A method and system for detecting moving target signals in full duplex integrated sensing and communication

Abstract

The application discloses a kind of for full duplex sensing integration moving target signal detection method and system, the method includes: including the following steps:S1.in full duplex sensing integration platform, OFDM sensing integration transmitter is transmitted OFDM continuous signal by antenna;S2.transmitted OFDM continuous signal is transmitted to communication user, and communication function is completed;After the transmitted OFDM continuous signal encounters dynamic sensing target and static object, echo signal transmission reaches OFDM sensing integration receiver, and the direct coupling self-interference signal leaked by OFDM sensing integration transmitter also reaches OFDM sensing integration receiver;S3.OFDM sensing integration receiver is received by receiving antenna, the signal received is handled and is transformed back frequency domain, establishes frequency domain signal representation model and carries out frequency domain difference self-interference suppression.The application does not need channel information, does not need to carry out channel estimation, and the realization complexity is low.

Description

Technical Field

[0001] This invention relates to moving target detection in a full-duplex inductive integrated platform, and particularly to a method and system for moving target signal detection in a full-duplex inductive integrated platform. Background Technology

[0002] With the rapid development of electronic information technology, both wireless communication and sensing technologies, the most important aspects of modern radio technology, are evolving towards higher frequency bands, larger antenna arrays, and smaller device sizes. This has led to increasing similarities between communication and sensing technologies in terms of hardware architecture, channel characteristics, and signal processing. Simultaneously, due to the critical requirements of high-quality wireless connectivity and high-precision, robust sensing capabilities for many emerging applications, integrating sensing functions into 6G wireless networks has become a consensus in academia and industry. Considering spectral efficiency, equipment cost, and technical feasibility, the industry's demand for Integrated Sensing and Communications (ISAC) technology is growing rapidly. Orthogonal Frequency Division Multiplexing (OFDM) waveforms, with their high spectral efficiency, robust communication performance, low implementation complexity, and good distance / velocity resolution, have become one of the optimal candidate waveforms for integrated sensing and communication.

[0003] OFDM sensing systems, while ensuring high-quality communication spectrum efficiency, require low-latency sensing capabilities and sufficient sensing range. Therefore, unlike traditional half-duplex OFDM communication systems, OFDM sensing systems employing continuous wave technology require simultaneous full-duplex operation at the same frequency, meaning they transmit communication signals while receiving reflected echoes. However, this operating mode introduces significant interference, such as direct self-interference signals from the transmitter to the receiver and echo interference from static non-target objects (also known as clutter in traditional radar systems). This interference affects the system's sensing performance, obscuring desired targets near the interference on the OFDM radar's range-velocity map, and potentially even completely covering low-speed targets. Therefore, interference suppression must be implemented at the receiver, but suppressing interference cannot eliminate the reflection from the desired target. Furthermore, it is worth noting that traditional radar clutter suppression techniques cannot be directly applied to sensing systems because, in sensing scenarios, the desired echo and the interfering echo may originate from the same type of reflector. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method and system for detecting moving target signals in full-duplex integrated sensing, which does not require channel information, does not require channel estimation, and has low implementation complexity.

[0005] The objective of this invention is achieved through the following technical solution: a method for detecting moving target signals in a full-duplex integrated sensing system, comprising the following steps:

[0006] S1. In the full-duplex inductive integrated platform, the OFDM inductive integrated transmitter transmits continuous OFDM signals through an antenna;

[0007] S2. The transmitted OFDM continuous signal is transmitted to the communication user to complete the communication function; after the transmitted OFDM continuous signal encounters a dynamic sensing target and a static object, an echo signal is generated and transmitted to the OFDM integrated sensing receiver. The direct coupling self-interference signal leaked by the OFDM integrated sensing transmitter also reaches the OFDM integrated sensing receiver.

[0008] The S3.OFDM integrated inductive receiver receives signals via a receiving antenna, processes the received signals and transforms them back to the frequency domain, establishes a frequency domain signal representation model, and performs frequency domain differential self-interference suppression to obtain the moving target signal detection result.

[0009] The S301.OFDM integrated inductive receiver receives signals through a receiving antenna and performs down-conversion, analog-to-digital conversion, and cyclic prefix removal on the received signals in sequence.

[0010] S302. Perform time-frequency transformation on the signal obtained from the cyclic prefix removal process to obtain the frequency domain signal:

[0011] The S303.OFDM integrated inductive receiver establishes a frequency domain signal representation model and performs frequency domain differential self-interference suppression to obtain the moving target signal detection result.

[0012] S3031. Establish a frequency domain signal representation model;

[0013] A1. The frequency domain signal model of the m-th OFDM symbol and the n-th subcarrier is represented as:

[0014] R n,m =H n,m X n,m +N n,m 0≤n≤N c -1, 0 ≤ m ≤ N s -1,

[0015] Where N c N represents the number of subcarriers contained in an OFDM symbol. s X represents the number of OFDM symbols. n,m N represents the data modulator at the m-th OFDM symbol and the n-th subcarrier; n,mH represents the cyclic symmetric complex Gaussian noise on the corresponding subcarrier, which follows a complex Gaussian distribution with mean 0 and variance N0. n,m This represents the channel coefficient at the nth subcarrier in the m-th OFDM symbol;

[0016] A2. Based on whether the channel exhibits Doppler frequency shift, i.e., whether the signal is reflected by a moving target, the channel is divided into a moving target channel. and quasi-static channels That is

[0017] For moving target channels, there are Aligned static channel has

[0018] Where Δ n,m This represents the channel coefficient deviation of a very slow-moving object, i.e., an object with a Doppler shift close to 0, in the same position of a subcarrier in an adjacent OFDM symbol.

[0019] A3. Further represent the frequency domain signal model as...

[0020]

[0021] in This represents the desired echo signal from the moving target.

[0022] S3032. Perform frequency domain differential self-interference suppression to obtain the moving target signal detection result:

[0023] B1. Using the known transmitter modulation data X n,m For frequency domain signal R n,m Differential operations are performed along the subcarriers at the same position in the OFDM symbol to obtain the frequency domain differential sequence:

[0024]

[0025] B2. Using the frequency domain difference sequence obtained in step B1 and the modulation data, a recursive sequence is obtained, as shown below:

[0026] When m = 0:

[0027] When m = 1,...,N s -2 o'clock:

[0028] B3. Using the known transmitter modulation data X n,m The recursive sequence is processed to obtain the output of the frequency domain differential interference suppression module, which is the desired moving target echo signal to be extracted.

[0029] B301. Calculate the arithmetic mean of the recursive sequence to obtain the estimated value of the moving target echo signal plus noise in the 0th OFDM symbol and the nth subcarrier, i.e., E. n,0 +N n,0 The estimated value:

[0030]

[0031] Among them W n,0 The differential residual interference generated by the frequency domain differential interference suppression method at the nth subcarrier in the 0th OFDM symbol is:

[0032]

[0033] B302. Using known transmitter modulation data X n,m Recursive sequence and estimated value Calculate the estimated value of the moving target echo signal plus noise in the m-th OFDM symbol and the n-th subcarrier, i.e., E. n,m +N n,m The estimated value is used as the result of moving target signal detection:

[0034]

[0035] Among them W n,m The differential residual interference generated by the frequency domain differential interference suppression method at the m-th OFDM symbol and the n-th subcarrier is:

[0036]

[0037] A moving target signal detection system for full-duplex integrated sensing, wherein the frequency domain differential interference suppression system comprises:

[0038] The OFDM sensing integrated transmitter is used to transmit OFDM continuous signals through an antenna. The transmitted OFDM continuous signals are transmitted to communication users to complete the communication function. When the transmitted OFDM continuous signals encounter dynamic sensing targets and static objects, they generate echo signals that are transmitted to the OFDM sensing integrated receiver. In addition, the direct coupling self-interference signal leaked by the OFDM sensing integrated transmitter also reaches the OFDM sensing integrated receiver.

[0039] The OFDM integrated receiver is used to receive signals through a receiving antenna, process the received signals and transform them back to the frequency domain, establish a frequency domain signal representation model and perform frequency domain differential self-interference suppression to obtain the moving target signal detection result.

[0040] The beneficial effects of this invention are: 1. Compared with the OFDM integrated sensing system using traditional self-interference suppression technology, the frequency domain differential interference suppression method has almost no distance detection blind zone;

[0041] 2. Frequency domain differential interference suppression methods do not require channel information, therefore channel estimation is not necessary;

[0042] 3. The frequency domain differential interference suppression method has low implementation complexity. Differential operation on a subcarrier can be achieved with only a few multipliers and adders, and different subcarriers can be processed in parallel to reduce processing delay.

[0043] 4. The frequency domain differential interference suppression method is highly compatible with OFDM receivers and can be well integrated into OFDM sensing systems. Attached Figure Description

[0044] Figure 1 This is a schematic diagram illustrating the principle of the present invention;

[0045] Figure 2 This is a flowchart of time-frequency transformation and frequency domain differential self-interference suppression;

[0046] Figure 3 This is a schematic diagram illustrating the interference suppression effect of frequency domain differential interference suppression.

[0047] Figure 4 The simulation results show the interference suppression performance of the frequency domain differential interference suppression method when the INR of the interference is 30dB, 40dB, and 50dB. Detailed Implementation

[0048] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0049] like Figure 1 The diagram shown illustrates the principle of this invention. A method for detecting moving target signals in full-duplex integrated sensing includes the following steps:

[0050] S1. In the full-duplex inductive integrated platform, the OFDM inductive integrated transmitter transmits continuous OFDM signals through an antenna;

[0051] Step S1 includes:

[0052] The OFDM inductive transmitter modulates the transmitted bits, performs time-frequency conversion, adds a cyclic prefix, and performs digital-to-analog conversion on the obtained signal to obtain an analog signal. Then, it up-converts the analog signal and transmits it through an antenna.

[0053] S2. The transmitted OFDM continuous signal is transmitted to the communication user to complete the communication function; after the transmitted OFDM continuous signal encounters a dynamic sensing target and a static object, an echo signal is generated and transmitted to the OFDM integrated sensing receiver. The direct coupling self-interference signal leaked by the OFDM integrated sensing transmitter also reaches the OFDM integrated sensing receiver.

[0054] The S3.OFDM integrated inductive receiver receives signals via a receiving antenna, processes the received signals and transforms them back to the frequency domain, establishes a frequency domain signal representation model, and performs frequency domain differential self-interference suppression. Time-frequency transformation and frequency domain differential self-interference suppression are as follows: Figure 2 As shown:

[0055] The S301.OFDM integrated inductive receiver receives signals through a receiving antenna and sequentially performs down-conversion, analog-to-digital conversion, and cyclic prefix removal on the received signals.

[0056] S302. Perform time-frequency transformation on the signal obtained by the cyclic prefix removal process to obtain the frequency domain signal;

[0057] The S303.OFDM integrated inductive receiver establishes a frequency domain signal representation model and performs frequency domain differential self-interference suppression.

[0058] S3031. Establish a frequency domain signal representation model;

[0059] A1. The frequency domain signal model of the m-th OFDM symbol and the n-th subcarrier is represented as:

[0060] R n,m =H n,m X n,m +N n,m 0≤n≤N c -1, 0 ≤ m ≤ N s -1,

[0061] Where N c N represents the number of subcarriers contained in an OFDM symbol. s X represents the number of OFDM symbols. n,m N represents the data modulator at the m-th OFDM symbol and the n-th subcarrier; n,m H represents the cyclic symmetric complex Gaussian noise on the corresponding subcarrier, which follows a complex Gaussian distribution with mean 0 and variance N0. n,m This represents the channel coefficient at the nth subcarrier in the m-th OFDM symbol;

[0062] A2. Based on whether the channel exhibits Doppler frequency shift, i.e., whether the signal is reflected by a moving target, the channel is divided into a moving target channel. and quasi-static channels That is

[0063] For moving target channels, there are Aligned static channel has

[0064] Where Δ n,m This represents the channel coefficient deviation of a very slow-moving object, i.e., an object with a Doppler shift close to 0, in the same position of a subcarrier in an adjacent OFDM symbol.

[0065] A3. Further represent the frequency domain signal model as...

[0066]

[0067] in This represents the desired echo signal from the moving target.

[0068] S3032. Perform frequency domain differential self-interference suppression:

[0069] B1. Using the known transmitter modulation data X n,m For frequency domain signal R n,m Differential operations are performed along the subcarriers at the same position in the OFDM symbol to obtain the frequency domain differential sequence:

[0070]

[0071] B2. Using the frequency domain difference sequence obtained in step B1 and the modulation data, a recursive sequence is obtained, as shown below:

[0072] When m = 0:

[0073] When m = 1,...,N s -2 o'clock:

[0074] B3. Using the known transmitter modulation data X n,m The recursive sequence is processed to obtain the output of the frequency domain differential interference suppression module, which is the desired moving target echo signal to be extracted.

[0075] B301. Calculate the arithmetic mean of the recursive sequence to obtain the estimated value of the moving target echo signal plus noise in the 0th OFDM symbol and the nth subcarrier, i.e., E. n,0 +N n,0 The estimated value:

[0076]

[0077] Among them W n,0The differential residual interference generated by the frequency domain differential interference suppression method at the nth subcarrier in the 0th OFDM symbol is:

[0078]

[0079] B302. Using known transmitter modulation data X n,m Recursive sequence and estimated value Calculate the estimated value of the moving target echo signal plus noise in the m-th OFDM symbol and the n-th subcarrier, i.e., E. n,m +N n,m The estimated value:

[0080]

[0081] Among them W n,m The differential residual interference generated by the frequency domain differential interference suppression method at the m-th OFDM symbol and the n-th subcarrier is:

[0082]

[0083] In the embodiments of this application, the performance of the frequency domain differential interference suppression module can be measured using the Interference Cancellation Ratio (ICR), which represents the signal-to-interference-plus-noise ratio (SINR) after frequency domain differential interference suppression. out Compared with the signal-to-interference-plus-noise ratio (SINR) before suppression in The ratio of , has

[0084]

[0085] The signal-to-interference-plus-noise ratio before suppression is expressed as:

[0086]

[0087] P S P I P ICI P N The input modules represent the desired moving target echo signal power, static interference echo signal power, inter-carrier interference power caused by Doppler frequency offset, and noise power, respectively. The signal-to-interference-plus-noise ratio (SIR) after interference suppression is expressed as...

[0088]

[0089] P S+W , These represent the expected signal power, inter-subcarrier interference power, and noise power of the output module, respectively.

[0090] A higher ICR indicates that static interference echoes in the received signal are suppressed more thoroughly, which means that the frequency domain differential interference suppression performance is better.

[0091] In the embodiments of this application, OFDM radar processing can also be performed on the moving target echo signal obtained by frequency domain differential interference suppression to obtain an OFDM radar range-velocity map and sense the range and velocity of the moving target.

[0092] In the embodiments of this application, for ease of writing and understanding, all the steps of frequency domain differential processing described above represent differential operations performed along the same subcarrier position of adjacent OFDM symbols. However, differential operations can also be performed at intervals of one or more OFDM symbols, resulting in multiple sets of frequency domain differential sequences. For example, the following are two sets of frequency domain differential sequences obtained by performing differential operations at intervals of one OFDM symbol:

[0093] Sequence 1:

[0094]

[0095] Sequence 2:

[0096]

[0097] After obtaining two sets of differential sequences, recursive sequence calculation and processing are performed to obtain the output of the frequency domain differential interference suppression module. The two processed sequences are then merged and sent to the OFDM radar processing module to sense the distance and speed of moving targets.

[0098] like Figure 1 As shown, a moving target signal detection system for full-duplex integrated sensing is provided, wherein the frequency domain differential interference suppression system includes:

[0099] The OFDM sensing integrated transmitter is used to transmit OFDM continuous signals through an antenna. The transmitted OFDM continuous signals are transmitted to communication users to complete the communication function. When the transmitted OFDM continuous signals encounter dynamic sensing targets and static objects, they generate echo signals that are transmitted to the OFDM sensing integrated receiver. In addition, the direct coupling self-interference signal leaked by the OFDM sensing integrated transmitter also reaches the OFDM sensing integrated receiver.

[0100] The OFDM integrated inductive transmitter includes:

[0101] The modulation module is used to modulate the transmitted bits;

[0102] The first time-frequency conversion module is used to perform time-frequency conversion on the modulated signal;

[0103] The cyclic prefix addition module is used to add a cyclic prefix to the signal obtained by time-frequency transformation;

[0104] The digital-to-analog converter module is used to convert the signal with a cyclic prefix into an analog signal.

[0105] Upconversion module is used to upconvert analog signals;

[0106] The transmitting antenna is used to transmit the signal obtained from the up-conversion.

[0107] The OFDM integrated receiver is used to receive signals through a receiving antenna, process the received signals and transform them back to the frequency domain, establish a frequency domain signal representation model and perform frequency domain differential self-interference suppression to obtain the moving target signal detection result.

[0108] The OFDM integrated sensing receiver includes:

[0109] The receiving antenna is used to receive the echo signals generated when OFDM continuous signals encounter dynamic sensing targets and static objects, as well as the direct coupling self-interference signals leaked by the OFDM inductive transmitter. It is also used to receive the user's uplink OFDM communication signals when the platform is not transmitting OFDM signals.

[0110] The radio frequency interference cancellation module is used to cancel radio frequency interference on the signal received by the receiving antenna;

[0111] The downconversion module is used to downconvert the signal after radio frequency interference cancellation.

[0112] The analog-to-digital conversion module is used to convert the signal obtained from the down-conversion process into an analog-to-digital signal.

[0113] The cyclic prefix removal module is used to remove cyclic prefixes from the signals obtained from analog-to-digital conversion.

[0114] The second time-frequency conversion module is used to transform the signal after removing the cyclic prefix back to the frequency domain.

[0115] The frequency domain differential interference suppression module is used to perform frequency domain differential interference suppression and obtain the moving target echo signal as the moving target signal detection result.

[0116] In embodiments of this application, the OFDM inductive receiver further includes:

[0117] The OFDM radar processing module is used to process the moving target echo signal obtained by frequency domain differential interference suppression into an OFDM radar image to obtain the range-velocity map of the moving target and sense its range and velocity.

[0118] The OFDM communication processing module is used to receive and demodulate user uplink OFDM communication signals when the platform is not transmitting OFDM signals.

[0119] In the examples of this application, the actual system architecture constructed according to this application is as follows: Figure 1 As shown, the OFDM integrated sensing receiver receives moving target echoes and static interference. It performs frequency-domain differential interference suppression on the static interference, extracts the moving target echo signal, and performs OFDM radar processing on the extracted moving target echo signal to sense the distance and velocity of the moving target. Using MATLAB, the effectiveness and performance of the frequency-domain differential interference suppression method proposed in this invention are simulated and verified. The simulation parameters are set as follows:

[0120]

[0121] Figure 3 The simulation demonstrates the interference suppression effect of the frequency domain differential interference suppression module. The distance between the point target and the platform, and the radial velocity settings in the simulation are as follows:

[0122]

[0123] exist Figure 3 In this scenario, direct coupling self-interference with an Interference-to-Noise Ratio (INR) of 40 dB and static strong reflection interference with an INR of 25 dB were introduced. The static strong reflective object was positioned 10 m away from the platform. It should be noted that for ease of observation, the signal-to-noise ratio of the echoes from different targets at the receiver was set to 5 dB. Figure 3 The Hamming window function was used. Figure 3 (a) is the range-velocity diagram of the OFDM radar without interference suppression. Figure 3 (b) is the range-velocity diagram of the OFDM radar after employing a frequency-domain differential interference suppression module. Figure 3 (a) It can be seen that direct coupling self-interference and static strong reflection interference severely interfere with the range-velocity map, obscuring low-speed targets and targets near the interference. However, the range-velocity map using the frequency domain differential interference suppression module proposed in this invention can effectively suppress direct coupling self-interference and static strong reflection interference, extracting moving targets, as shown in 3(b). Furthermore, the frequency domain differential interference suppression module does not suppress low-speed or close-range targets. However, it should be noted that the proposed module suppresses the echo signal of static targets, such as target 5 with a velocity of 0 m / s, which cannot be correctly extracted.

[0124] Figure 4 The interference suppression performance of the frequency domain differential interference suppression method proposed in this invention was simulated when the interference INR was 30dB, 40dB, and 50dB. Figure 4 (a) The interference suppression performance of different differential lengths (i.e., the number of OFDM symbols contained in the echo) was compared, with the target velocity set to 10 m / s. Figure 4 (a) It can be seen that as the difference length increases, the interference suppression performance improves. When the difference length is long enough, the proposed method can suppress static interference almost perfectly. Figure 4 (b) demonstrates the interference suppression performance of the proposed method for low-speed targets, with the number of OFDM symbols set to 256. As shown in 4(b), the frequency-domain differential interference suppression method effectively suppresses static interference while correctly extracting low-speed targets. However, when the target velocity is close to 0, the target echo will also be suppressed by the frequency domain differential method and cannot be correctly extracted.

[0125] Although exemplary embodiments of the invention have been described for illustrative purposes, those skilled in the art will understand that various modifications, additions, and substitutions in form and detail may be made without departing from the scope and spirit of the invention disclosed in the appended claims, and all such modifications and substitutions should fall within the scope of protection of the appended claims. Furthermore, the various steps in the method claimed by this invention can be combined in any combination. Therefore, the description of the embodiments disclosed in this invention is not intended to limit the scope of the invention, but rather to describe the invention. Accordingly, the scope of the invention is not limited by the above embodiments, but is defined by the claims or their equivalents.

Claims

1. A method for detecting moving target signals in full-duplex integrated sensing, characterized in that: Includes the following steps: S1. In the full-duplex inductive integrated platform, the OFDM inductive integrated transmitter transmits continuous OFDM signals through an antenna; S2. The transmitted OFDM continuous signal is transmitted to the communication user to complete the communication function; after the transmitted OFDM continuous signal encounters a dynamic sensing target and a static object, an echo signal is generated and transmitted to the OFDM integrated sensing receiver. The direct coupling self-interference signal leaked by the OFDM integrated sensing transmitter also reaches the OFDM integrated sensing receiver. The S3.OFDM integrated inductive receiver receives signals via a receiving antenna, processes the received signals and transforms them back to the frequency domain, establishes a frequency domain signal representation model, and performs frequency domain differential self-interference suppression to obtain the moving target signal detection result. Step S3 includes: The S301.OFDM integrated inductive receiver receives signals through a receiving antenna and sequentially performs down-conversion, analog-to-digital conversion, and cyclic prefix removal on the received signals. S302. Perform time-frequency transformation on the signal obtained by the cyclic prefix removal process to obtain the frequency domain signal; The S303.OFDM integrated inductive receiver establishes a frequency domain signal representation model and performs frequency domain differential self-interference suppression to obtain moving target signal detection results; S3031. Establish a frequency domain signal representation model; A1. The first The OFDM symbol of the first The frequency domain signal model of each subcarrier is represented as: ， in This indicates the number of subcarriers contained in an OFDM symbol. Indicates the number of OFDM symbols. Indicates the first The OFDM symbol, the first Data modulators at each subcarrier; This represents cyclic symmetric complex Gaussian noise on the corresponding subcarrier, with a mean of 0 and a variance of . The complex Gaussian distribution, Indicates the first The OFDM symbol, the first Channel coefficients at each subcarrier; A2. Based on whether the channel exhibits Doppler frequency shift, i.e., whether the signal is reflected by a moving target, the channel is divided into a moving target channel. and quasi-static channels That is, ; For moving target channels, there are ; Aligned static channel has ; in This represents the channel coefficient deviation of a very slow-moving object, i.e., an object with a Doppler shift close to 0, in the same position of a subcarrier in an adjacent OFDM symbol. A3. Further represent the frequency domain signal model as... ， in This represents the desired moving target echo signal; S3032. Perform frequency domain differential self-interference suppression to obtain the moving target signal detection result: B1. Using known transmitter modulation data For frequency domain signals Differential operations are performed along the subcarriers at the same position in the OFDM symbol to obtain the frequency domain differential sequence: ； B2. Using the frequency domain difference sequence obtained in step B1 and the modulation data, a recursive sequence is obtained, as shown below: when hour: ; when hour: ; B3. Using known transmitter modulation data The recursive sequence is processed to obtain the output of the frequency domain differential interference suppression module, which is the desired moving target echo signal to be extracted. B301. Calculate the arithmetic mean of the recursive sequence to obtain the moving target echo signal plus noise in the 0th OFDM symbol, and the... The estimated value of each subcarrier, i.e. The estimated value: ， in This indicates that the frequency domain differential interference suppression method is used in the 0th OFDM symbol, the 1st... Differential residual interference generated at each subcarrier has ， B302. Utilizing known transmitter modulation data Recursive sequence and estimated value The moving target echo signal plus noise is calculated at the first... The OFDM symbol, the first The estimated value of each subcarrier, i.e. The estimated value is used as the result of moving target signal detection: ， in The frequency domain differential interference suppression method is represented in the first... The OFDM symbol, the first Differential residual interference generated at each subcarrier has 。 2. The method for detecting moving target signals for full-duplex integrated sensing as described in claim 1, characterized in that: Step S1 includes: The OFDM inductive transmitter modulates the transmitted bits, performs time-frequency conversion, adds a cyclic prefix, and performs digital-to-analog conversion on the obtained signal to obtain an analog signal. Then, it up-converts the analog signal and transmits it through an antenna.

3. A moving target signal detection system for full-duplex integrated sensing, based on the method described in any one of claims 1-2, characterized in that, The moving target signal detection system includes: The OFDM sensing integrated transmitter is used to transmit OFDM continuous signals through an antenna. The transmitted OFDM continuous signals are transmitted to communication users to complete the communication function. When the transmitted OFDM continuous signals encounter dynamic sensing targets and static objects, they generate echo signals that are transmitted to the OFDM sensing integrated receiver. In addition, the direct coupling self-interference signal leaked by the OFDM sensing integrated transmitter also reaches the OFDM sensing integrated receiver. The OFDM integrated receiver is used to receive signals through a receiving antenna, process the received signals and transform them back to the frequency domain, establish a frequency domain signal representation model and perform frequency domain differential self-interference suppression to obtain the moving target signal detection result.

4. A moving target signal detection system for full-duplex integrated sensing according to claim 3, characterized in that: The OFDM integrated inductive transmitter includes: The modulation module is used to modulate the transmitted bits; The first time-frequency conversion module is used to perform time-frequency conversion on the modulated signal; The cyclic prefix addition module is used to add a cyclic prefix to the signal obtained by time-frequency transformation; The digital-to-analog converter module is used to convert the signal with a cyclic prefix into an analog signal. Upconversion module is used to upconvert analog signals; The transmitting antenna is used to transmit the signal obtained from the up-conversion.

5. A moving target signal detection system for full-duplex integrated sensing according to claim 3, characterized in that: The OFDM integrated sensing receiver includes: The receiving antenna is used to receive the echo signals generated when OFDM continuous signals encounter dynamic sensing targets and static objects, as well as the direct coupling self-interference signals leaked by the OFDM inductive transmitter. It is also used to receive the user's uplink OFDM communication signals when the platform is not transmitting OFDM signals. The radio frequency interference cancellation module is used to cancel radio frequency interference on the signal received by the receiving antenna; The downconversion module is used to downconvert the signal after radio frequency interference cancellation. The analog-to-digital conversion module is used to convert the signal obtained from the down-conversion process into an analog-to-digital signal. The cyclic prefix removal module is used to remove cyclic prefixes from the signals obtained from analog-to-digital conversion. The second time-frequency conversion module is used to transform the signal after removing the cyclic prefix back to the frequency domain. The frequency domain differential interference suppression module is used to perform frequency domain differential interference suppression and obtain the moving target echo signal as the moving target signal detection result.

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