可以是相对于某个参考点的位置差分量、相对于某个参考点的距离、相对于某个参考点的传播时延、相对于多个参考点的到达时延差的TDOA、相对与某个参考点的俯仰角，相对于某个参考点的方位角、相对于某个参考点的波束方向，相对于某个参考点的速度、相对于某个参考点的多普勒频率、微多普勒模式、微多普勒模式/谱相关的参数。
在本公开实施例中，上述RCS信息可以包括以下形式：与第二感知设备自身相关的RCS固定值；与第二感知设备自身相关的RCS的随机分布；与第二感知设备自身相关的RCS的确定性模型，除了和第二感知设备自身属性相关外，这个模型可以与入射角(入射方位角、入射俯仰角)、出射角(出射方位角、出射俯仰角)、与感知设备的距离、极化方向有关；与第二感知设备自身相关的RCS确定性模型以及随机分布共同构成的模型。
在一个示例性实施例中，还包括：第一网元获取目标感知设备的感知信息；第一网元根据第二感知设备的感知信息和目标感知设备的感知信息，获取目标感知设备的感知结果。
在一个示例性实施例中，第二感知设备包括有源的第二感知设备和无源的第二感知设备。
在一个示例性实施例中，第一网元获取第二感知设备的感知信息，包括：在第二感知设备为有源的第二感知设备的情况下，第一网元接收来自第二感知设备的感知信息，或者第一网元接收来自除自身之外的其他第一网元的感知信息。
在本公开实施例中，在第二感知设备为有源的第二感知设备的情况下，第一网元可以接收自身关联的第二感知设备的信息，也可以接收其他第一网元的关联第二感知设备的信息。其中，上述其他第一网元是除了当前的第一网元之外的第一网元。
在一个示例性实施例中，第一网元获取第二感知设备的感知信息，包括：在第二感知设备为无源的第二感知设备的情况下，第一网元接收来自传输接收点(Transmission Reception Point，TRP)的感知信息，其中，TRP注册有至少一个第二感知设备。
在本公开实施例中，对于无源的第二感知设备，需要通过TRP进行预先注册。
在一个示例性实施例中，感知信息包括：感知测量信息和感知估计信息。
在一个示例性实施例中，感知测量信息至少包括以下之一：信道估计结果；功率时延分布谱PDP；相位时延谱；参考信号接收功率RSRP；接收信号码功率RSCP；每资源块参考信号接收功率RSRPP。
在一个示例性实施例中，感知估计信息包括感知信息的传输信道的感知径的传输参数信息的至少一种。
在本公开实施例中，上述传输参数信息包括感知设备的感知信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)、微多普勒谱、微多普勒被检测出的模式的种类、微多普勒被检测出的模式的参数；以及上述所有的量相对于各自规定的参考值的差分值。
在一个示例性实施例中，感知先验信息至少包括以下之一：第二感知设备的种类信息；第二感知设备的物理参数信息；第二感知设备的位置信息；第二感知设备的相对位置信息；第二感知设备的雷达散射截面RCS信息。
步骤S304，第一网元根据感知信息获取目标感知设备的感知结果。
在一个示例性实施例中，还包括：第一网元向除自身之外的其他第一网元发送调用请求信息。
在一个示例性实施例中，调用请求信息至少包括以下之一：当前的第一网元需要的第二感知设备的ID信息；当前的第一网元的感知设备选择条件信息。
在一个示例性实施例中，感知设备选择条件信息至少包括以下之一：第二感知设备的跟踪区域TA信息；第二感知设备的位置信息；第二感知设备的小区ID信息。
本公开实施例中提供了一种通信感知方法，图4是本公开实施例的通信感知方法的流程图三，如图4所示，该流程包括如下步骤：
步骤S402，核心网的第一网元获取第一感知设备的感知信息。
在本公开实施例中，第一感知设备用于感知测量，用于测量其他物体以进行校准。
在一个示例性实施例中，还包括：第一网元获取目标感知设备的感知信息；第一网元根据第一感知设备的感知信息和目标感知设备的感知信息，获取目标感知设备的感知结果。
在一个示例性实施例中，感知信息包括：感知测量信息和感知估计信息。
在一个示例性实施例中，感知测量信息至少包括以下之一：信道估计结果；功率时延分布谱PDP；相位时延谱；参考信号接收功率RSRP；接收信号码功率RSCP；每资源块参考信号接收功率RSRPP。
在一个示例性实施例中，感知估计信息包括感知信息的传输信道的感知径的传输参数信息的至少一种。
在本公开实施例中，上述传输参数信息包括感知设备的感知信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)、微多普勒谱、微多普勒被检测出的模式的种类、微多普勒被检测出的模式的参数；以及上述所有的量相对于各自规定的参考值的差分值。
步骤S404，第一网元根据感知信息获取目标感知设备的感知结果。
在一个示例性实施例中，还包括：第一网元向除自身之外的其他第一网元发送调用请求信息。
在一个示例性实施例中，调用请求信息至少包括以下之一：当前的第一网元需要的第一感知设备的ID信息；当前的第一网元的感知设备选择条件信息。
在一个示例性实施例中，感知设备选择条件信息至少包括以下之一：第一感知设备的跟踪区域TA信息；第一感知设备的位置信息；第一感知设备的小区ID信息。
本公开实施例中提供了一种通信感知方法，图5是本公开实施例的通信感知方法的流程图四，如图5所示，该流程包括如下步骤：
步骤S502，感知设备将感知信息发送至核心网的第一网元，以使第一网元根据感知信息获取目标感知设备的感知结果。
在一个示例性实施例中，感知设备包括：第一感知设备和/或第二感知设备。
在一个示例性实施例中，还包括：目标感知设备向第一网元发送感知信息。
在本公开实施例中，第一网元根据感知设备的感知信息和目标感知设备的感知信息，获取目标感知设备的感知结果。
在一个示例性实施例中，感知信息包括：感知测量信息和感知估计信息。
在一个示例性实施例中，感知测量信息至少包括以下之一：信道估计结果；功率时延分布谱PDP；相位时延谱；参考信号接收功率RSRP；接收信号码功率RSCP；每资源块参考信号接收功率RSRPP。
在一个示例性实施例中，感知估计信息包括感知信息的传输信道的感知径的传输参数信息的至少一种。
在一个示例性实施例中，第二感知设备设置有感知先验信息。
在一个示例性实施例中，感知先验信息至少包括以下之一：第二感知设备的种类信息；第二感知设备的物理参数信息；第二感知设备的位置信息；第二感知设备的相对位置信息；第二感知设备的雷达散射截面RCS信息。
在一个示例性实施例中，第二感知设备包括有源的第二感知设备和无源的第二感知设备。
在一个示例性实施例中，在感知设备将感知信息发送至核心网的第一网元之前，还包括：感知设备向第一网元发送关联请求信息；感知设备接收来自第一网元的关联回复信息。
在一个示例性实施例中，第一感知设备向第一网元发送关联请求信息，其中，关联请求信息至少包括以下之一：第一感知设备的ID信息；关联关系的状态信息；第一感知设备的感知能力信息；第一感知设备的与感知测量业务无关的测量结果；第一感知设备的开关ON/OFF状态信息。
在一个示例性实施例中，第二感知设备向第一网元发送关联请求信息，其中，关联请求信息至少包括以下之一：第二感知设备的ID信息；关联关系的状态信息；第二感知设备的被感知相关的先验信息；第二感知设备的定位能力信息；第二感知设备的关ON/OFF状态信息。
在一个示例性实施例中，感知设备向第一网元发送关联解除信息；感知设备接收来自第一网元的关联解除回复信息。
在一个示例性实施例中，第一感知设备向第一网元发送关联解除信息，其中，关联解除信息至少包括以下之一：第一感知设备的ID信息；当前关联会话的ID信息。
在一个示例性实施例中，第二感知设备向第一网元发送关联解除信息，其中，关联解除信息至少包括以下之一：第二知设备的ID信息；当前关联会话的ID信息。
在一个示例性实施例中，还包括：感知设备向第一网元发送耦合请求信息，其中，耦合请求信息用于指示第一感知设备和第二感知设备建立耦合会话；感知设备接收来自第一网元的耦合回复信息。
在一个示例性实施例中，第一感知设备向第一网元发送耦合请求信息，其中，耦合请求信息至少包括以下之一：第一感知设备的ID信息；第二感知设备的ID信息；耦合会话的状态信息。
在一个示例性实施例中，第二感知设备向第一网元发送耦合请求信息，其中，耦合请求信息至少包括以下之一：第一感知设备的ID信息；第二感知设备的ID信息；耦合会话的状态信息。
在一个示例性实施例中，还包括：第二感知设备向第一网元发送先验信息。
在本公开实施例中，上述先验信息还可以称作辅助信息，上述先验信息可以来自于第二感知设备自身，也可以来自于其他设备。
在一个示例性实施例中，还包括：第二感知设备通过第一网元，向其他的第二感知设备发送先验信息。其中，其他的第二感知设备没有与当前的第一网元关联。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到根据上述实施例的方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本公开实施例的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本公开各个实施例所述的方法。
在本实施例中还提供了一种通信感知装置，该装置用于实现上述实施例及优选实施方式，已经进行过说明的不再赘述。如以下所使用的，术语“模块”可以实现预定功能的软件和/或硬件的组合。尽管以下实施例所描述的装置较佳地以软件来实现，但是硬件，或者软件和硬件的组合的实现也是可能并被构想的。
本公开实施例提供的通信感知装置可以设置于核心网，通信感知装置可以包括：第一获取模块，设置为获取感知设备的感知信息；第二获取模块设置为根据感知信息，获取目标感知设备的感知结果。
本公开实施例提供的通信感知装置可以设置于核心网，通信感知装置可以包括：第三获取模块，设置为获取第二感知设备的感知信息。第四获取模块，设置为根据感知信息，获取目标感知设备的感知结果。
本公开实施例提供的通信感知装置可以设置于核心网，通信感知装置可以包括：第五获取模块，设置为获取第一感知设备的感知信息。第六获取模块，设置为根据感知信息，获取目标感知设备的感知结果。
本公开实施例提供的通信感知装置可以设置于感知设备，通信感知装置可以包括：发送模块，设置为将感知信息发送至核心网的第一网元，以使第一网元根据感知信息获取目标感知设备的感知结果。
在本公开实施例中，上述通信感知装置还可以包括不同的模块，其中的模块命名和功能划分也可以根据实际情况选择不同的方式，这里不做具体限制。
需要说明的是，上述各个模块是可以通过软件或硬件来实现的，对于后者，可以通过以下方式实现，但不限于此：上述模块均位于同一处理器中；或者，上述各个模块以任意组合的形式分别位于不同的处理器中。
本公开实施例还提供了一种计算机可读存储介质，该计算机可读存储介质中存储有计算机程序，其中，该计算机程序被设置为运行时执行上述任一项方法实施例中的步骤。
在一个示例性实施例中，上述计算机可读存储介质可以包括但不限于：U盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、移动硬盘、磁碟或者光盘等各种可以存储计算机程序的介质。
本公开实施例还提供了一种电子装置，包括存储器和处理器，该存储器中存储有计算机程序，该处理器被设置为运行计算机程序以执行上述任一项方法实施例中的步骤。
在一个示例性实施例中，上述电子装置还可以包括传输设备以及输入输出设备，其中，该传输设备和上述处理器连接，该输入输出设备和上述处理器连接。
本公开实施例还提供了一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现上述任一项方法实施例中的步骤。
在一个示例性实施例中，上述计算机程序产品，包括非易失性计算机可读存储介质，所述非易失性计算机可读存储介质存储计算机程序，所述计算机程序被处理器执行时实现本申请各个实施例中所述方法的步骤。
本实施例中的具体示例可以参考上述实施例及示例性实施方式中所描述的示例，本实施例在此不再赘述。
显然，本领域的技术人员应该明白，上述的本公开实施例的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，并且在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本公开实施例不限制于任何特定的硬件和软件结合。
为了使得本领域的技术人员更好地理解本公开实施例的技术方案，下面结合不同的实施例进行阐述。
本公开实施例中，核心网的第一网元是与感知服务相关的核心网的网元，在本公开实施例中，不对第一网元的进行限制，仅指代与感知服务相关的核心网的网元。本公开实施例中，感知设备与第一网元进行交互，用以互相传输注册信息、感知相关能力、感知相关的辅助信息、感知测量结果、感知估计结果以及错误信息等。本公开实施例中，第一网元可以是3GPP网络中与感知服务相关的核心网的网元。
在本公开实施例中，感知参考单元SRU即上述实施例中的第一感知设备。在本公开实施例中，SRU是有源的，具有感知信号发射或者/和感知信号接收能力的3GPP设备(可以是UE，也可以是基站),并且可以提供感知测量结果/感知估计结果给3GPP网络上的其他设备(用以进行感知结果的校准)。在本公开实施例中，SRU、感知参考单元这个名称仅用于指代具有所描述功能的单元，不特指、不限制是任何一种网元。
在本公开实施例中，感知参考目标SRO即上述实施例中的第二感知设备。本公开实施例中，SRO可以是有源或者无源的，可以被作为感知目标的某些物体或者3GPP设备，这些目标自身携带/或者3GPP系统提前知晓某些关于这些SRO的先验信息，用以对涉及自身SRO的感知观测结果/感知估计结果进行校准。本公开实施例中，SRO、感知参考这个名称仅用于指代具有所描述功能的单元，不特指、不限制是任何一种网元。
在本公开实施例中，为描述方便，将部分实施例中的第一网元简写为SF。
实施例一
在本实施例中，首先对本公开实施例的感知参考单元SRU(第一感知设备)、感知参考目标SRO(第二感知设备)、与感知服务相关的第一网元的能力进行说明。
本公开实施例中，感知参考单元SRU的能力、或者涉及的信令行为，如下：
SRU能够和3GPP网络进行通信。SRU能够和3GPP网络中与感知服务相关的核心网的网元(以下简称为第一网元，不对名称进行限制，仅指代与感知服务相关的核心网的网元)进行交互，用以互相传输注册信息、感知相关能力、感知相关的辅助信息、感知测量结果、感知估计结果以及错误信息等。SRU具有3GPP系统中感知信号发射的能力。SRU具有3GPP系统中感知信号接收的能力。SRU具有获取自身位置的能力(可以是任何定位方式，包括并不限于3GPP定位)。SRU能够向第一网元传输感知测量结果，感知估计结果，这些结果包括并不限于：感知信号对应的信道估计结果、PDP谱、相位时延谱、RSRP、RSCP、RSRPP；感知信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)、微多普勒谱、微多普勒被检测出的模式的种类、微多普勒被检测出的模式的参数；以及上述所有的量相对于各自规定的参考值的差分值。
本公开实施例中，SRU能够向第一网元或者其他核心网的网元传输其他与感知业务无关的测量结果、估计结果，这些结果包括并不限于：SRU自身的位置；定位参考信号对应的信道估计结果，PDP谱、相位时延谱、RSRP、RSCP、RSRPP；定位信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、位置、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)；以及上述所有的量相对于各自规定的参考值的差分值。
本公开实施例中，第一网元的能力信息如下：
第一网元会对比SRU的实际测量结果和理想的测量结果，确定感知相关的校准量。第一网元可能会将校准量传输给其他任何网元以进行校准。第一网元会指示哪些设备(用户设备、基站)允许作为一个SRU。第一网元会指示哪些设备(用户设备、基站)开始作为一个SRU。第一网元会指示哪些设备(用户设备、基站)维持作为一个SRU的状态，并更新其信息。第一网元会指示哪些设备(用户设备、基站)不再作为一个SRU。第一网元会存储SRU的信息。第一网元会删除SRU的信息。第一网元会为处于OFF状态的SRU保留相关信息。第一网元会要求SRU和另一个新的第一网元关联。第一网元会主动触发SRU进行感知测量，并上报感知测量结果或者感知估计量。第一网元会主动触发SRU进行感知测量，并上报感知测量结果和感知估计量，这样的情况下，SRU需要具有同时上报感知测量结果和感知估计结果的能力。在高层核心网允许的情况下，待感知的第一网元会寻找到其他第一网元下的SRU，获取SRU测量校准结果。核心网允许一个第一网元传输SRU测量结果给其他的第一网元。核心网允许SRU和多个第一网元关联。感知设备(任何3GPP网络中的感知设备，包括并不限于UE、基站)可以向第一网元上报是否需要SRU参与进行矫正。第一网元可以向感知设备(包括并不限于UE、基站)主动提供有SRU参与的感知流程进行矫正。在有SRU参与的感知流程中，第一网元可以将SRU与感知业务无关的测量结果、估计结果、感知测量结果，感知估计结果以及SRU相关的身份标识传输给感知设备(包括并不限于UE、基站)以进行校准。在有SRU参与的感知流程中，第一网元可以将任何计算得到的与SRU有关的误差校准信息传输给感知设备(包括并不限于UE、基站，该感知设备可以是任何需要SRU辅助校准的感知设备)以进行校准。在有SRU参与的感知流程中，SRU也可以直接与感知设备(包括并不限于UE、基站)建立通信链路，传输SRU被感知相关的辅助信息、与SRU有关的误差校准信息、以及SRU相关的身份标识传输给感知设备(包括并不限于UE、基站)以进行校准。
本公开实施例中，上述误差校准信息通常由两个或多个来源不同的量通过比较得到，因此这些误差校准信息的来源包括并不限于：SRU的实际测量，和理想的测量结果之间进行比较，获得相关误差量；SRU的实际测量，和其他感知设备的测量结果之间比较，获得相关误差量；基于SRU的实际测量，以及理想的测量结果，和其他感知设备的测量结果，获得相关误差。
本公开实施例中，上述误差校准信息的形式包括并不限于以下几种：任何一个感知设备(包括SRU在内的，包括并不限于UE、基站)的感知信号对应的信道估计结果误差、PDP谱误差、相位时延谱误差、RSRP误差、RSCP误差、RSRPP误差；任何一个感知设备(包括SRU在内的，包括并不限于UE、基站)的感知信号对应的信道中的一条或者多条或者全部感知径各自的能量误差或者能量的组合(归一化或者未归一化)、距离误差、传播时延(Time of Arrival，TOA)误差、到达时延差(Time Difference of Arrival，TDOA)误差、位置误差(2维或者3维)、俯仰角误差、方位角误差、波束方向误差、多普勒频率误差、速度误差(一维、二维、或者三维)、微多普勒谱误差、微多普勒被检测出的模式的种类误差、微多普勒被检测出的模式的参数误差；任何一个感知设备(包括SRU在内的，包括并不限于UE、基站)的感知设备(包括SRU在内的UE、基站)的时钟偏差，数字信号处理延迟，采样频率匹配误差，电磁干扰误差等。
本公开实施例中，有源SRO可以具备以下的能力，或者涉及以下的信令行为：
有源SRO能够和3GPP网络进行通信。有源SRO能够和3GPP网络中与感知服务相关的核心网的网元(以下简称为第一网元，不对名称进行限制，仅指代与感知服务相关的核心网的网元)进行交互，用以互相传输注册信息、被感知相关的辅助信息(即上述实施例中的先验信息)、错误信息等。有源SRO具有将自己作为感知系统的感知目标，反射、折射、衍射、散射、透射感知信号的能力。有源SRO具有获取自身位置的能力(可以是任何定位方式，包括并不限于3GPP定位)。
本公开实施例中，上述先验信息包括并不限于：有源SRO自身的目标种类(例如车辆、无人机、楼宇、雕像等任何种类)(对于楼宇、雕像这类不属于3GPP UE设备的目标，这类目标可以是与目标相关联的UE设备，专门负责转发与之关联的目标的、被定义于此的信息)、有源SRO自身的模型、有源SRO自身的尺寸大小、有源SRO自身的表面材质以及材质在表面的分布情况。有源SRO在某个参考系下的位置坐标(二维或者三维)、有源SRO在某个参考系下的姿态角(方位角、滚转角、俯仰角)、有源SRO在某个参考系下的旋转矩阵中的若干参数、有源SRO的速度模值(一维标量)，有源SRO的速度矢量(二维或者三维)。有源SRO相对于某个参考点的位置差分量、相对于某个参考点的距离、相对于某个参考点的传播时延、相对于多个参考点的到达时延差的TDOA、相对与某个参考点的俯仰角，相对于某个参考点的方位角、相对于某个参考点的波束方向，相对于某个参考点的速度、相对于某个参考点的多普勒频率、微多普勒模式、微多普勒模式/谱相关的参数。
本公开实施例中，上述有源SRO自身的RCS信息，其形式包括但不限于以下几种：与有源SRO自身相关的RCS固定值；与有源SRO自身相关的RCS的随机分布；与有源SRO自身相关的RCS的确定性模型，除了和有源SRO自身属性相关外，这个模型可以与入射角(入射方位角、入射俯仰角)、出射角(出射方位角、出射俯仰角)、与感知设备的距离、极化方向有关；与有源SRO自身相关的RCS确定性模型以及随机分布共同构成的模型。
本公开实施例中，对应于有源SRO，第一网元的能力信息如下：
第一网元会对比与有源SRO有关的实际测量结果和理想的测量结果，确定感知相关的校准量。第一网元可能会将校准量传输给其他任何网元以进行校准。第一网元会指示哪些设备(用户设备)允许作为一个有源SRO。第一网元会指示哪些设备(用户设备)开始作为一个有源SRO。第一网元会指示哪些设备(用户设备、基站)维持作为一个有源SRO的状态，并更新其信息。第一网元会指示哪些设备(用户设备、基站)不再作为一个有源SRO。第一网元会存储有源SRO的信息。第一网元会删除有源SRO的信息。第一网元会为处于OFF状态的有源SRO保留相关信息。第一网元会要求有源SRO和另一个新的第一网元关联。第一网元会主动触发有源SRO被其他感知设备感知。在高层核心网允许的情况下，待感知的第一网元会寻找到其他第一网元下的有源SRO，获取有源SRO的注册信息,与被感知有关的辅助信息等信息。核心网允许一个第一网元传输有源SRO的注册信息、与被感知有关的辅助信息等信息给其他的第一网元。核心网允许有源SRO和多个第一网元关联。感知设备(包括并不限于UE、基站)可以向第一网元上报是否需要有源SRO进行矫正。第一网元可以向感知设备(包括并不限于UE、基站)主动提供SRO参与的感知流程进行校正。在有源SRO参与的感知流程中，第一网元可以将有源SRO被感知相关的辅助信息以及有源SRO相关的身份标识传输给感知设备(包括并不限于UE、基站)以进行校准。在有源SRO参与的感知流程中，第一网元可以将任何计算得到的与有源SRO有关的误差校准信息传输给感知设备(包括并不限于UE、基站，该感知设备可以是任何需要SRU辅助校准的感知设备)以进行校准。在有源SRO参与的感知流程中，有源SRO也可以直接与感知设备(包括并不限于UE、基站)建立通信链路，传输有源SRO被感知相关的辅助信息、与有源SRO有关的误差校准信息以及有源SRO相关的身份标识传输给感知设备(包括并不限于UE、基站)以进行校准。
对应于有源SRO，在本公开实施例中，上述误差校准信息通常由两个或多个来源不同的量通过比较得到，因此这些误差校准信息的来源包括并不限于：对有源SRO的实际测量，和对有源SRO的理想测量结果之间比较，获得的相关误差量。
对应于有源SRO，在本公开实施例中，上述误差校准信息的形式包括并不限于以下几种。任何一个感知设备(包括SRU在内的，包括并不限于UE、基站)的感知信号对应的信道估计结果误差、PDP谱误差、相位时延谱误差、RSRP误差、RSCP误差、RSRPP误差。任何一个感知设备(包括SRU在内的，包括并不限于UE、基站)的感知信号对应的信道中的一条或者多条或者全部感知径各自的能量误差或者能量的组合(归一化或者未归一化)、距离误差、传播时延TOA误差、到达时延差TDOA误差、位置误差(2维或者3维)、俯仰角误差、方位角误差、波束方向误差、多普勒频率误差、速度误差(一维、二维、或者三维)、微多普勒谱误差、微多普勒被检测出的模式的种类误差、微多普勒被检测出的模式的参数误差。任何一个感知设备(包括SRU在内的，包括并不限于UE、基站)的感知设备(包括SRU在内的UE、基站)的时钟偏差，数字信号处理延迟，采样频率匹配误差，电磁干扰误差等。
本公开实施例中，无源SRO可以具备以下的能力，或者涉及以下的信令行为：
无源SRO在3GPP网络中与感知服务相关的核心网的网元(以下简称为第一网元,不对名称进行限制，仅指代与感知服务相关的核心网的网元)处提前进行了注册，虽然无源SRO不能直接和核心网的网元进行通信、交互，但是核心网的网元通过其他途径(包括并不限于3GPP网络、外部信息输入等方式)可以获取无源SRO的注册信息、被感知相关的辅助信息(先验信息)、错误信息等。无源SRO具有将自己作为感知系统的感知目标，反射、折射、衍射、散射、透射感知信号的能力。第一网元会对比与无源SRO有关的实际测量结果和理想的测量结果，确定感知相关的校准量。第一网元可能会将校准量传输给其他任何网元以进行校准。
对应于无源SRO，在本公开实施例中，上述先验信息包括并不限于：
无源SRO自身的目标种类(例如楼宇、雕、桥梁等任何种类)、无源SRO自身的模型、无源SRO自身的尺寸大小、无源SRO自身的表面材质以及材质在表面的分布情况。无源SRO在某个参考系下的位置坐标(二维或者三维)、无源SRO在某个参考系下的姿态角(方位角、滚转角、俯仰角)、无源SRO在某个参考系下的旋转矩阵中的若干参数、无源SRO的速度模值(一维标量)，无源SRO的速度矢量(二维或者三维)。无源SRO相对于某个参考点的位置差分量、相对于某个参考点的距离、相对于某个参考点的传播时延、相对于多个参考点的到达时延差的TDOA、相对与某个参考点的俯仰角，相对于某个参考点的方位角、相对于某个参考点的波束方向，相对于某个参考点的速度、相对于某个参考点的多普勒频率、微多普勒模式、微多普勒模式/谱相关的参数。
对应于无源SRO，在本公开实施例中，上述无源SRO自身的RCS信息，其形式可以是，但不限于以下几种：无源SRO自身相关的RCS固定值；与无源SRO自身相关的RCS的随机分布；与无源SRO自身相关的RCS的确定性模型，除了和有源SRO自身属性相关外，这个模型可以与入射角(入射方位角、入射俯仰角)、出射角(出射方位角、出射俯仰角)、与感知设备的距离、极化方向有关；与无源SRO自身相关的RCS确定性模型以及随机分布共同构成的模型。
对应于无源SRO，在本公开实施例中，第一网元的能力信息如下：
第一网元在本地注册哪些目标允许作为一个无源SRO。第一网元在本地决定哪些目标开始作为一个无源SRO。第一网元在本地决定哪些目标维持作为一个无源SRO状态，并更新其信息。第一网元在本地决定哪些目标不再作为一个无源SRO。第一网元会存储无源SRO的信息。第一网元会删除无源SRO的信息。第一网元会传输相关注册消息、被感知相关辅助信息给另一个第一网元，使得无源SRO和另一个新的第一网元关联。在高层核心网允许的情况下，待感知的第一网元会寻找到其他第一网元下的无源SRO，向其他第一网元请求获取无源SRO的注册信息，与被感知有关的辅助信息等信息。核心网允许无源SRO和多个第一网元关联。感知设备(包括并不限于UE、基站)可以向第一网元上报是否需要SRO进行矫正。第一网元可以向感知设备(包括并不限于UE、基站)主动提供SRO参与的感知流程进行校正。在无源SRO参与的感知流程中，第一网元可以将无源SRO被感知相关的辅助信息以及无源SRO相关的身份标识传输给感知设备(包括并不限于UE、基站)以进行校准。在有无源SRO参与的感知流程中，第一网元可以将任何计算得到的与无源SRO有关的误差校准信息传输给感知设备(包括并不限于UE、基站，该感知设备可以是任何需要SRU辅助校准的感知设备)以进行校准。
对应于无源SRO，在本公开实施例中，上述误差校准信息通常由两个或多个来源不同的量通过比较得到，因此这些误差校准信息的来源包括并不限于：对无源SRO的实际测量，和对无源SRO的理想测量结果之间比较，获得的相关误差量。
对应于无源SRO，在本公开实施例中，上述误差校准信息的形式包括并不限于以下几种：任何一个感知设备(包括SRU在内的，包括并不限于UE、基站)的感知信号对应的信道估计结果误差、PDP谱误差、相位时延谱误差、RSRP误差、RSCP误差、RSRPP误差。任何一个感知设备(包括SRU在内的，包括并不限于UE、基站)的感知信号对应的信道中的一条或者多条或者全部感知径各自的能量误差或者能量的组合(归一化或者未归一化)、距离误差、传播时延TOA误差、到达时延差TDOA误差、位置误差(2维或者3维)、俯仰角误差、方位角误差、波束方向误差、多普勒频率误差、速度误差(一维、二维、或者三维)、微多普勒谱误差、微多普勒被检测出的模式的种类误差、微多普勒被检测出的模式的参数误差。任何一个感知设备(包括SRU在内的，包括并不限于UE、基站)的感知设备(包括SRU在内的UE、基站)的时钟偏差，数字信号处理延迟，采样频率匹配误差，电磁干扰误差等。
实施例二
图6是本公开实施例的感知原理示意图一，如图6所示，对于某些能够自己定位，并与3GPP网络进行交互的设备，比如车辆，能够确定自身的位置，可以被引入成为有源SRO，在核心网端进行管理。对于能够感知到这些SRO的有源设备，可以将其作为SRU在核心网进行管理。第一网元可以向其他感知设备发送SRU/SRO相关的位置信息，以及SRU对该SRO的感知数据，使得其他感知设备能够根据测量结果和理想情况下的测量结果校准待校准的感知链路中感知设备的参数。将涉及不同的信令结构，在本公开实施例中，以下的信令流程可以是顺序结构，也可以是异步结构，本公开实施例不限制所有信令发生的先后顺序。
在本公开实施例中，不限制任何一个子流程的中还存在其他网元以任何形式中转、透传信息，子流程可以是两个网元直接进行的信令交互，也可以是包含多个中间网元节点的多个信令的组合的上位描述。在本公开实施例中，也不限制任何一个流程的名称，不同的流程的名称仅用于指代子流程的功能。
在进行感知通信之前，需要先进行感知关联流程，实现SRU和/或SRO与第一网元的关联。
图7是本公开实施例的有源SRO发起的有源SRO关联流程的流程示意图，如图7所示，包括如下步骤：
步骤S701，有源SRO向第一网元发送关联请求消息(SRO initialed SRO Association Request)，请求将SRO与该第一网元关联。
在本公开实施例中，上述关联请求消息(SRO initialed SRO Association Request)可以包含但不限于以下内容：
包含任何标识SRO身份的ID信息；包含了本次请求与第一网元关联的原因(可以是第一次地初始化关联，也可以是在SRO的状态发生变化的情况下，SRO和第一网元关联进行更新)；有源SRO被感知相关的先验信息(有多少，发多少)；有源SRO进行定位的能力；有源SRO的ON/OFF状态。
步骤S702，有源SRO接收来自第一网元的关联反馈信息。
在本公开实施例中，如果有源SRO向第一网元发送了请求，且第一网元可以接受第一网元与该有源SRO关联，则第一网元返回一个关联接受信息(SRO Association Accept)至SRO。
在本公开实施例中，这个关联接收信息包含但不限于以下内容：
指示了有源SRO周期性与第一网元更新关联关系的周期；指示了有源SRO与第一网元更新关联信息的条件；有源SRO被感知辅助信息改变的量，会引起有源SRO与第一网元更新关联；有源SRO的TAI的改变；有源SRO的AMF的改变；有源SRO ON/OFF状态的改变；有源SRO是否继续接受被作为感知目标；对于处于OFF状态的有源SRO，SRO相关的信息被存储在第一网元上。
在本公开实施例中，如果有源SRO向第一网元发送了请求，但是第一网元由于某些原因不能接受第一网元与该有源SRO关联，则第一网元返回一个关联拒绝信息(SRO Association Reject)至SRO。
步骤S703，在有源SRO被拒绝的情况下，该有源SRO可以执行与其他可用的第一网元进行关联流程。
图8是本公开实施例的SRU发起的SRU关联流程的流程示意图，如图8所示，包括如下步骤：
步骤S801，SRU向第一网元发送关联请求消息(SRU initialed SRU Association Request)，请求将SRU与该第一网元关联。
在本公开实施例中，上述关联请求消息(SRU initialed SRU Association Request)包含但不限于以下内容：包含任何标识SRU身份的ID信息；包含了本次请求与第一网元关联的原因(可以是第一次地初始化关联，也可以是在SRU的状态发生变化的情况下，SRU和第一网元关联进行更新)；SRU的感知能力；SRU的其他与感知业务无关的测量结果；SRU的ON/OFF状态。
步骤S802，SRU接收来自第一网元的关联反馈消息。
如果SRU向第一网元发送了请求，且第一网元可以接受第一网元与该SRU关联，则第一网元返回一个关联接受信息(SRU Association Accept)至SRU。这个关联接收信息包含但不限于以下内容：
指示了SRU周期性与第一网元更新关联关系的周期；指示了SRU与第一网元更新关联信息的条件；SRU的其他与感知业务无关的测量结果、估计结果改变的量；SRU的TAI的改变；SRU的AMF的改变；SRU ON/OFF状态的改变；对于处于OFF状态的SRU，SRU相关的信息被存储在第一网元上。
如果SRU向第一网元发送了请求，但是第一网元由于某些原因不能接受第一网元与该SRU关联，则第一网元返回一个关联拒绝信息(SRU Association Reject)至SRU。
步骤S803，如果SRU被拒绝了，该SRU可以执行与其他可用的第一网元进行关联流程。
实施例三
在本实施例中，针对实施例二中的关联流程，按照第一网元发起关联流程的方式，进行介绍。
图9是本公开实施例的第一网元发起的有源SRO关联的流程示意图，如图9所示，包括如下步骤：
步骤901，第一网元向有源SRO发送关联请求消息(SF initialed SRO Association Request)，请求将SRO与该第一网元关联。
在本实施例中，上述关联请求消息(SF initialed SRO Association Request)包含但不限于以下内容：包含任何标识第一网元身份的ID信息；包含了本次请求与有源SRO关联的原因(可以是第一次地初始化关联，也可以是在SRO的状态发生变化的情况下，第一网元请求更新关联SRO和第一网元的信息)；指示了有源SRO周期性与第一网元更新关联关系的周期；指示了有源SRO与第一网元更新关联信息的条件。
在本实施例中，上述有源SRO与第一网元更新关联信息的条件，包括以下至少之一：有源SRO被感知辅助信息改变的量，会引起有源SRO与第一网元更新关联；有源SRO的TAI的改变；有源SRO的AMF的改变；有源SRO ON/OFF状态的改变；有源SRO是否继续接受被作为感知目标。
步骤902，第一网元接收来自有源SRO的关联回复信息。
如果第一网元向有源SRO发送了请求，且有源SRO目前可以接受第一网元与该有源SRO关联，则有源SRO返回一个关联接受信息(SRO Association Accept)至第一网元。这个关联接收信息包含但不限于以下内容：包含任何标识SRO身份的ID信息；有源SRO被感知相关的辅助信息；有源SRO定位的能力。
如果第一网元向有源SRO发送了请求，但是有源SRO由于某些原因不能接受第一网元与该有源SRO关联，则有源SRO返回一个关联拒绝信息(SRO Association Reject)至第一网元。
步骤903，如果第一网元被拒绝了，该第一网元可以执行与其他可用的有源SRO进行关联流程。
图10是本公开实施例中第一网元发起的SRU关联的流程原理示意图，如图10所示，包括以下步骤：
步骤S1001，第一网元向SRU发送关联请求消息(SF initialed SRU Association Request)，请求将SRU与该第一网元关联。
在本公开实施例中，上述关联请求消息(SF initialed SRU Association Request)包含但不限于以下内容：包含任何标识第一网元身份的ID信息；包含了本次请求与SRU关联的原因(可以是第一次地初始化关联，也可以是在SRU的状态发生变化的情况下，第一网元请求更新关联SRU和第一网元的信息)；指示了SRU周期性与第一网元更新关联关系的周期；指示了SRU与第一网元更新关联信息的条件。
在本公开实施例中，上SRU与第一网元更新关联信息的条件包含但不限于以下内容：SRU其他与感知业务无关的测量结果、估计结果改变的量，会引起有源SRO与第一网元更新关联；SRU的TAI的改变；SRU的AMF的改变；SRU ON/OFF状态的改变。
步骤S1002，第一网元接收来自SRU的关联回复信息。
如果第一网元向SRU发送了请求，且SRU目前可以接受第一网元与该SRU关联，则SRU返回一个关联接受信息(SRU Association Accept from SRU)至第一网元。
在本公开实施例中，这个关联接收信息包含但不限于以下内容：包含任何标识SRU身份的ID信息；SRU的感知能力；SRU的其他与感知业务无关的测量结果(在实施例1中被标黄部分定义)；SRU的ON/OFF状态。
如果第一网元向SRU发送了请求，但是SRU由于某些原因不能接受第一网元与该SRU关联，则SRU返回一个关联拒绝信息(SRU Association Reject)至第一网元。
步骤S1003，如果第一网元被拒绝了，该第一网元可以执行与其他可用的SRU进行关联流程。
实施例四
在本公开实施例中，进行通信感知之前、进行中、之后，还包括第一网元与感知设备的解除关联的流程。在本实施例中，针对第一网元与感知设备的解除关联的流程进行介绍。
图11是本公开实施例的第一网元发起的有源SRO解关联的流程示意图，如图11所示，包括以下步骤：
步骤S1101，第一网元向有源SRO发送关联解除请求消息(SF Initiated SRO Disassociation Request)，请求解除有源SRO和该第一网元的关联关系。
在本公开实施例中，上述关联解除请求消息(SF Initiated SRO Disassociation Request)包括并不限于以下的内容：包含任何标识第一网元身份的ID信息；标识一个新的第一网元身份的ID信息(如果提供了一个新的，允许有源SRO在第三步和一个新的第一网元关联)。
步骤S1102，有源SRO接收到了解除关联请求，并向第一网元回复(SRO Disassociation Accept)消息，其中可以回复已经接收到了新的第一网元身份的ID信息。
步骤S1103，有源SRO接收到了一个新的第一网元的ID信息，有源SRO可能和新的第一网元执行关联流程。
图12是本公开实施例的第一网元发起的SRU解关联的流程示意图，如图12所示，包括以下步骤：
步骤S1201，第一网元向SRU发送解除关联请求消息(SF Initiated SRU Disassociation Request)，请求解除SRU和该第一网元的关联关系。
在本公开实施例中，上述解除关联请求消息(SF Initiated SRU Disassociation Request)中包括并不限于以下的内容：包含任何标识第一网元身份的ID信息；标识一个新的第一网元身份的ID信息(如果提供了一个新的，允许SRU在第三步和一个新的第一网元关联)。
步骤S1202，SRU接收到了解除关联的请求，并向第一网元回复(SRU Disassociation Accept)，其中可以回复已经接收到了新的第一网元身份的ID信息。
步骤S1203，在SRU接收到了一个新的第一网元的ID信息的情况下，SRU可能和新的第一网元执行关联流程。
实施例五
在本实施例中，针对实施例四中的第一网元与感知设备的解除关联的流程，按照感知设备发起解除关联的流程，对解除关联的流程进行介绍。
图13是本公开实施例的有源SRO发起的第一网元解关联的流程示意图，如图13所示，包括以下步骤：
步骤S1301，有源SRO向第一网元发送了一个和当前第一网元解除关联的流程，其中至少包含了当前SRO的ID信息，以及当前关联会话的ID信息。
步骤S1302，第一网元验证这个有源SRO是当前与之关联的有源SRO。
步骤S1303，第一网元向有源SRO确认与之取消关联关系。
图14是本公开实施例的SRU发起的SRU解关联的流程示意图，如图14所示，包括以下步骤：
步骤S1401，SRU向第一网元发送了一个和当前第一网元解除关联的流程，其中至少包含了当前SRU的ID信息，以及当前关联会话的ID信息。
步骤S1402，第一网元验证这个SRU是当前与之关联的SRU。
步骤S1403，第一网元向SRU确认与之取消关联关系。
实施例六
在本公开实施例中，由于SRU可能是基站、UE或者任何3GPP设备，因此在某些情况下，SRU可能会和SRU直接进行耦合，不经过第一网元进行一些信息的传输，以便SRU能直接对SRO进行感知测量。但是，这种关联关系应当是第一网元知晓并许可的，本实施例中介绍两种耦合流程。
图15是本公开实施例的第一网元发起的耦合的流程示意图，如图15所示，包括以下步骤：
步骤S1501，第一网元初始化SRO和SRU的耦合请求(SF initiated SRO&SRU Coupling Request)，请求SRO和SRU进行耦合。
在本公开实施例中，上述耦合请求(SF initiated SRO&SRU Coupling Request)可以包括并不限于以下内容：任何标识第一网元身份的ID信息；包含任何标识该耦合会话的ID信息；包含任何标识SRU身份的ID信息；包含任何表示有源SRO身份的ID信息；包含了本次请求SRU、SRO建立耦合关系的原因(可以是第一次地初始化耦合关系，也可以是在SRU和SRO的状态发生变化的情况下，第一网元请求更新SRU和SRO的耦合关系)；指示了SRU和有源SRO周期性更新耦合关系的周期；指示了SRU和有源SRO更新关联信息的条件。
在本公开实施例中，上述SRU和有源SRO更新关联信息的条件可以包括并不限于以下内容：SRU其他与感知业务无关的测量结果、估计结果改变的量，会引起有源SRO与第一网元更新关联；SRU的TAI的改变；SRU的AMF的改变；SRU ON/OFF状态的改变；有源SRO被感知辅助信息改变的量，会引起有源SRO与第一网元更新关联；有源SRO的TAI的改变；有源SRO的AMF的改变；有源SRO ON/OFF状态的改变；有源SRO是否继续接受被作为感知目标。
步骤S1502，SRU和SRO在接收到耦合请求后，根据指示建立本地的通信耦合关系。
步骤S1503，SRU和SRO向第一网元发送耦合反馈信息。
在本公开实施例中，SRU成功和有源SRO建立通信耦合关系，向第一网元回复请求确认信息(SRU Coupling Accept)。
在本公开实施例中，SRU由于某些原因不能和有源SRO建立通信耦合关系，向第一网元回复拒绝与有源SRO建立通信耦合关系信息(SRU Coupling Reject)。
在本公开实施例中，有源SRO成功和SRU建立通信耦合关系，向第一网元回复请求确认信息(SRO Coupling Accept)。
在本公开实施例中，有源SRO由于某些原因不能和SRU建立通信耦合关系，向第一网元回复拒绝与第一网元建立通信耦合关系信息(SRO Coupling Reject)。
图16是本公开实施例的SRU&SRO发起的耦合的流程示意图，如图16所示，包括以下步骤：
步骤S1601，SRO和SRU在本地发起了耦合流程，建立了通信耦合关系，或者确认了建立通信耦合关系的可行性，以便随后可以传输一些辅助信息(先验信息)。
步骤S1602，SRO和SRU向第一网元发送耦合请求信息。
在本公开实施例中，SRU向第一网元传输请求和有源SRO建立耦合关系，发送耦合请求信息(SRO&SRU Coupling Request)至第一网元。
在本公开实施例中，耦合请求信息(SRO&SRU Coupling Request)可以包括并不限于以下内容：包含任何标识SRU身份的ID信息；包含任何表示有源SRO身份的ID信息；包含了本次请求SRU、SRO建立耦合关系的原因(可以是第一次地初始化耦合关系，也可以是在SRU和SRO的状态发生变化的情况下，请求向第一网元更新SRU和SRO的耦合关系)。
在本公开实施例中，有源SRO向第一网元传输请求和SRU建立耦合关系，发送耦合请求信息(SRO&SRU Coupling Request)至第一网元。
在本公开实施例中，耦合请求信息(SRO&SRU Coupling Request)可以包括并不限于以下内容：包含任何标识SRU身份的ID信息；包含任何表示有源SRO身份的ID信息；包含了本次请求SRU、SRO建立耦合关系的原因(可以是第一次地初始化耦合关系，也可以是在SRU和SRO的状态发生变化的情况下，请求向第一网元更新SRU和SRO的耦合关系)。
步骤S1603，第一网元向SRO和SRU发送耦合反馈信息。
在本公开实施例中，第一网元接受有源SRO和SRU通信耦合关系，以便SRU能直接对SRO进行感知测量，第一网元回复确认信息(SRO&SRU Coupling Accept)，其中，可以包含但是不限于以下内容：指示合会话的ID信息；指示了SRU和有源SRO周期性更新耦合关系的周期；指示了SRU和有源SRO更新关联信息的条件；SRU其他与感知业务无关的测量结果、估计结果改变的量，会引起有源SRO与第一网元更新关联；SRU的TAI的改变；SRU的AMF的改变；SRU ON/OFF状态的改变；有源SRO被感知辅助信息改变的量，会引起有源SRO与第一网元更新关联；有源SRO的TAI的改变；有源SRO的AMF的改变；有源SRO ON/OFF状态的改变；有源SRO是否继续接受被作为感知目标。
在本公开实施例中，由于某些原因，第一网元拒绝该有源SRO和SRU建立通信耦合关系，回复拒绝信息(SRO&SRU Coupling Reject)。
实施例七
在本实施例中，对有SRU和有源SRO辅助的通信感知流程进行介绍。
图17是本公开实施例的基于SRU和有源SRO的通信感知的流程示意图，如图17所示，包括以下步骤：
步骤S1701，目标感知设备所关联的第一网元可能调动若干SRU和若干SRO进行测量(以及其他没有与目标感知设备关联的第一网元下的SRU和SRO)进行感知观测。
步骤S1702，目标感知设备所关联的AMF向目标感知设备所关联的第一网元发送感知请求。
步骤S1703，目标感知设备的第一网元触发感知设备启动感知流程，在这个流程中，第一网元决定使用SRU、SRO改善感知结果。
步骤S1704，目标感知设备的第一网元选取一个或者多个SRU和SRO来辅助目标感知设备进行感知。
步骤S1705，目标感知设备第一网元向其他可能的核心网的网元发起请求，请求调用其他第一网元关联的SRU、SRO来辅助目标感知设备进行感知。这一请求可能包括希望辅助的SRU、SRO的ID信息，也可能包含了其他选取准则，包括并不限于某些TA、位置以及位置范围、小区ID，以模糊的协助其他核心网的网元能够决定采用那些SRU、SRO来进行辅助。
步骤S1706，在步骤S1705被执行的情况下，其他核心网的网元选取了一个或者多个SRU、SRO关联的第一网元，基于步骤五中提供的ID或者选取准则，并且给目标感知设备的第一网元发送回复。这个回复中包含了选区的其他SRU、SRO关联的第一网元的信息。
步骤S1707，在步骤S1705和步骤S1706被执行的情况下，目标感知设备的第一网元发送一个请求给一个或者多个其他SRU\SRO关联的第一网元(这些第一网元在步骤S1706中被指示)。这个请求可能包含目标感知设备的任何ID信息，在步骤S1703中已经获得的任何感知结果和定位结果，也可能包含了一个调度SRO\SRU测量的时间窗。
步骤S1708，目标感知设备的第一网元发起感知流程，获取在步骤S1704中被选中的SRU\SRO通过测量获取的结果。
在本公开实施例中，这些感知结果可以包括并不限于以下内容：与有源SRO相关的感知测量结果，感知估计结果。以及，与有源SRO无关的其他感知测量结果，感知估计结果。以及，其他与感知业务无关的测量结果、估计结果。
在本公开实施例中，与有源SRO相关的感知测量结果，感知估计结果包括并不限于：有源SRO相关的感知信号对应的信道估计结果、PDP谱、相位时延谱、RSRP、RSCP、RSRPP。有源SRO相关的感知信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)、微多普勒谱、微多普勒被检测出的模式的种类、微多普勒被检测出的模式的参数；以及上述所有的量相对于各自规定的参考值的差分值。
在本公开实施例中，与有源SRO无关的其他感知测量结果，感知估计结果包括并不限于：与有源SRO无关的感知信号对应的信道估计结果、PDP谱、相位时延谱、RSRP、RSCP、RSRPP。与有源SRO无关的感知信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)、微多普勒谱、微多普勒被检测出的模式的种类、微多普勒被检测出的模式的参数；以及上述所有的量相对于各自规定的参考值的差分值。
在本公开实施例中，其他与感知业务无关的测量结果、估计结果包括并不限于：SRU自身的位置；定位参考信号对应的信道估计结果，PDP谱、相位时延谱、RSRP、RSCP、RSRPP；定位信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、位置、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)；以及上述所有的量相对于各自规定的参考值的差分值。
步骤S1709，在步骤S1705至步骤S1707被执行的情况下，其他SRU、SRO关联的第一网元的信息被从其他核心网的网元发送给了目标感知设备的第一网元，其他SRU、SRO关联的第一网元发起感知流程，获取其他被选中的SRU/SRO在感知流程中获取的结果，这些结果包括并不限于步骤S1706中的感知结果。
在本公开实施例中，上述步骤S1703、步骤S1708、步骤S1709可以以任何顺序、同步或者异步地发生。
步骤S1710，在步骤S1709被执行的情况下，其他SRU\SRO关联的第一网元会将步骤S1709中获取的测量结果的全部或者一部分，以及其他必要的辅助信息反馈给目标感知设备关联的第一网元。
步骤S1711，目标感知设备的第一网元根据步骤S1701、S1703、S1708、S1710中获取的测量结果以及其他信息，决定感知设备的感知结果。
步骤S1712，目标感知设备的第一网元返回目标感知设备的感知结果给AMF。以及，目标感知设备的第一网元将目标感知设备的感知结果给GMLC或者其他核心网的网元。
实施例八
在本实施例中，鉴于SRU\感知设备都具有收或者发感知信号的能力，因此将其根据功能上合并为同样的网元在这里进行描述，将SRU\感知设备合并。
图18是本公开实施例的基于SRU\感知设备的通信感知的流程示意图，如图18所示，包括以下步骤：
步骤S1801，SRU/目标感知设备向第一网元传输感知能力。
在本公开实施例中，目标感知设备、SRU关联的第一网元，请求其他第一网元传输其他第一网元关联的SRO的SRO信息。
在本公开实施例中，上述SRO信息包含并不限制以下内容：有源SRO自身的目标种类(例如车辆、无人机、楼宇、雕像等任何种类)(对于楼宇、雕像这类不属于3GPP UE设备的目标，这类目标可以是与目标相关联的UE设备，专门负责转发与之关联的目标的、被定义于此的信息)、有源SRO自身的模型、有源SRO自身的尺寸大小、有源SRO自身的表面材质以及材质在表面的分布情况；有源SRO在某个参考系下的位置坐标(二维或者三维)、有源SRO在某个参考系下的姿态角(方位角、滚转角、俯仰角)、有源SRO在某个参考系下的旋转矩阵中的若干参数、有源SRO的速度模值(一维标量)，有源SRO的速度矢量(二维或者三维)；有源SRO相对于某个参考点的位置差分量、相对于某个参考点的距离、相对于某个参考点的传播时延、相对于多个参考点的到达时延差的TDOA、相对与某个参考点的俯仰角，相对于某个参考点的方位角、相对于某个参考点的波束方向，相对于某个参考点的速度、相对于某个参考点的多普勒频率、微多普勒模式、微多普勒模式/谱相关的参数；有源SRO自身的RCS信息，其形式可以是，但不限于以下几种；与有源SRO自身相关的RCS固定值；与有源SRO自身相关的RCS的随机分布；与有源SRO自身相关的RCS的确定性模型，除了和有源SRO自身属性相关外，这个模型可以与入射角(入射方位角、入射俯仰角)、出射角(出射方位角、出射俯仰角)、与感知设备的距离、极化方向有关；与有源SRO自身相关的RCS确定性模型以及随机分布共同构成的模型。
在本公开实施例中，目标感知设备、SRU关联的第一网元，获取本第一网元关联的SRO的SRO信息，这些信息包含并不限制于在实施例1中被定义的有源SRO的被感知相关的辅助信息。
在本公开实施例中，SRU和有源SRO的通信耦合关系的SRU和SRO，SRU和SRO可以直接进行通信交互，使得SRU能够获取有源SRO的被感知相关的辅助信息。
步骤S1802，SRU/目标感知设备执行TS23.273中被定义的定位流程，通过位置估计结果以便第一网元能给出更精确的感知辅助数据。
步骤S1803，SRU/目标感知设备和第一网元进行辅助数据传输。
步骤S1804，SRU/目标感知设备和第一网元进行感知请求传输。
步骤S1805，SRU/目标感知设备对SRO进行感知测量。
步骤S1806，SRU/目标感知设备和第一网元进行感知测量结果和感知估计结果的传输。
在本公开实施例中，由于SRO、SRU、目标感知设备都有可能处于运动的过程中，因此一旦传输了包含SRO的信息，就会根据传输的时刻开始一个时间窗口，对SRO的测量不可以超过这个时间窗口。
实施例九
在本实施例中，对于SRO之间的信息交互进行介绍，包括与同一第一网元关联的SRO和不与同一第一网元关联的其他SRO。
图19是本公开实施例的SRO与第一网元关联的SRO之间的信息传输的流程示意图，如图19所示，包括以下步骤：
步骤S1901，SRO可以已有相关的能力信息，直接向第一网元提供SRO相关的被感知相关的辅助信息。以及，第一网元向有源SRO请求有源SRO相关的被感知相关的辅助信息。
步骤S1902，有源SRO进行定位或者感知测量。
步骤S1903，有源SRO向关联的第一网元提供被感知相关的辅助信息。
图20是本公开实施例的SRO与第一网元未关联的SRO之间的信息传输的流程示意图，如图20所示，包括以下步骤：
步骤S2001，其他第一网元向SRO关联的第一网元请求SRO的被感知相关的辅助信息。
步骤S2002，SRO主动向SRO关联的第一网元提供被感知相关的辅助信息。以及，SRO关联的第一网元向SRO请求有源SRO相关的被感知相关的辅助信息。
步骤S2003，有源SRO进行定位或者感知测量。
步骤S2004，有源SRO向关联的第一网元提供被感知相关的辅助信息。
步骤S2005，有源SRO关联的第一网元向其他SRO传递有源SRO相关的被感知相关的辅助信息。
在本公开实施例中，涉及的感知信息、辅助信息(先验信息)、误差校准信息、SRU(第一感知设备)的能力信息、有源和无源SRO(第二感知设备)的能力信息、SF(第一网元)的能力信息等的内容，可以参照上述不同的实施例的对应的内容，这里不再逐一赘述。
实施例十
图21是本公开实施例的基于有源SRO的通信感知的原理示意图，如图21所示，某些有源SRO，例如车辆，能够自己触发定位流程，确定自身位置。同时这些SRO可以被感知到，第一网元可以向其他感知设备发送SRO相关的位置信息，使得其他感知设备能够根据自身的测量结果和根据SRO和自身位置估计出的理想情况下的测量结果，校准自己的参数。
图22是本公开实施例的基于有源SRO的通信感知的流程示意图，如图22所示，包括以下步骤：
步骤S2201，目标感知设备所关联的第一网元可能若干SRO进行测量(以及其他没有与目标感知设备关联的第一网元下的SRO)进行感知观测。
步骤S2202，目标感知设备所关联的AMF向待校准的感知设备所关联的第一网元发送感知请求。
步骤S2203，目标感知设备的第一网元触发感知设备启动感知流程，在这个流程中，第一网元决定使用有源SRO改善感知结果。
步骤S2204，目标感知设备的第一网元选取一个或者多个SRO来辅助目标感知设备进行感知。
步骤S2205，目标感知设备第一网元向其他可能的核心网的网元发起请求，请求调用其他第一网元关联的有源SRO来辅助目标感知设备进行感知。这一请求可能直接包含了希望辅助的SRO的ID信息，也可能包含了其他选取准则，包括并不限于某些TA、位置以及位置范围、小区ID，以模糊地协助其他核心网的网元能够决定采用那些有源SRO来进行辅助。
步骤S2206，如果步骤S2205被执行，其他核心网的网元选取了一个或者多个有源SRO关联的第一网元，基于步骤S2205中提供的ID或者选取准则，并且给目标感知设备的第一网元发送回复。这个回复中包含了选区的其他SRO关联的第一网元的信息。
步骤S2207，目标感知设备的第一网元发起感知流程，获取在步骤S2204中被选中的有源SRO通过测量获取的结果。这些感知结果可以包括并不限于以下内容：与有源SRO相关的感知测量结果，感知估计结果。以及，与有源SRO无关的其他感知测量结果，感知估计结果。以及，目标感知设备其他与感知业务无关的测量结果、估计结果。
在本公开实施例中，与有源SRO相关的感知测量结果，感知估计结果，这些结果包括并不限于：有源SRO相关的感知信号对应的信道估计结果、PDP谱、相位时延谱、RSRP、RSCP、RSRPP；有源SRO相关的感知信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)、微多普勒谱、微多普勒被检测出的模式的种类、微多普勒被检测出的模式的参数；以及上述所有的量相对于各自规定的参考值的差分值。
在本公开实施例中，与有源SRO无关的其他感知测量结果，感知估计结果，这些结果包括并不限于：与有源SRO无关的感知信号对应的信道估计结果、PDP谱、相位时延谱、RSRP、RSCP、RSRPP；与有源SRO无关的感知信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)、微多普勒谱、微多普勒被检测出的模式的种类、微多普勒被检测出的模式的参数；以及上述所有的量相对于各自规定的参考值的差分值。
在本公开实施例中，目标感知设备其他与感知业务无关的测量结果、估计结果，这些结果包括并不限于：目标感知设备自身的位置；定位参考信号对应的信道估计结果，PDP谱、相位时延谱、RSRP、RSCP、RSRPP；定位信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、位置、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)；以及上述所有的量相对于各自规定的参考值的差分值。
步骤S2208，如果步骤S2205到步骤S2206被执行，其他SRO关联的第一网元的信息被从其他核心网的网元发送给了目标感知设备的第一网元，目标的第一网元发起感知流程，获取其他被选中的感知设备对选中地有源SRO在感知流程中获取的结果。
在本公开实施例中，步骤S2203、S2207、S2208可以以任何顺序、同步或者异步地发生。
步骤S2203、S2207、S2208中所涉及地感知流程，为有源SRO辅助地SRU、感知设备感知流程。
步骤S2209，目标感知设备的第一网元根据步骤S2201、S2203、S2207、S2208中获取的测量结果以及其他信息，决定感知设备的感知结果。
步骤S2210，目标感知设备的第一网元返回目标感知设备的感知结果给AMF。以及，目标感知设备的第一网元将目标感知设备的感知结果给GMLC或者其他核心网的网元。
实施例十一
图23是本公开实施例的基于SRU和无源SRO的通信感知原理示意图，如图23所示，某些已知位置、已知其特征的无源物体，也可能被引入成为无源SRO。对于能够感知到SRO的有源设备，可以将其作为SRU在核心网进行管理。第一网元可以向其他感知设备发送SRU/无源SRO相关的位置信息，以及SRU对该无源SRO的感知数据，使得其他感知设备能够根据测量结果和理想情况下的测量结果校准待校准的感知链路中感知设备的参数。
此时，无源SRO不再具有交互能力，SRO是完全来自第三方的信息，在核心网被注册，其相关的信息可以被核心网公开给SRU和其他感知设备，用来进行基于感知结果的校准。
图24是本公开实施例的基于SRU和无源SRO的通信感知的流程示意图，如图24所示，包括以下步骤：
步骤S2401，目标感知设备所关联的第一网元可能调动若干SRU和若干无源SRO进行测量(以及其他没有与目标感知设备关联的第一网元下的SRU和无源SRO)进行感知观测。
步骤S2402，目标感知设备所关联的AMF向待校准的感知设备所关联的第一网元发送感知请求。
步骤S2403，目标感知设备的第一网元触发感知设备启动感知流程，在这个流程中，第一网元决定使用SRU、无源SRO改善感知结果。
步骤S2404，目标感知设备的第一网元选取一个或者多个SRU来辅助目标感知设备进行感知。
步骤S2405，目标感知设备第一网元向其他可能的核心网的网元发起请求，请求调用其他第一网元关联的SRU来辅助目标感知设备进行感知。这一请求可能直接包含了希望辅助的SRU的ID信息，也可能包含了其他选取准则，包括并不限于某些TA、位置以及位置范围、小区ID，以模糊的协助其他核心网的网元能够决定采用哪些SRU来进行辅助。
步骤S2406，如果步骤S2405被执行，其他核心网的网元选取了一个或者多个SRU关联的第一网元，基于步骤S2405中提供的ID或者选取准则，并且给目标感知设备的第一网元发送回复。这个回复中包含了选取的其他SRU关联的第一网元的信息。
步骤S2407，如果步骤S2405和步骤S2406被执行，目标感知设备的第一网元发送一个请求给一个或者多个其他SRU\SRO关联的第一网元(这些第一网元在步骤S2406中被指示)。这个请求可能包含目标感知设备的任何ID信息，在步骤S2403中已经获得的任何感知结果和定位结果，也可能包含了一个调度SRU测量的时间窗。
步骤S2408，目标感知设备的第一网元发起感知流程，获取在步骤4中被选中的SRU在感知流程中进行测量获取的结果。这些感知结果可以包括并不限于以下内容：与无源SRO相关的感知测量结果，感知估计结果。以及，与无源SRO无关的其他感知测量结果，感知估计结果。以及，其他与感知业务无关的测量结果、估计结果。
在本公开实施例中，与无源SRO相关的感知测量结果，感知估计结果，这些结果包括并不限于：无源SRO相关的感知信号对应的信道估计结果、PDP谱、相位时延谱、RSRP、RSCP、RSRPP；无源SRO相关的感知信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)、微多普勒谱、微多普勒被检测出的模式的种类、微多普勒被检测出的模式的参数；以及上述所有的量相对于各自规定的参考值的差分值。
在本公开实施例中，与无源SRO无关的其他感知测量结果，感知估计结果，这些结果包括并不限于；与无源SRO无关的感知信号对应的信道估计结果、PDP谱、相位时延谱、RSRP、RSCP、RSRPP；与无源SRO无关的感知信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)、微多普勒谱、微多普勒被检测出的模式的种类、微多普勒被检测出的模式的参数；以及上述所有的量相对于各自规定的参考值的差分值。
在本公开实施例中，其他与感知业务无关的测量结果、估计结果，这些结果包括并不限于：SRU自身的位置；定位参考信号对应的信道估计结果，PDP谱、相位时延谱、RSRP、RSCP、RSRPP；定位信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、位置、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)；以及上述所有的量相对于各自规定的参考值的差分值。
步骤S2409，如果步骤S2405到步骤S2407被执行，其他SRU关联的第一网元的信息被从其他核心网的网元发送给了目标感知设备的第一网元，其他SRU关联的第一网元发起感知流程，获取其他被选中的SRU在感知流程中获取的结果。
在本公开实施例中，步骤S2403、S2408、S2409可以以任何顺序、同步或者异步地发生。
步骤S2410，如果步骤S2409被执行，其他SRU关联的第一网元会将步骤S2409中获取的测量结果的全部或者一部分，以及其他必要的辅助信息反馈给目标感知设备关联的第一网元。
步骤S2411，目标感知设备的第一网元根据步骤S2401、S2403、S2408、S2410中获取的测量结果以及其他信息，决定感知设备的感知结果。
步骤S2412，目标感知设备的第一网元返回目标感知设备的感知结果给AMF。以及，目标感知设备的第一网元将目标感知设备的感知结果给GMLC或者其他核心网的网元。
实施例十二
在本实施例中，基于无源的SRO，并将SRU和感知设备合并，因为这些设备本质上都是感知设备，都具有收或者发感知信号的能力，因此将其根据功能上合并为同样的网元。
图25是无源SRO辅助的SRU、感知设备的感知流程示意图，如图25所示，包括以下步骤：
步骤S2501，SRU/目标感知设备向第一网元传输感知能力。
在本公开实施例中，有的无源SRO的信息在其他感知设备、SRU所关联的第一网元之外的第一网元处被注册，因此感知设备、SRU可能向其他存储了SRO的第一网元请求第一网元的信息，这些可以包括并不限于无源SRO的注册信息、被感知相关的辅助信息、错误信息等。
在本公开实施例中，这些被感知相关的辅助信息包括并不限于：无源SRO自身的目标种类(例如楼宇、雕、桥梁等任何种类)、无源SRO自身的模型、无源SRO自身的尺寸大小、无源SRO自身的表面材质以及材质在表面的分布情况。无源SRO在某个参考系下的位置坐标(二维或者三维)、无源SRO在某个参考系下的姿态角(方位角、滚转角、俯仰角)、无源SRO在某个参考系下的旋转矩阵中的若干参数、无源SRO的速度模值(一维标量)，无源SRO的速度矢量(二维或者三维)。无源SRO相对于某个参考点的位置差分量、相对于某个参考点的距离、相对于某个参考点的传播时延、相对于多个参考点的到达时延差的TDOA、相对与某个参考点的俯仰角，相对于某个参考点的方位角、相对于某个参考点的波束方向，相对于某个参考点的速度、相对于某个参考点的多普勒频率、微多普勒模式、微多普勒模式/谱相关的参数。无源SRO自身的RCS信息。
在本公开实施例中，无源SRO自身的RCS信息，其形式可以是，但不限于以下几种：与无源SRO自身相关的RCS固定值；与无源SRO自身相关的RCS的随机分布；与无源SRO自身相关的RCS的确定性模型，除了和有源SRO自身属性相关外，这个模型可以与入射角(入射方位角、入射俯仰角)、出射角(出射方位角、出射俯仰角)、与感知设备的距离、极化方向有关；与无源SRO自身相关的RCS确定性模型以及随机分布共同构成的模型。
在本公开实施例中，目标感知设备、SRU关联的第一网元，获取本第一网元关联的SRO的SRO信息，这些信息包含并不限制于有源SRO的被感知相关的辅助信息。
步骤S2502，SRU/目标感知设备执行TS23.273中被定义的定位流程，通过位置估计结果以便第一网元能给出更精确的感知辅助数据。
步骤S2503，SRU/目标感知设备和第一网元进行辅助数据传输。
步骤S2504，SRU/目标感知设备和第一网元进行感知请求传输。
步骤S2505，SRU/目标感知设备对无源SRO进行感知测量。
步骤S2506，SRU/目标感知设备和第一网元进行感知测量结果和感知估计结果的传输。
在本公开实施例中，在以上流程的感知测量中，由于SRU、目标感知设备都有可能处于运动的过程中，因此一旦传输了SRU\感知设备的辅助信息，就会根据传输的时刻开始一个时间窗口，感知测量和上报不可以超过这个时间窗口。
在本公开实施例中，涉及的感知信息、辅助信息(先验信息)、误差校准信息、SRU(第一感知设备)的能力信息、有源和无源SRO(第二感知设备)的能力信息、SF(第一网元)的能力信息等的内容，可以参照上述不同的实施例的对应的内容，这里不再逐一赘述。
实施例十三
图26是本公开实施例的基于SRU的通信感知的原理示意图，如图26所示，核心网会直接将SRU的观测拿来进行校准。不再精细化的针对SRU的某些SRO进行校准，核心网不再提供核心网知晓的SRO的信息，完全依赖SRU的测量结果，和目标感知设备的测量结果校准某些感知链路中的感知参数。
图27是本公开实施例的基于SRU的通信感知的流程示意图，如图27所示，包括以下步骤：
步骤S2701，目标感知设备所关联的第一网元可能调动若干SRU进行测量(以及其他没有与目标感知设备关联的第一网元下的SRU)进行感知观测。
步骤S2702，目标感知设备所关联的AMF向待校准的感知设备所关联的第一网元发送感知请求。
步骤S2703，目标感知设备的第一网元触发感知设备启动感知流程，在这个流程中，第一网元决定使用SRU改善感知结果。
步骤S2704，目标感知设备的第一网元选取一个或者多个SRU(s)来辅助目标感知设备进行感知。
步骤S2705，目标感知设备第一网元向其他可能的核心网的网元发起请求，请求调用其他第一网元关联的SRU来辅助目标感知设备进行感知。这一请求可能直接包含了希望辅助的SRU的ID信息，也可能包含了其他选取准则，包括并不限于某些TA、位置以及位置范围、小区ID，以模糊的协助其他核心网的网元能够决定采用哪些SRU来进行辅助。
步骤S2706，如果步骤S2705被执行，其他核心网的网元选取了一个或者多个SRU关联的第一网元，基于步骤S2705中提供的ID或者选取准则，并且给目标感知设备的第一网元发送回复。这个回复中包含了选取的其他SRU关联的第一网元的信息。
步骤S2707，如果步骤S2705和S2706被执行，目标感知设备的第一网元发送一个请求给一个或者多个其他SRU关联的第一网元(这些第一网元在步骤S2706中被指示)。这个请求可能包含目标感知设备的任何ID信息，在步骤S2703中已经获得的任何感知结果和定位结果，也可能包含了一个调度SRU测量的时间窗。
步骤S2708，目标感知设备的第一网元发起感知流程，获取在步骤S2704中被选中的SRU在感知流程中进行测量获取的结果。
在本公开实施例中，这些感知结果可以包括并不限于以下内容：SRU的感知测量结果，感知估计结果。以及，其他与感知业务无关的测量结果、估计结果。
在本公开实施例中，SRU的感知测量结果，感知估计结果，这些结果包括并不限于：SRU感知信号对应的信道估计结果、PDP谱、相位时延谱、RSRP、RSCP、RSRPP。SRU感知信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)、微多普勒谱、微多普勒被检测出的模式的种类、微多普勒被检测出的模式的参数；以及上述所有的量相对于各自规定的参考值的差分值。
在本公开实施例中，其他与感知业务无关的测量结果、估计结果，这些结果包括并不限于：SRU自身的位置。定位参考信号对应的信道估计结果，PDP谱、相位时延谱、RSRP、RSCP、RSRPP。定位信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、位置、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)；以及上述所有的量相对于各自规定的参考值的差分值。
步骤S2709，如果步骤S2705到步骤S2707被执行，其他SRU关联的第一网元的信息被从其他核心网的网元发送给了目标感知设备的第一网元的网元，其他SRU关联的第一网元发起感知流程，获取其他被选中的SRU在感知流程中获取的结果。
在本公开实施例中，步骤S2703、S2708、S2709可以以任何顺序、同步或者异步地发生。
步骤S2710，如果步骤S2709被执行，其他SRU关联的第一网元会将步骤S2709中获取的测量结果的全部或者一部分，以及其他必要的辅助信息反馈给目标感知设备关联的第一网元。
步骤S2711，目标感知设备的第一网元根据步骤S2701、S2703、S2708、S2710中获取的测量结果以及其他信息，决定感知设备的感知结果。
步骤S2712，目标感知设备的第一网元返回目标感知设备的感知结果给AMF。以及，目标感知设备的第一网元将目标感知设备的感知结果给GMLC或者其他核心网的网元。
实施例十四
图28是本公开实施例的基于无源SRO的通信感知的原理示意图，如图28所示，核心网会提前注册某些已知的固定位置的环境目标作为SRO，并将这些SRO的位置和相应的一些感知辅助数据发送给周围的感知设备，用以进行校准。目标感知设备可以根据实际观测得到的感知数据和SRO和自身的理想的感知结果，来校准当前感知链路中的某些感知参数。
图29是本公开实施例的基于无源SRO的通信感知的流程示意图，如图29所示，包括以下步骤：
步骤S2901，目标感知设备所关联的AMF向待校准的感知设备所关联的第一网元发送感知请求。
步骤S2902，目标感知设备的第一网元触发感知设备启动感知流程，在这个流程中，第一网元决定使用无源SRO改善感知结果。
步骤S2903，目标感知设备的第一网元选取一个或者多个SRO来辅助目标感知设备进行感知。
步骤S2904，目标感知设备第一网元向其他可能的核心网的网元发起请求，请求调用其他第一网元关联的无源SRO来辅助目标感知设备进行感知。这一请求可能直接包含了希望辅助的SRO的ID信息，也可能包含了其他选取准则，包括并不限于某些TA、位置以及位置范围、小区ID，以模糊的协助其他核心网的网元能够决定采用那些无源SRO来进行辅助。
步骤S2905，如果步骤S2904被执行，其他核心网的网元选取了一个或者多个无源SRO关联的第一网元，基于步骤S2904中提供的ID或者选取准则，并且给目标感知设备的第一网元发送回复。这个回复中包含了选区的其他无源SRO关联的第一网元的信息。
步骤S2906，目标感知设备的第一网元发起感知流程，获取在步骤S2903、S2905中被选中的无源SRO通过测量获取的结果。
在本公开实施例中，这些感知结果可以包括并不限于：与无源SRO相关的感知测量结果，感知估计结果。以及，与无源SRO无关的其他感知测量结果，感知估计结果。以及，其他与感知业务无关的测量结果、估计结果。
在本公开实施例中，与无源SRO相关的感知测量结果，感知估计结果，这些结果包括并不限于：无源SRO相关的感知信号对应的信道估计结果、PDP谱、相位时延谱、RSRP、RSCP、RSRPP。无源SRO相关的感知信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)、微多普勒谱、微多普勒被检测出的模式的种类、微多普勒被检测出的模式的参数；以及上述所有的量相对于各自规定的参考值的差分值。
在本公开实施例中，与无源SRO无关的其他感知测量结果，感知估计结果，这些结果包括并不限于：无源SRO无关的感知信号对应的信道估计结果、PDP谱、相位时延谱、RSRP、RSCP、RSRPP。与无源SRO无关的感知信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)、微多普勒谱、微多普勒被检测出的模式的种类、微多普勒被检测出的模式的参数；以及上述所有的量相对于各自规定的参考值的差分值。
在本公开实施例中，其他与感知业务无关的测量结果、估计结果，这些结果包括并不限于：感知设备自身的位置。定位参考信号对应的信道估计结果，PDP谱、相位时延谱、RSRP、RSCP、RSRPP。定位信号对应的信道中的一条或者多条或者全部感知径各自的能量或者能量的组合(归一化或者未归一化)、位置、距离、传播时延TOA、到达时延差TDOA、位置(2维或者3维)、俯仰角、方位角、波束方向、多普勒频率、速度(一维、二维、或者三维)；以及上述所有的量相对于各自规定的参考值的差分值。
在本公开实施例中，步骤S2902、S2906可以以任何顺序、同步或者异步地发生。
步骤S2907，目标感知设备的第一网元根据步骤2、6中获取的测量结果以及其他信息，决定感知设备的感知结果。
步骤S2908，目标感知设备的第一网元返回目标感知设备的感知结果给AMF。以及，目标感知设备的第一网元将目标感知设备的感知结果给GMLC或者其他核心网的网元。
在本公开实施例中，涉及的感知信息、辅助信息(先验信息)、误差校准信息、SRU(第一感知设备)的能力信息、有源和无源SRO(第二感知设备)的能力信息、SF(第一网元)的能力信息等的内容，可以参照上述不同的实施例的对应的内容，这里不再逐一赘述。
在本公开实施例中，涉及的所有核心网调度的流程，以及相关子流程，以及子流程的任何一条信令，都可能以任意顺序、同步或者异步地触发，以形成一个综合感知流程。
以上所述仅为本公开的优选实施例而已，并不用于限制本公开实施例，对于本领域的技术人员来说，本公开实施例可以有各种更改和变化。凡在本公开实施例的原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开实施例的保护范围之内。

Claims (48)

  1. 一种通信感知方法，包括：
    核心网的第一网元获取感知设备的感知信息；
    所述第一网元根据所述感知信息，获取目标感知设备的感知结果。
  2. 根据权利要求1所述的方法，其中，所述感知设备包括：第一感知设备和/或第二感知设备。
  3. 根据权利要求1所述的方法，其中，还包括：
    所述第一网元获取所述目标感知设备的感知信息；
    所述第一网元根据所述感知设备的所述感知信息和所述目标感知设备的所述感知信息，获取所述目标感知设备的所述感知结果。
  4. 根据权利要求1所述的方法，其中，所述感知信息包括：感知测量信息和感知估计信息。
  5. 根据权利要求4所述的方法，其中，所述感知测量信息至少包括以下之一：
    信道估计结果；功率时延分布谱PDP；相位时延谱；参考信号接收功率RSRP；接收信号码功率RSCP；每资源块参考信号接收功率RSRPP。
  6. 根据权利要求4所述的方法，其中，所述感知估计信息包括所述感知信息的传输信道的感知径的传输参数信息的至少一种。
  7. 根据权利要求2所述的方法，其中，所述第二感知设备设置有感知先验信息。
  8. 根据权利要求7所述的方法，其中，所述感知先验信息至少包括以下之一：
    所述第二感知设备的种类信息；所述第二感知设备的物理参数信息；所述第二感知设备的位置信息；所述第二感知设备的相对位置信息；所述第二感知设备的雷达散射截面RCS信息。
  9. 根据权利要求2所述的方法，其中，所述第二感知设备包括有源的第二感知设备和无源的第二感知设备。
  10. 根据权利要求1所述的方法，其中，在所述第一网元获取感知设备的感知信息之前，所述方法还包括：
    所述第一网元向所述感知设备发送关联请求信息；
    所述第一网元接收来自所述感知设备的关联反馈信息。
  11. 根据权利要求10所述的方法，其中，所述关联请求信息至少包括以下之一：
    所述第一网元的身份标识ID信息；关联关系的状态信息；关联关系的更新周期；关联关系的更新条件。
  12. 根据权利要求2所述的方法，其中，还包括：
    所述第一网元分别向所述第一感知设备和所述第二感知设备发送耦合请求信息，其中，所述耦合请求信息用于指示所述第一感知设备和所述第二感知设备建立耦合会话；
    所述第一网元接收来自所述第一感知设备或者所述第二感知设备的耦合反馈信息。
  13. 根据权利要求12所述的方法，其中，所述耦合请求信息至少包括以下之一：
    所述第一网元的身份标识ID信息；所述耦合会话的ID信息；所述第一感知设备的ID信息；所述第二感知设备的ID信息；所述耦合会话的状态信息；所述耦合会话的更新周期；所述耦合会话的更新条件。
  14. 根据权利要求2所述的方法，其中，还包括：
    所述第一网元向所述第一感知设备和/或所述第二感知设备发送关联解除信息；
    所述第一网元接收来自所述第一感知设备和/或所述第二感知设备的关联解除反馈信息。
  15. 根据权利要求14所述的方法，其中，所述关联解除信息至少包括以下之一：
    所述第一网元的身份标识ID信息；更新的第一网元的ID信息。
  16. 根据权利要求1所述的方法，其中，在所述第一网元获取感知设备的感知信息之前，所述方法还包括：
    所述第一网元向所述感知设备发送调用请求信息，其中，所述感知设备与当前的所述第一网元关联，或者所述感知设备与除当前的所述第一网元之外的第一网元关联。
  17. 根据权利要求16所述的方法，其中，所述调用请求信息至少包括以下之一：
    当前的所述第一网元需要的所述感知设备的ID信息；当前的所述第一网元的感知设备选择条件信息。
  18. 根据权利要求17所述的方法，其中，所述感知设备选择条件信息至少包括以下之一：
    感知设备的跟踪区域TA信息；所述感知设备的位置信息；所述感知设备的小区ID信息。
  19. 根据权利要求16所述的方法，其中，还包括：
    所述第一网元向除自身之外的其他所述第一网元发送关联调用请求信息。
  20. 根据权利要求19所述的方法，其中，所述关联调用请求信息至少包括以下之一：
    所述目标感知设备的ID信息；所述感知信息；所述关联调用请求信息的预设时间窗口信息。
  21. 根据权利要求1所述的方法，其中，还包括：
    所述第一网元向所述感知设备发送误差校准信息。
  22. 根据权利要求1所述的方法，其中，还包括：
    所述第一网元向目标感知设备发送误差校准信息。
  23. 根据权利要求21或22任一所述的方法，其中，所述误差校准信息至少包括以下之一：
    感知设备的感知测量结果误差；所述感知设备的感知估计结果误差；所述感知设备的时钟误差；所述感知设备的延迟信息；所述感知设备的采样率匹配误差；所述感知设备的电磁干扰误差。
  24. 根据权利要求3所述的方法，其中，
    所述目标感知设备与所述感知设备中的第一感知设备为同一感知设备或者同一组感知设备；
    或者，所述目标感知设备与所述第一感知设备是不同的感知设备。
  25. 一种通信感知方法，包括：
    核心网的第一网元获取第二感知设备的感知信息；
    所述第一网元根据所述感知信息获取目标感知设备的感知结果。
  26. 根据权利要求25所述的方法，其中，所述第二感知设备设置有感知先验信息。
  27. 根据权利要求25所述的方法，其中，还包括：
    所述第一网元获取所述目标感知设备的感知信息；
    所述第一网元根据所述第二感知设备的所述感知信息和所述目标感知设备的所述感知信息，获取所述目标感知设备的所述感知结果。
  28. 根据权利要求25所述的方法，其中，所述第二感知设备包括有源的第二感知设备和无源的第二感知设备。
  29. 根据权利要求28所述的方法，其中，所述第一网元获取所述第二感知设备的所述感知信息，包括：
    在所述第二感知设备为有源的第二感知设备的情况下，所述第一网元接收来自所述第二感知设备的所述感知信息，或者所述第一网元接收来自除自身之外的其他第一网元的所述感知信息。
  30. 根据权利要求28所述的方法，其中，所述第一网元获取所述第二感知设备的所述感知信息，包括：
    在所述第二感知设备为无源的第二感知设备的情况下，所述第一网元接收来自传输接收点TRP的所述感知信息，其中，所述TRP注册有至少一个所述第二感知设备。
  31. 根据权利要求25所述的方法，其中，所述感知信息包括：感知测量信息和感知估计信息。
  32. 根据权利要求31所述的方法，其中，所述感知测量信息至少包括以下之一：
    信道估计结果；功率时延分布谱PDP；相位时延谱；参考信号接收功率RSRP；接收信号码功率RSCP；每资源块参考信号接收功率RSRPP。
  33. 根据权利要求31所述的方法，其中，所述感知估计信息包括所述感知信息的传输信道的感知径的传输参数信息的至少一种。
  34. 根据权利要求26所述的方法，其中，所述感知先验信息至少包括以下之一：
    所述第二感知设备的种类信息；所述第二感知设备的物理参数信息；所述第二感知设备的位置信息；所述第二感知设备的相对位置信息；所述第二感知设备的雷达散射截面RCS信息。
  35. 根据权利要求25所述的方法，其中，还包括：
    所述第一网元向除自身之外的其他所述第一网元发送调用请求信息。
  36. 根据权利要求35所述的方法，其中，所述调用请求信息至少包括以下之一：
    当前的所述第一网元需要的所述第二感知设备的ID信息；当前的所述第一网元的感知设备选择条件信息。
  37. 根据权利要求36所述的方法，其中，所述感知设备选择条件信息至少包括以下之一：
    所述第二感知设备的跟踪区域TA信息；所述第二感知设备的位置信息；所述第二感知设备的小区ID信息。
  38. 一种通信感知方法，包括：
    核心网的第一网元获取第一感知设备的感知信息；
    所述第一网元根据所述感知信息获取目标感知设备的感知结果。
  39. 根据权利要求38所述的方法，其中，还包括：
    所述第一网元获取所述目标感知设备的感知信息；
    所述第一网元根据所述第一感知设备的所述感知信息和所述目标感知设备的所述感知信息，获取所述目标感知设备的所述感知结果。
  40. 根据权利要求39所述的方法，其中，所述感知信息包括：感知测量信息和感知估计信息。
  41. 根据权利要求40所述的方法，其中，所述感知测量信息至少包括以下之一：
    信道估计结果；功率时延分布谱PDP；相位时延谱；参考信号接收功率RSRP；接收信号码功率RSCP；每资源块参考信号接收功率RSRPP。
  42. 根据权利要求40所述的方法，其中，所述感知估计信息包括所述感知信息的传输信道的感知径的传输参数信息的至少一种。
  43. 根据权利要38所述的方法，其中，还包括：
    所述第一网元向除自身之外的其他所述第一网元发送调用请求信息。
  44. 根据权利要求43所述的方法，其中，所述调用请求信息至少包括以下之一：
    当前的所述第一网元需要的所述第一感知设备的ID信息；当前的所述第一网元的感知设备选择条件信息。
  45. 根据权利要求44所述的方法，其中，所述感知设备选择条件信息至少包括以下之一：
    所述第一感知设备的跟踪区域TA信息；所述第一感知设备的位置信息；所述第一感知设备的小区ID信息。
  46. 一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，其中，所述计算机程序被处理器执行时实现所述权利要求1至45任一项中所述的方法。
  47. 一种电子装置，包括存储器、处理器以及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现所述权利要求1至45任一项中所述的方法。
  48. 一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现所述权利要求1至45任一项中所述的方法。
PCT/CN2025/076269 2024-07-05 2025-02-07 通信感知方法、电子装置和计算机程序产品 Pending WO2026007403A1 (zh)

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