Methods, apparatus, equipment and storage media for determining acceleration

Abstract

This application discloses an acceleration determination method, apparatus, device, and storage medium, relating to the field of communication technology, for improving the efficiency and accuracy of determining the acceleration of a target object. It includes: acquiring a first channel frequency response (CFR) corresponding to a first channel, and multiple second CFRs corresponding to multiple second channels, wherein the first channel is used to transmit direct signals, and the multiple second channels are used to transmit multipath signals, the multipath signals being reflected signals; determining a target model based on the first CFR and any one of the multiple second CFRs, the target model being used to determine the CFR corresponding to each time moment; determining the CFRs corresponding to multiple time moments based on the target model, and determining the target velocity and target acceleration of the target object based on the CFRs corresponding to the multiple time moments. This application is applied to scenarios involving determining the acceleration of a target object.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to an acceleration determination method, apparatus, device and storage medium. Background Technology

[0002] With the continuous development of communication technology, passive target perception has gradually attracted attention. Currently, in related technologies, passive target perception mainly utilizes terminal devices such as smart bracelets, smartwatches, and mobile phones worn by targets. These devices employ built-in sensors such as accelerometers and gyroscopes to acquire information such as the target's speed, acceleration, and direction of motion. Alternatively, it relies on dedicated high-bandwidth, multi-antenna devices like radar to obtain information such as the target's location and motion state via wireless signals. When acquiring target motion state information based on wireless signals, the target's speed is estimated primarily by analyzing the intensity changes of the channel frequency response (CFR) power or by analyzing and calculating the phase difference between sampled values ​​of the time-series CFR.

[0003] However, the methods described above can only determine the target velocity, and do not address how to determine the target acceleration. The target acceleration can only be obtained through calculations based on the target velocity, resulting in low accuracy. Therefore, the current methods for determining target acceleration are inefficient and yield low-precision acceleration results. Summary of the Invention

[0004] This application provides an acceleration determination method, apparatus, device, and storage medium to improve the efficiency and accuracy of determining the acceleration of a target object.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] In a first aspect, an acceleration determination method is provided, comprising: acquiring a first channel frequency response (CFR) corresponding to a first channel, and multiple second CFRs corresponding to multiple second channels, wherein the first channel is used to transmit direct signals, and the multiple second channels are used to transmit multipath signals, the multipath signals being reflected signals; determining a target model based on the first CFR and any one of the multiple second CFRs, the target model being used to determine the CFR corresponding to each time moment; determining the CFRs corresponding to multiple time moments based on the target model, and determining the target velocity and target acceleration of the target object based on the CFRs corresponding to the multiple time moments.

[0007] In one design, determining the target model based on a first CFR and a second CFR includes: performing conjugate multiplication of the first CFR and the second CFR to obtain a first model; determining the target reflection signal generated based on the target object, and determining the propagation path length of the target reflection signal in the target time period; determining the accumulated phase of the target reflection signal in the target time period based on the propagation path length of the target reflection signal in the target time period; and determining the target model based on the first model and the accumulated phase.

[0008] In one design, the target velocity and target acceleration of a target object are determined based on the CFR corresponding to multiple time points. This includes: constructing a target vector based on the CFR corresponding to multiple time points, and performing interference cancellation processing on the target vector to obtain an interference-cancelled target vector; determining an objective function based on the interference-cancelled target vector, and determining the values ​​of the first parameter and the second parameter in the objective function when the signal energy is maximum, where the first parameter is used to determine the angle corresponding to the objective function, and the second parameter is a constant term; and determining the target velocity and target acceleration of the target object based on the values ​​of the first parameter and the second parameter.

[0009] In one design, each of the multiple second channels corresponds to multiple subcarriers. The method further includes: for a target channel, constructing a target vector based on the CFR corresponding to any subcarrier at multiple times, determining multiple feature values ​​corresponding to the target vector, wherein the target channel is any one of the multiple second channels; dividing the multiple feature values ​​into a first group of feature values ​​and a second group of feature values ​​based on a preset threshold, wherein each feature value in the first group of feature values ​​is greater than or equal to the preset threshold, and each feature value in the second group of feature values ​​is less than the preset threshold; determining the target weight corresponding to any subcarrier based on the first group of feature values ​​and the second group of feature values; optimizing the target acceleration based on the target weight corresponding to each subcarrier in the multiple subcarriers to determine the first acceleration corresponding to the target channel; and determining the optimized second acceleration corresponding to the target object based on the first acceleration corresponding to each of the multiple second channels.

[0010] Secondly, an acceleration determination device is provided, comprising: an acquisition unit and a determination unit; the acquisition unit is configured to acquire a first channel frequency response (CFR) corresponding to a first channel and multiple second CFRs corresponding to multiple second channels, wherein the first channel is used to transmit a direct signal and the multiple second channels are used to transmit multipath signals, the multipath signals being reflected signals; the determination unit is configured to determine a target model based on the first CFR and any one of the multiple second CFRs, the target model being used to determine the CFR corresponding to each time moment; the determination unit is configured to determine the CFRs corresponding to multiple time moments based on the target model, and determine the target velocity and target acceleration of the target object based on the CFRs corresponding to the multiple time moments.

[0011] In one design, the acceleration determining device further includes: a processing unit; the processing unit is used to perform conjugate multiplication of the first CFR and the second CFR to obtain a first model; a determining unit is used to determine the target reflection signal generated based on the target object, and to determine the propagation path length of the target reflection signal corresponding to the target time period; the determining unit is used to determine the accumulated phase of the target reflection signal corresponding to the target time period based on the propagation path length of the target reflection signal corresponding to the target time period; and the determining unit is used to determine the target model based on the first model and the accumulated phase.

[0012] In one design, the acceleration determination device further includes: a processing unit; the processing unit is used to construct a target vector based on the CFR corresponding to multiple time moments, and to perform interference cancellation processing on the target vector to obtain an interference-cancelled target vector; a determination unit is used to determine an objective function based on the interference-cancelled target vector, and to determine the values ​​of the first parameter and the second parameter in the objective function when the signal energy is maximum, based on the objective function, wherein the first parameter is used to determine the angle corresponding to the objective function, and the second parameter is a constant term; and the determination unit is used to determine the target velocity and target acceleration of the target object based on the values ​​of the first parameter and the second parameter.

[0013] In one design, the acceleration determination device further includes: a processing unit; a determination unit, configured to construct a target vector based on the CFR corresponding to any one of multiple subcarriers at multiple times for a target channel, and determine multiple feature values ​​corresponding to the target vector, wherein the target channel is any one of multiple second channels; a processing unit, configured to divide the multiple feature values ​​into a first group of feature values ​​and a second group of feature values ​​based on a preset threshold, wherein each feature value in the first group of feature values ​​is greater than or equal to the preset threshold, and each feature value in the second group of feature values ​​is less than the preset threshold; a determination unit, configured to determine the target weight corresponding to any one of the subcarriers based on the first group of feature values ​​and the second group of feature values; a processing unit, configured to optimize the target acceleration based on the target weight corresponding to each of the multiple subcarriers; a determination unit, configured to determine a first acceleration corresponding to the target channel; and a determination unit, configured to determine an optimized second acceleration corresponding to the target object based on the first acceleration corresponding to each of the multiple second channels.

[0014] Thirdly, an electronic device is provided, comprising: a processor and a memory; wherein the memory is used to store one or more programs, the one or more programs including computer-executable instructions, and when the electronic device is running, the processor executes the computer-executable instructions stored in the memory to cause the electronic device to perform an acceleration determination method as described in the first aspect.

[0015] Fourthly, a computer-readable storage medium is provided for storing one or more programs, the one or more programs including instructions that, when executed by a computer, cause the computer to perform an acceleration determination method as described in the first aspect.

[0016] This application provides an acceleration determination method, apparatus, device, and storage medium applied to scenarios involving determining the acceleration of a target object. First, a first current frame (CFR) corresponding to a first channel used for transmitting direct signals and multiple second CFRs corresponding to multiple second channels used for transmitting multipath signals are obtained. Then, based on the first CFR and any one of the multiple second CFRs, a target model is determined for determining the CFR at each time step. Further, based on the target model, multiple CFRs at different times are determined, and based on these multiple CFRs, the target velocity and target acceleration of the target object are determined. This method enables the determination of a target model that can determine the CFR at each time step based on the first and second CFRs, thereby achieving the determination of multiple CFRs at different times based on the target model, and ultimately determining the target velocity and target acceleration of the target object, improving the efficiency and accuracy of determining the acceleration of the target object. Attached Figure Description

[0017] Figure 1 A schematic diagram of an acceleration determination system structure provided for an embodiment of this application;

[0018] Figure 2 A flowchart illustrating an acceleration determination method provided for embodiments of this application. Figure 1 ;

[0019] Figure 3 A flowchart illustrating an acceleration determination method provided for embodiments of this application. Figure 2 ;

[0020] Figure 4 A flowchart illustrating an acceleration determination method provided for embodiments of this application. Figure 3 ;

[0021] Figure 5 A schematic diagram of a peak detection principle provided for an embodiment of this application;

[0022] Figure 6 A flowchart illustrating an acceleration determination method provided for embodiments of this application. Figure 4 ;

[0023] Figure 7 A flowchart illustrating an acceleration determination method provided for embodiments of this application. Figure 5 ;

[0024] Figure 8A schematic diagram of an acceleration determination device provided for an embodiment of this application;

[0025] Figure 9 This is a schematic diagram of an electronic device structure provided for an embodiment of this application. Detailed Implementation

[0026] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0027] In the description of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, "at least one" and "multiple" refer to two or more. The terms "first," "second," etc., do not limit the quantity or order of execution, and "first," "second," etc., do not necessarily imply differences.

[0028] Currently, with the continuous development of society and the increasing richness of indoor production and life, people are spending more and more time indoors. Therefore, sensing people's location, state, and behavior in indoor settings is becoming increasingly important. Among this information, human speed and acceleration, as key parameters indicating human target activity and state, are crucial for related fields such as passive target localization and tracking, gait analysis, fall detection, and healthcare. For operators, it is necessary to achieve the sensing of users' speed and acceleration as much as possible without increasing equipment costs or user burden.

[0029] The acceleration determination method provided in this application embodiment can be applied to acceleration determination systems. Figure 1 A schematic diagram of one structure of this acceleration determination system is shown. For example... Figure 1 As shown, the acceleration determination system 20 includes: a first base station 21, a second base station 22, and an electronic device 23. The second base station 22 is connected to both the first base station 21 and the electronic device 23.

[0030] The acceleration determination system 20 can be used in the Internet of Things. The acceleration determination system 20 may include hardware such as multiple central processing units (CPUs), multiple memories, and storage devices storing multiple operating systems.

[0031] The first base station 21 can be a microcell, such as a 5G microcell, used to transmit signals. For example, the first base station 21 can transmit signals modulated by orthogonal frequency division multiplexing (OFDM).

[0032] It should be noted that OFDM is a multi-carrier modulation technique. In OFDM, a wide-frequency carrier is divided into multiple subcarriers with smaller bandwidths, and signals are transmitted and received through multiple subcarriers.

[0033] The second base station 22 is a base station with the same standard as the first base station 21. For example, the second base station 22 can be a 5G microcell base station, used to receive signals sent by the first base station 21.

[0034] Optionally, the second base station 22 may employ multiple antennas to receive signals, with one antenna used for directional reception of direct signals from the first base station (BS1) to the second base station (BS2), and the remaining antennas used for receiving indoor multipath signals.

[0035] Electronic device 23 can be used in the Internet of Things to process data. For example, electronic device 23 can interact with the second base station 22 to extract the channel frequency response (CFR) corresponding to each channel, and then determine the target acceleration through the CFR.

[0036] The following description, in conjunction with the accompanying drawings, describes an acceleration determination method provided by an embodiment of this application.

[0037] like Figure 2 As shown in the embodiment of this application, an acceleration determination method includes steps S201-S203:

[0038] S201. Obtain the first channel frequency response (CFR) corresponding to the first channel, and the multiple second CFRs corresponding to the multiple second channels.

[0039] The first channel is used to transmit direct signals, and multiple second channels are used to transmit multipath signals, which are reflected signals.

[0040] Optionally, in conjunction with the acceleration determination system 20, after receiving the signal, the second base station 22 can use the electronic device 23 to use the trained preamble sequence to synchronize and estimate the channel parameters, and then extract the CFR corresponding to each channel.

[0041] Optionally, in conjunction with the acceleration determination system 20, the direct signal can be the direct signal between the first base station 21 and the second base station 22, and the first channel can be denoted as the standard channel (also known as the reference channel); the indoor multipath signal can be the signal sent by the first base station 21 that reaches the second base station 22 through multiple transmission paths, such as the signal that has undergone multiple point reflections, and the second channel can be denoted as the monitoring channel.

[0042] For example, the CFR (first CFR) corresponding to the kth subcarrier of a standard channel is as shown in Formula 1:

[0043] H 1，k =α 1，k exp(-j2πf k τ1)*exp(-j2πf k (ε a +ε b )+ε c )+n 1，k Formula 1

[0044] Among them, H 1，k For the CFR corresponding to the k-th subcarrier of the standard channel, α 1，k Let f be the fading of the signal received through the reference channel, τ1 be the propagation delay of the signal received through the reference channel, and f be the fading of the signal received through the reference channel. k f is the frequency corresponding to the k-th subcarrier. k = f0 + kΔf, where f0 is the minimum carrier frequency, Δf is the frequency spacing between subcarriers, and ε a ε a ε a Let n be the synchronization error between BS1 and BS2. 1，k This is the noise of the standard channel.

[0045] Optionally, the value of subcarrier k can be determined according to the communication protocol and specific communication scheme.

[0046] For example, the subcarrier k can be 1024.

[0047] For example, the CFR (second CFR) corresponding to the kth subcarrier of the monitoring channel is as shown in Formula 2:

[0048]

[0049] Among them, H m，k Let CFR be the CFR corresponding to the k-th subcarrier of the monitoring channel, m be the receiver antenna (2≤m≤M), M be the number of receiver antennas, d be the direct signal received by the monitoring channel, and P be the CFR. d To monitor the set of direct signals received by the channel. To monitor the fading of direct signals received through the channel, To measure the propagation delay of the direct signal received by the monitoring channel, r represents the reflected signal received by the monitoring channel, and P... r To monitor the collection of reflected signals received by the channel, To monitor the fading of reflected signals received through the channel, To monitor the propagation delay of the reflected signal received by the channel, n m，k To monitor channel noise.

[0050] S202. Determine the target model based on the first CFR and any one of the multiple second CFRs.

[0051] The target model is used to determine the CFR at each time step.

[0052] Optionally, based on the first CFR and any one of the multiple second CFRs, a functional relationship between CFR and time can be deduced through mathematical operations, and this functional relationship can be determined as the target model.

[0053] S203. Determine the CFR corresponding to multiple time points based on the target model, and determine the target velocity and target acceleration of the target object based on the CFR corresponding to multiple time points.

[0054] Optionally, multiple moments can be defined as moments before the target object's acceleration is determined.

[0055] Optionally, since the target object can affect signal transmission, such as causing signal reflection or transmission delay, the motion state parameters (target velocity, target acceleration) of the target object can be determined based on the CFR corresponding to multiple moments.

[0056] In this embodiment, a first CFR corresponding to a first channel used for transmitting direct signals and a plurality of second CFRs corresponding to multiple second channels used for transmitting multipath signals are first obtained. Then, based on the first CFR and any one of the plurality of second CFRs, a target model for determining the CFR corresponding to each time moment is determined. Further, based on the target model, the CFRs corresponding to multiple time moments are determined, and based on the CFRs corresponding to multiple time moments, the target velocity and target acceleration of the target object are determined. Through the above method, a target model that can determine the CFR corresponding to each time moment can be obtained based on the first and second CFRs, thereby realizing the determination of the CFRs corresponding to multiple time moments based on the target model, and thus determining the target velocity and target acceleration of the target object, improving the efficiency and accuracy of determining the acceleration of the target object.

[0057] In a design, such as Figure 3 As shown, in the acceleration determination method provided in this application embodiment, the above-mentioned S202 includes S301-S304:

[0058] S301. Multiply the first CFR and the second CFR by their conjugates to obtain the first model.

[0059] For example, multiplying the conjugates of Formula 1 and Formula 2 yields the result shown in Formula 3:

[0060]

[0061] in, For H 1，k The conjugate complex numbers, Γ, are shown in Formula 4, and Ψ is shown in Formula 5:

[0062]

[0063] Ψ=α 1，k exp(-j2πf k τ1)*n m，k *exp(-j2πf k (ε a +ε b )+ε c Formula 5

[0064] It should be noted that Formula 3 can be understood as the CFR model after eliminating synchronization errors.

[0065] S302. Determine the target reflection signal generated based on the target object, and determine the propagation path length of the target reflection signal in the target time period.

[0066] It should be noted that the propagation path length of the target reflected signal varies with the movement of the target object. Assuming that Formula 3 is the product of the CFR obtained at time 0, the change in the propagation path of the target reflected signal at time Δt can be shown in Formula 6:

[0067]

[0068] Where, d r (Δt) represents the propagation path of the target reflected signal within time Δt, v r Let a be the velocity of the signal reflected from the target. r The acceleration of the target reflected signal.

[0069] S303. Based on the propagation path length of the target reflected signal in the target time period, determine the accumulated phase of the target reflected signal in the target time period.

[0070] For example, the accumulated phase of the signal caused by the change in propagation path length is shown in Equation 7:

[0071]

[0072] Where c is the speed of light.

[0073] S304. Based on the first model and the accumulated phase, determine the target model.

[0074] For example, based on Formula 3 and Formula 7 above, we can obtain Formula 8:

[0075]

[0076] It should be noted that, according to Formula 8, we can obtain the model after eliminating static path interference, which is the target model.

[0077] Optionally, when the target antenna m and the target subcarrier k are determined, the functional relationship between CFR and time under the target antenna and target subcarrier can be obtained according to Formula 8.

[0078] It should be noted that, according to Formula 8, H changes over time. m1，k The phase in (Δt) changes due to the variation in the propagation path length of the target reflected signal. Therefore, the radial acceleration of the target object can be estimated by using the phase accumulation in Formula 8.

[0079] In this embodiment, a model is established using the first CFR and the second CFR, and a target model is obtained by eliminating information such as synchronization error and static path interference, so as to improve the accuracy of determining the acceleration of the target object.

[0080] In a design, such as Figure 4 As shown, in the acceleration determination method provided in this application embodiment, the "determining the target velocity and target acceleration of the target object based on the CFR corresponding to multiple times" in S203 above includes S401-S403:

[0081] S401. Construct a target vector based on the CFR corresponding to multiple time points, and perform interference cancellation processing on the target vector to obtain the target vector after interference cancellation.

[0082] Optionally, the CFR at multiple time points can be obtained according to Formula 8 above, and then the target vector can be constructed.

[0083] For example, the target vector can be as shown in Formula 9:

[0084] H m1，k =[H m1，k (0), H m1，k (Δt), ..., H m1，k Formula 9 ((w-1)Δt)] is optional. The specific value of time w can be determined according to the specific needs of the application.

[0085] For example, w can be 50.

[0086] Optionally, after constructing the target vector, the signal can be transformed to the frequency domain using Fourier transform, and the component corresponding to zero frequency can be set to zero, thereby eliminating interference signals introduced by direct paths and static object reflection paths.

[0087] Optionally, the component corresponding to zero frequency refers to the component whose frequency in the frequency domain is zero.

[0088] Optionally, after eliminating interference signals, the zeroed signal can be transformed to the time domain using an inverse Fourier transform.

[0089] S402. Determine the objective function based on the target vector after interference cancellation, and determine the values ​​of the first parameter and the second parameter in the objective function when the signal energy is maximized.

[0090] The first parameter is used to determine the angle corresponding to the objective function, and the second parameter is a constant term.

[0091] Optionally, the values ​​of the first parameter within the first preset range corresponding to the first parameter can be traversed, and the values ​​of the second parameter within the second preset range corresponding to the second parameter can be traversed, to determine the values ​​of the first parameter and the second parameter in the objective function when the signal energy is maximum.

[0092] Optionally, a fractional Fourier transform can be performed on the target vector after eliminating the zero-frequency component to obtain a two-dimensional spectrum. Then, the peak point in the two-dimensional spectrum can be detected by two-dimensional constant false alarm rate (2D-CFAR) detection to obtain the first and second parameters corresponding to the peak point.

[0093] Optional, the schematic diagram of 2D-CFAR detection is as follows: Figure 5 As shown, a first value corresponding to the unit to be detected and a second value corresponding to the annular area (reference unit) around the unit to be detected are determined. The relationship between the first value and the second value is determined by a comparator. When the first value is greater than the second value, the unit to be detected is determined to be the peak point.

[0094] Optionally, the second value is the average value of the values ​​corresponding to the reference unit.

[0095] Optionally, to ensure the stability of peak detection, a preset distance needs to be maintained between the selected reference unit and the reference unit. Figure 5 (Middle protection unit).

[0096] Optionally, a threshold factor can also be set. When the first value is greater than the product of the second value and the threshold factor, the unit to be detected is determined to be the peak point.

[0097] Optionally, when the first value is less than or equal to the second value, the unit to be detected is determined to be a non-peak point.

[0098] For example, the result of performing a fractional Fourier transform on a signal with zero-frequency components removed is shown in Equation 10:

[0099]

[0100] Where q is the order of change, ρ is the first parameter in this embodiment, u is the second parameter in this embodiment, ρ = qπ / 2, K ρ (t, u) is the fractional Fourier transform kernel function.

[0101] Optionally, the first parameter can be understood as the rotation angle of the fractional Fourier transform kernel function, and the second parameter can be understood as the estimated value of acceleration.

[0102] For example, the fractional Fourier transform kernel function is shown in Equation 11:

[0103]

[0104] It should be noted that the signal energy reaches its maximum value when the time-frequency distribution of the signal is projected onto the rotation axis at the correct angle. Therefore, a two-dimensional spectrum can be constructed by traversing ρ and u.

[0105] Optionally, one can first determine a suitable kernel function rotation angle by traversing ρ (generally from 0° to 90°), and then, in combination with the current state of the target object, estimate the range of acceleration values. Then, by traversing the values ​​in the range, one can obtain the value corresponding to when the signal energy will reach its maximum value.

[0106] For example, the acceleration of the target object can be estimated to be 3, and then, combined with the preset acceleration accuracy, each value point between 2 and 4 can be iterated to determine whether it is a peak point, thereby determining the value of the second parameter.

[0107] Optionally, when ρ (the first parameter) and u (the second parameter) corresponding to the peak point are detected, the first-order and second-order parameters of the signal can be determined according to Formula Twelve:

[0108]

[0109] S403. Based on the values ​​of the first parameter and the second parameter, determine the target velocity and target acceleration of the target object.

[0110] For example, as shown in Formula 13, the target velocity and target acceleration can be solved by using the first and second parameters:

[0111]

[0112] Optionally, the antenna m and subcarrier k can be determined, and then the CFR sampling at multiple times can be determined according to Formula 8, thereby determining the velocity and acceleration of the target object.

[0113] For example, we can determine that there are 5 antennas, 3 subcarriers, and time 50. Then, according to Formula 8, we can determine the functional relationship between CFR and time t for the 3rd subcarrier of the 5th antenna, and thus obtain the target vector as shown in Formula 14.

[0114] H 51，3 =[H 51，3 (0), H 51，3 (Δt), ..., H 51，3 (49Δt)] Formula Fourteen

[0115] Furthermore, through the above S402-S403, the target velocity and target acceleration are obtained as shown in Formula 15:

[0116]

[0117] It should be noted that the target velocity and target acceleration obtained in the embodiments of this application can be understood as the target velocity and target acceleration jointly determined by the first channel and any one of the multiple second channels.

[0118] In this embodiment of the application, by employing Fourier transform, inverse Fourier transform, fractional Fourier transform, 2D-CFAR detection, etc., based on Formula 8, the target velocity and target acceleration of the target object are obtained, thereby improving the efficiency and accuracy of determining the target velocity and target acceleration of the target object.

[0119] In one design, each of the multiple second channels corresponds to multiple subcarriers, such as... Figure 6 As shown, the acceleration determination method provided in this application embodiment further includes S501-S505:

[0120] S501. For the target channel, construct a target vector based on the CFR corresponding to any one of the multiple subcarriers at multiple times, and determine multiple feature values ​​corresponding to the target vector.

[0121] The target channel is either the first channel or any one of the multiple second channels.

[0122] Optionally, the covariance matrix corresponding to Formula 9 can be obtained through Formula 9 above. Then, based on the covariance matrix, the eigenvalues ​​and eigenvectors corresponding to the covariance matrix can be determined, and multiple eigenvalues ​​and eigenvectors corresponding to the target vector can be obtained.

[0123] It is understandable that when a target vector is constructed using CFRs at w time points, and the covariance matrix corresponding to the target vector is a full-rank matrix, the target vector has w eigenvalues.

[0124] It should be noted that since the value of CFR is a complex number, for a target vector constructed from the CFRs corresponding to multiple time points, the target vector has multiple eigenvalues.

[0125] S502. Divide multiple feature values ​​into a first group of feature values ​​and a second group of feature values ​​based on a preset threshold.

[0126] In the first group of feature values, each feature value is greater than or equal to a preset threshold, and in the second group of feature values, each feature value is less than a preset threshold.

[0127] Optionally, for feature values ​​greater than or equal to a preset threshold, i.e. larger feature values, the corresponding CFR is the CFR of the signal, and the feature vector corresponding to the feature value spans the signal subspace; for feature values ​​less than the preset threshold, i.e. smaller feature values, the corresponding CFR is the CFR of the noise, and the feature vector corresponding to the feature value spans the noise subspace.

[0128] S503. Determine the target weight corresponding to any subcarrier based on the first set of feature values ​​and the second set of feature values.

[0129] For example, as shown in Formula Sixteen:

[0130]

[0131] Among them, w k Let ε be the target weight corresponding to the k-th subcarrier of the target channel, LE be the number of the first set of feature values, and ζ be the target weight. le Let ε be the value of the le-th eigenvalue in the first group of eigenvalues, SE be the number of eigenvalues ​​in the second group, and ζ be the eigenvalue. se Let be the value of the se-th eigenvalue in the second set of eigenvalues.

[0132] S504. Optimize the target acceleration based on the target weight corresponding to each of the multiple subcarriers to determine the first acceleration corresponding to the target channel.

[0133] Optionally, the weights of the k subcarriers can be normalized, and the first acceleration corresponding to the target channel can be obtained by weighting.

[0134] For example, the method for determining the first acceleration corresponding to the target channel is shown in Formula 17:

[0135]

[0136] Among them, a m Let K be the first acceleration corresponding to the target channel m, and K be the total number of subcarriers of the target channel m. m，k The acceleration is determined based on Formula 15 for the kth subcarrier of the target channel m.

[0137] S505. Based on the first acceleration corresponding to each of the multiple second channels, determine the optimized second acceleration corresponding to the target object.

[0138] Optionally, the average value of multiple first accelerations can be determined to obtain the optimized second acceleration corresponding to the target object.

[0139] For example, the method for determining the optimized second acceleration corresponding to the target object is shown in Formula 18:

[0140]

[0141] Where M represents the number of antennas.

[0142] It should be noted that since the acceleration is determined jointly by the second channel and the first channel, that is, for the second base station with a total of m antennas (channels), there are a total of m-1 first accelerations.

[0143] In one design, the speed of the target object can also be optimized using the methods described above.

[0144] For example, such as Figure 7 As shown, combined with Figure 1 In this embodiment of the application, based on the second base station 22, the CFR corresponding to the subcarrier of each of the multiple channels is obtained, and synchronization error elimination is performed to obtain the first model. Static path interference elimination is performed based on the first model to obtain the target model. Further, based on fractional Fourier transform and spectral peak detection based on 2D-CFAR, the target velocity and target acceleration of the target object are determined, and weighted optimization is performed based on the acceleration obtained from the multiple subcarriers corresponding to each channel to obtain the optimized second acceleration.

[0145] The foregoing mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, it includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments disclosed herein, the embodiments of this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0146] This application embodiment can divide an acceleration determining device into functional modules based on the above method example. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. Optionally, the module division in this application embodiment is illustrative and only represents a logical functional division; other division methods may be used in actual implementation.

[0147] Figure 8 This is a schematic diagram of an acceleration determining device provided in an embodiment of this application. Figure 8 As shown, the acceleration determining device 40 is used to improve the efficiency and accuracy of determining the acceleration of a target object, for example, for performing... Figure 2 An acceleration determination method is shown. The acceleration determination device 40 includes: an acquisition unit 401, a determination unit 402, and a processing unit 403.

[0148] The acquisition unit 401 is used to acquire the first channel frequency response (CFR) corresponding to the first channel and multiple second CFRs corresponding to multiple second channels. The first channel is used to transmit direct signals, and the multiple second channels are used to transmit multipath signals, which are reflected signals.

[0149] The determining unit 402 is used to determine a target model based on a first CFR and any one of a plurality of second CFRs, wherein the target model is used to determine the CFR corresponding to each time step.

[0150] The determining unit 402 is used to determine the CFR corresponding to multiple time points based on the target model, and to determine the target velocity and target acceleration of the target object based on the CFR corresponding to multiple time points.

[0151] In one design, processing unit 403 is used to perform conjugate multiplication of the first CFR and the second CFR to obtain a first model.

[0152] The determining unit 402 is used to determine the target reflection signal generated based on the target object, and to determine the propagation path length of the target reflection signal in the target time period.

[0153] The determining unit 402 is used to determine the accumulated phase of the target reflected signal in the target time period based on the propagation path length of the target reflected signal in the target time period.

[0154] The determination unit 402 is used to determine the target model based on the first model and the accumulated phase.

[0155] In one design, the processing unit 403 is used to construct a target vector based on the CFR corresponding to multiple time points, and to perform interference cancellation processing on the target vector to obtain the interference-cancelled target vector.

[0156] The determining unit 402 is used to determine the objective function based on the target vector after interference cancellation, and to determine the values ​​of the first parameter and the second parameter in the objective function when the signal energy is maximized. The first parameter is used to determine the angle corresponding to the objective function, and the second parameter is a constant term.

[0157] The determining unit 402 is used to determine the target velocity and target acceleration of the target object based on the values ​​of the first parameter and the second parameter.

[0158] In one design, a determining unit 402 is used to construct a target vector based on the CFR corresponding to any one of the multiple subcarriers at multiple times for a target channel, and to determine multiple feature values ​​corresponding to the target vector, wherein the target channel is any one of multiple second channels.

[0159] The processing unit 403 is used to divide multiple feature values ​​into a first group of feature values ​​and a second group of feature values ​​based on a preset threshold. Each feature value in the first group of feature values ​​is greater than or equal to the preset threshold, and each feature value in the second group of feature values ​​is less than the preset threshold.

[0160] The determining unit 402 is used to determine the target weight corresponding to any subcarrier based on the first set of feature values ​​and the second set of feature values.

[0161] The processing unit 403 is used to optimize the target acceleration based on the target weight corresponding to each of the multiple subcarriers.

[0162] The determining unit 402 is used to determine the first acceleration corresponding to the target channel.

[0163] The determining unit 402 is used to determine the optimized second acceleration corresponding to the target object based on the first acceleration corresponding to each of the multiple second channels.

[0164] In the case of implementing the functions of the integrated modules described above in hardware, this application provides another possible structural diagram of the electronic device involved in the above embodiments. For example... Figure 9 As shown, an electronic device 70 is used to improve the efficiency and accuracy of determining the acceleration of a target object, for example, for performing... Figure 2 An acceleration determination method is shown. The electronic device 70 includes a processor 701, a memory 702, and a bus 703. The processor 701 and the memory 702 can be connected via the bus 703.

[0165] Processor 701 is the control center of the communication device. It can be a single processor or a collective term for multiple processing elements. For example, processor 701 can be a general-purpose central processing unit (CPU) or other general-purpose processors. Among them, the general-purpose processor can be a microprocessor or any conventional processor.

[0166] As one embodiment, processor 701 may include one or more CPUs, for example Figure 9 CPU 0 and CPU 1 are shown in the diagram.

[0167] The memory 702 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0168] As one possible implementation, the memory 702 can exist independently of the processor 701. The memory 702 can be connected to the processor 701 via a bus 703 and is used to store instructions or program code. When the processor 701 calls and executes the instructions or program code stored in the memory 702, it can implement the acceleration determination method provided in this embodiment of the application.

[0169] In another possible implementation, the memory 702 can also be integrated with the processor 701.

[0170] Bus 703 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 9 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0171] It should be pointed out that, Figure 9 The structure shown does not constitute a limitation on the electronic device 70. Except... Figure 9 In addition to the components shown, the electronic device 70 may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.

[0172] As an example, combined Figure 8 The functions implemented by the acquisition unit 401, determination unit 402, and processing unit 403 in the acceleration determination device 40 are the same as those of the acquisition unit 401, determination unit 402, and processing unit 403. Figure 9 The processor 701 in it has the same function.

[0173] Optional, such as Figure 9 As shown, the electronic device 70 provided in this application embodiment may further include a communication interface 704.

[0174] Communication interface 704 is used to connect with other devices via a communication network. This communication network can be Ethernet, a wireless access network, a wireless local area network (WLAN), etc. Communication interface 704 may include a receiving unit for receiving data and a transmitting unit for transmitting data.

[0175] In one design, the communication interface in the electronic device provided in this application embodiment can also be integrated into the processor.

[0176] Through the above description of the embodiments, those skilled in the art will clearly understand that, for the sake of convenience and brevity, only the division of the above functional units is used as an example. In practical applications, the above functions can be assigned to different functional units as needed, that is, the internal structure of the device can be divided into different functional units to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0177] This application also provides a computer-readable storage medium storing instructions. When a computer executes these instructions, the computer performs each step of the method flow shown in the above-described method embodiments.

[0178] Embodiments of this application provide a computer program product containing instructions that, when executed on a computer, cause the computer to perform an acceleration determination method as described in the above method embodiments.

[0179] The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), registers, hard disks, optical fibers, compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof, or any other form of computer-readable storage medium in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium may also be a component of the processor. The processor and the storage medium may reside in an application-specific integrated circuit (ASIC). In the embodiments of this application, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0180] Since the electronic devices, computer-readable storage media, and computer program products in the embodiments of this application can be applied to the above methods, the technical effects they can achieve can also be referred to the above method embodiments. The embodiments of this application will not be repeated here.

[0181] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the scope of protection of this application.

Claims

1. A method for determining acceleration, characterized in that, The method includes: Obtain the first channel frequency response (CFR) corresponding to the first channel, and multiple second CFRs corresponding to multiple second channels. The first channel is used to transmit direct signals, and the multiple second channels are used to transmit multipath signals, wherein the multipath signals are reflected signals. The first CFR and the second CFR are multiplied by their conjugates to obtain the first model; Determine the target reflected signal generated based on the target object, and determine the propagation path length of the target reflected signal in the target time period; Based on the propagation path length of the target reflected signal in the target time period, the accumulated phase of the target reflected signal in the target time period is determined. Based on the first model and the accumulated phase, a target model is determined, which is used to determine the CFR corresponding to each time step; Based on the target model, determine the CFR corresponding to multiple time points, and determine the target velocity and target acceleration of the target object according to the CFR corresponding to the multiple time points.

2. The acceleration determination method according to claim 1, characterized in that, The step of determining the target velocity and target acceleration of the target object based on the CFR corresponding to the multiple time points includes: Based on the CFRs corresponding to the multiple time points, a target vector is constructed, and the target vector is subjected to interference cancellation processing to obtain the interference-cancelled target vector; The objective function is determined based on the target vector after interference cancellation, and the values ​​of the first parameter and the second parameter in the objective function are determined based on the objective function when the signal energy is maximum. The first parameter is used to determine the angle corresponding to the objective function, and the second parameter is a constant term. Based on the values ​​of the first parameter and the second parameter, the target velocity and the target acceleration of the target object are determined.

3. The acceleration determination method according to claim 1, characterized in that, Each of the plurality of second channels corresponds to a plurality of subcarriers, and the method further includes: For a target channel, a target vector is constructed based on the CFR corresponding to any one of the plurality of subcarriers at the plurality of times, and a plurality of feature values ​​corresponding to the target vector are determined, wherein the target channel is any one of the plurality of second channels; The plurality of feature values ​​are divided into a first group of feature values ​​and a second group of feature values ​​based on a preset threshold. Each feature value in the first group of feature values ​​is greater than or equal to the preset threshold, and each feature value in the second group of feature values ​​is less than the preset threshold. The target weight corresponding to any subcarrier is determined based on the first set of feature values ​​and the second set of feature values. The target acceleration is optimized based on the target weight corresponding to each of the plurality of subcarriers to determine the first acceleration corresponding to the target channel; Based on the first acceleration corresponding to each of the plurality of second channels, the optimized second acceleration corresponding to the target object is determined.

4. An acceleration determining device, characterized in that, The device includes: an acquisition unit, a determination unit, and a processing unit; The acquisition unit is used to acquire the first channel frequency response (CFR) corresponding to the first channel and multiple second CFRs corresponding to multiple second channels. The first channel is used to transmit direct signals, and the multiple second channels are used to transmit multipath signals, wherein the multipath signals are reflected signals. The processing unit is used to perform conjugate multiplication of the first CFR and the second CFR to obtain a first model; The determining unit is used to determine the target reflection signal generated based on the target object, and to determine the propagation path length of the target reflection signal in the target time period; The determining unit is used to determine the accumulated phase of the target reflected signal in the target time period based on the propagation path length of the target reflected signal in the target time period; The determining unit is used to determine a target model based on the first model and the accumulated phase, wherein the target model is used to determine the CFR corresponding to each time moment; the determining unit is used to determine the CFR corresponding to multiple time moments based on the target model, and to determine the target velocity and target acceleration of the target object based on the CFR corresponding to the multiple time moments.

5. The acceleration determining device according to claim 4, characterized in that, The acceleration determining device further includes: a processing unit; The processing unit is used to construct a target vector based on the CFR corresponding to the multiple time points, and to perform interference cancellation processing on the target vector to obtain the interference-cancelled target vector. The determining unit is used to determine an objective function based on the target vector after interference cancellation, and to determine the values ​​of the first parameter and the second parameter in the objective function when the signal energy is maximum, based on the objective function. The first parameter is used to determine the angle corresponding to the objective function, and the second parameter is a constant term. The determining unit is used to determine the target velocity and the target acceleration of the target object based on the values ​​of the first parameter and the second parameter.

6. The acceleration determining device according to claim 4, characterized in that, The acceleration determining device further includes: a processing unit; The determining unit is configured to construct a target vector based on the CFR corresponding to any one of the plurality of subcarriers at the plurality of times for a target channel, and determine a plurality of feature values ​​corresponding to the target vector, wherein the target channel is any one of the plurality of second channels; The processing unit is configured to divide the plurality of feature values ​​into a first group of feature values ​​and a second group of feature values ​​based on a preset threshold, wherein each feature value in the first group of feature values ​​is greater than or equal to the preset threshold, and each feature value in the second group of feature values ​​is less than the preset threshold. The determining unit is configured to determine the target weight corresponding to any subcarrier based on the first set of feature values ​​and the second set of feature values. The processing unit is used to optimize the target acceleration based on the target weight corresponding to each of the plurality of subcarriers; The determining unit is used to determine the first acceleration corresponding to the target channel; The determining unit is used to determine the optimized second acceleration corresponding to the target object based on the first acceleration corresponding to each of the plurality of second channels.

7. An electronic device, characterized in that, include: A processor and a memory; wherein the memory is used to store one or more programs, the one or more programs including computer execution instructions, wherein when the electronic device is running, the processor executes the computer execution instructions stored in the memory to cause the electronic device to perform an acceleration determination method according to any one of claims 1-3.

8. A computer-readable storage medium for storing one or more programs, characterized in that, The one or more programs include instructions that, when executed by a computer, cause the computer to perform an acceleration determination method according to any one of claims 1-3.

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