Communication and sensing integrated channel modeling method and device

Abstract

The embodiment of the invention provides a communication and sensing integrated channel modeling method and device, and relates to the technical field of communication, and the method comprises the steps: determining a target cluster of at least one target, the target comprises at least one of the following items: a sensing target, an environment object, and clutter interference, the target cluster comprises at least one of the following items: a sensing target cluster, an environment object cluster and a clutter interference cluster, and the sensing target cluster is a cluster signal that a sensing signal reaches a sensing receiving end from a sensing sending end through single hop or two hops of a sensing target; the environment object cluster is a cluster signal that the sensing signal reaches the sensing receiving end from the sensing sending end through environment object single hop, and the clutter interference cluster is a cluster signal that the sensing signal reaches the sensing receiving end in a multi-hop manner; wherein the environmental objects are uniformly distributed in a preset range of the sensing target; and based on each target cluster, constructing a communication and sensing integrated channel.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a method and apparatus for integrated communication and sensing channel modeling. Background Technology

[0002] Communication channel modeling focuses on the effects of signal propagation through the environment on the communication signal's time delay, power, and Doppler effect. In contrast, sensing channel modeling focuses on the information to be sensed carried by the sensing signal after it is reflected from the sensing target, as well as the clutter interference in the environment that may affect target perception. Therefore, sensing channel modeling requires modeling both the sensing target's reflected signal and the clutter interference signal.

[0003] However, existing communication system channel modeling only applies to communication functions, not sensing functions, while future 5G-A and 6G technologies have a significant demand for integrated communication and sensing. Therefore, how to construct an integrated communication and sensing channel is a pressing technical problem that needs to be solved. Summary of the Invention

[0004] This application provides a method and apparatus for modeling an integrated communication and sensing channel, which can construct an integrated communication and sensing channel.

[0005] In a first aspect, embodiments of this application provide a method for integrated sensing and communication channel modeling, the method comprising:

[0006] A target cluster is determined for at least one target, the target including at least one of the following: a sensing target, an environmental object, and clutter interference; the target cluster includes at least one of the following: a sensing target cluster, an environmental object cluster, and a clutter interference cluster; the sensing target cluster is a cluster signal from the sensing transmitter to the sensing receiver via the sensing target in a single hop or two hops; the environmental object cluster is a cluster signal from the sensing transmitter to the sensing receiver via the environmental object in a single hop; and the clutter interference cluster is a cluster signal from the sensing signal to the sensing receiver via multiple hops; wherein each of the environmental objects is uniformly distributed within a preset range of the sensing target;

[0007] Based on the target clusters, an integrated sensing channel is constructed.

[0008] Optionally, constructing an integrated sensing channel based on each of the target clusters includes:

[0009] Based on the state of each target cluster and / or each target cluster, at least one of the relative cluster delay of each target cluster relative to the base delay and the target cluster power of each target cluster is determined; the base delay includes the minimum value between the cluster delay of each sensing target cluster and / or each environmental object cluster and the cluster delay of each clutter interference cluster.

[0010] The channel coefficients are determined based on at least one of the relative cluster delay and the target cluster power;

[0011] Based on the aforementioned channel coefficients, an integrated sensing channel is constructed.

[0012] Optionally, based on the state of each target cluster and / or each target cluster, the relative cluster delay relative to the base delay is determined, including:

[0013] Based on the state of each of the said sensing target clusters and / or each of the said environmental object clusters, determine the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters;

[0014] Based on each of the aforementioned clutter interference clusters, the cluster delay of each of the aforementioned clutter interference clusters is determined using statistical methods;

[0015] The basic delay is determined based on the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters, and the cluster delay of each of the said clutter interference clusters;

[0016] Based on the base delay, the relative cluster delay of each of the sensing target clusters and / or each of the environmental object clusters relative to the base delay, and the relative cluster delay of each of the clutter interference clusters relative to the base delay are determined respectively.

[0017] Optionally, determining the cluster delay of each of the perceived target clusters and / or each of the environmental object clusters based on their states includes:

[0018] When the state of each of the sensing target clusters and / or each of the environmental object clusters is in the LOS state, the cluster delay parameter of each of the sensing target clusters and / or each of the environmental object clusters is determined based on the coordinate information of each of the sensing targets and / or each of the environmental objects.

[0019] The cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters is determined based on the cluster delay parameters of each of the said sensing target clusters and / or each of the said environmental object clusters.

[0020] Optionally, the method further includes:

[0021] When the state of each of the sensing target clusters is non-line-of-sight (NLOS) and at least one of the sensing target clusters degenerates into a clutter interference cluster, the statistical method is used to determine the cluster delay of all clutter interference clusters.

[0022] Optionally, determining the cluster delay of all clutter interference clusters using the statistical method includes:

[0023] Using the statistical method described above, the cluster delay of N clutter interference clusters is randomly generated, where N is an integer greater than or equal to 0.

[0024] Optionally, the method further includes:

[0025] When the state of each of the sensing target clusters is NLOS, the state of the segment of sensing target clusters that is closest to the sensing transmitter or sensing receiver in each of the sensing target clusters is modeled as LOS, and the cluster delay parameter of the segment of sensing target cluster is determined based on the coordinate information of the sensing target corresponding to the segment of sensing target cluster.

[0026] For each of the aforementioned sensing target clusters, except for the aforementioned sensing target cluster, a segment of sensing target cluster is subjected to mirror reflection relative to any environmental object around the sensing target corresponding to the aforementioned sensing target cluster, and the cluster delay parameter of the other segment of sensing target cluster is determined.

[0027] Based on the cluster delay parameters of one segment of the sensing target cluster and the cluster delay parameters of the other segment of the sensing target cluster, the cluster delay of each of the sensing target clusters is determined.

[0028] Optionally, based on each of the target clusters, determining the target cluster power of each target cluster includes:

[0029] The path loss corresponding to the basic time delay, the path loss corresponding to the cluster time delay of each of the sensing target clusters and / or each of the environmental object clusters, the cluster power of each of the sensing target clusters and / or each of the environmental object clusters, and the cluster power of each of the clutter interference clusters are determined respectively.

[0030] Based on the path loss corresponding to the basic latency and the path loss corresponding to the cluster latency of each of the sensing target clusters and / or each of the environmental object clusters, the power difference between the path loss corresponding to the basic latency and the path loss corresponding to the cluster latency of each of the sensing target clusters and / or each of the environmental object clusters is determined.

[0031] Based on the power difference and the cluster power corresponding to the basic time delay, the cluster power of each of the sensing target clusters and / or each of the environmental object clusters is corrected to obtain the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters.

[0032] Based on the cluster power of each of the clutter interference clusters, the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters, is determined.

[0033] Optionally, determining the target cluster power of each of the sensing target clusters and / or the environmental object clusters, or each of the clutter interference clusters, based on the cluster power of each of the clutter interference clusters and the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, includes:

[0034] Remove the target clutter interference cluster from each of the clutter interference clusters to obtain the remaining clutter interference clusters; the target clutter interference cluster is the clutter interference cluster with the smallest power difference between its cluster power and the cluster power of each of the sensing target clusters and / or each of the environmental object clusters, which is less than a preset threshold and has the smallest time delay difference.

[0035] Based on the cluster power of the remaining clutter interference cluster and the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters, is determined.

[0036] Optionally, constructing the integrated sensing channel based on the channel coefficients includes:

[0037] Based on the channel coefficients and the path loss corresponding to the basic delay, an integrated sensing channel is constructed.

[0038] Optionally, the state of the sensing target cluster is determined based on the LOS probability of the sensing target, the state of the environmental object cluster is determined based on the LOS probability of the environmental object, and the state of the clutter interference cluster is determined based on the LOS probability of the sensing transmitter and / or sensing receiver.

[0039] Optionally, the LOS probability of the perceived target includes at least one of the following:

[0040] The LOS probability is obtained by correcting the perceived target cluster based on the probability model;

[0041] The LOS probability of one segment of the sensing target cluster is a first preset value, and the LOS probability of the other segment of the sensing target cluster is obtained based on a probability model correction.

[0042] Optionally, the LOS probability of the sensing transmitter and / or sensing receiver is determined based on at least one of the following:

[0043] Determined based on the second preset value;

[0044] Determined based on Rice factor.

[0045] Secondly, embodiments of this application also provide an integrated sensing channel modeling device, including a memory, a transceiver, and a processor, wherein:

[0046] A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations:

[0047] A target cluster is determined for at least one target, the target including at least one of the following: a sensing target, an environmental object, and clutter interference; the target cluster includes at least one of the following: a sensing target cluster, an environmental object cluster, and a clutter interference cluster; the sensing target cluster is a cluster signal from the sensing transmitter to the sensing receiver via the sensing target in a single hop or two hops; the environmental object cluster is a cluster signal from the sensing transmitter to the sensing receiver via the environmental object in a single hop; and the clutter interference cluster is a cluster signal from the sensing signal to the sensing receiver via multiple hops; wherein each of the environmental objects is uniformly distributed within a preset range of the sensing target;

[0048] Based on the target clusters, an integrated sensing channel is constructed.

[0049] Optionally, constructing an integrated sensing channel based on each of the target clusters includes:

[0050] Based on the state of each target cluster and / or each target cluster, at least one of the relative cluster delay of each target cluster relative to the base delay and the target cluster power of each target cluster is determined; the base delay includes the minimum value between the cluster delay of each sensing target cluster and / or each environmental object cluster and the cluster delay of each clutter interference cluster.

[0051] The channel coefficients are determined based on at least one of the relative cluster delay and the target cluster power;

[0052] Based on the aforementioned channel coefficients, an integrated sensing channel is constructed.

[0053] Optionally, based on the state of each target cluster and / or each target cluster, the relative cluster delay relative to the base delay is determined, including:

[0054] Based on the state of each of the said sensing target clusters and / or each of the said environmental object clusters, determine the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters;

[0055] Based on each of the aforementioned clutter interference clusters, the cluster delay of each of the aforementioned clutter interference clusters is determined using statistical methods;

[0056] The basic delay is determined based on the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters, and the cluster delay of each of the said clutter interference clusters;

[0057] Based on the base delay, the relative cluster delay of each of the sensing target clusters and / or each of the environmental object clusters relative to the base delay, and the relative cluster delay of each of the clutter interference clusters relative to the base delay are determined respectively.

[0058] Optionally, determining the cluster delay of each of the perceived target clusters and / or each of the environmental object clusters based on their states includes:

[0059] When the state of each of the sensing target clusters and / or each of the environmental object clusters is in the LOS state, the cluster delay parameter of each of the sensing target clusters and / or each of the environmental object clusters is determined based on the coordinate information of each of the sensing targets and / or each of the environmental objects.

[0060] The cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters is determined based on the cluster delay parameters of each of the said sensing target clusters and / or each of the said environmental object clusters.

[0061] Optionally, the operation further includes:

[0062] When the state of each of the sensing target clusters is non-line-of-sight (NLOS) and at least one of the sensing target clusters degenerates into a clutter interference cluster, the statistical method is used to determine the cluster delay of all clutter interference clusters.

[0063] Optionally, determining the cluster delay of all clutter interference clusters using the statistical method includes:

[0064] Using the statistical method described above, the cluster delay of N clutter interference clusters is randomly generated, where N is an integer greater than or equal to 0.

[0065] Optionally, the operation further includes:

[0066] When the state of each of the sensing target clusters is NLOS, the state of the segment of sensing target clusters that is closest to the sensing transmitter or sensing receiver in each of the sensing target clusters is modeled as LOS, and the cluster delay parameter of the segment of sensing target cluster is determined based on the coordinate information of the sensing target corresponding to the segment of sensing target cluster.

[0067] For each of the aforementioned sensing target clusters, except for the aforementioned sensing target cluster, a segment of sensing target cluster is subjected to mirror reflection relative to any environmental object around the sensing target corresponding to the aforementioned sensing target cluster, and the cluster delay parameter of the other segment of sensing target cluster is determined.

[0068] Based on the cluster delay parameters of one segment of the sensing target cluster and the cluster delay parameters of the other segment of the sensing target cluster, the cluster delay of each of the sensing target clusters is determined.

[0069] Optionally, based on each of the target clusters, determining the target cluster power of each target cluster includes:

[0070] The path loss corresponding to the basic time delay, the path loss corresponding to the cluster time delay of each of the sensing target clusters and / or each of the environmental object clusters, the cluster power of each of the sensing target clusters and / or each of the environmental object clusters, and the cluster power of each of the clutter interference clusters are determined respectively.

[0071] Based on the path loss corresponding to the basic latency and the path loss corresponding to the cluster latency of each of the sensing target clusters and / or each of the environmental object clusters, the power difference between the path loss corresponding to the basic latency and the path loss corresponding to the cluster latency of each of the sensing target clusters and / or each of the environmental object clusters is determined.

[0072] Based on the power difference and the cluster power corresponding to the basic time delay, the cluster power of each of the sensing target clusters and / or each of the environmental object clusters is corrected to obtain the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters.

[0073] Based on the cluster power of each of the clutter interference clusters, the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters, is determined.

[0074] Optionally, determining the target cluster power of each of the sensing target clusters and / or the environmental object clusters, or each of the clutter interference clusters, based on the cluster power of each of the clutter interference clusters and the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, includes:

[0075] Remove the target clutter interference cluster from each of the clutter interference clusters to obtain the remaining clutter interference clusters; the target clutter interference cluster is the clutter interference cluster with the smallest power difference between its cluster power and the cluster power of each of the sensing target clusters and / or each of the environmental object clusters, which is less than a preset threshold and has the smallest time delay difference.

[0076] Based on the cluster power of the remaining clutter interference cluster and the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters, is determined.

[0077] Optionally, based on the channel coefficients, an integrated sensing channel is constructed:

[0078] Based on the channel coefficients and the path loss corresponding to the basic delay, an integrated sensing channel is constructed.

[0079] Optionally, the state of the sensing target cluster is determined based on the LOS probability of the sensing target, the state of the environmental object cluster is determined based on the LOS probability of the environmental object, and the state of the clutter interference cluster is determined based on the LOS probability of the sensing transmitter and / or sensing receiver.

[0080] Optionally, the LOS probability of the perceived target includes at least one of the following:

[0081] The LOS probability is obtained by correcting the perceived target cluster based on the probability model;

[0082] The LOS probability of one segment of the sensing target cluster is a first preset value, and the LOS probability of the other segment of the sensing target cluster is obtained based on a probability model correction.

[0083] Optionally, the LOS probability of the sensing transmitter and / or sensing receiver is determined based on at least one of the following:

[0084] Determined based on the second preset value;

[0085] Determined based on Rice factor.

[0086] Thirdly, embodiments of this application also provide an integrated sensing channel modeling apparatus, the apparatus comprising:

[0087] A first determining module is used to determine a target cluster of at least one target, wherein the target includes at least one of the following: a sensing target, an environmental object, and clutter interference; the target cluster includes at least one of the following: a sensing target cluster, an environmental object cluster, and a clutter interference cluster; wherein the sensing target cluster is a cluster signal of a sensing signal arriving at a sensing receiver from a sensing transmitter via the sensing target in a single hop or two hops; the environmental object cluster is a cluster signal of a sensing signal arriving at the sensing receiver from the sensing transmitter via the environmental object in a single hop; and the clutter interference cluster is a cluster signal of a sensing signal arriving at the sensing receiver in multiple hops; wherein each of the environmental objects is uniformly distributed within a preset range of the sensing target;

[0088] The module is used to construct an integrated sensing channel based on each of the target clusters.

[0089] Optionally, the building module is specifically used for:

[0090] Based on the state of each target cluster and / or each target cluster, at least one of the relative cluster delay of each target cluster relative to the base delay and the target cluster power of each target cluster is determined; the base delay includes the minimum value between the cluster delay of each sensing target cluster and / or each environmental object cluster and the cluster delay of each clutter interference cluster.

[0091] The channel coefficients are determined based on at least one of the relative cluster delay and the target cluster power;

[0092] Based on the aforementioned channel coefficients, an integrated sensing channel is constructed.

[0093] Optionally, the building module is further configured to:

[0094] Based on the state of each of the said sensing target clusters and / or each of the said environmental object clusters, determine the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters;

[0095] Based on each of the aforementioned clutter interference clusters, the cluster delay of each of the aforementioned clutter interference clusters is determined using statistical methods;

[0096] The basic delay is determined based on the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters, and the cluster delay of each of the said clutter interference clusters;

[0097] Based on the base delay, the relative cluster delay of each of the sensing target clusters and / or each of the environmental object clusters relative to the base delay, and the relative cluster delay of each of the clutter interference clusters relative to the base delay are determined respectively.

[0098] Optionally, the building module is further configured to:

[0099] When the state of each of the sensing target clusters and / or each of the environmental object clusters is in the LOS state, the cluster delay parameter of each of the sensing target clusters and / or each of the environmental object clusters is determined based on the coordinate information of each of the sensing targets and / or each of the environmental objects.

[0100] The cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters is determined based on the cluster delay parameters of each of the said sensing target clusters and / or each of the said environmental object clusters.

[0101] Optionally, the device further includes:

[0102] The second determining module is used to determine the cluster delay of all clutter clusters by means of the statistical method when the state of each of the sensing target clusters is non-line-of-sight (NLOS) and at least one of the sensing target clusters degenerates into a clutter interference cluster.

[0103] Optionally, the second determining module is further configured to:

[0104] Using the statistical method described above, the cluster delay of N clutter interference clusters is randomly generated, where N is an integer greater than or equal to 0.

[0105] Optionally, the device further includes:

[0106] The modeling module is used to model the state of the segment of the sensing target cluster closest to the sensing transmitter or sensing receiver as the LOS state when the state of each sensing target cluster is NLOS state, and to determine the cluster delay parameter of the segment of the sensing target cluster based on the coordinate information of the sensing target corresponding to the segment of the sensing target cluster.

[0107] The mirror reflection module is used to perform mirror reflection on any environmental object around the sensing target corresponding to the sensing target in each of the sensing target clusters, except for the first segment of the sensing target cluster; and to determine the cluster delay parameter of the other segment of the sensing target cluster.

[0108] The third determining module is used to determine the cluster delay of each of the sensing target clusters based on the cluster delay parameters of the first segment of the sensing target cluster and the cluster delay parameters of the other segment of the sensing target cluster.

[0109] Optionally, the building module is further configured to:

[0110] The path loss corresponding to the basic time delay, the path loss corresponding to the cluster time delay of each of the sensing target clusters and / or each of the environmental object clusters, the cluster power of each of the sensing target clusters and / or each of the environmental object clusters, and the cluster power of each of the clutter interference clusters are determined respectively.

[0111] Based on the path loss corresponding to the basic latency and the path loss corresponding to the cluster latency of each of the sensing target clusters and / or each of the environmental object clusters, the power difference between the path loss corresponding to the basic latency and the path loss corresponding to the cluster latency of each of the sensing target clusters and / or each of the environmental object clusters is determined.

[0112] Based on the power difference and the cluster power corresponding to the basic time delay, the cluster power of each of the sensing target clusters and / or each of the environmental object clusters is corrected to obtain the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters.

[0113] Based on the cluster power of each of the clutter interference clusters, the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters, is determined.

[0114] Optionally, the building module is further configured to:

[0115] Remove the target clutter interference cluster from each of the clutter interference clusters to obtain the remaining clutter interference clusters; the target clutter interference cluster is the clutter interference cluster with the smallest power difference between its cluster power and the cluster power of each of the sensing target clusters and / or each of the environmental object clusters, which is less than a preset threshold and has the smallest time delay difference.

[0116] Based on the cluster power of the remaining clutter interference cluster and the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters, is determined.

[0117] Optionally, the building module is further configured to:

[0118] Based on the channel coefficients and the path loss corresponding to the basic delay, an integrated sensing channel is constructed.

[0119] Optionally, the state of the sensing target cluster is determined based on the LOS probability of the sensing target, the state of the environmental object cluster is determined based on the LOS probability of the environmental object, and the state of the clutter interference cluster is determined based on the LOS probability of the sensing transmitter and / or sensing receiver.

[0120] Optionally, the LOS probability of the perceived target includes at least one of the following:

[0121] The LOS probability is obtained by correcting the perceived target cluster based on the probability model;

[0122] The LOS probability of one segment of the sensing target cluster is a first preset value, and the LOS probability of the other segment of the sensing target cluster is obtained based on a probability model correction.

[0123] Optionally, the LOS probability of the sensing transmitter and / or sensing receiver is determined based on at least one of the following:

[0124] Determined based on the second preset value;

[0125] Determined based on Rice factor.

[0126] Fourthly, embodiments of this application also provide a processor-readable storage medium storing a computer program for causing the processor to execute the integrated sensing channel modeling method described in the first aspect above.

[0127] The sensing-integrated channel modeling method and apparatus provided in this application defines at least one target cluster. The target includes at least one of the following: sensing target, environmental object, and clutter interference. The target cluster includes at least one of the following: sensing target cluster, environmental object cluster, and clutter interference cluster. The sensing target cluster is a cluster signal from the sensing transmitter to the sensing receiver via a single hop or two hops through the sensing target. The environmental object cluster is a cluster signal from the sensing transmitter to the sensing receiver via a single hop through the environmental object. The clutter interference cluster is a cluster signal from the sensing transmitter to the sensing receiver via multiple hops. Since each environmental object is evenly distributed within a preset range of the sensing target, a sensing-integrated channel can be constructed based on each target cluster. This fully considers the environmental objects and clutter interference present in the sensing channel, realistically simulates the actual channel conditions, meets the requirements of sensing performance simulation, and realizes the construction of a sensing-integrated channel. This makes the constructed sensing-integrated channel suitable not only for communication functions but also for sensing functions, improving the accuracy and simulation efficiency of sensing-integrated channel modeling. Attached Figure Description

[0128] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0129] Figure 1 This is a schematic diagram of the channel impulse response modeling method provided by existing technology;

[0130] Figure 2 This is a flowchart illustrating the integrated sensing channel modeling method provided in an embodiment of this application;

[0131] Figure 3 This is a schematic diagram of an integrated sensing channel modeling scenario provided in an embodiment of this application;

[0132] Figure 4 This is one of the structural schematic diagrams of the integrated induction channel modeling device provided in the embodiments of this application;

[0133] Figure 5 This is the second schematic diagram of the integrated inductive channel modeling device provided in the embodiments of this application. Detailed Implementation

[0134] In the embodiments of this application, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0135] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0136] The technical solutions provided in this application can be applied to various systems, such as 5G systems. Applicable systems include Global System for Mobile Communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA) General Packet Radio Service (GPRS), Long Term Evolution (LTE), LTE Frequency Division Duplex (FDD), LTE Time Division Duplex (TDD), Long Term Evolution Advanced (LTE-A), Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX), and 5G New Radio (NR). All of these systems include terminal equipment and network equipment. The systems may also include a core network component, such as Evolved Packet System (EPS) and 5G systems (5GS).

[0137] The terminal involved in the embodiments of this application can be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. The name of the terminal may differ in different systems; for example, in a 5G system, the terminal can be called a User Equipment (UE). The wireless terminal device can communicate with one or more core networks (CNs) via a Radio Access Network (RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal device, for example, a portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile device. They exchange voice and / or data with the radio access network. Examples include Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, and Personal Digital Assistants (PDAs). Wireless terminal equipment can also be referred to as a system, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point, remote terminal, access terminal, user terminal, user agent, or user device, but is not limited to these terms in the embodiments of this application.

[0138] The network device involved in this application embodiment can be a base station, which may include multiple cells providing services to terminals. Depending on the specific application, a base station may also be called an access point, or a device in an access network that communicates with a wireless terminal device through one or more sectors on the air interface, or other names. The network device can be used to exchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network equipment involved in the embodiments of this application can be a base transceiver station (BTS) in a Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA), a NodeB in a Wide-band Code Division Multiple Access (WCDMA) system, an evolved Node B (eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a next generation system, a Home evolved Node B (HeNB), a relay node, a femto, a pico, etc., and is not limited in the embodiments of this application. In some network structures, the network equipment may include centralized unit (CU) nodes and distributed unit (DU) nodes, and the centralized unit and distributed unit may be geographically separated.

[0139] To facilitate a clearer understanding of the various embodiments of this application, some relevant background knowledge will be introduced as follows.

[0140] The 3GPP standardized modeling method widely used in the industry today belongs to the channel impulse response modeling method in statistical channel models. Figure 1 This is a schematic diagram of the channel impulse response modeling method provided by existing technology, such as... Figure 1As shown, the channel impulse response modeling method models the angle, delay, and power information of multiple subpaths. For example, 3GPP TR 38.901 models a fast decay model for system-level simulation and tapped delay line (TDL) and clustered delay line (CDL) models for link-level simulation.

[0141] The following uses the CDL model as an example to introduce its principle. The CDL channel model is based on the concept of clusters. Since signals reach the receiver after passing through a group of scatterers in channel measurements, their multipath delay, departure angle, and angle of arrival (angle information is used to characterize the spatial characteristics of the channel model) have similar statistical properties. Therefore, cluster signals passing through a group of scatterers are modeled as clusters. There are five different CDL channel models: CDL-A (containing 23 clusters), CDL-B (containing 23 clusters), CDL-C (containing 24 clusters), CDL-D (containing 13 clusters), and CDL-E (containing 14 clusters). CDL-A, CDL-B, and CDL-C models are mainly used to describe non-line-of-sight (NLOS) channels, while CDL-D and CDL-E models are mainly used to describe line-of-sight (LOS) channels. Furthermore, each cluster in the CDL channel models 20 paths, and each path has an angle offset added to the cluster center angle to describe the angle information of each path.

[0142] Communication channel modeling focuses on the impact of multipath propagation on communication signal delay, power, and Doppler effect. Sensing channel modeling, however, focuses more on the information carried by the perceived signal after reflection from the target, as well as environmental clutter that affects target perception. Therefore, sensing channel modeling requires modeling both the reflected signal from the target and clutter signals. Existing communication channel modeling uses statistically generated clusters, which cannot reflect the information carried by the actual perceived target and are therefore unsuitable for evaluating sensing capabilities and meeting the requirements of sensing performance simulation.

[0143] Current industry methods for modeling environmental targets in sensor channel modeling include:

[0144] In small-scale modeling, two cases are considered regarding whether there is a correlation between communication and sensing channels. When communication and sensing channels are correlated, the environmental information shared by the communication and sensing channels is used to map environmental targets based on the spatial location of the NLOS cluster of communication channels, thereby constructing a communication-sensing channel correlation model. However, this method is relatively complex.

[0145] When there is no correlation between the communication and sensing channels, the location of environmental targets is obtained by randomly setting their positions. However, there is currently no good method for modeling environmental targets. Randomly placed environmental targets cannot well simulate the impact of real-world environmental targets on the estimation performance of sensing targets.

[0146] There is no clear and definitive method for modeling environmental clutter interference.

[0147] The following section will introduce some related concepts.

[0148] Target to be sensed (T): The passive or active target to be sensed, such as a person, machine or animal. The target to be sensed usually has a certain speed of movement.

[0149] Environmental objects (E): refer to relatively static objects that are always present in the environment, such as trees or buildings. The difference between environmental objects and perceived targets is that environmental objects do not have a moving speed.

[0150] Clutter interference (B): Electromagnetic waves reflected by other scattering bodies besides the target and environmental objects are called clutter interference.

[0151] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0152] This application provides a method and apparatus for integrated communication and sensing channel modeling to address the problem of how to construct an integrated communication and sensing channel, thereby meeting the significant demands of future 5G-A and 6G for integrated communication and sensing. The method and apparatus are based on the same concept, and since the principles underlying the problem are similar, their implementations can be mutually referenced; repeated details will not be elaborated further.

[0153] Figure 2 This is a flowchart illustrating the integrated sensing channel modeling method provided in this application embodiment, as shown below. Figure 2 As shown, the integrated sensing and communication channel modeling method may include steps 201 to 202; wherein:

[0154] Step 201: Determine at least one target cluster, wherein the target includes at least one of the following: a sensing target, an environmental object, and clutter interference; the target cluster includes at least one of the following: a sensing target cluster, an environmental object cluster, and a clutter interference cluster; the sensing target cluster is a cluster signal from the sensing transmitter to the sensing receiver via the sensing target in a single hop or two hops; the environmental object cluster is a cluster signal from the sensing transmitter to the sensing receiver via the environmental object in a single hop; and the clutter interference cluster is a cluster signal from the sensing signal to the sensing receiver via multiple hops; wherein each of the environmental objects is evenly distributed within a preset range of the sensing target.

[0155] It should be noted that the embodiments of this application can be applied to the scenario of integrated sensing channel modeling. The integrated sensing channel modeling method provided in the embodiments of this application can be executed by an integrated sensing channel modeling device, such as an electronic device, or a control module in the integrated sensing channel modeling device for executing the integrated sensing channel modeling method. The electronic device can be a desktop computer or a laptop computer, etc.

[0156] In this embodiment of the application, a sensing-integrated channel modeling scenario is first constructed, such as... Figure 3 As shown, Figure 3 This is a schematic diagram of a sensing-integrated channel modeling scenario provided in this application embodiment. Tx represents the sensing transmitter, Rx represents the sensing receiver, T represents the sensing target, E represents environmental objects, and B represents clutter interference. The dashed lines from Tx to T and from T to Rx represent sensing target clusters, each consisting of two segments. The dashed lines from Tx to E and from E to Rx represent environmental object clusters, each consisting of two segments. The sensing transmitter or receiver can be a network-side device or a terminal, and the sensing signal transmission and reception method is A transmits, B receives. First, the topology of the sensing-integrated channel modeling scenario and the location of the network-side device (e.g., a base station) are determined. Terminals and sensing targets are deployed within the scenario, and m environmental objects are evenly deployed within a preset range of the sensing target, sensing transmitter, or sensing receiver, where m is an integer greater than or equal to 0. This ensures that each environmental object is evenly distributed within the preset range of the sensing target, sensing transmitter, or sensing receiver, which can be a ring-shaped area or a fan-shaped area. Configure the radar cross section (RCS) type, quantity, three-dimensional (3D) coordinates in the global coordinate system, movement speed, and direction of the perceived target (such as vehicle, drone) and environmental objects; wherein, the speed of the environmental objects is set to 0.

[0157] Based on the location of the sensing target or environmental object, sensing transceivers and receivers are determined for each target or object, i.e., a sensing transceiver node is matched for each target or object. Therefore, target clusters, environmental object clusters, and clutter interference clusters can be identified. A target cluster is a cluster of signals from the sensing transmitter to the sensing receiver via a single or two-hop path. An environmental object cluster is a cluster of signals from the sensing transmitter to the sensing receiver via a single-hop path. A clutter interference cluster is a cluster of signals from the sensing transmitter to the sensing receiver via multiple hops, i.e., signals from the sensing transmitter to the sensing receiver via multiple hops (two or more) or signals from the sensing transmitter to the sensing receiver via two or more hops. A single hop means the sensing signal travels from the sensing transmitter -> target or environmental object -> sensing receiver; a two-hop means the sensing signal travels from the sensing transmitter -> target -> environmental object -> sensing receiver; and a multi-hop means the sensing signal travels from the sensing transmitter -> multiple targets or environmental objects -> sensing receiver. The sensing transmitter has the function of transmitting sensing signals, and the sensing receiver has the function of receiving sensing signals.

[0158] Step 202: Construct an integrated sensing channel based on each of the target clusters.

[0159] Specifically, based on each target cluster, an integrated sensing channel can be constructed.

[0160] The sensing-integrated channel modeling method provided in this application defines at least one target cluster. The target cluster includes at least one of the following: sensing target, environmental object, and clutter interference. The target cluster includes at least one of the following: sensing target cluster, environmental object cluster, and clutter interference cluster. The sensing target cluster is a cluster signal from the sensing transmitter to the sensing receiver via a single hop or two hops through the sensing target. The environmental object cluster is a cluster signal from the sensing transmitter to the sensing receiver via a single hop through the environmental object. The clutter interference cluster is a cluster signal from the sensing transmitter to the sensing receiver via multiple hops. Since each environmental object is evenly distributed within a preset range of the sensing target, a sensing-integrated channel can be constructed based on each target cluster. This fully considers the environmental objects and clutter interference present in the sensing channel, realistically simulating actual channel conditions, meeting the requirements of sensing performance simulation, and realizing the construction of a sensing-integrated channel. This makes the constructed sensing-integrated channel suitable not only for communication functions but also for sensing functions, improving the accuracy and simulation efficiency of sensing-integrated channel modeling.

[0161] Optionally, the specific implementation of step 202 above includes:

[0162] (1) Based on the state of each target cluster and / or each target cluster, determine at least one of the relative cluster delay of each target cluster relative to the base delay and the target cluster power of each target cluster; the base delay includes the minimum value between the cluster delay of each sensing target cluster and / or each environmental object cluster and the cluster delay of each clutter interference cluster.

[0163] Specifically, the base delay τ0 includes the cluster delay τ” of each cluster of sensed targets and / or each cluster of environmental objects. n The cluster delay τ' of each of the aforementioned clutter interference clusters n The minimum value between, i.e., τ0 = min(τ' n ,τ” n Cluster delay τ of the perceived target cluster or environmental object cluster. n It is the difference between the time it takes for the sensing signal to arrive at the sensing receiver and the time it takes for the sensing signal to be emitted from the sensing transmitter.

[0164] Based on the state of each target cluster and / or each target cluster, the relative cluster delay τ relative to the base delay of each target cluster can be determined. n and the target cluster power P of each target cluster n At least one of them.

[0165] Optionally, the state of the sensing target cluster is determined based on the LOS probability of the sensing target, the state of the environmental object cluster is determined based on the LOS probability of the environmental object, and the state of the clutter interference cluster is determined based on the LOS probability of the sensing transmitter and / or sensing receiver.

[0166] Specifically, the LOS probability of the perceived target is the probability that the states of both the perceived target cluster from the sensing transmitter to the perceived target and the perceived target cluster from the perceived target to the sensing receiver are in LOS state; the LOS probability of the environmental object is the probability that the states of both the environmental object cluster from the sensing transmitter to the environmental object and the environmental object cluster from the environmental object to the sensing receiver are in LOS state; the LOS probability of the sensing transmitter and / or the sensing receiver is the probability that the state directly from the sensing transmitter to the sensing receiver is in LOS state.

[0167] Optionally, the LOS probability of the perceived target includes at least one of the following:

[0168] The LOS probability is obtained by correcting the perceived target cluster based on the probability model;

[0169] The LOS probability of one segment of the sensing target cluster is a first preset value, and the LOS probability of the other segment of the sensing target cluster is obtained based on a probability model correction.

[0170] Specifically, unlike the LOS probability of the terminal, the LOS probability of the perceived target can be obtained by modifying the perceived target cluster based on the probability model. This is because for perceived targets in specific areas and for specific purposes (such as intrusion detection, uncrewed aerial vehicle (UAV) detection, and automated guided vehicle (AGV) path planning), the system network will try to ensure the existence of LOS clusters / paths, thus the perceived target has a high LOS probability.

[0171] The first preset value can be 1, that is, the LOS probability of a segment of the sensing target cluster is 1, then the state of that segment of the sensing target cluster is the LOS state, that is, the state of a segment of the sensing target cluster from the sensing transmitter to the sensing target, or from the sensing target to the sensing receiver is the LOS state; the LOS probability of another segment of the sensing target cluster is obtained based on the probability model correction.

[0172] For example, if the LOS probability of an environmental object is 1, it means that the state of the environmental object cluster is LOS. In other words, only environmental objects with LOS states are modeled. Since there are no LOS clusters for environmental objects, statistical methods are used to generate environmental object clusters.

[0173] Optionally, the LOS probability of the sensing transmitter and / or sensing receiver is determined based on at least one of the following:

[0174] Determined based on the second preset value;

[0175] Determined based on Rice factor.

[0176] Specifically, the second preset value can be 0. A LOS probability of 0 for the sensing transmitter and / or sensing receiver indicates that the LOS state of the sensing transmitter and / or sensing receiver is NLOS, that is, the sensing transmitter and receiver are in NLOS state.

[0177] When performing only sensing simulations, the system typically selects the LOS probabilities at the sensing transmitter and / or sensing receiver to avoid the presence of LOS paths at these locations. This is because the power of the sensing target cluster is low at these points, which is detrimental to target sensing. Therefore, the LOS probabilities at the sensing transmitter and / or sensing receiver can be determined based on a second preset value or based on the Rice factor. That is, the interference from LOS paths is reduced by adjusting the sensing beamforming direction, and the Rice factor is adjusted to reduce the power of the LOS paths.

[0178] (2) Determine the channel coefficients based on at least one of the relative cluster delay and the target cluster power.

[0179] Specifically, the channel coefficients can be determined based on at least one of the relative cluster delay and the target cluster power.

[0180] (3) Based on the channel coefficients, construct an integrated sensing channel.

[0181] Specifically, based on the channel coefficients, an integrated sensing and communication channel can be constructed.

[0182] In this embodiment, at least one of the relative cluster delay and target cluster power of each target cluster relative to the basic delay is determined by the state of each target cluster and / or the target cluster. Then, based on at least one of the relative cluster delay and target cluster power, the channel coefficient is determined, thereby constructing a sensing-integrated channel. This enables the construction of a sensing-integrated channel that is not only suitable for communication functions but also for sensing functions, thus improving the accuracy and simulation efficiency of sensing-integrated channel modeling.

[0183] Optionally, based on the state of each target cluster and / or each target cluster, the relative cluster delay relative to the base delay is determined, including:

[0184] (a) Determine the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters based on the state of each of the said sensing target clusters and / or each of the said environmental object clusters.

[0185] Specifically, for a cluster of sensed targets or a cluster of environmental objects, the cluster delay τ' of each cluster of sensed targets and / or each cluster of environmental objects can be determined based on the state of each cluster of sensed targets and / or each cluster of environmental objects. n '.

[0186] (b) Based on each of the aforementioned clutter interference clusters, the cluster delay of each of the aforementioned clutter interference clusters is determined using statistical methods.

[0187] Specifically, for clutter interference clusters, statistical methods can be used to determine the cluster delay τ' of each clutter interference cluster. n .

[0188] (c) Determine the basic delay based on the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters, and the cluster delay of each of the said clutter interference clusters.

[0189] Specifically, based on the cluster delay τ” of each perceived target cluster and / or each environmental object cluster. n and the cluster delay τ' of each of the aforementioned clutter interference clusters. n , will τ” n and τ' n The minimum value between them is determined by the basic time delay τ0, that is, τ0 = min(τ' n ,τ” n ).

[0190] (d) Based on the base delay, determine the relative cluster delay of each of the sensing target clusters and / or each of the environmental object clusters relative to the base delay, and the relative cluster delay of each of the clutter interference clusters relative to the base delay.

[0191] Specifically, each cluster of perceived targets and / or each cluster of environmental objects τ” n Relative cluster delay τ relative to the basic delay τ0 n =τ” n -τ0, the relative cluster delay τ of each clutter cluster relative to the fundamental delay. n =sort(τ') n -min(τ' n ,τ” n )).

[0192] Optionally, if a LOS path exists between the sensing transmitter and the sensing receiver, i.e., the state between the sensing transmitter and the sensing receiver is in LOS state, only clutter interference clusters are processed. Among them, C τ =0.7705 - 0.0433K + 0.0002K 2 +0.000017K 3 K is the Rice factor, τ n The relative cluster delay is the relative cluster delay of the clutter interference cluster relative to the base delay.

[0193] Optionally, determining the cluster delay of each of the perceived target clusters and / or each of the environmental object clusters based on their states includes:

[0194] When the state of each of the sensing target clusters and / or each of the environmental object clusters is in the LOS state, the cluster delay parameter of each of the sensing target clusters and / or each of the environmental object clusters is determined based on the coordinate information of each of the sensing target clusters and / or each of the environmental object clusters; and the cluster delay of each of the sensing target clusters and / or each of the environmental object clusters is determined based on the cluster delay parameter of each of the sensing target clusters and / or each of the environmental object clusters.

[0195] Specifically, when each cluster of sensed targets and / or each cluster of environmental objects is in a LOS state, the cluster delay parameter, τ, can be determined based on the coordinate information of each sensed target and / or each cluster of environmental objects. α,n and τ β,n , τ α,n τ represents the cluster delay parameter from the sensing transmitter to the sensing target or environmental object, that is, the difference between the time it takes for the sensing signal to arrive at the sensing target or environmental object and the time it takes for the sensing signal to be transmitted from the sensing transmitter; β,nThe cluster delay parameter represents the time difference between the time it takes for the sensing signal to reach the sensing target or environmental object and the time it takes for the sensing signal to reach the sensing receiver. n represents the nth cluster.

[0196] Based on the cluster delay parameters of each perceived target cluster and / or each environmental object cluster, τ” is used. n =τ α,n +τ β,n The cluster delay of each cluster of sensed targets and / or each cluster of environmental objects can be determined.

[0197] Optionally, when the state of each of the sensing target clusters is NLOS, the state of the segment of sensing target clusters closest to the sensing transmitter or sensing receiver in each of the sensing target clusters is modeled as LOS, and the cluster delay parameter of the segment of sensing target cluster is determined based on the coordinate information of the sensing target corresponding to the segment of sensing target cluster; mirror reflection is performed on the other segment of sensing target cluster in each of the sensing target clusters relative to any environmental object around the sensing target corresponding to the sensing target cluster, and the cluster delay parameter of the other segment of sensing target cluster is determined; based on the cluster delay parameter of the first segment of sensing target cluster and the cluster delay parameter of the other segment of sensing target cluster, the cluster delay of each of the sensing target clusters is determined.

[0198] Specifically, when all sensing target clusters are in an NLOS state, it means that one segment of the sensing target cluster is in a LOS state, while another segment is in an NLOS state. The state of the sensing target cluster closest to the sensing transmitter or receiver is modeled as an LOS state. Based on the coordinate information of the sensing target corresponding to this segment, the cluster delay parameter τ of this segment can be determined. α,n For each target cluster, except for one segment, specular reflection is performed relative to any environmental object surrounding the target corresponding to that target cluster, and the cluster delay parameter τ of the other target cluster can be determined. β,n Based on the cluster delay parameter τ of a sensing target cluster α,n And the cluster delay parameter τ of another sensing target cluster β,n , using τ” n =τ α,n +τ β,n The cluster delay of each sensing target cluster can be determined.

[0199] Optionally, when the state of each of the sensing target clusters is non-line-of-sight (NLOS) and at least one of the sensing target clusters degenerates into a clutter interference cluster, the statistical method is used to determine the cluster delay of all clutter interference clusters.

[0200] Specifically, the total number of target clusters is K, which includes sensing target clusters, environmental object clusters, and clutter interference clusters. The number of sensing target clusters and / or environmental object clusters is M, and the number of clutter interference clusters is N. K = N + M, where N is an integer greater than or equal to 0, and M is an integer greater than or equal to 0.

[0201] When each sensing target cluster is in the NLOS state and at least one sensing target cluster degenerates into a clutter interference cluster, i.e., the number of sensing target clusters decreases (e.g., M = M-1), the cluster delay of all clutter interference clusters is determined using statistical methods, taking the sensing target clusters that have degenerated into clutter interference clusters and other clutter interference waves.

[0202] Optionally, determining the cluster delay of all clutter interference clusters using the statistical method includes:

[0203] Using the statistical method described above, the cluster delay of N clutter interference clusters is randomly generated, where N is an integer greater than or equal to 0.

[0204] Specifically, the cluster delays of N clutter interference clusters are directly and randomly generated using statistical methods, that is, the cluster delays τ' of all clutter interference clusters are generated. n .

[0205] Optionally, based on each of the target clusters, determining the target cluster power of each target cluster includes:

[0206] 1) Determine the path loss corresponding to the basic time delay, the path loss corresponding to the cluster time delay of each of the sensing target clusters and / or each of the environmental object clusters, the cluster power of each of the sensing target clusters and / or each of the environmental object clusters, and the cluster power of each of the clutter interference clusters.

[0207] Specifically, the formula for calculating path loss is as follows: Among them, PL S (d1, d2) represents the path loss, PL(d1) represents the path loss from the sensing transmitter to the sensing target or environmental object, d1 represents the distance between the sensing transmitter and the sensing target or environmental object, PL(d2) represents the path loss from the sensing target or environmental object to the sensing receiver, d2 represents the distance between the sensing target or environmental object and the sensing receiver, λ represents the carrier wavelength, and σ RCSPL(d1) and PL(d2) represent the radar cross-section of the sensed target or environmental object. PL(d1) and PL(d2) can be calculated using the path loss formula defined in existing 3GPP or the free space loss formula. When the state of the sensed target cluster from the sensed target to the sensed transmitter or sensed receiver is NLOS, a corrected d1 or d2 (calculated by specular reflection relative to the environmental object) and σ are required. RCS The RCS (Rectangle Search and Rectangle) of both environmental objects and perceived targets is calculated.

[0208] When τ0 is the cluster delay τ corresponding to the perceived target and / or environmental object. n When the above formula is used, the path loss PL0 corresponding to the base delay τ0 is determined; when τ0 is not the cluster delay τ" corresponding to the perceived target and / or environmental object. n At that time, the path loss PL0 corresponding to the basic delay τ0 can be calculated according to the path loss in the 3GPP TR39.901 protocol.

[0209] The above formula can be used to determine the path loss PL corresponding to the cluster delay of each sensing target cluster and / or each environmental object cluster.

[0210] According to the 3GPP TR 39.901 protocol, the cluster power P′ of each sensing target cluster and / or each environmental object cluster is randomly generated. n and the cluster power P′ of each clutter interference cluster. n Wherein, the fundamental delay τ0 is the minimum cluster delay of the sensing target cluster and / or environmental object cluster, or clutter interference cluster, and the cluster power corresponding to the fundamental delay τ0 is... To sense the cluster power of target clusters and / or environmental object clusters, or clutter interference clusters.

[0211] 2) Based on the path loss corresponding to the basic delay and the path loss corresponding to the cluster delay of each of the sensing target clusters and / or each of the environmental object clusters, determine the power difference between the path loss corresponding to the basic delay and the path loss corresponding to the cluster delay of each of the sensing target clusters and / or each of the environmental object clusters.

[0212] Specifically, the path loss P corresponding to the base delay L0 Subtracting the path loss PL corresponding to the cluster delay of each sensing target cluster and / or each environmental object cluster, we can obtain the path loss corresponding to the base delay and the power difference PL0-PL between the path loss corresponding to the cluster delay of each sensing target cluster and / or each environmental object cluster.

[0213] 3) Based on the power difference and the cluster power corresponding to the basic time delay, correct the cluster power of each of the sensing target clusters and / or each of the environmental object clusters to obtain the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters.

[0214] Specifically, based on the cluster power corresponding to each power difference PL0-PL and the basic time delay τ0 use The cluster power of each perceived target cluster and / or each environmental object cluster is corrected to obtain the corrected cluster power P″ of each perceived target cluster and / or each environmental object cluster. n .

[0215] 4) Based on the cluster power of each of the clutter interference clusters, the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, determine the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters.

[0216] Specifically, based on the cluster power P′ of each clutter interference cluster n The corrected cluster power P″ of each perceived target cluster and / or each environmental object cluster. n It is possible to further determine the target cluster power P of each of the said sensing target clusters and / or each of the said environmental object clusters, or each of the said clutter interference clusters. n .

[0217] Optionally, determining the target cluster power of each of the sensing target clusters and / or the environmental object clusters, or each of the clutter interference clusters, based on the cluster power of each of the clutter interference clusters and the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, includes:

[0218] (a) Remove the target clutter interference cluster from each of the clutter interference clusters to obtain the remaining clutter interference clusters; the target clutter interference cluster is the clutter interference cluster whose cluster power difference with the cluster power of each of the clutter interference clusters is less than a preset threshold and whose time delay difference is the smallest.

[0219] Specifically, a target clutter cluster is defined as a cluster whose power difference between the cluster power of each clutter cluster and the cluster power of each sensed target cluster and / or each environmental object cluster is less than a preset threshold P. Δ The clutter cluster with the smallest time delay difference is the target clutter cluster, and the number of target clutter clusters is X, where X is an integer greater than or equal to 0.

[0220] By removing the cluster power of the target clutter cluster from each clutter cluster, i.e. correcting the number of clutter clusters, the remaining clutter clusters can be obtained.

[0221] (b) Based on the cluster power of the remaining clutter interference cluster and the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, determine the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters.

[0222] Specifically, the cluster power P″′ of the remaining clutter interference clusters n The cluster power of each perceived target cluster and / or each environmental object cluster is summed with the corrected cluster power of each perceived target cluster and / or each environmental object cluster to obtain the sum of power values; then the cluster power of each perceived target cluster and / or each environmental object cluster is divided by the sum of power values ​​to obtain the target cluster power P of each perceived target cluster and / or each environmental object cluster. n Alternatively, the cluster power P″′ of the remaining clutter interference clusters. n Divide by the sum of the power values ​​to obtain the target cluster power P of each clutter interference cluster. n .

[0223] Optionally, constructing the integrated sensing channel based on the channel coefficients includes:

[0224] Based on the channel coefficients and the path loss corresponding to the basic delay, an integrated sensing channel is constructed.

[0225] Specifically, based on channel coefficients The path loss P0 corresponding to the basic delay can be used to construct an integrated sensing channel. Here, SL represents shadow fading.

[0226] In this embodiment, the construction of an integrated sensing channel is achieved by using the path loss corresponding to the channel coefficient and the basic delay. The communication and sensing channels do not need to be modeled separately, which improves the construction efficiency and accuracy of the integrated sensing channel.

[0227] The following specific embodiments will further illustrate the integrated inductive channel modeling method provided in this application.

[0228] Example 1: Method for dispersing environmental objects

[0229] 1. Determine the topology of the integrated sensing channel modeling scenario and the location of network-side devices (e.g., base stations).

[0230] 2. Deploy terminals and sensing targets within the scene.

[0231] 3. Determine the sensing transmitter and sensing receiver based on the location of the sensing target.

[0232] 4. Evenly distribute m environmental objects within a preset range around the sensing transmitter and receiver (e.g., base station and terminal) and the sensing target. The preset range can be a ring-shaped area or a fan-shaped area around the base station, terminal, and sensing target. In the case of a drone, the number of environmental objects around the sensing target is set to 0.

[0233] Example 2: Integrated Communication and Sensing. When the terminal acts as a sensing transmitter or receiver, communication and sensing are integrated. The sensing target cluster and / or environmental object cluster are consistent with the cluster in communication, and can be used for both communication and sensing functions simultaneously.

[0234] 1. A communication connection has been established between the system and the terminal.

[0235] 2. The system initiates a sensing task and selects the terminal for sensing.

[0236] 3. When the state of the transceiver cluster between the sensing transmitter and the sensing receiver is a LOS cluster, it can help remove the LOS cluster from the signal after communication detection, and assist the sensing target in sensing the NLOS cluster.

[0237] Example 3: Perception-Assisted Communication, Integrating Communication and Perception. When the terminal acts as a perception transmitter or receiver, it models environmental objects and can utilize the perception-assisted beamforming of these objects during communication LOS path block operations, i.e., performing communication beamforming in the direction of high-power reflected environmental objects.

[0238] 1. To sense a specific area, the system selects certain terminals as sensing transmitters or receivers based on the terminal's location (e.g., obtained through the Global Positioning System, GPS).

[0239] 2. When the sensing transmitter or sensing receiver has a communication service request, the environmental information obtained during the sensing phase, as well as the LOS status with the base station, are used to assist in communication beamforming.

[0240] 3. When the communication path is blocked, the perception of environmental objects is used to assist beamforming, that is, communication beamforming is performed in the direction of environmental objects with high power reflection.

[0241] Example 4: Perception-Assisted Localization. Environmental objects are modeled as multi-point scattering. By perceiving these objects, the positioning accuracy of the terminal can be improved in NLOS scenarios.

[0242] 1. Perceive targets to obtain information about multiple environmental objects within the scene. For large environmental objects, obtain information about their reflective surfaces by perceiving targets.

[0243] 2. Use cellular network positioning to obtain the terminal's location and whether there is a LOS path between the terminal and the base station.

[0244] 3. When there is an NLOS path between the terminal and the base station, the terminal's position can be obtained by mirror reflection relative to environmental objects.

[0245] The method provided in this application fully considers the environmental objects and clutter interference present in the sensing channel, and can realistically simulate the actual channel conditions, meeting the needs of sensing performance simulation. At the same time, it effectively integrates the functional requirements of communication and sensing in the A-transmit and B-receive scenario, realizing the construction of an integrated sensing channel. Communication and sensing do not need to be modeled separately, which improves the accuracy and simulation efficiency of integrated sensing channel modeling.

[0246] Figure 4 This is one of the structural schematic diagrams of the integrated sensing channel modeling device provided in the embodiments of this application, such as... Figure 4 As shown, the integrated sensing and communication channel modeling device 400 includes: a memory 420, a processor 410, and a communication interface 430; wherein, the memory 420, the processor 410, and the communication interface 430 communicate with each other through a communication bus 440.

[0247] Memory 420 is used to store computer programs; processor 410 is used to read the computer programs in memory 420 and perform the following operations:

[0248] A target cluster is determined for at least one target, the target including at least one of the following: a sensing target, an environmental object, and clutter interference; the target cluster includes at least one of the following: a sensing target cluster, an environmental object cluster, and a clutter interference cluster; the sensing target cluster is a cluster signal from the sensing transmitter to the sensing receiver via the sensing target in a single hop or two hops; the environmental object cluster is a cluster signal from the sensing transmitter to the sensing receiver via the environmental object in a single hop; and the clutter interference cluster is a cluster signal from the sensing signal to the sensing receiver via multiple hops; wherein each of the environmental objects is uniformly distributed within a preset range of the sensing target;

[0249] Based on the target clusters, an integrated sensing channel is constructed.

[0250] Among them, Figure 4In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 410) and memory (memory 420). The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides the interface. Processor 410 is responsible for managing the bus architecture and general processing, and memory 420 can store data used by processor 410 during operation.

[0251] The processor 410 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor can also adopt a multi-core architecture.

[0252] Optionally, constructing an integrated sensing channel based on each of the target clusters includes:

[0253] Based on the state of each target cluster and / or each target cluster, at least one of the relative cluster delay of each target cluster relative to the base delay and the target cluster power of each target cluster is determined; the base delay includes the minimum value between the cluster delay of each sensing target cluster and / or each environmental object cluster and the cluster delay of each clutter interference cluster.

[0254] The channel coefficients are determined based on at least one of the relative cluster delay and the target cluster power;

[0255] Based on the aforementioned channel coefficients, an integrated sensing channel is constructed.

[0256] Optionally, based on the state of each target cluster and / or each target cluster, the relative cluster delay relative to the base delay is determined, including:

[0257] Based on the state of each of the said sensing target clusters and / or each of the said environmental object clusters, determine the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters;

[0258] Based on each of the aforementioned clutter interference clusters, the cluster delay of each of the aforementioned clutter interference clusters is determined using statistical methods;

[0259] The basic delay is determined based on the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters, and the cluster delay of each of the said clutter interference clusters;

[0260] Based on the base delay, the relative cluster delay of each of the sensing target clusters and / or each of the environmental object clusters relative to the base delay, and the relative cluster delay of each of the clutter interference clusters relative to the base delay are determined respectively.

[0261] Optionally, determining the cluster delay of each of the perceived target clusters and / or each of the environmental object clusters based on their states includes:

[0262] When the state of each of the sensing target clusters and / or each of the environmental object clusters is in the LOS state, the cluster delay parameter of each of the sensing target clusters and / or each of the environmental object clusters is determined based on the coordinate information of each of the sensing targets and / or each of the environmental objects.

[0263] The cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters is determined based on the cluster delay parameters of each of the said sensing target clusters and / or each of the said environmental object clusters.

[0264] Optionally, the processor 410 is further configured to read the computer program in the memory 420 and perform the following operations:

[0265] When the state of each of the sensing target clusters is non-line-of-sight (NLOS) and at least one of the sensing target clusters degenerates into a clutter interference cluster, the statistical method is used to determine the cluster delay of all clutter interference clusters.

[0266] Optionally, determining the cluster delay of all clutter interference clusters using the statistical method includes:

[0267] Using the statistical method described above, the cluster delay of N clutter interference clusters is randomly generated, where N is an integer greater than or equal to 0.

[0268] Optionally, the processor 410 is further configured to read the computer program in the memory 420 and perform the following operations:

[0269] When the state of each of the sensing target clusters is NLOS, the state of the segment of sensing target clusters that is closest to the sensing transmitter or sensing receiver in each of the sensing target clusters is modeled as LOS, and the cluster delay parameter of the segment of sensing target cluster is determined based on the coordinate information of the sensing target corresponding to the segment of sensing target cluster.

[0270] For each of the aforementioned sensing target clusters, except for the aforementioned sensing target cluster, a segment of sensing target cluster is subjected to mirror reflection relative to any environmental object around the sensing target corresponding to the aforementioned sensing target cluster, and the cluster delay parameter of the other segment of sensing target cluster is determined.

[0271] Based on the cluster delay parameters of one segment of the sensing target cluster and the cluster delay parameters of the other segment of the sensing target cluster, the cluster delay of each of the sensing target clusters is determined.

[0272] Optionally, based on each of the target clusters, determining the target cluster power of each target cluster includes:

[0273] The path loss corresponding to the basic time delay, the path loss corresponding to the cluster time delay of each of the sensing target clusters and / or each of the environmental object clusters, the cluster power of each of the sensing target clusters and / or each of the environmental object clusters, and the cluster power of each of the clutter interference clusters are determined respectively.

[0274] Based on the path loss corresponding to the basic latency and the path loss corresponding to the cluster latency of each of the sensing target clusters and / or each of the environmental object clusters, the power difference between the path loss corresponding to the basic latency and the path loss corresponding to the cluster latency of each of the sensing target clusters and / or each of the environmental object clusters is determined.

[0275] Based on the power difference and the cluster power corresponding to the basic time delay, the cluster power of each of the sensing target clusters and / or each of the environmental object clusters is corrected to obtain the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters.

[0276] Based on the cluster power of each of the clutter interference clusters, the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters, is determined.

[0277] Optionally, determining the target cluster power of each of the sensing target clusters and / or the environmental object clusters, or each of the clutter interference clusters, based on the cluster power of each of the clutter interference clusters and the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, includes:

[0278] Remove the target clutter interference cluster from each of the clutter interference clusters to obtain the remaining clutter interference clusters; the target clutter interference cluster is the clutter interference cluster with the smallest power difference between its cluster power and the cluster power of each of the sensing target clusters and / or each of the environmental object clusters, which is less than a preset threshold and has the smallest time delay difference.

[0279] Based on the cluster power of the remaining clutter interference cluster and the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters, is determined.

[0280] Optionally, based on the channel coefficients, an integrated sensing channel is constructed:

[0281] Based on the channel coefficients and the path loss corresponding to the basic delay, an integrated sensing channel is constructed.

[0282] Optionally, the state of the sensing target cluster is determined based on the LOS probability of the sensing target, the state of the environmental object cluster is determined based on the LOS probability of the environmental object, and the state of the clutter interference cluster is determined based on the LOS probability of the sensing transmitter and / or sensing receiver.

[0283] Optionally, the LOS probability of the perceived target includes at least one of the following:

[0284] The LOS probability is obtained by correcting the perceived target cluster based on the probability model;

[0285] The LOS probability of one segment of the sensing target cluster is a first preset value, and the LOS probability of the other segment of the sensing target cluster is obtained based on a probability model correction.

[0286] Optionally, the LOS probability of the sensing transmitter and / or sensing receiver is determined based on at least one of the following:

[0287] Determined based on the second preset value;

[0288] Determined based on Rice factor.

[0289] It should be noted that the integrated sensing channel modeling device provided in this application embodiment can implement all the method steps implemented by the method embodiment with the execution subject being an electronic device, and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0290] Figure 5 This is a second schematic diagram of the integrated sensing channel modeling device provided in the embodiments of this application, as shown below. Figure 5 As shown, the integrated sensing and communication channel modeling device 500 includes: a first determining module 501 and a constructing module 502; wherein,

[0291] The first determining module 501 is used to determine at least one target cluster, wherein the target includes at least one of the following: a sensing target, an environmental object, and clutter interference; the target cluster includes at least one of the following: a sensing target cluster, an environmental object cluster, and a clutter interference cluster; wherein the sensing target cluster is a cluster signal from the sensing transmitter to the sensing receiver via the sensing target in a single hop or two hops; the environmental object cluster is a cluster signal from the sensing transmitter to the sensing receiver via the environmental object in a single hop; and the clutter interference cluster is a cluster signal from the sensing signal to the sensing receiver via multiple hops; wherein each of the environmental objects is uniformly distributed within a preset range of the sensing target;

[0292] The construction module 502 is used to construct an integrated sensing channel based on each of the target clusters.

[0293] The sensing-integrated channel modeling device provided in this application determines at least one target cluster. The target includes at least one of the following: sensing target, environmental object, and clutter interference. The target cluster includes at least one of the following: sensing target cluster, environmental object cluster, and clutter interference cluster. The sensing target cluster is a cluster signal from the sensing transmitter to the sensing receiver via a single hop or two hops through the sensing target. The environmental object cluster is a cluster signal from the sensing transmitter to the sensing receiver via a single hop through the environmental object. The clutter interference cluster is a cluster signal from the sensing transmitter to the sensing receiver via multiple hops. Since each environmental object is evenly distributed within a preset range of the sensing target, a sensing-integrated channel can be constructed based on each target cluster. This fully considers the environmental objects and clutter interference present in the sensing channel, realistically simulates the actual channel conditions, meets the requirements of sensing performance simulation, and realizes the construction of a sensing-integrated channel. This makes the constructed sensing-integrated channel suitable not only for communication functions but also for sensing functions, improving the accuracy and simulation efficiency of sensing-integrated channel modeling.

[0294] Optionally, the construction module 502 is specifically used for:

[0295] Based on the state of each target cluster and / or each target cluster, at least one of the relative cluster delay of each target cluster relative to the base delay and the target cluster power of each target cluster is determined; the base delay includes the minimum value between the cluster delay of each sensing target cluster and / or each environmental object cluster and the cluster delay of each clutter interference cluster.

[0296] The channel coefficients are determined based on at least one of the relative cluster delay and the target cluster power;

[0297] Based on the aforementioned channel coefficients, an integrated sensing channel is constructed.

[0298] Optionally, the construction module 502 is further configured to:

[0299] Based on the state of each of the said sensing target clusters and / or each of the said environmental object clusters, determine the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters;

[0300] Based on each of the aforementioned clutter interference clusters, the cluster delay of each of the aforementioned clutter interference clusters is determined using statistical methods;

[0301] The basic delay is determined based on the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters, and the cluster delay of each of the said clutter interference clusters;

[0302] Based on the base delay, the relative cluster delay of each of the sensing target clusters and / or each of the environmental object clusters relative to the base delay, and the relative cluster delay of each of the clutter interference clusters relative to the base delay are determined respectively.

[0303] Optionally, the construction module 502 is further configured to:

[0304] When the state of each of the sensing target clusters and / or each of the environmental object clusters is in the LOS state, the cluster delay parameter of each of the sensing target clusters and / or each of the environmental object clusters is determined based on the coordinate information of each of the sensing targets and / or each of the environmental objects.

[0305] The cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters is determined based on the cluster delay parameters of each of the said sensing target clusters and / or each of the said environmental object clusters.

[0306] Optionally, the device 500 further includes:

[0307] The second determining module is used to determine the cluster delay of all clutter clusters by means of the statistical method when the state of each of the sensing target clusters is non-line-of-sight (NLOS) and at least one of the sensing target clusters degenerates into a clutter interference cluster.

[0308] Optionally, the second determining module is further configured to:

[0309] Using the statistical method described above, the cluster delay of N clutter interference clusters is randomly generated, where N is an integer greater than or equal to 0.

[0310] Optionally, the device 500 further includes:

[0311] The modeling module is used to model the state of the segment of the sensing target cluster closest to the sensing transmitter or sensing receiver as the LOS state when the state of each sensing target cluster is NLOS state, and to determine the cluster delay parameter of the segment of the sensing target cluster based on the coordinate information of the sensing target corresponding to the segment of the sensing target cluster.

[0312] The mirror reflection module is used to perform mirror reflection on any environmental object around the sensing target corresponding to the sensing target in each of the sensing target clusters, except for the first segment of the sensing target cluster; and to determine the cluster delay parameter of the other segment of the sensing target cluster.

[0313] The third determining module is used to determine the cluster delay of each of the sensing target clusters based on the cluster delay parameters of the first segment of the sensing target cluster and the cluster delay parameters of the other segment of the sensing target cluster.

[0314] Optionally, the construction module 502 is further configured to:

[0315] The path loss corresponding to the basic time delay, the path loss corresponding to the cluster time delay of each of the sensing target clusters and / or each of the environmental object clusters, the cluster power of each of the sensing target clusters and / or each of the environmental object clusters, and the cluster power of each of the clutter interference clusters are determined respectively.

[0316] Based on the path loss corresponding to the basic latency and the path loss corresponding to the cluster latency of each of the sensing target clusters and / or each of the environmental object clusters, determine the path loss corresponding to the basic latency and the power difference between the path loss corresponding to the cluster latency of each of the sensing target clusters and / or each of the environmental object clusters.

[0317] Based on the power difference and the cluster power corresponding to the basic time delay, the cluster power of each of the sensing target clusters and / or each of the environmental object clusters is corrected to obtain the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters.

[0318] Based on the cluster power of each of the clutter interference clusters, the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters, is determined.

[0319] Optionally, the construction module 502 is further configured to:

[0320] Remove the target clutter interference cluster from each of the clutter interference clusters to obtain the remaining clutter interference clusters; the target clutter interference cluster is the clutter interference cluster with the smallest power difference between its cluster power and the cluster power of each of the sensing target clusters and / or each of the environmental object clusters, which is less than a preset threshold and has the smallest time delay difference.

[0321] Based on the cluster power of the remaining clutter interference cluster and the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters, is determined.

[0322] Optionally, the construction module 502 is further configured to:

[0323] Based on the channel coefficients and the path loss corresponding to the basic delay, an integrated sensing channel is constructed.

[0324] Optionally, the state of the sensing target cluster is determined based on the LOS probability of the sensing target, the state of the environmental object cluster is determined based on the LOS probability of the environmental object, and the state of the clutter interference cluster is determined based on the LOS probability of the sensing transmitter and / or sensing receiver.

[0325] Optionally, the LOS probability of the perceived target includes at least one of the following:

[0326] The LOS probability is obtained by correcting the perceived target cluster based on the probability model;

[0327] The LOS probability of one segment of the sensing target cluster is a first preset value, and the LOS probability of the other segment of the sensing target cluster is obtained based on a probability model correction.

[0328] Optionally, the LOS probability of the sensing transmitter and / or sensing receiver is determined based on at least one of the following:

[0329] Determined based on the second preset value;

[0330] Determined based on Rice factor.

[0331] It should be noted that the integrated sensing channel modeling device provided in this application embodiment can implement all the method steps implemented by the method embodiment with the execution subject being an electronic device, and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0332] It should be noted that the division of units in the embodiments of this application is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0333] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0334] It should be noted that the apparatus provided in this embodiment of the invention can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0335] On the other hand, embodiments of this application also provide a processor-readable storage medium storing a computer program for causing the processor to execute the methods provided in the above embodiments, including: determining a target cluster of at least one target, the target including at least one of the following: a sensing target, an environmental object, and clutter interference; the target cluster including at least one of the following: a sensing target cluster, an environmental object cluster, and a clutter interference cluster; the sensing target cluster being a cluster signal from a sensing transmitter to a sensing receiver via the sensing target in a single hop or two hops; the environmental object cluster being a cluster signal from the sensing transmitter to the sensing receiver via the environmental object in a single hop; and the clutter interference cluster being a cluster signal from the sensing signal to the sensing receiver via multiple hops; wherein each of the environmental objects is uniformly distributed within a preset range of the sensing target; and based on each of the target clusters, constructing a sensing-integrated channel.

[0336] The processor-readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO)), optical memory (e.g., CD, DVD, BD, HVD), and semiconductor memory (e.g., ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)).

[0337] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0338] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0339] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0340] These processors can execute instructions that can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0341] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A channel modeling method integrating sensing and communication, characterized in that, The method includes: A target cluster is determined for at least one target, the target including at least one of the following: a sensing target, an environmental object, and clutter interference; the target cluster includes at least one of the following: a sensing target cluster, an environmental object cluster, and a clutter interference cluster; the sensing target cluster is a cluster signal from the sensing transmitter to the sensing receiver via the sensing target in a single hop or two hops; the environmental object cluster is a cluster signal from the sensing transmitter to the sensing receiver via the environmental object in a single hop; and the clutter interference cluster is a cluster signal from the sensing signal to the sensing receiver via multiple hops; wherein each of the environmental objects is uniformly distributed within a preset range of the sensing target; Based on the target clusters, an integrated sensing channel is constructed.

2. The integrated sensing channel modeling method according to claim 1, characterized in that, The construction of an integrated sensing channel based on each of the target clusters includes: Based on the state of each target cluster and / or each target cluster, at least one of the relative cluster delay of each target cluster relative to the base delay and the target cluster power of each target cluster is determined; the base delay includes the minimum value between the cluster delay of each sensing target cluster and / or each environmental object cluster and the cluster delay of each clutter interference cluster. The channel coefficients are determined based on at least one of the relative cluster delay and the target cluster power; Based on the aforementioned channel coefficients, an integrated sensing channel is constructed.

3. The integrated sensing channel modeling method according to claim 2, characterized in that, Based on the state of each target cluster and / or each target cluster, determine the relative cluster delay of each target cluster relative to the base delay, including: Based on the state of each of the said sensing target clusters and / or each of the said environmental object clusters, determine the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters; Based on each of the aforementioned clutter interference clusters, the cluster delay of each of the aforementioned clutter interference clusters is determined using statistical methods; The basic delay is determined based on the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters, and the cluster delay of each of the said clutter interference clusters; Based on the base delay, the relative cluster delay of each of the sensing target clusters and / or each of the environmental object clusters relative to the base delay, and the relative cluster delay of each of the clutter interference clusters relative to the base delay are determined respectively.

4. The integrated sensing channel modeling method according to claim 3, characterized in that, The determination of the cluster delay of each of the perceived target clusters and / or each of the environmental object clusters based on their states includes: When the state of each of the sensing target clusters and / or each of the environmental object clusters is in the LOS state, the cluster delay parameter of each of the sensing target clusters and / or each of the environmental object clusters is determined based on the coordinate information of each of the sensing targets and / or each of the environmental objects. The cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters is determined based on the cluster delay parameters of each of the said sensing target clusters and / or each of the said environmental object clusters.

5. The integrated sensing channel modeling method according to claim 3 or 4, characterized in that, The method further includes: When the state of each of the sensing target clusters is non-line-of-sight (NLOS) and at least one of the sensing target clusters degenerates into a clutter interference cluster, the statistical method is used to determine the cluster delay of all clutter interference clusters.

6. The integrated sensing channel modeling method according to claim 5, characterized in that, The determination of the cluster delay of all clutter interference clusters using the statistical method includes: Using the statistical method described above, the cluster delay of N clutter interference clusters is randomly generated, where N is an integer greater than or equal to 0.

7. The integrated sensing channel modeling method according to claim 3 or 4, characterized in that, The method further includes: When the state of each of the sensing target clusters is NLOS, the state of the segment of sensing target clusters that is closest to the sensing transmitter or sensing receiver in each of the sensing target clusters is modeled as LOS, and the cluster delay parameter of the segment of sensing target cluster is determined based on the coordinate information of the sensing target corresponding to the segment of sensing target cluster. For each of the aforementioned sensing target clusters, except for the aforementioned sensing target cluster, a segment of sensing target cluster is subjected to mirror reflection relative to any environmental object around the sensing target corresponding to the aforementioned sensing target cluster, and the cluster delay parameter of the other segment of sensing target cluster is determined. Based on the cluster delay parameters of one segment of the sensing target cluster and the cluster delay parameters of the other segment of the sensing target cluster, the cluster delay of each of the sensing target clusters is determined.

8. The integrated sensing channel modeling method according to any one of claims 2 to 7, characterized in that, Based on each of the target clusters, the target cluster power of each target cluster is determined, including: The path loss corresponding to the basic time delay, the path loss corresponding to the cluster time delay of each of the sensing target clusters and / or each of the environmental object clusters, the cluster power of each of the sensing target clusters and / or each of the environmental object clusters, and the cluster power of each of the clutter interference clusters are determined respectively. Based on the path loss corresponding to the basic latency and the path loss corresponding to the cluster latency of each of the sensing target clusters and / or each of the environmental object clusters, the power difference between the path loss corresponding to the basic latency and the path loss corresponding to the cluster latency of each of the sensing target clusters and / or each of the environmental object clusters is determined. Based on the power difference and the cluster power corresponding to the basic time delay, the cluster power of each of the sensing target clusters and / or each of the environmental object clusters is corrected to obtain the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters. Based on the cluster power of each of the clutter interference clusters, the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters, is determined.

9. The integrated sensing channel modeling method according to claim 8, characterized in that, The determination of the target cluster power of each of the sensing target clusters and / or environmental object clusters, or each of the clutter interference clusters, based on the cluster power of each of the clutter interference clusters and the corrected cluster power of each of the sensing target clusters and / or environmental object clusters, includes: Remove the target clutter interference cluster from each of the clutter interference clusters to obtain the remaining clutter interference clusters; the target clutter interference cluster is the clutter interference cluster with the smallest power difference between its cluster power and the cluster power of each of the sensing target clusters and / or each of the environmental object clusters, which is less than a preset threshold and has the smallest time delay difference. Based on the cluster power of the remaining clutter interference cluster and the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters, is determined.

10. The integrated sensing channel modeling method according to any one of claims 2 to 9, characterized in that, The construction of the integrated sensing channel based on the channel coefficients includes: Based on the channel coefficients and the path loss corresponding to the basic delay, an integrated sensing channel is constructed.

11. The integrated sensing channel modeling method according to any one of claims 2 to 10, characterized in that, The state of the sensing target cluster is determined based on the LOS probability of the sensing target, the state of the environmental object cluster is determined based on the LOS probability of the environmental object, and the state of the clutter interference cluster is determined based on the LOS probability of the sensing transmitter and / or sensing receiver.

12. The integrated sensing channel modeling method according to claim 11, characterized in that, The LOS probability of the perceived target includes at least one of the following: The LOS probability is obtained by correcting the perceived target cluster based on the probability model; The LOS probability of one segment of the sensing target cluster is a first preset value, and the LOS probability of the other segment of the sensing target cluster is obtained based on a probability model correction.

13. The integrated sensing channel modeling method according to claim 11, characterized in that, The LOS probability of the sensing transmitter and / or sensing receiver is determined based on at least one of the following: Determined based on the second preset value; Determined based on Rice factor.

14. A sensing-integrated channel modeling device, characterized in that, include: Memory and processor; Memory, used to store computer programs; Processor, configured to read the computer program in the memory and perform the following operations: A target cluster is determined for at least one target, the target including at least one of the following: a sensing target, an environmental object, and clutter interference; the target cluster includes at least one of the following: a sensing target cluster, an environmental object cluster, and a clutter interference cluster; the sensing target cluster is a cluster signal from the sensing transmitter to the sensing receiver via the sensing target in a single hop or two hops; the environmental object cluster is a cluster signal from the sensing transmitter to the sensing receiver via the environmental object in a single hop; and the clutter interference cluster is a cluster signal from the sensing signal to the sensing receiver via multiple hops; wherein each of the environmental objects is uniformly distributed within a preset range of the sensing target; Based on the target clusters, an integrated sensing channel is constructed.

15. The integrated sensing channel modeling device according to claim 14, characterized in that, The construction of an integrated sensing channel based on each of the target clusters includes: Based on the state of each target cluster and / or each target cluster, at least one of the relative cluster delay of each target cluster relative to the base delay and the target cluster power of each target cluster is determined; the base delay includes the minimum value between the cluster delay of each sensing target cluster and / or each environmental object cluster and the cluster delay of each clutter interference cluster. The channel coefficients are determined based on at least one of the relative cluster delay and the target cluster power; Based on the aforementioned channel coefficients, an integrated sensing channel is constructed.

16. The integrated sensing channel modeling device according to claim 15, characterized in that, Based on the state of each target cluster and / or each target cluster, determine the relative cluster delay of each target cluster relative to the base delay, including: Based on the state of each of the said sensing target clusters and / or each of the said environmental object clusters, determine the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters; Based on each of the aforementioned clutter interference clusters, the cluster delay of each of the aforementioned clutter interference clusters is determined using statistical methods; The basic delay is determined based on the cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters, and the cluster delay of each of the said clutter interference clusters; Based on the base delay, the relative cluster delay of each of the sensing target clusters and / or each of the environmental object clusters relative to the base delay, and the relative cluster delay of each of the clutter interference clusters relative to the base delay are determined respectively.

17. The integrated inductive channel modeling device according to claim 16, characterized in that, The determination of the cluster delay of each of the perceived target clusters and / or each of the environmental object clusters based on their states includes: When the state of each of the sensing target clusters and / or each of the environmental object clusters is in the LOS state, the cluster delay parameter of each of the sensing target clusters and / or each of the environmental object clusters is determined based on the coordinate information of each of the sensing targets and / or each of the environmental objects. The cluster delay of each of the said sensing target clusters and / or each of the said environmental object clusters is determined based on the cluster delay parameters of each of the said sensing target clusters and / or each of the said environmental object clusters.

18. The integrated inductive channel modeling device according to claim 16 or 17, characterized in that, The operation also includes: When the state of each of the sensing target clusters is non-line-of-sight (NLOS) and at least one of the sensing target clusters degenerates into a clutter interference cluster, the statistical method is used to determine the cluster delay of all clutter interference clusters.

19. The integrated sensing channel modeling device according to claim 18, characterized in that, The determination of the cluster delay of all clutter interference clusters using the statistical method includes: Using the statistical method described above, the cluster delay of N clutter interference clusters is randomly generated, where N is an integer greater than or equal to 0.

20. The integrated inductive channel modeling device according to claim 16 or 17, characterized in that, The operation also includes: When the state of each of the sensing target clusters is NLOS, the state of the segment of sensing target clusters that is closest to the sensing transmitter or sensing receiver in each of the sensing target clusters is modeled as LOS, and the cluster delay parameter of the segment of sensing target cluster is determined based on the coordinate information of the sensing target corresponding to the segment of sensing target cluster. For each of the aforementioned sensing target clusters, except for the aforementioned sensing target cluster, a segment of sensing target cluster is subjected to mirror reflection relative to any environmental object around the sensing target corresponding to the aforementioned sensing target cluster, and the cluster delay parameter of the other segment of sensing target cluster is determined. Based on the cluster delay parameters of one segment of the sensing target cluster and the cluster delay parameters of the other segment of the sensing target cluster, the cluster delay of each of the sensing target clusters is determined.

21. The integrated inductive channel modeling apparatus according to any one of claims 15 to 20, characterized in that, Based on each of the target clusters, the target cluster power of each target cluster is determined, including: The path loss corresponding to the basic time delay, the path loss corresponding to the cluster time delay of each of the sensing target clusters and / or each of the environmental object clusters, the cluster power of each of the sensing target clusters and / or each of the environmental object clusters, and the cluster power of each of the clutter interference clusters are determined respectively. Based on the path loss corresponding to the basic latency and the path loss corresponding to the cluster latency of each of the sensing target clusters and / or each of the environmental object clusters, the power difference between the path loss corresponding to the basic latency and the path loss corresponding to the cluster latency of each of the sensing target clusters and / or each of the environmental object clusters is determined. Based on the power difference and the cluster power corresponding to the basic time delay, the cluster power of each of the sensing target clusters and / or each of the environmental object clusters is corrected to obtain the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters. Based on the cluster power of each of the clutter interference clusters, the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters, is determined.

22. The integrated sensing channel modeling method according to claim 21, characterized in that, The determination of the target cluster power of each of the sensing target clusters and / or environmental object clusters, or each of the clutter interference clusters, based on the cluster power of each of the clutter interference clusters and the corrected cluster power of each of the sensing target clusters and / or environmental object clusters, includes: Remove the target clutter interference cluster from each of the clutter interference clusters to obtain the remaining clutter interference clusters; the target clutter interference cluster is the clutter interference cluster with the smallest power difference between its cluster power and the cluster power of each of the sensing target clusters and / or each of the environmental object clusters, which is less than a preset threshold and has the smallest time delay difference. Based on the cluster power of the remaining clutter interference cluster and the corrected cluster power of each of the sensing target clusters and / or each of the environmental object clusters, the target cluster power of each of the sensing target clusters and / or each of the environmental object clusters, or each of the clutter interference clusters, is determined.

23. The integrated inductive channel modeling apparatus according to any one of claims 15 to 22, characterized in that, Based on the channel coefficients, an integrated sensing channel is constructed: Based on the channel coefficients and the path loss corresponding to the basic delay, an integrated sensing channel is constructed.

24. The integrated inductive channel modeling apparatus according to any one of claims 15 to 23, characterized in that, The state of the sensing target cluster is determined based on the LOS probability of the sensing target, the state of the environmental object cluster is determined based on the LOS probability of the environmental object, and the state of the clutter interference cluster is determined based on the LOS probability of the sensing transmitter and / or sensing receiver.

25. The integrated sensing channel modeling device according to claim 24, characterized in that, The LOS probability of the perceived target includes at least one of the following: The LOS probability is obtained by correcting the perceived target cluster based on the probability model; The LOS probability of one segment of the sensing target cluster is a first preset value, and the LOS probability of the other segment of the sensing target cluster is obtained based on a probability model correction.

26. The integrated inductive channel modeling device according to claim 24, characterized in that, The LOS probability of the sensing transmitter and / or sensing receiver is determined based on at least one of the following: Determined based on the second preset value; Determined based on Rice factor.

27. A sensing-integrated channel modeling device, characterized in that, The device includes: A first determining module is used to determine a target cluster of at least one target, wherein the target includes at least one of the following: a sensing target, an environmental object, and clutter interference; the target cluster includes at least one of the following: a sensing target cluster, an environmental object cluster, and a clutter interference cluster; wherein the sensing target cluster is a cluster signal of a sensing signal arriving at a sensing receiver via a single hop or two hops from a sensing transmitter through the sensing target; the environmental object cluster is a cluster signal of a sensing signal arriving at the sensing receiver via a single hop from the sensing transmitter through the environmental object; and the clutter interference cluster is a cluster signal of a sensing signal arriving at the sensing receiver via multiple hops; wherein each of the environmental objects is uniformly distributed within a preset range of the sensing target; The module is used to construct an integrated sensing channel based on each of the target clusters.

28. A processor-readable storage medium, characterized in that, The processor-readable storage medium stores a computer program that causes the processor to execute the integrated sensing channel modeling method according to any one of claims 1 to 13.

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