A collaborative precoding method and device

Abstract

The present invention provides a cooperative precoding method and apparatus. The method includes: obtaining a first sensing communication signal sent by a first node based on the interference problem among multi-user data; obtaining a second sensing communication signal sent by a second node based on the communication signal interference problem between the second node and the first node and the first sensing communication signal; updating the first sensing communication signal based on the multipath radar echo interference problem of the first node, the first sensing communication signal, and the second sensing communication signal; updating the second sensing communication signal based on the radar echo interference problem between the second node and the first node, the updated first sensing communication signal, and the second sensing communication signal; and when the signal-to-noise ratio of the user received signal and the signal-to-noise ratio of the radar echo signal received by the first node do not meet the preset conditions, returning to the step of obtaining the first sensing communication signal. The solution of the present invention improves the communication performance of the target user while enhancing the sensing performance of the node.

Description

Technical Field

[0001] The present invention relates to the technical field of integrated perception and communication mutual interference coordination processing, and particularly to a cooperative precoding method and device. Background Art

[0002] Currently, spectrum resources are scarce. In order to pursue higher spectrum utilization efficiency, in a multi-node cooperative communication and sensing system, most nodes adopt a shared spectrum resource scheme. At this time, how to coordinate and process the mutual interference problem between nodes is a prerequisite for ensuring system performance.

[0003] In existing communication systems, the COMP technology is mainly used to solve the problem of coordinated processing of co-frequency mutual interference between nodes. The essence of the COMP technology is to provide higher data rates for users by jointly processing interference, avoiding interference, or converting interference into useful signals between different nodes, thereby improving network utilization.

[0004] In existing radar systems, the interference between radars mainly considers that the direct and reflected signals between radars will interfere with radar detection. Currently, the commonly used schemes for radar interference mainly include four categories: frequency division, phase division, space division, and interference cancellation. Among them, the space division scheme mainly adjusts the detection beam to stagger the detection signals between radars, thereby reducing interference. However, in traditional radar systems, the influence of channel information on beam adjustment is not considered, and the effect of reducing radar interference using the space division scheme is limited.

[0005] An integrated communication and sensing node can send an integrated communication and sensing signal to provide communication data transmission and radar sensing services for target users at the same time. Therefore, there are not only communication mutual interferences but also radar sensing mutual interferences between multiple integrated communication and sensing nodes. How to jointly process communication mutual interference and radar sensing mutual interference is a technical problem to be solved currently. Summary of the Invention

[0006] The purpose of the present invention is to provide a cooperative precoding method and device to solve the problem of how to jointly process cooperative precoding in the case where there are not only communication mutual interferences but also radar sensing echo mutual interferences between integrated perception and communication nodes in the prior art.

[0007] To achieve the above purpose, an embodiment of the present invention provides a cooperative precoding method, and the method includes:

[0008] Based on the interference problem between multi-user data, obtain a first integrated perception and communication signal sent by a first node;

[0009] Based on the communication signal interference problem between a second node and the first node and the first integrated perception and communication signal, obtain a second integrated perception and communication signal sent by the second node;

[0010] Update the first sensing communication signal based on the first node multi-path radar echo interference problem, the first sensing communication signal, and the second sensing communication signal;

[0011] Update the second sensing communication signal based on the radar echo interference problem between the second node and the first node, the updated first sensing communication signal, and the second sensing communication signal;

[0012] When the signal-to-noise ratio of the user received signal and the signal-to-noise ratio of the radar echo signal received by the first node do not meet the preset conditions, return to the step of obtaining the first sensing communication signal, where the preset conditions are that the signal-to-noise ratio of the user received signal is greater than the first signal-to-noise ratio threshold and the signal-to-noise ratio of the radar echo signal received by the first node is greater than the second signal-to-noise ratio threshold.

[0013] Optionally, for the collaborative precoding method, before obtaining the first sensing communication signal sent by the first node based on the interference problem between multi-user data, the method further includes:

[0014] Obtain a first matrix, a second matrix, a third matrix, and a fourth matrix according to a pre-constructed integrated sensing and communication mutual interference channel model, where the first matrix is the communication channel matrix of the first node, the second matrix is the communication interference channel matrix of the second node, the third matrix is the radar echo channel matrix of the first node, and the fourth matrix is the radar echo interference channel matrix of the second node.

[0015] Optionally, the collaborative precoding method further includes:

[0016] Construct the integrated sensing and communication mutual interference channel model according to the following steps:

[0017] Construct a communication mutual interference channel model and a radar sensing echo mutual interference channel model respectively;

[0018] Construct the integrated sensing and communication mutual interference channel model according to the communication mutual interference channel model and the radar sensing echo mutual interference channel model.

[0019] Optionally, for the collaborative precoding method, where constructing the communication mutual interference channel model includes:

[0020] Obtain the channel from the first node to the target user and the channel from the second node to the target user according to the steering vector of the transmitting antenna of the first node and the steering vector of the transmitting antenna of the second node;

[0021] Obtain the communication channel of the first node and the communication channel of the second node according to the channel from the first node to the target user and the channel from the second node to the target user;

[0022] Construct the communication mutual interference channel model according to the communication channel of the first node and the communication channel of the second node.

[0023] Optionally, for the collaborative precoding method, wherein constructing the radar sensing echo mutual interference channel model includes:

[0024] Construct the radar sensing echo mutual interference channel model according to the radar echo channel of the first node and the radar echo interference channel of the second node.

[0025] Optionally, for the collaborative precoding method, wherein the interference problem between multi-user data includes:

[0026] Solve for the minimum value of the total transmit signal power of the first node under the condition of satisfying the first constraint condition;

[0027] Wherein, the first constraint condition includes:

[0028] The ratio of the sum of the useful signal received by the user and the Gaussian white noise of the communication channel to the useful signal received by the user is less than or equal to the reciprocal of the first sub-signal-to-noise ratio threshold, and the useful signal received by the user is obtained according to the first matrix;

[0029] The signal data matrix of the first node is greater than or equal to a first preset value.

[0030] Optionally, for the collaborative precoding method, wherein the communication signal interference problem between the second node and the first node includes:

[0031] Solve for the minimum value of the total transmit signal power of the second node under the condition of satisfying the second constraint condition;

[0032] Wherein, the second constraint condition includes:

[0033] The ratio of the interference signal of the second node to the useful signal received by the user is less than or equal to the reciprocal of the second sub-signal-to-noise ratio threshold, and the interference signal of the second node is obtained according to the second matrix;

[0034] The signal data matrix of the first node is greater than or equal to a first preset value.

[0035] Optionally, for the collaborative precoding method, wherein the multi-path echo interference problem of the first node includes:

[0036] Solve for the minimum value of the total transmission power of the first node while satisfying the third constraint condition;

[0037] Among them, the third constraint condition includes:

[0038] The ratio of the sum of the useful radar echo signal received by the first node and the Gaussian white noise of the radar echo channel to the useful radar echo signal received by the first node is less than or equal to the reciprocal of the third sub-signal-to-noise ratio threshold, and the useful radar echo signal received by the first node is obtained according to the third matrix.

[0039] Optionally, for the collaborative precoding method, among them, the echo interference problem between the second node and the first node includes:

[0040] Solve for the minimum value of the total transmission power of the second node while satisfying the fourth constraint condition;

[0041] Among them, the fourth constraint condition includes:

[0042] The ratio of the radar echo interference signal of the second node to the useful radar echo signal received by the first node is less than or equal to the reciprocal of the fourth sub-signal-to-noise ratio threshold, and the radar echo interference signal of the second node is obtained according to the fourth matrix.

[0043] An embodiment of the present invention further provides an electronic device, including a processor and a transceiver, where:

[0044] The processor is used to obtain the first sensing communication signal sent by the first node based on the interference problem between multi-user data;

[0045] The processor is further used to obtain the second sensing communication signal sent by the second node based on the communication signal interference problem between the second node and the first node and the first sensing communication signal;

[0046] The processor is further used to update the first sensing communication signal based on the multi-path radar echo interference problem of the first node, the first sensing communication signal, and the second sensing communication signal;

[0047] The processor is further used to update the second sensing communication signal based on the radar echo interference problem between the second node and the first node, the updated first sensing communication signal, and the second sensing communication signal;

[0048] The processor is further configured to return to the step of obtaining the first sensed communication signal when the signal-to-noise ratio of the user-received signal and the signal-to-noise ratio of the radar echo signal received by the first node do not meet a preset condition, where the preset condition is that the signal-to-noise ratio of the user-received signal is greater than a first signal-to-noise ratio threshold and the signal-to-noise ratio of the radar echo signal received by the first node is greater than a second signal-to-noise ratio threshold.

[0049] Optionally, for the electronic device, the processor is further configured to obtain a first matrix, a second matrix, a third matrix, and a fourth matrix according to a pre-constructed integrated sensing and communication mutual interference channel model, where the first matrix is the communication channel matrix of the first node, the second matrix is the communication interference channel matrix of the second node, the third matrix is the radar echo channel matrix of the first node, and the fourth matrix is the radar echo interference channel matrix of the second node.

[0050] Optionally, for the electronic device, the processor is further configured to construct the integrated sensing and communication mutual interference channel model according to the following steps:

[0051] Construct a communication mutual interference channel model and a radar sensing echo mutual interference channel model respectively;

[0052] Construct the integrated sensing and communication mutual interference channel model according to the communication mutual interference channel model and the radar sensing echo mutual interference channel model.

[0053] Optionally, for the electronic device, the processor is specifically configured to obtain the channel from the first node to the target user and the channel from the second node to the target user according to the steering vector of the transmitting antenna of the first node and the steering vector of the transmitting antenna of the second node;

[0054] Obtain the communication channel of the first node and the communication channel of the second node according to the channel from the first node to the target user and the channel from the second node to the target user;

[0055] Construct the communication mutual interference channel model according to the communication channel of the first node and the communication channel of the second node.

[0056] Optionally, for the electronic device, the processor is specifically configured to construct the radar sensing echo mutual interference channel model according to the radar echo channel of the first node and the radar echo interference channel of the second node.

[0057] Optionally, for the electronic device, the processor is specifically configured to solve for the minimum value of the total transmission power of the first node when a first constraint condition is satisfied;

[0058] Among them, the first constraint condition includes:

[0059] The ratio of the sum of the useful signal received by the user and the Gaussian white noise of the communication channel to the useful signal received by the user is less than or equal to the reciprocal of the first sub-signal-to-noise ratio threshold, and the useful signal received by the user is obtained according to the first matrix;

[0060] The signal data matrix of the first node is greater than or equal to a first preset value.

[0061] Optionally, for the electronic device, wherein the processor is specifically configured to solve the minimum value of the total transmission signal power of the second node when the second constraint condition is satisfied;

[0062] Among them, the second constraint condition includes:

[0063] The ratio of the interference signal of the second node to the useful signal received by the user is less than or equal to the reciprocal of the second sub-signal-to-noise ratio threshold, and the interference signal of the second node is obtained according to the second matrix;

[0064] The signal data matrix of the first node is greater than or equal to a first preset value.

[0065] Optionally, for the electronic device, wherein the processor is specifically configured to solve the minimum value of the total transmission signal power of the first node when the third constraint condition is satisfied;

[0066] Among them, the third constraint condition includes:

[0067] The ratio of the sum of the useful radar echo signal received by the first node and the Gaussian white noise of the radar echo channel to the useful radar echo signal received by the first node is less than or equal to the reciprocal of the third sub-signal-to-noise ratio threshold, and the useful radar echo signal received by the first node is obtained according to the third matrix.

[0068] Optionally, for the electronic device, wherein the processor is specifically configured to solve the minimum value of the total transmission signal power of the second node when the fourth constraint condition is satisfied;

[0069] Among them, the fourth constraint condition includes:

[0070] The ratio of the radar echo interference signal of the second node to the useful radar echo signal received by the first node is less than or equal to the reciprocal of the fourth sub-signal-to-noise ratio threshold, and the radar echo interference signal of the second node is obtained according to the fourth matrix.

[0071] An embodiment of the present invention further provides a cooperative precoding device, including:

[0072] The first acquisition module is used to acquire the first sensed communication signal sent by the first node based on the interference problem between multi-user data;

[0073] The second acquisition module is used to acquire the second sensed communication signal sent by the second node based on the communication signal interference problem between the second node and the first node and the first sensed communication signal;

[0074] The first update module is used to update the first sensed communication signal based on the multipath radar echo interference problem of the first node, the first sensed communication signal, and the second sensed communication signal;

[0075] The second update module is used to update the second sensed communication signal based on the radar echo interference problem between the second node and the first node, the updated first sensed communication signal, and the second sensed communication signal;

[0076] The return module is used to return to the step of acquiring the first sensed communication signal when the signal-to-noise ratio of the user received signal and the signal-to-noise ratio of the radar echo signal received by the first node do not meet the preset conditions, and the preset conditions are that the signal-to-noise ratio of the user received signal is greater than the first signal-to-noise ratio threshold and the signal-to-noise ratio of the radar echo signal received by the first node is greater than the second signal-to-noise ratio threshold.

[0077] Optionally, the cooperative precoding device further includes:

[0078] The acquisition module is used to acquire the first matrix, the second matrix, the third matrix, and the fourth matrix according to the pre-constructed integrated sensing and communication mutual interference channel model, where the first matrix is the communication channel matrix of the first node, the second matrix is the communication interference channel matrix of the second node, the third matrix is the radar echo channel matrix of the first node, and the fourth matrix is the radar echo interference channel matrix of the second node.

[0079] Optionally, the cooperative precoding device further includes:

[0080] The construction module is used to construct the integrated sensing and communication mutual interference channel model according to the following steps:

[0081] Respectively construct the communication mutual interference channel model and the radar sensing echo mutual interference channel model;

[0082] Construct the integrated sensing and communication mutual interference channel model according to the communication mutual interference channel model and the radar sensing echo mutual interference channel model.

[0083] Optionally, in the cooperative precoding device, the construction module is specifically used for:

[0084] Obtain the channel from the first node to the target user and the channel from the second node to the target user according to the steering vectors of the transmitting antennas of the first node and the transmitting antennas of the second node;

[0085] Obtain the communication channel of the first node and the communication channel of the second node according to the channel from the first node to the target user and the channel from the second node to the target user;

[0086] Construct the communication mutual interference channel model according to the communication channel of the first node and the communication channel of the second node.

[0087] Optionally, for the collaborative precoding device, wherein the construction module is specifically configured to:

[0088] Construct the radar sensing echo mutual interference channel model according to the radar echo channel of the first node and the radar echo interference channel of the second node.

[0089] Optionally, for the collaborative precoding device, wherein the first acquisition module is specifically configured to:

[0090] Solve for the minimum value of the total transmit signal power of the first node when the first constraint condition is satisfied;

[0091] Wherein, the first constraint condition includes:

[0092] The ratio of the sum of the useful signal received by the user and the Gaussian white noise of the communication channel to the useful signal received by the user is less than or equal to the reciprocal of the first sub-signal-to-noise ratio threshold, and the useful signal received by the user is obtained according to the first matrix;

[0093] The signal data matrix of the first node is greater than or equal to a first preset value.

[0094] Optionally, for the collaborative precoding device, wherein the second acquisition module is specifically configured to:

[0095] Solve for the minimum value of the total transmit signal power of the second node when the second constraint condition is satisfied;

[0096] Wherein, the second constraint condition includes:

[0097] The ratio of the interference signal of the second node to the useful signal received by the user is less than or equal to the reciprocal of the second sub-signal-to-noise ratio threshold, and the interference signal of the second node is obtained according to the second matrix;

[0098] The signal data matrix of the first node is greater than or equal to a first preset value.

[0099] Optionally, the cooperative precoding device, wherein the first update module is specifically configured to:

[0100] Solve for the minimum value of the total transmission signal power of the first node when the third constraint condition is satisfied;

[0101] Wherein, the third constraint condition includes:

[0102] The ratio of the sum of the useful radar echo signal received by the first node and the Gaussian white noise of the radar echo channel to the useful radar echo signal received by the first node is less than or equal to the reciprocal of the third sub-signal-to-noise ratio threshold, and the useful radar echo signal received by the first node is obtained according to the third matrix.

[0103] Optionally, the cooperative precoding device, wherein the second update module is specifically configured to:

[0104] Solve for the minimum value of the total transmission signal power of the second node when the fourth constraint condition is satisfied;

[0105] Wherein, the fourth constraint condition includes:

[0106] The ratio of the radar echo interference signal of the second node to the useful radar echo signal received by the first node is less than or equal to the reciprocal of the fourth sub-signal-to-noise ratio threshold, and the radar echo interference signal of the second node is obtained according to the fourth matrix.

[0107] An embodiment of the present invention further provides an electronic device, including: a transceiver, a processor, a memory, and a program or instruction stored on the memory and executable on the processor; when the processor executes the program or instruction, the cooperative precoding method as described above is implemented.

[0108] An embodiment of the present invention further provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the cooperative precoding method as described above is implemented.

[0109] The beneficial effects of the above technical solutions of the present invention are as follows:

[0110] In an embodiment of the present invention, based on the interference problem between multi-user data, a first sensing communication signal sent by a first node is obtained, and based on the communication signal interference problem between a second node and the first node and the first sensing communication signal, a second sensing communication signal sent by the second node is obtained. Then, based on the multi-path radar echo interference problem of the first node, the first sensing communication signal, and the second sensing communication signal, the first sensing communication signal is updated. Further, based on the radar echo interference problem between the second node and the first node, the updated first sensing communication signal, and the second sensing communication signal, the second sensing communication signal is updated. When the signal-to-noise ratio of the signal received by the user and the signal-to-noise ratio of the radar echo signal received by the first node do not meet the preset conditions, the step of obtaining the first sensing communication signal is returned, solving the joint processing problem of communication mutual interference and radar sensing echo mutual interference in the integrated sensing and communication node, and improving the sensing performance of the integrated sensing and communication node while improving the communication performance of the target user. BRIEF DESCRIPTION OF THE DRAWINGS

[0111] Figure 1 It is a scenario diagram of cooperative precoding between integrated sensing and communication terminal nodes according to an embodiment of the present invention;

[0112] Figure 2 It is a scenario diagram of cooperative precoding between sensing base stations according to an embodiment of the present invention;

[0113] Figure 3 It is a scenario diagram of cooperative precoding between a sensing base station and an integrated sensing and communication terminal node according to an embodiment of the present invention;

[0114] Figure 4 It is a step diagram of the cooperative precoding method according to an embodiment of the present invention;

[0115] Figure 5 It is a flowchart of the cooperative precoding method according to an embodiment of the present invention;

[0116] Figure 6 It is a schematic diagram of the integrated sensing and communication mutual interference channel model according to an embodiment of the present invention;

[0117] Figure 7 It is a schematic diagram of the communication mutual interference channel model according to an embodiment of the present invention;

[0118] Figure 8 It is a schematic diagram of the radar sensing echo mutual interference channel model according to an embodiment of the present invention;

[0119] Figure 9 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention;

[0120] Figure 10 It is a schematic diagram of the cooperative precoding device according to an embodiment of the present invention;

[0121] Figure 11 This is the second schematic structural diagram of the electronic device according to the embodiment of the present invention. Specific embodiments

[0122] To make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0123] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present invention. Therefore, the "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner.

[0124] In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0125] In addition, the terms "system" and "network" are often used interchangeably in this article.

[0126] In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0127] In view of the problem in the prior art that there are not only communication mutual interferences but also radar sensing echo mutual interferences between the integrated sensing and communication nodes, the embodiments of the present invention provide a cooperative coding method and device for how to perform joint processing for cooperative precoding.

[0128] It should be noted that the cooperative precoding design problem can be described as: minimizing the total transmission signal power P of the integrated node under the constraints of the SINR (signal-to-noise ratio) of the received signal of the user and the SINR of the radar echo signal received by the integrated sensing and communication node 1 (i.e., the first node) t , and its specific formula description is as follows:

[0129]

[0130]

[0131]

[0132]

[0133] It should also be noted that in the actual signal transmission process, the transmission power of each antenna is limited. Assume that the number of transmit antennas of the node is N t , and the power limit of each antenna is the same. Then the power limit of a single transmit antenna is expressed as follows:

[0134]

[0135]

[0136] where X1 is the first sensing communication signal transmitted by the first node; X2 is the second sensing communication signal transmitted by the second node; K is the number of users; i represents the i-th user; w i,t is the precoding of the transmit antenna array of the first node; s i is the user data sequence; is the SINR of the received signal of the i-th user; F c,i is the first signal-to-noise ratio threshold; is the SINR of the radar echo signal received by the integrated sensing and communication node 1; F R is the second signal-to-noise ratio threshold; L represents the data stream length.

[0137] Due to the collaborative precoding design problem is a non-convex problem with many constraints and high solution complexity. Therefore, the collaborative precoding design problem is decomposed into four problems in steps S401 to S404 below, and hierarchical optimization is achieved through multiple iterative calculations.

[0138] It should also be noted that the collaborative precoding method of the embodiments of the present invention is applicable to scenarios such as vehicle traffic and industrial flexible manufacturing. Moreover, the integrated sensing and communication nodes in the embodiments of the present invention are applicable to terminal and base station nodes.

[0139] Specifically, taking the vehicle traffic scenario as an example, the embodiments of the present invention include, but are not limited to, being applicable to the collaborative precoding between integrated sensing and communication terminal nodes as shown in Figure 1 , between integrated sensing base stations as shown in Figure 2 , and between an integrated sensing base station and an integrated sensing and communication terminal node as shown in Figure 3 .

[0140] As shown in Figure 4 , the embodiments of the present invention provide a collaborative precoding method, and the method includes:

[0141] Step S401: Based on the interference problem between multi-user data Obtain a first sensing communication signal X1 sent by a first node;

[0142] In an embodiment of the present invention, the first node and the second node described below are both integrated sensing and communication nodes, and the integrated sensing and communication node provides communication data transmission and radar sensing services for a target user simultaneously. Here, the first sensing communication signal X1 is a first integrated sensing and communication signal.

[0143] It should be noted that before the execution of step S401 starts, it is first determined whether the current iteration number t reaches the upper limit T of the iteration number. If the upper limit T of the iteration number is not reached, step S401 is executed.

[0144] Step S402: Based on the communication signal interference problem between the second node and the first node and the first sensing communication signal X1, obtain a second sensing communication signal X2 sent by the second node;

[0145] In an embodiment of the present invention, the second node is an adjacent node of the first node. When considering the mutual communication interference between the first node and the second node, for the first node, the second sensing communication signal X2 sent by the second node is an interfering integrated sensing and communication signal.

[0146] Step S403: Based on the multi-path radar echo interference problem of the first node the first sensing communication signal X1 and the second sensing communication signal X2, update the first sensing communication signal X1;

[0147] Step S404: Based on the radar echo interference problem between the second node and the first node the updated first sensing communication signal X1 and the second sensing communication signal X2, update the second sensing communication signal X2;

[0148] Further, when considering the existence of mutual interference of radar sensing echoes between the first node and the second node, based on the updated first sensing communication signal X1, the second sensing communication signal X2 is updated.

[0149] Step S405: When the signal-to-noise ratio of the signal received by the user and the signal-to-noise ratio of the radar echo signal received by the first node do not meet the preset conditions, return to the step of obtaining the first sensing communication signal, and the preset conditions are that the signal-to-noise ratio of the signal received by the user is greater than the first signal-to-noise ratio threshold F C,i and the signal-to-noise ratio of the radar echo signal received by the first node is greater than the second signal-to-noise ratio threshold F R .

[0150] It should be noted that after one iteration of the above steps S401 to S404 is completed, it is determined whether the signal-to-noise ratio of the user's received signal and the signal-to-noise ratio of the radar echo signal received by the first node meet the preset conditions. When the preset conditions are not met, the iteration count t (t = t + 1) is updated, and it is determined whether the iteration count t reaches the iteration count upper limit T. When the iteration count upper limit T is not reached, return to step S401 and restart the execution of steps S401 to S404 until the preset conditions are met, or when the preset conditions are not met but the iteration count upper limit T is reached, end the iteration to obtain the first sensing communication signal X1 and the second sensing communication signal X2, and realize cooperative precoding.

[0151] In the embodiment of the present invention, based on the interference problem between multi-user data, the first sensing communication signal sent by the first node is obtained, and based on the communication signal interference problem between the second node and the first node and the first sensing communication signal, the second sensing communication signal sent by the second node is obtained, and based on the multi-path radar echo interference problem of the first node, the first sensing communication signal, and the second sensing communication signal, the first sensing communication signal is updated, and based on the radar echo interference problem between the second node and the first node, the updated first sensing communication signal, and the second sensing communication signal, the second sensing communication signal is updated. When the signal-to-noise ratio of the user's received signal and the signal-to-noise ratio of the radar echo signal received by the first node do not meet the preset conditions, return to the step of obtaining the first sensing communication signal, which solves the joint processing problem of communication mutual interference and radar sensing echo mutual interference in the integrated sensing and communication node, and improves the sensing performance of the integrated sensing and communication node while improving the communication performance of the target user.

[0152] Optionally, for the cooperative precoding method, before step S401, the method further includes:

[0153] Set initialization parameters: the first matrix H 1,C 、the second matrix H 2,C 、the third matrix H 1,R and the fourth matrix H 2,R ; the number of transmitting antennas N t and the number of receiving antennas N r , N = N t = N r ; the first signal-to-noise ratio threshold F c,i and the second signal-to-noise ratio threshold F R ; and, the iteration count upper limit T and the initial iteration count t = 0.

[0154] Specifically, according to the pre-constructed integrated sensing and communication mutual interference channel model H ISAC, obtain the first matrix H 1,C , the second matrix H 2,C , the third matrix H 1,R and the fourth matrix H 2,R , the first matrix is H 1,C the communication channel matrix of the first node, the second matrix H 2,C is the communication interference channel matrix of the second node, the third matrix H 1,R is the radar echo channel matrix of the first node, and the fourth matrix H 2,R is the radar echo interference channel matrix of the second node.

[0155] Next, in combination with Figure 5 , specifically describe the cooperative precoding process.

[0156] Step S501: Set the initialization parameters, the first matrix H 1,C , the second matrix H 2,C , the third matrix H 1,R and the fourth matrix H 2,R ; the number of transmit antennas N t and the number of receive antennas N r of the node, N = N t = N r ; the first signal-to-noise ratio threshold F c,i and the second signal-to-noise ratio threshold F R ; and, the upper limit T of the number of iterations and the initial number of iterations t = 0.

[0157] Step S502: Determine whether the current number of iterations t reaches the upper limit T of the number of iterations.

[0158] When the judgment result in step S502 is no, enter step S503: Solve the interference problem between multi-user data to obtain the first sensed communication signal X1 sent by the first node.

[0159] Step S504: Solve the communication signal interference problem between the second node and the first node to obtain the second sensed communication signal X2 sent by the second node.

[0160] Step S505: Solve the multi-path radar echo interference problem of the first node and update the first sensed communication signal X1.

[0161] Step S506: Solve the radar echo interference problem between the second node and the first node, and update the second sensed communication signal X2.

[0162] Step S507: Determine whether the signal-to-noise ratio of the user received signal and the signal-to-noise ratio of the radar echo signal received by the first node meet the preset conditions.

[0163] When the judgment result in step S507 is negative, proceed to step S508: update the iteration count t, where t = t + 1, and return to step S502.

[0164] When the judgment result in step S502 is positive, or when the judgment result in step S507 is positive, end the cooperative precoding process.

[0165] Optionally, for the described cooperative precoding method, the method further includes:

[0166] Construct the integrated sensing and communication mutual interference channel model H according to the following steps ISAC :

[0167] Construct the communication mutual interference channel model H C and the radar sensing echo mutual interference channel model H R ;

[0168] According to the communication mutual interference channel model H C and the radar sensing echo mutual interference channel model H R , construct the integrated sensing and communication mutual interference channel model H ISAC .

[0169] It should be noted that, as Figure 6 shown, H ISAC = H C ∪H R , that is, the integrated sensing and communication mutual interference channel model H ISAC is the union of the communication mutual interference channel model H C and the radar sensing echo mutual interference channel model H R .

[0170] Optionally, for the described cooperative precoding method, where constructing the communication mutual interference channel model H C , includes:

[0171] Obtain the channel from the first node to the target user and the channel from the second node to the target user according to the steering vectors of the transmitting antennas of the first node and the second node;

[0172] Obtain the communication channel of the first node and the communication channel of the second node according to the channel from the first node to the target user and the channel from the second node to the target user;

[0173] Construct the communication mutual interference channel model according to the communication channel of the first node and the communication channel of the second node.

[0174] In the embodiments of the present invention, as Figure 7 shown, the communication mutual interference channel includes the channel from the integrated sensing and communication node 1 (i.e., the first node) to the target user, and the interference channel from the adjacent integrated sensing and communication node 2 (i.e., the second node) to the target user. The signal received by the receiver includes not only the LOS (Line of Sight) path, but also the NLOS (Non Line of Sight) path, that is, the transmitted signal is affected by the reflection, refraction, and scattering of objects in space.

[0175] The steps to construct the communication mutual interference channel model H C are as follows:

[0176] First, assume that the number of transmitting antennas of the nodes in the embodiments of the present invention is N t , and the target users are all single-antenna users, and the number of users is K. Then the communication mutual interference channel model H C can be expressed as the union of the communication channels of two integrated sensing and communication nodes (i.e., the first node and the second node):

[0177] H C = H 1,C ∪H 2,C

[0178] where H 1,C is the communication channel of the first node; H 2,C is the communication channel of the second node;

[0179] H 1,C = h 1,1 , h 1,2 , …, h 1,K T

[0180] H 2,C = h 2,1 , h 2,2 , …, h 2,K T

[0181] h 1,i represents the sub-channel from the first node to the i-th user and can be expressed as:

[0182]

[0183] h 2,i represents the sub-channel from the second node to the i-th user and can be expressed as:

[0184]

[0185] where l represents the l-th path; L p1 and L​​p2 respectively represent the total number of multipaths of the first node and the second node; α 1,i,l represents the attenuation coefficient of the multipath; and respectively represent the steering vectors of the transmitting antennas of the first node and the second node, specifically as follows:

[0186]

[0187]

[0188] where Δd represents the distance between antenna elements, generally satisfying and both have the dimension of N t ×1, then h 1,i and h 2,i have the dimension of 1×N t , H 1,C and H 2,C have the dimension of K×N t .

[0189] Optionally, in the collaborative precoding method, the constructing the radar sensing echo mutual interference channel model H R , includes:

[0190] According to the radar echo channel H 1,R of the first node and the radar echo interference channel H 2,R of the second node, construct the radar sensing echo mutual interference channel model H R .

[0191] In the embodiment of the present invention, as Figure 8 shown, the radar sensing echo mutual interference channel between the integrated sensing and communication nodes includes the "first node → target user → first node" channel of the self integrated sensing and communication node (i.e., the first node) passing through the target user and then to the self integrated sensing and communication node, and the "second node → target user → first node" channel of the adjacent integrated sensing and communication node (i.e., the second node) passing through the target user and then to the self integrated sensing and communication node (i.e., the first node). The active radar mainly uses Figure 4 the direct path LOS of the target in

[0192] to achieve sensing, and other multipath echoes, as interference signals, will generate false alarms. R The radar sensing echo mutual interference channel model H 1,R is expressed as the union of the self echo channel (i.e., the radar echo channel H 2,R ) of the first node and the interference echo channel of the adjacent integrated sensing and communication node (the radar echo interference channel H

[0193] H R = H 1,R ∪ H 2,R

[0194] Among them, the steps to construct the radar echo channel H of the first node are as follows: 1,R are as follows:

[0195]

[0196] The first term represents the effective target direct echo channel, and the second term represents other multipath interference channels within the same beam. L p1 represents the total number of multipaths of the first node, and β 1,l represents the multipath attenuation coefficient; represents the transmission angle of the first node. It should be noted that, represents the reception angle of the first node and should be kept equal, that is

[0197] It should be noted that for radar sensing, the integrated sensing and communication signal does not distinguish different target users. Therefore, the channel from the integrated sensing and communication node to a specific target user is not considered, and only the channel from the integrated sensing and communication node to the target user area needs to be considered. So and have dimensions of N t × 1 and N r × 1, and H 1,R has a dimension of N r × N t .

[0198] The steps to construct the radar echo interference channel H of the second node are as follows: 2,R are as follows:

[0199]

[0200] Among them, L p2 represents the total number of multipaths of the second node; β 2,l represents the multipath attenuation coefficient; represents the transmission angle of the second node.

[0201] Since multiple scattering will cause a large attenuation of the signal, in the embodiments of the present invention, only the effective target direct echo channel and the echo channel after one scattering are considered. Then H 2,R can be simplified to:

[0202]

[0203] When the number of transmitting antenna elements of the first node and the second node is the same, H2,R also has a dimension of N r ×N t .

[0204] Optionally, in the collaborative precoding method, the interference problem between multi-user data includes:

[0205] Solving for the minimum value of the total transmit signal power of the first node under the condition of satisfying the first constraint;

[0206] wherein, the first constraint includes:

[0207] The ratio of the sum of the useful signal received by the user and the Gaussian white noise of the communication channel to the useful signal received by the user is less than or equal to the reciprocal of the first sub-signal-to-noise ratio threshold F, and the useful signal received by the user is obtained according to the first matrix H c,i,1 ; 1,C obtained;

[0208] The signal data matrix T of the first node 1,i is greater than or equal to a first preset value, where the first preset value is 0.

[0209] It should be noted that based on the integrated sensing and communication mutual interference channel model H ISAC , the received signal of the user is obtained as:

[0210] Y UE = H 1,c X1 + H 2,c X2 + Z C

[0211] wherein, Z C represents the Gaussian white noise of the communication channel; X2 represents the second integrated sensing and communication signal transmitted by the second node, that is, the interference integrated sensing and communication signal, with a dimension of N t ×L; represents the first integrated sensing and communication signal transmitted by the first node; S = [s1, s2,..., s K T is the user data sequence, with a dimension of K×L, and L represents the data stream length; W t = [w 1,t , w 2,t ,..., w K,t T is the precoding of the transmit antenna array of the first node, with a dimension of K×N t , then the dimension of X1 is N t ×L, and the dimension of Y UE is 1×L.

[0212] ​​During the communication process, the user data sent by the integrated sensing and communication node includes data of K users, and there is a certain interference between the user data. Then, the signal received by the i-th user is expressed as:

[0213]

[0214] Among them, the first term is the useful signal received by the user, the second term is the interference signal generated by other users' signals, the third term is the interference signal generated by the second node, and the fourth term is the Gaussian white noise of the communication channel. Then, the SINR of the received signal for each user is expressed as follows:

[0215]

[0216] In the embodiment of the present invention, the interference problem between multi-user data is described as:

[0217]

[0218]

[0219]

[0220] Among them,

[0221]

[0222]

[0223]

[0224] By solving the Lagrangian dual problem of this problem the formula for the first integrated sensing and communication signal X1 is obtained as follows:

[0225]

[0226]

[0227] Among them, δ t is the iteration step size and can be obtained through the linear backtracking algorithm. u is the Lagrange constant and satisfies the following formula:

[0228]

[0229] Among them, is the Lagrangian function.

[0230] Optionally, in the cooperative precoding method described above, the communication signal interference problem between the second node and the first node includes:

[0231] Solve for the minimum value of the total transmit power of the second node while satisfying the second constraint condition;

[0232] Among them, the second constraint condition includes:

[0233] The ratio of the interference signal of the second node to the useful signal received by the user is less than or equal to the reciprocal of the second sub-signal-to-noise ratio threshold F, and the interference signal of the second node is obtained according to the second matrix H; c,i,2 obtained; 2,C The signal data matrix T of the first node is greater than or equal to a first preset value, where the first preset value is 0.

[0234] In the embodiment of the present invention, the communication signal interference problem between the second node and the first node is described as: 1,i described as:

[0235] In the embodiment of the present invention, the communication signal interference problem between the second node and the first node is described as:

[0236]

[0237]

[0238]

[0239] Among them,

[0240]

[0241]

[0242]

[0243]

[0244]

[0245] By solving the Lagrangian dual problem of this problem, the formula for the first sensing communication signal X2 is obtained as follows: obtained as follows:

[0246]

[0247]

[0248] Optionally, for the collaborative precoding method, the multipath echo interference problem of the first node includes:

[0249] Solve for the minimum value of the total transmit power of the first node while satisfying the third constraint condition;

[0250] Among them, the third constraint condition includes:

[0251] The ratio of the sum of the useful radar echo signal received by the first node and the Gaussian white noise of the radar echo channel to the useful radar echo signal received by the first node is less than or equal to the reciprocal of the third sub-signal-to-noise ratio threshold F. The useful radar echo signal received by the first node is obtained according to the third matrix H. R,1 1,R Obtained.

[0252] It should be noted that based on the integrated sensing and communication mutual interference channel model H, the radar echo signal received by the first node is: ISAC

[0253] Y SBS1 = H 1,R X1 + H 2,R X2 + Z R

[0254] Where Z R represents the Gaussian white noise of the radar echo channel. According to the above description formulas of H and H, the radar echo signal received by the first node is further expressed as: 1,R and H 2,R

[0255]

[0256] Among them, the first term is the useful radar echo signal received by the first node, the second term is the Gaussian white noise of the radar echo channel, and the third term is the radar echo interference signal including the first node's own multipath radar echo interference signal and the second node's radar echo interference signal. Then, the SINR of the radar echo signal received by the first node is expressed as follows:

[0257]

[0258] In the embodiment of the present invention, the first node's multipath echo interference problem is described as:

[0259]

[0260]

[0261] Among them,

[0262]

[0263] Here, l represents the l-th path, and g 1,l represents the l-th path channel in H, which is calculated according to the formula of H. 1,R 1,R Calculated.​​​​

[0264] By solving this problem of the Lagrangian dual problem, the update formula of the first sensing communication signal X1 is obtained as follows:

[0265]

[0266]

[0267] Optionally, in the collaborative precoding method, the echo interference problem between the second node and the first node includes:

[0268] When the fourth constraint condition is satisfied, solve the minimum value of the total transmission power of the second node's transmission signal;

[0269] wherein, the fourth constraint condition includes:

[0270] The ratio of the radar echo interference signal of the second node to the useful radar echo signal received by the first node is less than or equal to the reciprocal of the fourth sub-signal-to-noise ratio threshold F R,2 The radar echo interference signal of the second node is obtained according to the fourth matrix H 2,R obtained.

[0271] In the embodiment of the present invention, the echo interference problem between the second node and the first node is described as:

[0272]

[0273]

[0274] wherein,

[0275]

[0276]

[0277] Here, l represents the l-th path; g 1,l represents the l-th path channel in H 1,R and is calculated according to the formula of H 1,R ; g 2,l represents the l-th path channel in H 2,R and is calculated according to the formula of H 2,R obtained.

[0278] By solving this problem of the Lagrangian dual problem, the update formula of the second sensing communication signal X2 is obtained as follows:

[0279]

[0280]

[0281] It should be noted that the first signal-to-noise ratio threshold F C,i and the first sub-signal-to-noise ratio threshold F C,i,1 and the second sub-signal-to-noise ratio threshold F C,i,2 satisfy the following formula:

[0282]

[0283] The second signal-to-noise ratio threshold F R and the third sub-signal-to-noise ratio threshold F R,1 and the fourth sub-signal-to-noise ratio threshold F R,2 satisfy the following formula:

[0284]

[0285] As Figure 9 shown, an embodiment of the present invention further provides an electronic device 900, including a processor 901 and a transceiver 902, where:

[0286] The processor 901 is configured to obtain a first sensed communication signal sent by a first node based on the interference problem between multi-user data;

[0287] The processor 901 is further configured to obtain a second sensed communication signal sent by the second node based on the communication signal interference problem between the second node and the first node and the first sensed communication signal;

[0288] The processor 901 is further configured to update the first sensed communication signal based on the multi-path radar echo interference problem of the first node, the first sensed communication signal, and the second sensed communication signal;

[0289] The processor 901 is further configured to update the second sensed communication signal based on the radar echo interference problem between the second node and the first node, the updated first sensed communication signal, and the second sensed communication signal;

[0290] The processor 901 is further configured to return to the step of obtaining the first sensed communication signal when the signal-to-noise ratio of the user received signal and the signal-to-noise ratio of the radar echo signal received by the first node do not meet the preset conditions, where the preset conditions are that the signal-to-noise ratio of the user received signal is greater than the first signal-to-noise ratio threshold and the signal-to-noise ratio of the radar echo signal received by the first node is greater than the second signal-to-noise ratio threshold.

[0291] In an embodiment of the present invention, based on the interference problem between multi-user data, a first sensing communication signal sent by a first node is obtained, and based on the communication signal interference problem between a second node and the first node and the first sensing communication signal, a second sensing communication signal sent by the second node is obtained. Then, based on the multi-path radar echo interference problem of the first node, the first sensing communication signal, and the second sensing communication signal, the first sensing communication signal is updated. Further, based on the radar echo interference problem between the second node and the first node, the updated first sensing communication signal, and the second sensing communication signal, the second sensing communication signal is updated. When the signal-to-noise ratio of the signal received by the user and the signal-to-noise ratio of the radar echo signal received by the first node do not meet the preset conditions, the step of obtaining the first sensing communication signal is returned, which solves the joint processing problem of communication mutual interference and radar sensing echo mutual interference in the integrated sensing and communication node, and improves the communication performance of the target user while enhancing the sensing performance of the integrated sensing and communication node.

[0292] Optionally, for the electronic device 900, the processor 901 is further configured to obtain a first matrix, a second matrix, a third matrix, and a fourth matrix according to a pre-constructed integrated sensing and communication mutual interference channel model. The first matrix is the communication channel matrix of the first node, the second matrix is the communication interference channel matrix of the second node, the third matrix is the radar echo channel matrix of the first node, and the fourth matrix is the radar echo interference channel matrix of the second node.

[0293] Optionally, for the electronic device 900, the processor 901 is further configured to construct the integrated sensing and communication mutual interference channel model according to the following steps:

[0294] Construct a communication mutual interference channel model and a radar sensing echo mutual interference channel model respectively;

[0295] Construct the integrated sensing and communication mutual interference channel model according to the communication mutual interference channel model and the radar sensing echo mutual interference channel model.

[0296] Optionally, for the electronic device 900, the processor 901 is specifically configured to obtain the channel from the first node to the target user and the channel from the second node to the target user according to the steering vector of the transmitting antenna of the first node and the steering vector of the transmitting antenna of the second node;

[0297] Obtain the communication channel of the first node and the communication channel of the second node according to the channel from the first node to the target user and the channel from the second node to the target user;

[0298] Construct the communication mutual interference channel model according to the communication channels of the first node and the second node.

[0299] Optionally, for the electronic device 900, the processor 901 is specifically configured to construct the radar sensing echo mutual interference channel model according to the radar echo channel of the first node and the radar echo interference channel of the second node.

[0300] Optionally, for the electronic device 900, the processor 901 is specifically configured to solve for the minimum value of the total transmission signal power of the first node when the first constraint condition is satisfied.

[0301] Wherein, the first constraint condition includes:

[0302] The ratio of the sum of the useful signal received by the user and the Gaussian white noise of the communication channel to the useful signal received by the user is less than or equal to the reciprocal of the first sub-signal-to-noise ratio threshold, and the useful signal received by the user is obtained according to the first matrix.

[0303] The signal data matrix of the first node is greater than or equal to a first preset value.

[0304] Optionally, for the electronic device 500, the processor 501 is specifically configured to solve for the minimum value of the total transmission signal power of the second node when the second constraint condition is satisfied.

[0305] Wherein, the second constraint condition includes:

[0306] The ratio of the interference signal of the second node to the useful signal received by the user is less than or equal to the reciprocal of the second sub-signal-to-noise ratio threshold, and the interference signal of the second node is obtained according to the second matrix.

[0307] The signal data matrix of the first node is greater than or equal to a first preset value.

[0308] Optionally, for the electronic device 500, the processor 501 is specifically configured to solve for the minimum value of the total transmission signal power of the first node when the third constraint condition is satisfied.

[0309] Wherein, the third constraint condition includes:

[0310] The ratio of the sum of the useful radar echo signal received by the first node and the Gaussian white noise of the radar echo channel to the useful radar echo signal received by the first node is less than or equal to the reciprocal of the third sub-signal-to-noise ratio threshold, and the useful radar echo signal received by the first node is obtained according to the third matrix.

[0311] Optionally, for the electronic device 500, the processor 501 is specifically configured to solve for the minimum value of the total transmission signal power of the second node when a fourth constraint condition is satisfied;

[0312] Wherein, the fourth constraint condition includes:

[0313] The ratio of the radar echo interference signal of the second node to the useful radar echo signal received by the first node is less than or equal to the reciprocal of the fourth sub-signal-to-noise ratio threshold, and the radar echo interference signal of the second node is obtained according to the fourth matrix.

[0314] As Figure 10 shown, an embodiment of the present invention further provides a cooperative precoding device, including:

[0315] A first obtaining module 1001, configured to obtain a first sensing communication signal transmitted by a first node based on the interference problem between multi-user data;

[0316] A second obtaining module 1002, configured to obtain a second sensing communication signal transmitted by the second node based on the communication signal interference problem between the second node and the first node and the first sensing communication signal;

[0317] A first updating module 1003, configured to update the first sensing communication signal based on the multi-path radar echo interference problem of the first node, the first sensing communication signal, and the second sensing communication signal;

[0318] A second updating module 1004, configured to update the second sensing communication signal based on the radar echo interference problem between the second node and the first node, the updated first sensing communication signal, and the second sensing communication signal;

[0319] A returning module 1005, configured to return to the step of obtaining the first sensing communication signal when the signal-to-noise ratio of the user received signal and the signal-to-noise ratio of the radar echo signal received by the first node do not meet a preset condition, where the preset condition is that the signal-to-noise ratio of the user received signal is greater than a first signal-to-noise ratio threshold and the signal-to-noise ratio of the radar echo signal received by the first node is greater than a second signal-to-noise ratio threshold.

[0320] In an embodiment of the present invention, based on the interference problem between multi-user data, a first sensing communication signal sent by a first node is obtained, and based on the communication signal interference problem between a second node and the first node and the first sensing communication signal, a second sensing communication signal sent by the second node is obtained. Then, based on the multipath radar echo interference problem of the first node, the first sensing communication signal, and the second sensing communication signal, the first sensing communication signal is updated. And based on the radar echo interference problem between the second node and the first node, the updated first sensing communication signal, and the second sensing communication signal, the second sensing communication signal is updated. When the signal-to-noise ratio of the signal received by the user and the signal-to-noise ratio of the radar echo signal received by the first node do not meet the preset conditions, the step of obtaining the first sensing communication signal is returned, solving the joint processing problem of communication mutual interference and radar sensing echo mutual interference existing in the integrated sensing and communication node, and improving the sensing performance of the integrated sensing and communication node while improving the communication performance of the target user.

[0321] Optionally, the cooperative precoding device further includes:

[0322] An obtaining module, configured to obtain a first matrix, a second matrix, a third matrix, and a fourth matrix according to a pre-constructed integrated sensing and communication mutual interference channel model, where the first matrix is the communication channel matrix of the first node, the second matrix is the communication interference channel matrix of the second node, the third matrix is the radar echo channel matrix of the first node, and the fourth matrix is the radar echo interference channel matrix of the second node.

[0323] Optionally, the cooperative precoding device further includes:

[0324] A constructing module, configured to construct the integrated sensing and communication mutual interference channel model according to the following steps:

[0325] Respectively construct a communication mutual interference channel model and a radar sensing echo mutual interference channel model;

[0326] According to the communication mutual interference channel model and the radar sensing echo mutual interference channel model, construct the integrated sensing and communication mutual interference channel model.

[0327] Optionally, in the cooperative precoding device, the constructing module is specifically configured to:

[0328] According to the steering vector of the transmitting antenna of the first node and the steering vector of the transmitting antenna of the second node, obtain the channel from the first node to the target user and the channel from the second node to the target user;

[0329] Obtain the communication channel of the first node and the communication channel of the second node according to the channel from the first node to the target user and the channel from the second node to the target user;

[0330] Construct the communication mutual interference channel model according to the communication channel of the first node and the communication channel of the second node.

[0331] Optionally, for the collaborative precoding device, wherein the construction module is specifically configured to:

[0332] Construct the radar sensing echo mutual interference channel model according to the radar echo channel of the first node and the radar echo interference channel of the second node.

[0333] Optionally, for the collaborative precoding device, wherein the first obtaining module 1001 is specifically configured to:

[0334] Solve for the minimum value of the total transmit signal power of the first node when the first constraint condition is satisfied;

[0335] Wherein, the first constraint condition includes:

[0336] The ratio of the sum of the useful signal received by the user and the Gaussian white noise of the communication channel to the useful signal received by the user is less than or equal to the reciprocal of the first sub-signal-to-noise ratio threshold, and the useful signal received by the user is obtained according to the first matrix;

[0337] The signal data matrix of the first node is greater than or equal to a first preset value.

[0338] Optionally, for the collaborative precoding device, wherein the second obtaining module 1002 is specifically configured to:

[0339] Solve for the minimum value of the total transmit signal power of the second node when the second constraint condition is satisfied;

[0340] Wherein, the second constraint condition includes:

[0341] The ratio of the interference signal of the second node to the useful signal received by the user is less than or equal to the reciprocal of the second sub-signal-to-noise ratio threshold, and the interference signal of the second node is obtained according to the second matrix;

[0342] The signal data matrix of the first node is greater than or equal to a first preset value.

[0343] Optionally, for the collaborative precoding device, wherein the first updating module 1003 is specifically configured to:

[0344] Solve for the minimum value of the total transmit signal power of the first node when the third constraint condition is satisfied;

[0345] Among them, the third constraint condition includes:

[0346] The ratio of the sum of the useful radar echo signal received by the first node and the Gaussian white noise of the radar echo channel to the useful radar echo signal received by the first node is less than or equal to the reciprocal of the third sub-signal-to-noise ratio threshold, and the useful radar echo signal received by the first node is obtained according to the third matrix.

[0347] Optionally, for the collaborative precoding device, wherein the second update module 1004 is specifically configured to:

[0348] Solve for the minimum value of the total transmission signal power of the second node when the fourth constraint condition is satisfied;

[0349] Among them, the fourth constraint condition includes:

[0350] The ratio of the radar echo interference signal of the second node to the useful radar echo signal received by the first node is less than or equal to the reciprocal of the fourth sub-signal-to-noise ratio threshold, and the radar echo interference signal of the second node is obtained according to the fourth matrix.

[0351] It should be noted that the above device provided by the embodiments of the present invention can implement all the method steps implemented by the above collaborative precoding method embodiments, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0352] The embodiments of the present invention further provide an electronic device, as Figure 11 shown, including: a processor 1101; and a memory 1103 connected to the processor 1101 through a bus interface 1102, where the memory 1103 is used to store the programs and data used by the processor 1101 when performing operations, and the processor 1101 calls and executes the programs and data stored in the memory 1103.

[0353] Among them, a transceiver 1104 is connected to the bus interface 1102 and is used to receive and send data under the control of the processor 1101.

[0354] Among them, in Figure 11Among them, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 1101 and a memory represented by memory 1103. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and thus will not be further described herein. The bus interface provides user interface 1105. The transceiver 1104 may be multiple components, that is, including a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium. The processor 1101 is responsible for managing the bus architecture and general processing, and the memory 1103 may store data used by the processor 1101 when performing operations.

[0355] Those skilled in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware or can be completed by a program instructing relevant hardware. The program includes instructions for performing part or all of the steps of the above method; and the program can be stored in a readable storage medium, and the storage medium can be any form of storage medium.

[0356] The embodiment of the present invention also provides a readable storage medium, on which a program or instructions are stored. When the program or instructions are executed by a processor, the power-off protection method of the flash memory as described in any one of the above is implemented.

[0357] In several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0358] In addition, each functional unit in various embodiments of the present invention can be integrated in a processing unit, or each unit can be physically included separately, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a hardware plus software functional unit.

[0359] The integrated unit implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software functional units are stored in a storage medium and include several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) to execute some steps of the transceiver method described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs that can store program codes.

[0360] The above are the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements can be made without departing from the principles described in the present invention, and these improvements and refinements are also within the protection scope of the present invention.

Claims

1. A collaborative precoding method, characterized in that, The method includes: Obtaining a first sensing communication signal sent by a first node based on the interference problem between multi-user data; Obtaining a second sensing communication signal sent by the second node based on the communication signal interference problem between the second node and the first node and the first sensing communication signal; Updating the first sensing communication signal based on the multi-path radar echo interference problem of the first node, the first sensing communication signal, and the second sensing communication signal; Updating the second sensing communication signal based on the radar echo interference problem between the second node and the first node, the updated first sensing communication signal, and the second sensing communication signal; When the signal-to-noise ratio of the signal received by the user and the signal-to-noise ratio of the radar echo signal received by the first node do not meet the preset conditions, returning to the step of obtaining the first sensing communication signal, where the preset conditions are that the signal-to-noise ratio of the signal received by the user is greater than a first signal-to-noise ratio threshold and the signal-to-noise ratio of the radar echo signal received by the first node is greater than a second signal-to-noise ratio threshold; Wherein, the first node and the second node are both integrated sensing and communication nodes, and the first node and the second node are adjacent; The first sensing communication signal is an integrated sensing and communication signal, and the second sensing communication signal is an interference-aware integrated sensing and communication signal.

2. The collaborative precoding method according to claim 1, characterized in that, Before obtaining the first sensing communication signal sent by the first node based on the interference problem between multi-user data, the method further includes: Obtaining a first matrix, a second matrix, a third matrix, and a fourth matrix according to a pre-constructed integrated sensing and communication mutual interference channel model, where the first matrix is the communication channel matrix of the first node, the second matrix is the communication interference channel matrix of the second node, the third matrix is the radar echo channel matrix of the first node, and the fourth matrix is the radar echo interference channel matrix of the second node.

3. The collaborative precoding method according to claim 2, characterized in that, The method further includes: Constructing the integrated sensing and communication mutual interference channel model according to the following steps: Respectively constructing a communication mutual interference channel model and a radar sensing echo mutual interference channel model; Constructing the integrated sensing and communication mutual interference channel model according to the communication mutual interference channel model and the radar sensing echo mutual interference channel model.

4. The collaborative precoding method according to claim 3, characterized in that, The constructing of the communication mutual interference channel model includes: Obtaining the channel from the first node to the target user and the channel from the second node to the target user according to the steering vector of the transmitting antenna of the first node and the steering vector of the transmitting antenna of the second node; Obtaining the communication channel of the first node and the communication channel of the second node according to the channel from the first node to the target user and the channel from the second node to the target user; Constructing the communication mutual interference channel model according to the communication channel of the first node and the communication channel of the second node.

5. The collaborative precoding method according to claim 3, characterized in that, The constructing of the radar sensing echo mutual interference channel model includes: Constructing the radar sensing echo mutual interference channel model according to the radar echo channel of the first node and the radar echo interference channel of the second node.

6. The collaborative precoding method according to claim 2, characterized in that, The based on the interference problem between multi-user data includes: Solve for the minimum value of the total transmission signal power of the first node under the condition of satisfying the first constraint condition; Among them, the first constraint condition includes: The ratio of the sum of the useful signal received by the user and the Gaussian white noise of the communication channel to the useful signal received by the user is less than or equal to the reciprocal of the first sub-signal-to-noise ratio threshold, and the useful signal received by the user is obtained according to the first matrix; The signal data matrix of the first node is greater than or equal to a first preset value.

7. The collaborative precoding method according to claim 2, characterized in that, The communication signal interference problem between the second node and the first node includes: Solve for the minimum value of the total transmission signal power of the second node under the condition of satisfying the second constraint condition; Among them, the second constraint condition includes: The ratio of the interference signal of the second node to the useful signal received by the user is less than or equal to the reciprocal of the second sub-signal-to-noise ratio threshold, and the interference signal of the second node is obtained according to the second matrix; The signal data matrix of the first node is greater than or equal to a first preset value.

8. The collaborative precoding method according to claim 2, characterized in that, The multipath echo interference problem of the first node includes: Solve for the minimum value of the total transmission signal power of the first node under the condition of satisfying the third constraint condition; Among them, the third constraint condition includes: The ratio of the sum of the useful radar echo signal received by the first node and the Gaussian white noise of the radar echo channel to the useful radar echo signal received by the first node is less than or equal to the reciprocal of the third sub-signal-to-noise ratio threshold, and the useful radar echo signal received by the first node is obtained according to the third matrix.

9. The collaborative precoding method according to claim 2, wherein, The echo interference problem between the second node and the first node includes: Solve for the minimum value of the total transmission signal power of the second node under the condition of satisfying the fourth constraint condition; Among them, the fourth constraint condition includes: The ratio of the radar echo interference signal of the second node to the useful radar echo signal received by the first node is less than or equal to the reciprocal of the fourth sub-signal-to-noise ratio threshold, and the radar echo interference signal of the second node is obtained according to the fourth matrix.

10. An electronic device, comprising a processor and a transceiver, wherein: The processor is used to obtain the first sensing communication signal sent by the first node based on the interference problem between multi-user data; The processor is further used to obtain the second sensing communication signal sent by the second node based on the communication signal interference problem between the second node and the first node and the first sensing communication signal; The processor is further used to update the first sensing communication signal based on the multipath radar echo interference problem of the first node, the first sensing communication signal, and the second sensing communication signal; The processor is further used to update the second sensing communication signal based on the radar echo interference problem between the second node and the first node, the updated first sensing communication signal, and the second sensing communication signal; The processor is further configured to return to the step of obtaining the first sensing communication signal when the signal-to-noise ratio of the signal received by the user and the signal-to-noise ratio of the radar echo signal received by the first node do not meet a preset condition, where the preset condition is that the signal-to-noise ratio of the signal received by the user is greater than a first signal-to-noise ratio threshold and the signal-to-noise ratio of the radar echo signal received by the first node is greater than a second signal-to-noise ratio threshold; wherein both the first node and the second node are integrated sensing and communication nodes, and the first node and the second node are adjacent; the first sensing communication signal is an integrated sensing and communication signal, and the second sensing communication signal is an interference integrated sensing and communication signal.

11. A collaborative precoding apparatus, wherein, It includes: A first obtaining module, configured to obtain a first sensing communication signal sent by a first node based on the interference problem between multi-user data; A second obtaining module, configured to obtain a second sensing communication signal sent by the second node based on the communication signal interference problem between the second node and the first node and the first sensing communication signal; A first updating module, configured to update the first sensing communication signal based on the multi-path radar echo interference problem of the first node, the first sensing communication signal, and the second sensing communication signal; A second updating module, configured to update the second sensing communication signal based on the radar echo interference problem between the second node and the first node, the updated first sensing communication signal, and the second sensing communication signal; A return module, configured to return to the step of obtaining the first sensing communication signal when the signal-to-noise ratio of the signal received by the user and the signal-to-noise ratio of the radar echo signal received by the first node do not meet a preset condition, where the preset condition is that the signal-to-noise ratio of the signal received by the user is greater than a first signal-to-noise ratio threshold and the signal-to-noise ratio of the radar echo signal received by the first node is greater than a second signal-to-noise ratio threshold; wherein both the first node and the second node are integrated sensing and communication nodes, and the first node and the second node are adjacent; the first sensing communication signal is an integrated sensing and communication signal, and the second sensing communication signal is an interference integrated sensing and communication signal.

12. An electronic device, comprising: A transceiver, a processor, a memory, and a program or instruction stored on the memory and executable on the processor; characterized in that when the processor executes the program or instruction, the cooperative precoding method according to any one of claims 1 to 9 is implemented.

13. A readable storage medium, on which a program or instruction is stored, wherein, When the program or instruction is executed by the processor, the cooperative precoding method according to any one of claims 1 to 9 is implemented.

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